2021-10-10T16:04:29Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T16:04:29Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T16:04:29Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2021-10-10T16:04:29Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2021-10-10T16:04:29Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2021-10-10T16:04:29Z* depth config: Depth_Keller, depth, sea_water_pressure 2021-10-10T16:04:29Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2021-10-10T16:04:29Z* LCM timeout=5.00 sec 2021-10-10T16:04:29Z* TRN settings: 2021-10-10T16:04:29Z* period=3.00 sec 2021-10-10T16:04:29Z* coherence=2.00 sec 2021-10-10T16:04:29Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2021-10-10T16:04:29Z* maptype = 2 filtertype = 3 weighting = 0 2021-10-10T16:04:29Z* lowgrade_filter = 1 allow reinit = 1 2021-10-10T16:04:29Z* cmd_estimate = cmd_estimate cmd_reinit = cmd_reinit 2021-10-10T16:04:29Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T16:04:29Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-10T16:04:29Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T16:04:29Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-10T16:04:29Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2021-10-10T16:04:29Z* TerrainMapOctree::numTiles_ = 9. 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2021-10-10T16:04:29Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2021-10-10T16:04:30Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.486265 seconds. 2021-10-10T16:04:30Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.58 2021-10-10T16:04:30Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.58 OK 2021-10-10T16:04:30Z* parseSensorSpecs parsing sensor of type 1. 2021-10-10T16:04:30Z* Sensor 0 is of type 1. 2021-10-10T16:04:30Z* parseSensorSpecs parsing sensor of type 2. 2021-10-10T16:04:30Z* Sensor 1 is of type 2. 2021-10-10T16:04:30Z* parseSensorSpecs parsing sensor of type 5. 2021-10-10T16:04:30Z* Sensor 2 is of type 5. 2021-10-10T16:04:30Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x5583c478d0] 2021-10-10T16:04:30Z- TNavConfig::setParticlesFile: value is now particles.cfg 2021-10-10T16:04:30Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-10T16:04:30Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T16:04:30Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-10T16:04:30Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.58 2021-10-10T16:04:30Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T16:04:30Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T16:04:30Z- Sensor 0 is of type 1. 2021-10-10T16:04:30Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T16:04:30Z- Sensor 1 is of type 2. 2021-10-10T16:04:30Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T16:04:30Z- Sensor 2 is of type 5. 2021-10-10T16:04:30Z- Random noise maker initialized with 1633881870 2021-10-10T16:04:30Z- setDistribToSave(0) 2021-10-10T16:04:30Z- setDistribToSave set to 0 2021-10-10T16:04:30Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T16:04:30Z- Sensor #1: 2021-10-10T16:04:30Z- Sensor name: rdiDVL 2021-10-10T16:04:30Z- Sensor type: 1 2021-10-10T16:04:30Z- Number of beams per measurement: 4 2021-10-10T16:04:30Z- Sensor #1 to vehicle transformation information: 2021-10-10T16:04:30Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:04:30Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:04:30Z- 2021-10-10T16:04:30Z- Sensor #2: 2021-10-10T16:04:30Z- Sensor name: resonSeabat8101 2021-10-10T16:04:30Z- Sensor type: 2 2021-10-10T16:04:30Z- Number of beams per measurement: 11 2021-10-10T16:04:30Z- Sensor #2 to vehicle transformation information: 2021-10-10T16:04:30Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:04:30Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:04:30Z- 2021-10-10T16:04:30Z- Sensor #3: 2021-10-10T16:04:30Z- Sensor name: imagenexdeltat 2021-10-10T16:04:30Z- Sensor type: 5 2021-10-10T16:04:30Z- Number of beams per measurement: 120 2021-10-10T16:04:30Z- Sensor #3 to vehicle transformation information: 2021-10-10T16:04:30Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:04:30Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:04:30Z- 2021-10-10T16:04:30Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T16:04:30Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T16:04:30Z- TerrainNav::initVariables finished. 2021-10-10T16:04:30Z- TerrainNav::Constructor finished. 2021-10-10T16:04:30Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T16:04:30Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T16:04:30Z- TNavBF::numFilters: 1 2021-10-10T16:04:30Z- TerrainNav::modified weighting set to 0 2021-10-10T16:04:30Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T16:04:30Z- LcmTrn::run() 2021-10-10T16:04:30Z- AHRS_M2 msg: 1633881870.53 epoch sec; seqNo:211 2021-10-10T16:04:30Z- AHRS_M2 msg: -0.24 phi; 0.10 theta; 4.10 psi 2021-10-10T16:04:30Z- handleDepth()-Depth_Keller msg: 1633881870537 epoch sec; seqNo:214; depth 6.42 2021-10-10T16:04:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:30Z- handleDvl() - RDI_Pathfinder msg: 1633881870.54 epoch sec; seqNo:75 2021-10-10T16:04:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , 0.00 , 0.00 2021-10-10T16:04:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881870.55 epoch sec; seqNo:214; 4061552.44 north; 594678.63 east 2021-10-10T16:04:30Z- AHRS_M2 msg: 1633881870.94 epoch sec; seqNo:212 2021-10-10T16:04:30Z- AHRS_M2 msg: -0.26 phi; 0.10 theta; 4.09 psi 2021-10-10T16:04:30Z- handleDepth()-Depth_Keller msg: 1633881870943 epoch sec; seqNo:215; depth 6.40 2021-10-10T16:04:31Z- handleDvl() - RDI_Pathfinder msg: 1633881870.97 epoch sec; seqNo:76 2021-10-10T16:04:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.41 , 93.65 , 84.96 , 78.44 2021-10-10T16:04:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.01 , 0.34 2021-10-10T16:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881871.00 epoch sec; seqNo:215; 4061552.04 north; 594677.41 east 2021-10-10T16:04:31Z- AHRS_M2 msg: 1633881871.34 epoch sec; seqNo:213 2021-10-10T16:04:31Z- AHRS_M2 msg: -0.27 phi; 0.09 theta; 4.09 psi 2021-10-10T16:04:31Z- handleDepth()-Depth_Keller msg: 1633881871346 epoch sec; seqNo:216; depth 6.38 2021-10-10T16:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881871.37 epoch sec; seqNo:216; 4061552.04 north; 594677.41 east 2021-10-10T16:04:31Z- AHRS_M2 msg: 1633881871.75 epoch sec; seqNo:214 2021-10-10T16:04:31Z- AHRS_M2 msg: -0.27 phi; 0.07 theta; 4.10 psi 2021-10-10T16:04:31Z- handleDepth()-Depth_Keller msg: 1633881871769 epoch sec; seqNo:217; depth 6.34 2021-10-10T16:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881871.78 epoch sec; seqNo:217; 4061551.67 north; 594677.42 east 2021-10-10T16:04:32Z- AHRS_M2 msg: 1633881872.15 epoch sec; seqNo:215 2021-10-10T16:04:32Z- AHRS_M2 msg: -0.26 phi; 0.07 theta; 4.11 psi 2021-10-10T16:04:32Z- handleDepth()-Depth_Keller msg: 1633881872157 epoch sec; seqNo:218; depth 6.33 2021-10-10T16:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881872.17 epoch sec; seqNo:218; 4061551.67 north; 594677.42 east 2021-10-10T16:04:32Z- AHRS_M2 msg: 1633881872.55 epoch sec; seqNo:216 2021-10-10T16:04:32Z- AHRS_M2 msg: -0.24 phi; 0.07 theta; 4.13 psi 2021-10-10T16:04:32Z- handleDepth()-Depth_Keller msg: 1633881872558 epoch sec; seqNo:219; depth 6.29 2021-10-10T16:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881872.57 epoch sec; seqNo:219; 4061551.65 north; 594676.20 east 2021-10-10T16:04:32Z- AHRS_M2 msg: 1633881872.96 epoch sec; seqNo:217 2021-10-10T16:04:32Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 4.15 psi 2021-10-10T16:04:32Z- handleDepth()-Depth_Keller msg: 1633881872975 epoch sec; seqNo:220; depth 6.25 2021-10-10T16:04:33Z- handleDvl() - RDI_Pathfinder msg: 1633881873.00 epoch sec; seqNo:77 2021-10-10T16:04:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.41 , 96.91 , 83.87 , 71.74 2021-10-10T16:04:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.23 , -0.33 2021-10-10T16:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881873.02 epoch sec; seqNo:220; 4061551.27 north; 594676.20 east 2021-10-10T16:04:33Z- AHRS_M2 msg: 1633881873.36 epoch sec; seqNo:218 2021-10-10T16:04:33Z- AHRS_M2 msg: -0.18 phi; 0.08 theta; 4.16 psi 2021-10-10T16:04:33Z- handleDepth()-Depth_Keller msg: 1633881873365 epoch sec; seqNo:221; depth 6.23 2021-10-10T16:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881873.39 epoch sec; seqNo:221; 4061550.89 north; 594676.21 east 2021-10-10T16:04:33Z- AHRS_M2 msg: 1633881873.76 epoch sec; seqNo:219 2021-10-10T16:04:33Z- AHRS_M2 msg: -0.15 phi; 0.09 theta; 4.16 psi 2021-10-10T16:04:33Z- handleDepth()-Depth_Keller msg: 1633881873770 epoch sec; seqNo:222; depth 6.21 2021-10-10T16:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881873.78 epoch sec; seqNo:222; 4061550.89 north; 594676.21 east 2021-10-10T16:04:34Z- AHRS_M2 msg: 1633881874.17 epoch sec; seqNo:220 2021-10-10T16:04:34Z- AHRS_M2 msg: -0.14 phi; 0.10 theta; 4.16 psi 2021-10-10T16:04:34Z- handleDepth()-Depth_Keller msg: 1633881874179 epoch sec; seqNo:223; depth 6.18 2021-10-10T16:04:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:34Z- handleDvl() - RDI_Pathfinder msg: 1633881874.18 epoch sec; seqNo:78 2021-10-10T16:04:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.23 , -0.33 2021-10-10T16:04:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881874.19 epoch sec; seqNo:223; 4061550.52 north; 594676.21 east 2021-10-10T16:04:34Z- AHRS_M2 msg: 1633881874.57 epoch sec; seqNo:221 2021-10-10T16:04:34Z- AHRS_M2 msg: -0.13 phi; 0.11 theta; 4.16 psi 2021-10-10T16:04:34Z- handleDepth()-Depth_Keller msg: 1633881874586 epoch sec; seqNo:224; depth 6.15 2021-10-10T16:04:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881874.60 epoch sec; seqNo:224; 4061550.14 north; 594676.21 east 2021-10-10T16:04:34Z- AHRS_M2 msg: 1633881874.98 epoch sec; seqNo:222 2021-10-10T16:04:34Z- AHRS_M2 msg: -0.13 phi; 0.11 theta; 4.15 psi 2021-10-10T16:04:34Z- handleDepth()-Depth_Keller msg: 1633881874984 epoch sec; seqNo:225; depth 6.16 2021-10-10T16:04:35Z- handleDvl() - RDI_Pathfinder msg: 1633881875.00 epoch sec; seqNo:79 2021-10-10T16:04:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.05 , 87.20 , 78.30 , 69.69 2021-10-10T16:04:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.30 , -0.10 2021-10-10T16:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881875.03 epoch sec; seqNo:225; 4061550.12 north; 594674.99 east 2021-10-10T16:04:35Z- LcmTrn::handleMessages() - handling 41 messages took 0.72 ms and 127 calls... 2021-10-10T16:04:35Z- waiting for 2.00, time is 1633881875.03 2021-10-10T16:04:35Z- LcmTrn::updateTrn() equating pose 1633881875.03 and meas times 1633881875.03 2021-10-10T16:04:35Z- LcmTrn::updateTrn() >>>> pose time 1633881875.03, meas time 1633881875.03 <<<< 2021-10-10T16:04:35Z- TerrainNav::Measurement type 1 from time = 1633881875.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T16:04:35Z- TerrainNav::motionUpdate() - currEstimate = (4061550, 594674.99, 6.16) 2021-10-10T16:04:35Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-10-10T16:04:35Z- TNavBF: Successfully initialized particles 2021-10-10T16:04:35Z- TerrainNav:: vehicle motion has been initialized 2021-10-10T16:04:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:04:35Z- TNavBF::mmse selected from filter -1 2021-10-10T16:04:35Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-10-10T16:04:35Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:04:35Z- LcmTrn::publishEstimates() - MLE : 4061500.62 594625.49 6.16 2021-10-10T16:04:35Z- LcmTrn::publishEstimates() - MMSE : 4061550.12 594674.99 6.16 2021-10-10T16:04:35Z- LcmTrn::publishEstimates() - COVAR: 833.25 833.25 25.00 0.00 2021-10-10T16:04:35Z- AHRS_M2 msg: 1633881875.38 epoch sec; seqNo:223 2021-10-10T16:04:35Z- AHRS_M2 msg: -0.14 phi; 0.11 theta; 4.14 psi 2021-10-10T16:04:35Z- handleDepth()-Depth_Keller msg: 1633881875387 epoch sec; seqNo:226; depth 6.13 2021-10-10T16:04:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:35Z- handleDvl() - RDI_Pathfinder msg: 1633881875.39 epoch sec; seqNo:80 2021-10-10T16:04:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.30 , -0.10 2021-10-10T16:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881875.40 epoch sec; seqNo:226; 4061550.12 north; 594674.99 east 2021-10-10T16:04:35Z- handleDepth()-Depth_Keller msg: 1633881875808 epoch sec; seqNo:227; depth 6.12 2021-10-10T16:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881875.83 epoch sec; seqNo:227; 4061549.73 north; 594673.78 east 2021-10-10T16:04:36Z- AHRS_M2 msg: 1633881876.19 epoch sec; seqNo:224 2021-10-10T16:04:36Z- AHRS_M2 msg: -0.18 phi; 0.09 theta; 4.12 psi 2021-10-10T16:04:36Z- handleDepth()-Depth_Keller msg: 1633881876194 epoch sec; seqNo:228; depth 6.10 2021-10-10T16:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881876.22 epoch sec; seqNo:228; 4061549.73 north; 594673.78 east 2021-10-10T16:04:36Z- AHRS_M2 msg: 1633881876.59 epoch sec; seqNo:225 2021-10-10T16:04:36Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 4.13 psi 2021-10-10T16:04:36Z- handleDepth()-Depth_Keller msg: 1633881876597 epoch sec; seqNo:229; depth 6.07 2021-10-10T16:04:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:36Z- handleDvl() - RDI_Pathfinder msg: 1633881876.60 epoch sec; seqNo:81 2021-10-10T16:04:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.30 , -0.10 2021-10-10T16:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881876.61 epoch sec; seqNo:229; 4061549.35 north; 594673.78 east 2021-10-10T16:04:37Z- AHRS_M2 msg: 1633881877.00 epoch sec; seqNo:226 2021-10-10T16:04:37Z- AHRS_M2 msg: -0.21 phi; 0.07 theta; 4.14 psi 2021-10-10T16:04:37Z- handleDepth()-Depth_Keller msg: 1633881877007 epoch sec; seqNo:230; depth 6.03 2021-10-10T16:04:37Z- handleDvl() - RDI_Pathfinder msg: 1633881877.03 epoch sec; seqNo:82 2021-10-10T16:04:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.64 , 89.37 , 86.11 , 70.09 2021-10-10T16:04:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.03 , 0.46 2021-10-10T16:04:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881877.06 epoch sec; seqNo:230; 4061549.35 north; 594673.78 east 2021-10-10T16:04:37Z- AHRS_M2 msg: 1633881877.40 epoch sec; seqNo:227 2021-10-10T16:04:37Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 4.16 psi 2021-10-10T16:04:37Z- handleDepth()-Depth_Keller msg: 1633881877407 epoch sec; seqNo:231; depth 5.98 2021-10-10T16:04:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881877.42 epoch sec; seqNo:231; 4061549.34 north; 594672.56 east 2021-10-10T16:04:37Z- AHRS_M2 msg: 1633881877.80 epoch sec; seqNo:228 2021-10-10T16:04:37Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 4.18 psi 2021-10-10T16:04:37Z- handleDepth()-Depth_Keller msg: 1633881877821 epoch sec; seqNo:232; depth 5.95 2021-10-10T16:04:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881877.83 epoch sec; seqNo:232; 4061549.34 north; 594672.56 east 2021-10-10T16:04:38Z- AHRS_M2 msg: 1633881878.21 epoch sec; seqNo:229 2021-10-10T16:04:38Z- AHRS_M2 msg: -0.17 phi; 0.06 theta; 4.21 psi 2021-10-10T16:04:38Z- handleDepth()-Depth_Keller msg: 1633881878213 epoch sec; seqNo:233; depth 5.91 2021-10-10T16:04:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881878.22 epoch sec; seqNo:233; 4061548.96 north; 594672.57 east 2021-10-10T16:04:38Z- AHRS_M2 msg: 1633881878.61 epoch sec; seqNo:230 2021-10-10T16:04:38Z- AHRS_M2 msg: -0.15 phi; 0.06 theta; 4.23 psi 2021-10-10T16:04:38Z- handleDepth()-Depth_Keller msg: 1633881878617 epoch sec; seqNo:234; depth 5.88 2021-10-10T16:04:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881878.63 epoch sec; seqNo:234; 4061548.96 north; 594672.57 east 2021-10-10T16:04:39Z- AHRS_M2 msg: 1633881879.03 epoch sec; seqNo:231 2021-10-10T16:04:39Z- AHRS_M2 msg: -0.12 phi; 0.06 theta; 4.24 psi 2021-10-10T16:04:39Z- handleDepth()-Depth_Keller msg: 1633881879030 epoch sec; seqNo:235; depth 5.87 2021-10-10T16:04:39Z- handleDvl() - RDI_Pathfinder msg: 1633881879.05 epoch sec; seqNo:83 2021-10-10T16:04:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.64 , 91.54 , 82.85 , 73.38 2021-10-10T16:04:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.24 , -0.07 2021-10-10T16:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881879.06 epoch sec; seqNo:235; 4061548.58 north; 594672.57 east 2021-10-10T16:04:39Z- AHRS_M2 msg: 1633881879.42 epoch sec; seqNo:232 2021-10-10T16:04:39Z- AHRS_M2 msg: -0.11 phi; 0.05 theta; 4.24 psi 2021-10-10T16:04:39Z- handleDepth()-Depth_Keller msg: 1633881879429 epoch sec; seqNo:236; depth 5.86 2021-10-10T16:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881879.45 epoch sec; seqNo:236; 4061548.57 north; 594671.35 east 2021-10-10T16:04:39Z- AHRS_M2 msg: 1633881879.83 epoch sec; seqNo:233 2021-10-10T16:04:39Z- AHRS_M2 msg: -0.10 phi; 0.05 theta; 4.25 psi 2021-10-10T16:04:39Z- handleDepth()-Depth_Keller msg: 1633881879829 epoch sec; seqNo:237; depth 5.82 2021-10-10T16:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881879.84 epoch sec; seqNo:237; 4061548.19 north; 594671.35 east 2021-10-10T16:04:40Z- AHRS_M2 msg: 1633881880.23 epoch sec; seqNo:234 2021-10-10T16:04:40Z- AHRS_M2 msg: -0.10 phi; 0.04 theta; 4.26 psi 2021-10-10T16:04:40Z- handleDepth()-Depth_Keller msg: 1633881880240 epoch sec; seqNo:238; depth 5.83 2021-10-10T16:04:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:40Z- handleDvl() - RDI_Pathfinder msg: 1633881880.24 epoch sec; seqNo:84 2021-10-10T16:04:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.24 , -0.07 2021-10-10T16:04:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881880.25 epoch sec; seqNo:238; 4061548.19 north; 594671.35 east 2021-10-10T16:04:40Z- LcmTrn::handleMessages() - handling 43 messages took 0.70 ms and 129 calls... 2021-10-10T16:04:40Z- waiting for 1633881878.03, time is 1633881880.25 2021-10-10T16:04:40Z- LcmTrn::updateTrn() equating pose 1633881880.25 and meas times 1633881880.25 2021-10-10T16:04:40Z- LcmTrn::updateTrn() >>>> pose time 1633881880.25, meas time 1633881880.25 <<<< 2021-10-10T16:04:40Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881880.25, ping # 0. 2021-10-10T16:04:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881880.25 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:04:40Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594671.35, 5.83) 2021-10-10T16:04:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:04:40Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:04:40Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:04:40Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:04:40Z- TerrainNav::Measurement type 1 not incorporated from time = 1633881880.25 sec.; No relevant navigation data available 2021-10-10T16:04:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:04:40Z- TNavBF::mmse selected from filter -1 2021-10-10T16:04:40Z- variances([0], [2], and psi_berg) = 832.661061 833.244624 0.000000 2021-10-10T16:04:40Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:04:40Z- LcmTrn::publishEstimates() - MLE : 4061499.69 594622.85 5.83 2021-10-10T16:04:40Z- LcmTrn::publishEstimates() - MMSE : 4061548.19 594671.35 5.83 2021-10-10T16:04:40Z- LcmTrn::publishEstimates() - COVAR: 832.66 833.24 25.21 0.00 2021-10-10T16:04:40Z- AHRS_M2 msg: 1633881880.63 epoch sec; seqNo:235 2021-10-10T16:04:40Z- AHRS_M2 msg: -0.10 phi; 0.04 theta; 4.27 psi 2021-10-10T16:04:40Z- handleDepth()-Depth_Keller msg: 1633881880641 epoch sec; seqNo:239; depth 5.79 2021-10-10T16:04:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881880.72 epoch sec; seqNo:239; 4061547.81 north; 594671.36 east 2021-10-10T16:04:41Z- AHRS_M2 msg: 1633881881.04 epoch sec; seqNo:236 2021-10-10T16:04:41Z- AHRS_M2 msg: -0.11 phi; 0.04 theta; 4.28 psi 2021-10-10T16:04:41Z- handleDepth()-Depth_Keller msg: 1633881881047 epoch sec; seqNo:240; depth 5.77 2021-10-10T16:04:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881881.07 epoch sec; seqNo:240; 4061547.43 north; 594671.36 east 2021-10-10T16:04:41Z- AHRS_M2 msg: 1633881881.44 epoch sec; seqNo:237 2021-10-10T16:04:41Z- AHRS_M2 msg: -0.11 phi; 0.04 theta; 4.29 psi 2021-10-10T16:04:41Z- handleDepth()-Depth_Keller msg: 1633881881458 epoch sec; seqNo:241; depth 5.76 2021-10-10T16:04:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:41Z- handleDvl() - RDI_Pathfinder msg: 1633881881.46 epoch sec; seqNo:85 2021-10-10T16:04:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.24 , -0.07 2021-10-10T16:04:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881881.47 epoch sec; seqNo:241; 4061547.43 north; 594671.36 east 2021-10-10T16:04:41Z- AHRS_M2 msg: 1633881881.84 epoch sec; seqNo:238 2021-10-10T16:04:41Z- AHRS_M2 msg: -0.11 phi; 0.03 theta; 4.30 psi 2021-10-10T16:04:41Z- handleDepth()-Depth_Keller msg: 1633881881855 epoch sec; seqNo:242; depth 5.75 2021-10-10T16:04:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881881.88 epoch sec; seqNo:242; 4061547.04 north; 594670.15 east 2021-10-10T16:04:42Z- AHRS_M2 msg: 1633881882.25 epoch sec; seqNo:239 2021-10-10T16:04:42Z- AHRS_M2 msg: -0.10 phi; 0.03 theta; 4.30 psi 2021-10-10T16:04:42Z- handleDepth()-Depth_Keller msg: 1633881882256 epoch sec; seqNo:243; depth 5.73 2021-10-10T16:04:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881882.27 epoch sec; seqNo:243; 4061547.04 north; 594670.15 east 2021-10-10T16:04:42Z- AHRS_M2 msg: 1633881882.66 epoch sec; seqNo:240 2021-10-10T16:04:42Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 4.31 psi 2021-10-10T16:04:42Z- handleDepth()-Depth_Keller msg: 1633881882676 epoch sec; seqNo:244; depth 5.73 2021-10-10T16:04:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:42Z- handleDvl() - RDI_Pathfinder msg: 1633881882.68 epoch sec; seqNo:86 2021-10-10T16:04:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.24 , -0.07 2021-10-10T16:04:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881882.72 epoch sec; seqNo:244; 4061546.66 north; 594670.15 east 2021-10-10T16:04:43Z- AHRS_M2 msg: 1633881883.06 epoch sec; seqNo:241 2021-10-10T16:04:43Z- AHRS_M2 msg: -0.09 phi; 0.01 theta; 4.31 psi 2021-10-10T16:04:43Z- handleDepth()-Depth_Keller msg: 1633881883066 epoch sec; seqNo:245; depth 5.71 2021-10-10T16:04:43Z- handleDvl() - RDI_Pathfinder msg: 1633881883.09 epoch sec; seqNo:87 2021-10-10T16:04:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.86 , 85.02 , 75.01 , 71.32 2021-10-10T16:04:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.10 , -0.05 2021-10-10T16:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881883.10 epoch sec; seqNo:245; 4061546.66 north; 594670.15 east 2021-10-10T16:04:43Z- AHRS_M2 msg: 1633881883.46 epoch sec; seqNo:242 2021-10-10T16:04:43Z- AHRS_M2 msg: -0.09 phi; 0.00 theta; 4.32 psi 2021-10-10T16:04:43Z- handleDepth()-Depth_Keller msg: 1633881883465 epoch sec; seqNo:246; depth 5.71 2021-10-10T16:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881883.49 epoch sec; seqNo:246; 4061546.65 north; 594668.93 east 2021-10-10T16:04:43Z- AHRS_M2 msg: 1633881883.86 epoch sec; seqNo:243 2021-10-10T16:04:43Z- AHRS_M2 msg: -0.10 phi; 0.00 theta; 4.33 psi 2021-10-10T16:04:43Z- handleDepth()-Depth_Keller msg: 1633881883869 epoch sec; seqNo:247; depth 5.70 2021-10-10T16:04:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:43Z- handleDvl() - RDI_Pathfinder msg: 1633881883.87 epoch sec; seqNo:88 2021-10-10T16:04:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.10 , -0.05 2021-10-10T16:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881883.88 epoch sec; seqNo:247; 4061546.27 north; 594668.93 east 2021-10-10T16:04:44Z- AHRS_M2 msg: 1633881884.27 epoch sec; seqNo:244 2021-10-10T16:04:44Z- AHRS_M2 msg: -0.10 phi; -0.00 theta; 4.34 psi 2021-10-10T16:04:44Z- handleDepth()-Depth_Keller msg: 1633881884275 epoch sec; seqNo:248; depth 5.69 2021-10-10T16:04:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881884.29 epoch sec; seqNo:248; 4061546.27 north; 594668.93 east 2021-10-10T16:04:44Z- AHRS_M2 msg: 1633881884.70 epoch sec; seqNo:245 2021-10-10T16:04:44Z- AHRS_M2 msg: -0.10 phi; -0.00 theta; 4.35 psi 2021-10-10T16:04:44Z- handleDepth()-Depth_Keller msg: 1633881884713 epoch sec; seqNo:249; depth 5.68 2021-10-10T16:04:44Z- handleDvl() - RDI_Pathfinder msg: 1633881884.74 epoch sec; seqNo:89 2021-10-10T16:04:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.87 , 86.11 , 74.20 , 71.74 2021-10-10T16:04:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.02 , 0.10 2021-10-10T16:04:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881884.76 epoch sec; seqNo:249; 4061546.25 north; 594667.71 east 2021-10-10T16:04:45Z- AHRS_M2 msg: 1633881885.08 epoch sec; seqNo:246 2021-10-10T16:04:45Z- AHRS_M2 msg: -0.10 phi; -0.01 theta; 4.36 psi 2021-10-10T16:04:45Z- handleDepth()-Depth_Keller msg: 1633881885081 epoch sec; seqNo:250; depth 5.68 2021-10-10T16:04:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:45Z- handleDvl() - RDI_Pathfinder msg: 1633881885.08 epoch sec; seqNo:90 2021-10-10T16:04:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.02 , 0.10 2021-10-10T16:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881885.11 epoch sec; seqNo:250; 4061546.25 north; 594667.71 east 2021-10-10T16:04:45Z- LcmTrn::handleMessages() - handling 42 messages took 0.64 ms and 129 calls... 2021-10-10T16:04:45Z- waiting for 1633881883.25, time is 1633881885.11 2021-10-10T16:04:45Z- LcmTrn::updateTrn() equating pose 1633881885.11 and meas times 1633881885.11 2021-10-10T16:04:45Z- LcmTrn::updateTrn() >>>> pose time 1633881885.11, meas time 1633881885.11 <<<< 2021-10-10T16:04:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881885.11, ping # 0. 2021-10-10T16:04:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881885.11 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:04:45Z- TerrainNav::motionUpdate() - currEstimate = (4061546, 594667.71, 5.68) 2021-10-10T16:04:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:04:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:04:45Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:04:45Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:04:45Z- TNavBF::Projecting Measurements 2021-10-10T16:04:45Z- TNavFilter::Measurement from time = 1633881885.11 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:04:45Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:04:45Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:04:45Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:04:45Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:04:45Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:04:45Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:04:45Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:04:45Z- Filter 0 NorthBias: -0.0 EastBias: -0.0 DepthBias: -0.0 NorthVariance: 832.1 EastVariance: 833.2 DepthVariance: 25.4 this->DepthBiasCov: 25.4 2021-10-10T16:04:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:04:45Z- TNavBF::mmse selected from filter -1 2021-10-10T16:04:45Z- variances([0], [2], and psi_berg) = 832.083156 833.239526 0.000000 2021-10-10T16:04:45Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:04:45Z- LcmTrn::publishEstimates() - MLE : 4061498.75 594620.21 5.68 2021-10-10T16:04:45Z- LcmTrn::publishEstimates() - MMSE : 4061546.25 594667.71 5.68 2021-10-10T16:04:45Z- LcmTrn::publishEstimates() - COVAR: 832.08 833.24 25.42 0.00 2021-10-10T16:04:45Z- AHRS_M2 msg: 1633881885.48 epoch sec; seqNo:247 2021-10-10T16:04:45Z- AHRS_M2 msg: -0.10 phi; -0.01 theta; 4.37 psi 2021-10-10T16:04:45Z- handleDepth()-Depth_Keller msg: 1633881885486 epoch sec; seqNo:251; depth 5.68 2021-10-10T16:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881885.49 epoch sec; seqNo:251; 4061545.88 north; 594667.72 east 2021-10-10T16:04:45Z- AHRS_M2 msg: 1633881885.88 epoch sec; seqNo:248 2021-10-10T16:04:45Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 4.37 psi 2021-10-10T16:04:45Z- handleDepth()-Depth_Keller msg: 1633881885892 epoch sec; seqNo:252; depth 5.69 2021-10-10T16:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881885.90 epoch sec; seqNo:252; 4061545.88 north; 594667.72 east 2021-10-10T16:04:46Z- AHRS_M2 msg: 1633881886.29 epoch sec; seqNo:249 2021-10-10T16:04:46Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 4.38 psi 2021-10-10T16:04:46Z- handleDepth()-Depth_Keller msg: 1633881886297 epoch sec; seqNo:253; depth 5.70 2021-10-10T16:04:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:46Z- handleDvl() - RDI_Pathfinder msg: 1633881886.30 epoch sec; seqNo:91 2021-10-10T16:04:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.02 , 0.10 2021-10-10T16:04:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881886.31 epoch sec; seqNo:253; 4061545.86 north; 594666.50 east 2021-10-10T16:04:46Z- AHRS_M2 msg: 1633881886.72 epoch sec; seqNo:250 2021-10-10T16:04:46Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 4.39 psi 2021-10-10T16:04:46Z- handleDepth()-Depth_Keller msg: 1633881886724 epoch sec; seqNo:254; depth 5.71 2021-10-10T16:04:46Z- handleDvl() - RDI_Pathfinder msg: 1633881886.75 epoch sec; seqNo:92 2021-10-10T16:04:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.28 , 86.11 , 74.60 , 72.96 2021-10-10T16:04:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , 0.17 2021-10-10T16:04:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881886.78 epoch sec; seqNo:254; 4061545.48 north; 594666.50 east 2021-10-10T16:04:47Z- AHRS_M2 msg: 1633881887.10 epoch sec; seqNo:251 2021-10-10T16:04:47Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 4.40 psi 2021-10-10T16:04:47Z- handleDepth()-Depth_Keller msg: 1633881887105 epoch sec; seqNo:255; depth 5.72 2021-10-10T16:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881887.13 epoch sec; seqNo:255; 4061545.48 north; 594666.50 east 2021-10-10T16:04:47Z- AHRS_M2 msg: 1633881887.50 epoch sec; seqNo:252 2021-10-10T16:04:47Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 4.41 psi 2021-10-10T16:04:47Z- handleDepth()-Depth_Keller msg: 1633881887505 epoch sec; seqNo:256; depth 5.73 2021-10-10T16:04:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:47Z- handleDvl() - RDI_Pathfinder msg: 1633881887.51 epoch sec; seqNo:93 2021-10-10T16:04:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , 0.17 2021-10-10T16:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881887.52 epoch sec; seqNo:256; 4061545.48 north; 594666.50 east 2021-10-10T16:04:47Z- AHRS_M2 msg: 1633881887.90 epoch sec; seqNo:253 2021-10-10T16:04:47Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 4.43 psi 2021-10-10T16:04:47Z- handleDepth()-Depth_Keller msg: 1633881887911 epoch sec; seqNo:257; depth 5.74 2021-10-10T16:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881887.92 epoch sec; seqNo:257; 4061545.09 north; 594665.29 east 2021-10-10T16:04:48Z- AHRS_M2 msg: 1633881888.31 epoch sec; seqNo:254 2021-10-10T16:04:48Z- AHRS_M2 msg: -0.10 phi; -0.05 theta; 4.44 psi 2021-10-10T16:04:48Z- handleDepth()-Depth_Keller msg: 1633881888312 epoch sec; seqNo:258; depth 5.75 2021-10-10T16:04:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881888.34 epoch sec; seqNo:258; 4061545.09 north; 594665.29 east 2021-10-10T16:04:48Z- AHRS_M2 msg: 1633881888.73 epoch sec; seqNo:255 2021-10-10T16:04:48Z- AHRS_M2 msg: -0.11 phi; -0.07 theta; 4.47 psi 2021-10-10T16:04:48Z- handleDepth()-Depth_Keller msg: 1633881888733 epoch sec; seqNo:259; depth 5.74 2021-10-10T16:04:48Z- handleDvl() - RDI_Pathfinder msg: 1633881888.76 epoch sec; seqNo:94 2021-10-10T16:04:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.68 , 86.11 , 73.78 , 72.96 2021-10-10T16:04:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.11 , -0.03 2021-10-10T16:04:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881888.77 epoch sec; seqNo:259; 4061545.09 north; 594665.29 east 2021-10-10T16:04:49Z- AHRS_M2 msg: 1633881889.12 epoch sec; seqNo:256 2021-10-10T16:04:49Z- AHRS_M2 msg: -0.11 phi; -0.08 theta; 4.49 psi 2021-10-10T16:04:49Z- handleDepth()-Depth_Keller msg: 1633881889126 epoch sec; seqNo:260; depth 5.75 2021-10-10T16:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881889.14 epoch sec; seqNo:260; 4061545.09 north; 594665.29 east 2021-10-10T16:04:49Z- AHRS_M2 msg: 1633881889.53 epoch sec; seqNo:257 2021-10-10T16:04:49Z- AHRS_M2 msg: -0.11 phi; -0.08 theta; 4.51 psi 2021-10-10T16:04:49Z- handleDepth()-Depth_Keller msg: 1633881889530 epoch sec; seqNo:261; depth 5.75 2021-10-10T16:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881889.54 epoch sec; seqNo:261; 4061544.71 north; 594665.29 east 2021-10-10T16:04:49Z- AHRS_M2 msg: 1633881889.92 epoch sec; seqNo:258 2021-10-10T16:04:49Z- AHRS_M2 msg: -0.10 phi; -0.08 theta; 4.53 psi 2021-10-10T16:04:49Z- handleDepth()-Depth_Keller msg: 1633881889938 epoch sec; seqNo:262; depth 5.78 2021-10-10T16:04:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:49Z- handleDvl() - RDI_Pathfinder msg: 1633881889.94 epoch sec; seqNo:95 2021-10-10T16:04:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.11 , -0.03 2021-10-10T16:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881889.95 epoch sec; seqNo:262; 4061544.70 north; 594664.07 east 2021-10-10T16:04:50Z- AHRS_M2 msg: 1633881890.33 epoch sec; seqNo:259 2021-10-10T16:04:50Z- AHRS_M2 msg: -0.09 phi; -0.07 theta; 4.54 psi 2021-10-10T16:04:50Z- handleDepth()-Depth_Keller msg: 1633881890333 epoch sec; seqNo:263; depth 5.77 2021-10-10T16:04:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881890.34 epoch sec; seqNo:263; 4061544.70 north; 594664.07 east 2021-10-10T16:04:50Z- LcmTrn::handleMessages() - handling 44 messages took 0.71 ms and 130 calls... 2021-10-10T16:04:50Z- waiting for 1633881888.11, time is 1633881890.34 2021-10-10T16:04:50Z- LcmTrn::updateTrn() >>>> pose time 1633881890.34, meas time 1633881889.94 <<<< 2021-10-10T16:04:50Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881889.94, ping # 0. 2021-10-10T16:04:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881889.94 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:04:50Z- TerrainNav::motionUpdate() - currEstimate = (4061545, 594664.07, 5.77) 2021-10-10T16:04:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:04:50Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:04:50Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:04:50Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:04:50Z- TNavBF::Projecting Measurements 2021-10-10T16:04:50Z- TNavFilter::Measurement from time = 1633881889.94 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:04:50Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:04:50Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:04:50Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:04:50Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:04:50Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:04:50Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:04:50Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:04:50Z- Filter 0 NorthBias: 0.0 EastBias: 0.0 DepthBias: 0.0 NorthVariance: 831.5 EastVariance: 833.2 DepthVariance: 25.6 this->DepthBiasCov: 25.6 2021-10-10T16:04:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:04:50Z- TNavBF::mmse selected from filter -1 2021-10-10T16:04:50Z- variances([0], [2], and psi_berg) = 831.397330 833.233714 0.000000 2021-10-10T16:04:50Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:04:50Z- LcmTrn::publishEstimates() - MLE : 4061499.20 594618.57 5.77 2021-10-10T16:04:50Z- LcmTrn::publishEstimates() - MMSE : 4061544.70 594664.07 5.77 2021-10-10T16:04:50Z- LcmTrn::publishEstimates() - COVAR: 831.40 833.23 25.62 0.00 2021-10-10T16:04:50Z- handleDepth()-Depth_Keller msg: 1633881890755 epoch sec; seqNo:264; depth 5.79 2021-10-10T16:04:50Z- handleDvl() - RDI_Pathfinder msg: 1633881890.78 epoch sec; seqNo:96 2021-10-10T16:04:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.28 , 85.02 , 71.32 , 78.50 2021-10-10T16:04:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.34 2021-10-10T16:04:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881890.79 epoch sec; seqNo:264; 4061544.70 north; 594664.07 east 2021-10-10T16:04:51Z- AHRS_M2 msg: 1633881891.14 epoch sec; seqNo:260 2021-10-10T16:04:51Z- AHRS_M2 msg: -0.07 phi; -0.06 theta; 4.57 psi 2021-10-10T16:04:51Z- handleDepth()-Depth_Keller msg: 1633881891144 epoch sec; seqNo:265; depth 5.82 2021-10-10T16:04:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:51Z- handleDvl() - RDI_Pathfinder msg: 1633881891.15 epoch sec; seqNo:97 2021-10-10T16:04:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.34 2021-10-10T16:04:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881891.16 epoch sec; seqNo:265; 4061544.31 north; 594662.85 east 2021-10-10T16:04:51Z- AHRS_M2 msg: 1633881891.54 epoch sec; seqNo:261 2021-10-10T16:04:51Z- AHRS_M2 msg: -0.07 phi; -0.06 theta; 4.57 psi 2021-10-10T16:04:51Z- handleDepth()-Depth_Keller msg: 1633881891545 epoch sec; seqNo:266; depth 5.86 2021-10-10T16:04:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881891.56 epoch sec; seqNo:266; 4061544.31 north; 594662.85 east 2021-10-10T16:04:51Z- AHRS_M2 msg: 1633881891.95 epoch sec; seqNo:262 2021-10-10T16:04:51Z- AHRS_M2 msg: -0.07 phi; -0.06 theta; 4.58 psi 2021-10-10T16:04:51Z- handleDepth()-Depth_Keller msg: 1633881891952 epoch sec; seqNo:267; depth 5.87 2021-10-10T16:04:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881891.96 epoch sec; seqNo:267; 4061544.31 north; 594662.85 east 2021-10-10T16:04:52Z- AHRS_M2 msg: 1633881892.35 epoch sec; seqNo:263 2021-10-10T16:04:52Z- AHRS_M2 msg: -0.08 phi; -0.07 theta; 4.57 psi 2021-10-10T16:04:52Z- handleDepth()-Depth_Keller msg: 1633881892359 epoch sec; seqNo:268; depth 5.92 2021-10-10T16:04:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:52Z- handleDvl() - RDI_Pathfinder msg: 1633881892.36 epoch sec; seqNo:98 2021-10-10T16:04:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.34 2021-10-10T16:04:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881892.37 epoch sec; seqNo:268; 4061544.29 north; 594661.63 east 2021-10-10T16:04:52Z- AHRS_M2 msg: 1633881892.76 epoch sec; seqNo:264 2021-10-10T16:04:52Z- AHRS_M2 msg: -0.09 phi; -0.08 theta; 4.57 psi 2021-10-10T16:04:52Z- handleDepth()-Depth_Keller msg: 1633881892766 epoch sec; seqNo:269; depth 5.94 2021-10-10T16:04:52Z- handleDvl() - RDI_Pathfinder msg: 1633881892.79 epoch sec; seqNo:99 2021-10-10T16:04:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.86 , 78.29 , 72.14 , 78.50 2021-10-10T16:04:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , 0.28 2021-10-10T16:04:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881892.80 epoch sec; seqNo:269; 4061544.29 north; 594661.63 east 2021-10-10T16:04:53Z- AHRS_M2 msg: 1633881893.16 epoch sec; seqNo:265 2021-10-10T16:04:53Z- AHRS_M2 msg: -0.09 phi; -0.09 theta; 4.57 psi 2021-10-10T16:04:53Z- handleDepth()-Depth_Keller msg: 1633881893167 epoch sec; seqNo:270; depth 5.97 2021-10-10T16:04:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881893.19 epoch sec; seqNo:270; 4061544.29 north; 594661.63 east 2021-10-10T16:04:53Z- AHRS_M2 msg: 1633881893.56 epoch sec; seqNo:266 2021-10-10T16:04:53Z- AHRS_M2 msg: -0.10 phi; -0.09 theta; 4.57 psi 2021-10-10T16:04:53Z- handleDepth()-Depth_Keller msg: 1633881893571 epoch sec; seqNo:271; depth 5.99 2021-10-10T16:04:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:53Z- handleDvl() - RDI_Pathfinder msg: 1633881893.57 epoch sec; seqNo:100 2021-10-10T16:04:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , 0.28 2021-10-10T16:04:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881893.58 epoch sec; seqNo:271; 4061544.29 north; 594661.63 east 2021-10-10T16:04:53Z- AHRS_M2 msg: 1633881893.97 epoch sec; seqNo:267 2021-10-10T16:04:53Z- AHRS_M2 msg: -0.12 phi; -0.10 theta; 4.58 psi 2021-10-10T16:04:53Z- handleDepth()-Depth_Keller msg: 1633881893972 epoch sec; seqNo:272; depth 6.01 2021-10-10T16:04:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881893.98 epoch sec; seqNo:272; 4061544.28 north; 594660.41 east 2021-10-10T16:04:54Z- AHRS_M2 msg: 1633881894.37 epoch sec; seqNo:268 2021-10-10T16:04:54Z- AHRS_M2 msg: -0.13 phi; -0.11 theta; 4.59 psi 2021-10-10T16:04:54Z- handleDepth()-Depth_Keller msg: 1633881894376 epoch sec; seqNo:273; depth 6.04 2021-10-10T16:04:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881894.38 epoch sec; seqNo:273; 4061544.28 north; 594660.41 east 2021-10-10T16:04:54Z- AHRS_M2 msg: 1633881894.77 epoch sec; seqNo:269 2021-10-10T16:04:54Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; 4.60 psi 2021-10-10T16:04:54Z- handleDepth()-Depth_Keller msg: 1633881894777 epoch sec; seqNo:274; depth 6.06 2021-10-10T16:04:54Z- handleDvl() - RDI_Pathfinder msg: 1633881894.81 epoch sec; seqNo:101 2021-10-10T16:04:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.69 , 81.68 , 72.45 , 0.00 2021-10-10T16:04:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.10 , 0.16 2021-10-10T16:04:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881894.82 epoch sec; seqNo:274; 4061544.28 north; 594660.41 east 2021-10-10T16:04:55Z- AHRS_M2 msg: 1633881895.18 epoch sec; seqNo:270 2021-10-10T16:04:55Z- AHRS_M2 msg: -0.15 phi; -0.12 theta; 4.62 psi 2021-10-10T16:04:55Z- handleDepth()-Depth_Keller msg: 1633881895181 epoch sec; seqNo:275; depth 6.10 2021-10-10T16:04:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881895.20 epoch sec; seqNo:275; 4061543.90 north; 594660.42 east 2021-10-10T16:04:55Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-10T16:04:55Z- waiting for 1633881893.34, time is 1633881895.20 2021-10-10T16:04:55Z- LcmTrn::updateTrn() >>>> pose time 1633881895.20, meas time 1633881894.81 <<<< 2021-10-10T16:04:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881894.81 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:04:55Z- TerrainNav::motionUpdate() - currEstimate = (4061544, 594660.42, 6.10) 2021-10-10T16:04:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:04:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:04:55Z- TNavBF::Projecting Measurements 2021-10-10T16:04:55Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:04:55Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:04:55Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:04:55Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T16:04:55Z- TNavFilter::3 good beams. 2021-10-10T16:04:55Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:04:55Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:04:55Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:04:55Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:04:55Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:04:55Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T16:04:55Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:04:55Z- TNavBF::mmse selected from filter -1 2021-10-10T16:04:55Z- TerrainMapOctree: (vehN, vehE ) = (4061543.96, 594660.71). 2021-10-10T16:04:55Z- TerrainMapOctree: Min Distance = 224.55. 2021-10-10T16:04:55Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:04:55Z- TerrainMapOctree: Switching to tile 5. 2021-10-10T16:04:56Z- TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo took 1.181137 seconds. 2021-10-10T16:04:56Z- Forcing Subcloud Comparison 2021-10-10T16:04:56Z- Filter 0 deapthBias would have been set to Nan. indexP: 877 indexM: 1 2021-10-10T16:04:56Z- Old Depth Bias: -9.97 DepthBiasCov: 6.83 K: 0.355 ExpectedMeasDiff: nan currMeas.covariance: 10.67 2021-10-10T16:04:56Z- Filter 0 deapthBias would have been set to Nan. indexP: 4492 indexM: 2 2021-10-10T16:04:56Z- Old Depth Bias: -8.93 DepthBiasCov: 4.40 K: 0.303 ExpectedMeasDiff: nan currMeas.covariance: 8.40 2021-10-10T16:04:56Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:04:56Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:04:56Z- Filter 0 partialDeltaRmsComputation: 9.063801 terrainVariance: 3.986983 1-SumSquareWeights: 0.999900 2021-10-10T16:04:56Z- Filter 0 meanExpectedMeasDiff: 2.253180 delta_rms_squared: 3.976984 alpha: 0.994996 2021-10-10T16:04:56Z- Filter 0 beam number: 1 num in subcloud: 9987 num not in subcloud: 13 2021-10-10T16:04:56Z- Filter 0 partialDeltaRmsComputation: 14.806870 terrainVariance: 6.590415 1-SumSquareWeights: 0.999900 2021-10-10T16:04:56Z- Filter 0 meanExpectedMeasDiff: -2.866436 delta_rms_squared: 6.580416 alpha: 0.996970 2021-10-10T16:04:56Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-10T16:04:56Z- Filter 0 partialDeltaRmsComputation: 32.112585 terrainVariance: 4.630639 1-SumSquareWeights: 0.999900 2021-10-10T16:04:56Z- Filter 0 meanExpectedMeasDiff: -5.242323 delta_rms_squared: 4.620640 alpha: 0.995690 2021-10-10T16:04:56Z- Filter 0 SubcloudNIS: 0.040941 2021-10-10T16:04:56Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:04:56Z- TNavBF:: Filter 0 sumWeights = 0.215007 2021-10-10T16:04:56Z- Filter 0 NorthBias: -22.4 EastBias: 3.1 DepthBias: -12.6 NorthVariance: 676.4 EastVariance: 794.3 DepthVariance: 5.1 this->DepthBiasCov: 3.1 2021-10-10T16:04:56Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881894.81 sec. 2021-10-10T16:04:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:04:56Z- TNavBF::mmse selected from filter -1 2021-10-10T16:04:56Z- variances([0], [2], and psi_berg) = 676.263726 794.332226 0.000000 2021-10-10T16:04:56Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:04:56Z- LcmTrn::publishEstimates() - MLE : 4061510.40 594676.92 6.10 2021-10-10T16:04:56Z- LcmTrn::publishEstimates() - MMSE : 4061521.51 594663.51 -6.54 2021-10-10T16:04:56Z- LcmTrn::publishEstimates() - COVAR: 676.26 794.33 5.12 0.00 2021-10-10T16:04:56Z- AHRS_M2 msg: 1633881895.58 epoch sec; seqNo:271 2021-10-10T16:04:56Z- AHRS_M2 msg: -0.15 phi; -0.13 theta; 4.65 psi 2021-10-10T16:04:56Z- handleDepth()-Depth_Keller msg: 1633881895585 epoch sec; seqNo:276; depth 6.12 2021-10-10T16:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881895.59 epoch sec; seqNo:276; 4061543.89 north; 594659.20 east 2021-10-10T16:04:56Z- AHRS_M2 msg: 1633881895.98 epoch sec; seqNo:272 2021-10-10T16:04:56Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; 4.67 psi 2021-10-10T16:04:56Z- handleDepth()-Depth_Keller msg: 1633881895999 epoch sec; seqNo:277; depth 6.14 2021-10-10T16:04:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:56Z- handleDvl() - RDI_Pathfinder msg: 1633881896.00 epoch sec; seqNo:102 2021-10-10T16:04:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.10 , 0.16 2021-10-10T16:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881896.01 epoch sec; seqNo:277; 4061543.89 north; 594659.20 east 2021-10-10T16:04:56Z- AHRS_M2 msg: 1633881896.39 epoch sec; seqNo:273 2021-10-10T16:04:56Z- AHRS_M2 msg: -0.13 phi; -0.12 theta; 4.68 psi 2021-10-10T16:04:56Z- handleDepth()-Depth_Keller msg: 1633881896394 epoch sec; seqNo:278; depth 6.15 2021-10-10T16:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881896.42 epoch sec; seqNo:278; 4061543.89 north; 594659.20 east 2021-10-10T16:04:56Z- AHRS_M2 msg: 1633881896.79 epoch sec; seqNo:274 2021-10-10T16:04:56Z- AHRS_M2 msg: -0.11 phi; -0.12 theta; 4.70 psi 2021-10-10T16:04:56Z- handleDepth()-Depth_Keller msg: 1633881896797 epoch sec; seqNo:279; depth 6.20 2021-10-10T16:04:56Z- handleDvl() - RDI_Pathfinder msg: 1633881896.82 epoch sec; seqNo:103 2021-10-10T16:04:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.64 , 88.28 , 72.14 , 80.68 2021-10-10T16:04:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.16 , -0.23 2021-10-10T16:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881896.84 epoch sec; seqNo:279; 4061543.89 north; 594659.20 east 2021-10-10T16:04:57Z- AHRS_M2 msg: 1633881897.20 epoch sec; seqNo:275 2021-10-10T16:04:57Z- AHRS_M2 msg: -0.10 phi; -0.11 theta; 4.72 psi 2021-10-10T16:04:57Z- handleDepth()-Depth_Keller msg: 1633881897207 epoch sec; seqNo:280; depth 6.24 2021-10-10T16:04:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:57Z- handleDvl() - RDI_Pathfinder msg: 1633881897.21 epoch sec; seqNo:104 2021-10-10T16:04:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.16 , -0.23 2021-10-10T16:04:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881897.22 epoch sec; seqNo:280; 4061543.87 north; 594657.98 east 2021-10-10T16:04:57Z- AHRS_M2 msg: 1633881897.60 epoch sec; seqNo:276 2021-10-10T16:04:57Z- AHRS_M2 msg: -0.09 phi; -0.11 theta; 4.73 psi 2021-10-10T16:04:57Z- handleDepth()-Depth_Keller msg: 1633881897610 epoch sec; seqNo:281; depth 6.27 2021-10-10T16:04:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881897.62 epoch sec; seqNo:281; 4061543.87 north; 594657.98 east 2021-10-10T16:04:58Z- AHRS_M2 msg: 1633881898.01 epoch sec; seqNo:277 2021-10-10T16:04:58Z- AHRS_M2 msg: -0.08 phi; -0.11 theta; 4.74 psi 2021-10-10T16:04:58Z- handleDepth()-Depth_Keller msg: 1633881898012 epoch sec; seqNo:282; depth 6.32 2021-10-10T16:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881898.03 epoch sec; seqNo:282; 4061543.49 north; 594657.98 east 2021-10-10T16:04:58Z- AHRS_M2 msg: 1633881898.41 epoch sec; seqNo:278 2021-10-10T16:04:58Z- AHRS_M2 msg: -0.08 phi; -0.11 theta; 4.74 psi 2021-10-10T16:04:58Z- handleDepth()-Depth_Keller msg: 1633881898418 epoch sec; seqNo:283; depth 6.35 2021-10-10T16:04:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:58Z- handleDvl() - RDI_Pathfinder msg: 1633881898.42 epoch sec; seqNo:105 2021-10-10T16:04:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.16 , -0.23 2021-10-10T16:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881898.43 epoch sec; seqNo:283; 4061543.49 north; 594657.98 east 2021-10-10T16:04:58Z- AHRS_M2 msg: 1633881898.81 epoch sec; seqNo:279 2021-10-10T16:04:58Z- AHRS_M2 msg: -0.10 phi; -0.11 theta; 4.75 psi 2021-10-10T16:04:58Z- handleDepth()-Depth_Keller msg: 1633881898818 epoch sec; seqNo:284; depth 6.39 2021-10-10T16:04:58Z- handleDvl() - RDI_Pathfinder msg: 1633881898.84 epoch sec; seqNo:106 2021-10-10T16:04:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.87 , 78.71 , 70.51 , 76.66 2021-10-10T16:04:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.02 , -0.05 2021-10-10T16:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881898.87 epoch sec; seqNo:284; 4061543.48 north; 594656.76 east 2021-10-10T16:04:59Z- AHRS_M2 msg: 1633881899.22 epoch sec; seqNo:280 2021-10-10T16:04:59Z- AHRS_M2 msg: -0.11 phi; -0.11 theta; 4.76 psi 2021-10-10T16:04:59Z- handleDepth()-Depth_Keller msg: 1633881899228 epoch sec; seqNo:285; depth 6.43 2021-10-10T16:04:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881899.24 epoch sec; seqNo:285; 4061543.48 north; 594656.76 east 2021-10-10T16:04:59Z- AHRS_M2 msg: 1633881899.62 epoch sec; seqNo:281 2021-10-10T16:04:59Z- AHRS_M2 msg: -0.12 phi; -0.11 theta; 4.77 psi 2021-10-10T16:04:59Z- handleDepth()-Depth_Keller msg: 1633881899625 epoch sec; seqNo:286; depth 6.48 2021-10-10T16:04:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:04:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:04:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:04:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:04:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:04:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:04:59Z- handleDvl() - RDI_Pathfinder msg: 1633881899.63 epoch sec; seqNo:107 2021-10-10T16:04:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:04:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.02 , -0.05 2021-10-10T16:04:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881899.64 epoch sec; seqNo:286; 4061543.48 north; 594656.76 east 2021-10-10T16:05:00Z- AHRS_M2 msg: 1633881900.03 epoch sec; seqNo:282 2021-10-10T16:05:00Z- AHRS_M2 msg: -0.13 phi; -0.11 theta; 4.78 psi 2021-10-10T16:05:00Z- handleDepth()-Depth_Keller msg: 1633881900036 epoch sec; seqNo:287; depth 6.51 2021-10-10T16:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881900.05 epoch sec; seqNo:287; 4061543.47 north; 594655.54 east 2021-10-10T16:05:00Z- AHRS_M2 msg: 1633881900.43 epoch sec; seqNo:283 2021-10-10T16:05:00Z- AHRS_M2 msg: -0.12 phi; -0.11 theta; 4.78 psi 2021-10-10T16:05:00Z- handleDepth()-Depth_Keller msg: 1633881900443 epoch sec; seqNo:288; depth 6.54 2021-10-10T16:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881900.45 epoch sec; seqNo:288; 4061543.47 north; 594655.54 east 2021-10-10T16:05:00Z- AHRS_M2 msg: 1633881900.83 epoch sec; seqNo:284 2021-10-10T16:05:00Z- AHRS_M2 msg: -0.12 phi; -0.12 theta; 4.79 psi 2021-10-10T16:05:00Z- handleDepth()-Depth_Keller msg: 1633881900846 epoch sec; seqNo:289; depth 6.59 2021-10-10T16:05:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:00Z- handleDvl() - RDI_Pathfinder msg: 1633881900.85 epoch sec; seqNo:108 2021-10-10T16:05:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.02 , -0.05 2021-10-10T16:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881900.87 epoch sec; seqNo:289; 4061543.47 north; 594655.54 east 2021-10-10T16:05:01Z- AHRS_M2 msg: 1633881901.24 epoch sec; seqNo:285 2021-10-10T16:05:01Z- AHRS_M2 msg: -0.12 phi; -0.12 theta; 4.79 psi 2021-10-10T16:05:01Z- handleDepth()-Depth_Keller msg: 1633881901264 epoch sec; seqNo:290; depth 6.63 2021-10-10T16:05:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881901.27 epoch sec; seqNo:290; 4061543.45 north; 594654.32 east 2021-10-10T16:05:01Z- AHRS_M2 msg: 1633881901.64 epoch sec; seqNo:286 2021-10-10T16:05:01Z- AHRS_M2 msg: -0.12 phi; -0.12 theta; 4.79 psi 2021-10-10T16:05:01Z- handleDepth()-Depth_Keller msg: 1633881901645 epoch sec; seqNo:291; depth 6.68 2021-10-10T16:05:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881901.65 epoch sec; seqNo:291; 4061543.45 north; 594654.32 east 2021-10-10T16:05:01Z- LcmTrn::handleMessages() - handling 55 messages took 0.67 ms and 141 calls... 2021-10-10T16:05:01Z- waiting for 1633881898.20, time is 1633881901.65 2021-10-10T16:05:01Z- LcmTrn::updateTrn() >>>> pose time 1633881901.65, meas time 1633881900.85 <<<< 2021-10-10T16:05:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881900.85, ping # 0. 2021-10-10T16:05:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881900.85 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:01Z- TerrainNav::motionUpdate() - currEstimate = (4061543, 594654.32, 6.68) 2021-10-10T16:05:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:01Z- TerrainNav:: SubcloudNIS is 0.04, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:01Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:05:01Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:05:01Z- TerrainNav::Measurement type 1 not incorporated from time = 1633881900.85 sec.; No relevant navigation data available 2021-10-10T16:05:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:01Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:01Z- variances([0], [2], and psi_berg) = 675.665500 794.360919 0.000000 2021-10-10T16:05:01Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:01Z- LcmTrn::publishEstimates() - MLE : 4061509.95 594670.82 6.68 2021-10-10T16:05:01Z- LcmTrn::publishEstimates() - MMSE : 4061521.07 594657.41 -5.95 2021-10-10T16:05:01Z- LcmTrn::publishEstimates() - COVAR: 675.67 794.36 5.43 0.00 2021-10-10T16:05:02Z- AHRS_M2 msg: 1633881902.05 epoch sec; seqNo:287 2021-10-10T16:05:02Z- AHRS_M2 msg: -0.13 phi; -0.12 theta; 4.80 psi 2021-10-10T16:05:02Z- handleDepth()-Depth_Keller msg: 1633881902060 epoch sec; seqNo:292; depth 6.72 2021-10-10T16:05:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:02Z- handleDvl() - RDI_Pathfinder msg: 1633881902.06 epoch sec; seqNo:109 2021-10-10T16:05:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.02 , -0.05 2021-10-10T16:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881902.07 epoch sec; seqNo:292; 4061543.83 north; 594654.32 east 2021-10-10T16:05:02Z- AHRS_M2 msg: 1633881902.45 epoch sec; seqNo:288 2021-10-10T16:05:02Z- AHRS_M2 msg: -0.14 phi; -0.13 theta; 4.81 psi 2021-10-10T16:05:02Z- handleDepth()-Depth_Keller msg: 1633881902455 epoch sec; seqNo:293; depth 6.75 2021-10-10T16:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881902.46 epoch sec; seqNo:293; 4061543.83 north; 594654.32 east 2021-10-10T16:05:02Z- AHRS_M2 msg: 1633881902.85 epoch sec; seqNo:289 2021-10-10T16:05:02Z- AHRS_M2 msg: -0.14 phi; -0.13 theta; 4.82 psi 2021-10-10T16:05:02Z- handleDepth()-Depth_Keller msg: 1633881902863 epoch sec; seqNo:294; depth 6.78 2021-10-10T16:05:02Z- handleDvl() - RDI_Pathfinder msg: 1633881902.88 epoch sec; seqNo:110 2021-10-10T16:05:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.82 , 86.11 , 72.14 , 80.68 2021-10-10T16:05:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.05 , 0.10 2021-10-10T16:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881902.92 epoch sec; seqNo:294; 4061543.82 north; 594653.09 east 2021-10-10T16:05:03Z- AHRS_M2 msg: 1633881903.26 epoch sec; seqNo:290 2021-10-10T16:05:03Z- AHRS_M2 msg: -0.15 phi; -0.13 theta; 4.83 psi 2021-10-10T16:05:03Z- handleDepth()-Depth_Keller msg: 1633881903262 epoch sec; seqNo:295; depth 6.83 2021-10-10T16:05:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:03Z- handleDvl() - RDI_Pathfinder msg: 1633881903.27 epoch sec; seqNo:111 2021-10-10T16:05:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.05 , 0.10 2021-10-10T16:05:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881903.28 epoch sec; seqNo:295; 4061543.82 north; 594653.09 east 2021-10-10T16:05:03Z- AHRS_M2 msg: 1633881903.66 epoch sec; seqNo:291 2021-10-10T16:05:03Z- AHRS_M2 msg: -0.16 phi; -0.13 theta; 4.84 psi 2021-10-10T16:05:03Z- handleDepth()-Depth_Keller msg: 1633881903665 epoch sec; seqNo:296; depth 6.88 2021-10-10T16:05:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881903.68 epoch sec; seqNo:296; 4061543.82 north; 594653.09 east 2021-10-10T16:05:04Z- AHRS_M2 msg: 1633881904.07 epoch sec; seqNo:292 2021-10-10T16:05:04Z- AHRS_M2 msg: -0.16 phi; -0.13 theta; 4.86 psi 2021-10-10T16:05:04Z- handleDepth()-Depth_Keller msg: 1633881904073 epoch sec; seqNo:297; depth 6.90 2021-10-10T16:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881904.08 epoch sec; seqNo:297; 4061543.82 north; 594653.09 east 2021-10-10T16:05:04Z- AHRS_M2 msg: 1633881904.47 epoch sec; seqNo:293 2021-10-10T16:05:04Z- AHRS_M2 msg: -0.16 phi; -0.13 theta; 4.87 psi 2021-10-10T16:05:04Z- handleDepth()-Depth_Keller msg: 1633881904476 epoch sec; seqNo:298; depth 6.95 2021-10-10T16:05:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:04Z- handleDvl() - RDI_Pathfinder msg: 1633881904.48 epoch sec; seqNo:112 2021-10-10T16:05:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.05 , 0.10 2021-10-10T16:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881904.49 epoch sec; seqNo:298; 4061543.81 north; 594651.87 east 2021-10-10T16:05:04Z- AHRS_M2 msg: 1633881904.87 epoch sec; seqNo:294 2021-10-10T16:05:04Z- AHRS_M2 msg: -0.16 phi; -0.12 theta; 4.88 psi 2021-10-10T16:05:04Z- handleDepth()-Depth_Keller msg: 1633881904878 epoch sec; seqNo:299; depth 7.00 2021-10-10T16:05:04Z- handleDvl() - RDI_Pathfinder msg: 1633881904.90 epoch sec; seqNo:113 2021-10-10T16:05:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:04Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T16:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881904.94 epoch sec; seqNo:299; 4061544.18 north; 594651.87 east 2021-10-10T16:05:05Z- AHRS_M2 msg: 1633881905.28 epoch sec; seqNo:295 2021-10-10T16:05:05Z- AHRS_M2 msg: -0.15 phi; -0.12 theta; 4.88 psi 2021-10-10T16:05:05Z- handleDepth()-Depth_Keller msg: 1633881905287 epoch sec; seqNo:300; depth 7.06 2021-10-10T16:05:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881905.31 epoch sec; seqNo:300; 4061544.18 north; 594651.87 east 2021-10-10T16:05:05Z- AHRS_M2 msg: 1633881905.68 epoch sec; seqNo:296 2021-10-10T16:05:05Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; 4.89 psi 2021-10-10T16:05:05Z- handleDepth()-Depth_Keller msg: 1633881905685 epoch sec; seqNo:301; depth 7.10 2021-10-10T16:05:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:05Z- handleDvl() - RDI_Pathfinder msg: 1633881905.69 epoch sec; seqNo:114 2021-10-10T16:05:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T16:05:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881905.73 epoch sec; seqNo:301; 4061544.17 north; 594650.65 east 2021-10-10T16:05:06Z- AHRS_M2 msg: 1633881906.09 epoch sec; seqNo:297 2021-10-10T16:05:06Z- AHRS_M2 msg: -0.12 phi; -0.13 theta; 4.90 psi 2021-10-10T16:05:06Z- handleDepth()-Depth_Keller msg: 1633881906101 epoch sec; seqNo:302; depth 7.16 2021-10-10T16:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881906.11 epoch sec; seqNo:302; 4061544.17 north; 594650.65 east 2021-10-10T16:05:06Z- AHRS_M2 msg: 1633881906.49 epoch sec; seqNo:298 2021-10-10T16:05:06Z- AHRS_M2 msg: -0.12 phi; -0.14 theta; 4.90 psi 2021-10-10T16:05:06Z- handleDepth()-Depth_Keller msg: 1633881906499 epoch sec; seqNo:303; depth 7.22 2021-10-10T16:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881906.51 epoch sec; seqNo:303; 4061544.55 north; 594650.65 east 2021-10-10T16:05:06Z- AHRS_M2 msg: 1633881906.89 epoch sec; seqNo:299 2021-10-10T16:05:06Z- AHRS_M2 msg: -0.13 phi; -0.15 theta; 4.91 psi 2021-10-10T16:05:06Z- handleDepth()-Depth_Keller msg: 1633881906905 epoch sec; seqNo:304; depth 7.27 2021-10-10T16:05:06Z- handleDvl() - RDI_Pathfinder msg: 1633881906.93 epoch sec; seqNo:115 2021-10-10T16:05:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.00 , 84.21 , 72.14 , 77.47 2021-10-10T16:05:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , 0.07 , 0.11 2021-10-10T16:05:06Z- LcmTrn::handleMessages() - handling 45 messages took 0.82 ms and 128 calls... 2021-10-10T16:05:06Z- waiting for 1633881904.65, time is 1633881906.93 2021-10-10T16:05:06Z- LcmTrn::updateTrn() equating pose 1633881906.93 and meas times 1633881906.93 2021-10-10T16:05:06Z- LcmTrn::updateTrn() >>>> pose time 1633881906.93, meas time 1633881906.93 <<<< 2021-10-10T16:05:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881906.93 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:06Z- TerrainNav::motionUpdate() - currEstimate = (4061545, 594650.65, 7.27) 2021-10-10T16:05:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:06Z- TerrainNav:: SubcloudNIS is 0.04, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:06Z- TerrainNav::Measurement type 1 not incorporated from time = 1633881906.93 sec.; No relevant navigation data available 2021-10-10T16:05:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:06Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:06Z- variances([0], [2], and psi_berg) = 675.202139 794.382789 0.000000 2021-10-10T16:05:06Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:06Z- LcmTrn::publishEstimates() - MLE : 4061511.05 594667.15 7.27 2021-10-10T16:05:06Z- LcmTrn::publishEstimates() - MMSE : 4061522.17 594653.73 -5.37 2021-10-10T16:05:06Z- LcmTrn::publishEstimates() - COVAR: 675.20 794.38 5.62 0.00 2021-10-10T16:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881906.94 epoch sec; seqNo:304; 4061544.55 north; 594650.65 east 2021-10-10T16:05:07Z- AHRS_M2 msg: 1633881907.30 epoch sec; seqNo:300 2021-10-10T16:05:07Z- AHRS_M2 msg: -0.14 phi; -0.16 theta; 4.91 psi 2021-10-10T16:05:07Z- handleDepth()-Depth_Keller msg: 1633881907301 epoch sec; seqNo:305; depth 7.29 2021-10-10T16:05:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881907.33 epoch sec; seqNo:305; 4061544.55 north; 594650.65 east 2021-10-10T16:05:07Z- AHRS_M2 msg: 1633881907.70 epoch sec; seqNo:301 2021-10-10T16:05:07Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; 4.92 psi 2021-10-10T16:05:07Z- handleDepth()-Depth_Keller msg: 1633881907705 epoch sec; seqNo:306; depth 7.33 2021-10-10T16:05:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881907.71 epoch sec; seqNo:306; 4061544.54 north; 594649.43 east 2021-10-10T16:05:08Z- AHRS_M2 msg: 1633881908.11 epoch sec; seqNo:302 2021-10-10T16:05:08Z- AHRS_M2 msg: -0.18 phi; -0.16 theta; 4.92 psi 2021-10-10T16:05:08Z- handleDepth()-Depth_Keller msg: 1633881908114 epoch sec; seqNo:307; depth 7.37 2021-10-10T16:05:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:08Z- handleDvl() - RDI_Pathfinder msg: 1633881908.12 epoch sec; seqNo:116 2021-10-10T16:05:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , 0.07 , 0.11 2021-10-10T16:05:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881908.12 epoch sec; seqNo:307; 4061544.92 north; 594649.42 east 2021-10-10T16:05:08Z- AHRS_M2 msg: 1633881908.51 epoch sec; seqNo:303 2021-10-10T16:05:08Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 4.92 psi 2021-10-10T16:05:08Z- handleDepth()-Depth_Keller msg: 1633881908518 epoch sec; seqNo:308; depth 7.41 2021-10-10T16:05:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881908.53 epoch sec; seqNo:308; 4061544.92 north; 594649.42 east 2021-10-10T16:05:08Z- AHRS_M2 msg: 1633881908.91 epoch sec; seqNo:304 2021-10-10T16:05:08Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 4.93 psi 2021-10-10T16:05:08Z- handleDepth()-Depth_Keller msg: 1633881908920 epoch sec; seqNo:309; depth 7.44 2021-10-10T16:05:08Z- handleDvl() - RDI_Pathfinder msg: 1633881908.94 epoch sec; seqNo:117 2021-10-10T16:05:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.59 , 88.29 , 70.10 , 79.53 2021-10-10T16:05:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.25 2021-10-10T16:05:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881908.96 epoch sec; seqNo:309; 4061544.92 north; 594649.42 east 2021-10-10T16:05:09Z- AHRS_M2 msg: 1633881909.32 epoch sec; seqNo:305 2021-10-10T16:05:09Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 4.93 psi 2021-10-10T16:05:09Z- handleDepth()-Depth_Keller msg: 1633881909324 epoch sec; seqNo:310; depth 7.49 2021-10-10T16:05:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:09Z- handleDvl() - RDI_Pathfinder msg: 1633881909.33 epoch sec; seqNo:118 2021-10-10T16:05:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.25 2021-10-10T16:05:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881909.34 epoch sec; seqNo:310; 4061544.90 north; 594648.20 east 2021-10-10T16:05:09Z- AHRS_M2 msg: 1633881909.72 epoch sec; seqNo:306 2021-10-10T16:05:09Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 4.93 psi 2021-10-10T16:05:09Z- handleDepth()-Depth_Keller msg: 1633881909726 epoch sec; seqNo:311; depth 7.53 2021-10-10T16:05:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881909.74 epoch sec; seqNo:311; 4061544.90 north; 594648.20 east 2021-10-10T16:05:10Z- AHRS_M2 msg: 1633881910.13 epoch sec; seqNo:307 2021-10-10T16:05:10Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 4.93 psi 2021-10-10T16:05:10Z- handleDepth()-Depth_Keller msg: 1633881910148 epoch sec; seqNo:312; depth 7.59 2021-10-10T16:05:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881910.16 epoch sec; seqNo:312; 4061544.90 north; 594648.20 east 2021-10-10T16:05:10Z- AHRS_M2 msg: 1633881910.53 epoch sec; seqNo:308 2021-10-10T16:05:10Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 4.93 psi 2021-10-10T16:05:10Z- handleDepth()-Depth_Keller msg: 1633881910540 epoch sec; seqNo:313; depth 7.64 2021-10-10T16:05:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:10Z- handleDvl() - RDI_Pathfinder msg: 1633881910.54 epoch sec; seqNo:119 2021-10-10T16:05:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.25 2021-10-10T16:05:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881910.55 epoch sec; seqNo:313; 4061544.89 north; 594646.98 east 2021-10-10T16:05:10Z- AHRS_M2 msg: 1633881910.93 epoch sec; seqNo:309 2021-10-10T16:05:10Z- AHRS_M2 msg: -0.18 phi; -0.15 theta; 4.94 psi 2021-10-10T16:05:10Z- handleDepth()-Depth_Keller msg: 1633881910940 epoch sec; seqNo:314; depth 7.71 2021-10-10T16:05:10Z- handleDvl() - RDI_Pathfinder msg: 1633881910.96 epoch sec; seqNo:120 2021-10-10T16:05:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.95 , 90.46 , 72.15 , 81.77 2021-10-10T16:05:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.14 , 0.12 2021-10-10T16:05:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881910.97 epoch sec; seqNo:314; 4061544.89 north; 594646.98 east 2021-10-10T16:05:11Z- AHRS_M2 msg: 1633881911.34 epoch sec; seqNo:310 2021-10-10T16:05:11Z- AHRS_M2 msg: -0.18 phi; -0.15 theta; 4.94 psi 2021-10-10T16:05:11Z- handleDepth()-Depth_Keller msg: 1633881911353 epoch sec; seqNo:315; depth 7.74 2021-10-10T16:05:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881911.37 epoch sec; seqNo:315; 4061544.89 north; 594646.98 east 2021-10-10T16:05:11Z- AHRS_M2 msg: 1633881911.74 epoch sec; seqNo:311 2021-10-10T16:05:11Z- AHRS_M2 msg: -0.17 phi; -0.16 theta; 4.95 psi 2021-10-10T16:05:11Z- handleDepth()-Depth_Keller msg: 1633881911745 epoch sec; seqNo:316; depth 7.83 2021-10-10T16:05:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:11Z- handleDvl() - RDI_Pathfinder msg: 1633881911.75 epoch sec; seqNo:121 2021-10-10T16:05:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.14 , 0.12 2021-10-10T16:05:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881911.76 epoch sec; seqNo:316; 4061544.89 north; 594646.98 east 2021-10-10T16:05:11Z- LcmTrn::handleMessages() - handling 43 messages took 0.62 ms and 130 calls... 2021-10-10T16:05:11Z- waiting for 1633881909.93, time is 1633881911.76 2021-10-10T16:05:11Z- LcmTrn::updateTrn() equating pose 1633881911.76 and meas times 1633881911.76 2021-10-10T16:05:11Z- LcmTrn::updateTrn() >>>> pose time 1633881911.76, meas time 1633881911.76 <<<< 2021-10-10T16:05:11Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881911.76, ping # 0. 2021-10-10T16:05:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881911.76 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:11Z- TerrainNav::motionUpdate() - currEstimate = (4061545, 594646.98, 7.83) 2021-10-10T16:05:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:11Z- TerrainNav:: SubcloudNIS is 0.04, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:11Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:05:11Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:05:11Z- TNavBF::Projecting Measurements 2021-10-10T16:05:11Z- TNavFilter::Measurement from time = 1633881911.76 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:05:11Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:11Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:11Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:05:11Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:05:11Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:05:11Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:05:11Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:11Z- Filter 0 NorthBias: -22.4 EastBias: 3.1 DepthBias: -12.6 NorthVariance: 674.8 EastVariance: 794.4 DepthVariance: 5.8 this->DepthBiasCov: 3.8 2021-10-10T16:05:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:11Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:11Z- variances([0], [2], and psi_berg) = 674.755740 794.403603 0.000000 2021-10-10T16:05:11Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:11Z- LcmTrn::publishEstimates() - MLE : 4061511.39 594663.48 7.83 2021-10-10T16:05:11Z- LcmTrn::publishEstimates() - MMSE : 4061522.52 594650.06 -4.81 2021-10-10T16:05:11Z- LcmTrn::publishEstimates() - COVAR: 674.76 794.40 5.81 0.00 2021-10-10T16:05:12Z- AHRS_M2 msg: 1633881912.15 epoch sec; seqNo:312 2021-10-10T16:05:12Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; 4.96 psi 2021-10-10T16:05:12Z- handleDepth()-Depth_Keller msg: 1633881912158 epoch sec; seqNo:317; depth 7.87 2021-10-10T16:05:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881912.17 epoch sec; seqNo:317; 4061545.25 north; 594645.76 east 2021-10-10T16:05:12Z- AHRS_M2 msg: 1633881912.55 epoch sec; seqNo:313 2021-10-10T16:05:12Z- AHRS_M2 msg: -0.16 phi; -0.16 theta; 4.96 psi 2021-10-10T16:05:12Z- handleDepth()-Depth_Keller msg: 1633881912560 epoch sec; seqNo:318; depth 7.91 2021-10-10T16:05:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881912.57 epoch sec; seqNo:318; 4061545.25 north; 594645.76 east 2021-10-10T16:05:12Z- AHRS_M2 msg: 1633881912.95 epoch sec; seqNo:314 2021-10-10T16:05:12Z- AHRS_M2 msg: -0.17 phi; -0.17 theta; 4.97 psi 2021-10-10T16:05:12Z- handleDepth()-Depth_Keller msg: 1633881912969 epoch sec; seqNo:319; depth 7.96 2021-10-10T16:05:12Z- handleDvl() - RDI_Pathfinder msg: 1633881912.99 epoch sec; seqNo:122 2021-10-10T16:05:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.58 , 86.11 , 70.50 , 0.00 2021-10-10T16:05:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.12 , 0.03 2021-10-10T16:05:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881913.00 epoch sec; seqNo:319; 4061545.25 north; 594645.76 east 2021-10-10T16:05:13Z- AHRS_M2 msg: 1633881913.36 epoch sec; seqNo:315 2021-10-10T16:05:13Z- AHRS_M2 msg: -0.18 phi; -0.17 theta; 4.96 psi 2021-10-10T16:05:13Z- handleDepth()-Depth_Keller msg: 1633881913361 epoch sec; seqNo:320; depth 8.02 2021-10-10T16:05:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881913.38 epoch sec; seqNo:320; 4061545.24 north; 594644.54 east 2021-10-10T16:05:13Z- AHRS_M2 msg: 1633881913.76 epoch sec; seqNo:316 2021-10-10T16:05:13Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 4.97 psi 2021-10-10T16:05:13Z- handleDepth()-Depth_Keller msg: 1633881913766 epoch sec; seqNo:321; depth 8.06 2021-10-10T16:05:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881913.78 epoch sec; seqNo:321; 4061545.62 north; 594644.53 east 2021-10-10T16:05:14Z- AHRS_M2 msg: 1633881914.16 epoch sec; seqNo:317 2021-10-10T16:05:14Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 4.96 psi 2021-10-10T16:05:14Z- handleDepth()-Depth_Keller msg: 1633881914188 epoch sec; seqNo:322; depth 8.10 2021-10-10T16:05:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:14Z- handleDvl() - RDI_Pathfinder msg: 1633881914.19 epoch sec; seqNo:123 2021-10-10T16:05:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.12 , 0.03 2021-10-10T16:05:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881914.20 epoch sec; seqNo:322; 4061545.62 north; 594644.53 east 2021-10-10T16:05:14Z- AHRS_M2 msg: 1633881914.57 epoch sec; seqNo:318 2021-10-10T16:05:14Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 4.96 psi 2021-10-10T16:05:14Z- handleDepth()-Depth_Keller msg: 1633881914573 epoch sec; seqNo:323; depth 8.13 2021-10-10T16:05:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881914.58 epoch sec; seqNo:323; 4061545.62 north; 594644.53 east 2021-10-10T16:05:14Z- AHRS_M2 msg: 1633881914.97 epoch sec; seqNo:319 2021-10-10T16:05:14Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 4.96 psi 2021-10-10T16:05:14Z- handleDepth()-Depth_Keller msg: 1633881914977 epoch sec; seqNo:324; depth 8.20 2021-10-10T16:05:15Z- handleDvl() - RDI_Pathfinder msg: 1633881915.00 epoch sec; seqNo:124 2021-10-10T16:05:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.54 , 89.37 , 71.32 , 83.94 2021-10-10T16:05:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.05 , -0.04 2021-10-10T16:05:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881915.02 epoch sec; seqNo:324; 4061545.98 north; 594643.31 east 2021-10-10T16:05:15Z- AHRS_M2 msg: 1633881915.38 epoch sec; seqNo:320 2021-10-10T16:05:15Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 4.96 psi 2021-10-10T16:05:15Z- handleDepth()-Depth_Keller msg: 1633881915392 epoch sec; seqNo:325; depth 8.26 2021-10-10T16:05:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:15Z- handleDvl() - RDI_Pathfinder msg: 1633881915.39 epoch sec; seqNo:125 2021-10-10T16:05:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.05 , -0.04 2021-10-10T16:05:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881915.41 epoch sec; seqNo:325; 4061545.98 north; 594643.31 east 2021-10-10T16:05:15Z- AHRS_M2 msg: 1633881915.78 epoch sec; seqNo:321 2021-10-10T16:05:15Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 4.96 psi 2021-10-10T16:05:15Z- handleDepth()-Depth_Keller msg: 1633881915785 epoch sec; seqNo:326; depth 8.32 2021-10-10T16:05:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881915.79 epoch sec; seqNo:326; 4061545.98 north; 594643.31 east 2021-10-10T16:05:16Z- AHRS_M2 msg: 1633881916.18 epoch sec; seqNo:322 2021-10-10T16:05:16Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 4.96 psi 2021-10-10T16:05:16Z- handleDepth()-Depth_Keller msg: 1633881916195 epoch sec; seqNo:327; depth 8.37 2021-10-10T16:05:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881916.20 epoch sec; seqNo:327; 4061545.98 north; 594643.31 east 2021-10-10T16:05:16Z- AHRS_M2 msg: 1633881916.59 epoch sec; seqNo:323 2021-10-10T16:05:16Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 4.97 psi 2021-10-10T16:05:16Z- handleDepth()-Depth_Keller msg: 1633881916593 epoch sec; seqNo:328; depth 8.43 2021-10-10T16:05:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:16Z- handleDvl() - RDI_Pathfinder msg: 1633881916.60 epoch sec; seqNo:126 2021-10-10T16:05:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.05 , -0.04 2021-10-10T16:05:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881916.60 epoch sec; seqNo:328; 4061545.97 north; 594642.09 east 2021-10-10T16:05:17Z- AHRS_M2 msg: 1633881916.99 epoch sec; seqNo:324 2021-10-10T16:05:17Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 4.98 psi 2021-10-10T16:05:17Z- LcmTrn::handleMessages() - handling 42 messages took 0.67 ms and 128 calls... 2021-10-10T16:05:17Z- waiting for 1633881914.76, time is 1633881916.99 2021-10-10T16:05:17Z- LcmTrn::updateTrn() >>>> pose time 1633881916.99, meas time 1633881916.60 <<<< 2021-10-10T16:05:17Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881916.60, ping # 0. 2021-10-10T16:05:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881916.60 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:17Z- TerrainNav::motionUpdate() - currEstimate = (4061546, 594642.09, 8.43) 2021-10-10T16:05:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:17Z- TerrainNav:: SubcloudNIS is 0.04, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:17Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:05:17Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:05:17Z- TNavBF::Projecting Measurements 2021-10-10T16:05:17Z- TNavFilter::Measurement from time = 1633881916.60 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:05:17Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:17Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:17Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:05:17Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:05:17Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:05:17Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:05:17Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:17Z- Filter 0 NorthBias: -22.4 EastBias: 3.1 DepthBias: -12.6 NorthVariance: 674.3 EastVariance: 794.4 DepthVariance: 6.0 this->DepthBiasCov: 4.0 2021-10-10T16:05:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:17Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:17Z- variances([0], [2], and psi_berg) = 674.124616 794.432613 0.000000 2021-10-10T16:05:17Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:17Z- LcmTrn::publishEstimates() - MLE : 4061512.47 594658.59 8.43 2021-10-10T16:05:17Z- LcmTrn::publishEstimates() - MMSE : 4061523.61 594645.17 -4.20 2021-10-10T16:05:17Z- LcmTrn::publishEstimates() - COVAR: 674.12 794.43 6.07 0.00 2021-10-10T16:05:17Z- handleDepth()-Depth_Keller msg: 1633881917005 epoch sec; seqNo:329; depth 8.49 2021-10-10T16:05:17Z- handleDvl() - RDI_Pathfinder msg: 1633881917.03 epoch sec; seqNo:127 2021-10-10T16:05:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.72 , 89.37 , 71.74 , 82.85 2021-10-10T16:05:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.12 , 0.10 2021-10-10T16:05:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881917.04 epoch sec; seqNo:329; 4061545.97 north; 594642.09 east 2021-10-10T16:05:17Z- AHRS_M2 msg: 1633881917.40 epoch sec; seqNo:325 2021-10-10T16:05:17Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 4.99 psi 2021-10-10T16:05:17Z- handleDepth()-Depth_Keller msg: 1633881917407 epoch sec; seqNo:330; depth 8.56 2021-10-10T16:05:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881917.43 epoch sec; seqNo:330; 4061545.97 north; 594642.09 east 2021-10-10T16:05:17Z- AHRS_M2 msg: 1633881917.80 epoch sec; seqNo:326 2021-10-10T16:05:17Z- AHRS_M2 msg: -0.18 phi; -0.17 theta; 5.01 psi 2021-10-10T16:05:17Z- handleDepth()-Depth_Keller msg: 1633881917805 epoch sec; seqNo:331; depth 8.60 2021-10-10T16:05:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:17Z- handleDvl() - RDI_Pathfinder msg: 1633881917.81 epoch sec; seqNo:128 2021-10-10T16:05:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.12 , 0.10 2021-10-10T16:05:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881917.82 epoch sec; seqNo:331; 4061546.34 north; 594640.86 east 2021-10-10T16:05:18Z- AHRS_M2 msg: 1633881918.21 epoch sec; seqNo:327 2021-10-10T16:05:18Z- AHRS_M2 msg: -0.18 phi; -0.17 theta; 5.01 psi 2021-10-10T16:05:18Z- handleDepth()-Depth_Keller msg: 1633881918217 epoch sec; seqNo:332; depth 8.65 2021-10-10T16:05:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881918.23 epoch sec; seqNo:332; 4061546.34 north; 594640.86 east 2021-10-10T16:05:18Z- AHRS_M2 msg: 1633881918.61 epoch sec; seqNo:328 2021-10-10T16:05:18Z- AHRS_M2 msg: -0.18 phi; -0.17 theta; 5.02 psi 2021-10-10T16:05:18Z- handleDepth()-Depth_Keller msg: 1633881918613 epoch sec; seqNo:333; depth 8.71 2021-10-10T16:05:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881918.63 epoch sec; seqNo:333; 4061546.34 north; 594640.86 east 2021-10-10T16:05:19Z- AHRS_M2 msg: 1633881919.01 epoch sec; seqNo:329 2021-10-10T16:05:19Z- AHRS_M2 msg: -0.18 phi; -0.16 theta; 5.02 psi 2021-10-10T16:05:19Z- handleDepth()-Depth_Keller msg: 1633881919016 epoch sec; seqNo:334; depth 8.76 2021-10-10T16:05:19Z- handleDvl() - RDI_Pathfinder msg: 1633881919.04 epoch sec; seqNo:129 2021-10-10T16:05:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T16:05:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881919.06 epoch sec; seqNo:334; 4061546.34 north; 594640.86 east 2021-10-10T16:05:19Z- AHRS_M2 msg: 1633881919.42 epoch sec; seqNo:330 2021-10-10T16:05:19Z- AHRS_M2 msg: -0.18 phi; -0.16 theta; 5.02 psi 2021-10-10T16:05:19Z- handleDepth()-Depth_Keller msg: 1633881919434 epoch sec; seqNo:335; depth 8.82 2021-10-10T16:05:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881919.45 epoch sec; seqNo:335; 4061546.32 north; 594639.64 east 2021-10-10T16:05:19Z- AHRS_M2 msg: 1633881919.82 epoch sec; seqNo:331 2021-10-10T16:05:19Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.02 psi 2021-10-10T16:05:19Z- handleDepth()-Depth_Keller msg: 1633881919825 epoch sec; seqNo:336; depth 8.87 2021-10-10T16:05:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881919.84 epoch sec; seqNo:336; 4061546.32 north; 594639.64 east 2021-10-10T16:05:20Z- AHRS_M2 msg: 1633881920.23 epoch sec; seqNo:332 2021-10-10T16:05:20Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.01 psi 2021-10-10T16:05:20Z- handleDepth()-Depth_Keller msg: 1633881920235 epoch sec; seqNo:337; depth 8.92 2021-10-10T16:05:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:20Z- handleDvl() - RDI_Pathfinder msg: 1633881920.24 epoch sec; seqNo:130 2021-10-10T16:05:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:20Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T16:05:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881920.25 epoch sec; seqNo:337; 4061546.70 north; 594639.64 east 2021-10-10T16:05:20Z- AHRS_M2 msg: 1633881920.63 epoch sec; seqNo:333 2021-10-10T16:05:20Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.00 psi 2021-10-10T16:05:20Z- handleDepth()-Depth_Keller msg: 1633881920638 epoch sec; seqNo:338; depth 9.00 2021-10-10T16:05:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881920.65 epoch sec; seqNo:338; 4061546.70 north; 594639.64 east 2021-10-10T16:05:21Z- AHRS_M2 msg: 1633881921.03 epoch sec; seqNo:334 2021-10-10T16:05:21Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 4.99 psi 2021-10-10T16:05:21Z- handleDepth()-Depth_Keller msg: 1633881921043 epoch sec; seqNo:339; depth 9.05 2021-10-10T16:05:21Z- handleDvl() - RDI_Pathfinder msg: 1633881921.07 epoch sec; seqNo:131 2021-10-10T16:05:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.36 , 86.92 , 70.50 , 77.88 2021-10-10T16:05:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.09 , 0.14 2021-10-10T16:05:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881921.08 epoch sec; seqNo:339; 4061546.69 north; 594638.42 east 2021-10-10T16:05:21Z- AHRS_M2 msg: 1633881921.44 epoch sec; seqNo:335 2021-10-10T16:05:21Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 4.99 psi 2021-10-10T16:05:21Z- handleDepth()-Depth_Keller msg: 1633881921451 epoch sec; seqNo:340; depth 9.12 2021-10-10T16:05:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:21Z- handleDvl() - RDI_Pathfinder msg: 1633881921.45 epoch sec; seqNo:132 2021-10-10T16:05:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.09 , 0.14 2021-10-10T16:05:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881921.47 epoch sec; seqNo:340; 4061546.69 north; 594638.42 east 2021-10-10T16:05:21Z- AHRS_M2 msg: 1633881921.84 epoch sec; seqNo:336 2021-10-10T16:05:21Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 4.99 psi 2021-10-10T16:05:21Z- handleDepth()-Depth_Keller msg: 1633881921846 epoch sec; seqNo:341; depth 9.18 2021-10-10T16:05:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881921.86 epoch sec; seqNo:341; 4061547.07 north; 594638.41 east 2021-10-10T16:05:22Z- LcmTrn::handleMessages() - handling 44 messages took 0.67 ms and 131 calls... 2021-10-10T16:05:22Z- waiting for 1633881919.99, time is 1633881921.86 2021-10-10T16:05:22Z- LcmTrn::updateTrn() >>>> pose time 1633881921.86, meas time 1633881921.45 <<<< 2021-10-10T16:05:22Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881921.45, ping # 0. 2021-10-10T16:05:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881921.45 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:22Z- TerrainNav::motionUpdate() - currEstimate = (4061547, 594638.41, 9.18) 2021-10-10T16:05:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:22Z- TerrainNav:: SubcloudNIS is 0.04, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:22Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:05:22Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:05:22Z- TNavBF::Projecting Measurements 2021-10-10T16:05:22Z- TNavFilter::Measurement from time = 1633881921.45 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:05:22Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:22Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:22Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:05:22Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:05:22Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:05:22Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:05:22Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:22Z- Filter 0 NorthBias: -22.4 EastBias: 3.1 DepthBias: -12.6 NorthVariance: 673.7 EastVariance: 794.5 DepthVariance: 6.2 this->DepthBiasCov: 4.2 2021-10-10T16:05:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:22Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:22Z- variances([0], [2], and psi_berg) = 673.580982 794.457221 0.000000 2021-10-10T16:05:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:22Z- LcmTrn::publishEstimates() - MLE : 4061513.57 594654.91 9.18 2021-10-10T16:05:22Z- LcmTrn::publishEstimates() - MMSE : 4061524.71 594641.49 -3.45 2021-10-10T16:05:22Z- LcmTrn::publishEstimates() - COVAR: 673.58 794.46 6.26 0.00 2021-10-10T16:05:22Z- AHRS_M2 msg: 1633881922.24 epoch sec; seqNo:337 2021-10-10T16:05:22Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 4.99 psi 2021-10-10T16:05:22Z- handleDepth()-Depth_Keller msg: 1633881922256 epoch sec; seqNo:342; depth 9.23 2021-10-10T16:05:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881922.28 epoch sec; seqNo:342; 4061547.07 north; 594638.41 east 2021-10-10T16:05:22Z- AHRS_M2 msg: 1633881922.65 epoch sec; seqNo:338 2021-10-10T16:05:22Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 4.99 psi 2021-10-10T16:05:22Z- handleDepth()-Depth_Keller msg: 1633881922666 epoch sec; seqNo:343; depth 9.27 2021-10-10T16:05:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:22Z- handleDvl() - RDI_Pathfinder msg: 1633881922.69 epoch sec; seqNo:133 2021-10-10T16:05:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.09 , 0.14 2021-10-10T16:05:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881922.72 epoch sec; seqNo:343; 4061547.43 north; 594637.19 east 2021-10-10T16:05:23Z- AHRS_M2 msg: 1633881923.05 epoch sec; seqNo:339 2021-10-10T16:05:23Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.00 psi 2021-10-10T16:05:23Z- handleDepth()-Depth_Keller msg: 1633881923057 epoch sec; seqNo:344; depth 9.33 2021-10-10T16:05:23Z- handleDvl() - RDI_Pathfinder msg: 1633881923.08 epoch sec; seqNo:134 2021-10-10T16:05:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.13 , 91.54 , 70.91 , 77.47 2021-10-10T16:05:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.05 , 0.05 2021-10-10T16:05:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881923.11 epoch sec; seqNo:344; 4061547.43 north; 594637.19 east 2021-10-10T16:05:23Z- AHRS_M2 msg: 1633881923.46 epoch sec; seqNo:340 2021-10-10T16:05:23Z- AHRS_M2 msg: -0.25 phi; -0.18 theta; 5.01 psi 2021-10-10T16:05:23Z- handleDepth()-Depth_Keller msg: 1633881923470 epoch sec; seqNo:345; depth 9.39 2021-10-10T16:05:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881923.48 epoch sec; seqNo:345; 4061547.43 north; 594637.19 east 2021-10-10T16:05:23Z- AHRS_M2 msg: 1633881923.87 epoch sec; seqNo:341 2021-10-10T16:05:23Z- AHRS_M2 msg: -0.25 phi; -0.18 theta; 5.02 psi 2021-10-10T16:05:23Z- handleDepth()-Depth_Keller msg: 1633881923870 epoch sec; seqNo:346; depth 9.45 2021-10-10T16:05:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:23Z- handleDvl() - RDI_Pathfinder msg: 1633881923.88 epoch sec; seqNo:135 2021-10-10T16:05:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.05 , 0.05 2021-10-10T16:05:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881923.89 epoch sec; seqNo:346; 4061547.43 north; 594637.19 east 2021-10-10T16:05:24Z- AHRS_M2 msg: 1633881924.29 epoch sec; seqNo:342 2021-10-10T16:05:24Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.03 psi 2021-10-10T16:05:24Z- handleDepth()-Depth_Keller msg: 1633881924296 epoch sec; seqNo:347; depth 9.51 2021-10-10T16:05:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881924.31 epoch sec; seqNo:347; 4061547.42 north; 594635.97 east 2021-10-10T16:05:24Z- AHRS_M2 msg: 1633881924.69 epoch sec; seqNo:343 2021-10-10T16:05:24Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.03 psi 2021-10-10T16:05:24Z- handleDepth()-Depth_Keller msg: 1633881924704 epoch sec; seqNo:348; depth 9.55 2021-10-10T16:05:24Z- handleDvl() - RDI_Pathfinder msg: 1633881924.74 epoch sec; seqNo:136 2021-10-10T16:05:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.72 , 90.46 , 70.51 , 0.00 2021-10-10T16:05:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.22 2021-10-10T16:05:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881924.76 epoch sec; seqNo:348; 4061547.42 north; 594635.97 east 2021-10-10T16:05:25Z- AHRS_M2 msg: 1633881925.07 epoch sec; seqNo:344 2021-10-10T16:05:25Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 5.04 psi 2021-10-10T16:05:25Z- handleDepth()-Depth_Keller msg: 1633881925083 epoch sec; seqNo:349; depth 9.63 2021-10-10T16:05:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:25Z- handleDvl() - RDI_Pathfinder msg: 1633881925.09 epoch sec; seqNo:137 2021-10-10T16:05:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.22 2021-10-10T16:05:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881925.10 epoch sec; seqNo:349; 4061547.80 north; 594635.96 east 2021-10-10T16:05:25Z- AHRS_M2 msg: 1633881925.48 epoch sec; seqNo:345 2021-10-10T16:05:25Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 5.04 psi 2021-10-10T16:05:25Z- handleDepth()-Depth_Keller msg: 1633881925497 epoch sec; seqNo:350; depth 9.67 2021-10-10T16:05:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881925.51 epoch sec; seqNo:350; 4061547.80 north; 594635.96 east 2021-10-10T16:05:25Z- AHRS_M2 msg: 1633881925.88 epoch sec; seqNo:346 2021-10-10T16:05:25Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 5.04 psi 2021-10-10T16:05:25Z- handleDepth()-Depth_Keller msg: 1633881925885 epoch sec; seqNo:351; depth 9.75 2021-10-10T16:05:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881925.89 epoch sec; seqNo:351; 4061547.78 north; 594634.74 east 2021-10-10T16:05:26Z- AHRS_M2 msg: 1633881926.29 epoch sec; seqNo:347 2021-10-10T16:05:26Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 5.03 psi 2021-10-10T16:05:26Z- handleDepth()-Depth_Keller msg: 1633881926291 epoch sec; seqNo:352; depth 9.79 2021-10-10T16:05:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:26Z- handleDvl() - RDI_Pathfinder msg: 1633881926.29 epoch sec; seqNo:138 2021-10-10T16:05:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.22 2021-10-10T16:05:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881926.30 epoch sec; seqNo:352; 4061547.78 north; 594634.74 east 2021-10-10T16:05:26Z- AHRS_M2 msg: 1633881926.72 epoch sec; seqNo:348 2021-10-10T16:05:26Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.03 psi 2021-10-10T16:05:26Z- handleDepth()-Depth_Keller msg: 1633881926726 epoch sec; seqNo:353; depth 9.86 2021-10-10T16:05:26Z- handleDvl() - RDI_Pathfinder msg: 1633881926.76 epoch sec; seqNo:139 2021-10-10T16:05:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.95 , 88.28 , 68.86 , 77.88 2021-10-10T16:05:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.05 , -0.09 2021-10-10T16:05:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881926.77 epoch sec; seqNo:353; 4061547.78 north; 594634.74 east 2021-10-10T16:05:27Z- LcmTrn::handleMessages() - handling 43 messages took 0.78 ms and 127 calls... 2021-10-10T16:05:27Z- waiting for 1633881924.86, time is 1633881926.77 2021-10-10T16:05:27Z- LcmTrn::updateTrn() equating pose 1633881926.77 and meas times 1633881926.77 2021-10-10T16:05:27Z- LcmTrn::updateTrn() >>>> pose time 1633881926.77, meas time 1633881926.77 <<<< 2021-10-10T16:05:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881926.77 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:27Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594634.74, 9.86) 2021-10-10T16:05:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:27Z- TerrainNav:: SubcloudNIS is 0.04, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:27Z- TNavBF::Projecting Measurements 2021-10-10T16:05:27Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:05:27Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:05:27Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:05:27Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:05:27Z- TNavFilter::4 good beams. 2021-10-10T16:05:27Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:27Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:27Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:05:27Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:05:27Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:05:27Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:05:27Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:27Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:27Z- TerrainMapOctree: (vehN, vehE ) = (4061547.78, 594634.74). 2021-10-10T16:05:27Z- TerrainMapOctree: Min Distance = 232.76. 2021-10-10T16:05:27Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:05:27Z- Forcing Subcloud Comparison 2021-10-10T16:05:27Z- Filter 0 deapthBias would have been set to Nan. indexP: 1882 indexM: 1 2021-10-10T16:05:27Z- Old Depth Bias: -9.36 DepthBiasCov: 2.88 K: 0.169 ExpectedMeasDiff: nan currMeas.covariance: 12.47 2021-10-10T16:05:27Z- Filter 0 deapthBias would have been set to Nan. indexP: 3093 indexM: 2 2021-10-10T16:05:27Z- Old Depth Bias: -8.62 DepthBiasCov: 2.40 K: 0.204 ExpectedMeasDiff: nan currMeas.covariance: 7.59 2021-10-10T16:05:27Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:05:27Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:27Z- Filter 0 partialDeltaRmsComputation: 5.511527 terrainVariance: 0.964996 1-SumSquareWeights: 0.999799 2021-10-10T16:05:27Z- Filter 0 meanExpectedMeasDiff: 2.132260 delta_rms_squared: 0.954998 alpha: 0.979487 2021-10-10T16:05:27Z- Filter 0 beam number: 1 num in subcloud: 9984 num not in subcloud: 16 2021-10-10T16:05:27Z- Filter 0 partialDeltaRmsComputation: 8.091936 terrainVariance: 3.753195 1-SumSquareWeights: 0.999799 2021-10-10T16:05:27Z- Filter 0 meanExpectedMeasDiff: 2.082965 delta_rms_squared: 3.743197 alpha: 0.994685 2021-10-10T16:05:27Z- Filter 0 beam number: 2 num in subcloud: 9995 num not in subcloud: 5 2021-10-10T16:05:27Z- Filter 0 partialDeltaRmsComputation: 50.524632 terrainVariance: 5.171147 1-SumSquareWeights: 0.999799 2021-10-10T16:05:27Z- Filter 0 meanExpectedMeasDiff: -6.734500 delta_rms_squared: 5.161150 alpha: 0.996140 2021-10-10T16:05:27Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:27Z- Filter 0 partialDeltaRmsComputation: 30.568981 terrainVariance: 8.797395 1-SumSquareWeights: 0.999799 2021-10-10T16:05:27Z- Filter 0 meanExpectedMeasDiff: 4.666003 delta_rms_squared: 8.787397 alpha: 0.997729 2021-10-10T16:05:27Z- Filter 0 SubcloudNIS: 0.073554 2021-10-10T16:05:27Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:05:27Z- TNavBF:: Filter 0 sumWeights = 0.103631 2021-10-10T16:05:27Z- Filter 0 NorthBias: -42.4 EastBias: 13.3 DepthBias: -12.4 NorthVariance: 106.9 EastVariance: 504.0 DepthVariance: 2.5 this->DepthBiasCov: 1.6 2021-10-10T16:05:27Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881926.77 sec. 2021-10-10T16:05:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:27Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:27Z- variances([0], [2], and psi_berg) = 106.920008 503.978201 0.000000 2021-10-10T16:05:27Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:27Z- LcmTrn::publishEstimates() - MLE : 4061500.28 594661.24 9.86 2021-10-10T16:05:27Z- LcmTrn::publishEstimates() - MMSE : 4061505.42 594648.00 -2.56 2021-10-10T16:05:27Z- LcmTrn::publishEstimates() - COVAR: 106.92 503.98 2.48 0.00 2021-10-10T16:05:27Z- AHRS_M2 msg: 1633881927.13 epoch sec; seqNo:349 2021-10-10T16:05:27Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.02 psi 2021-10-10T16:05:27Z- handleDepth()-Depth_Keller msg: 1633881927132 epoch sec; seqNo:354; depth 9.93 2021-10-10T16:05:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881927.15 epoch sec; seqNo:354; 4061548.15 north; 594633.52 east 2021-10-10T16:05:27Z- AHRS_M2 msg: 1633881927.53 epoch sec; seqNo:350 2021-10-10T16:05:27Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.02 psi 2021-10-10T16:05:27Z- handleDepth()-Depth_Keller msg: 1633881927529 epoch sec; seqNo:355; depth 10.00 2021-10-10T16:05:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:27Z- handleDvl() - RDI_Pathfinder msg: 1633881927.54 epoch sec; seqNo:140 2021-10-10T16:05:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.05 , -0.09 2021-10-10T16:05:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881927.55 epoch sec; seqNo:355; 4061548.15 north; 594633.52 east 2021-10-10T16:05:27Z- AHRS_M2 msg: 1633881927.93 epoch sec; seqNo:351 2021-10-10T16:05:27Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.01 psi 2021-10-10T16:05:27Z- handleDepth()-Depth_Keller msg: 1633881927933 epoch sec; seqNo:356; depth 10.08 2021-10-10T16:05:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881927.94 epoch sec; seqNo:356; 4061548.15 north; 594633.52 east 2021-10-10T16:05:28Z- AHRS_M2 msg: 1633881928.33 epoch sec; seqNo:352 2021-10-10T16:05:28Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.00 psi 2021-10-10T16:05:28Z- handleDepth()-Depth_Keller msg: 1633881928343 epoch sec; seqNo:357; depth 10.15 2021-10-10T16:05:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881928.35 epoch sec; seqNo:357; 4061548.51 north; 594632.29 east 2021-10-10T16:05:28Z- AHRS_M2 msg: 1633881928.74 epoch sec; seqNo:353 2021-10-10T16:05:28Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 4.99 psi 2021-10-10T16:05:28Z- handleDepth()-Depth_Keller msg: 1633881928742 epoch sec; seqNo:358; depth 10.22 2021-10-10T16:05:28Z- handleDvl() - RDI_Pathfinder msg: 1633881928.76 epoch sec; seqNo:141 2021-10-10T16:05:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.13 , 87.20 , 70.09 , 80.68 2021-10-10T16:05:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.03 , 0.29 2021-10-10T16:05:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881928.78 epoch sec; seqNo:358; 4061548.51 north; 594632.29 east 2021-10-10T16:05:29Z- AHRS_M2 msg: 1633881929.14 epoch sec; seqNo:354 2021-10-10T16:05:29Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 4.98 psi 2021-10-10T16:05:29Z- handleDepth()-Depth_Keller msg: 1633881929145 epoch sec; seqNo:359; depth 10.28 2021-10-10T16:05:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881929.17 epoch sec; seqNo:359; 4061548.51 north; 594632.29 east 2021-10-10T16:05:29Z- AHRS_M2 msg: 1633881929.55 epoch sec; seqNo:355 2021-10-10T16:05:29Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 4.99 psi 2021-10-10T16:05:29Z- handleDepth()-Depth_Keller msg: 1633881929549 epoch sec; seqNo:360; depth 10.33 2021-10-10T16:05:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881929.56 epoch sec; seqNo:360; 4061548.89 north; 594632.29 east 2021-10-10T16:05:29Z- AHRS_M2 msg: 1633881929.95 epoch sec; seqNo:356 2021-10-10T16:05:29Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 4.99 psi 2021-10-10T16:05:29Z- handleDepth()-Depth_Keller msg: 1633881929960 epoch sec; seqNo:361; depth 10.39 2021-10-10T16:05:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:29Z- handleDvl() - RDI_Pathfinder msg: 1633881929.96 epoch sec; seqNo:142 2021-10-10T16:05:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.03 , 0.29 2021-10-10T16:05:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881929.97 epoch sec; seqNo:361; 4061548.88 north; 594631.07 east 2021-10-10T16:05:30Z- AHRS_M2 msg: 1633881930.35 epoch sec; seqNo:357 2021-10-10T16:05:30Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.00 psi 2021-10-10T16:05:30Z- handleDepth()-Depth_Keller msg: 1633881930358 epoch sec; seqNo:362; depth 10.43 2021-10-10T16:05:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881930.37 epoch sec; seqNo:362; 4061548.88 north; 594631.07 east 2021-10-10T16:05:30Z- AHRS_M2 msg: 1633881930.76 epoch sec; seqNo:358 2021-10-10T16:05:30Z- AHRS_M2 msg: -0.25 phi; -0.18 theta; 5.00 psi 2021-10-10T16:05:30Z- handleDepth()-Depth_Keller msg: 1633881930765 epoch sec; seqNo:363; depth 10.50 2021-10-10T16:05:30Z- handleDvl() - RDI_Pathfinder msg: 1633881930.80 epoch sec; seqNo:143 2021-10-10T16:05:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.31 , 0.00 , 78.51 , 81.77 2021-10-10T16:05:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.05 , -0.03 2021-10-10T16:05:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881930.81 epoch sec; seqNo:363; 4061549.26 north; 594631.07 east 2021-10-10T16:05:31Z- AHRS_M2 msg: 1633881931.16 epoch sec; seqNo:359 2021-10-10T16:05:31Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.01 psi 2021-10-10T16:05:31Z- handleDepth()-Depth_Keller msg: 1633881931166 epoch sec; seqNo:364; depth 10.58 2021-10-10T16:05:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:31Z- handleDvl() - RDI_Pathfinder msg: 1633881931.17 epoch sec; seqNo:144 2021-10-10T16:05:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.05 , -0.03 2021-10-10T16:05:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881931.18 epoch sec; seqNo:364; 4061549.26 north; 594631.07 east 2021-10-10T16:05:31Z- AHRS_M2 msg: 1633881931.56 epoch sec; seqNo:360 2021-10-10T16:05:31Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.02 psi 2021-10-10T16:05:31Z- handleDepth()-Depth_Keller msg: 1633881931569 epoch sec; seqNo:365; depth 10.61 2021-10-10T16:05:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881931.58 epoch sec; seqNo:365; 4061549.26 north; 594631.07 east 2021-10-10T16:05:31Z- AHRS_M2 msg: 1633881931.97 epoch sec; seqNo:361 2021-10-10T16:05:31Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 5.03 psi 2021-10-10T16:05:31Z- handleDepth()-Depth_Keller msg: 1633881931974 epoch sec; seqNo:366; depth 10.67 2021-10-10T16:05:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881931.98 epoch sec; seqNo:366; 4061549.25 north; 594629.85 east 2021-10-10T16:05:32Z- LcmTrn::handleMessages() - handling 44 messages took 0.63 ms and 131 calls... 2021-10-10T16:05:32Z- waiting for 1633881929.77, time is 1633881931.98 2021-10-10T16:05:32Z- LcmTrn::updateTrn() >>>> pose time 1633881931.98, meas time 1633881931.17 <<<< 2021-10-10T16:05:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881931.17, ping # 0. 2021-10-10T16:05:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881931.17 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:32Z- TerrainNav::motionUpdate() - currEstimate = (4061549, 594629.85, 10.67) 2021-10-10T16:05:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:32Z- TerrainNav:: SubcloudNIS is 0.07, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:32Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:05:32Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:05:32Z- TNavBF::Projecting Measurements 2021-10-10T16:05:32Z- TNavFilter::Measurement from time = 1633881931.17 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:05:32Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:32Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:32Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:05:32Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:05:32Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:05:32Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:05:32Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:32Z- Filter 0 NorthBias: -42.3 EastBias: 13.2 DepthBias: -12.4 NorthVariance: 107.0 EastVariance: 504.6 DepthVariance: 2.7 this->DepthBiasCov: 1.9 2021-10-10T16:05:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:32Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:32Z- variances([0], [2], and psi_berg) = 106.982027 504.883033 0.000000 2021-10-10T16:05:32Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:32Z- LcmTrn::publishEstimates() - MLE : 4061501.75 594652.35 10.67 2021-10-10T16:05:32Z- LcmTrn::publishEstimates() - MMSE : 4061506.90 594643.06 -1.75 2021-10-10T16:05:32Z- LcmTrn::publishEstimates() - COVAR: 106.98 504.88 2.74 0.00 2021-10-10T16:05:32Z- AHRS_M2 msg: 1633881932.37 epoch sec; seqNo:362 2021-10-10T16:05:32Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 5.04 psi 2021-10-10T16:05:32Z- handleDepth()-Depth_Keller msg: 1633881932378 epoch sec; seqNo:367; depth 10.71 2021-10-10T16:05:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:32Z- handleDvl() - RDI_Pathfinder msg: 1633881932.38 epoch sec; seqNo:145 2021-10-10T16:05:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.05 , -0.03 2021-10-10T16:05:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881932.40 epoch sec; seqNo:367; 4061549.25 north; 594629.85 east 2021-10-10T16:05:32Z- AHRS_M2 msg: 1633881932.78 epoch sec; seqNo:363 2021-10-10T16:05:32Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 5.04 psi 2021-10-10T16:05:32Z- handleDepth()-Depth_Keller msg: 1633881932781 epoch sec; seqNo:368; depth 10.79 2021-10-10T16:05:32Z- handleDvl() - RDI_Pathfinder msg: 1633881932.80 epoch sec; seqNo:146 2021-10-10T16:05:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.90 , 88.28 , 68.46 , 82.85 2021-10-10T16:05:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.03 , -0.24 2021-10-10T16:05:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881932.83 epoch sec; seqNo:368; 4061549.25 north; 594629.85 east 2021-10-10T16:05:33Z- AHRS_M2 msg: 1633881933.18 epoch sec; seqNo:364 2021-10-10T16:05:33Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:33Z- handleDepth()-Depth_Keller msg: 1633881933187 epoch sec; seqNo:369; depth 10.85 2021-10-10T16:05:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881933.20 epoch sec; seqNo:369; 4061549.62 north; 594629.84 east 2021-10-10T16:05:33Z- AHRS_M2 msg: 1633881933.58 epoch sec; seqNo:365 2021-10-10T16:05:33Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.04 psi 2021-10-10T16:05:33Z- handleDepth()-Depth_Keller msg: 1633881933589 epoch sec; seqNo:370; depth 10.91 2021-10-10T16:05:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:33Z- handleDvl() - RDI_Pathfinder msg: 1633881933.60 epoch sec; seqNo:147 2021-10-10T16:05:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.03 , -0.24 2021-10-10T16:05:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881933.61 epoch sec; seqNo:370; 4061549.61 north; 594628.62 east 2021-10-10T16:05:33Z- AHRS_M2 msg: 1633881933.99 epoch sec; seqNo:366 2021-10-10T16:05:33Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.04 psi 2021-10-10T16:05:33Z- handleDepth()-Depth_Keller msg: 1633881933993 epoch sec; seqNo:371; depth 10.97 2021-10-10T16:05:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881934.00 epoch sec; seqNo:371; 4061549.61 north; 594628.62 east 2021-10-10T16:05:34Z- AHRS_M2 msg: 1633881934.39 epoch sec; seqNo:367 2021-10-10T16:05:34Z- AHRS_M2 msg: -0.18 phi; -0.14 theta; 5.03 psi 2021-10-10T16:05:34Z- handleDepth()-Depth_Keller msg: 1633881934403 epoch sec; seqNo:372; depth 11.06 2021-10-10T16:05:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881934.41 epoch sec; seqNo:372; 4061549.61 north; 594628.62 east 2021-10-10T16:05:34Z- AHRS_M2 msg: 1633881934.80 epoch sec; seqNo:368 2021-10-10T16:05:34Z- AHRS_M2 msg: -0.18 phi; -0.14 theta; 5.03 psi 2021-10-10T16:05:34Z- handleDepth()-Depth_Keller msg: 1633881934808 epoch sec; seqNo:373; depth 11.12 2021-10-10T16:05:34Z- handleDvl() - RDI_Pathfinder msg: 1633881934.83 epoch sec; seqNo:148 2021-10-10T16:05:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.54 , 83.94 , 68.87 , 80.68 2021-10-10T16:05:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.08 , 0.13 2021-10-10T16:05:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881934.84 epoch sec; seqNo:373; 4061549.98 north; 594627.40 east 2021-10-10T16:05:35Z- AHRS_M2 msg: 1633881935.20 epoch sec; seqNo:369 2021-10-10T16:05:35Z- AHRS_M2 msg: -0.19 phi; -0.14 theta; 5.02 psi 2021-10-10T16:05:35Z- handleDepth()-Depth_Keller msg: 1633881935205 epoch sec; seqNo:374; depth 11.19 2021-10-10T16:05:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881935.24 epoch sec; seqNo:374; 4061549.98 north; 594627.40 east 2021-10-10T16:05:35Z- AHRS_M2 msg: 1633881935.60 epoch sec; seqNo:370 2021-10-10T16:05:35Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.01 psi 2021-10-10T16:05:35Z- handleDepth()-Depth_Keller msg: 1633881935609 epoch sec; seqNo:375; depth 11.26 2021-10-10T16:05:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881935.62 epoch sec; seqNo:375; 4061550.36 north; 594627.39 east 2021-10-10T16:05:36Z- AHRS_M2 msg: 1633881936.01 epoch sec; seqNo:371 2021-10-10T16:05:36Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.01 psi 2021-10-10T16:05:36Z- handleDepth()-Depth_Keller msg: 1633881936020 epoch sec; seqNo:376; depth 11.31 2021-10-10T16:05:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:36Z- handleDvl() - RDI_Pathfinder msg: 1633881936.02 epoch sec; seqNo:149 2021-10-10T16:05:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.08 , 0.13 2021-10-10T16:05:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881936.03 epoch sec; seqNo:376; 4061550.34 north; 594626.17 east 2021-10-10T16:05:36Z- handleDepth()-Depth_Keller msg: 1633881936436 epoch sec; seqNo:377; depth 11.36 2021-10-10T16:05:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881936.45 epoch sec; seqNo:377; 4061550.72 north; 594626.17 east 2021-10-10T16:05:36Z- AHRS_M2 msg: 1633881936.82 epoch sec; seqNo:372 2021-10-10T16:05:36Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 5.00 psi 2021-10-10T16:05:36Z- handleDepth()-Depth_Keller msg: 1633881936821 epoch sec; seqNo:378; depth 11.41 2021-10-10T16:05:36Z- handleDvl() - RDI_Pathfinder msg: 1633881936.85 epoch sec; seqNo:150 2021-10-10T16:05:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.54 , 85.02 , 68.46 , 80.68 2021-10-10T16:05:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.02 , 0.15 2021-10-10T16:05:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881936.87 epoch sec; seqNo:378; 4061550.72 north; 594626.17 east 2021-10-10T16:05:37Z- AHRS_M2 msg: 1633881937.22 epoch sec; seqNo:373 2021-10-10T16:05:37Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.01 psi 2021-10-10T16:05:37Z- handleDepth()-Depth_Keller msg: 1633881937229 epoch sec; seqNo:379; depth 11.47 2021-10-10T16:05:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:37Z- handleDvl() - RDI_Pathfinder msg: 1633881937.23 epoch sec; seqNo:151 2021-10-10T16:05:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.02 , 0.15 2021-10-10T16:05:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881937.25 epoch sec; seqNo:379; 4061550.72 north; 594626.17 east 2021-10-10T16:05:37Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T16:05:37Z- waiting for 1633881934.98, time is 1633881937.25 2021-10-10T16:05:37Z- LcmTrn::updateTrn() equating pose 1633881937.25 and meas times 1633881937.25 2021-10-10T16:05:37Z- LcmTrn::updateTrn() >>>> pose time 1633881937.25, meas time 1633881937.25 <<<< 2021-10-10T16:05:37Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881937.25, ping # 0. 2021-10-10T16:05:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881937.25 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:37Z- TerrainNav::motionUpdate() - currEstimate = (4061551, 594626.17, 11.47) 2021-10-10T16:05:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:37Z- TerrainNav:: SubcloudNIS is 0.07, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:37Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:05:37Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:05:37Z- TerrainNav::Measurement type 1 not incorporated from time = 1633881937.25 sec.; No relevant navigation data available 2021-10-10T16:05:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:37Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:37Z- variances([0], [2], and psi_berg) = 107.023076 505.467035 0.000000 2021-10-10T16:05:37Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:37Z- LcmTrn::publishEstimates() - MLE : 4061503.22 594648.67 11.47 2021-10-10T16:05:37Z- LcmTrn::publishEstimates() - MMSE : 4061508.39 594639.36 -0.95 2021-10-10T16:05:37Z- LcmTrn::publishEstimates() - COVAR: 107.02 505.47 2.94 0.00 2021-10-10T16:05:37Z- AHRS_M2 msg: 1633881937.63 epoch sec; seqNo:374 2021-10-10T16:05:37Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.02 psi 2021-10-10T16:05:37Z- handleDepth()-Depth_Keller msg: 1633881937631 epoch sec; seqNo:380; depth 11.51 2021-10-10T16:05:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881937.64 epoch sec; seqNo:380; 4061550.72 north; 594626.17 east 2021-10-10T16:05:38Z- AHRS_M2 msg: 1633881938.03 epoch sec; seqNo:375 2021-10-10T16:05:38Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.03 psi 2021-10-10T16:05:38Z- handleDepth()-Depth_Keller msg: 1633881938038 epoch sec; seqNo:381; depth 11.57 2021-10-10T16:05:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881938.05 epoch sec; seqNo:381; 4061550.71 north; 594624.95 east 2021-10-10T16:05:38Z- AHRS_M2 msg: 1633881938.43 epoch sec; seqNo:376 2021-10-10T16:05:38Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.04 psi 2021-10-10T16:05:38Z- handleDepth()-Depth_Keller msg: 1633881938444 epoch sec; seqNo:382; depth 11.61 2021-10-10T16:05:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:38Z- handleDvl() - RDI_Pathfinder msg: 1633881938.45 epoch sec; seqNo:152 2021-10-10T16:05:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.02 , 0.15 2021-10-10T16:05:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881938.47 epoch sec; seqNo:382; 4061551.09 north; 594624.94 east 2021-10-10T16:05:38Z- AHRS_M2 msg: 1633881938.84 epoch sec; seqNo:377 2021-10-10T16:05:38Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:38Z- handleDepth()-Depth_Keller msg: 1633881938844 epoch sec; seqNo:383; depth 11.66 2021-10-10T16:05:38Z- handleDvl() - RDI_Pathfinder msg: 1633881938.87 epoch sec; seqNo:153 2021-10-10T16:05:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.90 , 88.28 , 69.28 , 76.65 2021-10-10T16:05:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , -0.20 2021-10-10T16:05:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881938.90 epoch sec; seqNo:383; 4061551.09 north; 594624.94 east 2021-10-10T16:05:39Z- AHRS_M2 msg: 1633881939.26 epoch sec; seqNo:378 2021-10-10T16:05:39Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.05 psi 2021-10-10T16:05:39Z- handleDepth()-Depth_Keller msg: 1633881939265 epoch sec; seqNo:384; depth 11.71 2021-10-10T16:05:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881939.28 epoch sec; seqNo:384; 4061551.09 north; 594624.94 east 2021-10-10T16:05:39Z- AHRS_M2 msg: 1633881939.65 epoch sec; seqNo:379 2021-10-10T16:05:39Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:05:39Z- handleDepth()-Depth_Keller msg: 1633881939662 epoch sec; seqNo:385; depth 11.76 2021-10-10T16:05:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:39Z- handleDvl() - RDI_Pathfinder msg: 1633881939.66 epoch sec; seqNo:154 2021-10-10T16:05:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , -0.20 2021-10-10T16:05:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881939.67 epoch sec; seqNo:385; 4061551.07 north; 594623.72 east 2021-10-10T16:05:40Z- AHRS_M2 msg: 1633881940.05 epoch sec; seqNo:380 2021-10-10T16:05:40Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 5.05 psi 2021-10-10T16:05:40Z- handleDepth()-Depth_Keller msg: 1633881940057 epoch sec; seqNo:386; depth 11.81 2021-10-10T16:05:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881940.07 epoch sec; seqNo:386; 4061551.07 north; 594623.72 east 2021-10-10T16:05:40Z- AHRS_M2 msg: 1633881940.46 epoch sec; seqNo:381 2021-10-10T16:05:40Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.05 psi 2021-10-10T16:05:40Z- handleDepth()-Depth_Keller msg: 1633881940462 epoch sec; seqNo:387; depth 11.87 2021-10-10T16:05:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881940.47 epoch sec; seqNo:387; 4061551.07 north; 594623.72 east 2021-10-10T16:05:40Z- AHRS_M2 msg: 1633881940.86 epoch sec; seqNo:382 2021-10-10T16:05:40Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.04 psi 2021-10-10T16:05:40Z- handleDepth()-Depth_Keller msg: 1633881940868 epoch sec; seqNo:388; depth 11.91 2021-10-10T16:05:40Z- handleDvl() - RDI_Pathfinder msg: 1633881940.89 epoch sec; seqNo:155 2021-10-10T16:05:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.90 , 86.11 , 68.46 , 0.00 2021-10-10T16:05:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , -0.07 2021-10-10T16:05:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881940.90 epoch sec; seqNo:388; 4061551.45 north; 594623.72 east 2021-10-10T16:05:41Z- AHRS_M2 msg: 1633881941.26 epoch sec; seqNo:383 2021-10-10T16:05:41Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.04 psi 2021-10-10T16:05:41Z- handleDepth()-Depth_Keller msg: 1633881941269 epoch sec; seqNo:389; depth 11.99 2021-10-10T16:05:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881941.31 epoch sec; seqNo:389; 4061551.44 north; 594622.50 east 2021-10-10T16:05:41Z- AHRS_M2 msg: 1633881941.67 epoch sec; seqNo:384 2021-10-10T16:05:41Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 5.03 psi 2021-10-10T16:05:41Z- handleDepth()-Depth_Keller msg: 1633881941673 epoch sec; seqNo:390; depth 12.07 2021-10-10T16:05:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881941.68 epoch sec; seqNo:390; 4061551.44 north; 594622.50 east 2021-10-10T16:05:42Z- AHRS_M2 msg: 1633881942.07 epoch sec; seqNo:385 2021-10-10T16:05:42Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 5.03 psi 2021-10-10T16:05:42Z- handleDepth()-Depth_Keller msg: 1633881942077 epoch sec; seqNo:391; depth 12.11 2021-10-10T16:05:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:42Z- handleDvl() - RDI_Pathfinder msg: 1633881942.08 epoch sec; seqNo:156 2021-10-10T16:05:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , -0.07 2021-10-10T16:05:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881942.09 epoch sec; seqNo:391; 4061551.44 north; 594622.50 east 2021-10-10T16:05:42Z- LcmTrn::handleMessages() - handling 41 messages took 0.58 ms and 129 calls... 2021-10-10T16:05:42Z- waiting for 1633881940.25, time is 1633881942.09 2021-10-10T16:05:42Z- LcmTrn::updateTrn() equating pose 1633881942.09 and meas times 1633881942.09 2021-10-10T16:05:42Z- LcmTrn::updateTrn() >>>> pose time 1633881942.09, meas time 1633881942.09 <<<< 2021-10-10T16:05:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881942.09, ping # 0. 2021-10-10T16:05:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881942.09 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:42Z- TerrainNav::motionUpdate() - currEstimate = (4061551, 594622.50, 12.11) 2021-10-10T16:05:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:42Z- TerrainNav:: SubcloudNIS is 0.07, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:42Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:05:42Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:05:42Z- TNavBF::Projecting Measurements 2021-10-10T16:05:42Z- TNavFilter::Measurement from time = 1633881942.09 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:05:42Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:42Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:42Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:05:42Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:05:42Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:05:42Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:05:42Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:42Z- Filter 0 NorthBias: -42.3 EastBias: 13.2 DepthBias: -12.4 NorthVariance: 107.1 EastVariance: 506.0 DepthVariance: 3.1 this->DepthBiasCov: 2.3 2021-10-10T16:05:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:42Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:42Z- variances([0], [2], and psi_berg) = 107.062563 506.016923 0.000000 2021-10-10T16:05:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:42Z- LcmTrn::publishEstimates() - MLE : 4061503.94 594645.00 12.11 2021-10-10T16:05:42Z- LcmTrn::publishEstimates() - MMSE : 4061509.12 594635.66 -0.31 2021-10-10T16:05:42Z- LcmTrn::publishEstimates() - COVAR: 107.06 506.02 3.13 0.00 2021-10-10T16:05:42Z- AHRS_M2 msg: 1633881942.48 epoch sec; seqNo:386 2021-10-10T16:05:42Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 5.03 psi 2021-10-10T16:05:42Z- handleDepth()-Depth_Keller msg: 1633881942483 epoch sec; seqNo:392; depth 12.17 2021-10-10T16:05:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881942.49 epoch sec; seqNo:392; 4061551.80 north; 594621.27 east 2021-10-10T16:05:42Z- AHRS_M2 msg: 1633881942.88 epoch sec; seqNo:387 2021-10-10T16:05:42Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 5.03 psi 2021-10-10T16:05:42Z- handleDepth()-Depth_Keller msg: 1633881942897 epoch sec; seqNo:393; depth 12.24 2021-10-10T16:05:42Z- handleDvl() - RDI_Pathfinder msg: 1633881942.92 epoch sec; seqNo:157 2021-10-10T16:05:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.54 , 86.11 , 68.05 , 76.25 2021-10-10T16:05:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.07 , 0.12 2021-10-10T16:05:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881942.93 epoch sec; seqNo:393; 4061551.80 north; 594621.27 east 2021-10-10T16:05:43Z- AHRS_M2 msg: 1633881943.28 epoch sec; seqNo:388 2021-10-10T16:05:43Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 5.03 psi 2021-10-10T16:05:43Z- handleDepth()-Depth_Keller msg: 1633881943289 epoch sec; seqNo:394; depth 12.29 2021-10-10T16:05:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:43Z- handleDvl() - RDI_Pathfinder msg: 1633881943.29 epoch sec; seqNo:158 2021-10-10T16:05:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.07 , 0.12 2021-10-10T16:05:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881943.32 epoch sec; seqNo:394; 4061551.80 north; 594621.27 east 2021-10-10T16:05:43Z- AHRS_M2 msg: 1633881943.69 epoch sec; seqNo:389 2021-10-10T16:05:43Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:43Z- handleDepth()-Depth_Keller msg: 1633881943693 epoch sec; seqNo:395; depth 12.34 2021-10-10T16:05:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881943.70 epoch sec; seqNo:395; 4061552.18 north; 594621.27 east 2021-10-10T16:05:44Z- AHRS_M2 msg: 1633881944.09 epoch sec; seqNo:390 2021-10-10T16:05:44Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:44Z- handleDepth()-Depth_Keller msg: 1633881944098 epoch sec; seqNo:396; depth 12.39 2021-10-10T16:05:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881944.11 epoch sec; seqNo:396; 4061552.17 north; 594620.05 east 2021-10-10T16:05:44Z- AHRS_M2 msg: 1633881944.50 epoch sec; seqNo:391 2021-10-10T16:05:44Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:44Z- handleDepth()-Depth_Keller msg: 1633881944509 epoch sec; seqNo:397; depth 12.46 2021-10-10T16:05:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:44Z- handleDvl() - RDI_Pathfinder msg: 1633881944.51 epoch sec; seqNo:159 2021-10-10T16:05:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.07 , 0.12 2021-10-10T16:05:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881944.52 epoch sec; seqNo:397; 4061552.55 north; 594620.04 east 2021-10-10T16:05:44Z- AHRS_M2 msg: 1633881944.90 epoch sec; seqNo:392 2021-10-10T16:05:44Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:44Z- handleDepth()-Depth_Keller msg: 1633881944908 epoch sec; seqNo:398; depth 12.51 2021-10-10T16:05:44Z- handleDvl() - RDI_Pathfinder msg: 1633881944.94 epoch sec; seqNo:160 2021-10-10T16:05:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.13 , 86.11 , 68.04 , 77.47 2021-10-10T16:05:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.07 , 0.04 2021-10-10T16:05:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881944.95 epoch sec; seqNo:398; 4061552.55 north; 594620.04 east 2021-10-10T16:05:45Z- AHRS_M2 msg: 1633881945.31 epoch sec; seqNo:393 2021-10-10T16:05:45Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:45Z- handleDepth()-Depth_Keller msg: 1633881945311 epoch sec; seqNo:399; depth 12.55 2021-10-10T16:05:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881945.33 epoch sec; seqNo:399; 4061552.55 north; 594620.04 east 2021-10-10T16:05:45Z- AHRS_M2 msg: 1633881945.71 epoch sec; seqNo:394 2021-10-10T16:05:45Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:45Z- handleDepth()-Depth_Keller msg: 1633881945721 epoch sec; seqNo:400; depth 12.61 2021-10-10T16:05:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881945.75 epoch sec; seqNo:400; 4061552.91 north; 594618.82 east 2021-10-10T16:05:46Z- AHRS_M2 msg: 1633881946.11 epoch sec; seqNo:395 2021-10-10T16:05:46Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:46Z- handleDepth()-Depth_Keller msg: 1633881946116 epoch sec; seqNo:401; depth 12.68 2021-10-10T16:05:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881946.13 epoch sec; seqNo:401; 4061552.91 north; 594618.82 east 2021-10-10T16:05:46Z- AHRS_M2 msg: 1633881946.52 epoch sec; seqNo:396 2021-10-10T16:05:46Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:46Z- handleDepth()-Depth_Keller msg: 1633881946521 epoch sec; seqNo:402; depth 12.73 2021-10-10T16:05:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881946.53 epoch sec; seqNo:402; 4061552.91 north; 594618.82 east 2021-10-10T16:05:46Z- AHRS_M2 msg: 1633881946.93 epoch sec; seqNo:397 2021-10-10T16:05:46Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:46Z- handleDepth()-Depth_Keller msg: 1633881946933 epoch sec; seqNo:403; depth 12.77 2021-10-10T16:05:46Z- handleDvl() - RDI_Pathfinder msg: 1633881946.96 epoch sec; seqNo:161 2021-10-10T16:05:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.72 , 86.11 , 68.46 , 76.65 2021-10-10T16:05:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.05 , 0.05 2021-10-10T16:05:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881946.97 epoch sec; seqNo:403; 4061552.91 north; 594618.82 east 2021-10-10T16:05:47Z- AHRS_M2 msg: 1633881947.32 epoch sec; seqNo:398 2021-10-10T16:05:47Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:47Z- handleDepth()-Depth_Keller msg: 1633881947329 epoch sec; seqNo:404; depth 12.83 2021-10-10T16:05:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881947.34 epoch sec; seqNo:404; 4061553.28 north; 594617.60 east 2021-10-10T16:05:47Z- LcmTrn::handleMessages() - handling 44 messages took 0.79 ms and 128 calls... 2021-10-10T16:05:47Z- waiting for 1633881945.09, time is 1633881947.34 2021-10-10T16:05:47Z- LcmTrn::updateTrn() >>>> pose time 1633881947.34, meas time 1633881946.96 <<<< 2021-10-10T16:05:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881946.96 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:47Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594617.60, 12.83) 2021-10-10T16:05:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:47Z- TerrainNav:: SubcloudNIS is 0.07, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:47Z- TNavBF::Projecting Measurements 2021-10-10T16:05:47Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:05:47Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:05:47Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:05:47Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:05:47Z- TNavFilter::4 good beams. 2021-10-10T16:05:47Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:47Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:47Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:05:47Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:05:47Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:05:47Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:05:47Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:47Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:47Z- TerrainMapOctree: (vehN, vehE ) = (4061553.14, 594617.96). 2021-10-10T16:05:47Z- TerrainMapOctree: Min Distance = 237.04. 2021-10-10T16:05:47Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:05:47Z- Forcing Subcloud Comparison 2021-10-10T16:05:47Z- Filter 0 deapthBias would have been set to Nan. indexP: 4147 indexM: 1 2021-10-10T16:05:47Z- Old Depth Bias: -11.11 DepthBiasCov: 1.93 K: 0.124 ExpectedMeasDiff: nan currMeas.covariance: 11.86 2021-10-10T16:05:47Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:05:47Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:47Z- Filter 0 partialDeltaRmsComputation: 7.502069 terrainVariance: 0.697797 1-SumSquareWeights: 0.998921 2021-10-10T16:05:47Z- Filter 0 meanExpectedMeasDiff: 2.608500 delta_rms_squared: 0.687808 alpha: 0.971744 2021-10-10T16:05:47Z- Filter 0 beam number: 1 num in subcloud: 9992 num not in subcloud: 8 2021-10-10T16:05:47Z- Filter 0 partialDeltaRmsComputation: 9.462456 terrainVariance: 2.163651 1-SumSquareWeights: 0.998921 2021-10-10T16:05:47Z- Filter 0 meanExpectedMeasDiff: 2.701630 delta_rms_squared: 2.153662 alpha: 0.990799 2021-10-10T16:05:47Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:47Z- Filter 0 partialDeltaRmsComputation: 17.790606 terrainVariance: 4.155523 1-SumSquareWeights: 0.998921 2021-10-10T16:05:47Z- Filter 0 meanExpectedMeasDiff: -3.692571 delta_rms_squared: 4.145534 alpha: 0.995199 2021-10-10T16:05:47Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:47Z- Filter 0 partialDeltaRmsComputation: 23.418250 terrainVariance: 1.637382 1-SumSquareWeights: 0.998921 2021-10-10T16:05:47Z- Filter 0 meanExpectedMeasDiff: 4.666998 delta_rms_squared: 1.627392 alpha: 0.987860 2021-10-10T16:05:47Z- Filter 0 SubcloudNIS: 0.080057 2021-10-10T16:05:47Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:05:47Z- TNavBF:: Filter 0 sumWeights = 0.148726 2021-10-10T16:05:47Z- Filter 0 NorthBias: -46.4 EastBias: 19.7 DepthBias: -11.1 NorthVariance: 12.7 EastVariance: 247.1 DepthVariance: 1.3 this->DepthBiasCov: 1.3 2021-10-10T16:05:47Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881946.96 sec. 2021-10-10T16:05:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:47Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:47Z- variances([0], [2], and psi_berg) = 12.712432 247.251378 0.000000 2021-10-10T16:05:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:47Z- LcmTrn::publishEstimates() - MLE : 4061504.78 594641.10 12.83 2021-10-10T16:05:47Z- LcmTrn::publishEstimates() - MMSE : 4061506.93 594637.30 1.73 2021-10-10T16:05:47Z- LcmTrn::publishEstimates() - COVAR: 12.71 247.25 1.36 0.00 2021-10-10T16:05:47Z- AHRS_M2 msg: 1633881947.73 epoch sec; seqNo:399 2021-10-10T16:05:47Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:47Z- handleDepth()-Depth_Keller msg: 1633881947733 epoch sec; seqNo:405; depth 12.90 2021-10-10T16:05:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881947.74 epoch sec; seqNo:405; 4061553.28 north; 594617.60 east 2021-10-10T16:05:48Z- AHRS_M2 msg: 1633881948.13 epoch sec; seqNo:400 2021-10-10T16:05:48Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:48Z- handleDepth()-Depth_Keller msg: 1633881948139 epoch sec; seqNo:406; depth 12.96 2021-10-10T16:05:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:48Z- handleDvl() - RDI_Pathfinder msg: 1633881948.14 epoch sec; seqNo:162 2021-10-10T16:05:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.05 , 0.05 2021-10-10T16:05:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881948.15 epoch sec; seqNo:406; 4061553.28 north; 594617.60 east 2021-10-10T16:05:48Z- AHRS_M2 msg: 1633881948.54 epoch sec; seqNo:401 2021-10-10T16:05:48Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:48Z- handleDepth()-Depth_Keller msg: 1633881948550 epoch sec; seqNo:407; depth 13.01 2021-10-10T16:05:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881948.56 epoch sec; seqNo:407; 4061553.28 north; 594617.60 east 2021-10-10T16:05:48Z- AHRS_M2 msg: 1633881948.94 epoch sec; seqNo:402 2021-10-10T16:05:48Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:48Z- handleDepth()-Depth_Keller msg: 1633881948945 epoch sec; seqNo:408; depth 13.07 2021-10-10T16:05:48Z- handleDvl() - RDI_Pathfinder msg: 1633881948.97 epoch sec; seqNo:163 2021-10-10T16:05:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.90 , 110.01 , 67.22 , 76.65 2021-10-10T16:05:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.16 , -0.05 2021-10-10T16:05:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881948.98 epoch sec; seqNo:408; 4061553.64 north; 594616.37 east 2021-10-10T16:05:49Z- AHRS_M2 msg: 1633881949.35 epoch sec; seqNo:403 2021-10-10T16:05:49Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:49Z- handleDepth()-Depth_Keller msg: 1633881949349 epoch sec; seqNo:409; depth 13.13 2021-10-10T16:05:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:49Z- handleDvl() - RDI_Pathfinder msg: 1633881949.35 epoch sec; seqNo:164 2021-10-10T16:05:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.16 , -0.05 2021-10-10T16:05:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881949.37 epoch sec; seqNo:409; 4061553.64 north; 594616.37 east 2021-10-10T16:05:49Z- AHRS_M2 msg: 1633881949.75 epoch sec; seqNo:404 2021-10-10T16:05:49Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.05 psi 2021-10-10T16:05:49Z- handleDepth()-Depth_Keller msg: 1633881949759 epoch sec; seqNo:410; depth 13.18 2021-10-10T16:05:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881949.77 epoch sec; seqNo:410; 4061554.02 north; 594616.37 east 2021-10-10T16:05:50Z- AHRS_M2 msg: 1633881950.15 epoch sec; seqNo:405 2021-10-10T16:05:50Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.05 psi 2021-10-10T16:05:50Z- handleDepth()-Depth_Keller msg: 1633881950164 epoch sec; seqNo:411; depth 13.21 2021-10-10T16:05:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881950.17 epoch sec; seqNo:411; 4061554.02 north; 594616.37 east 2021-10-10T16:05:50Z- AHRS_M2 msg: 1633881950.56 epoch sec; seqNo:406 2021-10-10T16:05:50Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.06 psi 2021-10-10T16:05:50Z- handleDepth()-Depth_Keller msg: 1633881950567 epoch sec; seqNo:412; depth 13.29 2021-10-10T16:05:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:50Z- handleDvl() - RDI_Pathfinder msg: 1633881950.57 epoch sec; seqNo:165 2021-10-10T16:05:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.16 , -0.05 2021-10-10T16:05:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881950.58 epoch sec; seqNo:412; 4061554.02 north; 594616.37 east 2021-10-10T16:05:50Z- AHRS_M2 msg: 1633881950.96 epoch sec; seqNo:407 2021-10-10T16:05:50Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.06 psi 2021-10-10T16:05:50Z- handleDepth()-Depth_Keller msg: 1633881950966 epoch sec; seqNo:413; depth 13.32 2021-10-10T16:05:50Z- handleDvl() - RDI_Pathfinder msg: 1633881950.99 epoch sec; seqNo:166 2021-10-10T16:05:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.90 , 86.11 , 67.22 , 76.65 2021-10-10T16:05:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.02 , -0.13 2021-10-10T16:05:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881951.00 epoch sec; seqNo:413; 4061554.39 north; 594615.14 east 2021-10-10T16:05:51Z- AHRS_M2 msg: 1633881951.37 epoch sec; seqNo:408 2021-10-10T16:05:51Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.07 psi 2021-10-10T16:05:51Z- handleDepth()-Depth_Keller msg: 1633881951369 epoch sec; seqNo:414; depth 13.40 2021-10-10T16:05:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881951.39 epoch sec; seqNo:414; 4061554.39 north; 594615.14 east 2021-10-10T16:05:51Z- AHRS_M2 msg: 1633881951.77 epoch sec; seqNo:409 2021-10-10T16:05:51Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.07 psi 2021-10-10T16:05:51Z- handleDepth()-Depth_Keller msg: 1633881951773 epoch sec; seqNo:415; depth 13.44 2021-10-10T16:05:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881951.78 epoch sec; seqNo:415; 4061554.39 north; 594615.14 east 2021-10-10T16:05:52Z- AHRS_M2 msg: 1633881952.17 epoch sec; seqNo:410 2021-10-10T16:05:52Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.07 psi 2021-10-10T16:05:52Z- handleDepth()-Depth_Keller msg: 1633881952177 epoch sec; seqNo:416; depth 13.50 2021-10-10T16:05:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881952.19 epoch sec; seqNo:416; 4061554.39 north; 594615.14 east 2021-10-10T16:05:52Z- AHRS_M2 msg: 1633881952.58 epoch sec; seqNo:411 2021-10-10T16:05:52Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 5.07 psi 2021-10-10T16:05:52Z- handleDepth()-Depth_Keller msg: 1633881952589 epoch sec; seqNo:417; depth 13.53 2021-10-10T16:05:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881952.60 epoch sec; seqNo:417; 4061554.75 north; 594613.92 east 2021-10-10T16:05:52Z- LcmTrn::handleMessages() - handling 44 messages took 0.66 ms and 130 calls... 2021-10-10T16:05:52Z- waiting for 1633881950.34, time is 1633881952.60 2021-10-10T16:05:52Z- LcmTrn::updateTrn() >>>> pose time 1633881952.60, meas time 1633881950.99 <<<< 2021-10-10T16:05:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881950.99 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:52Z- TerrainNav::motionUpdate() - currEstimate = (4061555, 594613.92, 13.53) 2021-10-10T16:05:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:52Z- TerrainNav:: SubcloudNIS is 0.08, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:52Z- TNavBF::Projecting Measurements 2021-10-10T16:05:52Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:05:52Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:05:52Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:05:52Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:05:52Z- TNavFilter::4 good beams. 2021-10-10T16:05:52Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:52Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:52Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:05:52Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:05:52Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:05:52Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:05:52Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:52Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:52Z- TerrainMapOctree: (vehN, vehE ) = (4061554.30, 594615.05). 2021-10-10T16:05:52Z- TerrainMapOctree: Min Distance = 237.72. 2021-10-10T16:05:52Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:05:52Z- Forcing Subcloud Comparison 2021-10-10T16:05:52Z- Filter 0 deapthBias would have been set to Nan. indexP: 4152 indexM: 1 2021-10-10T16:05:52Z- Old Depth Bias: -10.01 DepthBiasCov: 1.21 K: 0.081 ExpectedMeasDiff: nan currMeas.covariance: 11.86 2021-10-10T16:05:52Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:05:52Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:52Z- Filter 0 partialDeltaRmsComputation: 2.866230 terrainVariance: 0.559094 1-SumSquareWeights: 0.997088 2021-10-10T16:05:52Z- Filter 0 meanExpectedMeasDiff: 1.518926 delta_rms_squared: 0.549123 alpha: 0.964858 2021-10-10T16:05:52Z- Filter 0 beam number: 1 num in subcloud: 9987 num not in subcloud: 13 2021-10-10T16:05:52Z- Filter 0 partialDeltaRmsComputation: 11.893969 terrainVariance: 1.304501 1-SumSquareWeights: 0.997088 2021-10-10T16:05:52Z- Filter 0 meanExpectedMeasDiff: 3.254146 delta_rms_squared: 1.294530 alpha: 0.984785 2021-10-10T16:05:52Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:52Z- Filter 0 partialDeltaRmsComputation: 15.762744 terrainVariance: 1.861955 1-SumSquareWeights: 0.997088 2021-10-10T16:05:52Z- Filter 0 meanExpectedMeasDiff: -3.728376 delta_rms_squared: 1.851985 alpha: 0.989316 2021-10-10T16:05:52Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:52Z- Filter 0 partialDeltaRmsComputation: 20.495875 terrainVariance: 0.501901 1-SumSquareWeights: 0.997088 2021-10-10T16:05:52Z- Filter 0 meanExpectedMeasDiff: 4.471462 delta_rms_squared: 0.491930 alpha: 0.960932 2021-10-10T16:05:52Z- Filter 0 SubcloudNIS: 0.094836 2021-10-10T16:05:52Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:05:52Z- TNavBF:: Filter 0 sumWeights = 0.151302 2021-10-10T16:05:52Z- Filter 0 NorthBias: -47.6 EastBias: 25.0 DepthBias: -10.4 NorthVariance: 4.6 EastVariance: 123.6 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-10T16:05:52Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881950.99 sec. 2021-10-10T16:05:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:52Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:52Z- variances([0], [2], and psi_berg) = 4.606250 123.700118 0.000000 2021-10-10T16:05:52Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:52Z- LcmTrn::publishEstimates() - MLE : 4061506.25 594639.42 13.53 2021-10-10T16:05:52Z- LcmTrn::publishEstimates() - MMSE : 4061507.20 594638.90 3.09 2021-10-10T16:05:52Z- LcmTrn::publishEstimates() - COVAR: 4.61 123.70 1.00 0.00 2021-10-10T16:05:52Z- AHRS_M2 msg: 1633881952.98 epoch sec; seqNo:412 2021-10-10T16:05:52Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 5.07 psi 2021-10-10T16:05:52Z- handleDepth()-Depth_Keller msg: 1633881952985 epoch sec; seqNo:418; depth 13.59 2021-10-10T16:05:53Z- handleDvl() - RDI_Pathfinder msg: 1633881953.02 epoch sec; seqNo:167 2021-10-10T16:05:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.49 , 85.02 , 66.82 , 76.65 2021-10-10T16:05:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.01 , -0.13 2021-10-10T16:05:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881953.03 epoch sec; seqNo:418; 4061554.75 north; 594613.92 east 2021-10-10T16:05:53Z- AHRS_M2 msg: 1633881953.38 epoch sec; seqNo:413 2021-10-10T16:05:53Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.06 psi 2021-10-10T16:05:53Z- handleDepth()-Depth_Keller msg: 1633881953389 epoch sec; seqNo:419; depth 13.66 2021-10-10T16:05:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881953.40 epoch sec; seqNo:419; 4061554.75 north; 594613.92 east 2021-10-10T16:05:53Z- AHRS_M2 msg: 1633881953.79 epoch sec; seqNo:414 2021-10-10T16:05:53Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.06 psi 2021-10-10T16:05:53Z- handleDepth()-Depth_Keller msg: 1633881953793 epoch sec; seqNo:420; depth 13.72 2021-10-10T16:05:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881953.80 epoch sec; seqNo:420; 4061555.12 north; 594612.69 east 2021-10-10T16:05:54Z- AHRS_M2 msg: 1633881954.19 epoch sec; seqNo:415 2021-10-10T16:05:54Z- AHRS_M2 msg: -0.19 phi; -0.14 theta; 5.05 psi 2021-10-10T16:05:54Z- handleDepth()-Depth_Keller msg: 1633881954199 epoch sec; seqNo:421; depth 13.79 2021-10-10T16:05:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:54Z- handleDvl() - RDI_Pathfinder msg: 1633881954.20 epoch sec; seqNo:168 2021-10-10T16:05:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.01 , -0.13 2021-10-10T16:05:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881954.21 epoch sec; seqNo:421; 4061555.12 north; 594612.69 east 2021-10-10T16:05:54Z- AHRS_M2 msg: 1633881954.60 epoch sec; seqNo:416 2021-10-10T16:05:54Z- AHRS_M2 msg: -0.19 phi; -0.14 theta; 5.04 psi 2021-10-10T16:05:54Z- handleDepth()-Depth_Keller msg: 1633881954601 epoch sec; seqNo:422; depth 13.84 2021-10-10T16:05:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881954.61 epoch sec; seqNo:422; 4061555.12 north; 594612.69 east 2021-10-10T16:05:55Z- AHRS_M2 msg: 1633881955.00 epoch sec; seqNo:417 2021-10-10T16:05:55Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.03 psi 2021-10-10T16:05:55Z- handleDepth()-Depth_Keller msg: 1633881955005 epoch sec; seqNo:423; depth 13.92 2021-10-10T16:05:55Z- handleDvl() - RDI_Pathfinder msg: 1633881955.02 epoch sec; seqNo:169 2021-10-10T16:05:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.67 , 79.93 , 66.82 , 74.60 2021-10-10T16:05:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , 0.23 2021-10-10T16:05:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881955.06 epoch sec; seqNo:423; 4061555.48 north; 594611.47 east 2021-10-10T16:05:55Z- AHRS_M2 msg: 1633881955.40 epoch sec; seqNo:418 2021-10-10T16:05:55Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 5.03 psi 2021-10-10T16:05:55Z- handleDepth()-Depth_Keller msg: 1633881955410 epoch sec; seqNo:424; depth 13.98 2021-10-10T16:05:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:55Z- handleDvl() - RDI_Pathfinder msg: 1633881955.41 epoch sec; seqNo:170 2021-10-10T16:05:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , 0.23 2021-10-10T16:05:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881955.44 epoch sec; seqNo:424; 4061555.48 north; 594611.47 east 2021-10-10T16:05:55Z- AHRS_M2 msg: 1633881955.81 epoch sec; seqNo:419 2021-10-10T16:05:55Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.02 psi 2021-10-10T16:05:55Z- handleDepth()-Depth_Keller msg: 1633881955817 epoch sec; seqNo:425; depth 14.03 2021-10-10T16:05:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881955.83 epoch sec; seqNo:425; 4061555.48 north; 594611.47 east 2021-10-10T16:05:56Z- AHRS_M2 msg: 1633881956.21 epoch sec; seqNo:420 2021-10-10T16:05:56Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.02 psi 2021-10-10T16:05:56Z- handleDepth()-Depth_Keller msg: 1633881956229 epoch sec; seqNo:426; depth 14.09 2021-10-10T16:05:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881956.24 epoch sec; seqNo:426; 4061555.86 north; 594611.46 east 2021-10-10T16:05:56Z- AHRS_M2 msg: 1633881956.62 epoch sec; seqNo:421 2021-10-10T16:05:56Z- AHRS_M2 msg: -0.25 phi; -0.18 theta; 5.02 psi 2021-10-10T16:05:56Z- handleDepth()-Depth_Keller msg: 1633881956627 epoch sec; seqNo:427; depth 14.15 2021-10-10T16:05:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:05:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:05:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:05:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:05:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:05:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:05:56Z- handleDvl() - RDI_Pathfinder msg: 1633881956.63 epoch sec; seqNo:171 2021-10-10T16:05:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:05:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , 0.23 2021-10-10T16:05:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881956.64 epoch sec; seqNo:427; 4061555.85 north; 594610.24 east 2021-10-10T16:05:57Z- AHRS_M2 msg: 1633881957.03 epoch sec; seqNo:422 2021-10-10T16:05:57Z- AHRS_M2 msg: -0.26 phi; -0.18 theta; 5.03 psi 2021-10-10T16:05:57Z- handleDepth()-Depth_Keller msg: 1633881957031 epoch sec; seqNo:428; depth 14.18 2021-10-10T16:05:57Z- handleDvl() - RDI_Pathfinder msg: 1633881957.05 epoch sec; seqNo:172 2021-10-10T16:05:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.38 , 0.00 , 67.20 , 76.94 2021-10-10T16:05:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.06 , 0.05 2021-10-10T16:05:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881957.07 epoch sec; seqNo:428; 4061555.85 north; 594610.24 east 2021-10-10T16:05:57Z- AHRS_M2 msg: 1633881957.43 epoch sec; seqNo:423 2021-10-10T16:05:57Z- AHRS_M2 msg: -0.26 phi; -0.18 theta; 5.04 psi 2021-10-10T16:05:57Z- handleDepth()-Depth_Keller msg: 1633881957433 epoch sec; seqNo:429; depth 14.23 2021-10-10T16:05:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881957.46 epoch sec; seqNo:429; 4061556.23 north; 594610.24 east 2021-10-10T16:05:57Z- AHRS_M2 msg: 1633881957.83 epoch sec; seqNo:424 2021-10-10T16:05:57Z- AHRS_M2 msg: -0.26 phi; -0.18 theta; 5.05 psi 2021-10-10T16:05:57Z- handleDepth()-Depth_Keller msg: 1633881957833 epoch sec; seqNo:430; depth 14.27 2021-10-10T16:05:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881957.84 epoch sec; seqNo:430; 4061556.23 north; 594610.24 east 2021-10-10T16:05:57Z- LcmTrn::handleMessages() - handling 45 messages took 0.75 ms and 129 calls... 2021-10-10T16:05:57Z- waiting for 1633881955.60, time is 1633881957.84 2021-10-10T16:05:57Z- LcmTrn::updateTrn() >>>> pose time 1633881957.84, meas time 1633881957.05 <<<< 2021-10-10T16:05:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881957.05 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:05:57Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594610.24, 14.27) 2021-10-10T16:05:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:05:57Z- TerrainNav:: SubcloudNIS is 0.09, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:05:57Z- TNavBF::Projecting Measurements 2021-10-10T16:05:57Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:05:57Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:05:57Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:05:57Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T16:05:57Z- TNavFilter::3 good beams. 2021-10-10T16:05:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:05:57Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:05:57Z- TNavBF:: beamIndex[1] = 2 2021-10-10T16:05:57Z- TNavBF:: beamIndex[2] = 3 2021-10-10T16:05:57Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:05:57Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T16:05:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:05:57Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:57Z- TerrainMapOctree: (vehN, vehE ) = (4061556.01, 594610.80). 2021-10-10T16:05:57Z- TerrainMapOctree: Min Distance = 238.77. 2021-10-10T16:05:57Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:05:57Z- Forcing Subcloud Comparison 2021-10-10T16:05:58Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:05:58Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:58Z- Filter 0 partialDeltaRmsComputation: 2.457108 terrainVariance: 0.234448 1-SumSquareWeights: 0.993330 2021-10-10T16:05:58Z- Filter 0 meanExpectedMeasDiff: 1.490859 delta_rms_squared: 0.224515 alpha: 0.918205 2021-10-10T16:05:58Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:58Z- Filter 0 partialDeltaRmsComputation: 27.485375 terrainVariance: 0.741797 1-SumSquareWeights: 0.993330 2021-10-10T16:05:58Z- Filter 0 meanExpectedMeasDiff: -5.171419 delta_rms_squared: 0.731864 alpha: 0.973399 2021-10-10T16:05:58Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:05:58Z- Filter 0 partialDeltaRmsComputation: 34.304302 terrainVariance: 0.439723 1-SumSquareWeights: 0.993330 2021-10-10T16:05:58Z- Filter 0 meanExpectedMeasDiff: 5.819328 delta_rms_squared: 0.429790 alpha: 0.955535 2021-10-10T16:05:58Z- Filter 0 SubcloudNIS: 0.128614 2021-10-10T16:05:58Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:05:58Z- TNavBF:: Filter 0 sumWeights = 0.067873 2021-10-10T16:05:58Z- Filter 0 NorthBias: -48.2 EastBias: 26.9 DepthBias: -10.3 NorthVariance: 2.2 EastVariance: 105.9 DepthVariance: 0.9 this->DepthBiasCov: 0.8 2021-10-10T16:05:58Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881957.05 sec. 2021-10-10T16:05:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:05:58Z- TNavBF::mmse selected from filter -1 2021-10-10T16:05:58Z- variances([0], [2], and psi_berg) = 2.177015 105.987750 0.000000 2021-10-10T16:05:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:05:58Z- LcmTrn::publishEstimates() - MLE : 4061507.73 594635.74 14.27 2021-10-10T16:05:58Z- LcmTrn::publishEstimates() - MMSE : 4061508.00 594637.12 4.01 2021-10-10T16:05:58Z- LcmTrn::publishEstimates() - COVAR: 2.18 105.99 0.89 0.00 2021-10-10T16:05:58Z- AHRS_M2 msg: 1633881958.24 epoch sec; seqNo:425 2021-10-10T16:05:58Z- AHRS_M2 msg: -0.25 phi; -0.17 theta; 5.05 psi 2021-10-10T16:05:58Z- handleDepth()-Depth_Keller msg: 1633881958242 epoch sec; seqNo:431; depth 14.31 2021-10-10T16:05:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881958.25 epoch sec; seqNo:431; 4061556.23 north; 594610.24 east 2021-10-10T16:05:58Z- AHRS_M2 msg: 1633881958.64 epoch sec; seqNo:426 2021-10-10T16:05:58Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.06 psi 2021-10-10T16:05:58Z- handleDepth()-Depth_Keller msg: 1633881958645 epoch sec; seqNo:432; depth 14.36 2021-10-10T16:05:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881958.69 epoch sec; seqNo:432; 4061556.23 north; 594610.24 east 2021-10-10T16:05:59Z- AHRS_M2 msg: 1633881959.04 epoch sec; seqNo:427 2021-10-10T16:05:59Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.05 psi 2021-10-10T16:05:59Z- handleDepth()-Depth_Keller msg: 1633881959045 epoch sec; seqNo:433; depth 14.44 2021-10-10T16:05:59Z- handleDvl() - RDI_Pathfinder msg: 1633881959.06 epoch sec; seqNo:173 2021-10-10T16:05:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 59.74 , 0.00 , 66.55 , 0.00 2021-10-10T16:05:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T16:05:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881959.09 epoch sec; seqNo:433; 4061556.21 north; 594609.02 east 2021-10-10T16:05:59Z- AHRS_M2 msg: 1633881959.45 epoch sec; seqNo:428 2021-10-10T16:05:59Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.05 psi 2021-10-10T16:05:59Z- handleDepth()-Depth_Keller msg: 1633881959453 epoch sec; seqNo:434; depth 14.47 2021-10-10T16:05:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881959.47 epoch sec; seqNo:434; 4061556.21 north; 594609.02 east 2021-10-10T16:05:59Z- AHRS_M2 msg: 1633881959.85 epoch sec; seqNo:429 2021-10-10T16:05:59Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.04 psi 2021-10-10T16:05:59Z- handleDepth()-Depth_Keller msg: 1633881959853 epoch sec; seqNo:435; depth 14.53 2021-10-10T16:05:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881959.87 epoch sec; seqNo:435; 4061556.21 north; 594609.02 east 2021-10-10T16:06:00Z- AHRS_M2 msg: 1633881960.25 epoch sec; seqNo:430 2021-10-10T16:06:00Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.03 psi 2021-10-10T16:06:00Z- handleDepth()-Depth_Keller msg: 1633881960257 epoch sec; seqNo:436; depth 14.58 2021-10-10T16:06:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:00Z- handleDvl() - RDI_Pathfinder msg: 1633881960.26 epoch sec; seqNo:174 2021-10-10T16:06:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:00Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T16:06:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881960.27 epoch sec; seqNo:436; 4061556.59 north; 594609.02 east 2021-10-10T16:06:00Z- AHRS_M2 msg: 1633881960.67 epoch sec; seqNo:431 2021-10-10T16:06:00Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.02 psi 2021-10-10T16:06:00Z- handleDepth()-Depth_Keller msg: 1633881960684 epoch sec; seqNo:437; depth 14.65 2021-10-10T16:06:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881960.72 epoch sec; seqNo:437; 4061556.59 north; 594609.02 east 2021-10-10T16:06:01Z- AHRS_M2 msg: 1633881961.06 epoch sec; seqNo:432 2021-10-10T16:06:01Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.02 psi 2021-10-10T16:06:01Z- handleDepth()-Depth_Keller msg: 1633881961072 epoch sec; seqNo:438; depth 14.72 2021-10-10T16:06:01Z- handleDvl() - RDI_Pathfinder msg: 1633881961.09 epoch sec; seqNo:175 2021-10-10T16:06:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.23 , 79.88 , 66.21 , 76.04 2021-10-10T16:06:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , 0.08 2021-10-10T16:06:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881961.11 epoch sec; seqNo:438; 4061556.58 north; 594607.80 east 2021-10-10T16:06:01Z- AHRS_M2 msg: 1633881961.46 epoch sec; seqNo:433 2021-10-10T16:06:01Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.01 psi 2021-10-10T16:06:01Z- handleDepth()-Depth_Keller msg: 1633881961472 epoch sec; seqNo:439; depth 14.78 2021-10-10T16:06:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:01Z- handleDvl() - RDI_Pathfinder msg: 1633881961.47 epoch sec; seqNo:176 2021-10-10T16:06:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.03 , 0.08 2021-10-10T16:06:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881961.50 epoch sec; seqNo:439; 4061556.58 north; 594607.80 east 2021-10-10T16:06:01Z- AHRS_M2 msg: 1633881961.87 epoch sec; seqNo:434 2021-10-10T16:06:01Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.01 psi 2021-10-10T16:06:01Z- handleDepth()-Depth_Keller msg: 1633881961873 epoch sec; seqNo:440; depth 14.84 2021-10-10T16:06:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881961.88 epoch sec; seqNo:440; 4061556.96 north; 594607.79 east 2021-10-10T16:06:02Z- AHRS_M2 msg: 1633881962.27 epoch sec; seqNo:435 2021-10-10T16:06:02Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 5.01 psi 2021-10-10T16:06:02Z- handleDepth()-Depth_Keller msg: 1633881962277 epoch sec; seqNo:441; depth 14.88 2021-10-10T16:06:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881962.29 epoch sec; seqNo:441; 4061556.96 north; 594607.79 east 2021-10-10T16:06:02Z- AHRS_M2 msg: 1633881962.71 epoch sec; seqNo:436 2021-10-10T16:06:02Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 5.01 psi 2021-10-10T16:06:02Z- handleDepth()-Depth_Keller msg: 1633881962720 epoch sec; seqNo:442; depth 14.95 2021-10-10T16:06:02Z- handleDvl() - RDI_Pathfinder msg: 1633881962.76 epoch sec; seqNo:177 2021-10-10T16:06:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.38 , 80.84 , 65.90 , 76.29 2021-10-10T16:06:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.02 , 0.09 2021-10-10T16:06:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881962.77 epoch sec; seqNo:442; 4061556.95 north; 594606.57 east 2021-10-10T16:06:03Z- LcmTrn::handleMessages() - handling 41 messages took 0.75 ms and 126 calls... 2021-10-10T16:06:03Z- waiting for 1633881960.84, time is 1633881962.77 2021-10-10T16:06:03Z- LcmTrn::updateTrn() equating pose 1633881962.77 and meas times 1633881962.77 2021-10-10T16:06:03Z- LcmTrn::updateTrn() >>>> pose time 1633881962.77, meas time 1633881962.77 <<<< 2021-10-10T16:06:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881962.77 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:03Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594606.57, 14.95) 2021-10-10T16:06:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:03Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:03Z- TNavBF::Projecting Measurements 2021-10-10T16:06:03Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:06:03Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:06:03Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:06:03Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:06:03Z- TNavFilter::4 good beams. 2021-10-10T16:06:03Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:03Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:03Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:06:03Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:06:03Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:06:03Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:06:03Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:03Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:03Z- TerrainMapOctree: (vehN, vehE ) = (4061556.95, 594606.57). 2021-10-10T16:06:03Z- TerrainMapOctree: Min Distance = 240.50. 2021-10-10T16:06:03Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:06:03Z- Forcing Subcloud Comparison 2021-10-10T16:06:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 3556 indexM: 1 2021-10-10T16:06:03Z- Old Depth Bias: -9.62 DepthBiasCov: 0.92 K: 0.070 ExpectedMeasDiff: nan currMeas.covariance: 10.46 2021-10-10T16:06:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 9681 indexM: 3 2021-10-10T16:06:03Z- Old Depth Bias: -11.68 DepthBiasCov: 0.78 K: 0.066 ExpectedMeasDiff: nan currMeas.covariance: 9.31 2021-10-10T16:06:03Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:06:03Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:03Z- Filter 0 partialDeltaRmsComputation: 5.216928 terrainVariance: 0.404088 1-SumSquareWeights: 0.989685 2021-10-10T16:06:03Z- Filter 0 meanExpectedMeasDiff: 2.193819 delta_rms_squared: 0.394191 alpha: 0.951713 2021-10-10T16:06:03Z- Filter 0 beam number: 1 num in subcloud: 9987 num not in subcloud: 13 2021-10-10T16:06:03Z- Filter 0 partialDeltaRmsComputation: 19.567837 terrainVariance: 1.292992 1-SumSquareWeights: 0.989685 2021-10-10T16:06:03Z- Filter 0 meanExpectedMeasDiff: -4.274909 delta_rms_squared: 1.283095 alpha: 0.984652 2021-10-10T16:06:03Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:03Z- Filter 0 partialDeltaRmsComputation: 11.526074 terrainVariance: 1.163119 1-SumSquareWeights: 0.989685 2021-10-10T16:06:03Z- Filter 0 meanExpectedMeasDiff: -3.219154 delta_rms_squared: 1.153222 alpha: 0.982953 2021-10-10T16:06:03Z- Filter 0 beam number: 3 num in subcloud: 9998 num not in subcloud: 2 2021-10-10T16:06:03Z- Filter 0 partialDeltaRmsComputation: 22.109380 terrainVariance: 0.303900 1-SumSquareWeights: 0.989685 2021-10-10T16:06:03Z- Filter 0 meanExpectedMeasDiff: 4.669634 delta_rms_squared: 0.294003 alpha: 0.936306 2021-10-10T16:06:03Z- Filter 0 SubcloudNIS: 0.165598 2021-10-10T16:06:03Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:06:03Z- TNavBF:: Filter 0 sumWeights = 0.094728 2021-10-10T16:06:03Z- Filter 0 NorthBias: -48.6 EastBias: 28.5 DepthBias: -10.2 NorthVariance: 1.5 EastVariance: 133.9 DepthVariance: 0.8 this->DepthBiasCov: 0.7 2021-10-10T16:06:03Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881962.77 sec. 2021-10-10T16:06:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:03Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:03Z- variances([0], [2], and psi_berg) = 1.519012 133.872598 0.000000 2021-10-10T16:06:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:03Z- LcmTrn::publishEstimates() - MLE : 4061507.45 594642.07 14.95 2021-10-10T16:06:03Z- LcmTrn::publishEstimates() - MMSE : 4061508.38 594635.06 4.73 2021-10-10T16:06:03Z- LcmTrn::publishEstimates() - COVAR: 1.52 133.87 0.77 0.00 2021-10-10T16:06:03Z- AHRS_M2 msg: 1633881963.08 epoch sec; seqNo:437 2021-10-10T16:06:03Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 5.02 psi 2021-10-10T16:06:03Z- handleDepth()-Depth_Keller msg: 1633881963085 epoch sec; seqNo:443; depth 15.01 2021-10-10T16:06:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881963.11 epoch sec; seqNo:443; 4061556.95 north; 594606.57 east 2021-10-10T16:06:03Z- AHRS_M2 msg: 1633881963.48 epoch sec; seqNo:438 2021-10-10T16:06:03Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 5.02 psi 2021-10-10T16:06:03Z- handleDepth()-Depth_Keller msg: 1633881963490 epoch sec; seqNo:444; depth 15.06 2021-10-10T16:06:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881963.50 epoch sec; seqNo:444; 4061557.32 north; 594606.57 east 2021-10-10T16:06:03Z- AHRS_M2 msg: 1633881963.89 epoch sec; seqNo:439 2021-10-10T16:06:03Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 5.03 psi 2021-10-10T16:06:03Z- handleDepth()-Depth_Keller msg: 1633881963894 epoch sec; seqNo:445; depth 15.11 2021-10-10T16:06:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881963.90 epoch sec; seqNo:445; 4061557.32 north; 594606.57 east 2021-10-10T16:06:04Z- AHRS_M2 msg: 1633881964.29 epoch sec; seqNo:440 2021-10-10T16:06:04Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 5.04 psi 2021-10-10T16:06:04Z- handleDepth()-Depth_Keller msg: 1633881964298 epoch sec; seqNo:446; depth 15.16 2021-10-10T16:06:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881964.31 epoch sec; seqNo:446; 4061557.32 north; 594606.57 east 2021-10-10T16:06:04Z- AHRS_M2 msg: 1633881964.72 epoch sec; seqNo:441 2021-10-10T16:06:04Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 5.04 psi 2021-10-10T16:06:04Z- handleDepth()-Depth_Keller msg: 1633881964725 epoch sec; seqNo:447; depth 15.23 2021-10-10T16:06:04Z- handleDvl() - RDI_Pathfinder msg: 1633881964.74 epoch sec; seqNo:178 2021-10-10T16:06:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.85 , 87.20 , 65.58 , 77.47 2021-10-10T16:06:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.07 , -0.07 2021-10-10T16:06:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881964.76 epoch sec; seqNo:447; 4061557.31 north; 594605.35 east 2021-10-10T16:06:05Z- AHRS_M2 msg: 1633881965.10 epoch sec; seqNo:442 2021-10-10T16:06:05Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 5.04 psi 2021-10-10T16:06:05Z- handleDepth()-Depth_Keller msg: 1633881965105 epoch sec; seqNo:448; depth 15.28 2021-10-10T16:06:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881965.12 epoch sec; seqNo:448; 4061557.69 north; 594605.34 east 2021-10-10T16:06:05Z- AHRS_M2 msg: 1633881965.51 epoch sec; seqNo:443 2021-10-10T16:06:05Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 5.04 psi 2021-10-10T16:06:05Z- handleDepth()-Depth_Keller msg: 1633881965510 epoch sec; seqNo:449; depth 15.34 2021-10-10T16:06:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881965.52 epoch sec; seqNo:449; 4061557.69 north; 594605.34 east 2021-10-10T16:06:05Z- AHRS_M2 msg: 1633881965.91 epoch sec; seqNo:444 2021-10-10T16:06:05Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 5.04 psi 2021-10-10T16:06:05Z- handleDepth()-Depth_Keller msg: 1633881965923 epoch sec; seqNo:450; depth 15.39 2021-10-10T16:06:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881965.93 epoch sec; seqNo:450; 4061557.69 north; 594605.34 east 2021-10-10T16:06:06Z- AHRS_M2 msg: 1633881966.31 epoch sec; seqNo:445 2021-10-10T16:06:06Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 5.04 psi 2021-10-10T16:06:06Z- handleDepth()-Depth_Keller msg: 1633881966317 epoch sec; seqNo:451; depth 15.46 2021-10-10T16:06:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:06Z- handleDvl() - RDI_Pathfinder msg: 1633881966.32 epoch sec; seqNo:179 2021-10-10T16:06:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.07 , -0.07 2021-10-10T16:06:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881966.34 epoch sec; seqNo:451; 4061557.68 north; 594604.12 east 2021-10-10T16:06:06Z- AHRS_M2 msg: 1633881966.73 epoch sec; seqNo:446 2021-10-10T16:06:06Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.03 psi 2021-10-10T16:06:06Z- handleDepth()-Depth_Keller msg: 1633881966731 epoch sec; seqNo:452; depth 15.53 2021-10-10T16:06:06Z- handleDvl() - RDI_Pathfinder msg: 1633881966.75 epoch sec; seqNo:180 2021-10-10T16:06:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.85 , 83.94 , 64.77 , 77.06 2021-10-10T16:06:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2021-10-10T16:06:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881966.77 epoch sec; seqNo:452; 4061557.68 north; 594604.12 east 2021-10-10T16:06:07Z- AHRS_M2 msg: 1633881967.12 epoch sec; seqNo:447 2021-10-10T16:06:07Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.03 psi 2021-10-10T16:06:07Z- handleDepth()-Depth_Keller msg: 1633881967126 epoch sec; seqNo:453; depth 15.60 2021-10-10T16:06:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881967.14 epoch sec; seqNo:453; 4061558.05 north; 594604.12 east 2021-10-10T16:06:07Z- AHRS_M2 msg: 1633881967.52 epoch sec; seqNo:448 2021-10-10T16:06:07Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.03 psi 2021-10-10T16:06:07Z- handleDepth()-Depth_Keller msg: 1633881967529 epoch sec; seqNo:454; depth 15.65 2021-10-10T16:06:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:07Z- handleDvl() - RDI_Pathfinder msg: 1633881967.54 epoch sec; seqNo:181 2021-10-10T16:06:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , -0.01 2021-10-10T16:06:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881967.55 epoch sec; seqNo:454; 4061558.04 north; 594602.90 east 2021-10-10T16:06:07Z- AHRS_M2 msg: 1633881967.93 epoch sec; seqNo:449 2021-10-10T16:06:07Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.02 psi 2021-10-10T16:06:07Z- handleDepth()-Depth_Keller msg: 1633881967933 epoch sec; seqNo:455; depth 15.71 2021-10-10T16:06:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881967.94 epoch sec; seqNo:455; 4061558.04 north; 594602.90 east 2021-10-10T16:06:08Z- LcmTrn::handleMessages() - handling 43 messages took 0.63 ms and 130 calls... 2021-10-10T16:06:08Z- waiting for 1633881965.77, time is 1633881967.94 2021-10-10T16:06:08Z- LcmTrn::updateTrn() >>>> pose time 1633881967.94, meas time 1633881967.54 <<<< 2021-10-10T16:06:08Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881967.54, ping # 0. 2021-10-10T16:06:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881967.54 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:08Z- TerrainNav::motionUpdate() - currEstimate = (4061558, 594602.90, 15.71) 2021-10-10T16:06:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:08Z- TerrainNav:: SubcloudNIS is 0.17, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:08Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:06:08Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:06:08Z- TNavBF::Projecting Measurements 2021-10-10T16:06:08Z- TNavFilter::Measurement from time = 1633881967.54 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:06:08Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:08Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:08Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:06:08Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:06:08Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:06:08Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:06:08Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:08Z- Filter 0 NorthBias: -48.5 EastBias: 28.5 DepthBias: -10.2 NorthVariance: 1.5 EastVariance: 134.2 DepthVariance: 1.0 this->DepthBiasCov: 0.9 2021-10-10T16:06:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:08Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:08Z- variances([0], [2], and psi_berg) = 1.539317 134.257738 0.000000 2021-10-10T16:06:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:08Z- LcmTrn::publishEstimates() - MLE : 4061508.54 594638.40 15.71 2021-10-10T16:06:08Z- LcmTrn::publishEstimates() - MMSE : 4061509.50 594631.36 5.50 2021-10-10T16:06:08Z- LcmTrn::publishEstimates() - COVAR: 1.54 134.26 0.97 0.00 2021-10-10T16:06:08Z- AHRS_M2 msg: 1633881968.33 epoch sec; seqNo:450 2021-10-10T16:06:08Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.02 psi 2021-10-10T16:06:08Z- handleDepth()-Depth_Keller msg: 1633881968337 epoch sec; seqNo:456; depth 15.78 2021-10-10T16:06:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881968.35 epoch sec; seqNo:456; 4061558.42 north; 594602.89 east 2021-10-10T16:06:08Z- AHRS_M2 msg: 1633881968.74 epoch sec; seqNo:451 2021-10-10T16:06:08Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 5.02 psi 2021-10-10T16:06:08Z- handleDepth()-Depth_Keller msg: 1633881968742 epoch sec; seqNo:457; depth 15.86 2021-10-10T16:06:08Z- handleDvl() - RDI_Pathfinder msg: 1633881968.77 epoch sec; seqNo:182 2021-10-10T16:06:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.26 , 78.70 , 64.36 , 75.42 2021-10-10T16:06:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.04 , 0.04 2021-10-10T16:06:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881968.78 epoch sec; seqNo:457; 4061558.42 north; 594602.89 east 2021-10-10T16:06:09Z- AHRS_M2 msg: 1633881969.14 epoch sec; seqNo:452 2021-10-10T16:06:09Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 5.02 psi 2021-10-10T16:06:09Z- handleDepth()-Depth_Keller msg: 1633881969145 epoch sec; seqNo:458; depth 15.90 2021-10-10T16:06:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881969.17 epoch sec; seqNo:458; 4061558.41 north; 594601.67 east 2021-10-10T16:06:09Z- AHRS_M2 msg: 1633881969.54 epoch sec; seqNo:453 2021-10-10T16:06:09Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.02 psi 2021-10-10T16:06:09Z- handleDepth()-Depth_Keller msg: 1633881969549 epoch sec; seqNo:459; depth 15.98 2021-10-10T16:06:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881969.56 epoch sec; seqNo:459; 4061558.41 north; 594601.67 east 2021-10-10T16:06:09Z- AHRS_M2 msg: 1633881969.95 epoch sec; seqNo:454 2021-10-10T16:06:09Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.02 psi 2021-10-10T16:06:09Z- handleDepth()-Depth_Keller msg: 1633881969953 epoch sec; seqNo:460; depth 16.01 2021-10-10T16:06:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881969.96 epoch sec; seqNo:460; 4061558.79 north; 594601.67 east 2021-10-10T16:06:10Z- AHRS_M2 msg: 1633881970.36 epoch sec; seqNo:455 2021-10-10T16:06:10Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 5.03 psi 2021-10-10T16:06:10Z- handleDepth()-Depth_Keller msg: 1633881970362 epoch sec; seqNo:461; depth 16.09 2021-10-10T16:06:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881970.37 epoch sec; seqNo:461; 4061558.79 north; 594601.67 east 2021-10-10T16:06:10Z- AHRS_M2 msg: 1633881970.79 epoch sec; seqNo:456 2021-10-10T16:06:10Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 5.03 psi 2021-10-10T16:06:10Z- handleDepth()-Depth_Keller msg: 1633881970795 epoch sec; seqNo:462; depth 16.16 2021-10-10T16:06:10Z- handleDvl() - RDI_Pathfinder msg: 1633881970.82 epoch sec; seqNo:183 2021-10-10T16:06:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.41 , 0.00 , 63.96 , 76.94 2021-10-10T16:06:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.01 , -0.02 2021-10-10T16:06:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881970.84 epoch sec; seqNo:462; 4061558.77 north; 594600.45 east 2021-10-10T16:06:11Z- AHRS_M2 msg: 1633881971.16 epoch sec; seqNo:457 2021-10-10T16:06:11Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 5.03 psi 2021-10-10T16:06:11Z- handleDepth()-Depth_Keller msg: 1633881971165 epoch sec; seqNo:463; depth 16.23 2021-10-10T16:06:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881971.19 epoch sec; seqNo:463; 4061559.15 north; 594600.44 east 2021-10-10T16:06:11Z- AHRS_M2 msg: 1633881971.57 epoch sec; seqNo:458 2021-10-10T16:06:11Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 5.02 psi 2021-10-10T16:06:11Z- handleDepth()-Depth_Keller msg: 1633881971575 epoch sec; seqNo:464; depth 16.28 2021-10-10T16:06:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881971.59 epoch sec; seqNo:464; 4061559.15 north; 594600.44 east 2021-10-10T16:06:11Z- AHRS_M2 msg: 1633881971.97 epoch sec; seqNo:459 2021-10-10T16:06:11Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 5.02 psi 2021-10-10T16:06:11Z- handleDepth()-Depth_Keller msg: 1633881971976 epoch sec; seqNo:465; depth 16.35 2021-10-10T16:06:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881971.98 epoch sec; seqNo:465; 4061559.15 north; 594600.44 east 2021-10-10T16:06:12Z- AHRS_M2 msg: 1633881972.38 epoch sec; seqNo:460 2021-10-10T16:06:12Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 5.02 psi 2021-10-10T16:06:12Z- handleDepth()-Depth_Keller msg: 1633881972387 epoch sec; seqNo:466; depth 16.43 2021-10-10T16:06:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:12Z- handleDvl() - RDI_Pathfinder msg: 1633881972.39 epoch sec; seqNo:184 2021-10-10T16:06:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.01 , -0.02 2021-10-10T16:06:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881972.40 epoch sec; seqNo:466; 4061559.14 north; 594599.22 east 2021-10-10T16:06:12Z- AHRS_M2 msg: 1633881972.78 epoch sec; seqNo:461 2021-10-10T16:06:12Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 5.02 psi 2021-10-10T16:06:12Z- handleDepth()-Depth_Keller msg: 1633881972784 epoch sec; seqNo:467; depth 16.50 2021-10-10T16:06:12Z- handleDvl() - RDI_Pathfinder msg: 1633881972.82 epoch sec; seqNo:185 2021-10-10T16:06:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.36 , 0.00 , 63.97 , 77.20 2021-10-10T16:06:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.05 , 0.04 2021-10-10T16:06:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881972.83 epoch sec; seqNo:467; 4061559.52 north; 594599.22 east 2021-10-10T16:06:13Z- AHRS_M2 msg: 1633881973.18 epoch sec; seqNo:462 2021-10-10T16:06:13Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 5.02 psi 2021-10-10T16:06:13Z- handleDepth()-Depth_Keller msg: 1633881973186 epoch sec; seqNo:468; depth 16.56 2021-10-10T16:06:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881973.20 epoch sec; seqNo:468; 4061559.52 north; 594599.22 east 2021-10-10T16:06:13Z- LcmTrn::handleMessages() - handling 43 messages took 0.70 ms and 129 calls... 2021-10-10T16:06:13Z- waiting for 1633881970.94, time is 1633881973.20 2021-10-10T16:06:13Z- LcmTrn::updateTrn() >>>> pose time 1633881973.20, meas time 1633881972.82 <<<< 2021-10-10T16:06:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881972.82 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:13Z- TerrainNav::motionUpdate() - currEstimate = (4061560, 594599.22, 16.56) 2021-10-10T16:06:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:13Z- TerrainNav:: SubcloudNIS is 0.17, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:13Z- TNavBF::Projecting Measurements 2021-10-10T16:06:13Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:06:13Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:06:13Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:06:13Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T16:06:13Z- TNavFilter::3 good beams. 2021-10-10T16:06:13Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:13Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:13Z- TNavBF:: beamIndex[1] = 2 2021-10-10T16:06:13Z- TNavBF:: beamIndex[2] = 3 2021-10-10T16:06:13Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:06:13Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T16:06:13Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:13Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:13Z- TerrainMapOctree: (vehN, vehE ) = (4061559.41, 594599.49). 2021-10-10T16:06:13Z- TerrainMapOctree: Min Distance = 242.85. 2021-10-10T16:06:13Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:06:13Z- Forcing Subcloud Comparison 2021-10-10T16:06:13Z- Filter 0 deapthBias would have been set to Nan. indexP: 9587 indexM: 2 2021-10-10T16:06:13Z- Old Depth Bias: -11.38 DepthBiasCov: 0.86 K: 0.071 ExpectedMeasDiff: nan currMeas.covariance: 9.54 2021-10-10T16:06:13Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:06:13Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:13Z- Filter 0 partialDeltaRmsComputation: 6.671135 terrainVariance: 0.415978 1-SumSquareWeights: 0.988106 2021-10-10T16:06:13Z- Filter 0 meanExpectedMeasDiff: 2.501031 delta_rms_squared: 0.406097 alpha: 0.953062 2021-10-10T16:06:13Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:13Z- Filter 0 partialDeltaRmsComputation: 9.851580 terrainVariance: 1.020067 1-SumSquareWeights: 0.988106 2021-10-10T16:06:13Z- Filter 0 meanExpectedMeasDiff: -2.971786 delta_rms_squared: 1.010186 alpha: 0.980586 2021-10-10T16:06:13Z- Filter 0 beam number: 2 num in subcloud: 9999 num not in subcloud: 1 2021-10-10T16:06:13Z- Filter 0 partialDeltaRmsComputation: 32.082240 terrainVariance: 0.459479 1-SumSquareWeights: 0.988106 2021-10-10T16:06:13Z- Filter 0 meanExpectedMeasDiff: 5.623412 delta_rms_squared: 0.449598 alpha: 0.957410 2021-10-10T16:06:13Z- Filter 0 SubcloudNIS: 0.209657 2021-10-10T16:06:13Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:06:13Z- TNavBF:: Filter 0 sumWeights = 0.120879 2021-10-10T16:06:13Z- Filter 0 NorthBias: -48.8 EastBias: 30.1 DepthBias: -9.6 NorthVariance: 1.0 EastVariance: 126.5 DepthVariance: 0.9 this->DepthBiasCov: 0.8 2021-10-10T16:06:13Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881972.82 sec. 2021-10-10T16:06:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:13Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:13Z- variances([0], [2], and psi_berg) = 1.011073 126.660451 0.000000 2021-10-10T16:06:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:13Z- LcmTrn::publishEstimates() - MLE : 4061510.02 594634.72 16.56 2021-10-10T16:06:13Z- LcmTrn::publishEstimates() - MMSE : 4061510.76 594629.30 6.93 2021-10-10T16:06:13Z- LcmTrn::publishEstimates() - COVAR: 1.01 126.66 0.90 0.00 2021-10-10T16:06:13Z- AHRS_M2 msg: 1633881973.59 epoch sec; seqNo:463 2021-10-10T16:06:13Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.02 psi 2021-10-10T16:06:13Z- handleDepth()-Depth_Keller msg: 1633881973597 epoch sec; seqNo:469; depth 16.62 2021-10-10T16:06:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:13Z- handleDvl() - RDI_Pathfinder msg: 1633881973.60 epoch sec; seqNo:186 2021-10-10T16:06:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.05 , 0.04 2021-10-10T16:06:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881973.61 epoch sec; seqNo:469; 4061559.52 north; 594599.22 east 2021-10-10T16:06:14Z- AHRS_M2 msg: 1633881973.99 epoch sec; seqNo:464 2021-10-10T16:06:14Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.02 psi 2021-10-10T16:06:14Z- handleDepth()-Depth_Keller msg: 1633881973997 epoch sec; seqNo:470; depth 16.68 2021-10-10T16:06:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881974.03 epoch sec; seqNo:470; 4061559.50 north; 594598.00 east 2021-10-10T16:06:14Z- AHRS_M2 msg: 1633881974.39 epoch sec; seqNo:465 2021-10-10T16:06:14Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.03 psi 2021-10-10T16:06:14Z- handleDepth()-Depth_Keller msg: 1633881974398 epoch sec; seqNo:471; depth 16.76 2021-10-10T16:06:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881974.41 epoch sec; seqNo:471; 4061559.50 north; 594598.00 east 2021-10-10T16:06:14Z- AHRS_M2 msg: 1633881974.80 epoch sec; seqNo:466 2021-10-10T16:06:14Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.03 psi 2021-10-10T16:06:14Z- handleDepth()-Depth_Keller msg: 1633881974807 epoch sec; seqNo:472; depth 16.82 2021-10-10T16:06:14Z- handleDvl() - RDI_Pathfinder msg: 1633881974.83 epoch sec; seqNo:187 2021-10-10T16:06:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.05 , 0.00 , 63.36 , 77.51 2021-10-10T16:06:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.02 2021-10-10T16:06:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881974.86 epoch sec; seqNo:472; 4061559.88 north; 594597.99 east 2021-10-10T16:06:15Z- AHRS_M2 msg: 1633881975.20 epoch sec; seqNo:467 2021-10-10T16:06:15Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.03 psi 2021-10-10T16:06:15Z- handleDepth()-Depth_Keller msg: 1633881975210 epoch sec; seqNo:473; depth 16.90 2021-10-10T16:06:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881975.22 epoch sec; seqNo:473; 4061559.88 north; 594597.99 east 2021-10-10T16:06:15Z- AHRS_M2 msg: 1633881975.60 epoch sec; seqNo:468 2021-10-10T16:06:15Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.03 psi 2021-10-10T16:06:15Z- handleDepth()-Depth_Keller msg: 1633881975609 epoch sec; seqNo:474; depth 16.98 2021-10-10T16:06:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881975.63 epoch sec; seqNo:474; 4061559.87 north; 594596.77 east 2021-10-10T16:06:16Z- AHRS_M2 msg: 1633881976.01 epoch sec; seqNo:469 2021-10-10T16:06:16Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.03 psi 2021-10-10T16:06:16Z- handleDepth()-Depth_Keller msg: 1633881976013 epoch sec; seqNo:475; depth 17.03 2021-10-10T16:06:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:16Z- handleDvl() - RDI_Pathfinder msg: 1633881976.02 epoch sec; seqNo:188 2021-10-10T16:06:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.02 2021-10-10T16:06:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881976.02 epoch sec; seqNo:475; 4061559.87 north; 594596.77 east 2021-10-10T16:06:16Z- AHRS_M2 msg: 1633881976.42 epoch sec; seqNo:470 2021-10-10T16:06:16Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:16Z- handleDepth()-Depth_Keller msg: 1633881976429 epoch sec; seqNo:476; depth 17.10 2021-10-10T16:06:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881976.44 epoch sec; seqNo:476; 4061559.87 north; 594596.77 east 2021-10-10T16:06:16Z- AHRS_M2 msg: 1633881976.82 epoch sec; seqNo:471 2021-10-10T16:06:16Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:16Z- handleDepth()-Depth_Keller msg: 1633881976833 epoch sec; seqNo:477; depth 17.18 2021-10-10T16:06:16Z- handleDvl() - RDI_Pathfinder msg: 1633881976.85 epoch sec; seqNo:189 2021-10-10T16:06:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.13 , 80.27 , 63.05 , 77.20 2021-10-10T16:06:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.02 2021-10-10T16:06:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881976.87 epoch sec; seqNo:477; 4061559.87 north; 594596.77 east 2021-10-10T16:06:17Z- AHRS_M2 msg: 1633881977.22 epoch sec; seqNo:472 2021-10-10T16:06:17Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:17Z- handleDepth()-Depth_Keller msg: 1633881977228 epoch sec; seqNo:478; depth 17.25 2021-10-10T16:06:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:17Z- handleDvl() - RDI_Pathfinder msg: 1633881977.23 epoch sec; seqNo:190 2021-10-10T16:06:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.02 2021-10-10T16:06:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881977.24 epoch sec; seqNo:478; 4061560.23 north; 594595.55 east 2021-10-10T16:06:17Z- AHRS_M2 msg: 1633881977.63 epoch sec; seqNo:473 2021-10-10T16:06:17Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:17Z- handleDepth()-Depth_Keller msg: 1633881977631 epoch sec; seqNo:479; depth 17.32 2021-10-10T16:06:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881977.64 epoch sec; seqNo:479; 4061560.23 north; 594595.55 east 2021-10-10T16:06:18Z- AHRS_M2 msg: 1633881978.03 epoch sec; seqNo:474 2021-10-10T16:06:18Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:18Z- handleDepth()-Depth_Keller msg: 1633881978041 epoch sec; seqNo:480; depth 17.40 2021-10-10T16:06:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881978.05 epoch sec; seqNo:480; 4061560.23 north; 594595.55 east 2021-10-10T16:06:18Z- AHRS_M2 msg: 1633881978.43 epoch sec; seqNo:475 2021-10-10T16:06:18Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:18Z- handleDepth()-Depth_Keller msg: 1633881978447 epoch sec; seqNo:481; depth 17.47 2021-10-10T16:06:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:18Z- handleDvl() - RDI_Pathfinder msg: 1633881978.45 epoch sec; seqNo:191 2021-10-10T16:06:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.02 2021-10-10T16:06:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881978.46 epoch sec; seqNo:481; 4061560.23 north; 594595.55 east 2021-10-10T16:06:18Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T16:06:18Z- waiting for 1633881976.20, time is 1633881978.46 2021-10-10T16:06:18Z- LcmTrn::updateTrn() equating pose 1633881978.46 and meas times 1633881978.46 2021-10-10T16:06:18Z- LcmTrn::updateTrn() >>>> pose time 1633881978.46, meas time 1633881978.46 <<<< 2021-10-10T16:06:18Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881978.46, ping # 0. 2021-10-10T16:06:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881978.46 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:18Z- TerrainNav::motionUpdate() - currEstimate = (4061560, 594595.55, 17.47) 2021-10-10T16:06:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:18Z- TerrainNav:: SubcloudNIS is 0.21, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:18Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:06:18Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:06:18Z- TerrainNav::Measurement type 1 not incorporated from time = 1633881978.46 sec.; No relevant navigation data available 2021-10-10T16:06:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:18Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:18Z- variances([0], [2], and psi_berg) = 1.026985 127.055880 0.000000 2021-10-10T16:06:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:18Z- LcmTrn::publishEstimates() - MLE : 4061510.73 594631.05 17.47 2021-10-10T16:06:18Z- LcmTrn::publishEstimates() - MMSE : 4061511.50 594625.61 7.83 2021-10-10T16:06:18Z- LcmTrn::publishEstimates() - COVAR: 1.03 127.06 1.09 0.00 2021-10-10T16:06:18Z- AHRS_M2 msg: 1633881978.84 epoch sec; seqNo:476 2021-10-10T16:06:18Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:18Z- handleDepth()-Depth_Keller msg: 1633881978848 epoch sec; seqNo:482; depth 17.54 2021-10-10T16:06:18Z- handleDvl() - RDI_Pathfinder msg: 1633881978.87 epoch sec; seqNo:192 2021-10-10T16:06:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.80 , 77.88 , 61.90 , 76.24 2021-10-10T16:06:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , -0.03 2021-10-10T16:06:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881978.90 epoch sec; seqNo:482; 4061560.22 north; 594594.33 east 2021-10-10T16:06:19Z- AHRS_M2 msg: 1633881979.24 epoch sec; seqNo:477 2021-10-10T16:06:19Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:19Z- handleDepth()-Depth_Keller msg: 1633881979245 epoch sec; seqNo:483; depth 17.61 2021-10-10T16:06:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881979.27 epoch sec; seqNo:483; 4061560.60 north; 594594.33 east 2021-10-10T16:06:19Z- AHRS_M2 msg: 1633881979.65 epoch sec; seqNo:478 2021-10-10T16:06:19Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.04 psi 2021-10-10T16:06:19Z- handleDepth()-Depth_Keller msg: 1633881979653 epoch sec; seqNo:484; depth 17.69 2021-10-10T16:06:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:19Z- handleDvl() - RDI_Pathfinder msg: 1633881979.66 epoch sec; seqNo:193 2021-10-10T16:06:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.04 , -0.03 2021-10-10T16:06:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881979.68 epoch sec; seqNo:484; 4061560.60 north; 594594.33 east 2021-10-10T16:06:20Z- AHRS_M2 msg: 1633881980.05 epoch sec; seqNo:479 2021-10-10T16:06:20Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.03 psi 2021-10-10T16:06:20Z- handleDepth()-Depth_Keller msg: 1633881980053 epoch sec; seqNo:485; depth 17.75 2021-10-10T16:06:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881980.06 epoch sec; seqNo:485; 4061560.59 north; 594593.11 east 2021-10-10T16:06:20Z- AHRS_M2 msg: 1633881980.45 epoch sec; seqNo:480 2021-10-10T16:06:20Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.03 psi 2021-10-10T16:06:20Z- handleDepth()-Depth_Keller msg: 1633881980465 epoch sec; seqNo:486; depth 17.83 2021-10-10T16:06:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881980.47 epoch sec; seqNo:486; 4061560.96 north; 594593.10 east 2021-10-10T16:06:20Z- AHRS_M2 msg: 1633881980.86 epoch sec; seqNo:481 2021-10-10T16:06:20Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.02 psi 2021-10-10T16:06:20Z- handleDepth()-Depth_Keller msg: 1633881980863 epoch sec; seqNo:487; depth 17.89 2021-10-10T16:06:20Z- handleDvl() - RDI_Pathfinder msg: 1633881980.89 epoch sec; seqNo:194 2021-10-10T16:06:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.11 , 77.59 , 61.68 , 0.00 2021-10-10T16:06:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.03 , 0.07 2021-10-10T16:06:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881980.90 epoch sec; seqNo:487; 4061560.96 north; 594593.10 east 2021-10-10T16:06:21Z- AHRS_M2 msg: 1633881981.26 epoch sec; seqNo:482 2021-10-10T16:06:21Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.02 psi 2021-10-10T16:06:21Z- handleDepth()-Depth_Keller msg: 1633881981265 epoch sec; seqNo:488; depth 17.96 2021-10-10T16:06:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881981.28 epoch sec; seqNo:488; 4061560.96 north; 594593.10 east 2021-10-10T16:06:21Z- AHRS_M2 msg: 1633881981.66 epoch sec; seqNo:483 2021-10-10T16:06:21Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.02 psi 2021-10-10T16:06:21Z- handleDepth()-Depth_Keller msg: 1633881981676 epoch sec; seqNo:489; depth 18.04 2021-10-10T16:06:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881981.68 epoch sec; seqNo:489; 4061561.33 north; 594591.88 east 2021-10-10T16:06:22Z- AHRS_M2 msg: 1633881982.07 epoch sec; seqNo:484 2021-10-10T16:06:22Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.01 psi 2021-10-10T16:06:22Z- handleDepth()-Depth_Keller msg: 1633881982083 epoch sec; seqNo:490; depth 18.11 2021-10-10T16:06:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:22Z- handleDvl() - RDI_Pathfinder msg: 1633881982.09 epoch sec; seqNo:195 2021-10-10T16:06:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.03 , 0.07 2021-10-10T16:06:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881982.09 epoch sec; seqNo:490; 4061561.33 north; 594591.88 east 2021-10-10T16:06:22Z- AHRS_M2 msg: 1633881982.47 epoch sec; seqNo:485 2021-10-10T16:06:22Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.01 psi 2021-10-10T16:06:22Z- handleDepth()-Depth_Keller msg: 1633881982478 epoch sec; seqNo:491; depth 18.18 2021-10-10T16:06:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881982.50 epoch sec; seqNo:491; 4061561.33 north; 594591.88 east 2021-10-10T16:06:22Z- AHRS_M2 msg: 1633881982.88 epoch sec; seqNo:486 2021-10-10T16:06:22Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.01 psi 2021-10-10T16:06:22Z- handleDepth()-Depth_Keller msg: 1633881982881 epoch sec; seqNo:492; depth 18.27 2021-10-10T16:06:22Z- handleDvl() - RDI_Pathfinder msg: 1633881982.90 epoch sec; seqNo:196 2021-10-10T16:06:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.21 , 78.12 , 61.82 , 75.97 2021-10-10T16:06:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.00 , 0.13 2021-10-10T16:06:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881982.92 epoch sec; seqNo:492; 4061561.71 north; 594591.87 east 2021-10-10T16:06:23Z- AHRS_M2 msg: 1633881983.28 epoch sec; seqNo:487 2021-10-10T16:06:23Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.02 psi 2021-10-10T16:06:23Z- handleDepth()-Depth_Keller msg: 1633881983288 epoch sec; seqNo:493; depth 18.34 2021-10-10T16:06:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:23Z- handleDvl() - RDI_Pathfinder msg: 1633881983.29 epoch sec; seqNo:197 2021-10-10T16:06:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.00 , 0.13 2021-10-10T16:06:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881983.31 epoch sec; seqNo:493; 4061561.69 north; 594590.65 east 2021-10-10T16:06:23Z- LcmTrn::handleMessages() - handling 42 messages took 0.66 ms and 128 calls... 2021-10-10T16:06:23Z- waiting for 1633881981.46, time is 1633881983.31 2021-10-10T16:06:23Z- LcmTrn::updateTrn() equating pose 1633881983.31 and meas times 1633881983.31 2021-10-10T16:06:23Z- LcmTrn::updateTrn() >>>> pose time 1633881983.31, meas time 1633881983.31 <<<< 2021-10-10T16:06:23Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881983.31, ping # 0. 2021-10-10T16:06:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881983.31 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:23Z- TerrainNav::motionUpdate() - currEstimate = (4061562, 594590.65, 18.34) 2021-10-10T16:06:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:23Z- TerrainNav:: SubcloudNIS is 0.21, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:23Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:06:23Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:06:23Z- TNavBF::Projecting Measurements 2021-10-10T16:06:23Z- TNavFilter::Measurement from time = 1633881983.31 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:06:23Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:23Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:23Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:06:23Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:06:23Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:06:23Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:06:23Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:23Z- Filter 0 NorthBias: -48.7 EastBias: 30.0 DepthBias: -9.6 NorthVariance: 1.0 EastVariance: 127.5 DepthVariance: 1.4 this->DepthBiasCov: 1.3 2021-10-10T16:06:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:23Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:23Z- variances([0], [2], and psi_berg) = 1.045497 127.509578 0.000000 2021-10-10T16:06:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:23Z- LcmTrn::publishEstimates() - MLE : 4061512.19 594626.15 18.34 2021-10-10T16:06:23Z- LcmTrn::publishEstimates() - MMSE : 4061512.98 594620.68 8.71 2021-10-10T16:06:23Z- LcmTrn::publishEstimates() - COVAR: 1.05 127.51 1.35 0.00 2021-10-10T16:06:23Z- AHRS_M2 msg: 1633881983.69 epoch sec; seqNo:488 2021-10-10T16:06:23Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.02 psi 2021-10-10T16:06:23Z- handleDepth()-Depth_Keller msg: 1633881983690 epoch sec; seqNo:494; depth 18.42 2021-10-10T16:06:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881983.70 epoch sec; seqNo:494; 4061561.69 north; 594590.65 east 2021-10-10T16:06:24Z- AHRS_M2 msg: 1633881984.09 epoch sec; seqNo:489 2021-10-10T16:06:24Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.03 psi 2021-10-10T16:06:24Z- handleDepth()-Depth_Keller msg: 1633881984096 epoch sec; seqNo:495; depth 18.48 2021-10-10T16:06:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881984.11 epoch sec; seqNo:495; 4061561.69 north; 594590.65 east 2021-10-10T16:06:24Z- AHRS_M2 msg: 1633881984.50 epoch sec; seqNo:490 2021-10-10T16:06:24Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.04 psi 2021-10-10T16:06:24Z- handleDepth()-Depth_Keller msg: 1633881984510 epoch sec; seqNo:496; depth 18.54 2021-10-10T16:06:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:24Z- handleDvl() - RDI_Pathfinder msg: 1633881984.52 epoch sec; seqNo:198 2021-10-10T16:06:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.00 , 0.13 2021-10-10T16:06:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881984.53 epoch sec; seqNo:496; 4061562.07 north; 594590.65 east 2021-10-10T16:06:24Z- AHRS_M2 msg: 1633881984.90 epoch sec; seqNo:491 2021-10-10T16:06:24Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.04 psi 2021-10-10T16:06:24Z- handleDepth()-Depth_Keller msg: 1633881984901 epoch sec; seqNo:497; depth 18.60 2021-10-10T16:06:24Z- handleDvl() - RDI_Pathfinder msg: 1633881984.93 epoch sec; seqNo:199 2021-10-10T16:06:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.46 , 78.24 , 61.36 , 77.27 2021-10-10T16:06:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.05 , -0.10 2021-10-10T16:06:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881984.94 epoch sec; seqNo:497; 4061562.06 north; 594589.43 east 2021-10-10T16:06:25Z- AHRS_M2 msg: 1633881985.30 epoch sec; seqNo:492 2021-10-10T16:06:25Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.05 psi 2021-10-10T16:06:25Z- handleDepth()-Depth_Keller msg: 1633881985311 epoch sec; seqNo:498; depth 18.68 2021-10-10T16:06:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881985.33 epoch sec; seqNo:498; 4061562.06 north; 594589.43 east 2021-10-10T16:06:25Z- AHRS_M2 msg: 1633881985.70 epoch sec; seqNo:493 2021-10-10T16:06:25Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.05 psi 2021-10-10T16:06:25Z- handleDepth()-Depth_Keller msg: 1633881985709 epoch sec; seqNo:499; depth 18.73 2021-10-10T16:06:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:25Z- handleDvl() - RDI_Pathfinder msg: 1633881985.71 epoch sec; seqNo:200 2021-10-10T16:06:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.05 , -0.10 2021-10-10T16:06:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881985.72 epoch sec; seqNo:499; 4061562.06 north; 594589.43 east 2021-10-10T16:06:26Z- AHRS_M2 msg: 1633881986.11 epoch sec; seqNo:494 2021-10-10T16:06:26Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.05 psi 2021-10-10T16:06:26Z- handleDepth()-Depth_Keller msg: 1633881986120 epoch sec; seqNo:500; depth 18.79 2021-10-10T16:06:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881986.13 epoch sec; seqNo:500; 4061562.06 north; 594589.43 east 2021-10-10T16:06:26Z- AHRS_M2 msg: 1633881986.51 epoch sec; seqNo:495 2021-10-10T16:06:26Z- AHRS_M2 msg: -0.21 phi; -0.21 theta; 5.06 psi 2021-10-10T16:06:26Z- handleDepth()-Depth_Keller msg: 1633881986523 epoch sec; seqNo:501; depth 18.86 2021-10-10T16:06:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881986.54 epoch sec; seqNo:501; 4061562.44 north; 594589.42 east 2021-10-10T16:06:26Z- AHRS_M2 msg: 1633881986.92 epoch sec; seqNo:496 2021-10-10T16:06:26Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 5.05 psi 2021-10-10T16:06:26Z- handleDepth()-Depth_Keller msg: 1633881986921 epoch sec; seqNo:502; depth 18.93 2021-10-10T16:06:26Z- handleDvl() - RDI_Pathfinder msg: 1633881986.94 epoch sec; seqNo:201 2021-10-10T16:06:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.49 , 77.92 , 61.03 , 76.29 2021-10-10T16:06:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , -0.07 2021-10-10T16:06:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881986.96 epoch sec; seqNo:502; 4061562.43 north; 594588.20 east 2021-10-10T16:06:27Z- AHRS_M2 msg: 1633881987.32 epoch sec; seqNo:497 2021-10-10T16:06:27Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 5.05 psi 2021-10-10T16:06:27Z- handleDepth()-Depth_Keller msg: 1633881987325 epoch sec; seqNo:503; depth 19.02 2021-10-10T16:06:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881987.34 epoch sec; seqNo:503; 4061562.43 north; 594588.20 east 2021-10-10T16:06:27Z- AHRS_M2 msg: 1633881987.73 epoch sec; seqNo:498 2021-10-10T16:06:27Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 5.04 psi 2021-10-10T16:06:27Z- handleDepth()-Depth_Keller msg: 1633881987735 epoch sec; seqNo:504; depth 19.08 2021-10-10T16:06:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881987.74 epoch sec; seqNo:504; 4061562.43 north; 594588.20 east 2021-10-10T16:06:28Z- AHRS_M2 msg: 1633881988.13 epoch sec; seqNo:499 2021-10-10T16:06:28Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 5.04 psi 2021-10-10T16:06:28Z- handleDepth()-Depth_Keller msg: 1633881988133 epoch sec; seqNo:505; depth 19.14 2021-10-10T16:06:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881988.15 epoch sec; seqNo:505; 4061562.79 north; 594586.98 east 2021-10-10T16:06:28Z- AHRS_M2 msg: 1633881988.53 epoch sec; seqNo:500 2021-10-10T16:06:28Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 5.03 psi 2021-10-10T16:06:28Z- handleDepth()-Depth_Keller msg: 1633881988537 epoch sec; seqNo:506; depth 19.23 2021-10-10T16:06:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881988.55 epoch sec; seqNo:506; 4061562.79 north; 594586.98 east 2021-10-10T16:06:28Z- LcmTrn::handleMessages() - handling 43 messages took 0.57 ms and 131 calls... 2021-10-10T16:06:28Z- waiting for 1633881986.31, time is 1633881988.55 2021-10-10T16:06:28Z- LcmTrn::updateTrn() >>>> pose time 1633881988.55, meas time 1633881986.94 <<<< 2021-10-10T16:06:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881986.94 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:28Z- TerrainNav::motionUpdate() - currEstimate = (4061563, 594586.98, 19.23) 2021-10-10T16:06:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:28Z- TerrainNav:: SubcloudNIS is 0.21, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:28Z- TNavBF::Projecting Measurements 2021-10-10T16:06:28Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:06:28Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:06:28Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:06:28Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:06:28Z- TNavFilter::4 good beams. 2021-10-10T16:06:28Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:28Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:28Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:06:28Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:06:28Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:06:28Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:06:28Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:28Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:28Z- TerrainMapOctree: (vehN, vehE ) = (4061562.46, 594588.10). 2021-10-10T16:06:28Z- TerrainMapOctree: Min Distance = 247.76. 2021-10-10T16:06:28Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:06:28Z- Forcing Subcloud Comparison 2021-10-10T16:06:28Z- Filter 0 deapthBias would have been set to Nan. indexP: 2598 indexM: 1 2021-10-10T16:06:28Z- Old Depth Bias: -8.22 DepthBiasCov: 1.16 K: 0.092 ExpectedMeasDiff: nan currMeas.covariance: 9.71 2021-10-10T16:06:28Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:06:28Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:28Z- Filter 0 partialDeltaRmsComputation: 2.198381 terrainVariance: 0.316246 1-SumSquareWeights: 0.983522 2021-10-10T16:06:28Z- Filter 0 meanExpectedMeasDiff: 1.371909 delta_rms_squared: 0.306411 alpha: 0.938728 2021-10-10T16:06:28Z- Filter 0 beam number: 1 num in subcloud: 9984 num not in subcloud: 16 2021-10-10T16:06:28Z- Filter 0 partialDeltaRmsComputation: 2.987457 terrainVariance: 2.683844 1-SumSquareWeights: 0.983522 2021-10-10T16:06:28Z- Filter 0 meanExpectedMeasDiff: -0.551010 delta_rms_squared: 2.674009 alpha: 0.992576 2021-10-10T16:06:28Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:28Z- Filter 0 partialDeltaRmsComputation: 10.680254 terrainVariance: 0.329378 1-SumSquareWeights: 0.983522 2021-10-10T16:06:28Z- Filter 0 meanExpectedMeasDiff: -3.217278 delta_rms_squared: 0.319542 alpha: 0.941097 2021-10-10T16:06:28Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:28Z- Filter 0 partialDeltaRmsComputation: 43.327796 terrainVariance: 0.220170 1-SumSquareWeights: 0.983522 2021-10-10T16:06:28Z- Filter 0 meanExpectedMeasDiff: 6.565640 delta_rms_squared: 0.210335 alpha: 0.913170 2021-10-10T16:06:28Z- Filter 0 SubcloudNIS: 0.241401 2021-10-10T16:06:28Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:06:28Z- TNavBF:: Filter 0 sumWeights = 0.087253 2021-10-10T16:06:28Z- Filter 0 NorthBias: -48.8 EastBias: 29.6 DepthBias: -9.2 NorthVariance: 0.9 EastVariance: 98.7 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-10T16:06:28Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881986.94 sec. 2021-10-10T16:06:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:28Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:28Z- variances([0], [2], and psi_berg) = 0.860209 98.845444 0.000000 2021-10-10T16:06:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:28Z- LcmTrn::publishEstimates() - MLE : 4061513.29 594622.48 19.23 2021-10-10T16:06:28Z- LcmTrn::publishEstimates() - MMSE : 4061513.98 594616.58 10.05 2021-10-10T16:06:28Z- LcmTrn::publishEstimates() - COVAR: 0.86 98.85 0.95 0.00 2021-10-10T16:06:28Z- AHRS_M2 msg: 1633881988.94 epoch sec; seqNo:501 2021-10-10T16:06:28Z- AHRS_M2 msg: -0.19 phi; -0.22 theta; 5.02 psi 2021-10-10T16:06:28Z- handleDepth()-Depth_Keller msg: 1633881988942 epoch sec; seqNo:507; depth 19.28 2021-10-10T16:06:28Z- handleDvl() - RDI_Pathfinder msg: 1633881988.96 epoch sec; seqNo:202 2021-10-10T16:06:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.11 , 0.00 , 60.06 , 74.02 2021-10-10T16:06:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.11 , 0.19 2021-10-10T16:06:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881988.97 epoch sec; seqNo:507; 4061562.79 north; 594586.98 east 2021-10-10T16:06:29Z- AHRS_M2 msg: 1633881989.34 epoch sec; seqNo:502 2021-10-10T16:06:29Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.01 psi 2021-10-10T16:06:29Z- handleDepth()-Depth_Keller msg: 1633881989346 epoch sec; seqNo:508; depth 19.37 2021-10-10T16:06:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881989.36 epoch sec; seqNo:508; 4061562.78 north; 594585.76 east 2021-10-10T16:06:29Z- AHRS_M2 msg: 1633881989.74 epoch sec; seqNo:503 2021-10-10T16:06:29Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 5.01 psi 2021-10-10T16:06:29Z- handleDepth()-Depth_Keller msg: 1633881989749 epoch sec; seqNo:509; depth 19.44 2021-10-10T16:06:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881989.77 epoch sec; seqNo:509; 4061562.78 north; 594585.76 east 2021-10-10T16:06:30Z- AHRS_M2 msg: 1633881990.15 epoch sec; seqNo:504 2021-10-10T16:06:30Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.01 psi 2021-10-10T16:06:30Z- handleDepth()-Depth_Keller msg: 1633881990153 epoch sec; seqNo:510; depth 19.49 2021-10-10T16:06:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881990.16 epoch sec; seqNo:510; 4061563.16 north; 594585.75 east 2021-10-10T16:06:30Z- AHRS_M2 msg: 1633881990.55 epoch sec; seqNo:505 2021-10-10T16:06:30Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.01 psi 2021-10-10T16:06:30Z- handleDepth()-Depth_Keller msg: 1633881990559 epoch sec; seqNo:511; depth 19.56 2021-10-10T16:06:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:30Z- handleDvl() - RDI_Pathfinder msg: 1633881990.57 epoch sec; seqNo:203 2021-10-10T16:06:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.11 , 0.19 2021-10-10T16:06:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881990.57 epoch sec; seqNo:511; 4061563.14 north; 594584.53 east 2021-10-10T16:06:30Z- AHRS_M2 msg: 1633881990.97 epoch sec; seqNo:506 2021-10-10T16:06:30Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.02 psi 2021-10-10T16:06:30Z- handleDepth()-Depth_Keller msg: 1633881990972 epoch sec; seqNo:512; depth 19.63 2021-10-10T16:06:31Z- handleDvl() - RDI_Pathfinder msg: 1633881990.99 epoch sec; seqNo:204 2021-10-10T16:06:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.82 , 76.89 , 59.67 , 0.00 2021-10-10T16:06:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.11 2021-10-10T16:06:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881991.01 epoch sec; seqNo:512; 4061563.14 north; 594584.53 east 2021-10-10T16:06:31Z- AHRS_M2 msg: 1633881991.36 epoch sec; seqNo:507 2021-10-10T16:06:31Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.02 psi 2021-10-10T16:06:31Z- handleDepth()-Depth_Keller msg: 1633881991369 epoch sec; seqNo:513; depth 19.69 2021-10-10T16:06:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881991.39 epoch sec; seqNo:513; 4061563.14 north; 594584.53 east 2021-10-10T16:06:31Z- AHRS_M2 msg: 1633881991.76 epoch sec; seqNo:508 2021-10-10T16:06:31Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.02 psi 2021-10-10T16:06:31Z- handleDepth()-Depth_Keller msg: 1633881991775 epoch sec; seqNo:514; depth 19.76 2021-10-10T16:06:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:31Z- handleDvl() - RDI_Pathfinder msg: 1633881991.78 epoch sec; seqNo:205 2021-10-10T16:06:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.11 2021-10-10T16:06:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881991.79 epoch sec; seqNo:514; 4061563.14 north; 594584.53 east 2021-10-10T16:06:32Z- AHRS_M2 msg: 1633881992.17 epoch sec; seqNo:509 2021-10-10T16:06:32Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.03 psi 2021-10-10T16:06:32Z- handleDepth()-Depth_Keller msg: 1633881992175 epoch sec; seqNo:515; depth 19.82 2021-10-10T16:06:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881992.18 epoch sec; seqNo:515; 4061563.52 north; 594584.53 east 2021-10-10T16:06:32Z- AHRS_M2 msg: 1633881992.57 epoch sec; seqNo:510 2021-10-10T16:06:32Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.03 psi 2021-10-10T16:06:32Z- handleDepth()-Depth_Keller msg: 1633881992577 epoch sec; seqNo:516; depth 19.88 2021-10-10T16:06:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881992.59 epoch sec; seqNo:516; 4061563.51 north; 594583.31 east 2021-10-10T16:06:32Z- AHRS_M2 msg: 1633881992.98 epoch sec; seqNo:511 2021-10-10T16:06:32Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 5.03 psi 2021-10-10T16:06:32Z- handleDepth()-Depth_Keller msg: 1633881992987 epoch sec; seqNo:517; depth 19.95 2021-10-10T16:06:33Z- handleDvl() - RDI_Pathfinder msg: 1633881993.02 epoch sec; seqNo:206 2021-10-10T16:06:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.51 , 0.00 , 59.05 , 75.97 2021-10-10T16:06:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , 0.01 2021-10-10T16:06:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881993.03 epoch sec; seqNo:517; 4061563.51 north; 594583.31 east 2021-10-10T16:06:33Z- AHRS_M2 msg: 1633881993.38 epoch sec; seqNo:512 2021-10-10T16:06:33Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 5.02 psi 2021-10-10T16:06:33Z- handleDepth()-Depth_Keller msg: 1633881993390 epoch sec; seqNo:518; depth 20.02 2021-10-10T16:06:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881993.40 epoch sec; seqNo:518; 4061563.51 north; 594583.31 east 2021-10-10T16:06:33Z- AHRS_M2 msg: 1633881993.79 epoch sec; seqNo:513 2021-10-10T16:06:33Z- AHRS_M2 msg: -0.19 phi; -0.23 theta; 5.02 psi 2021-10-10T16:06:33Z- handleDepth()-Depth_Keller msg: 1633881993790 epoch sec; seqNo:519; depth 20.08 2021-10-10T16:06:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881993.80 epoch sec; seqNo:519; 4061563.51 north; 594583.31 east 2021-10-10T16:06:33Z- LcmTrn::handleMessages() - handling 44 messages took 0.71 ms and 129 calls... 2021-10-10T16:06:33Z- waiting for 1633881991.55, time is 1633881993.80 2021-10-10T16:06:33Z- LcmTrn::updateTrn() >>>> pose time 1633881993.80, meas time 1633881993.02 <<<< 2021-10-10T16:06:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881993.02 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:33Z- TerrainNav::motionUpdate() - currEstimate = (4061564, 594583.31, 20.08) 2021-10-10T16:06:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:33Z- TerrainNav:: SubcloudNIS is 0.24, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:33Z- TNavBF::Projecting Measurements 2021-10-10T16:06:33Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:06:33Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:06:33Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:06:33Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T16:06:33Z- TNavFilter::3 good beams. 2021-10-10T16:06:33Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:33Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:33Z- TNavBF:: beamIndex[1] = 2 2021-10-10T16:06:33Z- TNavBF:: beamIndex[2] = 3 2021-10-10T16:06:33Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:06:33Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T16:06:33Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:33Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:33Z- TerrainMapOctree: (vehN, vehE ) = (4061563.40, 594583.86). 2021-10-10T16:06:33Z- TerrainMapOctree: Min Distance = 249.85. 2021-10-10T16:06:33Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:06:33Z- Forcing Subcloud Comparison 2021-10-10T16:06:33Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:06:33Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:33Z- Filter 0 partialDeltaRmsComputation: 9.292766 terrainVariance: 0.298608 1-SumSquareWeights: 0.984107 2021-10-10T16:06:33Z- Filter 0 meanExpectedMeasDiff: 2.999026 delta_rms_squared: 0.288767 alpha: 0.935226 2021-10-10T16:06:33Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:33Z- Filter 0 partialDeltaRmsComputation: 16.923651 terrainVariance: 0.290637 1-SumSquareWeights: 0.984107 2021-10-10T16:06:33Z- Filter 0 meanExpectedMeasDiff: -4.078359 delta_rms_squared: 0.280795 alpha: 0.933510 2021-10-10T16:06:33Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:33Z- Filter 0 partialDeltaRmsComputation: 37.963879 terrainVariance: 0.375653 1-SumSquareWeights: 0.984107 2021-10-10T16:06:33Z- Filter 0 meanExpectedMeasDiff: 6.130924 delta_rms_squared: 0.365812 alpha: 0.948161 2021-10-10T16:06:33Z- Filter 0 SubcloudNIS: 0.299818 2021-10-10T16:06:33Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:06:33Z- TNavBF:: Filter 0 sumWeights = 0.051460 2021-10-10T16:06:33Z- Filter 0 NorthBias: -49.0 EastBias: 29.6 DepthBias: -8.7 NorthVariance: 0.7 EastVariance: 72.5 DepthVariance: 0.8 this->DepthBiasCov: 0.8 2021-10-10T16:06:33Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633881993.02 sec. 2021-10-10T16:06:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:33Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:33Z- variances([0], [2], and psi_berg) = 0.685031 72.643287 0.000000 2021-10-10T16:06:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:33Z- LcmTrn::publishEstimates() - MLE : 4061514.01 594618.81 20.08 2021-10-10T16:06:33Z- LcmTrn::publishEstimates() - MMSE : 4061514.55 594612.91 11.38 2021-10-10T16:06:33Z- LcmTrn::publishEstimates() - COVAR: 0.69 72.64 0.84 0.00 2021-10-10T16:06:34Z- AHRS_M2 msg: 1633881994.19 epoch sec; seqNo:514 2021-10-10T16:06:34Z- AHRS_M2 msg: -0.19 phi; -0.24 theta; 5.01 psi 2021-10-10T16:06:34Z- handleDepth()-Depth_Keller msg: 1633881994205 epoch sec; seqNo:520; depth 20.15 2021-10-10T16:06:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:34Z- handleDvl() - RDI_Pathfinder msg: 1633881994.21 epoch sec; seqNo:207 2021-10-10T16:06:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , 0.01 2021-10-10T16:06:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881994.21 epoch sec; seqNo:520; 4061563.87 north; 594582.08 east 2021-10-10T16:06:34Z- AHRS_M2 msg: 1633881994.59 epoch sec; seqNo:515 2021-10-10T16:06:34Z- AHRS_M2 msg: -0.19 phi; -0.24 theta; 5.00 psi 2021-10-10T16:06:34Z- handleDepth()-Depth_Keller msg: 1633881994603 epoch sec; seqNo:521; depth 20.22 2021-10-10T16:06:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881994.62 epoch sec; seqNo:521; 4061563.87 north; 594582.08 east 2021-10-10T16:06:35Z- AHRS_M2 msg: 1633881995.00 epoch sec; seqNo:516 2021-10-10T16:06:35Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 5.00 psi 2021-10-10T16:06:35Z- handleDepth()-Depth_Keller msg: 1633881995002 epoch sec; seqNo:522; depth 20.28 2021-10-10T16:06:35Z- handleDvl() - RDI_Pathfinder msg: 1633881995.02 epoch sec; seqNo:208 2021-10-10T16:06:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.21 , 75.66 , 58.44 , 75.97 2021-10-10T16:06:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.05 , 0.04 2021-10-10T16:06:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881995.04 epoch sec; seqNo:522; 4061563.87 north; 594582.08 east 2021-10-10T16:06:35Z- AHRS_M2 msg: 1633881995.40 epoch sec; seqNo:517 2021-10-10T16:06:35Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 4.99 psi 2021-10-10T16:06:35Z- handleDepth()-Depth_Keller msg: 1633881995406 epoch sec; seqNo:523; depth 20.37 2021-10-10T16:06:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:35Z- handleDvl() - RDI_Pathfinder msg: 1633881995.41 epoch sec; seqNo:209 2021-10-10T16:06:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.05 , 0.04 2021-10-10T16:06:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881995.43 epoch sec; seqNo:523; 4061563.86 north; 594580.86 east 2021-10-10T16:06:35Z- AHRS_M2 msg: 1633881995.81 epoch sec; seqNo:518 2021-10-10T16:06:35Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 4.98 psi 2021-10-10T16:06:35Z- handleDepth()-Depth_Keller msg: 1633881995826 epoch sec; seqNo:524; depth 20.43 2021-10-10T16:06:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881995.84 epoch sec; seqNo:524; 4061563.86 north; 594580.86 east 2021-10-10T16:06:36Z- AHRS_M2 msg: 1633881996.21 epoch sec; seqNo:519 2021-10-10T16:06:36Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 4.98 psi 2021-10-10T16:06:36Z- handleDepth()-Depth_Keller msg: 1633881996213 epoch sec; seqNo:525; depth 20.50 2021-10-10T16:06:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881996.22 epoch sec; seqNo:525; 4061564.24 north; 594580.86 east 2021-10-10T16:06:36Z- AHRS_M2 msg: 1633881996.61 epoch sec; seqNo:520 2021-10-10T16:06:36Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 4.98 psi 2021-10-10T16:06:36Z- handleDepth()-Depth_Keller msg: 1633881996617 epoch sec; seqNo:526; depth 20.57 2021-10-10T16:06:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:36Z- handleDvl() - RDI_Pathfinder msg: 1633881996.62 epoch sec; seqNo:210 2021-10-10T16:06:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.05 , 0.04 2021-10-10T16:06:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881996.63 epoch sec; seqNo:526; 4061564.23 north; 594579.64 east 2021-10-10T16:06:37Z- AHRS_M2 msg: 1633881997.02 epoch sec; seqNo:521 2021-10-10T16:06:37Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 4.98 psi 2021-10-10T16:06:37Z- handleDepth()-Depth_Keller msg: 1633881997029 epoch sec; seqNo:527; depth 20.65 2021-10-10T16:06:37Z- handleDvl() - RDI_Pathfinder msg: 1633881997.05 epoch sec; seqNo:211 2021-10-10T16:06:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.21 , 75.66 , 58.44 , 75.04 2021-10-10T16:06:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.13 , 0.09 2021-10-10T16:06:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881997.06 epoch sec; seqNo:527; 4061564.23 north; 594579.64 east 2021-10-10T16:06:37Z- AHRS_M2 msg: 1633881997.42 epoch sec; seqNo:522 2021-10-10T16:06:37Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 4.99 psi 2021-10-10T16:06:37Z- handleDepth()-Depth_Keller msg: 1633881997430 epoch sec; seqNo:528; depth 20.72 2021-10-10T16:06:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881997.45 epoch sec; seqNo:528; 4061564.23 north; 594579.64 east 2021-10-10T16:06:37Z- AHRS_M2 msg: 1633881997.82 epoch sec; seqNo:523 2021-10-10T16:06:37Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 4.99 psi 2021-10-10T16:06:37Z- handleDepth()-Depth_Keller msg: 1633881997829 epoch sec; seqNo:529; depth 20.80 2021-10-10T16:06:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:37Z- handleDvl() - RDI_Pathfinder msg: 1633881997.83 epoch sec; seqNo:212 2021-10-10T16:06:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.13 , 0.09 2021-10-10T16:06:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881997.84 epoch sec; seqNo:529; 4061564.23 north; 594579.64 east 2021-10-10T16:06:38Z- AHRS_M2 msg: 1633881998.23 epoch sec; seqNo:524 2021-10-10T16:06:38Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.00 psi 2021-10-10T16:06:38Z- handleDepth()-Depth_Keller msg: 1633881998234 epoch sec; seqNo:530; depth 20.85 2021-10-10T16:06:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881998.24 epoch sec; seqNo:530; 4061564.21 north; 594578.42 east 2021-10-10T16:06:38Z- AHRS_M2 msg: 1633881998.64 epoch sec; seqNo:525 2021-10-10T16:06:38Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 5.01 psi 2021-10-10T16:06:38Z- handleDepth()-Depth_Keller msg: 1633881998642 epoch sec; seqNo:531; depth 20.93 2021-10-10T16:06:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881998.66 epoch sec; seqNo:531; 4061564.59 north; 594578.42 east 2021-10-10T16:06:38Z- LcmTrn::handleMessages() - handling 42 messages took 0.68 ms and 128 calls... 2021-10-10T16:06:38Z- waiting for 1633881996.80, time is 1633881998.66 2021-10-10T16:06:38Z- LcmTrn::updateTrn() >>>> pose time 1633881998.66, meas time 1633881997.83 <<<< 2021-10-10T16:06:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881997.83, ping # 0. 2021-10-10T16:06:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633881997.83 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:38Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594578.42, 20.93) 2021-10-10T16:06:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:38Z- TerrainNav:: SubcloudNIS is 0.30, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:38Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:06:38Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:06:38Z- TNavBF::Projecting Measurements 2021-10-10T16:06:38Z- TNavFilter::Measurement from time = 1633881997.83 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:06:38Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:38Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:38Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:06:38Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:06:38Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:06:38Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:06:38Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:38Z- Filter 0 NorthBias: -48.9 EastBias: 29.6 DepthBias: -8.7 NorthVariance: 0.7 EastVariance: 72.9 DepthVariance: 1.1 this->DepthBiasCov: 1.0 2021-10-10T16:06:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:39Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:39Z- variances([0], [2], and psi_berg) = 0.710151 73.047994 0.000000 2021-10-10T16:06:39Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:39Z- LcmTrn::publishEstimates() - MLE : 4061515.09 594613.92 20.93 2021-10-10T16:06:39Z- LcmTrn::publishEstimates() - MMSE : 4061515.66 594607.99 12.23 2021-10-10T16:06:39Z- LcmTrn::publishEstimates() - COVAR: 0.71 73.05 1.10 0.00 2021-10-10T16:06:39Z- AHRS_M2 msg: 1633881999.04 epoch sec; seqNo:526 2021-10-10T16:06:39Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 5.01 psi 2021-10-10T16:06:39Z- handleDepth()-Depth_Keller msg: 1633881999047 epoch sec; seqNo:532; depth 21.00 2021-10-10T16:06:39Z- handleDvl() - RDI_Pathfinder msg: 1633881999.07 epoch sec; seqNo:213 2021-10-10T16:06:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.90 , 75.66 , 57.82 , 76.58 2021-10-10T16:06:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.19 , 0.01 2021-10-10T16:06:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881999.09 epoch sec; seqNo:532; 4061564.59 north; 594578.42 east 2021-10-10T16:06:39Z- AHRS_M2 msg: 1633881999.44 epoch sec; seqNo:527 2021-10-10T16:06:39Z- AHRS_M2 msg: -0.20 phi; -0.26 theta; 5.02 psi 2021-10-10T16:06:39Z- handleDepth()-Depth_Keller msg: 1633881999449 epoch sec; seqNo:533; depth 21.08 2021-10-10T16:06:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881999.46 epoch sec; seqNo:533; 4061564.59 north; 594578.42 east 2021-10-10T16:06:39Z- AHRS_M2 msg: 1633881999.85 epoch sec; seqNo:528 2021-10-10T16:06:39Z- AHRS_M2 msg: -0.19 phi; -0.26 theta; 5.02 psi 2021-10-10T16:06:39Z- handleDepth()-Depth_Keller msg: 1633881999850 epoch sec; seqNo:534; depth 21.15 2021-10-10T16:06:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881999.86 epoch sec; seqNo:534; 4061564.58 north; 594577.19 east 2021-10-10T16:06:40Z- AHRS_M2 msg: 1633882000.25 epoch sec; seqNo:529 2021-10-10T16:06:40Z- AHRS_M2 msg: -0.18 phi; -0.26 theta; 5.02 psi 2021-10-10T16:06:40Z- handleDepth()-Depth_Keller msg: 1633882000253 epoch sec; seqNo:535; depth 21.21 2021-10-10T16:06:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:40Z- handleDvl() - RDI_Pathfinder msg: 1633882000.26 epoch sec; seqNo:214 2021-10-10T16:06:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.19 , 0.01 2021-10-10T16:06:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882000.27 epoch sec; seqNo:535; 4061564.58 north; 594577.19 east 2021-10-10T16:06:40Z- AHRS_M2 msg: 1633882000.66 epoch sec; seqNo:530 2021-10-10T16:06:40Z- AHRS_M2 msg: -0.18 phi; -0.26 theta; 5.02 psi 2021-10-10T16:06:40Z- handleDepth()-Depth_Keller msg: 1633882000672 epoch sec; seqNo:536; depth 21.30 2021-10-10T16:06:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882000.72 epoch sec; seqNo:536; 4061564.58 north; 594577.19 east 2021-10-10T16:06:41Z- AHRS_M2 msg: 1633882001.06 epoch sec; seqNo:531 2021-10-10T16:06:41Z- AHRS_M2 msg: -0.17 phi; -0.27 theta; 5.03 psi 2021-10-10T16:06:41Z- handleDepth()-Depth_Keller msg: 1633882001061 epoch sec; seqNo:537; depth 21.38 2021-10-10T16:06:41Z- handleDvl() - RDI_Pathfinder msg: 1633882001.09 epoch sec; seqNo:215 2021-10-10T16:06:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.90 , 73.51 , 57.21 , 75.66 2021-10-10T16:06:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.18 , 0.10 2021-10-10T16:06:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882001.12 epoch sec; seqNo:537; 4061564.56 north; 594575.97 east 2021-10-10T16:06:41Z- AHRS_M2 msg: 1633882001.47 epoch sec; seqNo:532 2021-10-10T16:06:41Z- AHRS_M2 msg: -0.17 phi; -0.27 theta; 5.03 psi 2021-10-10T16:06:41Z- handleDepth()-Depth_Keller msg: 1633882001472 epoch sec; seqNo:538; depth 21.47 2021-10-10T16:06:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:41Z- handleDvl() - RDI_Pathfinder msg: 1633882001.47 epoch sec; seqNo:216 2021-10-10T16:06:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.18 , 0.10 2021-10-10T16:06:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882001.49 epoch sec; seqNo:538; 4061564.56 north; 594575.97 east 2021-10-10T16:06:41Z- AHRS_M2 msg: 1633882001.86 epoch sec; seqNo:533 2021-10-10T16:06:41Z- AHRS_M2 msg: -0.17 phi; -0.27 theta; 5.03 psi 2021-10-10T16:06:41Z- handleDepth()-Depth_Keller msg: 1633882001877 epoch sec; seqNo:539; depth 21.53 2021-10-10T16:06:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882001.89 epoch sec; seqNo:539; 4061564.56 north; 594575.97 east 2021-10-10T16:06:42Z- AHRS_M2 msg: 1633882002.27 epoch sec; seqNo:534 2021-10-10T16:06:42Z- AHRS_M2 msg: -0.17 phi; -0.27 theta; 5.04 psi 2021-10-10T16:06:42Z- handleDepth()-Depth_Keller msg: 1633882002273 epoch sec; seqNo:540; depth 21.62 2021-10-10T16:06:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882002.28 epoch sec; seqNo:540; 4061564.93 north; 594574.75 east 2021-10-10T16:06:42Z- AHRS_M2 msg: 1633882002.69 epoch sec; seqNo:535 2021-10-10T16:06:42Z- AHRS_M2 msg: -0.17 phi; -0.28 theta; 5.05 psi 2021-10-10T16:06:42Z- handleDepth()-Depth_Keller msg: 1633882002706 epoch sec; seqNo:541; depth 21.69 2021-10-10T16:06:42Z- handleDvl() - RDI_Pathfinder msg: 1633882002.74 epoch sec; seqNo:217 2021-10-10T16:06:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.21 , 72.58 , 56.90 , 75.97 2021-10-10T16:06:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.17 , 0.14 2021-10-10T16:06:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882002.75 epoch sec; seqNo:541; 4061564.93 north; 594574.75 east 2021-10-10T16:06:43Z- AHRS_M2 msg: 1633882003.08 epoch sec; seqNo:536 2021-10-10T16:06:43Z- AHRS_M2 msg: -0.17 phi; -0.28 theta; 5.06 psi 2021-10-10T16:06:43Z- handleDepth()-Depth_Keller msg: 1633882003082 epoch sec; seqNo:542; depth 21.79 2021-10-10T16:06:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882003.10 epoch sec; seqNo:542; 4061564.93 north; 594574.75 east 2021-10-10T16:06:43Z- AHRS_M2 msg: 1633882003.48 epoch sec; seqNo:537 2021-10-10T16:06:43Z- AHRS_M2 msg: -0.17 phi; -0.28 theta; 5.07 psi 2021-10-10T16:06:43Z- handleDepth()-Depth_Keller msg: 1633882003485 epoch sec; seqNo:543; depth 21.86 2021-10-10T16:06:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882003.51 epoch sec; seqNo:543; 4061564.93 north; 594574.75 east 2021-10-10T16:06:43Z- AHRS_M2 msg: 1633882003.88 epoch sec; seqNo:538 2021-10-10T16:06:43Z- AHRS_M2 msg: -0.17 phi; -0.28 theta; 5.08 psi 2021-10-10T16:06:43Z- handleDepth()-Depth_Keller msg: 1633882003895 epoch sec; seqNo:544; depth 21.94 2021-10-10T16:06:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:43Z- handleDvl() - RDI_Pathfinder msg: 1633882003.90 epoch sec; seqNo:218 2021-10-10T16:06:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.17 , 0.14 2021-10-10T16:06:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882003.91 epoch sec; seqNo:544; 4061564.92 north; 594573.53 east 2021-10-10T16:06:44Z- LcmTrn::handleMessages() - handling 45 messages took 0.74 ms and 130 calls... 2021-10-10T16:06:44Z- waiting for 1633882001.66, time is 1633882003.91 2021-10-10T16:06:44Z- LcmTrn::updateTrn() equating pose 1633882003.91 and meas times 1633882003.91 2021-10-10T16:06:44Z- LcmTrn::updateTrn() >>>> pose time 1633882003.91, meas time 1633882003.91 <<<< 2021-10-10T16:06:44Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882003.91, ping # 0. 2021-10-10T16:06:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882003.91 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:44Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594573.53, 21.94) 2021-10-10T16:06:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:44Z- TerrainNav:: SubcloudNIS is 0.30, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:44Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:06:44Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:06:44Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882003.91 sec.; No relevant navigation data available 2021-10-10T16:06:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:44Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:44Z- variances([0], [2], and psi_berg) = 0.728792 73.345216 0.000000 2021-10-10T16:06:44Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:44Z- LcmTrn::publishEstimates() - MLE : 4061515.42 594609.03 21.94 2021-10-10T16:06:44Z- LcmTrn::publishEstimates() - MMSE : 4061516.00 594603.08 13.25 2021-10-10T16:06:44Z- LcmTrn::publishEstimates() - COVAR: 0.73 73.35 1.35 0.00 2021-10-10T16:06:44Z- AHRS_M2 msg: 1633882004.29 epoch sec; seqNo:539 2021-10-10T16:06:44Z- AHRS_M2 msg: -0.17 phi; -0.28 theta; 5.10 psi 2021-10-10T16:06:44Z- handleDepth()-Depth_Keller msg: 1633882004293 epoch sec; seqNo:545; depth 22.03 2021-10-10T16:06:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882004.30 epoch sec; seqNo:545; 4061564.92 north; 594573.53 east 2021-10-10T16:06:44Z- AHRS_M2 msg: 1633882004.72 epoch sec; seqNo:540 2021-10-10T16:06:44Z- AHRS_M2 msg: -0.17 phi; -0.28 theta; 5.11 psi 2021-10-10T16:06:44Z- handleDepth()-Depth_Keller msg: 1633882004726 epoch sec; seqNo:546; depth 22.12 2021-10-10T16:06:44Z- handleDvl() - RDI_Pathfinder msg: 1633882004.75 epoch sec; seqNo:219 2021-10-10T16:06:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.82 , 72.58 , 56.59 , 76.89 2021-10-10T16:06:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.13 , 0.05 2021-10-10T16:06:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882004.76 epoch sec; seqNo:546; 4061565.29 north; 594573.53 east 2021-10-10T16:06:45Z- AHRS_M2 msg: 1633882005.10 epoch sec; seqNo:541 2021-10-10T16:06:45Z- AHRS_M2 msg: -0.16 phi; -0.28 theta; 5.12 psi 2021-10-10T16:06:45Z- handleDepth()-Depth_Keller msg: 1633882005101 epoch sec; seqNo:547; depth 22.21 2021-10-10T16:06:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:45Z- handleDvl() - RDI_Pathfinder msg: 1633882005.11 epoch sec; seqNo:220 2021-10-10T16:06:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.13 , 0.05 2021-10-10T16:06:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882005.12 epoch sec; seqNo:547; 4061565.29 north; 594573.53 east 2021-10-10T16:06:45Z- AHRS_M2 msg: 1633882005.50 epoch sec; seqNo:542 2021-10-10T16:06:45Z- AHRS_M2 msg: -0.16 phi; -0.29 theta; 5.13 psi 2021-10-10T16:06:45Z- handleDepth()-Depth_Keller msg: 1633882005505 epoch sec; seqNo:548; depth 22.28 2021-10-10T16:06:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882005.54 epoch sec; seqNo:548; 4061565.28 north; 594572.31 east 2021-10-10T16:06:45Z- AHRS_M2 msg: 1633882005.90 epoch sec; seqNo:543 2021-10-10T16:06:45Z- AHRS_M2 msg: -0.16 phi; -0.29 theta; 5.14 psi 2021-10-10T16:06:45Z- handleDepth()-Depth_Keller msg: 1633882005909 epoch sec; seqNo:549; depth 22.37 2021-10-10T16:06:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882005.92 epoch sec; seqNo:549; 4061565.28 north; 594572.31 east 2021-10-10T16:06:46Z- AHRS_M2 msg: 1633882006.31 epoch sec; seqNo:544 2021-10-10T16:06:46Z- AHRS_M2 msg: -0.16 phi; -0.29 theta; 5.15 psi 2021-10-10T16:06:46Z- handleDepth()-Depth_Keller msg: 1633882006314 epoch sec; seqNo:550; depth 22.46 2021-10-10T16:06:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:46Z- handleDvl() - RDI_Pathfinder msg: 1633882006.32 epoch sec; seqNo:221 2021-10-10T16:06:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.13 , 0.05 2021-10-10T16:06:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882006.33 epoch sec; seqNo:550; 4061565.28 north; 594572.31 east 2021-10-10T16:06:46Z- AHRS_M2 msg: 1633882006.73 epoch sec; seqNo:545 2021-10-10T16:06:46Z- AHRS_M2 msg: -0.15 phi; -0.29 theta; 5.15 psi 2021-10-10T16:06:46Z- handleDepth()-Depth_Keller msg: 1633882006738 epoch sec; seqNo:551; depth 22.54 2021-10-10T16:06:46Z- handleDvl() - RDI_Pathfinder msg: 1633882006.76 epoch sec; seqNo:222 2021-10-10T16:06:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.13 , 71.05 , 55.98 , 74.43 2021-10-10T16:06:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.09 , 0.05 2021-10-10T16:06:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882006.79 epoch sec; seqNo:551; 4061565.65 north; 594571.08 east 2021-10-10T16:06:47Z- AHRS_M2 msg: 1633882007.12 epoch sec; seqNo:546 2021-10-10T16:06:47Z- AHRS_M2 msg: -0.15 phi; -0.29 theta; 5.16 psi 2021-10-10T16:06:47Z- handleDepth()-Depth_Keller msg: 1633882007121 epoch sec; seqNo:552; depth 22.63 2021-10-10T16:06:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882007.13 epoch sec; seqNo:552; 4061565.65 north; 594571.08 east 2021-10-10T16:06:47Z- AHRS_M2 msg: 1633882007.53 epoch sec; seqNo:547 2021-10-10T16:06:47Z- AHRS_M2 msg: -0.15 phi; -0.29 theta; 5.17 psi 2021-10-10T16:06:47Z- handleDepth()-Depth_Keller msg: 1633882007530 epoch sec; seqNo:553; depth 22.72 2021-10-10T16:06:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:47Z- handleDvl() - RDI_Pathfinder msg: 1633882007.53 epoch sec; seqNo:223 2021-10-10T16:06:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.09 , 0.05 2021-10-10T16:06:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882007.55 epoch sec; seqNo:553; 4061565.65 north; 594571.08 east 2021-10-10T16:06:47Z- AHRS_M2 msg: 1633882007.92 epoch sec; seqNo:548 2021-10-10T16:06:47Z- AHRS_M2 msg: -0.15 phi; -0.29 theta; 5.17 psi 2021-10-10T16:06:47Z- handleDepth()-Depth_Keller msg: 1633882007942 epoch sec; seqNo:554; depth 22.81 2021-10-10T16:06:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882007.95 epoch sec; seqNo:554; 4061566.03 north; 594571.08 east 2021-10-10T16:06:48Z- AHRS_M2 msg: 1633882008.33 epoch sec; seqNo:549 2021-10-10T16:06:48Z- AHRS_M2 msg: -0.16 phi; -0.30 theta; 5.19 psi 2021-10-10T16:06:48Z- handleDepth()-Depth_Keller msg: 1633882008339 epoch sec; seqNo:555; depth 22.91 2021-10-10T16:06:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882008.36 epoch sec; seqNo:555; 4061566.01 north; 594569.86 east 2021-10-10T16:06:48Z- AHRS_M2 msg: 1633882008.74 epoch sec; seqNo:550 2021-10-10T16:06:48Z- AHRS_M2 msg: -0.16 phi; -0.30 theta; 5.19 psi 2021-10-10T16:06:48Z- handleDepth()-Depth_Keller msg: 1633882008741 epoch sec; seqNo:556; depth 22.98 2021-10-10T16:06:48Z- handleDvl() - RDI_Pathfinder msg: 1633882008.77 epoch sec; seqNo:224 2021-10-10T16:06:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.12 , 70.73 , 55.66 , 74.12 2021-10-10T16:06:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.10 , 0.07 2021-10-10T16:06:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882008.78 epoch sec; seqNo:556; 4061566.01 north; 594569.86 east 2021-10-10T16:06:49Z- LcmTrn::handleMessages() - handling 42 messages took 0.65 ms and 129 calls... 2021-10-10T16:06:49Z- waiting for 1633882006.91, time is 1633882008.78 2021-10-10T16:06:49Z- LcmTrn::updateTrn() equating pose 1633882008.78 and meas times 1633882008.78 2021-10-10T16:06:49Z- LcmTrn::updateTrn() >>>> pose time 1633882008.78, meas time 1633882008.78 <<<< 2021-10-10T16:06:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882008.78 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:49Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594569.86, 22.98) 2021-10-10T16:06:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:49Z- TerrainNav:: SubcloudNIS is 0.30, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:49Z- TNavBF::Projecting Measurements 2021-10-10T16:06:49Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:06:49Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:06:49Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:06:49Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:06:49Z- TNavFilter::4 good beams. 2021-10-10T16:06:49Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:49Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:49Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:06:49Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:06:49Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:06:49Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:06:49Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:49Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:49Z- TerrainMapOctree: (vehN, vehE ) = (4061566.01, 594569.86). 2021-10-10T16:06:49Z- TerrainMapOctree: Min Distance = 257.49. 2021-10-10T16:06:49Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:06:49Z- Forcing Subcloud Comparison 2021-10-10T16:06:49Z- Filter 0 deapthBias would have been set to Nan. indexP: 4691 indexM: 1 2021-10-10T16:06:49Z- Old Depth Bias: -6.31 DepthBiasCov: 1.24 K: 0.113 ExpectedMeasDiff: nan currMeas.covariance: 8.01 2021-10-10T16:06:49Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:06:49Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:49Z- Filter 0 partialDeltaRmsComputation: 35.804377 terrainVariance: 0.216363 1-SumSquareWeights: 0.978645 2021-10-10T16:06:49Z- Filter 0 meanExpectedMeasDiff: 5.965569 delta_rms_squared: 0.206577 alpha: 0.911730 2021-10-10T16:06:49Z- Filter 0 beam number: 1 num in subcloud: 9980 num not in subcloud: 20 2021-10-10T16:06:49Z- Filter 0 partialDeltaRmsComputation: 31.176131 terrainVariance: 0.553838 1-SumSquareWeights: 0.978645 2021-10-10T16:06:49Z- Filter 0 meanExpectedMeasDiff: -5.533741 delta_rms_squared: 0.544052 alpha: 0.964542 2021-10-10T16:06:49Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:49Z- Filter 0 partialDeltaRmsComputation: 6.656785 terrainVariance: 0.199926 1-SumSquareWeights: 0.978645 2021-10-10T16:06:49Z- Filter 0 meanExpectedMeasDiff: -2.541035 delta_rms_squared: 0.190139 alpha: 0.904825 2021-10-10T16:06:49Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:49Z- Filter 0 partialDeltaRmsComputation: 5.461093 terrainVariance: 0.318669 1-SumSquareWeights: 0.978645 2021-10-10T16:06:49Z- Filter 0 meanExpectedMeasDiff: 2.267691 delta_rms_squared: 0.308882 alpha: 0.939188 2021-10-10T16:06:49Z- Filter 0 SubcloudNIS: 0.352287 2021-10-10T16:06:49Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:06:49Z- TNavBF:: Filter 0 sumWeights = 0.020678 2021-10-10T16:06:49Z- Filter 0 NorthBias: -48.9 EastBias: 28.0 DepthBias: -8.5 NorthVariance: 0.7 EastVariance: 46.3 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-10T16:06:49Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882008.78 sec. 2021-10-10T16:06:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:49Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:49Z- variances([0], [2], and psi_berg) = 0.730245 46.324919 0.000000 2021-10-10T16:06:49Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:49Z- LcmTrn::publishEstimates() - MLE : 4061516.51 594600.36 22.98 2021-10-10T16:06:49Z- LcmTrn::publishEstimates() - MMSE : 4061517.16 594597.83 14.44 2021-10-10T16:06:49Z- LcmTrn::publishEstimates() - COVAR: 0.73 46.32 0.90 0.00 2021-10-10T16:06:49Z- AHRS_M2 msg: 1633882009.14 epoch sec; seqNo:551 2021-10-10T16:06:49Z- AHRS_M2 msg: -0.17 phi; -0.30 theta; 5.20 psi 2021-10-10T16:06:49Z- handleDepth()-Depth_Keller msg: 1633882009150 epoch sec; seqNo:557; depth 23.08 2021-10-10T16:06:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882009.17 epoch sec; seqNo:557; 4061566.39 north; 594569.85 east 2021-10-10T16:06:49Z- AHRS_M2 msg: 1633882009.55 epoch sec; seqNo:552 2021-10-10T16:06:49Z- AHRS_M2 msg: -0.17 phi; -0.30 theta; 5.21 psi 2021-10-10T16:06:49Z- handleDepth()-Depth_Keller msg: 1633882009554 epoch sec; seqNo:558; depth 23.15 2021-10-10T16:06:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882009.56 epoch sec; seqNo:558; 4061566.39 north; 594569.85 east 2021-10-10T16:06:49Z- AHRS_M2 msg: 1633882009.94 epoch sec; seqNo:553 2021-10-10T16:06:49Z- AHRS_M2 msg: -0.18 phi; -0.31 theta; 5.22 psi 2021-10-10T16:06:49Z- handleDepth()-Depth_Keller msg: 1633882009949 epoch sec; seqNo:559; depth 23.24 2021-10-10T16:06:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:49Z- handleDvl() - RDI_Pathfinder msg: 1633882009.95 epoch sec; seqNo:225 2021-10-10T16:06:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.10 , 0.07 2021-10-10T16:06:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882009.97 epoch sec; seqNo:559; 4061566.38 north; 594568.63 east 2021-10-10T16:06:50Z- AHRS_M2 msg: 1633882010.35 epoch sec; seqNo:554 2021-10-10T16:06:50Z- AHRS_M2 msg: -0.18 phi; -0.31 theta; 5.22 psi 2021-10-10T16:06:50Z- handleDepth()-Depth_Keller msg: 1633882010354 epoch sec; seqNo:560; depth 23.34 2021-10-10T16:06:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882010.36 epoch sec; seqNo:560; 4061566.76 north; 594568.63 east 2021-10-10T16:06:50Z- AHRS_M2 msg: 1633882010.75 epoch sec; seqNo:555 2021-10-10T16:06:50Z- AHRS_M2 msg: -0.19 phi; -0.31 theta; 5.23 psi 2021-10-10T16:06:50Z- handleDepth()-Depth_Keller msg: 1633882010757 epoch sec; seqNo:561; depth 23.42 2021-10-10T16:06:50Z- handleDvl() - RDI_Pathfinder msg: 1633882010.78 epoch sec; seqNo:226 2021-10-10T16:06:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.82 , 71.66 , 55.05 , 75.04 2021-10-10T16:06:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.17 , 0.02 2021-10-10T16:06:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882010.79 epoch sec; seqNo:561; 4061566.76 north; 594568.63 east 2021-10-10T16:06:51Z- AHRS_M2 msg: 1633882011.16 epoch sec; seqNo:556 2021-10-10T16:06:51Z- AHRS_M2 msg: -0.20 phi; -0.31 theta; 5.23 psi 2021-10-10T16:06:51Z- handleDepth()-Depth_Keller msg: 1633882011167 epoch sec; seqNo:562; depth 23.52 2021-10-10T16:06:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:51Z- handleDvl() - RDI_Pathfinder msg: 1633882011.17 epoch sec; seqNo:227 2021-10-10T16:06:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.17 , 0.02 2021-10-10T16:06:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882011.18 epoch sec; seqNo:562; 4061566.76 north; 594568.63 east 2021-10-10T16:06:51Z- AHRS_M2 msg: 1633882011.56 epoch sec; seqNo:557 2021-10-10T16:06:51Z- AHRS_M2 msg: -0.20 phi; -0.31 theta; 5.23 psi 2021-10-10T16:06:51Z- handleDepth()-Depth_Keller msg: 1633882011565 epoch sec; seqNo:563; depth 23.60 2021-10-10T16:06:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882011.59 epoch sec; seqNo:563; 4061567.12 north; 594567.40 east 2021-10-10T16:06:51Z- AHRS_M2 msg: 1633882011.96 epoch sec; seqNo:558 2021-10-10T16:06:51Z- AHRS_M2 msg: -0.21 phi; -0.31 theta; 5.24 psi 2021-10-10T16:06:51Z- handleDepth()-Depth_Keller msg: 1633882011969 epoch sec; seqNo:564; depth 23.70 2021-10-10T16:06:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882011.98 epoch sec; seqNo:564; 4061567.12 north; 594567.40 east 2021-10-10T16:06:52Z- AHRS_M2 msg: 1633882012.38 epoch sec; seqNo:559 2021-10-10T16:06:52Z- AHRS_M2 msg: -0.22 phi; -0.31 theta; 5.24 psi 2021-10-10T16:06:52Z- handleDepth()-Depth_Keller msg: 1633882012383 epoch sec; seqNo:565; depth 23.79 2021-10-10T16:06:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882012.39 epoch sec; seqNo:565; 4061567.12 north; 594567.40 east 2021-10-10T16:06:52Z- AHRS_M2 msg: 1633882012.77 epoch sec; seqNo:560 2021-10-10T16:06:52Z- AHRS_M2 msg: -0.22 phi; -0.32 theta; 5.24 psi 2021-10-10T16:06:52Z- handleDepth()-Depth_Keller msg: 1633882012777 epoch sec; seqNo:566; depth 23.89 2021-10-10T16:06:52Z- handleDvl() - RDI_Pathfinder msg: 1633882012.81 epoch sec; seqNo:228 2021-10-10T16:06:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.20 , 73.19 , 54.43 , 75.65 2021-10-10T16:06:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.17 , 0.05 2021-10-10T16:06:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882012.82 epoch sec; seqNo:566; 4061567.12 north; 594567.40 east 2021-10-10T16:06:53Z- AHRS_M2 msg: 1633882013.18 epoch sec; seqNo:561 2021-10-10T16:06:53Z- AHRS_M2 msg: -0.22 phi; -0.32 theta; 5.24 psi 2021-10-10T16:06:53Z- handleDepth()-Depth_Keller msg: 1633882013181 epoch sec; seqNo:567; depth 23.98 2021-10-10T16:06:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882013.21 epoch sec; seqNo:567; 4061567.49 north; 594566.18 east 2021-10-10T16:06:53Z- AHRS_M2 msg: 1633882013.58 epoch sec; seqNo:562 2021-10-10T16:06:53Z- AHRS_M2 msg: -0.22 phi; -0.32 theta; 5.24 psi 2021-10-10T16:06:53Z- handleDepth()-Depth_Keller msg: 1633882013585 epoch sec; seqNo:568; depth 24.06 2021-10-10T16:06:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882013.59 epoch sec; seqNo:568; 4061567.49 north; 594566.18 east 2021-10-10T16:06:53Z- AHRS_M2 msg: 1633882013.98 epoch sec; seqNo:563 2021-10-10T16:06:53Z- AHRS_M2 msg: -0.22 phi; -0.32 theta; 5.24 psi 2021-10-10T16:06:53Z- handleDepth()-Depth_Keller msg: 1633882013990 epoch sec; seqNo:569; depth 24.17 2021-10-10T16:06:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882014.00 epoch sec; seqNo:569; 4061567.49 north; 594566.18 east 2021-10-10T16:06:54Z- LcmTrn::handleMessages() - handling 43 messages took 0.63 ms and 130 calls... 2021-10-10T16:06:54Z- waiting for 1633882011.78, time is 1633882014.00 2021-10-10T16:06:54Z- LcmTrn::updateTrn() >>>> pose time 1633882014.00, meas time 1633882012.81 <<<< 2021-10-10T16:06:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882012.81 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:54Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594566.18, 24.17) 2021-10-10T16:06:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:54Z- TerrainNav:: SubcloudNIS is 0.35, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:54Z- TNavBF::Projecting Measurements 2021-10-10T16:06:54Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:06:54Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:06:54Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:06:54Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:06:54Z- TNavFilter::4 good beams. 2021-10-10T16:06:54Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:54Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:54Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:06:54Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:06:54Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:06:54Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:06:54Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:54Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:54Z- TerrainMapOctree: (vehN, vehE ) = (4061567.15, 594567.02). 2021-10-10T16:06:54Z- TerrainMapOctree: Min Distance = 258.68. 2021-10-10T16:06:54Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:06:54Z- Forcing Subcloud Comparison 2021-10-10T16:06:54Z- Filter 0 deapthBias would have been set to Nan. indexP: 4588 indexM: 1 2021-10-10T16:06:54Z- Old Depth Bias: -7.29 DepthBiasCov: 0.89 K: 0.080 ExpectedMeasDiff: nan currMeas.covariance: 8.57 2021-10-10T16:06:54Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:06:54Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:54Z- Filter 0 partialDeltaRmsComputation: 35.430007 terrainVariance: 0.094923 1-SumSquareWeights: 0.979482 2021-10-10T16:06:54Z- Filter 0 meanExpectedMeasDiff: 5.944332 delta_rms_squared: 0.085128 alpha: 0.809756 2021-10-10T16:06:54Z- Filter 0 beam number: 1 num in subcloud: 9985 num not in subcloud: 15 2021-10-10T16:06:54Z- Filter 0 partialDeltaRmsComputation: 33.121170 terrainVariance: 0.514714 1-SumSquareWeights: 0.979482 2021-10-10T16:06:54Z- Filter 0 meanExpectedMeasDiff: -5.710206 delta_rms_squared: 0.504919 alpha: 0.961899 2021-10-10T16:06:54Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:54Z- Filter 0 partialDeltaRmsComputation: 17.627105 terrainVariance: 0.331336 1-SumSquareWeights: 0.979482 2021-10-10T16:06:54Z- Filter 0 meanExpectedMeasDiff: -4.158818 delta_rms_squared: 0.321541 alpha: 0.941442 2021-10-10T16:06:54Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:54Z- Filter 0 partialDeltaRmsComputation: 30.623331 terrainVariance: 0.486635 1-SumSquareWeights: 0.979482 2021-10-10T16:06:54Z- Filter 0 meanExpectedMeasDiff: 5.489690 delta_rms_squared: 0.476840 alpha: 0.959746 2021-10-10T16:06:54Z- Filter 0 SubcloudNIS: 0.426763 2021-10-10T16:06:54Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:06:54Z- TNavBF:: Filter 0 sumWeights = 0.003951 2021-10-10T16:06:54Z- Filter 0 NorthBias: -48.9 EastBias: 27.8 DepthBias: -8.3 NorthVariance: 0.6 EastVariance: 37.3 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T16:06:54Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882012.81 sec. 2021-10-10T16:06:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:54Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:54Z- variances([0], [2], and psi_berg) = 0.640868 37.369490 0.000000 2021-10-10T16:06:54Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:54Z- LcmTrn::publishEstimates() - MLE : 4061518.99 594591.68 24.17 2021-10-10T16:06:54Z- LcmTrn::publishEstimates() - MMSE : 4061518.61 594594.00 15.85 2021-10-10T16:06:54Z- LcmTrn::publishEstimates() - COVAR: 0.64 37.37 0.75 0.00 2021-10-10T16:06:54Z- AHRS_M2 msg: 1633882014.39 epoch sec; seqNo:564 2021-10-10T16:06:54Z- AHRS_M2 msg: -0.23 phi; -0.32 theta; 5.24 psi 2021-10-10T16:06:54Z- handleDepth()-Depth_Keller msg: 1633882014398 epoch sec; seqNo:570; depth 24.26 2021-10-10T16:06:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882014.41 epoch sec; seqNo:570; 4061567.87 north; 594566.17 east 2021-10-10T16:06:54Z- AHRS_M2 msg: 1633882014.79 epoch sec; seqNo:565 2021-10-10T16:06:54Z- AHRS_M2 msg: -0.23 phi; -0.32 theta; 5.24 psi 2021-10-10T16:06:54Z- handleDepth()-Depth_Keller msg: 1633882014797 epoch sec; seqNo:571; depth 24.35 2021-10-10T16:06:54Z- handleDvl() - RDI_Pathfinder msg: 1633882014.83 epoch sec; seqNo:229 2021-10-10T16:06:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.89 , 73.50 , 54.13 , 76.27 2021-10-10T16:06:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.12 , 0.10 2021-10-10T16:06:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882014.84 epoch sec; seqNo:571; 4061567.85 north; 594564.95 east 2021-10-10T16:06:55Z- AHRS_M2 msg: 1633882015.20 epoch sec; seqNo:566 2021-10-10T16:06:55Z- AHRS_M2 msg: -0.23 phi; -0.32 theta; 5.24 psi 2021-10-10T16:06:55Z- handleDepth()-Depth_Keller msg: 1633882015201 epoch sec; seqNo:572; depth 24.48 2021-10-10T16:06:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882015.22 epoch sec; seqNo:572; 4061567.85 north; 594564.95 east 2021-10-10T16:06:55Z- AHRS_M2 msg: 1633882015.61 epoch sec; seqNo:567 2021-10-10T16:06:55Z- AHRS_M2 msg: -0.23 phi; -0.32 theta; 5.24 psi 2021-10-10T16:06:55Z- handleDepth()-Depth_Keller msg: 1633882015611 epoch sec; seqNo:573; depth 24.56 2021-10-10T16:06:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882015.62 epoch sec; seqNo:573; 4061568.23 north; 594564.95 east 2021-10-10T16:06:56Z- AHRS_M2 msg: 1633882016.01 epoch sec; seqNo:568 2021-10-10T16:06:56Z- AHRS_M2 msg: -0.23 phi; -0.33 theta; 5.24 psi 2021-10-10T16:06:56Z- handleDepth()-Depth_Keller msg: 1633882016010 epoch sec; seqNo:574; depth 24.68 2021-10-10T16:06:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:56Z- handleDvl() - RDI_Pathfinder msg: 1633882016.01 epoch sec; seqNo:230 2021-10-10T16:06:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.12 , 0.10 2021-10-10T16:06:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882016.02 epoch sec; seqNo:574; 4061568.23 north; 594564.95 east 2021-10-10T16:06:56Z- AHRS_M2 msg: 1633882016.41 epoch sec; seqNo:569 2021-10-10T16:06:56Z- AHRS_M2 msg: -0.24 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:56Z- handleDepth()-Depth_Keller msg: 1633882016414 epoch sec; seqNo:575; depth 24.77 2021-10-10T16:06:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882016.44 epoch sec; seqNo:575; 4061568.22 north; 594563.73 east 2021-10-10T16:06:56Z- AHRS_M2 msg: 1633882016.81 epoch sec; seqNo:570 2021-10-10T16:06:56Z- AHRS_M2 msg: -0.24 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:56Z- handleDepth()-Depth_Keller msg: 1633882016817 epoch sec; seqNo:576; depth 24.87 2021-10-10T16:06:56Z- handleDvl() - RDI_Pathfinder msg: 1633882016.84 epoch sec; seqNo:231 2021-10-10T16:06:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.59 , 74.42 , 53.51 , 76.58 2021-10-10T16:06:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.11 , 0.09 2021-10-10T16:06:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882016.87 epoch sec; seqNo:576; 4061568.60 north; 594563.72 east 2021-10-10T16:06:57Z- AHRS_M2 msg: 1633882017.22 epoch sec; seqNo:571 2021-10-10T16:06:57Z- AHRS_M2 msg: -0.24 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:57Z- handleDepth()-Depth_Keller msg: 1633882017228 epoch sec; seqNo:577; depth 24.97 2021-10-10T16:06:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:57Z- handleDvl() - RDI_Pathfinder msg: 1633882017.23 epoch sec; seqNo:232 2021-10-10T16:06:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.11 , 0.09 2021-10-10T16:06:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882017.24 epoch sec; seqNo:577; 4061568.60 north; 594563.72 east 2021-10-10T16:06:57Z- AHRS_M2 msg: 1633882017.62 epoch sec; seqNo:572 2021-10-10T16:06:57Z- AHRS_M2 msg: -0.24 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:57Z- handleDepth()-Depth_Keller msg: 1633882017625 epoch sec; seqNo:578; depth 25.07 2021-10-10T16:06:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882017.64 epoch sec; seqNo:578; 4061568.60 north; 594563.72 east 2021-10-10T16:06:58Z- AHRS_M2 msg: 1633882018.03 epoch sec; seqNo:573 2021-10-10T16:06:58Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:58Z- handleDepth()-Depth_Keller msg: 1633882018030 epoch sec; seqNo:579; depth 25.17 2021-10-10T16:06:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882018.04 epoch sec; seqNo:579; 4061568.96 north; 594562.50 east 2021-10-10T16:06:58Z- AHRS_M2 msg: 1633882018.43 epoch sec; seqNo:574 2021-10-10T16:06:58Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:58Z- handleDepth()-Depth_Keller msg: 1633882018438 epoch sec; seqNo:580; depth 25.30 2021-10-10T16:06:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:58Z- handleDvl() - RDI_Pathfinder msg: 1633882018.44 epoch sec; seqNo:233 2021-10-10T16:06:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.11 , 0.09 2021-10-10T16:06:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882018.45 epoch sec; seqNo:580; 4061568.96 north; 594562.50 east 2021-10-10T16:06:58Z- AHRS_M2 msg: 1633882018.83 epoch sec; seqNo:575 2021-10-10T16:06:58Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:58Z- handleDepth()-Depth_Keller msg: 1633882018838 epoch sec; seqNo:581; depth 25.38 2021-10-10T16:06:58Z- handleDvl() - RDI_Pathfinder msg: 1633882018.86 epoch sec; seqNo:234 2021-10-10T16:06:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.97 , 74.12 , 53.51 , 0.00 2021-10-10T16:06:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.10 , 0.09 2021-10-10T16:06:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882018.87 epoch sec; seqNo:581; 4061569.34 north; 594562.50 east 2021-10-10T16:06:59Z- AHRS_M2 msg: 1633882019.24 epoch sec; seqNo:576 2021-10-10T16:06:59Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:59Z- handleDepth()-Depth_Keller msg: 1633882019240 epoch sec; seqNo:582; depth 25.49 2021-10-10T16:06:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882019.26 epoch sec; seqNo:582; 4061569.34 north; 594562.50 east 2021-10-10T16:06:59Z- LcmTrn::handleMessages() - handling 45 messages took 0.67 ms and 131 calls... 2021-10-10T16:06:59Z- waiting for 1633882017.00, time is 1633882019.26 2021-10-10T16:06:59Z- LcmTrn::updateTrn() >>>> pose time 1633882019.26, meas time 1633882018.86 <<<< 2021-10-10T16:06:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882018.86 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:06:59Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594562.50, 25.49) 2021-10-10T16:06:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:06:59Z- TerrainNav:: SubcloudNIS is 0.43, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:06:59Z- TNavBF::Projecting Measurements 2021-10-10T16:06:59Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:06:59Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:06:59Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:06:59Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T16:06:59Z- TNavFilter::3 good beams. 2021-10-10T16:06:59Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:06:59Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:06:59Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:06:59Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:06:59Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:06:59Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T16:06:59Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:06:59Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:59Z- TerrainMapOctree: (vehN, vehE ) = (4061569.20, 594562.78). 2021-10-10T16:06:59Z- TerrainMapOctree: Min Distance = 260.27. 2021-10-10T16:06:59Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:06:59Z- Forcing Subcloud Comparison 2021-10-10T16:06:59Z- Filter 0 deapthBias would have been set to Nan. indexP: 4091 indexM: 1 2021-10-10T16:06:59Z- Old Depth Bias: -7.34 DepthBiasCov: 0.81 K: 0.072 ExpectedMeasDiff: nan currMeas.covariance: 8.79 2021-10-10T16:06:59Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:06:59Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:59Z- Filter 0 partialDeltaRmsComputation: 45.526148 terrainVariance: 0.252715 1-SumSquareWeights: 0.965214 2021-10-10T16:06:59Z- Filter 0 meanExpectedMeasDiff: 6.728554 delta_rms_squared: 0.243063 alpha: 0.923973 2021-10-10T16:06:59Z- Filter 0 beam number: 1 num in subcloud: 9982 num not in subcloud: 18 2021-10-10T16:06:59Z- Filter 0 partialDeltaRmsComputation: 24.549314 terrainVariance: 0.231325 1-SumSquareWeights: 0.965214 2021-10-10T16:06:59Z- Filter 0 meanExpectedMeasDiff: -4.931327 delta_rms_squared: 0.221673 alpha: 0.917243 2021-10-10T16:06:59Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:06:59Z- Filter 0 partialDeltaRmsComputation: 23.523219 terrainVariance: 0.069310 1-SumSquareWeights: 0.965214 2021-10-10T16:06:59Z- Filter 0 meanExpectedMeasDiff: -4.842924 delta_rms_squared: 0.059658 alpha: 0.748927 2021-10-10T16:06:59Z- Filter 0 SubcloudNIS: 0.498653 2021-10-10T16:06:59Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:06:59Z- TNavBF:: Filter 0 sumWeights = 0.007096 2021-10-10T16:06:59Z- Filter 0 NorthBias: -48.9 EastBias: 25.9 DepthBias: -8.6 NorthVariance: 0.6 EastVariance: 24.9 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T16:06:59Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882018.86 sec. 2021-10-10T16:06:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:06:59Z- TNavBF::mmse selected from filter -1 2021-10-10T16:06:59Z- variances([0], [2], and psi_berg) = 0.636698 24.870258 0.000000 2021-10-10T16:06:59Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:06:59Z- LcmTrn::publishEstimates() - MLE : 4061520.84 594588.00 25.49 2021-10-10T16:06:59Z- LcmTrn::publishEstimates() - MMSE : 4061520.45 594588.39 16.93 2021-10-10T16:06:59Z- LcmTrn::publishEstimates() - COVAR: 0.64 24.87 0.71 0.00 2021-10-10T16:06:59Z- AHRS_M2 msg: 1633882019.64 epoch sec; seqNo:577 2021-10-10T16:06:59Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.23 psi 2021-10-10T16:06:59Z- handleDepth()-Depth_Keller msg: 1633882019651 epoch sec; seqNo:583; depth 25.60 2021-10-10T16:06:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:06:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:06:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:06:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:06:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:06:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:06:59Z- handleDvl() - RDI_Pathfinder msg: 1633882019.65 epoch sec; seqNo:235 2021-10-10T16:06:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:06:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.10 , 0.09 2021-10-10T16:06:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882019.67 epoch sec; seqNo:583; 4061569.33 north; 594561.28 east 2021-10-10T16:07:00Z- AHRS_M2 msg: 1633882020.04 epoch sec; seqNo:578 2021-10-10T16:07:00Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.23 psi 2021-10-10T16:07:00Z- handleDepth()-Depth_Keller msg: 1633882020049 epoch sec; seqNo:584; depth 25.70 2021-10-10T16:07:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882020.06 epoch sec; seqNo:584; 4061569.71 north; 594561.27 east 2021-10-10T16:07:00Z- AHRS_M2 msg: 1633882020.45 epoch sec; seqNo:579 2021-10-10T16:07:00Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.22 psi 2021-10-10T16:07:00Z- handleDepth()-Depth_Keller msg: 1633882020457 epoch sec; seqNo:585; depth 25.80 2021-10-10T16:07:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882020.47 epoch sec; seqNo:585; 4061569.71 north; 594561.27 east 2021-10-10T16:07:00Z- AHRS_M2 msg: 1633882020.85 epoch sec; seqNo:580 2021-10-10T16:07:00Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.22 psi 2021-10-10T16:07:00Z- handleDepth()-Depth_Keller msg: 1633882020868 epoch sec; seqNo:586; depth 25.92 2021-10-10T16:07:00Z- handleDvl() - RDI_Pathfinder msg: 1633882020.89 epoch sec; seqNo:236 2021-10-10T16:07:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.76 , 74.06 , 53.73 , 76.67 2021-10-10T16:07:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , 0.05 2021-10-10T16:07:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882020.90 epoch sec; seqNo:586; 4061569.71 north; 594561.27 east 2021-10-10T16:07:01Z- AHRS_M2 msg: 1633882021.26 epoch sec; seqNo:581 2021-10-10T16:07:01Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.22 psi 2021-10-10T16:07:01Z- handleDepth()-Depth_Keller msg: 1633882021261 epoch sec; seqNo:587; depth 26.01 2021-10-10T16:07:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882021.29 epoch sec; seqNo:587; 4061570.07 north; 594560.05 east 2021-10-10T16:07:01Z- AHRS_M2 msg: 1633882021.66 epoch sec; seqNo:582 2021-10-10T16:07:01Z- AHRS_M2 msg: -0.25 phi; -0.33 theta; 5.22 psi 2021-10-10T16:07:01Z- handleDepth()-Depth_Keller msg: 1633882021665 epoch sec; seqNo:588; depth 26.10 2021-10-10T16:07:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882021.67 epoch sec; seqNo:588; 4061570.07 north; 594560.05 east 2021-10-10T16:07:02Z- AHRS_M2 msg: 1633882022.07 epoch sec; seqNo:583 2021-10-10T16:07:02Z- AHRS_M2 msg: -0.24 phi; -0.32 theta; 5.22 psi 2021-10-10T16:07:02Z- handleDepth()-Depth_Keller msg: 1633882022072 epoch sec; seqNo:589; depth 26.21 2021-10-10T16:07:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:02Z- handleDvl() - RDI_Pathfinder msg: 1633882022.07 epoch sec; seqNo:237 2021-10-10T16:07:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , 0.05 2021-10-10T16:07:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882022.08 epoch sec; seqNo:589; 4061570.07 north; 594560.05 east 2021-10-10T16:07:02Z- AHRS_M2 msg: 1633882022.47 epoch sec; seqNo:584 2021-10-10T16:07:02Z- AHRS_M2 msg: -0.25 phi; -0.32 theta; 5.22 psi 2021-10-10T16:07:02Z- handleDepth()-Depth_Keller msg: 1633882022473 epoch sec; seqNo:590; depth 26.31 2021-10-10T16:07:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882022.49 epoch sec; seqNo:590; 4061570.45 north; 594560.04 east 2021-10-10T16:07:02Z- AHRS_M2 msg: 1633882022.87 epoch sec; seqNo:585 2021-10-10T16:07:02Z- AHRS_M2 msg: -0.25 phi; -0.32 theta; 5.22 psi 2021-10-10T16:07:02Z- handleDepth()-Depth_Keller msg: 1633882022879 epoch sec; seqNo:591; depth 26.41 2021-10-10T16:07:02Z- handleDvl() - RDI_Pathfinder msg: 1633882022.90 epoch sec; seqNo:238 2021-10-10T16:07:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.35 , 73.19 , 53.51 , 75.95 2021-10-10T16:07:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , -0.01 2021-10-10T16:07:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882022.92 epoch sec; seqNo:591; 4061570.44 north; 594558.82 east 2021-10-10T16:07:03Z- AHRS_M2 msg: 1633882023.28 epoch sec; seqNo:586 2021-10-10T16:07:03Z- AHRS_M2 msg: -0.25 phi; -0.31 theta; 5.21 psi 2021-10-10T16:07:03Z- handleDepth()-Depth_Keller msg: 1633882023282 epoch sec; seqNo:592; depth 26.52 2021-10-10T16:07:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:03Z- handleDvl() - RDI_Pathfinder msg: 1633882023.28 epoch sec; seqNo:239 2021-10-10T16:07:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , -0.01 2021-10-10T16:07:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882023.30 epoch sec; seqNo:592; 4061570.44 north; 594558.82 east 2021-10-10T16:07:03Z- AHRS_M2 msg: 1633882023.68 epoch sec; seqNo:587 2021-10-10T16:07:03Z- AHRS_M2 msg: -0.25 phi; -0.31 theta; 5.21 psi 2021-10-10T16:07:03Z- handleDepth()-Depth_Keller msg: 1633882023686 epoch sec; seqNo:593; depth 26.60 2021-10-10T16:07:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882023.70 epoch sec; seqNo:593; 4061570.82 north; 594558.82 east 2021-10-10T16:07:04Z- AHRS_M2 msg: 1633882024.08 epoch sec; seqNo:588 2021-10-10T16:07:04Z- AHRS_M2 msg: -0.25 phi; -0.31 theta; 5.21 psi 2021-10-10T16:07:04Z- handleDepth()-Depth_Keller msg: 1633882024089 epoch sec; seqNo:594; depth 26.70 2021-10-10T16:07:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882024.10 epoch sec; seqNo:594; 4061570.82 north; 594558.82 east 2021-10-10T16:07:04Z- AHRS_M2 msg: 1633882024.49 epoch sec; seqNo:589 2021-10-10T16:07:04Z- AHRS_M2 msg: -0.25 phi; -0.31 theta; 5.20 psi 2021-10-10T16:07:04Z- handleDepth()-Depth_Keller msg: 1633882024499 epoch sec; seqNo:595; depth 26.79 2021-10-10T16:07:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:04Z- handleDvl() - RDI_Pathfinder msg: 1633882024.50 epoch sec; seqNo:240 2021-10-10T16:07:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , -0.01 2021-10-10T16:07:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882024.52 epoch sec; seqNo:595; 4061570.80 north; 594557.60 east 2021-10-10T16:07:04Z- LcmTrn::handleMessages() - handling 45 messages took 0.60 ms and 133 calls... 2021-10-10T16:07:04Z- waiting for 1633882022.26, time is 1633882024.52 2021-10-10T16:07:04Z- LcmTrn::updateTrn() equating pose 1633882024.52 and meas times 1633882024.52 2021-10-10T16:07:04Z- LcmTrn::updateTrn() >>>> pose time 1633882024.52, meas time 1633882024.52 <<<< 2021-10-10T16:07:04Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882024.52, ping # 0. 2021-10-10T16:07:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882024.52 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:04Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594557.60, 26.79) 2021-10-10T16:07:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:04Z- TerrainNav:: SubcloudNIS is 0.50, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:04Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:07:04Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:07:04Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882024.52 sec.; No relevant navigation data available 2021-10-10T16:07:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:04Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:04Z- variances([0], [2], and psi_berg) = 0.655302 24.885484 0.000000 2021-10-10T16:07:04Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:04Z- LcmTrn::publishEstimates() - MLE : 4061522.30 594583.10 26.79 2021-10-10T16:07:04Z- LcmTrn::publishEstimates() - MMSE : 4061521.93 594583.49 18.23 2021-10-10T16:07:04Z- LcmTrn::publishEstimates() - COVAR: 0.66 24.89 0.97 0.00 2021-10-10T16:07:04Z- AHRS_M2 msg: 1633882024.89 epoch sec; seqNo:590 2021-10-10T16:07:04Z- AHRS_M2 msg: -0.25 phi; -0.30 theta; 5.20 psi 2021-10-10T16:07:04Z- handleDepth()-Depth_Keller msg: 1633882024910 epoch sec; seqNo:596; depth 26.89 2021-10-10T16:07:04Z- handleDvl() - RDI_Pathfinder msg: 1633882024.93 epoch sec; seqNo:241 2021-10-10T16:07:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.12 , 73.18 , 53.50 , 0.00 2021-10-10T16:07:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.11 , 0.01 2021-10-10T16:07:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882024.94 epoch sec; seqNo:596; 4061571.18 north; 594557.59 east 2021-10-10T16:07:05Z- AHRS_M2 msg: 1633882025.30 epoch sec; seqNo:591 2021-10-10T16:07:05Z- AHRS_M2 msg: -0.25 phi; -0.30 theta; 5.19 psi 2021-10-10T16:07:05Z- handleDepth()-Depth_Keller msg: 1633882025306 epoch sec; seqNo:597; depth 26.98 2021-10-10T16:07:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882025.33 epoch sec; seqNo:597; 4061571.18 north; 594557.59 east 2021-10-10T16:07:05Z- AHRS_M2 msg: 1633882025.71 epoch sec; seqNo:592 2021-10-10T16:07:05Z- AHRS_M2 msg: -0.25 phi; -0.30 theta; 5.19 psi 2021-10-10T16:07:05Z- handleDepth()-Depth_Keller msg: 1633882025711 epoch sec; seqNo:598; depth 27.08 2021-10-10T16:07:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:05Z- handleDvl() - RDI_Pathfinder msg: 1633882025.71 epoch sec; seqNo:242 2021-10-10T16:07:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.11 , 0.01 2021-10-10T16:07:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882025.72 epoch sec; seqNo:598; 4061571.18 north; 594557.59 east 2021-10-10T16:07:06Z- AHRS_M2 msg: 1633882026.11 epoch sec; seqNo:593 2021-10-10T16:07:06Z- AHRS_M2 msg: -0.25 phi; -0.29 theta; 5.18 psi 2021-10-10T16:07:06Z- handleDepth()-Depth_Keller msg: 1633882026112 epoch sec; seqNo:599; depth 27.17 2021-10-10T16:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882026.12 epoch sec; seqNo:599; 4061571.55 north; 594556.37 east 2021-10-10T16:07:06Z- AHRS_M2 msg: 1633882026.51 epoch sec; seqNo:594 2021-10-10T16:07:06Z- AHRS_M2 msg: -0.25 phi; -0.29 theta; 5.18 psi 2021-10-10T16:07:06Z- handleDepth()-Depth_Keller msg: 1633882026520 epoch sec; seqNo:600; depth 27.28 2021-10-10T16:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882026.54 epoch sec; seqNo:600; 4061571.55 north; 594556.37 east 2021-10-10T16:07:06Z- AHRS_M2 msg: 1633882026.91 epoch sec; seqNo:595 2021-10-10T16:07:06Z- AHRS_M2 msg: -0.24 phi; -0.29 theta; 5.18 psi 2021-10-10T16:07:06Z- handleDepth()-Depth_Keller msg: 1633882026927 epoch sec; seqNo:601; depth 27.37 2021-10-10T16:07:06Z- handleDvl() - RDI_Pathfinder msg: 1633882026.95 epoch sec; seqNo:243 2021-10-10T16:07:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.01 , 71.73 , 53.43 , 74.05 2021-10-10T16:07:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.15 , 0.09 2021-10-10T16:07:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882026.96 epoch sec; seqNo:601; 4061571.55 north; 594556.37 east 2021-10-10T16:07:07Z- AHRS_M2 msg: 1633882027.32 epoch sec; seqNo:596 2021-10-10T16:07:07Z- AHRS_M2 msg: -0.24 phi; -0.29 theta; 5.18 psi 2021-10-10T16:07:07Z- handleDepth()-Depth_Keller msg: 1633882027321 epoch sec; seqNo:602; depth 27.48 2021-10-10T16:07:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882027.34 epoch sec; seqNo:602; 4061571.93 north; 594556.37 east 2021-10-10T16:07:07Z- AHRS_M2 msg: 1633882027.72 epoch sec; seqNo:597 2021-10-10T16:07:07Z- AHRS_M2 msg: -0.24 phi; -0.29 theta; 5.18 psi 2021-10-10T16:07:07Z- handleDepth()-Depth_Keller msg: 1633882027732 epoch sec; seqNo:603; depth 27.56 2021-10-10T16:07:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882027.74 epoch sec; seqNo:603; 4061571.91 north; 594555.14 east 2021-10-10T16:07:08Z- AHRS_M2 msg: 1633882028.12 epoch sec; seqNo:598 2021-10-10T16:07:08Z- AHRS_M2 msg: -0.24 phi; -0.29 theta; 5.17 psi 2021-10-10T16:07:08Z- handleDepth()-Depth_Keller msg: 1633882028136 epoch sec; seqNo:604; depth 27.66 2021-10-10T16:07:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:08Z- handleDvl() - RDI_Pathfinder msg: 1633882028.14 epoch sec; seqNo:244 2021-10-10T16:07:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.15 , 0.09 2021-10-10T16:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882028.15 epoch sec; seqNo:604; 4061571.91 north; 594555.14 east 2021-10-10T16:07:08Z- AHRS_M2 msg: 1633882028.53 epoch sec; seqNo:599 2021-10-10T16:07:08Z- AHRS_M2 msg: -0.24 phi; -0.29 theta; 5.17 psi 2021-10-10T16:07:08Z- handleDepth()-Depth_Keller msg: 1633882028533 epoch sec; seqNo:605; depth 27.76 2021-10-10T16:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882028.55 epoch sec; seqNo:605; 4061571.91 north; 594555.14 east 2021-10-10T16:07:08Z- AHRS_M2 msg: 1633882028.93 epoch sec; seqNo:600 2021-10-10T16:07:08Z- AHRS_M2 msg: -0.24 phi; -0.29 theta; 5.17 psi 2021-10-10T16:07:08Z- handleDepth()-Depth_Keller msg: 1633882028943 epoch sec; seqNo:606; depth 27.84 2021-10-10T16:07:08Z- handleDvl() - RDI_Pathfinder msg: 1633882028.97 epoch sec; seqNo:245 2021-10-10T16:07:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.43 , 69.98 , 53.14 , 0.00 2021-10-10T16:07:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.11 2021-10-10T16:07:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882028.98 epoch sec; seqNo:606; 4061572.29 north; 594555.14 east 2021-10-10T16:07:09Z- AHRS_M2 msg: 1633882029.34 epoch sec; seqNo:601 2021-10-10T16:07:09Z- AHRS_M2 msg: -0.24 phi; -0.28 theta; 5.17 psi 2021-10-10T16:07:09Z- handleDepth()-Depth_Keller msg: 1633882029341 epoch sec; seqNo:607; depth 27.94 2021-10-10T16:07:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:09Z- handleDvl() - RDI_Pathfinder msg: 1633882029.34 epoch sec; seqNo:246 2021-10-10T16:07:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.11 2021-10-10T16:07:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882029.36 epoch sec; seqNo:607; 4061572.28 north; 594553.92 east 2021-10-10T16:07:09Z- AHRS_M2 msg: 1633882029.74 epoch sec; seqNo:602 2021-10-10T16:07:09Z- AHRS_M2 msg: -0.24 phi; -0.28 theta; 5.17 psi 2021-10-10T16:07:09Z- LcmTrn::handleMessages() - handling 43 messages took 0.66 ms and 129 calls... 2021-10-10T16:07:09Z- waiting for 1633882027.52, time is 1633882029.74 2021-10-10T16:07:09Z- LcmTrn::updateTrn() >>>> pose time 1633882029.74, meas time 1633882029.34 <<<< 2021-10-10T16:07:09Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882029.34, ping # 0. 2021-10-10T16:07:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882029.34 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:09Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594553.92, 27.94) 2021-10-10T16:07:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:09Z- TerrainNav:: SubcloudNIS is 0.50, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:09Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:07:09Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:07:09Z- TNavBF::Projecting Measurements 2021-10-10T16:07:09Z- TNavFilter::Measurement from time = 1633882029.34 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:07:09Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:07:09Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:07:09Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:07:09Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:07:09Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:07:09Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:07:09Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:07:09Z- Filter 0 NorthBias: -48.9 EastBias: 25.9 DepthBias: -8.6 NorthVariance: 0.7 EastVariance: 24.9 DepthVariance: 1.2 this->DepthBiasCov: 1.1 2021-10-10T16:07:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:09Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:09Z- variances([0], [2], and psi_berg) = 0.675531 24.903336 0.000000 2021-10-10T16:07:09Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:09Z- LcmTrn::publishEstimates() - MLE : 4061523.78 594579.42 27.94 2021-10-10T16:07:09Z- LcmTrn::publishEstimates() - MMSE : 4061523.43 594579.80 19.39 2021-10-10T16:07:09Z- LcmTrn::publishEstimates() - COVAR: 0.68 24.90 1.17 0.00 2021-10-10T16:07:09Z- handleDepth()-Depth_Keller msg: 1633882029746 epoch sec; seqNo:608; depth 28.03 2021-10-10T16:07:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882029.76 epoch sec; seqNo:608; 4061572.28 north; 594553.92 east 2021-10-10T16:07:10Z- AHRS_M2 msg: 1633882030.14 epoch sec; seqNo:603 2021-10-10T16:07:10Z- AHRS_M2 msg: -0.24 phi; -0.28 theta; 5.16 psi 2021-10-10T16:07:10Z- handleDepth()-Depth_Keller msg: 1633882030149 epoch sec; seqNo:609; depth 28.14 2021-10-10T16:07:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882030.16 epoch sec; seqNo:609; 4061572.66 north; 594553.92 east 2021-10-10T16:07:10Z- AHRS_M2 msg: 1633882030.55 epoch sec; seqNo:604 2021-10-10T16:07:10Z- AHRS_M2 msg: -0.25 phi; -0.28 theta; 5.16 psi 2021-10-10T16:07:10Z- handleDepth()-Depth_Keller msg: 1633882030553 epoch sec; seqNo:610; depth 28.22 2021-10-10T16:07:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:10Z- handleDvl() - RDI_Pathfinder msg: 1633882030.56 epoch sec; seqNo:247 2021-10-10T16:07:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.11 2021-10-10T16:07:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882030.57 epoch sec; seqNo:610; 4061572.66 north; 594553.92 east 2021-10-10T16:07:10Z- handleDepth()-Depth_Keller msg: 1633882030975 epoch sec; seqNo:611; depth 28.32 2021-10-10T16:07:11Z- handleDvl() - RDI_Pathfinder msg: 1633882031.00 epoch sec; seqNo:248 2021-10-10T16:07:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.47 , 70.51 , 52.74 , 72.15 2021-10-10T16:07:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.07 , 0.08 2021-10-10T16:07:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882031.01 epoch sec; seqNo:611; 4061572.64 north; 594552.70 east 2021-10-10T16:07:11Z- AHRS_M2 msg: 1633882031.36 epoch sec; seqNo:605 2021-10-10T16:07:11Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 5.16 psi 2021-10-10T16:07:11Z- handleDepth()-Depth_Keller msg: 1633882031367 epoch sec; seqNo:612; depth 28.41 2021-10-10T16:07:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882031.38 epoch sec; seqNo:612; 4061573.02 north; 594552.69 east 2021-10-10T16:07:11Z- AHRS_M2 msg: 1633882031.76 epoch sec; seqNo:606 2021-10-10T16:07:11Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 5.15 psi 2021-10-10T16:07:11Z- handleDepth()-Depth_Keller msg: 1633882031771 epoch sec; seqNo:613; depth 28.49 2021-10-10T16:07:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:11Z- handleDvl() - RDI_Pathfinder msg: 1633882031.77 epoch sec; seqNo:249 2021-10-10T16:07:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.07 , 0.08 2021-10-10T16:07:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882031.79 epoch sec; seqNo:613; 4061573.02 north; 594552.69 east 2021-10-10T16:07:12Z- AHRS_M2 msg: 1633882032.16 epoch sec; seqNo:607 2021-10-10T16:07:12Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 5.15 psi 2021-10-10T16:07:12Z- handleDepth()-Depth_Keller msg: 1633882032175 epoch sec; seqNo:614; depth 28.58 2021-10-10T16:07:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882032.18 epoch sec; seqNo:614; 4061573.02 north; 594552.69 east 2021-10-10T16:07:12Z- AHRS_M2 msg: 1633882032.57 epoch sec; seqNo:608 2021-10-10T16:07:12Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 5.15 psi 2021-10-10T16:07:12Z- handleDepth()-Depth_Keller msg: 1633882032573 epoch sec; seqNo:615; depth 28.68 2021-10-10T16:07:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882032.58 epoch sec; seqNo:615; 4061573.39 north; 594551.47 east 2021-10-10T16:07:12Z- AHRS_M2 msg: 1633882032.97 epoch sec; seqNo:609 2021-10-10T16:07:12Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 5.15 psi 2021-10-10T16:07:12Z- handleDepth()-Depth_Keller msg: 1633882032983 epoch sec; seqNo:616; depth 28.76 2021-10-10T16:07:13Z- handleDvl() - RDI_Pathfinder msg: 1633882033.00 epoch sec; seqNo:250 2021-10-10T16:07:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.97 , 69.39 , 52.55 , 71.43 2021-10-10T16:07:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.10 , 0.07 2021-10-10T16:07:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882033.02 epoch sec; seqNo:616; 4061573.39 north; 594551.47 east 2021-10-10T16:07:13Z- AHRS_M2 msg: 1633882033.38 epoch sec; seqNo:610 2021-10-10T16:07:13Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 5.14 psi 2021-10-10T16:07:13Z- handleDepth()-Depth_Keller msg: 1633882033381 epoch sec; seqNo:617; depth 28.85 2021-10-10T16:07:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882033.40 epoch sec; seqNo:617; 4061573.39 north; 594551.47 east 2021-10-10T16:07:13Z- AHRS_M2 msg: 1633882033.79 epoch sec; seqNo:611 2021-10-10T16:07:13Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 5.14 psi 2021-10-10T16:07:13Z- handleDepth()-Depth_Keller msg: 1633882033791 epoch sec; seqNo:618; depth 28.93 2021-10-10T16:07:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882033.82 epoch sec; seqNo:618; 4061573.37 north; 594550.25 east 2021-10-10T16:07:14Z- AHRS_M2 msg: 1633882034.18 epoch sec; seqNo:612 2021-10-10T16:07:14Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 5.14 psi 2021-10-10T16:07:14Z- handleDepth()-Depth_Keller msg: 1633882034198 epoch sec; seqNo:619; depth 29.01 2021-10-10T16:07:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:14Z- handleDvl() - RDI_Pathfinder msg: 1633882034.20 epoch sec; seqNo:251 2021-10-10T16:07:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.10 , 0.07 2021-10-10T16:07:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882034.21 epoch sec; seqNo:619; 4061573.75 north; 594550.24 east 2021-10-10T16:07:14Z- AHRS_M2 msg: 1633882034.59 epoch sec; seqNo:613 2021-10-10T16:07:14Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 5.14 psi 2021-10-10T16:07:14Z- handleDepth()-Depth_Keller msg: 1633882034594 epoch sec; seqNo:620; depth 29.09 2021-10-10T16:07:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882034.60 epoch sec; seqNo:620; 4061573.75 north; 594550.24 east 2021-10-10T16:07:14Z- LcmTrn::handleMessages() - handling 42 messages took 0.60 ms and 130 calls... 2021-10-10T16:07:14Z- waiting for 1633882032.74, time is 1633882034.60 2021-10-10T16:07:14Z- LcmTrn::updateTrn() >>>> pose time 1633882034.60, meas time 1633882034.20 <<<< 2021-10-10T16:07:14Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882034.20, ping # 0. 2021-10-10T16:07:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882034.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:14Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594550.24, 29.09) 2021-10-10T16:07:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:14Z- TerrainNav:: SubcloudNIS is 0.50, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:14Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:07:14Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:07:14Z- TNavBF::Projecting Measurements 2021-10-10T16:07:14Z- TNavFilter::Measurement from time = 1633882034.20 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:07:14Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:07:14Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:07:14Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:07:14Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:07:14Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:07:14Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:07:14Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:07:14Z- Filter 0 NorthBias: -48.8 EastBias: 25.9 DepthBias: -8.6 NorthVariance: 0.7 EastVariance: 24.9 DepthVariance: 1.4 this->DepthBiasCov: 1.3 2021-10-10T16:07:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:14Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:14Z- variances([0], [2], and psi_berg) = 0.695840 24.922470 0.000000 2021-10-10T16:07:14Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:14Z- LcmTrn::publishEstimates() - MLE : 4061525.25 594575.74 29.09 2021-10-10T16:07:14Z- LcmTrn::publishEstimates() - MMSE : 4061524.92 594576.12 20.53 2021-10-10T16:07:14Z- LcmTrn::publishEstimates() - COVAR: 0.70 24.92 1.37 0.00 2021-10-10T16:07:15Z- AHRS_M2 msg: 1633882034.99 epoch sec; seqNo:614 2021-10-10T16:07:15Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.14 psi 2021-10-10T16:07:15Z- handleDepth()-Depth_Keller msg: 1633882035003 epoch sec; seqNo:621; depth 29.18 2021-10-10T16:07:15Z- handleDvl() - RDI_Pathfinder msg: 1633882035.03 epoch sec; seqNo:252 2021-10-10T16:07:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.10 , 68.81 , 52.26 , 70.84 2021-10-10T16:07:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.11 , 0.05 2021-10-10T16:07:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882035.04 epoch sec; seqNo:621; 4061573.75 north; 594550.24 east 2021-10-10T16:07:15Z- AHRS_M2 msg: 1633882035.40 epoch sec; seqNo:615 2021-10-10T16:07:15Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.14 psi 2021-10-10T16:07:15Z- handleDepth()-Depth_Keller msg: 1633882035401 epoch sec; seqNo:622; depth 29.27 2021-10-10T16:07:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:15Z- handleDvl() - RDI_Pathfinder msg: 1633882035.40 epoch sec; seqNo:253 2021-10-10T16:07:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.11 , 0.05 2021-10-10T16:07:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882035.42 epoch sec; seqNo:622; 4061574.12 north; 594549.02 east 2021-10-10T16:07:15Z- AHRS_M2 msg: 1633882035.80 epoch sec; seqNo:616 2021-10-10T16:07:15Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.14 psi 2021-10-10T16:07:15Z- handleDepth()-Depth_Keller msg: 1633882035811 epoch sec; seqNo:623; depth 29.34 2021-10-10T16:07:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882035.85 epoch sec; seqNo:623; 4061574.12 north; 594549.02 east 2021-10-10T16:07:16Z- AHRS_M2 msg: 1633882036.20 epoch sec; seqNo:617 2021-10-10T16:07:16Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.14 psi 2021-10-10T16:07:16Z- handleDepth()-Depth_Keller msg: 1633882036223 epoch sec; seqNo:624; depth 29.43 2021-10-10T16:07:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882036.23 epoch sec; seqNo:624; 4061574.12 north; 594549.02 east 2021-10-10T16:07:16Z- AHRS_M2 msg: 1633882036.61 epoch sec; seqNo:618 2021-10-10T16:07:16Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.14 psi 2021-10-10T16:07:16Z- handleDepth()-Depth_Keller msg: 1633882036613 epoch sec; seqNo:625; depth 29.50 2021-10-10T16:07:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:16Z- handleDvl() - RDI_Pathfinder msg: 1633882036.62 epoch sec; seqNo:254 2021-10-10T16:07:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.11 , 0.05 2021-10-10T16:07:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882036.62 epoch sec; seqNo:625; 4061574.12 north; 594549.02 east 2021-10-10T16:07:17Z- AHRS_M2 msg: 1633882037.01 epoch sec; seqNo:619 2021-10-10T16:07:17Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.14 psi 2021-10-10T16:07:17Z- handleDepth()-Depth_Keller msg: 1633882037019 epoch sec; seqNo:626; depth 29.59 2021-10-10T16:07:17Z- handleDvl() - RDI_Pathfinder msg: 1633882037.04 epoch sec; seqNo:255 2021-10-10T16:07:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.10 , 68.23 , 51.97 , 69.39 2021-10-10T16:07:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.12 , 0.02 2021-10-10T16:07:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882037.05 epoch sec; seqNo:626; 4061574.48 north; 594547.79 east 2021-10-10T16:07:17Z- AHRS_M2 msg: 1633882037.42 epoch sec; seqNo:620 2021-10-10T16:07:17Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.14 psi 2021-10-10T16:07:17Z- handleDepth()-Depth_Keller msg: 1633882037424 epoch sec; seqNo:627; depth 29.67 2021-10-10T16:07:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882037.45 epoch sec; seqNo:627; 4061574.48 north; 594547.79 east 2021-10-10T16:07:17Z- AHRS_M2 msg: 1633882037.82 epoch sec; seqNo:621 2021-10-10T16:07:17Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.14 psi 2021-10-10T16:07:17Z- handleDepth()-Depth_Keller msg: 1633882037825 epoch sec; seqNo:628; depth 29.77 2021-10-10T16:07:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:17Z- handleDvl() - RDI_Pathfinder msg: 1633882037.83 epoch sec; seqNo:256 2021-10-10T16:07:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.12 , 0.02 2021-10-10T16:07:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882037.84 epoch sec; seqNo:628; 4061574.48 north; 594547.79 east 2021-10-10T16:07:18Z- AHRS_M2 msg: 1633882038.22 epoch sec; seqNo:622 2021-10-10T16:07:18Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 5.13 psi 2021-10-10T16:07:18Z- handleDepth()-Depth_Keller msg: 1633882038230 epoch sec; seqNo:629; depth 29.82 2021-10-10T16:07:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882038.24 epoch sec; seqNo:629; 4061574.48 north; 594547.79 east 2021-10-10T16:07:18Z- AHRS_M2 msg: 1633882038.63 epoch sec; seqNo:623 2021-10-10T16:07:18Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.13 psi 2021-10-10T16:07:18Z- handleDepth()-Depth_Keller msg: 1633882038638 epoch sec; seqNo:630; depth 29.91 2021-10-10T16:07:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882038.66 epoch sec; seqNo:630; 4061574.85 north; 594546.57 east 2021-10-10T16:07:19Z- AHRS_M2 msg: 1633882039.03 epoch sec; seqNo:624 2021-10-10T16:07:19Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.13 psi 2021-10-10T16:07:19Z- handleDepth()-Depth_Keller msg: 1633882039045 epoch sec; seqNo:631; depth 30.00 2021-10-10T16:07:19Z- handleDvl() - RDI_Pathfinder msg: 1633882039.07 epoch sec; seqNo:257 2021-10-10T16:07:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.51 , 67.64 , 51.97 , 68.81 2021-10-10T16:07:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.10 , 0.02 2021-10-10T16:07:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882039.08 epoch sec; seqNo:631; 4061574.85 north; 594546.57 east 2021-10-10T16:07:19Z- AHRS_M2 msg: 1633882039.44 epoch sec; seqNo:625 2021-10-10T16:07:19Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.13 psi 2021-10-10T16:07:19Z- handleDepth()-Depth_Keller msg: 1633882039448 epoch sec; seqNo:632; depth 30.08 2021-10-10T16:07:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882039.47 epoch sec; seqNo:632; 4061574.85 north; 594546.57 east 2021-10-10T16:07:19Z- AHRS_M2 msg: 1633882039.84 epoch sec; seqNo:626 2021-10-10T16:07:19Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.12 psi 2021-10-10T16:07:19Z- LcmTrn::handleMessages() - handling 43 messages took 0.62 ms and 130 calls... 2021-10-10T16:07:19Z- waiting for 1633882037.60, time is 1633882039.84 2021-10-10T16:07:19Z- LcmTrn::updateTrn() >>>> pose time 1633882039.84, meas time 1633882039.07 <<<< 2021-10-10T16:07:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882039.07 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:19Z- TerrainNav::motionUpdate() - currEstimate = (4061575, 594546.57, 30.08) 2021-10-10T16:07:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:19Z- TerrainNav:: SubcloudNIS is 0.50, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:19Z- TNavBF::Projecting Measurements 2021-10-10T16:07:19Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:07:19Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:07:19Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:07:19Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:07:19Z- TNavFilter::4 good beams. 2021-10-10T16:07:19Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:07:19Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:07:19Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:07:19Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:07:19Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:07:19Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:07:19Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:07:19Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:19Z- TerrainMapOctree: (vehN, vehE ) = (4061574.69, 594547.11). 2021-10-10T16:07:19Z- TerrainMapOctree: Min Distance = 268.14. 2021-10-10T16:07:19Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:07:19Z- Forcing Subcloud Comparison 2021-10-10T16:07:19Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:07:19Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:20Z- Filter 0 partialDeltaRmsComputation: 20.672561 terrainVariance: 0.267108 1-SumSquareWeights: 0.963884 2021-10-10T16:07:20Z- Filter 0 meanExpectedMeasDiff: 4.517240 delta_rms_squared: 0.257469 alpha: 0.927920 2021-10-10T16:07:20Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:20Z- Filter 0 partialDeltaRmsComputation: 11.084337 terrainVariance: 0.946979 1-SumSquareWeights: 0.963884 2021-10-10T16:07:20Z- Filter 0 meanExpectedMeasDiff: -3.183922 delta_rms_squared: 0.937340 alpha: 0.979109 2021-10-10T16:07:20Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:20Z- Filter 0 partialDeltaRmsComputation: 41.086296 terrainVariance: 0.841678 1-SumSquareWeights: 0.963884 2021-10-10T16:07:20Z- Filter 0 meanExpectedMeasDiff: -6.343865 delta_rms_squared: 0.832039 alpha: 0.976527 2021-10-10T16:07:20Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:20Z- Filter 0 partialDeltaRmsComputation: 165.879214 terrainVariance: 0.394828 1-SumSquareWeights: 0.963884 2021-10-10T16:07:20Z- Filter 0 meanExpectedMeasDiff: 12.864073 delta_rms_squared: 0.385189 alpha: 0.950640 2021-10-10T16:07:20Z- Filter 0 SubcloudNIS: 0.602747 2021-10-10T16:07:20Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:07:20Z- TNavBF:: Filter 0 sumWeights = 0.000017 2021-10-10T16:07:20Z- Filter 0 NorthBias: -48.9 EastBias: 36.0 DepthBias: -6.8 NorthVariance: 0.6 EastVariance: 36.5 DepthVariance: 1.0 this->DepthBiasCov: 0.8 2021-10-10T16:07:20Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882039.07 sec. 2021-10-10T16:07:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:20Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:20Z- variances([0], [2], and psi_berg) = 0.622379 36.510032 0.000000 2021-10-10T16:07:20Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:20Z- LcmTrn::publishEstimates() - MLE : 4061525.35 594586.07 30.08 2021-10-10T16:07:20Z- LcmTrn::publishEstimates() - MMSE : 4061526.00 594582.59 23.23 2021-10-10T16:07:20Z- LcmTrn::publishEstimates() - COVAR: 0.62 36.51 0.98 0.00 2021-10-10T16:07:20Z- handleDepth()-Depth_Keller msg: 1633882039845 epoch sec; seqNo:633; depth 30.16 2021-10-10T16:07:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882039.85 epoch sec; seqNo:633; 4061575.21 north; 594545.34 east 2021-10-10T16:07:20Z- AHRS_M2 msg: 1633882040.25 epoch sec; seqNo:627 2021-10-10T16:07:20Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.12 psi 2021-10-10T16:07:20Z- handleDepth()-Depth_Keller msg: 1633882040252 epoch sec; seqNo:634; depth 30.24 2021-10-10T16:07:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:20Z- handleDvl() - RDI_Pathfinder msg: 1633882040.25 epoch sec; seqNo:258 2021-10-10T16:07:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.10 , 0.02 2021-10-10T16:07:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882040.26 epoch sec; seqNo:634; 4061575.21 north; 594545.34 east 2021-10-10T16:07:20Z- AHRS_M2 msg: 1633882040.65 epoch sec; seqNo:628 2021-10-10T16:07:20Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.11 psi 2021-10-10T16:07:20Z- handleDepth()-Depth_Keller msg: 1633882040690 epoch sec; seqNo:635; depth 30.33 2021-10-10T16:07:20Z- handleDvl() - RDI_Pathfinder msg: 1633882040.74 epoch sec; seqNo:259 2021-10-10T16:07:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.72 , 66.94 , 51.36 , 67.48 2021-10-10T16:07:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.10 , 0.09 2021-10-10T16:07:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882040.76 epoch sec; seqNo:635; 4061575.21 north; 594545.34 east 2021-10-10T16:07:21Z- AHRS_M2 msg: 1633882041.05 epoch sec; seqNo:629 2021-10-10T16:07:21Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.11 psi 2021-10-10T16:07:21Z- handleDepth()-Depth_Keller msg: 1633882041057 epoch sec; seqNo:636; depth 30.43 2021-10-10T16:07:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882041.07 epoch sec; seqNo:636; 4061575.21 north; 594545.34 east 2021-10-10T16:07:21Z- AHRS_M2 msg: 1633882041.46 epoch sec; seqNo:630 2021-10-10T16:07:21Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.11 psi 2021-10-10T16:07:21Z- handleDepth()-Depth_Keller msg: 1633882041463 epoch sec; seqNo:637; depth 30.49 2021-10-10T16:07:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:21Z- handleDvl() - RDI_Pathfinder msg: 1633882041.46 epoch sec; seqNo:260 2021-10-10T16:07:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.10 , 0.09 2021-10-10T16:07:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882041.47 epoch sec; seqNo:637; 4061575.58 north; 594544.12 east 2021-10-10T16:07:21Z- AHRS_M2 msg: 1633882041.86 epoch sec; seqNo:631 2021-10-10T16:07:21Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.10 psi 2021-10-10T16:07:21Z- handleDepth()-Depth_Keller msg: 1633882041868 epoch sec; seqNo:638; depth 30.58 2021-10-10T16:07:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882041.89 epoch sec; seqNo:638; 4061575.58 north; 594544.12 east 2021-10-10T16:07:22Z- AHRS_M2 msg: 1633882042.27 epoch sec; seqNo:632 2021-10-10T16:07:22Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.10 psi 2021-10-10T16:07:22Z- handleDepth()-Depth_Keller msg: 1633882042269 epoch sec; seqNo:639; depth 30.66 2021-10-10T16:07:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882042.29 epoch sec; seqNo:639; 4061575.58 north; 594544.12 east 2021-10-10T16:07:22Z- AHRS_M2 msg: 1633882042.72 epoch sec; seqNo:633 2021-10-10T16:07:22Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.10 psi 2021-10-10T16:07:22Z- handleDepth()-Depth_Keller msg: 1633882042728 epoch sec; seqNo:640; depth 30.74 2021-10-10T16:07:22Z- handleDvl() - RDI_Pathfinder msg: 1633882042.75 epoch sec; seqNo:261 2021-10-10T16:07:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.91 , 66.39 , 51.64 , 67.21 2021-10-10T16:07:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.11 , 0.12 2021-10-10T16:07:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882042.77 epoch sec; seqNo:640; 4061575.94 north; 594542.90 east 2021-10-10T16:07:23Z- AHRS_M2 msg: 1633882043.08 epoch sec; seqNo:634 2021-10-10T16:07:23Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 5.11 psi 2021-10-10T16:07:23Z- handleDepth()-Depth_Keller msg: 1633882043083 epoch sec; seqNo:641; depth 30.85 2021-10-10T16:07:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882043.10 epoch sec; seqNo:641; 4061575.94 north; 594542.90 east 2021-10-10T16:07:23Z- AHRS_M2 msg: 1633882043.48 epoch sec; seqNo:635 2021-10-10T16:07:23Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 5.11 psi 2021-10-10T16:07:23Z- handleDepth()-Depth_Keller msg: 1633882043482 epoch sec; seqNo:642; depth 30.91 2021-10-10T16:07:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882043.50 epoch sec; seqNo:642; 4061575.94 north; 594542.90 east 2021-10-10T16:07:23Z- AHRS_M2 msg: 1633882043.88 epoch sec; seqNo:636 2021-10-10T16:07:23Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 5.11 psi 2021-10-10T16:07:23Z- handleDepth()-Depth_Keller msg: 1633882043885 epoch sec; seqNo:643; depth 30.99 2021-10-10T16:07:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:23Z- handleDvl() - RDI_Pathfinder msg: 1633882043.89 epoch sec; seqNo:262 2021-10-10T16:07:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.11 , 0.12 2021-10-10T16:07:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882043.90 epoch sec; seqNo:643; 4061575.94 north; 594542.90 east 2021-10-10T16:07:24Z- AHRS_M2 msg: 1633882044.29 epoch sec; seqNo:637 2021-10-10T16:07:24Z- AHRS_M2 msg: -0.23 phi; -0.24 theta; 5.12 psi 2021-10-10T16:07:24Z- handleDepth()-Depth_Keller msg: 1633882044296 epoch sec; seqNo:644; depth 31.06 2021-10-10T16:07:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882044.31 epoch sec; seqNo:644; 4061576.31 north; 594541.67 east 2021-10-10T16:07:24Z- AHRS_M2 msg: 1633882044.73 epoch sec; seqNo:638 2021-10-10T16:07:24Z- AHRS_M2 msg: -0.23 phi; -0.24 theta; 5.12 psi 2021-10-10T16:07:24Z- handleDepth()-Depth_Keller msg: 1633882044734 epoch sec; seqNo:645; depth 31.15 2021-10-10T16:07:24Z- handleDvl() - RDI_Pathfinder msg: 1633882044.76 epoch sec; seqNo:263 2021-10-10T16:07:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.35 , 66.11 , 51.09 , 66.66 2021-10-10T16:07:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.12 , 0.04 2021-10-10T16:07:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882044.77 epoch sec; seqNo:645; 4061576.31 north; 594541.67 east 2021-10-10T16:07:25Z- LcmTrn::handleMessages() - handling 44 messages took 0.69 ms and 130 calls... 2021-10-10T16:07:25Z- waiting for 1633882042.84, time is 1633882044.77 2021-10-10T16:07:25Z- LcmTrn::updateTrn() equating pose 1633882044.77 and meas times 1633882044.77 2021-10-10T16:07:25Z- LcmTrn::updateTrn() >>>> pose time 1633882044.77, meas time 1633882044.77 <<<< 2021-10-10T16:07:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882044.77 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:25Z- TerrainNav::motionUpdate() - currEstimate = (4061576, 594541.67, 31.15) 2021-10-10T16:07:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:25Z- TerrainNav:: SubcloudNIS is 0.60, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:25Z- TNavBF::Projecting Measurements 2021-10-10T16:07:25Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:07:25Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:07:25Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:07:25Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:07:25Z- TNavFilter::4 good beams. 2021-10-10T16:07:25Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:07:25Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:07:25Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:07:25Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:07:25Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:07:25Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:07:25Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:07:25Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:25Z- TerrainMapOctree: (vehN, vehE ) = (4061576.31, 594541.67). 2021-10-10T16:07:25Z- TerrainMapOctree: Min Distance = 271.24. 2021-10-10T16:07:25Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:07:25Z- Forcing Subcloud Comparison 2021-10-10T16:07:25Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:07:25Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:25Z- Filter 0 partialDeltaRmsComputation: 5.084440 terrainVariance: 0.311777 1-SumSquareWeights: 0.966436 2021-10-10T16:07:25Z- Filter 0 meanExpectedMeasDiff: 2.184643 delta_rms_squared: 0.302112 alpha: 0.937910 2021-10-10T16:07:25Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:25Z- Filter 0 partialDeltaRmsComputation: 4.480972 terrainVariance: 0.535342 1-SumSquareWeights: 0.966436 2021-10-10T16:07:25Z- Filter 0 meanExpectedMeasDiff: -1.986361 delta_rms_squared: 0.525678 alpha: 0.963348 2021-10-10T16:07:25Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:25Z- Filter 0 partialDeltaRmsComputation: 31.178410 terrainVariance: 0.837459 1-SumSquareWeights: 0.966436 2021-10-10T16:07:25Z- Filter 0 meanExpectedMeasDiff: -5.508262 delta_rms_squared: 0.827795 alpha: 0.976409 2021-10-10T16:07:25Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:25Z- Filter 0 partialDeltaRmsComputation: 127.748673 terrainVariance: 0.247308 1-SumSquareWeights: 0.966436 2021-10-10T16:07:25Z- Filter 0 meanExpectedMeasDiff: 11.291650 delta_rms_squared: 0.237644 alpha: 0.922373 2021-10-10T16:07:25Z- Filter 0 SubcloudNIS: 0.534739 2021-10-10T16:07:25Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:07:25Z- TNavBF:: Filter 0 sumWeights = 0.000188 2021-10-10T16:07:25Z- Filter 0 NorthBias: -48.9 EastBias: 37.3 DepthBias: -6.1 NorthVariance: 0.6 EastVariance: 184.5 DepthVariance: 1.2 this->DepthBiasCov: 0.7 2021-10-10T16:07:25Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882044.77 sec. 2021-10-10T16:07:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:25Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:25Z- variances([0], [2], and psi_berg) = 0.613417 184.513408 0.000000 2021-10-10T16:07:25Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:25Z- LcmTrn::publishEstimates() - MLE : 4061527.81 594580.17 31.15 2021-10-10T16:07:25Z- LcmTrn::publishEstimates() - MMSE : 4061527.43 594579.01 25.02 2021-10-10T16:07:25Z- LcmTrn::publishEstimates() - COVAR: 0.61 184.51 1.16 0.00 2021-10-10T16:07:25Z- AHRS_M2 msg: 1633882045.09 epoch sec; seqNo:639 2021-10-10T16:07:25Z- AHRS_M2 msg: -0.23 phi; -0.24 theta; 5.12 psi 2021-10-10T16:07:25Z- handleDepth()-Depth_Keller msg: 1633882045097 epoch sec; seqNo:646; depth 31.24 2021-10-10T16:07:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:25Z- handleDvl() - RDI_Pathfinder msg: 1633882045.10 epoch sec; seqNo:264 2021-10-10T16:07:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.12 , 0.04 2021-10-10T16:07:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882045.12 epoch sec; seqNo:646; 4061576.31 north; 594541.67 east 2021-10-10T16:07:25Z- AHRS_M2 msg: 1633882045.50 epoch sec; seqNo:640 2021-10-10T16:07:25Z- AHRS_M2 msg: -0.23 phi; -0.24 theta; 5.12 psi 2021-10-10T16:07:25Z- handleDepth()-Depth_Keller msg: 1633882045501 epoch sec; seqNo:647; depth 31.30 2021-10-10T16:07:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882045.51 epoch sec; seqNo:647; 4061576.31 north; 594541.67 east 2021-10-10T16:07:25Z- AHRS_M2 msg: 1633882045.90 epoch sec; seqNo:641 2021-10-10T16:07:25Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:25Z- handleDepth()-Depth_Keller msg: 1633882045909 epoch sec; seqNo:648; depth 31.38 2021-10-10T16:07:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882045.92 epoch sec; seqNo:648; 4061576.68 north; 594540.45 east 2021-10-10T16:07:26Z- AHRS_M2 msg: 1633882046.31 epoch sec; seqNo:642 2021-10-10T16:07:26Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:26Z- handleDepth()-Depth_Keller msg: 1633882046318 epoch sec; seqNo:649; depth 31.45 2021-10-10T16:07:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:26Z- handleDvl() - RDI_Pathfinder msg: 1633882046.32 epoch sec; seqNo:265 2021-10-10T16:07:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.12 , 0.04 2021-10-10T16:07:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882046.33 epoch sec; seqNo:649; 4061576.68 north; 594540.45 east 2021-10-10T16:07:26Z- AHRS_M2 msg: 1633882046.73 epoch sec; seqNo:643 2021-10-10T16:07:26Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:26Z- handleDepth()-Depth_Keller msg: 1633882046734 epoch sec; seqNo:650; depth 31.54 2021-10-10T16:07:26Z- handleDvl() - RDI_Pathfinder msg: 1633882046.75 epoch sec; seqNo:266 2021-10-10T16:07:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.53 , 64.20 , 50.81 , 65.57 2021-10-10T16:07:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.10 , 0.03 2021-10-10T16:07:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882046.77 epoch sec; seqNo:650; 4061576.68 north; 594540.45 east 2021-10-10T16:07:27Z- AHRS_M2 msg: 1633882047.11 epoch sec; seqNo:644 2021-10-10T16:07:27Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:27Z- handleDepth()-Depth_Keller msg: 1633882047117 epoch sec; seqNo:651; depth 31.62 2021-10-10T16:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882047.13 epoch sec; seqNo:651; 4061576.66 north; 594539.23 east 2021-10-10T16:07:27Z- AHRS_M2 msg: 1633882047.52 epoch sec; seqNo:645 2021-10-10T16:07:27Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:27Z- handleDepth()-Depth_Keller msg: 1633882047524 epoch sec; seqNo:652; depth 31.69 2021-10-10T16:07:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:27Z- handleDvl() - RDI_Pathfinder msg: 1633882047.53 epoch sec; seqNo:267 2021-10-10T16:07:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.10 , 0.03 2021-10-10T16:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882047.53 epoch sec; seqNo:652; 4061577.04 north; 594539.22 east 2021-10-10T16:07:27Z- AHRS_M2 msg: 1633882047.92 epoch sec; seqNo:646 2021-10-10T16:07:27Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:27Z- handleDepth()-Depth_Keller msg: 1633882047924 epoch sec; seqNo:653; depth 31.78 2021-10-10T16:07:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882047.94 epoch sec; seqNo:653; 4061577.04 north; 594539.22 east 2021-10-10T16:07:28Z- AHRS_M2 msg: 1633882048.33 epoch sec; seqNo:647 2021-10-10T16:07:28Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:28Z- handleDepth()-Depth_Keller msg: 1633882048329 epoch sec; seqNo:654; depth 31.85 2021-10-10T16:07:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882048.34 epoch sec; seqNo:654; 4061577.04 north; 594539.22 east 2021-10-10T16:07:28Z- AHRS_M2 msg: 1633882048.74 epoch sec; seqNo:648 2021-10-10T16:07:28Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:28Z- handleDepth()-Depth_Keller msg: 1633882048741 epoch sec; seqNo:655; depth 31.92 2021-10-10T16:07:28Z- handleDvl() - RDI_Pathfinder msg: 1633882048.76 epoch sec; seqNo:268 2021-10-10T16:07:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.26 , 63.92 , 50.26 , 63.92 2021-10-10T16:07:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.09 , 0.08 2021-10-10T16:07:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882048.79 epoch sec; seqNo:655; 4061577.41 north; 594538.00 east 2021-10-10T16:07:29Z- AHRS_M2 msg: 1633882049.13 epoch sec; seqNo:649 2021-10-10T16:07:29Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:29Z- handleDepth()-Depth_Keller msg: 1633882049138 epoch sec; seqNo:656; depth 32.01 2021-10-10T16:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882049.15 epoch sec; seqNo:656; 4061577.41 north; 594538.00 east 2021-10-10T16:07:29Z- AHRS_M2 msg: 1633882049.54 epoch sec; seqNo:650 2021-10-10T16:07:29Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.12 psi 2021-10-10T16:07:29Z- handleDepth()-Depth_Keller msg: 1633882049541 epoch sec; seqNo:657; depth 32.08 2021-10-10T16:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882049.56 epoch sec; seqNo:657; 4061577.41 north; 594538.00 east 2021-10-10T16:07:29Z- AHRS_M2 msg: 1633882049.94 epoch sec; seqNo:651 2021-10-10T16:07:29Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.13 psi 2021-10-10T16:07:29Z- handleDepth()-Depth_Keller msg: 1633882049944 epoch sec; seqNo:658; depth 32.14 2021-10-10T16:07:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:29Z- handleDvl() - RDI_Pathfinder msg: 1633882049.95 epoch sec; seqNo:269 2021-10-10T16:07:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.09 , 0.08 2021-10-10T16:07:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882049.95 epoch sec; seqNo:658; 4061577.41 north; 594538.00 east 2021-10-10T16:07:30Z- LcmTrn::handleMessages() - handling 45 messages took 0.67 ms and 131 calls... 2021-10-10T16:07:30Z- waiting for 1633882047.77, time is 1633882049.95 2021-10-10T16:07:30Z- LcmTrn::updateTrn() equating pose 1633882049.95 and meas times 1633882049.95 2021-10-10T16:07:30Z- LcmTrn::updateTrn() >>>> pose time 1633882049.95, meas time 1633882049.95 <<<< 2021-10-10T16:07:30Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882049.95, ping # 0. 2021-10-10T16:07:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882049.95 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:30Z- TerrainNav::motionUpdate() - currEstimate = (4061577, 594538.00, 32.14) 2021-10-10T16:07:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:30Z- TerrainNav:: SubcloudNIS is 0.53, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:30Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:07:30Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:07:30Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882049.95 sec.; No relevant navigation data available 2021-10-10T16:07:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:30Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:30Z- variances([0], [2], and psi_berg) = 0.629267 183.330406 0.000000 2021-10-10T16:07:30Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:30Z- LcmTrn::publishEstimates() - MLE : 4061528.91 594576.50 32.14 2021-10-10T16:07:30Z- LcmTrn::publishEstimates() - MMSE : 4061528.54 594575.35 26.01 2021-10-10T16:07:30Z- LcmTrn::publishEstimates() - COVAR: 0.63 183.33 1.36 0.00 2021-10-10T16:07:30Z- AHRS_M2 msg: 1633882050.34 epoch sec; seqNo:652 2021-10-10T16:07:30Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.13 psi 2021-10-10T16:07:30Z- handleDepth()-Depth_Keller msg: 1633882050349 epoch sec; seqNo:659; depth 32.21 2021-10-10T16:07:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882050.36 epoch sec; seqNo:659; 4061577.77 north; 594536.77 east 2021-10-10T16:07:30Z- AHRS_M2 msg: 1633882050.75 epoch sec; seqNo:653 2021-10-10T16:07:30Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.14 psi 2021-10-10T16:07:30Z- handleDepth()-Depth_Keller msg: 1633882050767 epoch sec; seqNo:660; depth 32.29 2021-10-10T16:07:30Z- handleDvl() - RDI_Pathfinder msg: 1633882050.79 epoch sec; seqNo:270 2021-10-10T16:07:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.12 , 63.77 , 49.68 , 64.28 2021-10-10T16:07:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.02 2021-10-10T16:07:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882050.82 epoch sec; seqNo:660; 4061577.77 north; 594536.77 east 2021-10-10T16:07:31Z- AHRS_M2 msg: 1633882051.15 epoch sec; seqNo:654 2021-10-10T16:07:31Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.14 psi 2021-10-10T16:07:31Z- handleDepth()-Depth_Keller msg: 1633882051165 epoch sec; seqNo:661; depth 32.36 2021-10-10T16:07:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:31Z- handleDvl() - RDI_Pathfinder msg: 1633882051.17 epoch sec; seqNo:271 2021-10-10T16:07:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.02 2021-10-10T16:07:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882051.18 epoch sec; seqNo:661; 4061577.77 north; 594536.77 east 2021-10-10T16:07:31Z- AHRS_M2 msg: 1633882051.56 epoch sec; seqNo:655 2021-10-10T16:07:31Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.14 psi 2021-10-10T16:07:31Z- handleDepth()-Depth_Keller msg: 1633882051561 epoch sec; seqNo:662; depth 32.43 2021-10-10T16:07:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882051.57 epoch sec; seqNo:662; 4061578.14 north; 594535.55 east 2021-10-10T16:07:31Z- AHRS_M2 msg: 1633882051.96 epoch sec; seqNo:656 2021-10-10T16:07:31Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:31Z- handleDepth()-Depth_Keller msg: 1633882051972 epoch sec; seqNo:663; depth 32.50 2021-10-10T16:07:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882051.98 epoch sec; seqNo:663; 4061578.14 north; 594535.55 east 2021-10-10T16:07:32Z- AHRS_M2 msg: 1633882052.37 epoch sec; seqNo:657 2021-10-10T16:07:32Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:32Z- handleDepth()-Depth_Keller msg: 1633882052370 epoch sec; seqNo:664; depth 32.57 2021-10-10T16:07:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:32Z- handleDvl() - RDI_Pathfinder msg: 1633882052.37 epoch sec; seqNo:272 2021-10-10T16:07:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.02 2021-10-10T16:07:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882052.38 epoch sec; seqNo:664; 4061578.14 north; 594535.55 east 2021-10-10T16:07:32Z- AHRS_M2 msg: 1633882052.77 epoch sec; seqNo:658 2021-10-10T16:07:32Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:32Z- handleDepth()-Depth_Keller msg: 1633882052772 epoch sec; seqNo:665; depth 32.65 2021-10-10T16:07:32Z- handleDvl() - RDI_Pathfinder msg: 1633882052.80 epoch sec; seqNo:273 2021-10-10T16:07:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.37 , 63.25 , 49.17 , 63.51 2021-10-10T16:07:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.03 2021-10-10T16:07:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882052.81 epoch sec; seqNo:665; 4061578.52 north; 594535.54 east 2021-10-10T16:07:33Z- AHRS_M2 msg: 1633882053.17 epoch sec; seqNo:659 2021-10-10T16:07:33Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:33Z- handleDepth()-Depth_Keller msg: 1633882053176 epoch sec; seqNo:666; depth 32.72 2021-10-10T16:07:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882053.19 epoch sec; seqNo:666; 4061578.50 north; 594534.32 east 2021-10-10T16:07:33Z- AHRS_M2 msg: 1633882053.58 epoch sec; seqNo:660 2021-10-10T16:07:33Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:33Z- handleDepth()-Depth_Keller msg: 1633882053584 epoch sec; seqNo:667; depth 32.79 2021-10-10T16:07:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:33Z- handleDvl() - RDI_Pathfinder msg: 1633882053.59 epoch sec; seqNo:274 2021-10-10T16:07:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.03 2021-10-10T16:07:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882053.59 epoch sec; seqNo:667; 4061578.50 north; 594534.32 east 2021-10-10T16:07:33Z- AHRS_M2 msg: 1633882053.98 epoch sec; seqNo:661 2021-10-10T16:07:33Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:33Z- handleDepth()-Depth_Keller msg: 1633882053986 epoch sec; seqNo:668; depth 32.87 2021-10-10T16:07:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882054.00 epoch sec; seqNo:668; 4061578.50 north; 594534.32 east 2021-10-10T16:07:34Z- AHRS_M2 msg: 1633882054.38 epoch sec; seqNo:662 2021-10-10T16:07:34Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:34Z- handleDepth()-Depth_Keller msg: 1633882054395 epoch sec; seqNo:669; depth 32.96 2021-10-10T16:07:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882054.42 epoch sec; seqNo:669; 4061578.87 north; 594533.10 east 2021-10-10T16:07:34Z- AHRS_M2 msg: 1633882054.79 epoch sec; seqNo:663 2021-10-10T16:07:34Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:34Z- handleDepth()-Depth_Keller msg: 1633882054799 epoch sec; seqNo:670; depth 33.02 2021-10-10T16:07:34Z- handleDvl() - RDI_Pathfinder msg: 1633882054.83 epoch sec; seqNo:275 2021-10-10T16:07:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.60 , 62.22 , 49.17 , 62.48 2021-10-10T16:07:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.10 , 0.11 2021-10-10T16:07:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882054.84 epoch sec; seqNo:670; 4061578.87 north; 594533.10 east 2021-10-10T16:07:35Z- AHRS_M2 msg: 1633882055.19 epoch sec; seqNo:664 2021-10-10T16:07:35Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:35Z- handleDepth()-Depth_Keller msg: 1633882055198 epoch sec; seqNo:671; depth 33.11 2021-10-10T16:07:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882055.22 epoch sec; seqNo:671; 4061578.87 north; 594533.10 east 2021-10-10T16:07:35Z- LcmTrn::handleMessages() - handling 45 messages took 0.73 ms and 131 calls... 2021-10-10T16:07:35Z- waiting for 1633882052.95, time is 1633882055.22 2021-10-10T16:07:35Z- LcmTrn::updateTrn() >>>> pose time 1633882055.22, meas time 1633882054.83 <<<< 2021-10-10T16:07:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882054.83 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:35Z- TerrainNav::motionUpdate() - currEstimate = (4061579, 594533.10, 33.11) 2021-10-10T16:07:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:35Z- TerrainNav:: SubcloudNIS is 0.53, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:35Z- TNavBF::Projecting Measurements 2021-10-10T16:07:35Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:07:35Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:07:35Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:07:35Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:07:35Z- TNavFilter::4 good beams. 2021-10-10T16:07:35Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:07:35Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:07:35Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:07:35Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:07:35Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:07:35Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:07:35Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:07:35Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:35Z- TerrainMapOctree: (vehN, vehE ) = (4061578.76, 594533.46). 2021-10-10T16:07:35Z- TerrainMapOctree: Min Distance = 276.06. 2021-10-10T16:07:35Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:07:35Z- Forcing Subcloud Comparison 2021-10-10T16:07:35Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:07:35Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:35Z- Filter 0 partialDeltaRmsComputation: 3.474543 terrainVariance: 0.073246 1-SumSquareWeights: 0.955557 2021-10-10T16:07:35Z- Filter 0 meanExpectedMeasDiff: 1.844261 delta_rms_squared: 0.063691 alpha: 0.761025 2021-10-10T16:07:35Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:35Z- Filter 0 partialDeltaRmsComputation: 6.075534 terrainVariance: 0.733343 1-SumSquareWeights: 0.955557 2021-10-10T16:07:35Z- Filter 0 meanExpectedMeasDiff: -2.311318 delta_rms_squared: 0.723788 alpha: 0.973111 2021-10-10T16:07:35Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:35Z- Filter 0 partialDeltaRmsComputation: 43.957653 terrainVariance: 0.355168 1-SumSquareWeights: 0.955557 2021-10-10T16:07:35Z- Filter 0 meanExpectedMeasDiff: -6.603218 delta_rms_squared: 0.345612 alpha: 0.945297 2021-10-10T16:07:35Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:35Z- Filter 0 partialDeltaRmsComputation: 82.298282 terrainVariance: 0.169255 1-SumSquareWeights: 0.955557 2021-10-10T16:07:35Z- Filter 0 meanExpectedMeasDiff: 9.062507 delta_rms_squared: 0.159699 alpha: 0.888703 2021-10-10T16:07:35Z- Filter 0 SubcloudNIS: 0.577286 2021-10-10T16:07:35Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:07:35Z- TNavBF:: Filter 0 sumWeights = 0.000634 2021-10-10T16:07:35Z- Filter 0 NorthBias: -48.5 EastBias: -4.8 DepthBias: -7.9 NorthVariance: 0.8 EastVariance: 2013.0 DepthVariance: 4.5 this->DepthBiasCov: 0.7 2021-10-10T16:07:35Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882054.83 sec. 2021-10-10T16:07:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:35Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:35Z- variances([0], [2], and psi_berg) = 0.847522 2014.502732 0.000000 2021-10-10T16:07:35Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:35Z- LcmTrn::publishEstimates() - MLE : 4061530.37 594483.60 33.11 2021-10-10T16:07:35Z- LcmTrn::publishEstimates() - MMSE : 4061530.37 594528.47 25.20 2021-10-10T16:07:35Z- LcmTrn::publishEstimates() - COVAR: 0.85 2014.50 4.52 0.00 2021-10-10T16:07:35Z- AHRS_M2 msg: 1633882055.60 epoch sec; seqNo:665 2021-10-10T16:07:35Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:35Z- handleDepth()-Depth_Keller msg: 1633882055602 epoch sec; seqNo:672; depth 33.17 2021-10-10T16:07:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882055.61 epoch sec; seqNo:672; 4061579.25 north; 594533.10 east 2021-10-10T16:07:36Z- AHRS_M2 msg: 1633882056.00 epoch sec; seqNo:666 2021-10-10T16:07:36Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:36Z- handleDepth()-Depth_Keller msg: 1633882056012 epoch sec; seqNo:673; depth 33.25 2021-10-10T16:07:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:36Z- handleDvl() - RDI_Pathfinder msg: 1633882056.02 epoch sec; seqNo:276 2021-10-10T16:07:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.10 , 0.11 2021-10-10T16:07:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882056.03 epoch sec; seqNo:673; 4061579.23 north; 594531.87 east 2021-10-10T16:07:36Z- AHRS_M2 msg: 1633882056.40 epoch sec; seqNo:667 2021-10-10T16:07:36Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:36Z- handleDepth()-Depth_Keller msg: 1633882056412 epoch sec; seqNo:674; depth 33.32 2021-10-10T16:07:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882056.43 epoch sec; seqNo:674; 4061579.23 north; 594531.87 east 2021-10-10T16:07:36Z- AHRS_M2 msg: 1633882056.81 epoch sec; seqNo:668 2021-10-10T16:07:36Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:36Z- handleDepth()-Depth_Keller msg: 1633882056814 epoch sec; seqNo:675; depth 33.38 2021-10-10T16:07:36Z- handleDvl() - RDI_Pathfinder msg: 1633882056.83 epoch sec; seqNo:277 2021-10-10T16:07:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.09 , 62.47 , 48.90 , 62.22 2021-10-10T16:07:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.12 , 0.08 2021-10-10T16:07:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882056.85 epoch sec; seqNo:675; 4061579.61 north; 594531.87 east 2021-10-10T16:07:37Z- AHRS_M2 msg: 1633882057.21 epoch sec; seqNo:669 2021-10-10T16:07:37Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:37Z- handleDepth()-Depth_Keller msg: 1633882057225 epoch sec; seqNo:676; depth 33.47 2021-10-10T16:07:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:37Z- handleDvl() - RDI_Pathfinder msg: 1633882057.23 epoch sec; seqNo:278 2021-10-10T16:07:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.12 , 0.08 2021-10-10T16:07:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882057.24 epoch sec; seqNo:676; 4061579.60 north; 594530.65 east 2021-10-10T16:07:37Z- AHRS_M2 msg: 1633882057.62 epoch sec; seqNo:670 2021-10-10T16:07:37Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:37Z- handleDepth()-Depth_Keller msg: 1633882057621 epoch sec; seqNo:677; depth 33.54 2021-10-10T16:07:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882057.63 epoch sec; seqNo:677; 4061579.60 north; 594530.65 east 2021-10-10T16:07:38Z- AHRS_M2 msg: 1633882058.02 epoch sec; seqNo:671 2021-10-10T16:07:38Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:38Z- handleDepth()-Depth_Keller msg: 1633882058034 epoch sec; seqNo:678; depth 33.61 2021-10-10T16:07:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882058.04 epoch sec; seqNo:678; 4061579.60 north; 594530.65 east 2021-10-10T16:07:38Z- AHRS_M2 msg: 1633882058.43 epoch sec; seqNo:672 2021-10-10T16:07:38Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:38Z- handleDepth()-Depth_Keller msg: 1633882058433 epoch sec; seqNo:679; depth 33.68 2021-10-10T16:07:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:38Z- handleDvl() - RDI_Pathfinder msg: 1633882058.44 epoch sec; seqNo:279 2021-10-10T16:07:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.12 , 0.08 2021-10-10T16:07:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882058.45 epoch sec; seqNo:679; 4061579.98 north; 594530.65 east 2021-10-10T16:07:38Z- AHRS_M2 msg: 1633882058.83 epoch sec; seqNo:673 2021-10-10T16:07:38Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:38Z- handleDepth()-Depth_Keller msg: 1633882058833 epoch sec; seqNo:680; depth 33.73 2021-10-10T16:07:38Z- handleDvl() - RDI_Pathfinder msg: 1633882058.86 epoch sec; seqNo:280 2021-10-10T16:07:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.57 , 63.24 , 49.16 , 61.70 2021-10-10T16:07:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.12 , -0.01 2021-10-10T16:07:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882058.89 epoch sec; seqNo:680; 4061579.96 north; 594529.43 east 2021-10-10T16:07:39Z- AHRS_M2 msg: 1633882059.23 epoch sec; seqNo:674 2021-10-10T16:07:39Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:39Z- handleDepth()-Depth_Keller msg: 1633882059239 epoch sec; seqNo:681; depth 33.81 2021-10-10T16:07:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882059.26 epoch sec; seqNo:681; 4061579.96 north; 594529.43 east 2021-10-10T16:07:39Z- AHRS_M2 msg: 1633882059.64 epoch sec; seqNo:675 2021-10-10T16:07:39Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:39Z- handleDepth()-Depth_Keller msg: 1633882059650 epoch sec; seqNo:682; depth 33.89 2021-10-10T16:07:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:39Z- handleDvl() - RDI_Pathfinder msg: 1633882059.65 epoch sec; seqNo:281 2021-10-10T16:07:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.12 , -0.01 2021-10-10T16:07:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882059.66 epoch sec; seqNo:682; 4061580.34 north; 594529.42 east 2021-10-10T16:07:40Z- AHRS_M2 msg: 1633882060.05 epoch sec; seqNo:676 2021-10-10T16:07:40Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:40Z- handleDepth()-Depth_Keller msg: 1633882060051 epoch sec; seqNo:683; depth 33.96 2021-10-10T16:07:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882060.06 epoch sec; seqNo:683; 4061580.34 north; 594529.42 east 2021-10-10T16:07:40Z- AHRS_M2 msg: 1633882060.45 epoch sec; seqNo:677 2021-10-10T16:07:40Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:40Z- handleDepth()-Depth_Keller msg: 1633882060454 epoch sec; seqNo:684; depth 34.02 2021-10-10T16:07:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882060.46 epoch sec; seqNo:684; 4061580.33 north; 594528.20 east 2021-10-10T16:07:40Z- LcmTrn::handleMessages() - handling 45 messages took 0.66 ms and 131 calls... 2021-10-10T16:07:40Z- waiting for 1633882058.22, time is 1633882060.46 2021-10-10T16:07:40Z- LcmTrn::updateTrn() >>>> pose time 1633882060.46, meas time 1633882059.65 <<<< 2021-10-10T16:07:40Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882059.65, ping # 0. 2021-10-10T16:07:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882059.65 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:40Z- TerrainNav::motionUpdate() - currEstimate = (4061580, 594528.20, 34.02) 2021-10-10T16:07:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:40Z- TerrainNav:: SubcloudNIS is 0.58, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:40Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:07:40Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:07:40Z- TNavBF::Projecting Measurements 2021-10-10T16:07:40Z- TNavFilter::Measurement from time = 1633882059.65 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:07:40Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:07:40Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:07:40Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:07:40Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:07:40Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:07:40Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:07:40Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:07:40Z- Filter 0 NorthBias: -48.5 EastBias: -4.1 DepthBias: -7.9 NorthVariance: 0.9 EastVariance: 2019.0 DepthVariance: 4.8 this->DepthBiasCov: 0.9 2021-10-10T16:07:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:40Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:40Z- variances([0], [2], and psi_berg) = 0.871264 2020.705043 0.000000 2021-10-10T16:07:40Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:40Z- LcmTrn::publishEstimates() - MLE : 4061531.83 594478.70 34.02 2021-10-10T16:07:40Z- LcmTrn::publishEstimates() - MMSE : 4061531.84 594524.28 26.14 2021-10-10T16:07:40Z- LcmTrn::publishEstimates() - COVAR: 0.87 2020.71 4.79 0.00 2021-10-10T16:07:40Z- AHRS_M2 msg: 1633882060.88 epoch sec; seqNo:678 2021-10-10T16:07:40Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:40Z- handleDepth()-Depth_Keller msg: 1633882060890 epoch sec; seqNo:685; depth 34.09 2021-10-10T16:07:40Z- handleDvl() - RDI_Pathfinder msg: 1633882060.92 epoch sec; seqNo:282 2021-10-10T16:07:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.85 , 61.96 , 48.64 , 61.19 2021-10-10T16:07:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.10 , 0.02 2021-10-10T16:07:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882060.93 epoch sec; seqNo:685; 4061580.71 north; 594528.20 east 2021-10-10T16:07:41Z- AHRS_M2 msg: 1633882061.25 epoch sec; seqNo:679 2021-10-10T16:07:41Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:41Z- handleDepth()-Depth_Keller msg: 1633882061257 epoch sec; seqNo:686; depth 34.18 2021-10-10T16:07:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882061.28 epoch sec; seqNo:686; 4061580.71 north; 594528.20 east 2021-10-10T16:07:41Z- AHRS_M2 msg: 1633882061.66 epoch sec; seqNo:680 2021-10-10T16:07:41Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:41Z- handleDepth()-Depth_Keller msg: 1633882061661 epoch sec; seqNo:687; depth 34.25 2021-10-10T16:07:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882061.67 epoch sec; seqNo:687; 4061580.69 north; 594526.98 east 2021-10-10T16:07:42Z- AHRS_M2 msg: 1633882062.06 epoch sec; seqNo:681 2021-10-10T16:07:42Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:42Z- handleDepth()-Depth_Keller msg: 1633882062066 epoch sec; seqNo:688; depth 34.31 2021-10-10T16:07:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:42Z- handleDvl() - RDI_Pathfinder msg: 1633882062.07 epoch sec; seqNo:283 2021-10-10T16:07:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.10 , 0.02 2021-10-10T16:07:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882062.08 epoch sec; seqNo:688; 4061580.69 north; 594526.98 east 2021-10-10T16:07:42Z- AHRS_M2 msg: 1633882062.47 epoch sec; seqNo:682 2021-10-10T16:07:42Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:42Z- handleDepth()-Depth_Keller msg: 1633882062480 epoch sec; seqNo:689; depth 34.40 2021-10-10T16:07:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882062.49 epoch sec; seqNo:689; 4061581.07 north; 594526.97 east 2021-10-10T16:07:42Z- AHRS_M2 msg: 1633882062.87 epoch sec; seqNo:683 2021-10-10T16:07:42Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:42Z- handleDepth()-Depth_Keller msg: 1633882062872 epoch sec; seqNo:690; depth 34.46 2021-10-10T16:07:42Z- handleDvl() - RDI_Pathfinder msg: 1633882062.90 epoch sec; seqNo:284 2021-10-10T16:07:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.60 , 60.93 , 48.64 , 59.91 2021-10-10T16:07:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.06 , 0.10 2021-10-10T16:07:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882062.91 epoch sec; seqNo:690; 4061581.07 north; 594526.97 east 2021-10-10T16:07:43Z- AHRS_M2 msg: 1633882063.27 epoch sec; seqNo:684 2021-10-10T16:07:43Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:43Z- handleDepth()-Depth_Keller msg: 1633882063283 epoch sec; seqNo:691; depth 34.54 2021-10-10T16:07:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:43Z- handleDvl() - RDI_Pathfinder msg: 1633882063.29 epoch sec; seqNo:285 2021-10-10T16:07:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.06 , 0.10 2021-10-10T16:07:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882063.31 epoch sec; seqNo:691; 4061581.44 north; 594525.75 east 2021-10-10T16:07:43Z- AHRS_M2 msg: 1633882063.68 epoch sec; seqNo:685 2021-10-10T16:07:43Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:43Z- handleDepth()-Depth_Keller msg: 1633882063681 epoch sec; seqNo:692; depth 34.62 2021-10-10T16:07:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882063.69 epoch sec; seqNo:692; 4061581.44 north; 594525.75 east 2021-10-10T16:07:44Z- AHRS_M2 msg: 1633882064.08 epoch sec; seqNo:686 2021-10-10T16:07:44Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:44Z- handleDepth()-Depth_Keller msg: 1633882064086 epoch sec; seqNo:693; depth 34.68 2021-10-10T16:07:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882064.10 epoch sec; seqNo:693; 4061581.44 north; 594525.75 east 2021-10-10T16:07:44Z- AHRS_M2 msg: 1633882064.48 epoch sec; seqNo:687 2021-10-10T16:07:44Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:44Z- handleDepth()-Depth_Keller msg: 1633882064489 epoch sec; seqNo:694; depth 34.75 2021-10-10T16:07:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:44Z- handleDvl() - RDI_Pathfinder msg: 1633882064.49 epoch sec; seqNo:286 2021-10-10T16:07:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.06 , 0.10 2021-10-10T16:07:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882064.51 epoch sec; seqNo:694; 4061581.80 north; 594524.52 east 2021-10-10T16:07:44Z- AHRS_M2 msg: 1633882064.89 epoch sec; seqNo:688 2021-10-10T16:07:44Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:44Z- handleDepth()-Depth_Keller msg: 1633882064893 epoch sec; seqNo:695; depth 34.83 2021-10-10T16:07:44Z- handleDvl() - RDI_Pathfinder msg: 1633882064.91 epoch sec; seqNo:287 2021-10-10T16:07:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.34 , 61.95 , 48.38 , 59.90 2021-10-10T16:07:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.08 , 0.05 2021-10-10T16:07:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882064.94 epoch sec; seqNo:695; 4061581.80 north; 594524.52 east 2021-10-10T16:07:45Z- AHRS_M2 msg: 1633882065.29 epoch sec; seqNo:689 2021-10-10T16:07:45Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:45Z- handleDepth()-Depth_Keller msg: 1633882065298 epoch sec; seqNo:696; depth 34.90 2021-10-10T16:07:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882065.31 epoch sec; seqNo:696; 4061581.80 north; 594524.52 east 2021-10-10T16:07:45Z- LcmTrn::handleMessages() - handling 42 messages took 0.63 ms and 129 calls... 2021-10-10T16:07:45Z- waiting for 1633882063.46, time is 1633882065.31 2021-10-10T16:07:45Z- LcmTrn::updateTrn() >>>> pose time 1633882065.31, meas time 1633882064.91 <<<< 2021-10-10T16:07:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882064.91 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:45Z- TerrainNav::motionUpdate() - currEstimate = (4061582, 594524.52, 34.90) 2021-10-10T16:07:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:45Z- TerrainNav:: SubcloudNIS is 0.58, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:45Z- TNavBF::Projecting Measurements 2021-10-10T16:07:45Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:07:45Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:07:45Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:07:45Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:07:45Z- TNavFilter::4 good beams. 2021-10-10T16:07:45Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:07:45Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:07:45Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:07:45Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:07:45Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:07:45Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:07:45Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:07:45Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:45Z- TerrainMapOctree: (vehN, vehE ) = (4061581.68, 594524.83). 2021-10-10T16:07:45Z- TerrainMapOctree: Min Distance = 281.13. 2021-10-10T16:07:45Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:07:45Z- Forcing Subcloud Comparison 2021-10-10T16:07:45Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:07:45Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:45Z- Filter 0 partialDeltaRmsComputation: 9.210816 terrainVariance: 0.101719 1-SumSquareWeights: 0.935517 2021-10-10T16:07:45Z- Filter 0 meanExpectedMeasDiff: 3.018128 delta_rms_squared: 0.092363 alpha: 0.822006 2021-10-10T16:07:45Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:45Z- Filter 0 partialDeltaRmsComputation: 0.939877 terrainVariance: 0.852831 1-SumSquareWeights: 0.935517 2021-10-10T16:07:45Z- Filter 0 meanExpectedMeasDiff: -0.295035 delta_rms_squared: 0.843476 alpha: 0.976838 2021-10-10T16:07:45Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:45Z- Filter 0 partialDeltaRmsComputation: 41.741579 terrainVariance: 0.426058 1-SumSquareWeights: 0.935517 2021-10-10T16:07:45Z- Filter 0 meanExpectedMeasDiff: -6.427715 delta_rms_squared: 0.416703 alpha: 0.954202 2021-10-10T16:07:45Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:07:45Z- Filter 0 partialDeltaRmsComputation: 51.947300 terrainVariance: 0.480669 1-SumSquareWeights: 0.935517 2021-10-10T16:07:45Z- Filter 0 meanExpectedMeasDiff: 7.174025 delta_rms_squared: 0.471313 alpha: 0.959293 2021-10-10T16:07:45Z- Filter 0 SubcloudNIS: 0.814734 2021-10-10T16:07:45Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:07:45Z- TNavBF:: Filter 0 sumWeights = 0.001775 2021-10-10T16:07:45Z- Filter 0 NorthBias: -48.2 EastBias: -42.2 DepthBias: -9.1 NorthVariance: 0.8 EastVariance: 579.2 DepthVariance: 1.6 this->DepthBiasCov: 0.7 2021-10-10T16:07:45Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882064.91 sec. 2021-10-10T16:07:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:45Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:45Z- variances([0], [2], and psi_berg) = 0.829889 603.809123 0.000000 2021-10-10T16:07:45Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:45Z- LcmTrn::publishEstimates() - MLE : 4061533.30 594475.02 34.90 2021-10-10T16:07:45Z- LcmTrn::publishEstimates() - MMSE : 4061533.62 594482.64 25.83 2021-10-10T16:07:45Z- LcmTrn::publishEstimates() - COVAR: 0.83 603.81 1.70 0.00 2021-10-10T16:07:45Z- AHRS_M2 msg: 1633882065.70 epoch sec; seqNo:690 2021-10-10T16:07:45Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:45Z- handleDepth()-Depth_Keller msg: 1633882065704 epoch sec; seqNo:697; depth 34.97 2021-10-10T16:07:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:45Z- handleDvl() - RDI_Pathfinder msg: 1633882065.71 epoch sec; seqNo:288 2021-10-10T16:07:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.08 , 0.05 2021-10-10T16:07:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882065.71 epoch sec; seqNo:697; 4061582.18 north; 594524.52 east 2021-10-10T16:07:46Z- AHRS_M2 msg: 1633882066.10 epoch sec; seqNo:691 2021-10-10T16:07:46Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:46Z- handleDepth()-Depth_Keller msg: 1633882066111 epoch sec; seqNo:698; depth 35.05 2021-10-10T16:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882066.12 epoch sec; seqNo:698; 4061582.17 north; 594523.30 east 2021-10-10T16:07:46Z- AHRS_M2 msg: 1633882066.51 epoch sec; seqNo:692 2021-10-10T16:07:46Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:46Z- handleDepth()-Depth_Keller msg: 1633882066514 epoch sec; seqNo:699; depth 35.11 2021-10-10T16:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882066.52 epoch sec; seqNo:699; 4061582.17 north; 594523.30 east 2021-10-10T16:07:46Z- AHRS_M2 msg: 1633882066.91 epoch sec; seqNo:693 2021-10-10T16:07:46Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.15 psi 2021-10-10T16:07:46Z- handleDepth()-Depth_Keller msg: 1633882066913 epoch sec; seqNo:700; depth 35.20 2021-10-10T16:07:46Z- handleDvl() - RDI_Pathfinder msg: 1633882066.94 epoch sec; seqNo:289 2021-10-10T16:07:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.34 , 61.69 , 47.87 , 59.90 2021-10-10T16:07:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.09 , 0.01 2021-10-10T16:07:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882066.95 epoch sec; seqNo:700; 4061582.55 north; 594523.29 east 2021-10-10T16:07:47Z- AHRS_M2 msg: 1633882067.31 epoch sec; seqNo:694 2021-10-10T16:07:47Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:47Z- handleDepth()-Depth_Keller msg: 1633882067317 epoch sec; seqNo:701; depth 35.28 2021-10-10T16:07:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882067.33 epoch sec; seqNo:701; 4061582.55 north; 594523.29 east 2021-10-10T16:07:47Z- AHRS_M2 msg: 1633882067.72 epoch sec; seqNo:695 2021-10-10T16:07:47Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:47Z- handleDepth()-Depth_Keller msg: 1633882067727 epoch sec; seqNo:702; depth 35.36 2021-10-10T16:07:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882067.74 epoch sec; seqNo:702; 4061582.53 north; 594522.07 east 2021-10-10T16:07:48Z- AHRS_M2 msg: 1633882068.12 epoch sec; seqNo:696 2021-10-10T16:07:48Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:48Z- handleDepth()-Depth_Keller msg: 1633882068126 epoch sec; seqNo:703; depth 35.42 2021-10-10T16:07:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:48Z- handleDvl() - RDI_Pathfinder msg: 1633882068.13 epoch sec; seqNo:290 2021-10-10T16:07:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.09 , 0.01 2021-10-10T16:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882068.14 epoch sec; seqNo:703; 4061582.53 north; 594522.07 east 2021-10-10T16:07:48Z- AHRS_M2 msg: 1633882068.53 epoch sec; seqNo:697 2021-10-10T16:07:48Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:48Z- handleDepth()-Depth_Keller msg: 1633882068529 epoch sec; seqNo:704; depth 35.49 2021-10-10T16:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882068.55 epoch sec; seqNo:704; 4061582.91 north; 594522.07 east 2021-10-10T16:07:48Z- AHRS_M2 msg: 1633882068.93 epoch sec; seqNo:698 2021-10-10T16:07:48Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.14 psi 2021-10-10T16:07:48Z- handleDepth()-Depth_Keller msg: 1633882068933 epoch sec; seqNo:705; depth 35.57 2021-10-10T16:07:48Z- handleDvl() - RDI_Pathfinder msg: 1633882068.95 epoch sec; seqNo:291 2021-10-10T16:07:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.08 , 61.18 , 47.61 , 59.13 2021-10-10T16:07:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.06 2021-10-10T16:07:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882068.98 epoch sec; seqNo:705; 4061582.90 north; 594520.85 east 2021-10-10T16:07:49Z- AHRS_M2 msg: 1633882069.33 epoch sec; seqNo:699 2021-10-10T16:07:49Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:49Z- handleDepth()-Depth_Keller msg: 1633882069340 epoch sec; seqNo:706; depth 35.65 2021-10-10T16:07:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:49Z- handleDvl() - RDI_Pathfinder msg: 1633882069.34 epoch sec; seqNo:292 2021-10-10T16:07:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.06 2021-10-10T16:07:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882069.36 epoch sec; seqNo:706; 4061582.90 north; 594520.85 east 2021-10-10T16:07:49Z- AHRS_M2 msg: 1633882069.74 epoch sec; seqNo:700 2021-10-10T16:07:49Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:49Z- handleDepth()-Depth_Keller msg: 1633882069742 epoch sec; seqNo:707; depth 35.71 2021-10-10T16:07:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882069.75 epoch sec; seqNo:707; 4061583.28 north; 594520.85 east 2021-10-10T16:07:50Z- AHRS_M2 msg: 1633882070.14 epoch sec; seqNo:701 2021-10-10T16:07:50Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:50Z- handleDepth()-Depth_Keller msg: 1633882070145 epoch sec; seqNo:708; depth 35.79 2021-10-10T16:07:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882070.15 epoch sec; seqNo:708; 4061583.28 north; 594520.85 east 2021-10-10T16:07:50Z- AHRS_M2 msg: 1633882070.55 epoch sec; seqNo:702 2021-10-10T16:07:50Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:50Z- handleDepth()-Depth_Keller msg: 1633882070549 epoch sec; seqNo:709; depth 35.87 2021-10-10T16:07:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:50Z- handleDvl() - RDI_Pathfinder msg: 1633882070.55 epoch sec; seqNo:293 2021-10-10T16:07:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.06 2021-10-10T16:07:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882070.56 epoch sec; seqNo:709; 4061583.64 north; 594519.62 east 2021-10-10T16:07:50Z- LcmTrn::handleMessages() - handling 45 messages took 0.64 ms and 132 calls... 2021-10-10T16:07:50Z- waiting for 1633882068.31, time is 1633882070.56 2021-10-10T16:07:50Z- LcmTrn::updateTrn() equating pose 1633882070.56 and meas times 1633882070.56 2021-10-10T16:07:50Z- LcmTrn::updateTrn() >>>> pose time 1633882070.56, meas time 1633882070.56 <<<< 2021-10-10T16:07:50Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882070.56, ping # 0. 2021-10-10T16:07:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882070.56 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:50Z- TerrainNav::motionUpdate() - currEstimate = (4061584, 594519.62, 35.87) 2021-10-10T16:07:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:50Z- TerrainNav:: SubcloudNIS is 0.81, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:50Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:07:50Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:07:50Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882070.56 sec.; No relevant navigation data available 2021-10-10T16:07:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:50Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:50Z- variances([0], [2], and psi_berg) = 0.858845 699.471702 0.000000 2021-10-10T16:07:50Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:50Z- LcmTrn::publishEstimates() - MLE : 4061535.14 594470.12 35.87 2021-10-10T16:07:50Z- LcmTrn::publishEstimates() - MMSE : 4061535.46 594478.91 26.84 2021-10-10T16:07:50Z- LcmTrn::publishEstimates() - COVAR: 0.86 699.47 2.12 0.00 2021-10-10T16:07:50Z- AHRS_M2 msg: 1633882070.95 epoch sec; seqNo:703 2021-10-10T16:07:50Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:50Z- handleDepth()-Depth_Keller msg: 1633882070953 epoch sec; seqNo:710; depth 35.93 2021-10-10T16:07:50Z- handleDvl() - RDI_Pathfinder msg: 1633882070.97 epoch sec; seqNo:294 2021-10-10T16:07:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.08 , 60.92 , 47.35 , 59.13 2021-10-10T16:07:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.06 , 0.05 2021-10-10T16:07:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882071.01 epoch sec; seqNo:710; 4061583.64 north; 594519.62 east 2021-10-10T16:07:51Z- AHRS_M2 msg: 1633882071.35 epoch sec; seqNo:704 2021-10-10T16:07:51Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:51Z- handleDepth()-Depth_Keller msg: 1633882071364 epoch sec; seqNo:711; depth 36.00 2021-10-10T16:07:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882071.38 epoch sec; seqNo:711; 4061583.64 north; 594519.62 east 2021-10-10T16:07:51Z- AHRS_M2 msg: 1633882071.76 epoch sec; seqNo:705 2021-10-10T16:07:51Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:51Z- handleDepth()-Depth_Keller msg: 1633882071761 epoch sec; seqNo:712; depth 36.09 2021-10-10T16:07:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:51Z- handleDvl() - RDI_Pathfinder msg: 1633882071.76 epoch sec; seqNo:295 2021-10-10T16:07:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.06 , 0.05 2021-10-10T16:07:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882071.78 epoch sec; seqNo:712; 4061583.63 north; 594518.40 east 2021-10-10T16:07:52Z- AHRS_M2 msg: 1633882072.16 epoch sec; seqNo:706 2021-10-10T16:07:52Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:52Z- handleDepth()-Depth_Keller msg: 1633882072168 epoch sec; seqNo:713; depth 36.13 2021-10-10T16:07:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882072.18 epoch sec; seqNo:713; 4061584.01 north; 594518.40 east 2021-10-10T16:07:52Z- AHRS_M2 msg: 1633882072.57 epoch sec; seqNo:707 2021-10-10T16:07:52Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:52Z- handleDepth()-Depth_Keller msg: 1633882072570 epoch sec; seqNo:714; depth 36.21 2021-10-10T16:07:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882072.58 epoch sec; seqNo:714; 4061584.01 north; 594518.40 east 2021-10-10T16:07:52Z- AHRS_M2 msg: 1633882072.97 epoch sec; seqNo:708 2021-10-10T16:07:52Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:52Z- handleDepth()-Depth_Keller msg: 1633882072985 epoch sec; seqNo:715; depth 36.26 2021-10-10T16:07:53Z- handleDvl() - RDI_Pathfinder msg: 1633882073.01 epoch sec; seqNo:296 2021-10-10T16:07:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.81 , 60.92 , 46.84 , 58.36 2021-10-10T16:07:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.10 , -0.01 2021-10-10T16:07:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882073.02 epoch sec; seqNo:715; 4061584.01 north; 594518.40 east 2021-10-10T16:07:53Z- AHRS_M2 msg: 1633882073.37 epoch sec; seqNo:709 2021-10-10T16:07:53Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:53Z- handleDepth()-Depth_Keller msg: 1633882073377 epoch sec; seqNo:716; depth 36.33 2021-10-10T16:07:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882073.39 epoch sec; seqNo:716; 4061584.38 north; 594517.17 east 2021-10-10T16:07:53Z- AHRS_M2 msg: 1633882073.78 epoch sec; seqNo:710 2021-10-10T16:07:53Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.13 psi 2021-10-10T16:07:53Z- handleDepth()-Depth_Keller msg: 1633882073781 epoch sec; seqNo:717; depth 36.41 2021-10-10T16:07:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882073.79 epoch sec; seqNo:717; 4061584.38 north; 594517.17 east 2021-10-10T16:07:54Z- AHRS_M2 msg: 1633882074.18 epoch sec; seqNo:711 2021-10-10T16:07:54Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 5.13 psi 2021-10-10T16:07:54Z- handleDepth()-Depth_Keller msg: 1633882074186 epoch sec; seqNo:718; depth 36.46 2021-10-10T16:07:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:54Z- handleDvl() - RDI_Pathfinder msg: 1633882074.19 epoch sec; seqNo:297 2021-10-10T16:07:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.10 , -0.01 2021-10-10T16:07:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882074.20 epoch sec; seqNo:718; 4061584.38 north; 594517.17 east 2021-10-10T16:07:54Z- AHRS_M2 msg: 1633882074.59 epoch sec; seqNo:712 2021-10-10T16:07:54Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 5.13 psi 2021-10-10T16:07:54Z- handleDepth()-Depth_Keller msg: 1633882074589 epoch sec; seqNo:719; depth 36.55 2021-10-10T16:07:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882074.61 epoch sec; seqNo:719; 4061584.75 north; 594517.17 east 2021-10-10T16:07:54Z- AHRS_M2 msg: 1633882074.99 epoch sec; seqNo:713 2021-10-10T16:07:54Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 5.13 psi 2021-10-10T16:07:55Z- handleDepth()-Depth_Keller msg: 1633882074999 epoch sec; seqNo:720; depth 36.60 2021-10-10T16:07:55Z- handleDvl() - RDI_Pathfinder msg: 1633882075.03 epoch sec; seqNo:298 2021-10-10T16:07:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.81 , 61.17 , 46.58 , 58.35 2021-10-10T16:07:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.01 2021-10-10T16:07:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882075.04 epoch sec; seqNo:720; 4061584.74 north; 594515.95 east 2021-10-10T16:07:55Z- AHRS_M2 msg: 1633882075.39 epoch sec; seqNo:714 2021-10-10T16:07:55Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 5.12 psi 2021-10-10T16:07:55Z- handleDepth()-Depth_Keller msg: 1633882075403 epoch sec; seqNo:721; depth 36.68 2021-10-10T16:07:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:55Z- handleDvl() - RDI_Pathfinder msg: 1633882075.41 epoch sec; seqNo:299 2021-10-10T16:07:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.01 2021-10-10T16:07:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882075.42 epoch sec; seqNo:721; 4061584.74 north; 594515.95 east 2021-10-10T16:07:55Z- AHRS_M2 msg: 1633882075.80 epoch sec; seqNo:715 2021-10-10T16:07:55Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.12 psi 2021-10-10T16:07:55Z- handleDepth()-Depth_Keller msg: 1633882075813 epoch sec; seqNo:722; depth 36.76 2021-10-10T16:07:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882075.83 epoch sec; seqNo:722; 4061584.74 north; 594515.95 east 2021-10-10T16:07:55Z- LcmTrn::handleMessages() - handling 45 messages took 0.76 ms and 129 calls... 2021-10-10T16:07:55Z- waiting for 1633882073.56, time is 1633882075.83 2021-10-10T16:07:55Z- LcmTrn::updateTrn() >>>> pose time 1633882075.83, meas time 1633882075.41 <<<< 2021-10-10T16:07:55Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882075.41, ping # 0. 2021-10-10T16:07:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882075.41 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:07:55Z- TerrainNav::motionUpdate() - currEstimate = (4061585, 594515.95, 36.76) 2021-10-10T16:07:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:07:55Z- TerrainNav:: SubcloudNIS is 0.81, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:07:55Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:07:55Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:07:55Z- TNavBF::Projecting Measurements 2021-10-10T16:07:55Z- TNavFilter::Measurement from time = 1633882075.41 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:07:55Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:07:55Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:07:55Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:07:55Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:07:55Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:07:55Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:07:55Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:07:55Z- Filter 0 NorthBias: -48.2 EastBias: -39.8 DepthBias: -9.0 NorthVariance: 0.9 EastVariance: 771.1 DepthVariance: 2.4 this->DepthBiasCov: 1.1 2021-10-10T16:07:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:07:55Z- TNavBF::mmse selected from filter -1 2021-10-10T16:07:55Z- variances([0], [2], and psi_berg) = 0.888044 790.884106 0.000000 2021-10-10T16:07:55Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:07:55Z- LcmTrn::publishEstimates() - MLE : 4061536.24 594466.45 36.76 2021-10-10T16:07:55Z- LcmTrn::publishEstimates() - MMSE : 4061536.56 594476.39 27.78 2021-10-10T16:07:55Z- LcmTrn::publishEstimates() - COVAR: 0.89 790.88 2.46 0.00 2021-10-10T16:07:56Z- AHRS_M2 msg: 1633882076.20 epoch sec; seqNo:716 2021-10-10T16:07:56Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.12 psi 2021-10-10T16:07:56Z- handleDepth()-Depth_Keller msg: 1633882076205 epoch sec; seqNo:723; depth 36.83 2021-10-10T16:07:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882076.23 epoch sec; seqNo:723; 4061585.11 north; 594514.72 east 2021-10-10T16:07:56Z- AHRS_M2 msg: 1633882076.61 epoch sec; seqNo:717 2021-10-10T16:07:56Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.12 psi 2021-10-10T16:07:56Z- handleDepth()-Depth_Keller msg: 1633882076617 epoch sec; seqNo:724; depth 36.90 2021-10-10T16:07:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:56Z- handleDvl() - RDI_Pathfinder msg: 1633882076.62 epoch sec; seqNo:300 2021-10-10T16:07:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.01 2021-10-10T16:07:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882076.65 epoch sec; seqNo:724; 4061585.11 north; 594514.72 east 2021-10-10T16:07:57Z- AHRS_M2 msg: 1633882077.02 epoch sec; seqNo:718 2021-10-10T16:07:57Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.12 psi 2021-10-10T16:07:57Z- handleDepth()-Depth_Keller msg: 1633882077021 epoch sec; seqNo:725; depth 36.98 2021-10-10T16:07:57Z- handleDvl() - RDI_Pathfinder msg: 1633882077.04 epoch sec; seqNo:301 2021-10-10T16:07:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.30 , 59.89 , 46.32 , 57.84 2021-10-10T16:07:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.08 , 0.08 2021-10-10T16:07:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882077.06 epoch sec; seqNo:725; 4061585.11 north; 594514.72 east 2021-10-10T16:07:57Z- AHRS_M2 msg: 1633882077.42 epoch sec; seqNo:719 2021-10-10T16:07:57Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.11 psi 2021-10-10T16:07:57Z- handleDepth()-Depth_Keller msg: 1633882077425 epoch sec; seqNo:726; depth 37.05 2021-10-10T16:07:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882077.45 epoch sec; seqNo:726; 4061585.47 north; 594513.50 east 2021-10-10T16:07:57Z- AHRS_M2 msg: 1633882077.83 epoch sec; seqNo:720 2021-10-10T16:07:57Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.11 psi 2021-10-10T16:07:57Z- handleDepth()-Depth_Keller msg: 1633882077831 epoch sec; seqNo:727; depth 37.13 2021-10-10T16:07:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:07:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:07:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:07:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:07:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:07:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:07:57Z- handleDvl() - RDI_Pathfinder msg: 1633882077.83 epoch sec; seqNo:302 2021-10-10T16:07:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:07:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.08 , 0.08 2021-10-10T16:07:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882077.84 epoch sec; seqNo:727; 4061585.47 north; 594513.50 east 2021-10-10T16:07:58Z- AHRS_M2 msg: 1633882078.22 epoch sec; seqNo:721 2021-10-10T16:07:58Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.11 psi 2021-10-10T16:07:58Z- handleDepth()-Depth_Keller msg: 1633882078231 epoch sec; seqNo:728; depth 37.20 2021-10-10T16:07:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882078.24 epoch sec; seqNo:728; 4061585.47 north; 594513.50 east 2021-10-10T16:07:58Z- AHRS_M2 msg: 1633882078.62 epoch sec; seqNo:722 2021-10-10T16:07:58Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.11 psi 2021-10-10T16:07:58Z- handleDepth()-Depth_Keller msg: 1633882078629 epoch sec; seqNo:729; depth 37.29 2021-10-10T16:07:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882078.64 epoch sec; seqNo:729; 4061585.85 north; 594513.49 east 2021-10-10T16:07:59Z- AHRS_M2 msg: 1633882079.03 epoch sec; seqNo:723 2021-10-10T16:07:59Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.11 psi 2021-10-10T16:07:59Z- handleDepth()-Depth_Keller msg: 1633882079039 epoch sec; seqNo:730; depth 37.37 2021-10-10T16:07:59Z- handleDvl() - RDI_Pathfinder msg: 1633882079.08 epoch sec; seqNo:303 2021-10-10T16:07:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.38 , 59.48 , 46.10 , 58.28 2021-10-10T16:07:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.08 , 0.05 2021-10-10T16:07:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882079.09 epoch sec; seqNo:730; 4061585.84 north; 594512.27 east 2021-10-10T16:07:59Z- AHRS_M2 msg: 1633882079.44 epoch sec; seqNo:724 2021-10-10T16:07:59Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.11 psi 2021-10-10T16:07:59Z- handleDepth()-Depth_Keller msg: 1633882079442 epoch sec; seqNo:731; depth 37.46 2021-10-10T16:07:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882079.46 epoch sec; seqNo:731; 4061585.84 north; 594512.27 east 2021-10-10T16:07:59Z- AHRS_M2 msg: 1633882079.84 epoch sec; seqNo:725 2021-10-10T16:07:59Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 5.11 psi 2021-10-10T16:07:59Z- handleDepth()-Depth_Keller msg: 1633882079841 epoch sec; seqNo:732; depth 37.53 2021-10-10T16:07:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882079.85 epoch sec; seqNo:732; 4061586.22 north; 594512.27 east 2021-10-10T16:08:00Z- AHRS_M2 msg: 1633882080.24 epoch sec; seqNo:726 2021-10-10T16:08:00Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 5.11 psi 2021-10-10T16:08:00Z- handleDepth()-Depth_Keller msg: 1633882080244 epoch sec; seqNo:733; depth 37.60 2021-10-10T16:08:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:00Z- handleDvl() - RDI_Pathfinder msg: 1633882080.25 epoch sec; seqNo:304 2021-10-10T16:08:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.08 , 0.05 2021-10-10T16:08:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882080.26 epoch sec; seqNo:733; 4061586.22 north; 594512.27 east 2021-10-10T16:08:00Z- AHRS_M2 msg: 1633882080.65 epoch sec; seqNo:727 2021-10-10T16:08:00Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 5.11 psi 2021-10-10T16:08:00Z- handleDepth()-Depth_Keller msg: 1633882080665 epoch sec; seqNo:734; depth 37.70 2021-10-10T16:08:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882080.71 epoch sec; seqNo:734; 4061586.20 north; 594511.05 east 2021-10-10T16:08:00Z- LcmTrn::handleMessages() - handling 41 messages took 0.82 ms and 124 calls... 2021-10-10T16:08:00Z- waiting for 1633882078.83, time is 1633882080.71 2021-10-10T16:08:00Z- LcmTrn::updateTrn() >>>> pose time 1633882080.71, meas time 1633882080.25 <<<< 2021-10-10T16:08:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882080.25, ping # 0. 2021-10-10T16:08:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882080.25 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:00Z- TerrainNav::motionUpdate() - currEstimate = (4061586, 594511.05, 37.70) 2021-10-10T16:08:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:00Z- TerrainNav:: SubcloudNIS is 0.81, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:00Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:08:00Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:08:00Z- TNavBF::Projecting Measurements 2021-10-10T16:08:00Z- TNavFilter::Measurement from time = 1633882080.25 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:08:00Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:00Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:00Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:08:00Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:08:00Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:08:00Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:00Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:00Z- Filter 0 NorthBias: -48.2 EastBias: -38.6 DepthBias: -8.9 NorthVariance: 0.9 EastVariance: 865.4 DepthVariance: 2.8 this->DepthBiasCov: 1.4 2021-10-10T16:08:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:00Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:00Z- variances([0], [2], and psi_berg) = 0.920780 887.656936 0.000000 2021-10-10T16:08:00Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:00Z- LcmTrn::publishEstimates() - MLE : 4061537.70 594461.55 37.70 2021-10-10T16:08:00Z- LcmTrn::publishEstimates() - MMSE : 4061538.02 594472.76 28.77 2021-10-10T16:08:00Z- LcmTrn::publishEstimates() - COVAR: 0.92 887.66 2.87 0.00 2021-10-10T16:08:01Z- AHRS_M2 msg: 1633882081.05 epoch sec; seqNo:728 2021-10-10T16:08:01Z- AHRS_M2 msg: -0.24 phi; -0.21 theta; 5.10 psi 2021-10-10T16:08:01Z- handleDepth()-Depth_Keller msg: 1633882081061 epoch sec; seqNo:735; depth 37.78 2021-10-10T16:08:01Z- handleDvl() - RDI_Pathfinder msg: 1633882081.08 epoch sec; seqNo:305 2021-10-10T16:08:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.66 , 59.47 , 45.62 , 57.56 2021-10-10T16:08:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.10 , 0.03 2021-10-10T16:08:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882081.10 epoch sec; seqNo:735; 4061586.20 north; 594511.05 east 2021-10-10T16:08:01Z- AHRS_M2 msg: 1633882081.45 epoch sec; seqNo:729 2021-10-10T16:08:01Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 5.10 psi 2021-10-10T16:08:01Z- handleDepth()-Depth_Keller msg: 1633882081460 epoch sec; seqNo:736; depth 37.85 2021-10-10T16:08:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:01Z- handleDvl() - RDI_Pathfinder msg: 1633882081.46 epoch sec; seqNo:306 2021-10-10T16:08:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.10 , 0.03 2021-10-10T16:08:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882081.49 epoch sec; seqNo:736; 4061586.58 north; 594511.05 east 2021-10-10T16:08:01Z- AHRS_M2 msg: 1633882081.86 epoch sec; seqNo:730 2021-10-10T16:08:01Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 5.10 psi 2021-10-10T16:08:01Z- handleDepth()-Depth_Keller msg: 1633882081869 epoch sec; seqNo:737; depth 37.93 2021-10-10T16:08:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882081.88 epoch sec; seqNo:737; 4061586.57 north; 594509.83 east 2021-10-10T16:08:02Z- AHRS_M2 msg: 1633882082.26 epoch sec; seqNo:731 2021-10-10T16:08:02Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 5.10 psi 2021-10-10T16:08:02Z- handleDepth()-Depth_Keller msg: 1633882082269 epoch sec; seqNo:738; depth 38.00 2021-10-10T16:08:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882082.28 epoch sec; seqNo:738; 4061586.57 north; 594509.83 east 2021-10-10T16:08:02Z- AHRS_M2 msg: 1633882082.69 epoch sec; seqNo:732 2021-10-10T16:08:02Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 5.09 psi 2021-10-10T16:08:02Z- handleDepth()-Depth_Keller msg: 1633882082705 epoch sec; seqNo:739; depth 38.06 2021-10-10T16:08:02Z- handleDvl() - RDI_Pathfinder msg: 1633882082.74 epoch sec; seqNo:307 2021-10-10T16:08:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.42 , 58.76 , 45.62 , 57.08 2021-10-10T16:08:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.06 2021-10-10T16:08:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882082.75 epoch sec; seqNo:739; 4061586.95 north; 594509.82 east 2021-10-10T16:08:03Z- AHRS_M2 msg: 1633882083.07 epoch sec; seqNo:733 2021-10-10T16:08:03Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 5.09 psi 2021-10-10T16:08:03Z- handleDepth()-Depth_Keller msg: 1633882083073 epoch sec; seqNo:740; depth 38.15 2021-10-10T16:08:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882083.09 epoch sec; seqNo:740; 4061586.95 north; 594509.82 east 2021-10-10T16:08:03Z- AHRS_M2 msg: 1633882083.47 epoch sec; seqNo:734 2021-10-10T16:08:03Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 5.09 psi 2021-10-10T16:08:03Z- handleDepth()-Depth_Keller msg: 1633882083484 epoch sec; seqNo:741; depth 38.23 2021-10-10T16:08:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882083.49 epoch sec; seqNo:741; 4061586.93 north; 594508.60 east 2021-10-10T16:08:03Z- AHRS_M2 msg: 1633882083.88 epoch sec; seqNo:735 2021-10-10T16:08:03Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 5.09 psi 2021-10-10T16:08:03Z- handleDepth()-Depth_Keller msg: 1633882083887 epoch sec; seqNo:742; depth 38.29 2021-10-10T16:08:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:03Z- handleDvl() - RDI_Pathfinder msg: 1633882083.89 epoch sec; seqNo:308 2021-10-10T16:08:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.06 2021-10-10T16:08:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882083.90 epoch sec; seqNo:742; 4061586.93 north; 594508.60 east 2021-10-10T16:08:04Z- AHRS_M2 msg: 1633882084.28 epoch sec; seqNo:736 2021-10-10T16:08:04Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 5.09 psi 2021-10-10T16:08:04Z- handleDepth()-Depth_Keller msg: 1633882084285 epoch sec; seqNo:743; depth 38.35 2021-10-10T16:08:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882084.30 epoch sec; seqNo:743; 4061587.31 north; 594508.60 east 2021-10-10T16:08:04Z- AHRS_M2 msg: 1633882084.71 epoch sec; seqNo:737 2021-10-10T16:08:04Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 5.09 psi 2021-10-10T16:08:04Z- handleDepth()-Depth_Keller msg: 1633882084721 epoch sec; seqNo:744; depth 38.42 2021-10-10T16:08:04Z- handleDvl() - RDI_Pathfinder msg: 1633882084.74 epoch sec; seqNo:309 2021-10-10T16:08:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.18 , 57.56 , 45.14 , 55.88 2021-10-10T16:08:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.06 , 0.07 2021-10-10T16:08:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882084.75 epoch sec; seqNo:744; 4061587.30 north; 594507.38 east 2021-10-10T16:08:05Z- AHRS_M2 msg: 1633882085.09 epoch sec; seqNo:738 2021-10-10T16:08:05Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 5.09 psi 2021-10-10T16:08:05Z- handleDepth()-Depth_Keller msg: 1633882085092 epoch sec; seqNo:745; depth 38.50 2021-10-10T16:08:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:05Z- handleDvl() - RDI_Pathfinder msg: 1633882085.10 epoch sec; seqNo:310 2021-10-10T16:08:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.06 , 0.07 2021-10-10T16:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882085.11 epoch sec; seqNo:745; 4061587.30 north; 594507.38 east 2021-10-10T16:08:05Z- AHRS_M2 msg: 1633882085.49 epoch sec; seqNo:739 2021-10-10T16:08:05Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 5.09 psi 2021-10-10T16:08:05Z- handleDepth()-Depth_Keller msg: 1633882085498 epoch sec; seqNo:746; depth 38.56 2021-10-10T16:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882085.51 epoch sec; seqNo:746; 4061587.68 north; 594507.37 east 2021-10-10T16:08:05Z- AHRS_M2 msg: 1633882085.90 epoch sec; seqNo:740 2021-10-10T16:08:05Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 5.08 psi 2021-10-10T16:08:05Z- handleDepth()-Depth_Keller msg: 1633882085905 epoch sec; seqNo:747; depth 38.62 2021-10-10T16:08:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882085.92 epoch sec; seqNo:747; 4061587.68 north; 594507.37 east 2021-10-10T16:08:05Z- LcmTrn::handleMessages() - handling 45 messages took 0.64 ms and 132 calls... 2021-10-10T16:08:05Z- waiting for 1633882083.71, time is 1633882085.92 2021-10-10T16:08:05Z- LcmTrn::updateTrn() >>>> pose time 1633882085.92, meas time 1633882085.10 <<<< 2021-10-10T16:08:05Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882085.10, ping # 0. 2021-10-10T16:08:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882085.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:05Z- TerrainNav::motionUpdate() - currEstimate = (4061588, 594507.37, 38.62) 2021-10-10T16:08:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:05Z- TerrainNav:: SubcloudNIS is 0.81, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:05Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:08:05Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:08:06Z- TNavBF::Projecting Measurements 2021-10-10T16:08:06Z- TNavFilter::Measurement from time = 1633882085.10 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:08:06Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:06Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:06Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:08:06Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:08:06Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:08:06Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:06Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:06Z- Filter 0 NorthBias: -48.2 EastBias: -37.5 DepthBias: -8.9 NorthVariance: 0.9 EastVariance: 944.4 DepthVariance: 3.1 this->DepthBiasCov: 1.6 2021-10-10T16:08:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:06Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:06Z- variances([0], [2], and psi_berg) = 0.949596 967.533003 0.000000 2021-10-10T16:08:06Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:06Z- LcmTrn::publishEstimates() - MLE : 4061539.18 594457.87 38.62 2021-10-10T16:08:06Z- LcmTrn::publishEstimates() - MMSE : 4061539.50 594470.16 29.73 2021-10-10T16:08:06Z- LcmTrn::publishEstimates() - COVAR: 0.95 967.53 3.20 0.00 2021-10-10T16:08:06Z- AHRS_M2 msg: 1633882086.30 epoch sec; seqNo:741 2021-10-10T16:08:06Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 5.09 psi 2021-10-10T16:08:06Z- handleDepth()-Depth_Keller msg: 1633882086305 epoch sec; seqNo:748; depth 38.68 2021-10-10T16:08:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:06Z- handleDvl() - RDI_Pathfinder msg: 1633882086.31 epoch sec; seqNo:311 2021-10-10T16:08:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.06 , 0.07 2021-10-10T16:08:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882086.32 epoch sec; seqNo:748; 4061587.66 north; 594506.15 east 2021-10-10T16:08:06Z- AHRS_M2 msg: 1633882086.72 epoch sec; seqNo:742 2021-10-10T16:08:06Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 5.09 psi 2021-10-10T16:08:06Z- handleDepth()-Depth_Keller msg: 1633882086727 epoch sec; seqNo:749; depth 38.75 2021-10-10T16:08:06Z- handleDvl() - RDI_Pathfinder msg: 1633882086.75 epoch sec; seqNo:312 2021-10-10T16:08:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.94 , 57.79 , 45.14 , 55.88 2021-10-10T16:08:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.09 , 0.03 2021-10-10T16:08:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882086.78 epoch sec; seqNo:749; 4061587.66 north; 594506.15 east 2021-10-10T16:08:07Z- AHRS_M2 msg: 1633882087.11 epoch sec; seqNo:743 2021-10-10T16:08:07Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 5.09 psi 2021-10-10T16:08:07Z- handleDepth()-Depth_Keller msg: 1633882087128 epoch sec; seqNo:750; depth 38.81 2021-10-10T16:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882087.14 epoch sec; seqNo:750; 4061588.04 north; 594506.15 east 2021-10-10T16:08:07Z- AHRS_M2 msg: 1633882087.51 epoch sec; seqNo:744 2021-10-10T16:08:07Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.09 psi 2021-10-10T16:08:07Z- handleDepth()-Depth_Keller msg: 1633882087523 epoch sec; seqNo:751; depth 38.87 2021-10-10T16:08:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:07Z- handleDvl() - RDI_Pathfinder msg: 1633882087.53 epoch sec; seqNo:313 2021-10-10T16:08:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.09 , 0.03 2021-10-10T16:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882087.53 epoch sec; seqNo:751; 4061588.03 north; 594504.93 east 2021-10-10T16:08:07Z- AHRS_M2 msg: 1633882087.92 epoch sec; seqNo:745 2021-10-10T16:08:07Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.09 psi 2021-10-10T16:08:07Z- handleDepth()-Depth_Keller msg: 1633882087928 epoch sec; seqNo:752; depth 38.91 2021-10-10T16:08:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882087.94 epoch sec; seqNo:752; 4061588.03 north; 594504.93 east 2021-10-10T16:08:08Z- AHRS_M2 msg: 1633882088.32 epoch sec; seqNo:746 2021-10-10T16:08:08Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.09 psi 2021-10-10T16:08:08Z- handleDepth()-Depth_Keller msg: 1633882088326 epoch sec; seqNo:753; depth 38.99 2021-10-10T16:08:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882088.34 epoch sec; seqNo:753; 4061588.03 north; 594504.93 east 2021-10-10T16:08:08Z- AHRS_M2 msg: 1633882088.73 epoch sec; seqNo:747 2021-10-10T16:08:08Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.09 psi 2021-10-10T16:08:08Z- handleDepth()-Depth_Keller msg: 1633882088733 epoch sec; seqNo:754; depth 39.04 2021-10-10T16:08:08Z- handleDvl() - RDI_Pathfinder msg: 1633882088.76 epoch sec; seqNo:314 2021-10-10T16:08:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.47 , 57.79 , 45.14 , 55.17 2021-10-10T16:08:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.10 , -0.00 2021-10-10T16:08:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882088.77 epoch sec; seqNo:754; 4061588.41 north; 594504.92 east 2021-10-10T16:08:09Z- AHRS_M2 msg: 1633882089.13 epoch sec; seqNo:748 2021-10-10T16:08:09Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.09 psi 2021-10-10T16:08:09Z- handleDepth()-Depth_Keller msg: 1633882089135 epoch sec; seqNo:755; depth 39.12 2021-10-10T16:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882089.15 epoch sec; seqNo:755; 4061588.39 north; 594503.70 east 2021-10-10T16:08:09Z- AHRS_M2 msg: 1633882089.53 epoch sec; seqNo:749 2021-10-10T16:08:09Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.09 psi 2021-10-10T16:08:09Z- handleDepth()-Depth_Keller msg: 1633882089539 epoch sec; seqNo:756; depth 39.17 2021-10-10T16:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882089.56 epoch sec; seqNo:756; 4061588.39 north; 594503.70 east 2021-10-10T16:08:09Z- AHRS_M2 msg: 1633882089.94 epoch sec; seqNo:750 2021-10-10T16:08:09Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 5.09 psi 2021-10-10T16:08:09Z- handleDepth()-Depth_Keller msg: 1633882089947 epoch sec; seqNo:757; depth 39.23 2021-10-10T16:08:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:09Z- handleDvl() - RDI_Pathfinder msg: 1633882089.95 epoch sec; seqNo:315 2021-10-10T16:08:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.10 , -0.00 2021-10-10T16:08:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882089.96 epoch sec; seqNo:757; 4061588.39 north; 594503.70 east 2021-10-10T16:08:10Z- AHRS_M2 msg: 1633882090.34 epoch sec; seqNo:751 2021-10-10T16:08:10Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.08 psi 2021-10-10T16:08:10Z- handleDepth()-Depth_Keller msg: 1633882090345 epoch sec; seqNo:758; depth 39.28 2021-10-10T16:08:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882090.36 epoch sec; seqNo:758; 4061588.76 north; 594502.48 east 2021-10-10T16:08:10Z- AHRS_M2 msg: 1633882090.74 epoch sec; seqNo:752 2021-10-10T16:08:10Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.08 psi 2021-10-10T16:08:10Z- handleDepth()-Depth_Keller msg: 1633882090756 epoch sec; seqNo:759; depth 39.34 2021-10-10T16:08:10Z- handleDvl() - RDI_Pathfinder msg: 1633882090.78 epoch sec; seqNo:316 2021-10-10T16:08:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.22 , 56.36 , 44.65 , 54.45 2021-10-10T16:08:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.02 2021-10-10T16:08:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882090.79 epoch sec; seqNo:759; 4061588.76 north; 594502.48 east 2021-10-10T16:08:11Z- LcmTrn::handleMessages() - handling 42 messages took 0.69 ms and 128 calls... 2021-10-10T16:08:11Z- waiting for 1633882088.92, time is 1633882090.79 2021-10-10T16:08:11Z- LcmTrn::updateTrn() equating pose 1633882090.79 and meas times 1633882090.79 2021-10-10T16:08:11Z- LcmTrn::updateTrn() >>>> pose time 1633882090.79, meas time 1633882090.79 <<<< 2021-10-10T16:08:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882090.79 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:11Z- TerrainNav::motionUpdate() - currEstimate = (4061589, 594502.48, 39.34) 2021-10-10T16:08:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:11Z- TerrainNav:: SubcloudNIS is 0.81, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:11Z- TNavBF::Projecting Measurements 2021-10-10T16:08:11Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:08:11Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:08:11Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:08:11Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:08:11Z- TNavFilter::4 good beams. 2021-10-10T16:08:11Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:11Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:11Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:08:11Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:08:11Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:08:11Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:11Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:11Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:11Z- TerrainMapOctree: (vehN, vehE ) = (4061588.76, 594502.48). 2021-10-10T16:08:11Z- TerrainMapOctree: Min Distance = 295.41. 2021-10-10T16:08:11Z- TerrainMapOctree: Using tile 5. 2021-10-10T16:08:11Z- Forcing Subcloud Comparison 2021-10-10T16:08:11Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:08:11Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:11Z- Filter 0 partialDeltaRmsComputation: 13.134988 terrainVariance: 0.285366 1-SumSquareWeights: 0.873722 2021-10-10T16:08:11Z- Filter 0 meanExpectedMeasDiff: 3.584637 delta_rms_squared: 0.276629 alpha: 0.932576 2021-10-10T16:08:11Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:11Z- Filter 0 partialDeltaRmsComputation: 7.116432 terrainVariance: 0.293245 1-SumSquareWeights: 0.873722 2021-10-10T16:08:11Z- Filter 0 meanExpectedMeasDiff: -2.612123 delta_rms_squared: 0.284508 alpha: 0.934320 2021-10-10T16:08:11Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:11Z- Filter 0 partialDeltaRmsComputation: 11.676161 terrainVariance: 1.418666 1-SumSquareWeights: 0.873722 2021-10-10T16:08:11Z- Filter 0 meanExpectedMeasDiff: -3.202732 delta_rms_squared: 1.409929 alpha: 0.986013 2021-10-10T16:08:11Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:11Z- Filter 0 partialDeltaRmsComputation: 40.326406 terrainVariance: 0.497824 1-SumSquareWeights: 0.873722 2021-10-10T16:08:11Z- Filter 0 meanExpectedMeasDiff: 6.310989 delta_rms_squared: 0.489087 alpha: 0.960714 2021-10-10T16:08:11Z- Filter 0 SubcloudNIS: 1.022305 2021-10-10T16:08:11Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:08:11Z- TNavBF:: Filter 0 sumWeights = 0.009117 2021-10-10T16:08:11Z- Filter 0 NorthBias: -48.2 EastBias: -48.9 DepthBias: -8.1 NorthVariance: 1.1 EastVariance: 19.3 DepthVariance: 0.9 this->DepthBiasCov: 0.8 2021-10-10T16:08:11Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882090.79 sec. 2021-10-10T16:08:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:11Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:11Z- variances([0], [2], and psi_berg) = 1.056566 19.291736 0.000000 2021-10-10T16:08:11Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:11Z- LcmTrn::publishEstimates() - MLE : 4061540.26 594452.98 39.34 2021-10-10T16:08:11Z- LcmTrn::publishEstimates() - MMSE : 4061540.52 594453.57 31.25 2021-10-10T16:08:11Z- LcmTrn::publishEstimates() - COVAR: 1.06 19.29 0.88 0.00 2021-10-10T16:08:11Z- AHRS_M2 msg: 1633882091.15 epoch sec; seqNo:753 2021-10-10T16:08:11Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.08 psi 2021-10-10T16:08:11Z- handleDepth()-Depth_Keller msg: 1633882091153 epoch sec; seqNo:760; depth 39.40 2021-10-10T16:08:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:11Z- handleDvl() - RDI_Pathfinder msg: 1633882091.15 epoch sec; seqNo:317 2021-10-10T16:08:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.02 2021-10-10T16:08:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882091.18 epoch sec; seqNo:760; 4061588.76 north; 594502.48 east 2021-10-10T16:08:11Z- AHRS_M2 msg: 1633882091.55 epoch sec; seqNo:754 2021-10-10T16:08:11Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.08 psi 2021-10-10T16:08:11Z- handleDepth()-Depth_Keller msg: 1633882091557 epoch sec; seqNo:761; depth 39.48 2021-10-10T16:08:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882091.57 epoch sec; seqNo:761; 4061589.14 north; 594502.47 east 2021-10-10T16:08:11Z- AHRS_M2 msg: 1633882091.96 epoch sec; seqNo:755 2021-10-10T16:08:11Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.08 psi 2021-10-10T16:08:11Z- handleDepth()-Depth_Keller msg: 1633882091963 epoch sec; seqNo:762; depth 39.52 2021-10-10T16:08:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882091.97 epoch sec; seqNo:762; 4061589.13 north; 594501.25 east 2021-10-10T16:08:12Z- AHRS_M2 msg: 1633882092.36 epoch sec; seqNo:756 2021-10-10T16:08:12Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.07 psi 2021-10-10T16:08:12Z- handleDepth()-Depth_Keller msg: 1633882092376 epoch sec; seqNo:763; depth 39.60 2021-10-10T16:08:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:12Z- handleDvl() - RDI_Pathfinder msg: 1633882092.38 epoch sec; seqNo:318 2021-10-10T16:08:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.02 2021-10-10T16:08:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882092.39 epoch sec; seqNo:763; 4061589.13 north; 594501.25 east 2021-10-10T16:08:12Z- AHRS_M2 msg: 1633882092.76 epoch sec; seqNo:757 2021-10-10T16:08:12Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.07 psi 2021-10-10T16:08:12Z- handleDepth()-Depth_Keller msg: 1633882092776 epoch sec; seqNo:764; depth 39.65 2021-10-10T16:08:12Z- handleDvl() - RDI_Pathfinder msg: 1633882092.81 epoch sec; seqNo:319 2021-10-10T16:08:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.98 , 56.12 , 44.42 , 53.73 2021-10-10T16:08:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.06 2021-10-10T16:08:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882092.82 epoch sec; seqNo:764; 4061589.13 north; 594501.25 east 2021-10-10T16:08:13Z- AHRS_M2 msg: 1633882093.17 epoch sec; seqNo:758 2021-10-10T16:08:13Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.07 psi 2021-10-10T16:08:13Z- handleDepth()-Depth_Keller msg: 1633882093174 epoch sec; seqNo:765; depth 39.73 2021-10-10T16:08:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882093.19 epoch sec; seqNo:765; 4061589.49 north; 594500.03 east 2021-10-10T16:08:13Z- AHRS_M2 msg: 1633882093.58 epoch sec; seqNo:759 2021-10-10T16:08:13Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.07 psi 2021-10-10T16:08:13Z- handleDepth()-Depth_Keller msg: 1633882093582 epoch sec; seqNo:766; depth 39.80 2021-10-10T16:08:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:13Z- handleDvl() - RDI_Pathfinder msg: 1633882093.59 epoch sec; seqNo:320 2021-10-10T16:08:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.06 2021-10-10T16:08:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882093.60 epoch sec; seqNo:766; 4061589.49 north; 594500.03 east 2021-10-10T16:08:13Z- AHRS_M2 msg: 1633882093.98 epoch sec; seqNo:760 2021-10-10T16:08:13Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.07 psi 2021-10-10T16:08:13Z- handleDepth()-Depth_Keller msg: 1633882093988 epoch sec; seqNo:767; depth 39.85 2021-10-10T16:08:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882094.00 epoch sec; seqNo:767; 4061589.49 north; 594500.03 east 2021-10-10T16:08:14Z- AHRS_M2 msg: 1633882094.39 epoch sec; seqNo:761 2021-10-10T16:08:14Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.06 psi 2021-10-10T16:08:14Z- handleDepth()-Depth_Keller msg: 1633882094391 epoch sec; seqNo:768; depth 39.91 2021-10-10T16:08:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882094.41 epoch sec; seqNo:768; 4061589.86 north; 594498.80 east 2021-10-10T16:08:14Z- AHRS_M2 msg: 1633882094.79 epoch sec; seqNo:762 2021-10-10T16:08:14Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.06 psi 2021-10-10T16:08:14Z- handleDepth()-Depth_Keller msg: 1633882094793 epoch sec; seqNo:769; depth 39.97 2021-10-10T16:08:14Z- handleDvl() - RDI_Pathfinder msg: 1633882094.82 epoch sec; seqNo:321 2021-10-10T16:08:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.74 , 56.36 , 44.42 , 53.73 2021-10-10T16:08:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.07 , 0.07 2021-10-10T16:08:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882094.83 epoch sec; seqNo:769; 4061589.86 north; 594498.80 east 2021-10-10T16:08:15Z- AHRS_M2 msg: 1633882095.19 epoch sec; seqNo:763 2021-10-10T16:08:15Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.06 psi 2021-10-10T16:08:15Z- handleDepth()-Depth_Keller msg: 1633882095194 epoch sec; seqNo:770; depth 40.04 2021-10-10T16:08:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882095.21 epoch sec; seqNo:770; 4061589.86 north; 594498.80 east 2021-10-10T16:08:15Z- AHRS_M2 msg: 1633882095.59 epoch sec; seqNo:764 2021-10-10T16:08:15Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.06 psi 2021-10-10T16:08:15Z- handleDepth()-Depth_Keller msg: 1633882095600 epoch sec; seqNo:771; depth 40.08 2021-10-10T16:08:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882095.61 epoch sec; seqNo:771; 4061590.23 north; 594498.80 east 2021-10-10T16:08:16Z- AHRS_M2 msg: 1633882096.00 epoch sec; seqNo:765 2021-10-10T16:08:16Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 5.06 psi 2021-10-10T16:08:16Z- handleDepth()-Depth_Keller msg: 1633882096013 epoch sec; seqNo:772; depth 40.14 2021-10-10T16:08:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:16Z- handleDvl() - RDI_Pathfinder msg: 1633882096.02 epoch sec; seqNo:322 2021-10-10T16:08:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.07 , 0.07 2021-10-10T16:08:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882096.02 epoch sec; seqNo:772; 4061590.22 north; 594497.58 east 2021-10-10T16:08:16Z- LcmTrn::handleMessages() - handling 45 messages took 0.63 ms and 132 calls... 2021-10-10T16:08:16Z- waiting for 1633882093.79, time is 1633882096.02 2021-10-10T16:08:16Z- LcmTrn::updateTrn() equating pose 1633882096.02 and meas times 1633882096.02 2021-10-10T16:08:16Z- LcmTrn::updateTrn() >>>> pose time 1633882096.02, meas time 1633882096.02 <<<< 2021-10-10T16:08:16Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882096.02, ping # 0. 2021-10-10T16:08:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882096.02 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:16Z- TerrainNav::motionUpdate() - currEstimate = (4061590, 594497.58, 40.14) 2021-10-10T16:08:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:16Z- TerrainNav:: SubcloudNIS is 1.02, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:16Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:08:16Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:08:16Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882096.02 sec.; No relevant navigation data available 2021-10-10T16:08:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:16Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:16Z- variances([0], [2], and psi_berg) = 1.078415 115.465268 0.000000 2021-10-10T16:08:16Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:16Z- LcmTrn::publishEstimates() - MLE : 4061541.72 594448.08 40.14 2021-10-10T16:08:16Z- LcmTrn::publishEstimates() - MMSE : 4061541.99 594449.68 32.09 2021-10-10T16:08:16Z- LcmTrn::publishEstimates() - COVAR: 1.08 115.47 1.29 0.00 2021-10-10T16:08:16Z- AHRS_M2 msg: 1633882096.40 epoch sec; seqNo:766 2021-10-10T16:08:16Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.06 psi 2021-10-10T16:08:16Z- handleDepth()-Depth_Keller msg: 1633882096405 epoch sec; seqNo:773; depth 40.22 2021-10-10T16:08:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882096.42 epoch sec; seqNo:773; 4061590.22 north; 594497.58 east 2021-10-10T16:08:16Z- AHRS_M2 msg: 1633882096.81 epoch sec; seqNo:767 2021-10-10T16:08:16Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.06 psi 2021-10-10T16:08:16Z- handleDepth()-Depth_Keller msg: 1633882096809 epoch sec; seqNo:774; depth 40.27 2021-10-10T16:08:16Z- handleDvl() - RDI_Pathfinder msg: 1633882096.83 epoch sec; seqNo:323 2021-10-10T16:08:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.26 , 55.87 , 44.17 , 53.49 2021-10-10T16:08:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.10 , 0.04 2021-10-10T16:08:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882096.86 epoch sec; seqNo:774; 4061590.22 north; 594497.58 east 2021-10-10T16:08:17Z- AHRS_M2 msg: 1633882097.22 epoch sec; seqNo:768 2021-10-10T16:08:17Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.06 psi 2021-10-10T16:08:17Z- handleDepth()-Depth_Keller msg: 1633882097227 epoch sec; seqNo:775; depth 40.32 2021-10-10T16:08:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:17Z- handleDvl() - RDI_Pathfinder msg: 1633882097.23 epoch sec; seqNo:324 2021-10-10T16:08:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.10 , 0.04 2021-10-10T16:08:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882097.24 epoch sec; seqNo:775; 4061590.59 north; 594496.36 east 2021-10-10T16:08:17Z- AHRS_M2 msg: 1633882097.61 epoch sec; seqNo:769 2021-10-10T16:08:17Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.06 psi 2021-10-10T16:08:17Z- handleDepth()-Depth_Keller msg: 1633882097617 epoch sec; seqNo:776; depth 40.39 2021-10-10T16:08:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882097.63 epoch sec; seqNo:776; 4061590.59 north; 594496.36 east 2021-10-10T16:08:18Z- AHRS_M2 msg: 1633882098.02 epoch sec; seqNo:770 2021-10-10T16:08:18Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.06 psi 2021-10-10T16:08:18Z- handleDepth()-Depth_Keller msg: 1633882098021 epoch sec; seqNo:777; depth 40.44 2021-10-10T16:08:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882098.03 epoch sec; seqNo:777; 4061590.59 north; 594496.36 east 2021-10-10T16:08:18Z- AHRS_M2 msg: 1633882098.42 epoch sec; seqNo:771 2021-10-10T16:08:18Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.06 psi 2021-10-10T16:08:18Z- handleDepth()-Depth_Keller msg: 1633882098429 epoch sec; seqNo:778; depth 40.50 2021-10-10T16:08:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:18Z- handleDvl() - RDI_Pathfinder msg: 1633882098.43 epoch sec; seqNo:325 2021-10-10T16:08:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.10 , 0.04 2021-10-10T16:08:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882098.44 epoch sec; seqNo:778; 4061590.57 north; 594495.13 east 2021-10-10T16:08:18Z- AHRS_M2 msg: 1633882098.83 epoch sec; seqNo:772 2021-10-10T16:08:18Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.06 psi 2021-10-10T16:08:18Z- handleDepth()-Depth_Keller msg: 1633882098830 epoch sec; seqNo:779; depth 40.57 2021-10-10T16:08:18Z- handleDvl() - RDI_Pathfinder msg: 1633882098.85 epoch sec; seqNo:326 2021-10-10T16:08:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.13 , 55.65 , 43.68 , 53.21 2021-10-10T16:08:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.10 , 0.03 2021-10-10T16:08:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882098.86 epoch sec; seqNo:779; 4061590.95 north; 594495.13 east 2021-10-10T16:08:19Z- AHRS_M2 msg: 1633882099.23 epoch sec; seqNo:773 2021-10-10T16:08:19Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.06 psi 2021-10-10T16:08:19Z- handleDepth()-Depth_Keller msg: 1633882099235 epoch sec; seqNo:780; depth 40.61 2021-10-10T16:08:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882099.26 epoch sec; seqNo:780; 4061590.95 north; 594495.13 east 2021-10-10T16:08:19Z- AHRS_M2 msg: 1633882099.63 epoch sec; seqNo:774 2021-10-10T16:08:19Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.06 psi 2021-10-10T16:08:19Z- handleDepth()-Depth_Keller msg: 1633882099637 epoch sec; seqNo:781; depth 40.67 2021-10-10T16:08:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:19Z- handleDvl() - RDI_Pathfinder msg: 1633882099.64 epoch sec; seqNo:327 2021-10-10T16:08:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.10 , 0.03 2021-10-10T16:08:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882099.65 epoch sec; seqNo:781; 4061590.95 north; 594495.13 east 2021-10-10T16:08:20Z- AHRS_M2 msg: 1633882100.04 epoch sec; seqNo:775 2021-10-10T16:08:20Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.06 psi 2021-10-10T16:08:20Z- handleDepth()-Depth_Keller msg: 1633882100041 epoch sec; seqNo:782; depth 40.72 2021-10-10T16:08:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882100.05 epoch sec; seqNo:782; 4061590.94 north; 594493.91 east 2021-10-10T16:08:20Z- AHRS_M2 msg: 1633882100.44 epoch sec; seqNo:776 2021-10-10T16:08:20Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.05 psi 2021-10-10T16:08:20Z- handleDepth()-Depth_Keller msg: 1633882100450 epoch sec; seqNo:783; depth 40.78 2021-10-10T16:08:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882100.46 epoch sec; seqNo:783; 4061590.94 north; 594493.91 east 2021-10-10T16:08:20Z- AHRS_M2 msg: 1633882100.84 epoch sec; seqNo:777 2021-10-10T16:08:20Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 5.05 psi 2021-10-10T16:08:20Z- handleDepth()-Depth_Keller msg: 1633882100849 epoch sec; seqNo:784; depth 40.82 2021-10-10T16:08:20Z- handleDvl() - RDI_Pathfinder msg: 1633882100.89 epoch sec; seqNo:328 2021-10-10T16:08:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.90 , 54.32 , 43.01 , 52.33 2021-10-10T16:08:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.02 2021-10-10T16:08:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882100.93 epoch sec; seqNo:784; 4061591.32 north; 594493.91 east 2021-10-10T16:08:21Z- AHRS_M2 msg: 1633882101.25 epoch sec; seqNo:778 2021-10-10T16:08:21Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.05 psi 2021-10-10T16:08:21Z- handleDepth()-Depth_Keller msg: 1633882101253 epoch sec; seqNo:785; depth 40.88 2021-10-10T16:08:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882101.27 epoch sec; seqNo:785; 4061591.30 north; 594492.69 east 2021-10-10T16:08:21Z- LcmTrn::handleMessages() - handling 45 messages took 0.70 ms and 131 calls... 2021-10-10T16:08:21Z- waiting for 1633882099.02, time is 1633882101.27 2021-10-10T16:08:21Z- LcmTrn::updateTrn() >>>> pose time 1633882101.27, meas time 1633882100.89 <<<< 2021-10-10T16:08:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882100.89 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:21Z- TerrainNav::motionUpdate() - currEstimate = (4061591, 594492.69, 40.88) 2021-10-10T16:08:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:21Z- TerrainNav:: SubcloudNIS is 1.02, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:21Z- TNavBF::Projecting Measurements 2021-10-10T16:08:21Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:08:21Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:08:21Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:08:21Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:08:21Z- TNavFilter::4 good beams. 2021-10-10T16:08:21Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:21Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:21Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:08:21Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:08:21Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:08:21Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:21Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:21Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:21Z- TerrainMapOctree: (vehN, vehE ) = (4061591.23, 594493.04). 2021-10-10T16:08:21Z- TerrainMapOctree: Min Distance = 290.31. 2021-10-10T16:08:21Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:08:21Z- TerrainMapOctree: Switching to tile 4. 2021-10-10T16:08:22Z- TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo took 1.249584 seconds. 2021-10-10T16:08:23Z- Forcing Subcloud Comparison 2021-10-10T16:08:23Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:08:23Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:23Z- Filter 0 partialDeltaRmsComputation: 6.459590 terrainVariance: 0.192303 1-SumSquareWeights: 0.859394 2021-10-10T16:08:23Z- Filter 0 meanExpectedMeasDiff: 2.503455 delta_rms_squared: 0.183709 alpha: 0.901821 2021-10-10T16:08:23Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:23Z- Filter 0 partialDeltaRmsComputation: 12.013912 terrainVariance: 0.517284 1-SumSquareWeights: 0.859394 2021-10-10T16:08:23Z- Filter 0 meanExpectedMeasDiff: -3.390668 delta_rms_squared: 0.508690 alpha: 0.962171 2021-10-10T16:08:23Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:23Z- Filter 0 partialDeltaRmsComputation: 1.177311 terrainVariance: 1.097724 1-SumSquareWeights: 0.859394 2021-10-10T16:08:23Z- Filter 0 meanExpectedMeasDiff: 0.282112 delta_rms_squared: 1.089130 alpha: 0.981968 2021-10-10T16:08:23Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:23Z- Filter 0 partialDeltaRmsComputation: 31.418879 terrainVariance: 0.088811 1-SumSquareWeights: 0.859394 2021-10-10T16:08:23Z- Filter 0 meanExpectedMeasDiff: 5.597327 delta_rms_squared: 0.080217 alpha: 0.800434 2021-10-10T16:08:23Z- Filter 0 SubcloudNIS: 1.195195 2021-10-10T16:08:23Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:08:23Z- TNavBF:: Filter 0 sumWeights = 0.042228 2021-10-10T16:08:23Z- Filter 0 NorthBias: -48.4 EastBias: -49.0 DepthBias: -6.8 NorthVariance: 0.7 EastVariance: 1.0 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T16:08:23Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882100.89 sec. 2021-10-10T16:08:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:23Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:23Z- variances([0], [2], and psi_berg) = 0.744119 23.586960 0.000000 2021-10-10T16:08:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:23Z- LcmTrn::publishEstimates() - MLE : 4061542.80 594443.19 40.88 2021-10-10T16:08:23Z- LcmTrn::publishEstimates() - MMSE : 4061542.90 594443.90 34.08 2021-10-10T16:08:23Z- LcmTrn::publishEstimates() - COVAR: 0.74 23.59 0.73 0.00 2021-10-10T16:08:23Z- AHRS_M2 msg: 1633882101.65 epoch sec; seqNo:779 2021-10-10T16:08:23Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.05 psi 2021-10-10T16:08:23Z- handleDepth()-Depth_Keller msg: 1633882101657 epoch sec; seqNo:786; depth 40.94 2021-10-10T16:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882101.67 epoch sec; seqNo:786; 4061591.30 north; 594492.69 east 2021-10-10T16:08:23Z- AHRS_M2 msg: 1633882102.06 epoch sec; seqNo:780 2021-10-10T16:08:23Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.05 psi 2021-10-10T16:08:23Z- handleDepth()-Depth_Keller msg: 1633882102064 epoch sec; seqNo:787; depth 40.99 2021-10-10T16:08:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: 1633882102.07 epoch sec; seqNo:329 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.02 2021-10-10T16:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882102.08 epoch sec; seqNo:787; 4061591.30 north; 594492.69 east 2021-10-10T16:08:23Z- AHRS_M2 msg: 1633882102.46 epoch sec; seqNo:781 2021-10-10T16:08:23Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:23Z- handleDepth()-Depth_Keller msg: 1633882102474 epoch sec; seqNo:788; depth 41.05 2021-10-10T16:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882102.48 epoch sec; seqNo:788; 4061591.67 north; 594491.46 east 2021-10-10T16:08:23Z- AHRS_M2 msg: 1633882102.87 epoch sec; seqNo:782 2021-10-10T16:08:23Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:23Z- handleDepth()-Depth_Keller msg: 1633882102869 epoch sec; seqNo:789; depth 41.10 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: 1633882102.89 epoch sec; seqNo:330 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.46 , 54.10 , 42.57 , 51.88 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.02 2021-10-10T16:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882102.93 epoch sec; seqNo:789; 4061591.67 north; 594491.46 east 2021-10-10T16:08:23Z- AHRS_M2 msg: 1633882103.27 epoch sec; seqNo:783 2021-10-10T16:08:23Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.06 psi 2021-10-10T16:08:23Z- handleDepth()-Depth_Keller msg: 1633882103279 epoch sec; seqNo:790; depth 41.15 2021-10-10T16:08:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: 1633882103.28 epoch sec; seqNo:331 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.02 2021-10-10T16:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882103.30 epoch sec; seqNo:790; 4061591.67 north; 594491.46 east 2021-10-10T16:08:23Z- AHRS_M2 msg: 1633882103.67 epoch sec; seqNo:784 2021-10-10T16:08:23Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:23Z- handleDepth()-Depth_Keller msg: 1633882103685 epoch sec; seqNo:791; depth 41.21 2021-10-10T16:08:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882103.70 epoch sec; seqNo:791; 4061592.05 north; 594491.46 east 2021-10-10T16:08:24Z- AHRS_M2 msg: 1633882104.08 epoch sec; seqNo:785 2021-10-10T16:08:24Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:24Z- handleDepth()-Depth_Keller msg: 1633882104081 epoch sec; seqNo:792; depth 41.24 2021-10-10T16:08:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882104.09 epoch sec; seqNo:792; 4061592.03 north; 594490.24 east 2021-10-10T16:08:24Z- AHRS_M2 msg: 1633882104.48 epoch sec; seqNo:786 2021-10-10T16:08:24Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:24Z- handleDepth()-Depth_Keller msg: 1633882104485 epoch sec; seqNo:793; depth 41.31 2021-10-10T16:08:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:24Z- handleDvl() - RDI_Pathfinder msg: 1633882104.49 epoch sec; seqNo:332 2021-10-10T16:08:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.02 2021-10-10T16:08:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882104.50 epoch sec; seqNo:793; 4061592.03 north; 594490.24 east 2021-10-10T16:08:24Z- AHRS_M2 msg: 1633882104.89 epoch sec; seqNo:787 2021-10-10T16:08:24Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:24Z- handleDepth()-Depth_Keller msg: 1633882104891 epoch sec; seqNo:794; depth 41.35 2021-10-10T16:08:24Z- handleDvl() - RDI_Pathfinder msg: 1633882104.91 epoch sec; seqNo:333 2021-10-10T16:08:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.24 , 53.21 , 42.57 , 51.21 2021-10-10T16:08:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.03 2021-10-10T16:08:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882104.93 epoch sec; seqNo:794; 4061592.03 north; 594490.24 east 2021-10-10T16:08:25Z- AHRS_M2 msg: 1633882105.29 epoch sec; seqNo:788 2021-10-10T16:08:25Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:25Z- handleDepth()-Depth_Keller msg: 1633882105293 epoch sec; seqNo:795; depth 41.42 2021-10-10T16:08:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882105.33 epoch sec; seqNo:795; 4061592.40 north; 594489.01 east 2021-10-10T16:08:25Z- AHRS_M2 msg: 1633882105.69 epoch sec; seqNo:789 2021-10-10T16:08:25Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:25Z- handleDepth()-Depth_Keller msg: 1633882105696 epoch sec; seqNo:796; depth 41.46 2021-10-10T16:08:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:25Z- handleDvl() - RDI_Pathfinder msg: 1633882105.70 epoch sec; seqNo:334 2021-10-10T16:08:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.03 2021-10-10T16:08:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882105.71 epoch sec; seqNo:796; 4061592.40 north; 594489.01 east 2021-10-10T16:08:26Z- AHRS_M2 msg: 1633882106.10 epoch sec; seqNo:790 2021-10-10T16:08:26Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:26Z- handleDepth()-Depth_Keller msg: 1633882106102 epoch sec; seqNo:797; depth 41.52 2021-10-10T16:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882106.11 epoch sec; seqNo:797; 4061592.40 north; 594489.01 east 2021-10-10T16:08:26Z- AHRS_M2 msg: 1633882106.50 epoch sec; seqNo:791 2021-10-10T16:08:26Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:26Z- handleDepth()-Depth_Keller msg: 1633882106505 epoch sec; seqNo:798; depth 41.58 2021-10-10T16:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882106.52 epoch sec; seqNo:798; 4061592.77 north; 594487.79 east 2021-10-10T16:08:26Z- AHRS_M2 msg: 1633882106.90 epoch sec; seqNo:792 2021-10-10T16:08:26Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:26Z- handleDepth()-Depth_Keller msg: 1633882106909 epoch sec; seqNo:799; depth 41.63 2021-10-10T16:08:26Z- handleDvl() - RDI_Pathfinder msg: 1633882106.93 epoch sec; seqNo:335 2021-10-10T16:08:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.01 , 52.98 , 42.34 , 50.76 2021-10-10T16:08:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.05 2021-10-10T16:08:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882106.96 epoch sec; seqNo:799; 4061592.77 north; 594487.79 east 2021-10-10T16:08:27Z- AHRS_M2 msg: 1633882107.31 epoch sec; seqNo:793 2021-10-10T16:08:27Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:27Z- handleDepth()-Depth_Keller msg: 1633882107320 epoch sec; seqNo:800; depth 41.68 2021-10-10T16:08:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882107.34 epoch sec; seqNo:800; 4061592.77 north; 594487.79 east 2021-10-10T16:08:27Z- AHRS_M2 msg: 1633882107.71 epoch sec; seqNo:794 2021-10-10T16:08:27Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.05 psi 2021-10-10T16:08:27Z- handleDepth()-Depth_Keller msg: 1633882107728 epoch sec; seqNo:801; depth 41.74 2021-10-10T16:08:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882107.74 epoch sec; seqNo:801; 4061592.75 north; 594486.57 east 2021-10-10T16:08:28Z- LcmTrn::handleMessages() - handling 55 messages took 0.68 ms and 141 calls... 2021-10-10T16:08:28Z- waiting for 1633882104.27, time is 1633882107.74 2021-10-10T16:08:28Z- LcmTrn::updateTrn() >>>> pose time 1633882107.74, meas time 1633882106.93 <<<< 2021-10-10T16:08:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882106.93 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:28Z- TerrainNav::motionUpdate() - currEstimate = (4061593, 594486.57, 41.74) 2021-10-10T16:08:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:28Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:28Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882106.93 sec.; No relevant navigation data available 2021-10-10T16:08:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:28Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:28Z- variances([0], [2], and psi_berg) = 0.771933 115.701972 0.000000 2021-10-10T16:08:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:28Z- LcmTrn::publishEstimates() - MLE : 4061544.25 594437.07 41.74 2021-10-10T16:08:28Z- LcmTrn::publishEstimates() - MMSE : 4061544.35 594438.76 34.98 2021-10-10T16:08:28Z- LcmTrn::publishEstimates() - COVAR: 0.77 115.70 1.14 0.00 2021-10-10T16:08:28Z- AHRS_M2 msg: 1633882108.12 epoch sec; seqNo:795 2021-10-10T16:08:28Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:28Z- handleDepth()-Depth_Keller msg: 1633882108121 epoch sec; seqNo:802; depth 41.79 2021-10-10T16:08:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:28Z- handleDvl() - RDI_Pathfinder msg: 1633882108.12 epoch sec; seqNo:336 2021-10-10T16:08:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.05 2021-10-10T16:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882108.13 epoch sec; seqNo:802; 4061593.13 north; 594486.56 east 2021-10-10T16:08:28Z- AHRS_M2 msg: 1633882108.52 epoch sec; seqNo:796 2021-10-10T16:08:28Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:28Z- handleDepth()-Depth_Keller msg: 1633882108525 epoch sec; seqNo:803; depth 41.84 2021-10-10T16:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882108.54 epoch sec; seqNo:803; 4061593.13 north; 594486.56 east 2021-10-10T16:08:28Z- AHRS_M2 msg: 1633882108.92 epoch sec; seqNo:797 2021-10-10T16:08:28Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:28Z- handleDepth()-Depth_Keller msg: 1633882108934 epoch sec; seqNo:804; depth 41.88 2021-10-10T16:08:28Z- handleDvl() - RDI_Pathfinder msg: 1633882108.95 epoch sec; seqNo:337 2021-10-10T16:08:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.79 , 52.98 , 42.34 , 50.76 2021-10-10T16:08:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.07 , 0.03 2021-10-10T16:08:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882108.97 epoch sec; seqNo:804; 4061593.13 north; 594486.56 east 2021-10-10T16:08:29Z- AHRS_M2 msg: 1633882109.33 epoch sec; seqNo:798 2021-10-10T16:08:29Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:29Z- handleDepth()-Depth_Keller msg: 1633882109340 epoch sec; seqNo:805; depth 41.94 2021-10-10T16:08:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:29Z- handleDvl() - RDI_Pathfinder msg: 1633882109.34 epoch sec; seqNo:338 2021-10-10T16:08:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.07 , 0.03 2021-10-10T16:08:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882109.37 epoch sec; seqNo:805; 4061593.12 north; 594485.34 east 2021-10-10T16:08:29Z- AHRS_M2 msg: 1633882109.73 epoch sec; seqNo:799 2021-10-10T16:08:29Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:29Z- handleDepth()-Depth_Keller msg: 1633882109737 epoch sec; seqNo:806; depth 41.97 2021-10-10T16:08:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882109.75 epoch sec; seqNo:806; 4061593.50 north; 594485.34 east 2021-10-10T16:08:30Z- AHRS_M2 msg: 1633882110.14 epoch sec; seqNo:800 2021-10-10T16:08:30Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:30Z- handleDepth()-Depth_Keller msg: 1633882110148 epoch sec; seqNo:807; depth 42.01 2021-10-10T16:08:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882110.16 epoch sec; seqNo:807; 4061593.50 north; 594485.34 east 2021-10-10T16:08:30Z- AHRS_M2 msg: 1633882110.54 epoch sec; seqNo:801 2021-10-10T16:08:30Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:30Z- handleDepth()-Depth_Keller msg: 1633882110557 epoch sec; seqNo:808; depth 42.08 2021-10-10T16:08:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:30Z- handleDvl() - RDI_Pathfinder msg: 1633882110.56 epoch sec; seqNo:339 2021-10-10T16:08:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.07 , 0.03 2021-10-10T16:08:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882110.57 epoch sec; seqNo:808; 4061593.48 north; 594484.12 east 2021-10-10T16:08:30Z- AHRS_M2 msg: 1633882110.95 epoch sec; seqNo:802 2021-10-10T16:08:30Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:30Z- handleDepth()-Depth_Keller msg: 1633882110953 epoch sec; seqNo:809; depth 42.14 2021-10-10T16:08:31Z- handleDvl() - RDI_Pathfinder msg: 1633882110.99 epoch sec; seqNo:340 2021-10-10T16:08:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.57 , 52.76 , 42.12 , 50.32 2021-10-10T16:08:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.03 2021-10-10T16:08:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882111.00 epoch sec; seqNo:809; 4061593.86 north; 594484.11 east 2021-10-10T16:08:31Z- AHRS_M2 msg: 1633882111.35 epoch sec; seqNo:803 2021-10-10T16:08:31Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:31Z- handleDepth()-Depth_Keller msg: 1633882111358 epoch sec; seqNo:810; depth 42.19 2021-10-10T16:08:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882111.37 epoch sec; seqNo:810; 4061593.86 north; 594484.11 east 2021-10-10T16:08:31Z- AHRS_M2 msg: 1633882111.76 epoch sec; seqNo:804 2021-10-10T16:08:31Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:31Z- handleDepth()-Depth_Keller msg: 1633882111765 epoch sec; seqNo:811; depth 42.24 2021-10-10T16:08:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:31Z- handleDvl() - RDI_Pathfinder msg: 1633882111.77 epoch sec; seqNo:341 2021-10-10T16:08:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.03 2021-10-10T16:08:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882111.78 epoch sec; seqNo:811; 4061593.85 north; 594482.89 east 2021-10-10T16:08:32Z- AHRS_M2 msg: 1633882112.16 epoch sec; seqNo:805 2021-10-10T16:08:32Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.04 psi 2021-10-10T16:08:32Z- handleDepth()-Depth_Keller msg: 1633882112163 epoch sec; seqNo:812; depth 42.26 2021-10-10T16:08:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882112.18 epoch sec; seqNo:812; 4061593.85 north; 594482.89 east 2021-10-10T16:08:32Z- AHRS_M2 msg: 1633882112.56 epoch sec; seqNo:806 2021-10-10T16:08:32Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:32Z- handleDepth()-Depth_Keller msg: 1633882112565 epoch sec; seqNo:813; depth 42.31 2021-10-10T16:08:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882112.57 epoch sec; seqNo:813; 4061593.85 north; 594482.89 east 2021-10-10T16:08:32Z- AHRS_M2 msg: 1633882112.97 epoch sec; seqNo:807 2021-10-10T16:08:32Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:32Z- handleDepth()-Depth_Keller msg: 1633882112976 epoch sec; seqNo:814; depth 42.36 2021-10-10T16:08:33Z- handleDvl() - RDI_Pathfinder msg: 1633882113.00 epoch sec; seqNo:342 2021-10-10T16:08:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.12 , 52.54 , 41.45 , 49.66 2021-10-10T16:08:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.04 2021-10-10T16:08:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882113.01 epoch sec; seqNo:814; 4061594.23 north; 594482.89 east 2021-10-10T16:08:33Z- LcmTrn::handleMessages() - handling 46 messages took 0.72 ms and 131 calls... 2021-10-10T16:08:33Z- waiting for 1633882110.74, time is 1633882113.01 2021-10-10T16:08:33Z- LcmTrn::updateTrn() equating pose 1633882113.01 and meas times 1633882113.01 2021-10-10T16:08:33Z- LcmTrn::updateTrn() >>>> pose time 1633882113.01, meas time 1633882113.01 <<<< 2021-10-10T16:08:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882113.01 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:33Z- TerrainNav::motionUpdate() - currEstimate = (4061594, 594482.89, 42.36) 2021-10-10T16:08:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:33Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:33Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882113.01 sec.; No relevant navigation data available 2021-10-10T16:08:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:33Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:33Z- variances([0], [2], and psi_berg) = 0.793302 183.158719 0.000000 2021-10-10T16:08:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:33Z- LcmTrn::publishEstimates() - MLE : 4061545.73 594433.39 42.36 2021-10-10T16:08:33Z- LcmTrn::publishEstimates() - MMSE : 4061545.83 594435.80 35.62 2021-10-10T16:08:33Z- LcmTrn::publishEstimates() - COVAR: 0.79 183.16 1.41 0.00 2021-10-10T16:08:33Z- AHRS_M2 msg: 1633882113.37 epoch sec; seqNo:808 2021-10-10T16:08:33Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:33Z- handleDepth()-Depth_Keller msg: 1633882113373 epoch sec; seqNo:815; depth 42.42 2021-10-10T16:08:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882113.40 epoch sec; seqNo:815; 4061594.21 north; 594481.67 east 2021-10-10T16:08:33Z- AHRS_M2 msg: 1633882113.77 epoch sec; seqNo:809 2021-10-10T16:08:33Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:33Z- handleDepth()-Depth_Keller msg: 1633882113777 epoch sec; seqNo:816; depth 42.48 2021-10-10T16:08:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882113.79 epoch sec; seqNo:816; 4061594.21 north; 594481.67 east 2021-10-10T16:08:34Z- AHRS_M2 msg: 1633882114.18 epoch sec; seqNo:810 2021-10-10T16:08:34Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:34Z- handleDepth()-Depth_Keller msg: 1633882114181 epoch sec; seqNo:817; depth 42.53 2021-10-10T16:08:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:34Z- handleDvl() - RDI_Pathfinder msg: 1633882114.18 epoch sec; seqNo:343 2021-10-10T16:08:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.04 2021-10-10T16:08:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882114.19 epoch sec; seqNo:817; 4061594.21 north; 594481.67 east 2021-10-10T16:08:34Z- AHRS_M2 msg: 1633882114.58 epoch sec; seqNo:811 2021-10-10T16:08:34Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 5.05 psi 2021-10-10T16:08:34Z- handleDepth()-Depth_Keller msg: 1633882114587 epoch sec; seqNo:818; depth 42.56 2021-10-10T16:08:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882114.60 epoch sec; seqNo:818; 4061594.58 north; 594480.44 east 2021-10-10T16:08:34Z- AHRS_M2 msg: 1633882114.99 epoch sec; seqNo:812 2021-10-10T16:08:34Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.05 psi 2021-10-10T16:08:34Z- handleDepth()-Depth_Keller msg: 1633882114995 epoch sec; seqNo:819; depth 42.60 2021-10-10T16:08:35Z- handleDvl() - RDI_Pathfinder msg: 1633882115.02 epoch sec; seqNo:344 2021-10-10T16:08:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.12 , 51.87 , 41.45 , 49.43 2021-10-10T16:08:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.02 2021-10-10T16:08:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882115.04 epoch sec; seqNo:819; 4061594.58 north; 594480.44 east 2021-10-10T16:08:35Z- AHRS_M2 msg: 1633882115.39 epoch sec; seqNo:813 2021-10-10T16:08:35Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.05 psi 2021-10-10T16:08:35Z- handleDepth()-Depth_Keller msg: 1633882115393 epoch sec; seqNo:820; depth 42.66 2021-10-10T16:08:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:35Z- handleDvl() - RDI_Pathfinder msg: 1633882115.39 epoch sec; seqNo:345 2021-10-10T16:08:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.02 2021-10-10T16:08:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882115.41 epoch sec; seqNo:820; 4061594.58 north; 594480.44 east 2021-10-10T16:08:35Z- AHRS_M2 msg: 1633882115.79 epoch sec; seqNo:814 2021-10-10T16:08:35Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:35Z- handleDepth()-Depth_Keller msg: 1633882115798 epoch sec; seqNo:821; depth 42.70 2021-10-10T16:08:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882115.81 epoch sec; seqNo:821; 4061594.57 north; 594479.22 east 2021-10-10T16:08:36Z- AHRS_M2 msg: 1633882116.20 epoch sec; seqNo:815 2021-10-10T16:08:36Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:36Z- handleDepth()-Depth_Keller msg: 1633882116211 epoch sec; seqNo:822; depth 42.76 2021-10-10T16:08:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882116.22 epoch sec; seqNo:822; 4061594.94 north; 594479.22 east 2021-10-10T16:08:36Z- AHRS_M2 msg: 1633882116.60 epoch sec; seqNo:816 2021-10-10T16:08:36Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:36Z- handleDepth()-Depth_Keller msg: 1633882116611 epoch sec; seqNo:823; depth 42.80 2021-10-10T16:08:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:36Z- handleDvl() - RDI_Pathfinder msg: 1633882116.61 epoch sec; seqNo:346 2021-10-10T16:08:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.02 2021-10-10T16:08:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882116.63 epoch sec; seqNo:823; 4061594.94 north; 594479.22 east 2021-10-10T16:08:37Z- AHRS_M2 msg: 1633882117.01 epoch sec; seqNo:817 2021-10-10T16:08:37Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:37Z- handleDepth()-Depth_Keller msg: 1633882117016 epoch sec; seqNo:824; depth 42.85 2021-10-10T16:08:37Z- handleDvl() - RDI_Pathfinder msg: 1633882117.04 epoch sec; seqNo:347 2021-10-10T16:08:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.12 , 50.98 , 40.78 , 48.99 2021-10-10T16:08:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.02 2021-10-10T16:08:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882117.06 epoch sec; seqNo:824; 4061594.93 north; 594478.00 east 2021-10-10T16:08:37Z- AHRS_M2 msg: 1633882117.42 epoch sec; seqNo:818 2021-10-10T16:08:37Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:37Z- handleDepth()-Depth_Keller msg: 1633882117423 epoch sec; seqNo:825; depth 42.89 2021-10-10T16:08:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882117.44 epoch sec; seqNo:825; 4061595.31 north; 594478.00 east 2021-10-10T16:08:37Z- AHRS_M2 msg: 1633882117.81 epoch sec; seqNo:819 2021-10-10T16:08:37Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:37Z- handleDepth()-Depth_Keller msg: 1633882117820 epoch sec; seqNo:826; depth 42.94 2021-10-10T16:08:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:37Z- handleDvl() - RDI_Pathfinder msg: 1633882117.82 epoch sec; seqNo:348 2021-10-10T16:08:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.02 2021-10-10T16:08:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882117.84 epoch sec; seqNo:826; 4061595.31 north; 594478.00 east 2021-10-10T16:08:38Z- LcmTrn::handleMessages() - handling 42 messages took 0.72 ms and 128 calls... 2021-10-10T16:08:38Z- waiting for 1633882116.01, time is 1633882117.84 2021-10-10T16:08:38Z- LcmTrn::updateTrn() equating pose 1633882117.84 and meas times 1633882117.84 2021-10-10T16:08:38Z- LcmTrn::updateTrn() >>>> pose time 1633882117.84, meas time 1633882117.84 <<<< 2021-10-10T16:08:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882117.84, ping # 0. 2021-10-10T16:08:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882117.84 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:38Z- TerrainNav::motionUpdate() - currEstimate = (4061595, 594478.00, 42.94) 2021-10-10T16:08:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:38Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:38Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:08:38Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:08:38Z- TNavBF::Projecting Measurements 2021-10-10T16:08:38Z- TNavFilter::Measurement from time = 1633882117.84 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:08:38Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:38Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:38Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:08:38Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:08:38Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:08:38Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:38Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:38Z- Filter 0 NorthBias: -48.4 EastBias: -46.3 DepthBias: -6.7 NorthVariance: 0.8 EastVariance: 254.5 DepthVariance: 1.7 this->DepthBiasCov: 1.5 2021-10-10T16:08:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:38Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:38Z- variances([0], [2], and psi_berg) = 0.816824 254.468014 0.000000 2021-10-10T16:08:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:38Z- LcmTrn::publishEstimates() - MLE : 4061546.81 594428.50 42.94 2021-10-10T16:08:38Z- LcmTrn::publishEstimates() - MMSE : 4061546.92 594431.68 36.23 2021-10-10T16:08:38Z- LcmTrn::publishEstimates() - COVAR: 0.82 254.47 1.74 0.00 2021-10-10T16:08:38Z- AHRS_M2 msg: 1633882118.22 epoch sec; seqNo:820 2021-10-10T16:08:38Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:38Z- handleDepth()-Depth_Keller msg: 1633882118221 epoch sec; seqNo:827; depth 42.98 2021-10-10T16:08:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882118.23 epoch sec; seqNo:827; 4061595.31 north; 594478.00 east 2021-10-10T16:08:38Z- AHRS_M2 msg: 1633882118.62 epoch sec; seqNo:821 2021-10-10T16:08:38Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:38Z- handleDepth()-Depth_Keller msg: 1633882118633 epoch sec; seqNo:828; depth 43.05 2021-10-10T16:08:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882118.64 epoch sec; seqNo:828; 4061595.30 north; 594476.78 east 2021-10-10T16:08:39Z- AHRS_M2 msg: 1633882119.03 epoch sec; seqNo:822 2021-10-10T16:08:39Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:39Z- handleDepth()-Depth_Keller msg: 1633882119036 epoch sec; seqNo:829; depth 43.10 2021-10-10T16:08:39Z- handleDvl() - RDI_Pathfinder msg: 1633882119.06 epoch sec; seqNo:349 2021-10-10T16:08:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.69 , 50.74 , 40.10 , 48.70 2021-10-10T16:08:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.05 2021-10-10T16:08:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882119.07 epoch sec; seqNo:829; 4061595.67 north; 594476.77 east 2021-10-10T16:08:39Z- AHRS_M2 msg: 1633882119.43 epoch sec; seqNo:823 2021-10-10T16:08:39Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.06 psi 2021-10-10T16:08:39Z- handleDepth()-Depth_Keller msg: 1633882119444 epoch sec; seqNo:830; depth 43.14 2021-10-10T16:08:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882119.46 epoch sec; seqNo:830; 4061595.67 north; 594476.77 east 2021-10-10T16:08:39Z- AHRS_M2 msg: 1633882119.83 epoch sec; seqNo:824 2021-10-10T16:08:39Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.07 psi 2021-10-10T16:08:39Z- handleDepth()-Depth_Keller msg: 1633882119844 epoch sec; seqNo:831; depth 43.21 2021-10-10T16:08:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882119.85 epoch sec; seqNo:831; 4061595.66 north; 594475.55 east 2021-10-10T16:08:40Z- AHRS_M2 msg: 1633882120.24 epoch sec; seqNo:825 2021-10-10T16:08:40Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.07 psi 2021-10-10T16:08:40Z- handleDepth()-Depth_Keller msg: 1633882120241 epoch sec; seqNo:832; depth 43.23 2021-10-10T16:08:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:40Z- handleDvl() - RDI_Pathfinder msg: 1633882120.24 epoch sec; seqNo:350 2021-10-10T16:08:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.05 2021-10-10T16:08:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882120.25 epoch sec; seqNo:832; 4061596.04 north; 594475.55 east 2021-10-10T16:08:40Z- AHRS_M2 msg: 1633882120.65 epoch sec; seqNo:826 2021-10-10T16:08:40Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.07 psi 2021-10-10T16:08:40Z- handleDepth()-Depth_Keller msg: 1633882120662 epoch sec; seqNo:833; depth 43.30 2021-10-10T16:08:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882120.71 epoch sec; seqNo:833; 4061596.04 north; 594475.55 east 2021-10-10T16:08:41Z- AHRS_M2 msg: 1633882121.04 epoch sec; seqNo:827 2021-10-10T16:08:41Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 5.07 psi 2021-10-10T16:08:41Z- handleDepth()-Depth_Keller msg: 1633882121061 epoch sec; seqNo:834; depth 43.34 2021-10-10T16:08:41Z- handleDvl() - RDI_Pathfinder msg: 1633882121.08 epoch sec; seqNo:351 2021-10-10T16:08:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.69 , 50.74 , 39.28 , 48.49 2021-10-10T16:08:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.04 2021-10-10T16:08:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882121.09 epoch sec; seqNo:834; 4061596.03 north; 594474.33 east 2021-10-10T16:08:41Z- AHRS_M2 msg: 1633882121.45 epoch sec; seqNo:828 2021-10-10T16:08:41Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.07 psi 2021-10-10T16:08:41Z- handleDepth()-Depth_Keller msg: 1633882121459 epoch sec; seqNo:835; depth 43.39 2021-10-10T16:08:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:41Z- handleDvl() - RDI_Pathfinder msg: 1633882121.46 epoch sec; seqNo:352 2021-10-10T16:08:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.04 2021-10-10T16:08:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882121.48 epoch sec; seqNo:835; 4061596.41 north; 594474.32 east 2021-10-10T16:08:41Z- AHRS_M2 msg: 1633882121.85 epoch sec; seqNo:829 2021-10-10T16:08:41Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:41Z- handleDepth()-Depth_Keller msg: 1633882121858 epoch sec; seqNo:836; depth 43.44 2021-10-10T16:08:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882121.87 epoch sec; seqNo:836; 4061596.41 north; 594474.32 east 2021-10-10T16:08:42Z- AHRS_M2 msg: 1633882122.26 epoch sec; seqNo:830 2021-10-10T16:08:42Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:42Z- handleDepth()-Depth_Keller msg: 1633882122268 epoch sec; seqNo:837; depth 43.48 2021-10-10T16:08:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882122.29 epoch sec; seqNo:837; 4061596.39 north; 594473.10 east 2021-10-10T16:08:42Z- AHRS_M2 msg: 1633882122.69 epoch sec; seqNo:831 2021-10-10T16:08:42Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:42Z- handleDepth()-Depth_Keller msg: 1633882122700 epoch sec; seqNo:838; depth 43.53 2021-10-10T16:08:42Z- handleDvl() - RDI_Pathfinder msg: 1633882122.74 epoch sec; seqNo:353 2021-10-10T16:08:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.28 , 50.53 , 38.67 , 47.87 2021-10-10T16:08:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.03 2021-10-10T16:08:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882122.75 epoch sec; seqNo:838; 4061596.39 north; 594473.10 east 2021-10-10T16:08:43Z- AHRS_M2 msg: 1633882123.06 epoch sec; seqNo:832 2021-10-10T16:08:43Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:43Z- handleDepth()-Depth_Keller msg: 1633882123072 epoch sec; seqNo:839; depth 43.57 2021-10-10T16:08:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882123.09 epoch sec; seqNo:839; 4061596.77 north; 594473.10 east 2021-10-10T16:08:43Z- LcmTrn::handleMessages() - handling 44 messages took 0.75 ms and 129 calls... 2021-10-10T16:08:43Z- waiting for 1633882120.84, time is 1633882123.09 2021-10-10T16:08:43Z- LcmTrn::updateTrn() >>>> pose time 1633882123.09, meas time 1633882122.74 <<<< 2021-10-10T16:08:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882122.74 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:43Z- TerrainNav::motionUpdate() - currEstimate = (4061597, 594473.10, 43.57) 2021-10-10T16:08:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:43Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:43Z- TNavBF::Projecting Measurements 2021-10-10T16:08:43Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:08:43Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:08:43Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:08:43Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:08:43Z- TNavFilter::4 good beams. 2021-10-10T16:08:43Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:43Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:43Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:08:43Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:08:43Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:08:43Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:43Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:43Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:43Z- TerrainMapOctree: (vehN, vehE ) = (4061596.67, 594473.42). 2021-10-10T16:08:43Z- TerrainMapOctree: Min Distance = 270.97. 2021-10-10T16:08:43Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:08:43Z- Forcing Subcloud Comparison 2021-10-10T16:08:43Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:08:43Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:43Z- Filter 0 partialDeltaRmsComputation: 0.950088 terrainVariance: 0.095987 1-SumSquareWeights: 0.859523 2021-10-10T16:08:43Z- Filter 0 meanExpectedMeasDiff: 0.924176 delta_rms_squared: 0.087391 alpha: 0.813765 2021-10-10T16:08:43Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:43Z- Filter 0 partialDeltaRmsComputation: 0.632599 terrainVariance: 0.049571 1-SumSquareWeights: 0.859523 2021-10-10T16:08:43Z- Filter 0 meanExpectedMeasDiff: -0.763563 delta_rms_squared: 0.040976 alpha: 0.672000 2021-10-10T16:08:43Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:43Z- Filter 0 partialDeltaRmsComputation: 10.181144 terrainVariance: 1.140846 1-SumSquareWeights: 0.859523 2021-10-10T16:08:43Z- Filter 0 meanExpectedMeasDiff: -3.006709 delta_rms_squared: 1.132251 alpha: 0.982643 2021-10-10T16:08:43Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:43Z- Filter 0 partialDeltaRmsComputation: 18.436340 terrainVariance: 0.791372 1-SumSquareWeights: 0.859523 2021-10-10T16:08:43Z- Filter 0 meanExpectedMeasDiff: 4.200591 delta_rms_squared: 0.782777 alpha: 0.975086 2021-10-10T16:08:43Z- Filter 0 SubcloudNIS: 1.252998 2021-10-10T16:08:43Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:08:43Z- TNavBF:: Filter 0 sumWeights = 0.110024 2021-10-10T16:08:43Z- Filter 0 NorthBias: -48.5 EastBias: -49.1 DepthBias: -6.6 NorthVariance: 0.6 EastVariance: 0.4 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-10T16:08:43Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882122.74 sec. 2021-10-10T16:08:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:43Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:43Z- variances([0], [2], and psi_berg) = 0.596225 22.398386 0.000000 2021-10-10T16:08:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:43Z- LcmTrn::publishEstimates() - MLE : 4061548.27 594423.60 43.57 2021-10-10T16:08:43Z- LcmTrn::publishEstimates() - MMSE : 4061548.23 594424.26 36.99 2021-10-10T16:08:43Z- LcmTrn::publishEstimates() - COVAR: 0.60 22.40 0.75 0.00 2021-10-10T16:08:43Z- AHRS_M2 msg: 1633882123.47 epoch sec; seqNo:833 2021-10-10T16:08:43Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:43Z- handleDepth()-Depth_Keller msg: 1633882123475 epoch sec; seqNo:840; depth 43.60 2021-10-10T16:08:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882123.48 epoch sec; seqNo:840; 4061596.77 north; 594473.10 east 2021-10-10T16:08:43Z- AHRS_M2 msg: 1633882123.87 epoch sec; seqNo:834 2021-10-10T16:08:43Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:43Z- handleDepth()-Depth_Keller msg: 1633882123885 epoch sec; seqNo:841; depth 43.66 2021-10-10T16:08:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:43Z- handleDvl() - RDI_Pathfinder msg: 1633882123.89 epoch sec; seqNo:354 2021-10-10T16:08:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.03 2021-10-10T16:08:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882123.89 epoch sec; seqNo:841; 4061596.76 north; 594471.88 east 2021-10-10T16:08:44Z- AHRS_M2 msg: 1633882124.28 epoch sec; seqNo:835 2021-10-10T16:08:44Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:44Z- handleDepth()-Depth_Keller msg: 1633882124281 epoch sec; seqNo:842; depth 43.70 2021-10-10T16:08:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882124.29 epoch sec; seqNo:842; 4061597.14 north; 594471.87 east 2021-10-10T16:08:44Z- AHRS_M2 msg: 1633882124.70 epoch sec; seqNo:836 2021-10-10T16:08:44Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:44Z- handleDepth()-Depth_Keller msg: 1633882124723 epoch sec; seqNo:843; depth 43.73 2021-10-10T16:08:44Z- handleDvl() - RDI_Pathfinder msg: 1633882124.74 epoch sec; seqNo:355 2021-10-10T16:08:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.87 , 49.31 , 38.26 , 47.87 2021-10-10T16:08:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.04 2021-10-10T16:08:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882124.76 epoch sec; seqNo:843; 4061597.14 north; 594471.87 east 2021-10-10T16:08:45Z- AHRS_M2 msg: 1633882125.09 epoch sec; seqNo:837 2021-10-10T16:08:45Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:45Z- handleDepth()-Depth_Keller msg: 1633882125095 epoch sec; seqNo:844; depth 43.80 2021-10-10T16:08:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:45Z- handleDvl() - RDI_Pathfinder msg: 1633882125.10 epoch sec; seqNo:356 2021-10-10T16:08:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.04 2021-10-10T16:08:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882125.11 epoch sec; seqNo:844; 4061597.12 north; 594470.65 east 2021-10-10T16:08:45Z- AHRS_M2 msg: 1633882125.49 epoch sec; seqNo:838 2021-10-10T16:08:45Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:45Z- handleDepth()-Depth_Keller msg: 1633882125493 epoch sec; seqNo:845; depth 43.81 2021-10-10T16:08:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882125.51 epoch sec; seqNo:845; 4061597.12 north; 594470.65 east 2021-10-10T16:08:45Z- AHRS_M2 msg: 1633882125.89 epoch sec; seqNo:839 2021-10-10T16:08:45Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.08 psi 2021-10-10T16:08:45Z- handleDepth()-Depth_Keller msg: 1633882125910 epoch sec; seqNo:846; depth 43.86 2021-10-10T16:08:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882125.95 epoch sec; seqNo:846; 4061597.50 north; 594470.65 east 2021-10-10T16:08:46Z- AHRS_M2 msg: 1633882126.30 epoch sec; seqNo:840 2021-10-10T16:08:46Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:46Z- handleDepth()-Depth_Keller msg: 1633882126307 epoch sec; seqNo:847; depth 43.89 2021-10-10T16:08:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:46Z- handleDvl() - RDI_Pathfinder msg: 1633882126.31 epoch sec; seqNo:357 2021-10-10T16:08:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.04 2021-10-10T16:08:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882126.32 epoch sec; seqNo:847; 4061597.49 north; 594469.43 east 2021-10-10T16:08:46Z- AHRS_M2 msg: 1633882126.72 epoch sec; seqNo:841 2021-10-10T16:08:46Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:46Z- handleDepth()-Depth_Keller msg: 1633882126725 epoch sec; seqNo:848; depth 43.94 2021-10-10T16:08:46Z- handleDvl() - RDI_Pathfinder msg: 1633882126.74 epoch sec; seqNo:358 2021-10-10T16:08:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.05 , 49.31 , 37.64 , 47.67 2021-10-10T16:08:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.03 2021-10-10T16:08:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882126.78 epoch sec; seqNo:848; 4061597.49 north; 594469.43 east 2021-10-10T16:08:47Z- AHRS_M2 msg: 1633882127.10 epoch sec; seqNo:842 2021-10-10T16:08:47Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:47Z- handleDepth()-Depth_Keller msg: 1633882127109 epoch sec; seqNo:849; depth 43.98 2021-10-10T16:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882127.12 epoch sec; seqNo:849; 4061597.87 north; 594469.42 east 2021-10-10T16:08:47Z- AHRS_M2 msg: 1633882127.51 epoch sec; seqNo:843 2021-10-10T16:08:47Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:47Z- handleDepth()-Depth_Keller msg: 1633882127518 epoch sec; seqNo:850; depth 44.02 2021-10-10T16:08:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:47Z- handleDvl() - RDI_Pathfinder msg: 1633882127.52 epoch sec; seqNo:359 2021-10-10T16:08:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.03 2021-10-10T16:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882127.53 epoch sec; seqNo:850; 4061597.87 north; 594469.42 east 2021-10-10T16:08:47Z- AHRS_M2 msg: 1633882127.91 epoch sec; seqNo:844 2021-10-10T16:08:47Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:47Z- handleDepth()-Depth_Keller msg: 1633882127924 epoch sec; seqNo:851; depth 44.03 2021-10-10T16:08:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882127.94 epoch sec; seqNo:851; 4061597.85 north; 594468.20 east 2021-10-10T16:08:48Z- AHRS_M2 msg: 1633882128.32 epoch sec; seqNo:845 2021-10-10T16:08:48Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:48Z- handleDepth()-Depth_Keller msg: 1633882128325 epoch sec; seqNo:852; depth 44.08 2021-10-10T16:08:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882128.35 epoch sec; seqNo:852; 4061597.85 north; 594468.20 east 2021-10-10T16:08:48Z- LcmTrn::handleMessages() - handling 45 messages took 0.75 ms and 129 calls... 2021-10-10T16:08:48Z- waiting for 1633882126.09, time is 1633882128.35 2021-10-10T16:08:48Z- LcmTrn::updateTrn() >>>> pose time 1633882128.35, meas time 1633882127.52 <<<< 2021-10-10T16:08:48Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882127.52, ping # 0. 2021-10-10T16:08:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882127.52 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:48Z- TerrainNav::motionUpdate() - currEstimate = (4061598, 594468.20, 44.08) 2021-10-10T16:08:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:48Z- TerrainNav:: SubcloudNIS is 1.25, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:48Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:08:48Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:08:48Z- TNavBF::Projecting Measurements 2021-10-10T16:08:48Z- TNavFilter::Measurement from time = 1633882127.52 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:08:48Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:48Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:48Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:08:48Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:08:48Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:08:48Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:48Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:48Z- Filter 0 NorthBias: -48.5 EastBias: -48.0 DepthBias: -6.6 NorthVariance: 0.6 EastVariance: 98.5 DepthVariance: 1.0 this->DepthBiasCov: 0.9 2021-10-10T16:08:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:48Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:48Z- variances([0], [2], and psi_berg) = 0.629216 129.195322 0.000000 2021-10-10T16:08:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:48Z- LcmTrn::publishEstimates() - MLE : 4061549.35 594418.70 44.08 2021-10-10T16:08:48Z- LcmTrn::publishEstimates() - MMSE : 4061549.32 594420.49 37.53 2021-10-10T16:08:48Z- LcmTrn::publishEstimates() - COVAR: 0.63 129.20 1.06 0.00 2021-10-10T16:08:48Z- AHRS_M2 msg: 1633882128.73 epoch sec; seqNo:846 2021-10-10T16:08:48Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:48Z- handleDepth()-Depth_Keller msg: 1633882128737 epoch sec; seqNo:853; depth 44.13 2021-10-10T16:08:48Z- handleDvl() - RDI_Pathfinder msg: 1633882128.77 epoch sec; seqNo:360 2021-10-10T16:08:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.64 , 48.90 , 36.83 , 47.46 2021-10-10T16:08:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.10 , -0.00 2021-10-10T16:08:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882128.78 epoch sec; seqNo:853; 4061598.23 north; 594468.20 east 2021-10-10T16:08:49Z- AHRS_M2 msg: 1633882129.13 epoch sec; seqNo:847 2021-10-10T16:08:49Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:49Z- handleDepth()-Depth_Keller msg: 1633882129134 epoch sec; seqNo:854; depth 44.17 2021-10-10T16:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882129.15 epoch sec; seqNo:854; 4061598.22 north; 594466.98 east 2021-10-10T16:08:49Z- AHRS_M2 msg: 1633882129.53 epoch sec; seqNo:848 2021-10-10T16:08:49Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:49Z- handleDepth()-Depth_Keller msg: 1633882129533 epoch sec; seqNo:855; depth 44.20 2021-10-10T16:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882129.55 epoch sec; seqNo:855; 4061598.22 north; 594466.98 east 2021-10-10T16:08:49Z- AHRS_M2 msg: 1633882129.93 epoch sec; seqNo:849 2021-10-10T16:08:49Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:49Z- handleDepth()-Depth_Keller msg: 1633882129943 epoch sec; seqNo:856; depth 44.23 2021-10-10T16:08:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:49Z- handleDvl() - RDI_Pathfinder msg: 1633882129.95 epoch sec; seqNo:361 2021-10-10T16:08:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.10 , -0.00 2021-10-10T16:08:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882129.96 epoch sec; seqNo:856; 4061598.60 north; 594466.98 east 2021-10-10T16:08:50Z- AHRS_M2 msg: 1633882130.34 epoch sec; seqNo:850 2021-10-10T16:08:50Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:50Z- handleDepth()-Depth_Keller msg: 1633882130341 epoch sec; seqNo:857; depth 44.29 2021-10-10T16:08:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882130.35 epoch sec; seqNo:857; 4061598.58 north; 594465.75 east 2021-10-10T16:08:50Z- AHRS_M2 msg: 1633882130.74 epoch sec; seqNo:851 2021-10-10T16:08:50Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:50Z- handleDepth()-Depth_Keller msg: 1633882130746 epoch sec; seqNo:858; depth 44.33 2021-10-10T16:08:50Z- handleDvl() - RDI_Pathfinder msg: 1633882130.77 epoch sec; seqNo:362 2021-10-10T16:08:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.83 , 48.28 , 35.80 , 47.26 2021-10-10T16:08:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.10 , 0.03 2021-10-10T16:08:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882130.80 epoch sec; seqNo:858; 4061598.58 north; 594465.75 east 2021-10-10T16:08:51Z- AHRS_M2 msg: 1633882131.14 epoch sec; seqNo:852 2021-10-10T16:08:51Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:51Z- handleDepth()-Depth_Keller msg: 1633882131149 epoch sec; seqNo:859; depth 44.36 2021-10-10T16:08:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:51Z- handleDvl() - RDI_Pathfinder msg: 1633882131.16 epoch sec; seqNo:363 2021-10-10T16:08:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.10 , 0.03 2021-10-10T16:08:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882131.17 epoch sec; seqNo:859; 4061598.96 north; 594465.75 east 2021-10-10T16:08:51Z- AHRS_M2 msg: 1633882131.55 epoch sec; seqNo:853 2021-10-10T16:08:51Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:51Z- handleDepth()-Depth_Keller msg: 1633882131556 epoch sec; seqNo:860; depth 44.41 2021-10-10T16:08:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882131.57 epoch sec; seqNo:860; 4061598.95 north; 594464.53 east 2021-10-10T16:08:51Z- AHRS_M2 msg: 1633882131.95 epoch sec; seqNo:854 2021-10-10T16:08:51Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:51Z- handleDepth()-Depth_Keller msg: 1633882131957 epoch sec; seqNo:861; depth 44.44 2021-10-10T16:08:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882131.97 epoch sec; seqNo:861; 4061598.95 north; 594464.53 east 2021-10-10T16:08:52Z- AHRS_M2 msg: 1633882132.36 epoch sec; seqNo:855 2021-10-10T16:08:52Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:52Z- handleDepth()-Depth_Keller msg: 1633882132367 epoch sec; seqNo:862; depth 44.49 2021-10-10T16:08:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:52Z- handleDvl() - RDI_Pathfinder msg: 1633882132.37 epoch sec; seqNo:364 2021-10-10T16:08:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.10 , 0.03 2021-10-10T16:08:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882132.38 epoch sec; seqNo:862; 4061599.33 north; 594464.53 east 2021-10-10T16:08:52Z- AHRS_M2 msg: 1633882132.76 epoch sec; seqNo:856 2021-10-10T16:08:52Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:52Z- handleDepth()-Depth_Keller msg: 1633882132765 epoch sec; seqNo:863; depth 44.53 2021-10-10T16:08:52Z- handleDvl() - RDI_Pathfinder msg: 1633882132.79 epoch sec; seqNo:365 2021-10-10T16:08:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.41 , 48.28 , 35.39 , 46.44 2021-10-10T16:08:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.08 , 0.08 2021-10-10T16:08:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882132.81 epoch sec; seqNo:863; 4061599.32 north; 594463.31 east 2021-10-10T16:08:53Z- AHRS_M2 msg: 1633882133.16 epoch sec; seqNo:857 2021-10-10T16:08:53Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:53Z- handleDepth()-Depth_Keller msg: 1633882133172 epoch sec; seqNo:864; depth 44.58 2021-10-10T16:08:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882133.19 epoch sec; seqNo:864; 4061599.32 north; 594463.31 east 2021-10-10T16:08:53Z- LcmTrn::handleMessages() - handling 42 messages took 0.70 ms and 128 calls... 2021-10-10T16:08:53Z- waiting for 1633882131.35, time is 1633882133.19 2021-10-10T16:08:53Z- LcmTrn::updateTrn() >>>> pose time 1633882133.19, meas time 1633882132.79 <<<< 2021-10-10T16:08:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882132.79 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:53Z- TerrainNav::motionUpdate() - currEstimate = (4061599, 594463.31, 44.58) 2021-10-10T16:08:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:53Z- TerrainNav:: SubcloudNIS is 1.25, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:53Z- TNavBF::Projecting Measurements 2021-10-10T16:08:53Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:08:53Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:08:53Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:08:53Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:08:53Z- TNavFilter::4 good beams. 2021-10-10T16:08:53Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:53Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:53Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:08:53Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:08:53Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:08:53Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:53Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:53Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:53Z- TerrainMapOctree: (vehN, vehE ) = (4061599.20, 594463.70). 2021-10-10T16:08:53Z- TerrainMapOctree: Min Distance = 261.55. 2021-10-10T16:08:53Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:08:53Z- Forcing Subcloud Comparison 2021-10-10T16:08:53Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:08:53Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:53Z- Filter 0 partialDeltaRmsComputation: 2.550968 terrainVariance: 0.074980 1-SumSquareWeights: 0.815532 2021-10-10T16:08:53Z- Filter 0 meanExpectedMeasDiff: -1.573527 delta_rms_squared: 0.066824 alpha: 0.769650 2021-10-10T16:08:53Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:53Z- Filter 0 partialDeltaRmsComputation: 14.780934 terrainVariance: 1.104531 1-SumSquareWeights: 0.815532 2021-10-10T16:08:53Z- Filter 0 meanExpectedMeasDiff: 3.698162 delta_rms_squared: 1.096376 alpha: 0.982085 2021-10-10T16:08:53Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:53Z- Filter 0 partialDeltaRmsComputation: 56.845177 terrainVariance: 0.293958 1-SumSquareWeights: 0.815532 2021-10-10T16:08:53Z- Filter 0 meanExpectedMeasDiff: -7.520054 delta_rms_squared: 0.285803 alpha: 0.934598 2021-10-10T16:08:53Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:08:53Z- Filter 0 partialDeltaRmsComputation: 33.874131 terrainVariance: 0.428171 1-SumSquareWeights: 0.815532 2021-10-10T16:08:53Z- Filter 0 meanExpectedMeasDiff: 5.783248 delta_rms_squared: 0.420015 alpha: 0.954547 2021-10-10T16:08:53Z- Filter 0 SubcloudNIS: 1.366645 2021-10-10T16:08:53Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:08:53Z- TNavBF:: Filter 0 sumWeights = 0.000069 2021-10-10T16:08:53Z- Filter 0 NorthBias: -48.8 EastBias: -48.3 DepthBias: -7.3 NorthVariance: 0.6 EastVariance: 0.8 DepthVariance: 0.6 this->DepthBiasCov: 0.6 2021-10-10T16:08:53Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882132.79 sec. 2021-10-10T16:08:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:53Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:53Z- variances([0], [2], and psi_berg) = 0.584101 6.364670 0.000000 2021-10-10T16:08:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:53Z- LcmTrn::publishEstimates() - MLE : 4061549.82 594414.81 44.58 2021-10-10T16:08:53Z- LcmTrn::publishEstimates() - MMSE : 4061550.53 594415.09 37.25 2021-10-10T16:08:53Z- LcmTrn::publishEstimates() - COVAR: 0.58 6.36 0.64 0.00 2021-10-10T16:08:53Z- AHRS_M2 msg: 1633882133.57 epoch sec; seqNo:858 2021-10-10T16:08:53Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:53Z- handleDepth()-Depth_Keller msg: 1633882133575 epoch sec; seqNo:865; depth 44.63 2021-10-10T16:08:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:53Z- handleDvl() - RDI_Pathfinder msg: 1633882133.58 epoch sec; seqNo:366 2021-10-10T16:08:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.08 , 0.08 2021-10-10T16:08:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882133.59 epoch sec; seqNo:865; 4061599.32 north; 594463.31 east 2021-10-10T16:08:53Z- AHRS_M2 msg: 1633882133.97 epoch sec; seqNo:859 2021-10-10T16:08:53Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:53Z- handleDepth()-Depth_Keller msg: 1633882133978 epoch sec; seqNo:866; depth 44.68 2021-10-10T16:08:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882133.99 epoch sec; seqNo:866; 4061599.69 north; 594463.30 east 2021-10-10T16:08:54Z- AHRS_M2 msg: 1633882134.38 epoch sec; seqNo:860 2021-10-10T16:08:54Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:54Z- handleDepth()-Depth_Keller msg: 1633882134381 epoch sec; seqNo:867; depth 44.73 2021-10-10T16:08:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882134.39 epoch sec; seqNo:867; 4061599.68 north; 594462.08 east 2021-10-10T16:08:54Z- AHRS_M2 msg: 1633882134.78 epoch sec; seqNo:861 2021-10-10T16:08:54Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:54Z- handleDepth()-Depth_Keller msg: 1633882134788 epoch sec; seqNo:868; depth 44.75 2021-10-10T16:08:54Z- handleDvl() - RDI_Pathfinder msg: 1633882134.81 epoch sec; seqNo:367 2021-10-10T16:08:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.00 , 48.19 , 35.25 , 46.51 2021-10-10T16:08:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.06 2021-10-10T16:08:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882134.84 epoch sec; seqNo:868; 4061599.68 north; 594462.08 east 2021-10-10T16:08:55Z- AHRS_M2 msg: 1633882135.18 epoch sec; seqNo:862 2021-10-10T16:08:55Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:08:55Z- handleDepth()-Depth_Keller msg: 1633882135197 epoch sec; seqNo:869; depth 44.82 2021-10-10T16:08:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882135.21 epoch sec; seqNo:869; 4061600.06 north; 594462.08 east 2021-10-10T16:08:55Z- AHRS_M2 msg: 1633882135.59 epoch sec; seqNo:863 2021-10-10T16:08:55Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.09 psi 2021-10-10T16:08:55Z- handleDepth()-Depth_Keller msg: 1633882135593 epoch sec; seqNo:870; depth 44.84 2021-10-10T16:08:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882135.60 epoch sec; seqNo:870; 4061600.05 north; 594460.86 east 2021-10-10T16:08:55Z- AHRS_M2 msg: 1633882135.99 epoch sec; seqNo:864 2021-10-10T16:08:55Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.10 psi 2021-10-10T16:08:56Z- handleDepth()-Depth_Keller msg: 1633882136003 epoch sec; seqNo:871; depth 44.89 2021-10-10T16:08:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:56Z- handleDvl() - RDI_Pathfinder msg: 1633882136.01 epoch sec; seqNo:368 2021-10-10T16:08:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.06 2021-10-10T16:08:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882136.01 epoch sec; seqNo:871; 4061600.05 north; 594460.86 east 2021-10-10T16:08:56Z- AHRS_M2 msg: 1633882136.40 epoch sec; seqNo:865 2021-10-10T16:08:56Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.10 psi 2021-10-10T16:08:56Z- handleDepth()-Depth_Keller msg: 1633882136407 epoch sec; seqNo:872; depth 44.92 2021-10-10T16:08:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882136.42 epoch sec; seqNo:872; 4061600.43 north; 594460.85 east 2021-10-10T16:08:56Z- AHRS_M2 msg: 1633882136.80 epoch sec; seqNo:866 2021-10-10T16:08:56Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.10 psi 2021-10-10T16:08:56Z- handleDepth()-Depth_Keller msg: 1633882136818 epoch sec; seqNo:873; depth 44.97 2021-10-10T16:08:56Z- handleDvl() - RDI_Pathfinder msg: 1633882136.84 epoch sec; seqNo:369 2021-10-10T16:08:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.63 , 48.01 , 35.25 , 46.51 2021-10-10T16:08:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.09 , 0.03 2021-10-10T16:08:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882136.85 epoch sec; seqNo:873; 4061600.41 north; 594459.63 east 2021-10-10T16:08:57Z- AHRS_M2 msg: 1633882137.20 epoch sec; seqNo:867 2021-10-10T16:08:57Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 5.10 psi 2021-10-10T16:08:57Z- handleDepth()-Depth_Keller msg: 1633882137209 epoch sec; seqNo:874; depth 45.02 2021-10-10T16:08:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:08:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:08:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:08:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:08:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:08:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:08:57Z- handleDvl() - RDI_Pathfinder msg: 1633882137.21 epoch sec; seqNo:370 2021-10-10T16:08:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:08:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.09 , 0.03 2021-10-10T16:08:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882137.23 epoch sec; seqNo:874; 4061600.41 north; 594459.63 east 2021-10-10T16:08:57Z- AHRS_M2 msg: 1633882137.61 epoch sec; seqNo:868 2021-10-10T16:08:57Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 5.10 psi 2021-10-10T16:08:57Z- handleDepth()-Depth_Keller msg: 1633882137618 epoch sec; seqNo:875; depth 45.04 2021-10-10T16:08:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882137.63 epoch sec; seqNo:875; 4061600.41 north; 594459.63 east 2021-10-10T16:08:58Z- AHRS_M2 msg: 1633882138.01 epoch sec; seqNo:869 2021-10-10T16:08:58Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 5.10 psi 2021-10-10T16:08:58Z- handleDepth()-Depth_Keller msg: 1633882138018 epoch sec; seqNo:876; depth 45.09 2021-10-10T16:08:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882138.03 epoch sec; seqNo:876; 4061600.79 north; 594459.63 east 2021-10-10T16:08:58Z- AHRS_M2 msg: 1633882138.42 epoch sec; seqNo:870 2021-10-10T16:08:58Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 5.10 psi 2021-10-10T16:08:58Z- handleDepth()-Depth_Keller msg: 1633882138425 epoch sec; seqNo:877; depth 45.13 2021-10-10T16:08:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882138.44 epoch sec; seqNo:877; 4061600.78 north; 594458.41 east 2021-10-10T16:08:58Z- LcmTrn::handleMessages() - handling 44 messages took 0.71 ms and 130 calls... 2021-10-10T16:08:58Z- waiting for 1633882136.19, time is 1633882138.44 2021-10-10T16:08:58Z- LcmTrn::updateTrn() >>>> pose time 1633882138.44, meas time 1633882137.21 <<<< 2021-10-10T16:08:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882137.21, ping # 0. 2021-10-10T16:08:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882137.21 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:08:58Z- TerrainNav::motionUpdate() - currEstimate = (4061601, 594458.41, 45.13) 2021-10-10T16:08:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:08:58Z- TerrainNav:: SubcloudNIS is 1.37, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:08:58Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:08:58Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:08:58Z- TNavBF::Projecting Measurements 2021-10-10T16:08:58Z- TNavFilter::Measurement from time = 1633882137.21 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:08:58Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:08:58Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:08:58Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:08:58Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:08:58Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:08:58Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:08:58Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:08:58Z- Filter 0 NorthBias: -48.8 EastBias: -48.0 DepthBias: -7.3 NorthVariance: 0.6 EastVariance: 23.4 DepthVariance: 0.8 this->DepthBiasCov: 0.8 2021-10-10T16:08:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:08:58Z- TNavBF::mmse selected from filter -1 2021-10-10T16:08:58Z- variances([0], [2], and psi_berg) = 0.609045 32.754940 0.000000 2021-10-10T16:08:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:08:58Z- LcmTrn::publishEstimates() - MLE : 4061551.28 594409.91 45.13 2021-10-10T16:08:58Z- LcmTrn::publishEstimates() - MMSE : 4061552.01 594410.48 37.81 2021-10-10T16:08:58Z- LcmTrn::publishEstimates() - COVAR: 0.61 32.75 0.91 0.00 2021-10-10T16:08:58Z- AHRS_M2 msg: 1633882138.82 epoch sec; seqNo:871 2021-10-10T16:08:58Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 5.10 psi 2021-10-10T16:08:58Z- handleDepth()-Depth_Keller msg: 1633882138832 epoch sec; seqNo:878; depth 45.16 2021-10-10T16:08:58Z- handleDvl() - RDI_Pathfinder msg: 1633882138.86 epoch sec; seqNo:371 2021-10-10T16:08:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.44 , 48.01 , 34.50 , 46.13 2021-10-10T16:08:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.01 2021-10-10T16:08:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882138.87 epoch sec; seqNo:878; 4061600.78 north; 594458.41 east 2021-10-10T16:08:59Z- AHRS_M2 msg: 1633882139.22 epoch sec; seqNo:872 2021-10-10T16:08:59Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 5.10 psi 2021-10-10T16:08:59Z- handleDepth()-Depth_Keller msg: 1633882139239 epoch sec; seqNo:879; depth 45.21 2021-10-10T16:08:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882139.25 epoch sec; seqNo:879; 4061601.16 north; 594458.40 east 2021-10-10T16:08:59Z- AHRS_M2 msg: 1633882139.63 epoch sec; seqNo:873 2021-10-10T16:08:59Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 5.10 psi 2021-10-10T16:08:59Z- handleDepth()-Depth_Keller msg: 1633882139633 epoch sec; seqNo:880; depth 45.24 2021-10-10T16:08:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882139.64 epoch sec; seqNo:880; 4061601.14 north; 594457.18 east 2021-10-10T16:09:00Z- AHRS_M2 msg: 1633882140.03 epoch sec; seqNo:874 2021-10-10T16:09:00Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:00Z- handleDepth()-Depth_Keller msg: 1633882140037 epoch sec; seqNo:881; depth 45.28 2021-10-10T16:09:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882140.05 epoch sec; seqNo:881; 4061601.14 north; 594457.18 east 2021-10-10T16:09:00Z- AHRS_M2 msg: 1633882140.44 epoch sec; seqNo:875 2021-10-10T16:09:00Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:00Z- handleDepth()-Depth_Keller msg: 1633882140445 epoch sec; seqNo:882; depth 45.31 2021-10-10T16:09:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882140.45 epoch sec; seqNo:882; 4061601.52 north; 594457.18 east 2021-10-10T16:09:00Z- AHRS_M2 msg: 1633882140.84 epoch sec; seqNo:876 2021-10-10T16:09:00Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:00Z- handleDepth()-Depth_Keller msg: 1633882140855 epoch sec; seqNo:883; depth 45.35 2021-10-10T16:09:00Z- handleDvl() - RDI_Pathfinder msg: 1633882140.88 epoch sec; seqNo:372 2021-10-10T16:09:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.81 , 47.81 , 34.31 , 45.94 2021-10-10T16:09:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.08 , 0.04 2021-10-10T16:09:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882140.89 epoch sec; seqNo:883; 4061601.51 north; 594455.96 east 2021-10-10T16:09:01Z- AHRS_M2 msg: 1633882141.24 epoch sec; seqNo:877 2021-10-10T16:09:01Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:01Z- handleDepth()-Depth_Keller msg: 1633882141249 epoch sec; seqNo:884; depth 45.38 2021-10-10T16:09:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882141.27 epoch sec; seqNo:884; 4061601.51 north; 594455.96 east 2021-10-10T16:09:01Z- AHRS_M2 msg: 1633882141.65 epoch sec; seqNo:878 2021-10-10T16:09:01Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:01Z- handleDepth()-Depth_Keller msg: 1633882141653 epoch sec; seqNo:885; depth 45.42 2021-10-10T16:09:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882141.66 epoch sec; seqNo:885; 4061601.89 north; 594455.95 east 2021-10-10T16:09:02Z- AHRS_M2 msg: 1633882142.06 epoch sec; seqNo:879 2021-10-10T16:09:02Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:02Z- handleDepth()-Depth_Keller msg: 1633882142070 epoch sec; seqNo:886; depth 45.48 2021-10-10T16:09:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:02Z- handleDvl() - RDI_Pathfinder msg: 1633882142.08 epoch sec; seqNo:373 2021-10-10T16:09:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.08 , 0.04 2021-10-10T16:09:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882142.08 epoch sec; seqNo:886; 4061601.89 north; 594455.95 east 2021-10-10T16:09:02Z- AHRS_M2 msg: 1633882142.46 epoch sec; seqNo:880 2021-10-10T16:09:02Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:02Z- handleDepth()-Depth_Keller msg: 1633882142463 epoch sec; seqNo:887; depth 45.50 2021-10-10T16:09:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882142.47 epoch sec; seqNo:887; 4061601.87 north; 594454.73 east 2021-10-10T16:09:02Z- AHRS_M2 msg: 1633882142.86 epoch sec; seqNo:881 2021-10-10T16:09:02Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:02Z- handleDepth()-Depth_Keller msg: 1633882142865 epoch sec; seqNo:888; depth 45.53 2021-10-10T16:09:02Z- handleDvl() - RDI_Pathfinder msg: 1633882142.89 epoch sec; seqNo:374 2021-10-10T16:09:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.50 , 47.25 , 34.50 , 45.75 2021-10-10T16:09:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.09 , 0.05 2021-10-10T16:09:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882142.90 epoch sec; seqNo:888; 4061601.87 north; 594454.73 east 2021-10-10T16:09:03Z- AHRS_M2 msg: 1633882143.26 epoch sec; seqNo:882 2021-10-10T16:09:03Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:03Z- handleDepth()-Depth_Keller msg: 1633882143269 epoch sec; seqNo:889; depth 45.58 2021-10-10T16:09:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:03Z- handleDvl() - RDI_Pathfinder msg: 1633882143.27 epoch sec; seqNo:375 2021-10-10T16:09:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.09 , 0.05 2021-10-10T16:09:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882143.29 epoch sec; seqNo:889; 4061602.25 north; 594454.73 east 2021-10-10T16:09:03Z- AHRS_M2 msg: 1633882143.67 epoch sec; seqNo:883 2021-10-10T16:09:03Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:03Z- handleDepth()-Depth_Keller msg: 1633882143674 epoch sec; seqNo:890; depth 45.62 2021-10-10T16:09:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882143.68 epoch sec; seqNo:890; 4061602.24 north; 594453.51 east 2021-10-10T16:09:03Z- LcmTrn::handleMessages() - handling 44 messages took 0.72 ms and 129 calls... 2021-10-10T16:09:03Z- waiting for 1633882141.44, time is 1633882143.68 2021-10-10T16:09:03Z- LcmTrn::updateTrn() >>>> pose time 1633882143.68, meas time 1633882143.27 <<<< 2021-10-10T16:09:03Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882143.27, ping # 0. 2021-10-10T16:09:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882143.27 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:03Z- TerrainNav::motionUpdate() - currEstimate = (4061602, 594453.51, 45.62) 2021-10-10T16:09:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:03Z- TerrainNav:: SubcloudNIS is 1.37, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:03Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:09:03Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:09:03Z- TNavBF::Projecting Measurements 2021-10-10T16:09:03Z- TNavFilter::Measurement from time = 1633882143.27 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:09:03Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:09:03Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:09:03Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:09:03Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:09:03Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:09:03Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:09:03Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:09:03Z- Filter 0 NorthBias: -48.8 EastBias: -47.7 DepthBias: -7.3 NorthVariance: 0.6 EastVariance: 51.3 DepthVariance: 1.2 this->DepthBiasCov: 1.1 2021-10-10T16:09:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:03Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:03Z- variances([0], [2], and psi_berg) = 0.631794 56.680737 0.000000 2021-10-10T16:09:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:09:03Z- LcmTrn::publishEstimates() - MLE : 4061552.74 594405.01 45.62 2021-10-10T16:09:03Z- LcmTrn::publishEstimates() - MMSE : 4061553.49 594405.83 38.30 2021-10-10T16:09:03Z- LcmTrn::publishEstimates() - COVAR: 0.63 56.68 1.18 0.00 2021-10-10T16:09:04Z- AHRS_M2 msg: 1633882144.08 epoch sec; seqNo:884 2021-10-10T16:09:04Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 5.10 psi 2021-10-10T16:09:04Z- handleDepth()-Depth_Keller msg: 1633882144087 epoch sec; seqNo:891; depth 45.65 2021-10-10T16:09:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882144.10 epoch sec; seqNo:891; 4061602.24 north; 594453.51 east 2021-10-10T16:09:04Z- AHRS_M2 msg: 1633882144.48 epoch sec; seqNo:885 2021-10-10T16:09:04Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.10 psi 2021-10-10T16:09:04Z- handleDepth()-Depth_Keller msg: 1633882144481 epoch sec; seqNo:892; depth 45.69 2021-10-10T16:09:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:04Z- handleDvl() - RDI_Pathfinder msg: 1633882144.48 epoch sec; seqNo:376 2021-10-10T16:09:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.09 , 0.05 2021-10-10T16:09:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882144.51 epoch sec; seqNo:892; 4061602.62 north; 594453.51 east 2021-10-10T16:09:04Z- AHRS_M2 msg: 1633882144.88 epoch sec; seqNo:886 2021-10-10T16:09:04Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.10 psi 2021-10-10T16:09:04Z- handleDepth()-Depth_Keller msg: 1633882144885 epoch sec; seqNo:893; depth 45.73 2021-10-10T16:09:05Z- handleDvl() - RDI_Pathfinder msg: 1633882144.96 epoch sec; seqNo:377 2021-10-10T16:09:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.56 , 47.44 , 34.13 , 45.75 2021-10-10T16:09:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.10 , 0.02 2021-10-10T16:09:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882145.09 epoch sec; seqNo:893; 4061602.60 north; 594452.29 east 2021-10-10T16:09:05Z- AHRS_M2 msg: 1633882145.29 epoch sec; seqNo:887 2021-10-10T16:09:05Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.10 psi 2021-10-10T16:09:05Z- handleDepth()-Depth_Keller msg: 1633882145296 epoch sec; seqNo:894; depth 45.78 2021-10-10T16:09:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882145.31 epoch sec; seqNo:894; 4061602.60 north; 594452.29 east 2021-10-10T16:09:05Z- AHRS_M2 msg: 1633882145.69 epoch sec; seqNo:888 2021-10-10T16:09:05Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.10 psi 2021-10-10T16:09:05Z- handleDepth()-Depth_Keller msg: 1633882145694 epoch sec; seqNo:895; depth 45.82 2021-10-10T16:09:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:05Z- handleDvl() - RDI_Pathfinder msg: 1633882145.70 epoch sec; seqNo:378 2021-10-10T16:09:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.10 , 0.02 2021-10-10T16:09:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882145.72 epoch sec; seqNo:895; 4061602.98 north; 594452.28 east 2021-10-10T16:09:06Z- AHRS_M2 msg: 1633882146.10 epoch sec; seqNo:889 2021-10-10T16:09:06Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.10 psi 2021-10-10T16:09:06Z- handleDepth()-Depth_Keller msg: 1633882146104 epoch sec; seqNo:896; depth 45.86 2021-10-10T16:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882146.11 epoch sec; seqNo:896; 4061602.97 north; 594451.06 east 2021-10-10T16:09:06Z- AHRS_M2 msg: 1633882146.50 epoch sec; seqNo:890 2021-10-10T16:09:06Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.10 psi 2021-10-10T16:09:06Z- handleDepth()-Depth_Keller msg: 1633882146507 epoch sec; seqNo:897; depth 45.90 2021-10-10T16:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882146.52 epoch sec; seqNo:897; 4061602.97 north; 594451.06 east 2021-10-10T16:09:06Z- AHRS_M2 msg: 1633882146.90 epoch sec; seqNo:891 2021-10-10T16:09:06Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.09 psi 2021-10-10T16:09:06Z- handleDepth()-Depth_Keller msg: 1633882146911 epoch sec; seqNo:898; depth 45.94 2021-10-10T16:09:06Z- handleDvl() - RDI_Pathfinder msg: 1633882146.93 epoch sec; seqNo:379 2021-10-10T16:09:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.44 , 46.50 , 33.38 , 45.38 2021-10-10T16:09:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.11 , 0.04 2021-10-10T16:09:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882146.94 epoch sec; seqNo:898; 4061602.97 north; 594451.06 east 2021-10-10T16:09:07Z- AHRS_M2 msg: 1633882147.30 epoch sec; seqNo:892 2021-10-10T16:09:07Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.09 psi 2021-10-10T16:09:07Z- handleDepth()-Depth_Keller msg: 1633882147309 epoch sec; seqNo:899; depth 45.99 2021-10-10T16:09:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882147.33 epoch sec; seqNo:899; 4061603.35 north; 594451.06 east 2021-10-10T16:09:07Z- AHRS_M2 msg: 1633882147.71 epoch sec; seqNo:893 2021-10-10T16:09:07Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.09 psi 2021-10-10T16:09:07Z- handleDepth()-Depth_Keller msg: 1633882147718 epoch sec; seqNo:900; depth 46.04 2021-10-10T16:09:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882147.73 epoch sec; seqNo:900; 4061603.33 north; 594449.84 east 2021-10-10T16:09:08Z- AHRS_M2 msg: 1633882148.12 epoch sec; seqNo:894 2021-10-10T16:09:08Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.09 psi 2021-10-10T16:09:08Z- handleDepth()-Depth_Keller msg: 1633882148127 epoch sec; seqNo:901; depth 46.07 2021-10-10T16:09:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:08Z- handleDvl() - RDI_Pathfinder msg: 1633882148.13 epoch sec; seqNo:380 2021-10-10T16:09:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.11 , 0.04 2021-10-10T16:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882148.14 epoch sec; seqNo:901; 4061603.33 north; 594449.84 east 2021-10-10T16:09:08Z- AHRS_M2 msg: 1633882148.52 epoch sec; seqNo:895 2021-10-10T16:09:08Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 5.09 psi 2021-10-10T16:09:08Z- handleDepth()-Depth_Keller msg: 1633882148536 epoch sec; seqNo:902; depth 46.13 2021-10-10T16:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882148.55 epoch sec; seqNo:902; 4061603.71 north; 594449.83 east 2021-10-10T16:09:08Z- LcmTrn::handleMessages() - handling 41 messages took 0.65 ms and 128 calls... 2021-10-10T16:09:08Z- waiting for 1633882146.68, time is 1633882148.55 2021-10-10T16:09:08Z- LcmTrn::updateTrn() >>>> pose time 1633882148.55, meas time 1633882148.13 <<<< 2021-10-10T16:09:08Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882148.13, ping # 0. 2021-10-10T16:09:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882148.13 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:08Z- TerrainNav::motionUpdate() - currEstimate = (4061604, 594449.83, 46.13) 2021-10-10T16:09:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:08Z- TerrainNav:: SubcloudNIS is 1.37, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:08Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:09:08Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:09:08Z- TNavBF::Projecting Measurements 2021-10-10T16:09:08Z- TNavFilter::Measurement from time = 1633882148.13 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:09:08Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:09:08Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:09:08Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:09:08Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:09:08Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:09:08Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:09:08Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:09:08Z- Filter 0 NorthBias: -48.7 EastBias: -47.5 DepthBias: -7.3 NorthVariance: 0.6 EastVariance: 72.8 DepthVariance: 1.4 this->DepthBiasCov: 1.3 2021-10-10T16:09:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:08Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:08Z- variances([0], [2], and psi_berg) = 0.651946 77.722195 0.000000 2021-10-10T16:09:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:09:08Z- LcmTrn::publishEstimates() - MLE : 4061554.21 594401.33 46.13 2021-10-10T16:09:08Z- LcmTrn::publishEstimates() - MMSE : 4061554.98 594402.38 38.82 2021-10-10T16:09:08Z- LcmTrn::publishEstimates() - COVAR: 0.65 77.72 1.38 0.00 2021-10-10T16:09:08Z- AHRS_M2 msg: 1633882148.92 epoch sec; seqNo:896 2021-10-10T16:09:08Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.09 psi 2021-10-10T16:09:08Z- handleDepth()-Depth_Keller msg: 1633882148925 epoch sec; seqNo:903; depth 46.18 2021-10-10T16:09:08Z- handleDvl() - RDI_Pathfinder msg: 1633882148.95 epoch sec; seqNo:381 2021-10-10T16:09:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.06 , 46.31 , 33.00 , 45.38 2021-10-10T16:09:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.09 2021-10-10T16:09:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882148.96 epoch sec; seqNo:903; 4061603.70 north; 594448.61 east 2021-10-10T16:09:09Z- AHRS_M2 msg: 1633882149.32 epoch sec; seqNo:897 2021-10-10T16:09:09Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.09 psi 2021-10-10T16:09:09Z- handleDepth()-Depth_Keller msg: 1633882149332 epoch sec; seqNo:904; depth 46.21 2021-10-10T16:09:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:09Z- handleDvl() - RDI_Pathfinder msg: 1633882149.33 epoch sec; seqNo:382 2021-10-10T16:09:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.09 2021-10-10T16:09:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882149.35 epoch sec; seqNo:904; 4061603.70 north; 594448.61 east 2021-10-10T16:09:09Z- AHRS_M2 msg: 1633882149.73 epoch sec; seqNo:898 2021-10-10T16:09:09Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.09 psi 2021-10-10T16:09:09Z- handleDepth()-Depth_Keller msg: 1633882149734 epoch sec; seqNo:905; depth 46.25 2021-10-10T16:09:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882149.74 epoch sec; seqNo:905; 4061604.08 north; 594448.61 east 2021-10-10T16:09:10Z- AHRS_M2 msg: 1633882150.13 epoch sec; seqNo:899 2021-10-10T16:09:10Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.10 psi 2021-10-10T16:09:10Z- handleDepth()-Depth_Keller msg: 1633882150137 epoch sec; seqNo:906; depth 46.30 2021-10-10T16:09:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882150.17 epoch sec; seqNo:906; 4061604.07 north; 594447.39 east 2021-10-10T16:09:10Z- AHRS_M2 msg: 1633882150.54 epoch sec; seqNo:900 2021-10-10T16:09:10Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 5.10 psi 2021-10-10T16:09:10Z- handleDepth()-Depth_Keller msg: 1633882150541 epoch sec; seqNo:907; depth 46.34 2021-10-10T16:09:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:10Z- handleDvl() - RDI_Pathfinder msg: 1633882150.54 epoch sec; seqNo:383 2021-10-10T16:09:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.09 2021-10-10T16:09:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882150.55 epoch sec; seqNo:907; 4061604.07 north; 594447.39 east 2021-10-10T16:09:10Z- AHRS_M2 msg: 1633882150.94 epoch sec; seqNo:901 2021-10-10T16:09:10Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.10 psi 2021-10-10T16:09:10Z- handleDepth()-Depth_Keller msg: 1633882150957 epoch sec; seqNo:908; depth 46.39 2021-10-10T16:09:10Z- handleDvl() - RDI_Pathfinder msg: 1633882150.99 epoch sec; seqNo:384 2021-10-10T16:09:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.88 , 46.50 , 32.81 , 45.38 2021-10-10T16:09:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.07 2021-10-10T16:09:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882151.00 epoch sec; seqNo:908; 4061604.44 north; 594447.38 east 2021-10-10T16:09:11Z- AHRS_M2 msg: 1633882151.35 epoch sec; seqNo:902 2021-10-10T16:09:11Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.10 psi 2021-10-10T16:09:11Z- handleDepth()-Depth_Keller msg: 1633882151350 epoch sec; seqNo:909; depth 46.43 2021-10-10T16:09:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882151.36 epoch sec; seqNo:909; 4061604.43 north; 594446.16 east 2021-10-10T16:09:11Z- AHRS_M2 msg: 1633882151.75 epoch sec; seqNo:903 2021-10-10T16:09:11Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.11 psi 2021-10-10T16:09:11Z- handleDepth()-Depth_Keller msg: 1633882151753 epoch sec; seqNo:910; depth 46.48 2021-10-10T16:09:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:11Z- handleDvl() - RDI_Pathfinder msg: 1633882151.76 epoch sec; seqNo:385 2021-10-10T16:09:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.07 2021-10-10T16:09:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882151.77 epoch sec; seqNo:910; 4061604.43 north; 594446.16 east 2021-10-10T16:09:12Z- AHRS_M2 msg: 1633882152.15 epoch sec; seqNo:904 2021-10-10T16:09:12Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.11 psi 2021-10-10T16:09:12Z- handleDepth()-Depth_Keller msg: 1633882152158 epoch sec; seqNo:911; depth 46.52 2021-10-10T16:09:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882152.17 epoch sec; seqNo:911; 4061604.43 north; 594446.16 east 2021-10-10T16:09:12Z- AHRS_M2 msg: 1633882152.56 epoch sec; seqNo:905 2021-10-10T16:09:12Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 5.11 psi 2021-10-10T16:09:12Z- handleDepth()-Depth_Keller msg: 1633882152561 epoch sec; seqNo:912; depth 46.57 2021-10-10T16:09:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882152.57 epoch sec; seqNo:912; 4061604.81 north; 594446.16 east 2021-10-10T16:09:12Z- AHRS_M2 msg: 1633882152.96 epoch sec; seqNo:906 2021-10-10T16:09:12Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.11 psi 2021-10-10T16:09:12Z- handleDepth()-Depth_Keller msg: 1633882152966 epoch sec; seqNo:913; depth 46.61 2021-10-10T16:09:12Z- handleDvl() - RDI_Pathfinder msg: 1633882152.99 epoch sec; seqNo:386 2021-10-10T16:09:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.50 , 45.93 , 32.25 , 45.56 2021-10-10T16:09:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.08 , 0.03 2021-10-10T16:09:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882153.00 epoch sec; seqNo:913; 4061604.80 north; 594444.94 east 2021-10-10T16:09:13Z- AHRS_M2 msg: 1633882153.37 epoch sec; seqNo:907 2021-10-10T16:09:13Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.11 psi 2021-10-10T16:09:13Z- handleDepth()-Depth_Keller msg: 1633882153369 epoch sec; seqNo:914; depth 46.66 2021-10-10T16:09:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882153.39 epoch sec; seqNo:914; 4061604.80 north; 594444.94 east 2021-10-10T16:09:13Z- AHRS_M2 msg: 1633882153.77 epoch sec; seqNo:908 2021-10-10T16:09:13Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.11 psi 2021-10-10T16:09:13Z- handleDepth()-Depth_Keller msg: 1633882153780 epoch sec; seqNo:915; depth 46.69 2021-10-10T16:09:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882153.79 epoch sec; seqNo:915; 4061605.18 north; 594444.93 east 2021-10-10T16:09:13Z- LcmTrn::handleMessages() - handling 45 messages took 0.73 ms and 130 calls... 2021-10-10T16:09:13Z- waiting for 1633882151.55, time is 1633882153.79 2021-10-10T16:09:13Z- LcmTrn::updateTrn() >>>> pose time 1633882153.79, meas time 1633882152.99 <<<< 2021-10-10T16:09:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882152.99 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:13Z- TerrainNav::motionUpdate() - currEstimate = (4061605, 594444.93, 46.69) 2021-10-10T16:09:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:13Z- TerrainNav:: SubcloudNIS is 1.37, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:13Z- TNavBF::Projecting Measurements 2021-10-10T16:09:13Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:09:13Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:09:13Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:09:13Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:09:13Z- TNavFilter::4 good beams. 2021-10-10T16:09:13Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:09:13Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:09:13Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:09:13Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:09:13Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:09:13Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:09:13Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:09:13Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:13Z- TerrainMapOctree: (vehN, vehE ) = (4061604.95, 594445.69). 2021-10-10T16:09:13Z- TerrainMapOctree: Min Distance = 243.58. 2021-10-10T16:09:13Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:09:14Z- Forcing Subcloud Comparison 2021-10-10T16:09:14Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:09:14Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:14Z- Filter 0 partialDeltaRmsComputation: 19.213270 terrainVariance: 0.183369 1-SumSquareWeights: 0.874709 2021-10-10T16:09:14Z- Filter 0 meanExpectedMeasDiff: -4.362328 delta_rms_squared: 0.174622 alpha: 0.897236 2021-10-10T16:09:14Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:14Z- Filter 0 partialDeltaRmsComputation: 14.333611 terrainVariance: 0.188577 1-SumSquareWeights: 0.874709 2021-10-10T16:09:14Z- Filter 0 meanExpectedMeasDiff: 3.760988 delta_rms_squared: 0.179830 alpha: 0.899915 2021-10-10T16:09:14Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:14Z- Filter 0 partialDeltaRmsComputation: 66.871284 terrainVariance: 0.045097 1-SumSquareWeights: 0.874709 2021-10-10T16:09:14Z- Filter 0 meanExpectedMeasDiff: -8.174729 delta_rms_squared: 0.036350 alpha: 0.645074 2021-10-10T16:09:14Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:14Z- Filter 0 partialDeltaRmsComputation: 84.570522 terrainVariance: 0.062502 1-SumSquareWeights: 0.874709 2021-10-10T16:09:14Z- Filter 0 meanExpectedMeasDiff: 9.192824 delta_rms_squared: 0.053755 alpha: 0.728832 2021-10-10T16:09:14Z- Filter 0 SubcloudNIS: 1.633477 2021-10-10T16:09:14Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:09:14Z- TNavBF:: Filter 0 sumWeights = 0.000001 2021-10-10T16:09:14Z- Filter 0 NorthBias: -48.7 EastBias: -45.2 DepthBias: -9.1 NorthVariance: 0.6 EastVariance: 277.3 DepthVariance: 0.7 this->DepthBiasCov: 0.6 2021-10-10T16:09:14Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882152.99 sec. 2021-10-10T16:09:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:14Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:14Z- variances([0], [2], and psi_berg) = 0.646010 280.566711 0.000000 2021-10-10T16:09:14Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T16:09:14Z- LcmTrn::publishEstimates() - MLE : 4061556.68 594396.43 46.69 2021-10-10T16:09:14Z- LcmTrn::publishEstimates() - MMSE : 4061556.47 594399.75 37.63 2021-10-10T16:09:14Z- LcmTrn::publishEstimates() - COVAR: 0.65 280.57 0.75 0.00 2021-10-10T16:09:14Z- AHRS_M2 msg: 1633882154.17 epoch sec; seqNo:909 2021-10-10T16:09:14Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.11 psi 2021-10-10T16:09:14Z- handleDepth()-Depth_Keller msg: 1633882154180 epoch sec; seqNo:916; depth 46.74 2021-10-10T16:09:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:14Z- handleDvl() - RDI_Pathfinder msg: 1633882154.18 epoch sec; seqNo:387 2021-10-10T16:09:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.08 , 0.03 2021-10-10T16:09:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882154.19 epoch sec; seqNo:916; 4061605.16 north; 594443.71 east 2021-10-10T16:09:14Z- AHRS_M2 msg: 1633882154.58 epoch sec; seqNo:910 2021-10-10T16:09:14Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.10 psi 2021-10-10T16:09:14Z- handleDepth()-Depth_Keller msg: 1633882154586 epoch sec; seqNo:917; depth 46.78 2021-10-10T16:09:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882154.60 epoch sec; seqNo:917; 4061605.16 north; 594443.71 east 2021-10-10T16:09:14Z- AHRS_M2 msg: 1633882154.98 epoch sec; seqNo:911 2021-10-10T16:09:14Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.10 psi 2021-10-10T16:09:14Z- handleDepth()-Depth_Keller msg: 1633882154985 epoch sec; seqNo:918; depth 46.84 2021-10-10T16:09:15Z- handleDvl() - RDI_Pathfinder msg: 1633882155.01 epoch sec; seqNo:388 2021-10-10T16:09:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.56 , 46.12 , 32.06 , 45.18 2021-10-10T16:09:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.04 2021-10-10T16:09:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882155.02 epoch sec; seqNo:918; 4061605.54 north; 594443.71 east 2021-10-10T16:09:15Z- AHRS_M2 msg: 1633882155.38 epoch sec; seqNo:912 2021-10-10T16:09:15Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.10 psi 2021-10-10T16:09:15Z- handleDepth()-Depth_Keller msg: 1633882155396 epoch sec; seqNo:919; depth 46.88 2021-10-10T16:09:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:15Z- handleDvl() - RDI_Pathfinder msg: 1633882155.40 epoch sec; seqNo:389 2021-10-10T16:09:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.04 2021-10-10T16:09:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882155.41 epoch sec; seqNo:919; 4061605.53 north; 594442.49 east 2021-10-10T16:09:15Z- AHRS_M2 msg: 1633882155.79 epoch sec; seqNo:913 2021-10-10T16:09:15Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.10 psi 2021-10-10T16:09:15Z- handleDepth()-Depth_Keller msg: 1633882155794 epoch sec; seqNo:920; depth 46.92 2021-10-10T16:09:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882155.80 epoch sec; seqNo:920; 4061605.53 north; 594442.49 east 2021-10-10T16:09:16Z- AHRS_M2 msg: 1633882156.19 epoch sec; seqNo:914 2021-10-10T16:09:16Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.10 psi 2021-10-10T16:09:16Z- handleDepth()-Depth_Keller msg: 1633882156197 epoch sec; seqNo:921; depth 46.97 2021-10-10T16:09:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882156.21 epoch sec; seqNo:921; 4061605.91 north; 594442.48 east 2021-10-10T16:09:16Z- AHRS_M2 msg: 1633882156.60 epoch sec; seqNo:915 2021-10-10T16:09:16Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.10 psi 2021-10-10T16:09:16Z- handleDepth()-Depth_Keller msg: 1633882156601 epoch sec; seqNo:922; depth 47.03 2021-10-10T16:09:16Z- handleDvl() - RDI_Pathfinder msg: 1633882156.62 epoch sec; seqNo:390 2021-10-10T16:09:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 46.31 , 31.87 , 45.00 2021-10-10T16:09:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.07 2021-10-10T16:09:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882156.65 epoch sec; seqNo:922; 4061605.89 north; 594441.26 east 2021-10-10T16:09:17Z- AHRS_M2 msg: 1633882157.00 epoch sec; seqNo:916 2021-10-10T16:09:17Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.10 psi 2021-10-10T16:09:17Z- handleDepth()-Depth_Keller msg: 1633882157006 epoch sec; seqNo:923; depth 47.07 2021-10-10T16:09:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882157.02 epoch sec; seqNo:923; 4061605.89 north; 594441.26 east 2021-10-10T16:09:17Z- AHRS_M2 msg: 1633882157.40 epoch sec; seqNo:917 2021-10-10T16:09:17Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:17Z- handleDepth()-Depth_Keller msg: 1633882157420 epoch sec; seqNo:924; depth 47.12 2021-10-10T16:09:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882157.43 epoch sec; seqNo:924; 4061606.27 north; 594441.26 east 2021-10-10T16:09:17Z- AHRS_M2 msg: 1633882157.81 epoch sec; seqNo:918 2021-10-10T16:09:17Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:17Z- handleDepth()-Depth_Keller msg: 1633882157813 epoch sec; seqNo:925; depth 47.17 2021-10-10T16:09:17Z- handleDvl() - RDI_Pathfinder msg: 1633882157.85 epoch sec; seqNo:391 2021-10-10T16:09:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 46.12 , 31.87 , 45.18 2021-10-10T16:09:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.10 , 0.07 2021-10-10T16:09:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882157.86 epoch sec; seqNo:925; 4061606.26 north; 594440.04 east 2021-10-10T16:09:18Z- AHRS_M2 msg: 1633882158.22 epoch sec; seqNo:919 2021-10-10T16:09:18Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.10 psi 2021-10-10T16:09:18Z- handleDepth()-Depth_Keller msg: 1633882158220 epoch sec; seqNo:926; depth 47.23 2021-10-10T16:09:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882158.24 epoch sec; seqNo:926; 4061606.26 north; 594440.04 east 2021-10-10T16:09:18Z- AHRS_M2 msg: 1633882158.62 epoch sec; seqNo:920 2021-10-10T16:09:18Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:18Z- handleDepth()-Depth_Keller msg: 1633882158624 epoch sec; seqNo:927; depth 47.27 2021-10-10T16:09:18Z- handleDvl() - RDI_Pathfinder msg: 1633882158.64 epoch sec; seqNo:392 2021-10-10T16:09:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.62 , 46.31 , 31.87 , 45.18 2021-10-10T16:09:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.12 , 0.06 2021-10-10T16:09:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882158.68 epoch sec; seqNo:927; 4061606.64 north; 594440.04 east 2021-10-10T16:09:19Z- AHRS_M2 msg: 1633882159.02 epoch sec; seqNo:921 2021-10-10T16:09:19Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:19Z- handleDepth()-Depth_Keller msg: 1633882159026 epoch sec; seqNo:928; depth 47.33 2021-10-10T16:09:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:19Z- handleDvl() - RDI_Pathfinder msg: 1633882159.03 epoch sec; seqNo:393 2021-10-10T16:09:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.12 , 0.06 2021-10-10T16:09:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882159.04 epoch sec; seqNo:928; 4061606.64 north; 594440.04 east 2021-10-10T16:09:19Z- LcmTrn::handleMessages() - handling 46 messages took 0.80 ms and 130 calls... 2021-10-10T16:09:19Z- waiting for 1633882156.79, time is 1633882159.04 2021-10-10T16:09:19Z- LcmTrn::updateTrn() equating pose 1633882159.04 and meas times 1633882159.04 2021-10-10T16:09:19Z- LcmTrn::updateTrn() >>>> pose time 1633882159.04, meas time 1633882159.04 <<<< 2021-10-10T16:09:19Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882159.04, ping # 0. 2021-10-10T16:09:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882159.04 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:19Z- TerrainNav::motionUpdate() - currEstimate = (4061607, 594440.04, 47.33) 2021-10-10T16:09:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:19Z- TerrainNav:: SubcloudNIS of 1.63 exceeds the maximum allowed of 1.40. Re-initializing the filter. 2021-10-10T16:09:19Z- reinitFilter: getDistribToSave == 0 2021-10-10T16:09:19Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T16:09:19Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T16:09:19Z- Sensor 0 is of type 1. 2021-10-10T16:09:19Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T16:09:19Z- Sensor 1 is of type 2. 2021-10-10T16:09:19Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T16:09:19Z- Sensor 2 is of type 5. 2021-10-10T16:09:19Z- Random noise maker initialized with 1633882159 2021-10-10T16:09:19Z- setDistribToSave(0) 2021-10-10T16:09:19Z- setDistribToSave set to 0 2021-10-10T16:09:19Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T16:09:19Z- Sensor #1: 2021-10-10T16:09:19Z- Sensor name: rdiDVL 2021-10-10T16:09:19Z- Sensor type: 1 2021-10-10T16:09:19Z- Number of beams per measurement: 4 2021-10-10T16:09:19Z- Sensor #1 to vehicle transformation information: 2021-10-10T16:09:19Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:09:19Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:09:19Z- 2021-10-10T16:09:19Z- Sensor #2: 2021-10-10T16:09:19Z- Sensor name: resonSeabat8101 2021-10-10T16:09:19Z- Sensor type: 2 2021-10-10T16:09:19Z- Number of beams per measurement: 11 2021-10-10T16:09:19Z- Sensor #2 to vehicle transformation information: 2021-10-10T16:09:19Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:09:19Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:09:19Z- 2021-10-10T16:09:19Z- Sensor #3: 2021-10-10T16:09:19Z- Sensor name: imagenexdeltat 2021-10-10T16:09:19Z- Sensor type: 5 2021-10-10T16:09:19Z- Number of beams per measurement: 120 2021-10-10T16:09:19Z- Sensor #3 to vehicle transformation information: 2021-10-10T16:09:19Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:09:19Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:09:19Z- 2021-10-10T16:09:19Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T16:09:19Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T16:09:19Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T16:09:19Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T16:09:19Z- TNavBF::numFilters: 1 2021-10-10T16:09:19Z- TerrainNav::modified weighting set to 0 2021-10-10T16:09:19Z- setDistribToSave(0) 2021-10-10T16:09:19Z- setDistribToSave set to 0 2021-10-10T16:09:19Z- TerrainNav::motionUpdate() - filter unhealthy, skipping this update 2021-10-10T16:09:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T16:09:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T16:09:19Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:09:19Z- LcmTrn::publishEstimates() - MLE : 4061556.68 594396.43 46.69 2021-10-10T16:09:19Z- LcmTrn::publishEstimates() - MMSE : 4061556.47 594399.75 37.63 2021-10-10T16:09:19Z- LcmTrn::publishEstimates() - COVAR: 0.65 280.57 0.75 0.00 2021-10-10T16:09:19Z- AHRS_M2 msg: 1633882159.43 epoch sec; seqNo:922 2021-10-10T16:09:19Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:19Z- handleDepth()-Depth_Keller msg: 1633882159443 epoch sec; seqNo:929; depth 47.37 2021-10-10T16:09:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882159.45 epoch sec; seqNo:929; 4061606.62 north; 594438.82 east 2021-10-10T16:09:19Z- AHRS_M2 msg: 1633882159.83 epoch sec; seqNo:923 2021-10-10T16:09:19Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:19Z- handleDepth()-Depth_Keller msg: 1633882159833 epoch sec; seqNo:930; depth 47.42 2021-10-10T16:09:19Z- handleDvl() - RDI_Pathfinder msg: 1633882159.86 epoch sec; seqNo:394 2021-10-10T16:09:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.25 , 45.75 , 31.68 , 45.56 2021-10-10T16:09:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.11 , 0.05 2021-10-10T16:09:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882159.87 epoch sec; seqNo:930; 4061606.62 north; 594438.82 east 2021-10-10T16:09:20Z- AHRS_M2 msg: 1633882160.24 epoch sec; seqNo:924 2021-10-10T16:09:20Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:20Z- handleDepth()-Depth_Keller msg: 1633882160241 epoch sec; seqNo:931; depth 47.48 2021-10-10T16:09:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:20Z- handleDvl() - RDI_Pathfinder msg: 1633882160.24 epoch sec; seqNo:395 2021-10-10T16:09:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.11 , 0.05 2021-10-10T16:09:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882160.26 epoch sec; seqNo:931; 4061607.00 north; 594438.81 east 2021-10-10T16:09:20Z- AHRS_M2 msg: 1633882160.65 epoch sec; seqNo:925 2021-10-10T16:09:20Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:20Z- handleDepth()-Depth_Keller msg: 1633882160651 epoch sec; seqNo:932; depth 47.55 2021-10-10T16:09:20Z- handleDvl() - RDI_Pathfinder msg: 1633882160.67 epoch sec; seqNo:396 2021-10-10T16:09:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.32 , 45.34 , 31.70 , 45.17 2021-10-10T16:09:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.10 , 0.06 2021-10-10T16:09:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882160.70 epoch sec; seqNo:932; 4061606.99 north; 594437.59 east 2021-10-10T16:09:21Z- AHRS_M2 msg: 1633882161.04 epoch sec; seqNo:926 2021-10-10T16:09:21Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:21Z- handleDepth()-Depth_Keller msg: 1633882161045 epoch sec; seqNo:933; depth 47.59 2021-10-10T16:09:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882161.07 epoch sec; seqNo:933; 4061606.99 north; 594437.59 east 2021-10-10T16:09:21Z- AHRS_M2 msg: 1633882161.45 epoch sec; seqNo:927 2021-10-10T16:09:21Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:21Z- handleDepth()-Depth_Keller msg: 1633882161455 epoch sec; seqNo:934; depth 47.65 2021-10-10T16:09:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:21Z- handleDvl() - RDI_Pathfinder msg: 1633882161.46 epoch sec; seqNo:397 2021-10-10T16:09:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.10 , 0.06 2021-10-10T16:09:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882161.48 epoch sec; seqNo:934; 4061607.37 north; 594437.59 east 2021-10-10T16:09:21Z- AHRS_M2 msg: 1633882161.85 epoch sec; seqNo:928 2021-10-10T16:09:21Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:21Z- handleDepth()-Depth_Keller msg: 1633882161853 epoch sec; seqNo:935; depth 47.71 2021-10-10T16:09:21Z- handleDvl() - RDI_Pathfinder msg: 1633882161.87 epoch sec; seqNo:398 2021-10-10T16:09:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.49 , 45.00 , 31.53 , 44.66 2021-10-10T16:09:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , 0.07 2021-10-10T16:09:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882161.91 epoch sec; seqNo:935; 4061607.35 north; 594436.37 east 2021-10-10T16:09:22Z- AHRS_M2 msg: 1633882162.26 epoch sec; seqNo:929 2021-10-10T16:09:22Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:22Z- handleDepth()-Depth_Keller msg: 1633882162260 epoch sec; seqNo:936; depth 47.77 2021-10-10T16:09:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882162.28 epoch sec; seqNo:936; 4061607.35 north; 594436.37 east 2021-10-10T16:09:22Z- AHRS_M2 msg: 1633882162.68 epoch sec; seqNo:930 2021-10-10T16:09:22Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:22Z- handleDepth()-Depth_Keller msg: 1633882162682 epoch sec; seqNo:937; depth 47.82 2021-10-10T16:09:22Z- handleDvl() - RDI_Pathfinder msg: 1633882162.70 epoch sec; seqNo:399 2021-10-10T16:09:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.15 , 44.83 , 31.36 , 44.83 2021-10-10T16:09:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.07 , 0.08 2021-10-10T16:09:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882162.71 epoch sec; seqNo:937; 4061607.73 north; 594436.36 east 2021-10-10T16:09:23Z- handleDepth()-Depth_Keller msg: 1633882163079 epoch sec; seqNo:938; depth 47.89 2021-10-10T16:09:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882163.10 epoch sec; seqNo:938; 4061607.72 north; 594435.14 east 2021-10-10T16:09:23Z- AHRS_M2 msg: 1633882163.47 epoch sec; seqNo:931 2021-10-10T16:09:23Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.08 psi 2021-10-10T16:09:23Z- handleDepth()-Depth_Keller msg: 1633882163481 epoch sec; seqNo:939; depth 47.95 2021-10-10T16:09:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882163.49 epoch sec; seqNo:939; 4061607.72 north; 594435.14 east 2021-10-10T16:09:23Z- AHRS_M2 msg: 1633882163.87 epoch sec; seqNo:932 2021-10-10T16:09:23Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.08 psi 2021-10-10T16:09:23Z- handleDepth()-Depth_Keller msg: 1633882163875 epoch sec; seqNo:940; depth 48.01 2021-10-10T16:09:23Z- handleDvl() - RDI_Pathfinder msg: 1633882163.90 epoch sec; seqNo:400 2021-10-10T16:09:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.97 , 44.65 , 31.53 , 43.80 2021-10-10T16:09:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.10 2021-10-10T16:09:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882163.91 epoch sec; seqNo:940; 4061608.10 north; 594435.14 east 2021-10-10T16:09:24Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T16:09:24Z- waiting for 1633882162.04, time is 1633882163.91 2021-10-10T16:09:24Z- LcmTrn::updateTrn() equating pose 1633882163.91 and meas times 1633882163.91 2021-10-10T16:09:24Z- LcmTrn::updateTrn() >>>> pose time 1633882163.91, meas time 1633882163.91 <<<< 2021-10-10T16:09:24Z- TerrainNav::Measurement type 1 from time = 1633882163.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T16:09:24Z- TerrainNav::motionUpdate() - currEstimate = (4061608, 594435.14, 48.01) 2021-10-10T16:09:24Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-10-10T16:09:24Z- TNavBF: Successfully initialized particles 2021-10-10T16:09:24Z- TerrainNav:: vehicle motion has been initialized 2021-10-10T16:09:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:24Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:24Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-10-10T16:09:24Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:09:24Z- LcmTrn::publishEstimates() - MLE : 4061509.86 594338.19 40.71 2021-10-10T16:09:24Z- LcmTrn::publishEstimates() - MMSE : 4061559.36 594387.69 40.71 2021-10-10T16:09:24Z- LcmTrn::publishEstimates() - COVAR: 833.25 833.25 25.00 0.00 2021-10-10T16:09:24Z- AHRS_M2 msg: 1633882164.27 epoch sec; seqNo:933 2021-10-10T16:09:24Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.08 psi 2021-10-10T16:09:24Z- handleDepth()-Depth_Keller msg: 1633882164278 epoch sec; seqNo:941; depth 48.05 2021-10-10T16:09:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882164.30 epoch sec; seqNo:941; 4061608.10 north; 594435.14 east 2021-10-10T16:09:24Z- AHRS_M2 msg: 1633882164.70 epoch sec; seqNo:934 2021-10-10T16:09:24Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.08 psi 2021-10-10T16:09:24Z- handleDepth()-Depth_Keller msg: 1633882164706 epoch sec; seqNo:942; depth 48.10 2021-10-10T16:09:24Z- handleDvl() - RDI_Pathfinder msg: 1633882164.73 epoch sec; seqNo:401 2021-10-10T16:09:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.63 , 44.48 , 31.53 , 43.80 2021-10-10T16:09:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.09 2021-10-10T16:09:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882164.74 epoch sec; seqNo:942; 4061608.08 north; 594433.92 east 2021-10-10T16:09:25Z- AHRS_M2 msg: 1633882165.08 epoch sec; seqNo:935 2021-10-10T16:09:25Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:25Z- handleDepth()-Depth_Keller msg: 1633882165085 epoch sec; seqNo:943; depth 48.17 2021-10-10T16:09:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:25Z- handleDvl() - RDI_Pathfinder msg: 1633882165.09 epoch sec; seqNo:402 2021-10-10T16:09:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.09 2021-10-10T16:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882165.10 epoch sec; seqNo:943; 4061608.46 north; 594433.91 east 2021-10-10T16:09:25Z- AHRS_M2 msg: 1633882165.49 epoch sec; seqNo:936 2021-10-10T16:09:25Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:25Z- handleDepth()-Depth_Keller msg: 1633882165496 epoch sec; seqNo:944; depth 48.21 2021-10-10T16:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882165.51 epoch sec; seqNo:944; 4061608.46 north; 594433.91 east 2021-10-10T16:09:25Z- AHRS_M2 msg: 1633882165.89 epoch sec; seqNo:937 2021-10-10T16:09:25Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:25Z- handleDepth()-Depth_Keller msg: 1633882165905 epoch sec; seqNo:945; depth 48.27 2021-10-10T16:09:25Z- handleDvl() - RDI_Pathfinder msg: 1633882165.92 epoch sec; seqNo:403 2021-10-10T16:09:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.14 , 44.48 , 31.36 , 43.80 2021-10-10T16:09:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.07 , 0.07 2021-10-10T16:09:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882165.97 epoch sec; seqNo:945; 4061608.45 north; 594432.69 east 2021-10-10T16:09:26Z- AHRS_M2 msg: 1633882166.29 epoch sec; seqNo:938 2021-10-10T16:09:26Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:26Z- handleDepth()-Depth_Keller msg: 1633882166298 epoch sec; seqNo:946; depth 48.32 2021-10-10T16:09:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:26Z- handleDvl() - RDI_Pathfinder msg: 1633882166.30 epoch sec; seqNo:404 2021-10-10T16:09:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.07 , 0.07 2021-10-10T16:09:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882166.32 epoch sec; seqNo:946; 4061608.83 north; 594432.69 east 2021-10-10T16:09:26Z- AHRS_M2 msg: 1633882166.72 epoch sec; seqNo:939 2021-10-10T16:09:26Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 5.09 psi 2021-10-10T16:09:26Z- handleDepth()-Depth_Keller msg: 1633882166731 epoch sec; seqNo:947; depth 48.36 2021-10-10T16:09:26Z- handleDvl() - RDI_Pathfinder msg: 1633882166.75 epoch sec; seqNo:405 2021-10-10T16:09:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.80 , 44.31 , 31.53 , 43.12 2021-10-10T16:09:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.08 , 0.03 2021-10-10T16:09:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882166.78 epoch sec; seqNo:947; 4061608.83 north; 594432.69 east 2021-10-10T16:09:27Z- AHRS_M2 msg: 1633882167.10 epoch sec; seqNo:940 2021-10-10T16:09:27Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:27Z- handleDepth()-Depth_Keller msg: 1633882167105 epoch sec; seqNo:948; depth 48.41 2021-10-10T16:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882167.12 epoch sec; seqNo:948; 4061608.82 north; 594431.47 east 2021-10-10T16:09:27Z- AHRS_M2 msg: 1633882167.50 epoch sec; seqNo:941 2021-10-10T16:09:27Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:27Z- handleDepth()-Depth_Keller msg: 1633882167515 epoch sec; seqNo:949; depth 48.44 2021-10-10T16:09:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:27Z- handleDvl() - RDI_Pathfinder msg: 1633882167.52 epoch sec; seqNo:406 2021-10-10T16:09:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.08 , 0.03 2021-10-10T16:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882167.53 epoch sec; seqNo:949; 4061608.82 north; 594431.47 east 2021-10-10T16:09:27Z- AHRS_M2 msg: 1633882167.91 epoch sec; seqNo:942 2021-10-10T16:09:27Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:27Z- handleDepth()-Depth_Keller msg: 1633882167915 epoch sec; seqNo:950; depth 48.49 2021-10-10T16:09:27Z- handleDvl() - RDI_Pathfinder msg: 1633882167.93 epoch sec; seqNo:407 2021-10-10T16:09:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.95 , 44.14 , 31.36 , 42.78 2021-10-10T16:09:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.08 , 0.01 2021-10-10T16:09:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882167.95 epoch sec; seqNo:950; 4061609.19 north; 594431.46 east 2021-10-10T16:09:28Z- AHRS_M2 msg: 1633882168.32 epoch sec; seqNo:943 2021-10-10T16:09:28Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:28Z- handleDepth()-Depth_Keller msg: 1633882168328 epoch sec; seqNo:951; depth 48.54 2021-10-10T16:09:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882168.35 epoch sec; seqNo:951; 4061609.19 north; 594431.46 east 2021-10-10T16:09:28Z- AHRS_M2 msg: 1633882168.74 epoch sec; seqNo:944 2021-10-10T16:09:28Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 5.09 psi 2021-10-10T16:09:28Z- handleDepth()-Depth_Keller msg: 1633882168758 epoch sec; seqNo:952; depth 48.59 2021-10-10T16:09:28Z- handleDvl() - RDI_Pathfinder msg: 1633882168.78 epoch sec; seqNo:408 2021-10-10T16:09:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.12 , 43.46 , 31.19 , 41.92 2021-10-10T16:09:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , -0.01 2021-10-10T16:09:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882168.79 epoch sec; seqNo:952; 4061609.18 north; 594430.24 east 2021-10-10T16:09:29Z- AHRS_M2 msg: 1633882169.13 epoch sec; seqNo:945 2021-10-10T16:09:29Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.09 psi 2021-10-10T16:09:29Z- handleDepth()-Depth_Keller msg: 1633882169133 epoch sec; seqNo:953; depth 48.64 2021-10-10T16:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882169.15 epoch sec; seqNo:953; 4061609.56 north; 594430.24 east 2021-10-10T16:09:29Z- LcmTrn::handleMessages() - handling 47 messages took 0.73 ms and 132 calls... 2021-10-10T16:09:29Z- waiting for 1633882166.91, time is 1633882169.15 2021-10-10T16:09:29Z- LcmTrn::updateTrn() >>>> pose time 1633882169.15, meas time 1633882168.78 <<<< 2021-10-10T16:09:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882168.78 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:29Z- TerrainNav::motionUpdate() - currEstimate = (4061610, 594430.24, 48.64) 2021-10-10T16:09:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:29Z- TNavBF::Projecting Measurements 2021-10-10T16:09:29Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:09:29Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:09:29Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:09:29Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:09:29Z- TNavFilter::4 good beams. 2021-10-10T16:09:29Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:09:29Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:09:29Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:09:29Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:09:29Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:09:29Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:09:29Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:09:29Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:29Z- TerrainMapOctree: (vehN, vehE ) = (4061609.46, 594430.59). 2021-10-10T16:09:29Z- TerrainMapOctree: Min Distance = 228.83. 2021-10-10T16:09:29Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:09:29Z- Forcing Subcloud Comparison 2021-10-10T16:09:29Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:09:29Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:29Z- Filter 0 partialDeltaRmsComputation: 9.665461 terrainVariance: 2.668143 1-SumSquareWeights: 0.999900 2021-10-10T16:09:29Z- Filter 0 meanExpectedMeasDiff: -2.645244 delta_rms_squared: 2.658144 alpha: 0.992532 2021-10-10T16:09:29Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:29Z- Filter 0 partialDeltaRmsComputation: 10.839371 terrainVariance: 9.985258 1-SumSquareWeights: 0.999900 2021-10-10T16:09:29Z- Filter 0 meanExpectedMeasDiff: 0.924182 delta_rms_squared: 9.975259 alpha: 0.997999 2021-10-10T16:09:29Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:29Z- Filter 0 partialDeltaRmsComputation: 30.611579 terrainVariance: 3.556115 1-SumSquareWeights: 0.999900 2021-10-10T16:09:29Z- Filter 0 meanExpectedMeasDiff: -5.201487 delta_rms_squared: 3.546116 alpha: 0.994392 2021-10-10T16:09:29Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:29Z- Filter 0 partialDeltaRmsComputation: 48.689335 terrainVariance: 1.876992 1-SumSquareWeights: 0.999900 2021-10-10T16:09:29Z- Filter 0 meanExpectedMeasDiff: 6.841955 delta_rms_squared: 1.866993 alpha: 0.989401 2021-10-10T16:09:29Z- Filter 0 SubcloudNIS: 0.084115 2021-10-10T16:09:29Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:09:29Z- TNavBF:: Filter 0 sumWeights = 0.000970 2021-10-10T16:09:29Z- Filter 0 NorthBias: -50.8 EastBias: -23.1 DepthBias: -24.8 NorthVariance: 909.0 EastVariance: 827.1 DepthVariance: 5.1 this->DepthBiasCov: 0.9 2021-10-10T16:09:29Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882168.78 sec. 2021-10-10T16:09:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:29Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:29Z- variances([0], [2], and psi_berg) = 908.855310 827.775033 0.000000 2021-10-10T16:09:29Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:09:29Z- LcmTrn::publishEstimates() - MLE : 4061572.32 594427.29 41.33 2021-10-10T16:09:29Z- LcmTrn::publishEstimates() - MMSE : 4061558.73 594407.13 23.86 2021-10-10T16:09:29Z- LcmTrn::publishEstimates() - COVAR: 908.86 827.78 5.12 0.00 2021-10-10T16:09:29Z- AHRS_M2 msg: 1633882169.53 epoch sec; seqNo:946 2021-10-10T16:09:29Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.09 psi 2021-10-10T16:09:29Z- handleDepth()-Depth_Keller msg: 1633882169530 epoch sec; seqNo:954; depth 48.68 2021-10-10T16:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882169.54 epoch sec; seqNo:954; 4061609.56 north; 594430.24 east 2021-10-10T16:09:29Z- AHRS_M2 msg: 1633882169.93 epoch sec; seqNo:947 2021-10-10T16:09:29Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.09 psi 2021-10-10T16:09:29Z- handleDepth()-Depth_Keller msg: 1633882169933 epoch sec; seqNo:955; depth 48.71 2021-10-10T16:09:29Z- handleDvl() - RDI_Pathfinder msg: 1633882169.96 epoch sec; seqNo:409 2021-10-10T16:09:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.29 , 42.44 , 31.19 , 31.00 2021-10-10T16:09:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.01 2021-10-10T16:09:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882169.97 epoch sec; seqNo:955; 4061609.55 north; 594429.02 east 2021-10-10T16:09:30Z- AHRS_M2 msg: 1633882170.34 epoch sec; seqNo:948 2021-10-10T16:09:30Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 5.08 psi 2021-10-10T16:09:30Z- handleDepth()-Depth_Keller msg: 1633882170340 epoch sec; seqNo:956; depth 48.76 2021-10-10T16:09:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882170.36 epoch sec; seqNo:956; 4061609.93 north; 594429.02 east 2021-10-10T16:09:30Z- AHRS_M2 msg: 1633882170.76 epoch sec; seqNo:949 2021-10-10T16:09:30Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 5.08 psi 2021-10-10T16:09:30Z- handleDepth()-Depth_Keller msg: 1633882170777 epoch sec; seqNo:957; depth 48.82 2021-10-10T16:09:30Z- handleDvl() - RDI_Pathfinder msg: 1633882170.81 epoch sec; seqNo:410 2021-10-10T16:09:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.07 , 40.95 , 31.75 , 39.73 2021-10-10T16:09:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.09 , 0.04 2021-10-10T16:09:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882170.82 epoch sec; seqNo:957; 4061609.93 north; 594429.02 east 2021-10-10T16:09:31Z- AHRS_M2 msg: 1633882171.14 epoch sec; seqNo:950 2021-10-10T16:09:31Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 5.07 psi 2021-10-10T16:09:31Z- handleDepth()-Depth_Keller msg: 1633882171153 epoch sec; seqNo:958; depth 48.87 2021-10-10T16:09:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:31Z- handleDvl() - RDI_Pathfinder msg: 1633882171.16 epoch sec; seqNo:411 2021-10-10T16:09:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.09 , 0.04 2021-10-10T16:09:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882171.17 epoch sec; seqNo:958; 4061609.91 north; 594427.79 east 2021-10-10T16:09:31Z- AHRS_M2 msg: 1633882171.54 epoch sec; seqNo:951 2021-10-10T16:09:31Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 5.07 psi 2021-10-10T16:09:31Z- handleDepth()-Depth_Keller msg: 1633882171549 epoch sec; seqNo:959; depth 48.91 2021-10-10T16:09:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882171.56 epoch sec; seqNo:959; 4061610.29 north; 594427.79 east 2021-10-10T16:09:31Z- AHRS_M2 msg: 1633882171.95 epoch sec; seqNo:952 2021-10-10T16:09:31Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 5.06 psi 2021-10-10T16:09:31Z- handleDepth()-Depth_Keller msg: 1633882171953 epoch sec; seqNo:960; depth 48.96 2021-10-10T16:09:31Z- handleDvl() - RDI_Pathfinder msg: 1633882171.97 epoch sec; seqNo:412 2021-10-10T16:09:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.95 , 41.58 , 32.04 , 33.00 2021-10-10T16:09:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.10 , 0.08 2021-10-10T16:09:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882172.01 epoch sec; seqNo:960; 4061610.29 north; 594427.79 east 2021-10-10T16:09:32Z- AHRS_M2 msg: 1633882172.36 epoch sec; seqNo:953 2021-10-10T16:09:32Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 5.06 psi 2021-10-10T16:09:32Z- handleDepth()-Depth_Keller msg: 1633882172361 epoch sec; seqNo:961; depth 49.02 2021-10-10T16:09:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:32Z- handleDvl() - RDI_Pathfinder msg: 1633882172.36 epoch sec; seqNo:413 2021-10-10T16:09:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.10 , 0.08 2021-10-10T16:09:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882172.38 epoch sec; seqNo:961; 4061610.28 north; 594426.57 east 2021-10-10T16:09:32Z- AHRS_M2 msg: 1633882172.78 epoch sec; seqNo:954 2021-10-10T16:09:32Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 5.06 psi 2021-10-10T16:09:32Z- handleDepth()-Depth_Keller msg: 1633882172789 epoch sec; seqNo:962; depth 49.06 2021-10-10T16:09:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882172.83 epoch sec; seqNo:962; 4061610.28 north; 594426.57 east 2021-10-10T16:09:33Z- AHRS_M2 msg: 1633882173.16 epoch sec; seqNo:955 2021-10-10T16:09:33Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 5.05 psi 2021-10-10T16:09:33Z- handleDepth()-Depth_Keller msg: 1633882173165 epoch sec; seqNo:963; depth 49.11 2021-10-10T16:09:33Z- handleDvl() - RDI_Pathfinder msg: 1633882173.19 epoch sec; seqNo:414 2021-10-10T16:09:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.07 , 40.19 , 32.06 , 36.35 2021-10-10T16:09:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.10 , 0.10 2021-10-10T16:09:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882173.21 epoch sec; seqNo:963; 4061610.66 north; 594426.57 east 2021-10-10T16:09:33Z- AHRS_M2 msg: 1633882173.56 epoch sec; seqNo:956 2021-10-10T16:09:33Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 5.05 psi 2021-10-10T16:09:33Z- handleDepth()-Depth_Keller msg: 1633882173572 epoch sec; seqNo:964; depth 49.17 2021-10-10T16:09:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:33Z- handleDvl() - RDI_Pathfinder msg: 1633882173.57 epoch sec; seqNo:415 2021-10-10T16:09:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.10 , 0.10 2021-10-10T16:09:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882173.59 epoch sec; seqNo:964; 4061610.64 north; 594425.35 east 2021-10-10T16:09:33Z- AHRS_M2 msg: 1633882173.97 epoch sec; seqNo:957 2021-10-10T16:09:33Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 5.05 psi 2021-10-10T16:09:33Z- handleDepth()-Depth_Keller msg: 1633882173974 epoch sec; seqNo:965; depth 49.21 2021-10-10T16:09:34Z- handleDvl() - RDI_Pathfinder msg: 1633882174.00 epoch sec; seqNo:416 2021-10-10T16:09:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.92 , 39.73 , 32.06 , 36.04 2021-10-10T16:09:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , 0.11 2021-10-10T16:09:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882174.03 epoch sec; seqNo:965; 4061610.64 north; 594425.35 east 2021-10-10T16:09:34Z- AHRS_M2 msg: 1633882174.37 epoch sec; seqNo:958 2021-10-10T16:09:34Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 5.05 psi 2021-10-10T16:09:34Z- handleDepth()-Depth_Keller msg: 1633882174383 epoch sec; seqNo:966; depth 49.26 2021-10-10T16:09:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882174.40 epoch sec; seqNo:966; 4061611.02 north; 594425.34 east 2021-10-10T16:09:34Z- LcmTrn::handleMessages() - handling 47 messages took 0.85 ms and 130 calls... 2021-10-10T16:09:34Z- waiting for 1633882172.15, time is 1633882174.40 2021-10-10T16:09:34Z- LcmTrn::updateTrn() >>>> pose time 1633882174.40, meas time 1633882174.00 <<<< 2021-10-10T16:09:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882174.00 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:34Z- TerrainNav::motionUpdate() - currEstimate = (4061611, 594425.34, 49.26) 2021-10-10T16:09:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:34Z- TerrainNav:: SubcloudNIS is 0.08, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:34Z- TNavBF::Projecting Measurements 2021-10-10T16:09:34Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:09:34Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:09:34Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:09:34Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:09:34Z- TNavFilter::4 good beams. 2021-10-10T16:09:34Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:09:34Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:09:34Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:09:34Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:09:34Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:09:34Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:09:34Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:09:34Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:34Z- TerrainMapOctree: (vehN, vehE ) = (4061610.91, 594425.72). 2021-10-10T16:09:34Z- TerrainMapOctree: Min Distance = 224.10. 2021-10-10T16:09:34Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:09:34Z- Forcing Subcloud Comparison 2021-10-10T16:09:34Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:09:34Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:34Z- Filter 0 partialDeltaRmsComputation: 5.355842 terrainVariance: 1.341149 1-SumSquareWeights: 0.999119 2021-10-10T16:09:34Z- Filter 0 meanExpectedMeasDiff: -2.003670 delta_rms_squared: 1.331158 alpha: 0.985198 2021-10-10T16:09:34Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:34Z- Filter 0 partialDeltaRmsComputation: 9.145107 terrainVariance: 4.807161 1-SumSquareWeights: 0.999119 2021-10-10T16:09:34Z- Filter 0 meanExpectedMeasDiff: -2.082774 delta_rms_squared: 4.797170 alpha: 0.995848 2021-10-10T16:09:34Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:34Z- Filter 0 partialDeltaRmsComputation: 3.219344 terrainVariance: 2.364945 1-SumSquareWeights: 0.999119 2021-10-10T16:09:34Z- Filter 0 meanExpectedMeasDiff: -0.924337 delta_rms_squared: 2.354954 alpha: 0.991579 2021-10-10T16:09:34Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:34Z- Filter 0 partialDeltaRmsComputation: 6.248976 terrainVariance: 1.201683 1-SumSquareWeights: 0.999119 2021-10-10T16:09:34Z- Filter 0 meanExpectedMeasDiff: 2.246618 delta_rms_squared: 1.191692 alpha: 0.983494 2021-10-10T16:09:34Z- Filter 0 SubcloudNIS: 0.096317 2021-10-10T16:09:34Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:09:34Z- TNavBF:: Filter 0 sumWeights = 0.086124 2021-10-10T16:09:34Z- Filter 0 NorthBias: -49.4 EastBias: -27.8 DepthBias: -26.0 NorthVariance: 1144.7 EastVariance: 859.5 DepthVariance: 4.6 this->DepthBiasCov: 0.5 2021-10-10T16:09:34Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882174.00 sec. 2021-10-10T16:09:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:34Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:34Z- variances([0], [2], and psi_berg) = 1144.555175 859.706236 0.000000 2021-10-10T16:09:34Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:09:34Z- LcmTrn::publishEstimates() - MLE : 4061572.79 594423.39 41.95 2021-10-10T16:09:34Z- LcmTrn::publishEstimates() - MMSE : 4061561.62 594397.49 23.27 2021-10-10T16:09:34Z- LcmTrn::publishEstimates() - COVAR: 1144.56 859.71 4.65 0.00 2021-10-10T16:09:34Z- AHRS_M2 msg: 1633882174.79 epoch sec; seqNo:959 2021-10-10T16:09:34Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 5.05 psi 2021-10-10T16:09:34Z- handleDepth()-Depth_Keller msg: 1633882174809 epoch sec; seqNo:967; depth 49.30 2021-10-10T16:09:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882174.84 epoch sec; seqNo:967; 4061611.01 north; 594424.12 east 2021-10-10T16:09:35Z- AHRS_M2 msg: 1633882175.18 epoch sec; seqNo:960 2021-10-10T16:09:35Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 5.05 psi 2021-10-10T16:09:35Z- handleDepth()-Depth_Keller msg: 1633882175185 epoch sec; seqNo:968; depth 49.36 2021-10-10T16:09:35Z- handleDvl() - RDI_Pathfinder msg: 1633882175.22 epoch sec; seqNo:417 2021-10-10T16:09:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.92 , 39.88 , 31.90 , 35.58 2021-10-10T16:09:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.10 , 0.09 2021-10-10T16:09:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882175.24 epoch sec; seqNo:968; 4061611.01 north; 594424.12 east 2021-10-10T16:09:35Z- AHRS_M2 msg: 1633882175.59 epoch sec; seqNo:961 2021-10-10T16:09:35Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 5.05 psi 2021-10-10T16:09:35Z- handleDepth()-Depth_Keller msg: 1633882175589 epoch sec; seqNo:969; depth 49.42 2021-10-10T16:09:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882175.60 epoch sec; seqNo:969; 4061611.01 north; 594424.12 east 2021-10-10T16:09:36Z- AHRS_M2 msg: 1633882175.99 epoch sec; seqNo:962 2021-10-10T16:09:36Z- AHRS_M2 msg: -0.24 phi; -0.13 theta; 5.05 psi 2021-10-10T16:09:36Z- handleDepth()-Depth_Keller msg: 1633882175998 epoch sec; seqNo:970; depth 49.45 2021-10-10T16:09:36Z- handleDvl() - RDI_Pathfinder msg: 1633882176.02 epoch sec; seqNo:418 2021-10-10T16:09:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.07 , 39.73 , 31.75 , 34.97 2021-10-10T16:09:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.09 , 0.06 2021-10-10T16:09:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882176.03 epoch sec; seqNo:970; 4061611.37 north; 594422.90 east 2021-10-10T16:09:36Z- AHRS_M2 msg: 1633882176.39 epoch sec; seqNo:963 2021-10-10T16:09:36Z- AHRS_M2 msg: -0.24 phi; -0.12 theta; 5.04 psi 2021-10-10T16:09:36Z- handleDepth()-Depth_Keller msg: 1633882176397 epoch sec; seqNo:971; depth 49.50 2021-10-10T16:09:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882176.43 epoch sec; seqNo:971; 4061611.37 north; 594422.90 east 2021-10-10T16:09:36Z- AHRS_M2 msg: 1633882176.80 epoch sec; seqNo:964 2021-10-10T16:09:36Z- AHRS_M2 msg: -0.24 phi; -0.12 theta; 5.04 psi 2021-10-10T16:09:36Z- handleDepth()-Depth_Keller msg: 1633882176805 epoch sec; seqNo:972; depth 49.54 2021-10-10T16:09:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882176.86 epoch sec; seqNo:972; 4061611.37 north; 594422.90 east 2021-10-10T16:09:37Z- AHRS_M2 msg: 1633882177.20 epoch sec; seqNo:965 2021-10-10T16:09:37Z- AHRS_M2 msg: -0.24 phi; -0.12 theta; 5.04 psi 2021-10-10T16:09:37Z- handleDepth()-Depth_Keller msg: 1633882177209 epoch sec; seqNo:973; depth 49.58 2021-10-10T16:09:37Z- handleDvl() - RDI_Pathfinder msg: 1633882177.23 epoch sec; seqNo:419 2021-10-10T16:09:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.92 , 39.57 , 31.60 , 34.51 2021-10-10T16:09:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.07 , 0.04 2021-10-10T16:09:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882177.26 epoch sec; seqNo:973; 4061611.36 north; 594421.68 east 2021-10-10T16:09:37Z- AHRS_M2 msg: 1633882177.61 epoch sec; seqNo:966 2021-10-10T16:09:37Z- AHRS_M2 msg: -0.24 phi; -0.12 theta; 5.04 psi 2021-10-10T16:09:37Z- handleDepth()-Depth_Keller msg: 1633882177610 epoch sec; seqNo:974; depth 49.61 2021-10-10T16:09:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882177.63 epoch sec; seqNo:974; 4061611.74 north; 594421.67 east 2021-10-10T16:09:38Z- AHRS_M2 msg: 1633882178.01 epoch sec; seqNo:967 2021-10-10T16:09:38Z- AHRS_M2 msg: -0.24 phi; -0.11 theta; 5.04 psi 2021-10-10T16:09:38Z- handleDepth()-Depth_Keller msg: 1633882178013 epoch sec; seqNo:975; depth 49.67 2021-10-10T16:09:38Z- handleDvl() - RDI_Pathfinder msg: 1633882178.04 epoch sec; seqNo:420 2021-10-10T16:09:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.61 , 39.72 , 31.59 , 34.35 2021-10-10T16:09:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.08 , 0.03 2021-10-10T16:09:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882178.05 epoch sec; seqNo:975; 4061611.74 north; 594421.67 east 2021-10-10T16:09:38Z- AHRS_M2 msg: 1633882178.41 epoch sec; seqNo:968 2021-10-10T16:09:38Z- AHRS_M2 msg: -0.24 phi; -0.11 theta; 5.03 psi 2021-10-10T16:09:38Z- handleDepth()-Depth_Keller msg: 1633882178420 epoch sec; seqNo:976; depth 49.71 2021-10-10T16:09:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:38Z- handleDvl() - RDI_Pathfinder msg: 1633882178.42 epoch sec; seqNo:421 2021-10-10T16:09:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.08 , 0.03 2021-10-10T16:09:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882178.47 epoch sec; seqNo:976; 4061611.73 north; 594420.45 east 2021-10-10T16:09:38Z- AHRS_M2 msg: 1633882178.82 epoch sec; seqNo:969 2021-10-10T16:09:38Z- AHRS_M2 msg: -0.23 phi; -0.11 theta; 5.03 psi 2021-10-10T16:09:38Z- handleDepth()-Depth_Keller msg: 1633882178825 epoch sec; seqNo:977; depth 49.73 2021-10-10T16:09:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882178.83 epoch sec; seqNo:977; 4061611.73 north; 594420.45 east 2021-10-10T16:09:39Z- AHRS_M2 msg: 1633882179.22 epoch sec; seqNo:970 2021-10-10T16:09:39Z- AHRS_M2 msg: -0.23 phi; -0.10 theta; 5.03 psi 2021-10-10T16:09:39Z- handleDepth()-Depth_Keller msg: 1633882179228 epoch sec; seqNo:978; depth 49.78 2021-10-10T16:09:39Z- handleDvl() - RDI_Pathfinder msg: 1633882179.27 epoch sec; seqNo:422 2021-10-10T16:09:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.30 , 40.34 , 31.44 , 34.20 2021-10-10T16:09:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.08 , 0.03 2021-10-10T16:09:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882179.30 epoch sec; seqNo:978; 4061612.10 north; 594420.45 east 2021-10-10T16:09:39Z- AHRS_M2 msg: 1633882179.62 epoch sec; seqNo:971 2021-10-10T16:09:39Z- AHRS_M2 msg: -0.23 phi; -0.10 theta; 5.02 psi 2021-10-10T16:09:39Z- handleDepth()-Depth_Keller msg: 1633882179629 epoch sec; seqNo:979; depth 49.81 2021-10-10T16:09:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:39Z- handleDvl() - RDI_Pathfinder msg: 1633882179.63 epoch sec; seqNo:423 2021-10-10T16:09:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.08 , 0.03 2021-10-10T16:09:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882179.66 epoch sec; seqNo:979; 4061612.10 north; 594420.45 east 2021-10-10T16:09:39Z- LcmTrn::handleMessages() - handling 46 messages took 0.83 ms and 129 calls... 2021-10-10T16:09:39Z- waiting for 1633882177.40, time is 1633882179.66 2021-10-10T16:09:39Z- LcmTrn::updateTrn() equating pose 1633882179.66 and meas times 1633882179.66 2021-10-10T16:09:39Z- LcmTrn::updateTrn() >>>> pose time 1633882179.66, meas time 1633882179.66 <<<< 2021-10-10T16:09:39Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882179.66, ping # 0. 2021-10-10T16:09:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882179.66 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:39Z- TerrainNav::motionUpdate() - currEstimate = (4061612, 594420.45, 49.81) 2021-10-10T16:09:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:39Z- TerrainNav:: SubcloudNIS is 0.10, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:39Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:09:39Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:09:39Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882179.66 sec.; No relevant navigation data available 2021-10-10T16:09:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:39Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:39Z- variances([0], [2], and psi_berg) = 1143.876145 860.590796 0.000000 2021-10-10T16:09:39Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:09:39Z- LcmTrn::publishEstimates() - MLE : 4061573.87 594418.50 42.50 2021-10-10T16:09:39Z- LcmTrn::publishEstimates() - MMSE : 4061562.70 594392.57 23.82 2021-10-10T16:09:39Z- LcmTrn::publishEstimates() - COVAR: 1143.88 860.59 4.92 0.00 2021-10-10T16:09:40Z- AHRS_M2 msg: 1633882180.03 epoch sec; seqNo:972 2021-10-10T16:09:40Z- AHRS_M2 msg: -0.23 phi; -0.10 theta; 5.02 psi 2021-10-10T16:09:40Z- handleDepth()-Depth_Keller msg: 1633882180034 epoch sec; seqNo:980; depth 49.85 2021-10-10T16:09:40Z- handleDvl() - RDI_Pathfinder msg: 1633882180.06 epoch sec; seqNo:424 2021-10-10T16:09:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.45 , 40.03 , 31.13 , 34.51 2021-10-10T16:09:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.05 , 0.05 2021-10-10T16:09:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882180.09 epoch sec; seqNo:980; 4061612.09 north; 594419.23 east 2021-10-10T16:09:40Z- AHRS_M2 msg: 1633882180.45 epoch sec; seqNo:973 2021-10-10T16:09:40Z- AHRS_M2 msg: -0.23 phi; -0.10 theta; 5.02 psi 2021-10-10T16:09:40Z- handleDepth()-Depth_Keller msg: 1633882180455 epoch sec; seqNo:981; depth 49.87 2021-10-10T16:09:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882180.47 epoch sec; seqNo:981; 4061612.47 north; 594419.22 east 2021-10-10T16:09:40Z- AHRS_M2 msg: 1633882180.84 epoch sec; seqNo:974 2021-10-10T16:09:40Z- AHRS_M2 msg: -0.22 phi; -0.09 theta; 5.01 psi 2021-10-10T16:09:40Z- handleDepth()-Depth_Keller msg: 1633882180845 epoch sec; seqNo:982; depth 49.90 2021-10-10T16:09:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:40Z- handleDvl() - RDI_Pathfinder msg: 1633882180.85 epoch sec; seqNo:425 2021-10-10T16:09:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.05 , 0.05 2021-10-10T16:09:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882180.86 epoch sec; seqNo:982; 4061612.47 north; 594419.22 east 2021-10-10T16:09:41Z- AHRS_M2 msg: 1633882181.24 epoch sec; seqNo:975 2021-10-10T16:09:41Z- AHRS_M2 msg: -0.22 phi; -0.09 theta; 5.01 psi 2021-10-10T16:09:41Z- handleDepth()-Depth_Keller msg: 1633882181246 epoch sec; seqNo:983; depth 49.93 2021-10-10T16:09:41Z- handleDvl() - RDI_Pathfinder msg: 1633882181.28 epoch sec; seqNo:426 2021-10-10T16:09:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.61 , 39.42 , 31.13 , 34.20 2021-10-10T16:09:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.06 , 0.04 2021-10-10T16:09:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882181.29 epoch sec; seqNo:983; 4061612.46 north; 594418.00 east 2021-10-10T16:09:41Z- AHRS_M2 msg: 1633882181.64 epoch sec; seqNo:976 2021-10-10T16:09:41Z- AHRS_M2 msg: -0.22 phi; -0.09 theta; 5.01 psi 2021-10-10T16:09:41Z- handleDepth()-Depth_Keller msg: 1633882181648 epoch sec; seqNo:984; depth 49.96 2021-10-10T16:09:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882181.66 epoch sec; seqNo:984; 4061612.46 north; 594418.00 east 2021-10-10T16:09:42Z- AHRS_M2 msg: 1633882182.05 epoch sec; seqNo:977 2021-10-10T16:09:42Z- AHRS_M2 msg: -0.23 phi; -0.09 theta; 5.01 psi 2021-10-10T16:09:42Z- handleDepth()-Depth_Keller msg: 1633882182060 epoch sec; seqNo:985; depth 49.98 2021-10-10T16:09:42Z- handleDvl() - RDI_Pathfinder msg: 1633882182.08 epoch sec; seqNo:427 2021-10-10T16:09:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.45 , 39.26 , 31.13 , 33.89 2021-10-10T16:09:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.05 , 0.04 2021-10-10T16:09:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882182.11 epoch sec; seqNo:985; 4061612.83 north; 594418.00 east 2021-10-10T16:09:42Z- AHRS_M2 msg: 1633882182.45 epoch sec; seqNo:978 2021-10-10T16:09:42Z- AHRS_M2 msg: -0.22 phi; -0.09 theta; 5.01 psi 2021-10-10T16:09:42Z- handleDepth()-Depth_Keller msg: 1633882182472 epoch sec; seqNo:986; depth 50.01 2021-10-10T16:09:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882182.49 epoch sec; seqNo:986; 4061612.82 north; 594416.78 east 2021-10-10T16:09:42Z- AHRS_M2 msg: 1633882182.86 epoch sec; seqNo:979 2021-10-10T16:09:42Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 5.01 psi 2021-10-10T16:09:42Z- handleDepth()-Depth_Keller msg: 1633882182861 epoch sec; seqNo:987; depth 50.03 2021-10-10T16:09:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882182.87 epoch sec; seqNo:987; 4061612.82 north; 594416.78 east 2021-10-10T16:09:43Z- AHRS_M2 msg: 1633882183.27 epoch sec; seqNo:980 2021-10-10T16:09:43Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 5.00 psi 2021-10-10T16:09:43Z- handleDepth()-Depth_Keller msg: 1633882183272 epoch sec; seqNo:988; depth 50.07 2021-10-10T16:09:43Z- handleDvl() - RDI_Pathfinder msg: 1633882183.29 epoch sec; seqNo:428 2021-10-10T16:09:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.30 , 39.11 , 31.29 , 33.74 2021-10-10T16:09:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.06 , 0.03 2021-10-10T16:09:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882183.32 epoch sec; seqNo:988; 4061612.82 north; 594416.78 east 2021-10-10T16:09:43Z- AHRS_M2 msg: 1633882183.67 epoch sec; seqNo:981 2021-10-10T16:09:43Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 5.01 psi 2021-10-10T16:09:43Z- handleDepth()-Depth_Keller msg: 1633882183670 epoch sec; seqNo:989; depth 50.08 2021-10-10T16:09:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882183.69 epoch sec; seqNo:989; 4061613.19 north; 594415.55 east 2021-10-10T16:09:44Z- AHRS_M2 msg: 1633882184.07 epoch sec; seqNo:982 2021-10-10T16:09:44Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 5.00 psi 2021-10-10T16:09:44Z- handleDepth()-Depth_Keller msg: 1633882184073 epoch sec; seqNo:990; depth 50.12 2021-10-10T16:09:44Z- handleDvl() - RDI_Pathfinder msg: 1633882184.10 epoch sec; seqNo:429 2021-10-10T16:09:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.15 , 38.80 , 31.29 , 32.97 2021-10-10T16:09:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , 0.02 2021-10-10T16:09:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882184.12 epoch sec; seqNo:990; 4061613.19 north; 594415.55 east 2021-10-10T16:09:44Z- AHRS_M2 msg: 1633882184.47 epoch sec; seqNo:983 2021-10-10T16:09:44Z- AHRS_M2 msg: -0.22 phi; -0.07 theta; 5.00 psi 2021-10-10T16:09:44Z- handleDepth()-Depth_Keller msg: 1633882184477 epoch sec; seqNo:991; depth 50.14 2021-10-10T16:09:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:44Z- handleDvl() - RDI_Pathfinder msg: 1633882184.48 epoch sec; seqNo:430 2021-10-10T16:09:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , 0.02 2021-10-10T16:09:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882184.49 epoch sec; seqNo:991; 4061613.19 north; 594415.55 east 2021-10-10T16:09:44Z- LcmTrn::handleMessages() - handling 43 messages took 0.73 ms and 128 calls... 2021-10-10T16:09:44Z- waiting for 1633882182.66, time is 1633882184.49 2021-10-10T16:09:44Z- LcmTrn::updateTrn() equating pose 1633882184.49 and meas times 1633882184.49 2021-10-10T16:09:44Z- LcmTrn::updateTrn() >>>> pose time 1633882184.49, meas time 1633882184.49 <<<< 2021-10-10T16:09:44Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882184.49, ping # 0. 2021-10-10T16:09:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882184.49 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:44Z- TerrainNav::motionUpdate() - currEstimate = (4061613, 594415.55, 50.14) 2021-10-10T16:09:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:44Z- TerrainNav:: SubcloudNIS is 0.10, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:44Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:09:44Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:09:44Z- TNavBF::Projecting Measurements 2021-10-10T16:09:44Z- TNavFilter::Measurement from time = 1633882184.49 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:09:44Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:09:44Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:09:44Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:09:44Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:09:44Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:09:44Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:09:44Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:09:44Z- Filter 0 NorthBias: -49.4 EastBias: -27.9 DepthBias: -26.0 NorthVariance: 1143.2 EastVariance: 861.4 DepthVariance: 5.2 this->DepthBiasCov: 1.0 2021-10-10T16:09:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:44Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:44Z- variances([0], [2], and psi_berg) = 1143.207662 861.446162 0.000000 2021-10-10T16:09:44Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:09:44Z- LcmTrn::publishEstimates() - MLE : 4061574.95 594413.61 42.84 2021-10-10T16:09:44Z- LcmTrn::publishEstimates() - MMSE : 4061563.79 594387.66 24.15 2021-10-10T16:09:44Z- LcmTrn::publishEstimates() - COVAR: 1143.21 861.45 5.19 0.00 2021-10-10T16:09:44Z- AHRS_M2 msg: 1633882184.88 epoch sec; seqNo:984 2021-10-10T16:09:44Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 5.00 psi 2021-10-10T16:09:44Z- handleDepth()-Depth_Keller msg: 1633882184882 epoch sec; seqNo:992; depth 50.18 2021-10-10T16:09:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882184.89 epoch sec; seqNo:992; 4061613.17 north; 594414.33 east 2021-10-10T16:09:45Z- AHRS_M2 msg: 1633882185.29 epoch sec; seqNo:985 2021-10-10T16:09:45Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 5.00 psi 2021-10-10T16:09:45Z- handleDepth()-Depth_Keller msg: 1633882185295 epoch sec; seqNo:993; depth 50.20 2021-10-10T16:09:45Z- handleDvl() - RDI_Pathfinder msg: 1633882185.32 epoch sec; seqNo:431 2021-10-10T16:09:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.84 , 38.80 , 30.98 , 32.67 2021-10-10T16:09:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.08 , 0.02 2021-10-10T16:09:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882185.33 epoch sec; seqNo:993; 4061613.55 north; 594414.33 east 2021-10-10T16:09:45Z- AHRS_M2 msg: 1633882185.68 epoch sec; seqNo:986 2021-10-10T16:09:45Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 5.00 psi 2021-10-10T16:09:45Z- handleDepth()-Depth_Keller msg: 1633882185688 epoch sec; seqNo:994; depth 50.22 2021-10-10T16:09:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:45Z- handleDvl() - RDI_Pathfinder msg: 1633882185.69 epoch sec; seqNo:432 2021-10-10T16:09:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.08 , 0.02 2021-10-10T16:09:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882185.71 epoch sec; seqNo:994; 4061613.55 north; 594414.33 east 2021-10-10T16:09:46Z- handleDepth()-Depth_Keller msg: 1633882186107 epoch sec; seqNo:995; depth 50.26 2021-10-10T16:09:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882186.14 epoch sec; seqNo:995; 4061613.54 north; 594413.11 east 2021-10-10T16:09:46Z- AHRS_M2 msg: 1633882186.50 epoch sec; seqNo:987 2021-10-10T16:09:46Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 5.00 psi 2021-10-10T16:09:46Z- handleDepth()-Depth_Keller msg: 1633882186505 epoch sec; seqNo:996; depth 50.27 2021-10-10T16:09:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882186.51 epoch sec; seqNo:996; 4061613.54 north; 594413.11 east 2021-10-10T16:09:46Z- AHRS_M2 msg: 1633882186.90 epoch sec; seqNo:988 2021-10-10T16:09:46Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 5.00 psi 2021-10-10T16:09:46Z- handleDepth()-Depth_Keller msg: 1633882186913 epoch sec; seqNo:997; depth 50.29 2021-10-10T16:09:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:46Z- handleDvl() - RDI_Pathfinder msg: 1633882186.91 epoch sec; seqNo:433 2021-10-10T16:09:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.08 , 0.02 2021-10-10T16:09:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882186.92 epoch sec; seqNo:997; 4061613.92 north; 594413.10 east 2021-10-10T16:09:47Z- AHRS_M2 msg: 1633882187.30 epoch sec; seqNo:989 2021-10-10T16:09:47Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 4.99 psi 2021-10-10T16:09:47Z- handleDepth()-Depth_Keller msg: 1633882187305 epoch sec; seqNo:998; depth 50.32 2021-10-10T16:09:47Z- handleDvl() - RDI_Pathfinder msg: 1633882187.33 epoch sec; seqNo:434 2021-10-10T16:09:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.45 , 38.19 , 30.98 , 32.51 2021-10-10T16:09:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.05 2021-10-10T16:09:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882187.35 epoch sec; seqNo:998; 4061613.90 north; 594411.88 east 2021-10-10T16:09:47Z- AHRS_M2 msg: 1633882187.70 epoch sec; seqNo:990 2021-10-10T16:09:47Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 4.99 psi 2021-10-10T16:09:47Z- handleDepth()-Depth_Keller msg: 1633882187709 epoch sec; seqNo:999; depth 50.36 2021-10-10T16:09:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882187.72 epoch sec; seqNo:999; 4061613.90 north; 594411.88 east 2021-10-10T16:09:48Z- AHRS_M2 msg: 1633882188.11 epoch sec; seqNo:991 2021-10-10T16:09:48Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 4.99 psi 2021-10-10T16:09:48Z- handleDepth()-Depth_Keller msg: 1633882188114 epoch sec; seqNo:1000; depth 50.37 2021-10-10T16:09:48Z- handleDvl() - RDI_Pathfinder msg: 1633882188.13 epoch sec; seqNo:435 2021-10-10T16:09:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.91 , 38.03 , 31.44 , 32.36 2021-10-10T16:09:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.06 2021-10-10T16:09:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882188.15 epoch sec; seqNo:1000; 4061613.90 north; 594411.88 east 2021-10-10T16:09:48Z- AHRS_M2 msg: 1633882188.51 epoch sec; seqNo:992 2021-10-10T16:09:48Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 4.99 psi 2021-10-10T16:09:48Z- handleDepth()-Depth_Keller msg: 1633882188517 epoch sec; seqNo:1001; depth 50.40 2021-10-10T16:09:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882188.55 epoch sec; seqNo:1001; 4061614.27 north; 594410.66 east 2021-10-10T16:09:48Z- AHRS_M2 msg: 1633882188.92 epoch sec; seqNo:993 2021-10-10T16:09:48Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.00 psi 2021-10-10T16:09:48Z- handleDepth()-Depth_Keller msg: 1633882188927 epoch sec; seqNo:1002; depth 50.44 2021-10-10T16:09:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882188.94 epoch sec; seqNo:1002; 4061614.27 north; 594410.66 east 2021-10-10T16:09:49Z- AHRS_M2 msg: 1633882189.32 epoch sec; seqNo:994 2021-10-10T16:09:49Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.00 psi 2021-10-10T16:09:49Z- handleDepth()-Depth_Keller msg: 1633882189326 epoch sec; seqNo:1003; depth 50.45 2021-10-10T16:09:49Z- handleDvl() - RDI_Pathfinder msg: 1633882189.35 epoch sec; seqNo:436 2021-10-10T16:09:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.07 , 38.03 , 31.44 , 32.36 2021-10-10T16:09:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.07 , 0.07 2021-10-10T16:09:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882189.36 epoch sec; seqNo:1003; 4061614.27 north; 594410.66 east 2021-10-10T16:09:49Z- AHRS_M2 msg: 1633882189.72 epoch sec; seqNo:995 2021-10-10T16:09:49Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.00 psi 2021-10-10T16:09:49Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T16:09:49Z- waiting for 1633882187.49, time is 1633882189.72 2021-10-10T16:09:49Z- LcmTrn::updateTrn() >>>> pose time 1633882189.72, meas time 1633882189.35 <<<< 2021-10-10T16:09:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882189.35 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:49Z- TerrainNav::motionUpdate() - currEstimate = (4061614, 594410.66, 50.45) 2021-10-10T16:09:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:49Z- TerrainNav:: SubcloudNIS is 0.10, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:49Z- TNavBF::Projecting Measurements 2021-10-10T16:09:49Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:09:49Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:09:49Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:09:49Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:09:49Z- TNavFilter::4 good beams. 2021-10-10T16:09:49Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:09:49Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:09:49Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:09:49Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:09:49Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:09:49Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:09:49Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:09:49Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:49Z- TerrainMapOctree: (vehN, vehE ) = (4061614.19, 594411.01). 2021-10-10T16:09:49Z- TerrainMapOctree: Min Distance = 210.64. 2021-10-10T16:09:49Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:09:49Z- Forcing Subcloud Comparison 2021-10-10T16:09:49Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:09:49Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:49Z- Filter 0 partialDeltaRmsComputation: 12.052238 terrainVariance: 1.501103 1-SumSquareWeights: 0.998611 2021-10-10T16:09:49Z- Filter 0 meanExpectedMeasDiff: -3.248251 delta_rms_squared: 1.491117 alpha: 0.986765 2021-10-10T16:09:49Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:49Z- Filter 0 partialDeltaRmsComputation: 27.403813 terrainVariance: 1.041469 1-SumSquareWeights: 0.998611 2021-10-10T16:09:49Z- Filter 0 meanExpectedMeasDiff: 5.134427 delta_rms_squared: 1.031483 alpha: 0.980979 2021-10-10T16:09:49Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:49Z- Filter 0 partialDeltaRmsComputation: 20.664134 terrainVariance: 1.521097 1-SumSquareWeights: 0.998611 2021-10-10T16:09:49Z- Filter 0 meanExpectedMeasDiff: -4.375276 delta_rms_squared: 1.511111 alpha: 0.986938 2021-10-10T16:09:49Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:49Z- Filter 0 partialDeltaRmsComputation: 5.835052 terrainVariance: 1.770030 1-SumSquareWeights: 0.998611 2021-10-10T16:09:49Z- Filter 0 meanExpectedMeasDiff: 2.016190 delta_rms_squared: 1.760044 alpha: 0.988764 2021-10-10T16:09:49Z- Filter 0 SubcloudNIS: 0.164995 2021-10-10T16:09:49Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:09:49Z- TNavBF:: Filter 0 sumWeights = 0.002073 2021-10-10T16:09:49Z- Filter 0 NorthBias: -65.9 EastBias: -22.9 DepthBias: -27.8 NorthVariance: 1448.3 EastVariance: 900.6 DepthVariance: 3.2 this->DepthBiasCov: 0.5 2021-10-10T16:09:49Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882189.35 sec. 2021-10-10T16:09:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:49Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:49Z- variances([0], [2], and psi_berg) = 1448.301984 904.701644 0.000000 2021-10-10T16:09:49Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:09:49Z- LcmTrn::publishEstimates() - MLE : 4061519.03 594412.71 43.14 2021-10-10T16:09:49Z- LcmTrn::publishEstimates() - MMSE : 4061548.35 594387.71 22.62 2021-10-10T16:09:49Z- LcmTrn::publishEstimates() - COVAR: 1448.30 904.70 3.25 0.00 2021-10-10T16:09:49Z- handleDepth()-Depth_Keller msg: 1633882189729 epoch sec; seqNo:1004; depth 50.48 2021-10-10T16:09:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882189.75 epoch sec; seqNo:1004; 4061614.26 north; 594409.44 east 2021-10-10T16:09:50Z- AHRS_M2 msg: 1633882190.13 epoch sec; seqNo:996 2021-10-10T16:09:50Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.00 psi 2021-10-10T16:09:50Z- handleDepth()-Depth_Keller msg: 1633882190133 epoch sec; seqNo:1005; depth 50.49 2021-10-10T16:09:50Z- handleDvl() - RDI_Pathfinder msg: 1633882190.16 epoch sec; seqNo:437 2021-10-10T16:09:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.37 , 37.88 , 31.44 , 31.90 2021-10-10T16:09:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.07 2021-10-10T16:09:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882190.17 epoch sec; seqNo:1005; 4061614.63 north; 594409.44 east 2021-10-10T16:09:50Z- AHRS_M2 msg: 1633882190.53 epoch sec; seqNo:997 2021-10-10T16:09:50Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.00 psi 2021-10-10T16:09:50Z- handleDepth()-Depth_Keller msg: 1633882190537 epoch sec; seqNo:1006; depth 50.51 2021-10-10T16:09:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:50Z- handleDvl() - RDI_Pathfinder msg: 1633882190.54 epoch sec; seqNo:438 2021-10-10T16:09:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.07 2021-10-10T16:09:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882190.56 epoch sec; seqNo:1006; 4061614.63 north; 594409.44 east 2021-10-10T16:09:50Z- AHRS_M2 msg: 1633882190.94 epoch sec; seqNo:998 2021-10-10T16:09:50Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.00 psi 2021-10-10T16:09:50Z- handleDepth()-Depth_Keller msg: 1633882190942 epoch sec; seqNo:1007; depth 50.52 2021-10-10T16:09:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882190.98 epoch sec; seqNo:1007; 4061614.62 north; 594408.22 east 2021-10-10T16:09:51Z- AHRS_M2 msg: 1633882191.34 epoch sec; seqNo:999 2021-10-10T16:09:51Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.00 psi 2021-10-10T16:09:51Z- handleDepth()-Depth_Keller msg: 1633882191344 epoch sec; seqNo:1008; depth 50.55 2021-10-10T16:09:51Z- handleDvl() - RDI_Pathfinder msg: 1633882191.37 epoch sec; seqNo:439 2021-10-10T16:09:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.83 , 37.88 , 31.29 , 32.05 2021-10-10T16:09:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.06 2021-10-10T16:09:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882191.38 epoch sec; seqNo:1008; 4061614.62 north; 594408.22 east 2021-10-10T16:09:51Z- AHRS_M2 msg: 1633882191.74 epoch sec; seqNo:1000 2021-10-10T16:09:51Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.01 psi 2021-10-10T16:09:51Z- handleDepth()-Depth_Keller msg: 1633882191752 epoch sec; seqNo:1009; depth 50.57 2021-10-10T16:09:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:51Z- handleDvl() - RDI_Pathfinder msg: 1633882191.75 epoch sec; seqNo:440 2021-10-10T16:09:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.06 2021-10-10T16:09:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882191.77 epoch sec; seqNo:1009; 4061615.00 north; 594408.21 east 2021-10-10T16:09:52Z- AHRS_M2 msg: 1633882192.15 epoch sec; seqNo:1001 2021-10-10T16:09:52Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.01 psi 2021-10-10T16:09:52Z- handleDepth()-Depth_Keller msg: 1633882192154 epoch sec; seqNo:1010; depth 50.57 2021-10-10T16:09:52Z- handleDvl() - RDI_Pathfinder msg: 1633882192.17 epoch sec; seqNo:441 2021-10-10T16:09:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.14 , 37.27 , 31.59 , 31.90 2021-10-10T16:09:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.04 2021-10-10T16:09:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882192.19 epoch sec; seqNo:1010; 4061614.99 north; 594406.99 east 2021-10-10T16:09:52Z- AHRS_M2 msg: 1633882192.55 epoch sec; seqNo:1002 2021-10-10T16:09:52Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.01 psi 2021-10-10T16:09:52Z- handleDepth()-Depth_Keller msg: 1633882192556 epoch sec; seqNo:1011; depth 50.58 2021-10-10T16:09:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882192.58 epoch sec; seqNo:1011; 4061614.99 north; 594406.99 east 2021-10-10T16:09:52Z- AHRS_M2 msg: 1633882192.96 epoch sec; seqNo:1003 2021-10-10T16:09:52Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.01 psi 2021-10-10T16:09:52Z- handleDepth()-Depth_Keller msg: 1633882192961 epoch sec; seqNo:1012; depth 50.59 2021-10-10T16:09:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:52Z- handleDvl() - RDI_Pathfinder msg: 1633882192.96 epoch sec; seqNo:442 2021-10-10T16:09:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.04 2021-10-10T16:09:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882192.97 epoch sec; seqNo:1012; 4061614.99 north; 594406.99 east 2021-10-10T16:09:53Z- AHRS_M2 msg: 1633882193.36 epoch sec; seqNo:1004 2021-10-10T16:09:53Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.01 psi 2021-10-10T16:09:53Z- handleDepth()-Depth_Keller msg: 1633882193372 epoch sec; seqNo:1013; depth 50.59 2021-10-10T16:09:53Z- handleDvl() - RDI_Pathfinder msg: 1633882193.39 epoch sec; seqNo:443 2021-10-10T16:09:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.14 , 37.42 , 31.59 , 31.90 2021-10-10T16:09:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.01 2021-10-10T16:09:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882193.42 epoch sec; seqNo:1013; 4061614.97 north; 594405.77 east 2021-10-10T16:09:53Z- AHRS_M2 msg: 1633882193.76 epoch sec; seqNo:1005 2021-10-10T16:09:53Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.01 psi 2021-10-10T16:09:53Z- handleDepth()-Depth_Keller msg: 1633882193780 epoch sec; seqNo:1014; depth 50.60 2021-10-10T16:09:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882193.79 epoch sec; seqNo:1014; 4061615.35 north; 594405.77 east 2021-10-10T16:09:54Z- AHRS_M2 msg: 1633882194.17 epoch sec; seqNo:1006 2021-10-10T16:09:54Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.02 psi 2021-10-10T16:09:54Z- handleDepth()-Depth_Keller msg: 1633882194173 epoch sec; seqNo:1015; depth 50.61 2021-10-10T16:09:54Z- handleDvl() - RDI_Pathfinder msg: 1633882194.20 epoch sec; seqNo:444 2021-10-10T16:09:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.98 , 36.96 , 31.90 , 31.90 2021-10-10T16:09:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , -0.01 2021-10-10T16:09:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882194.21 epoch sec; seqNo:1015; 4061615.35 north; 594405.77 east 2021-10-10T16:09:54Z- AHRS_M2 msg: 1633882194.57 epoch sec; seqNo:1007 2021-10-10T16:09:54Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.02 psi 2021-10-10T16:09:54Z- handleDepth()-Depth_Keller msg: 1633882194577 epoch sec; seqNo:1016; depth 50.61 2021-10-10T16:09:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882194.59 epoch sec; seqNo:1016; 4061615.34 north; 594404.55 east 2021-10-10T16:09:54Z- LcmTrn::handleMessages() - handling 46 messages took 0.68 ms and 132 calls... 2021-10-10T16:09:54Z- waiting for 1633882192.72, time is 1633882194.59 2021-10-10T16:09:54Z- LcmTrn::updateTrn() >>>> pose time 1633882194.59, meas time 1633882194.20 <<<< 2021-10-10T16:09:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882194.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:09:54Z- TerrainNav::motionUpdate() - currEstimate = (4061615, 594404.55, 50.61) 2021-10-10T16:09:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:09:54Z- TerrainNav:: SubcloudNIS is 0.16, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:09:54Z- TNavBF::Projecting Measurements 2021-10-10T16:09:54Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:09:54Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:09:54Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:09:54Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:09:54Z- TNavFilter::4 good beams. 2021-10-10T16:09:54Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:09:54Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:09:54Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:09:54Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:09:54Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:09:54Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:09:54Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:09:54Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:54Z- TerrainMapOctree: (vehN, vehE ) = (4061615.25, 594405.04). 2021-10-10T16:09:54Z- TerrainMapOctree: Min Distance = 205.41. 2021-10-10T16:09:54Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:09:55Z- Forcing Subcloud Comparison 2021-10-10T16:09:55Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:09:55Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:55Z- Filter 0 partialDeltaRmsComputation: 3.744189 terrainVariance: 1.546907 1-SumSquareWeights: 0.994705 2021-10-10T16:09:55Z- Filter 0 meanExpectedMeasDiff: -1.482323 delta_rms_squared: 1.536960 alpha: 0.987154 2021-10-10T16:09:55Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:55Z- Filter 0 partialDeltaRmsComputation: 15.039266 terrainVariance: 1.431599 1-SumSquareWeights: 0.994705 2021-10-10T16:09:55Z- Filter 0 meanExpectedMeasDiff: 3.688857 delta_rms_squared: 1.421652 alpha: 0.986127 2021-10-10T16:09:55Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:55Z- Filter 0 partialDeltaRmsComputation: 20.419499 terrainVariance: 1.877698 1-SumSquareWeights: 0.994705 2021-10-10T16:09:55Z- Filter 0 meanExpectedMeasDiff: -4.306019 delta_rms_squared: 1.867751 alpha: 0.989405 2021-10-10T16:09:55Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:09:55Z- Filter 0 partialDeltaRmsComputation: 2.803235 terrainVariance: 0.477508 1-SumSquareWeights: 0.994705 2021-10-10T16:09:55Z- Filter 0 meanExpectedMeasDiff: 1.525034 delta_rms_squared: 0.467561 alpha: 0.958979 2021-10-10T16:09:55Z- Filter 0 SubcloudNIS: 0.243307 2021-10-10T16:09:55Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:09:55Z- TNavBF:: Filter 0 sumWeights = 0.010880 2021-10-10T16:09:55Z- Filter 0 NorthBias: -59.0 EastBias: -28.1 DepthBias: -28.0 NorthVariance: 1626.6 EastVariance: 981.3 DepthVariance: 5.3 this->DepthBiasCov: 0.4 2021-10-10T16:09:55Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882194.20 sec. 2021-10-10T16:09:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:09:55Z- TNavBF::mmse selected from filter -1 2021-10-10T16:09:55Z- variances([0], [2], and psi_berg) = 1626.429361 985.533212 0.000000 2021-10-10T16:09:55Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:09:55Z- LcmTrn::publishEstimates() - MLE : 4061520.10 594406.60 43.31 2021-10-10T16:09:55Z- LcmTrn::publishEstimates() - MMSE : 4061556.34 594376.32 22.60 2021-10-10T16:09:55Z- LcmTrn::publishEstimates() - COVAR: 1626.43 985.53 5.38 0.00 2021-10-10T16:09:55Z- AHRS_M2 msg: 1633882194.98 epoch sec; seqNo:1008 2021-10-10T16:09:55Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.02 psi 2021-10-10T16:09:55Z- handleDepth()-Depth_Keller msg: 1633882194981 epoch sec; seqNo:1017; depth 50.63 2021-10-10T16:09:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882194.99 epoch sec; seqNo:1017; 4061615.34 north; 594404.55 east 2021-10-10T16:09:55Z- AHRS_M2 msg: 1633882195.38 epoch sec; seqNo:1009 2021-10-10T16:09:55Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.02 psi 2021-10-10T16:09:55Z- handleDepth()-Depth_Keller msg: 1633882195384 epoch sec; seqNo:1018; depth 50.61 2021-10-10T16:09:55Z- handleDvl() - RDI_Pathfinder msg: 1633882195.41 epoch sec; seqNo:445 2021-10-10T16:09:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.98 , 37.42 , 31.74 , 31.74 2021-10-10T16:09:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.10 , -0.01 2021-10-10T16:09:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882195.43 epoch sec; seqNo:1018; 4061615.72 north; 594404.54 east 2021-10-10T16:09:55Z- AHRS_M2 msg: 1633882195.78 epoch sec; seqNo:1010 2021-10-10T16:09:55Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.02 psi 2021-10-10T16:09:55Z- handleDepth()-Depth_Keller msg: 1633882195789 epoch sec; seqNo:1019; depth 50.63 2021-10-10T16:09:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882195.82 epoch sec; seqNo:1019; 4061615.70 north; 594403.32 east 2021-10-10T16:09:56Z- AHRS_M2 msg: 1633882196.19 epoch sec; seqNo:1011 2021-10-10T16:09:56Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.02 psi 2021-10-10T16:09:56Z- handleDepth()-Depth_Keller msg: 1633882196201 epoch sec; seqNo:1020; depth 50.63 2021-10-10T16:09:56Z- handleDvl() - RDI_Pathfinder msg: 1633882196.24 epoch sec; seqNo:446 2021-10-10T16:09:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.14 , 37.26 , 31.74 , 31.59 2021-10-10T16:09:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , -0.01 2021-10-10T16:09:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882196.25 epoch sec; seqNo:1020; 4061615.70 north; 594403.32 east 2021-10-10T16:09:56Z- AHRS_M2 msg: 1633882196.60 epoch sec; seqNo:1012 2021-10-10T16:09:56Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.02 psi 2021-10-10T16:09:56Z- handleDepth()-Depth_Keller msg: 1633882196605 epoch sec; seqNo:1021; depth 50.64 2021-10-10T16:09:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:56Z- handleDvl() - RDI_Pathfinder msg: 1633882196.61 epoch sec; seqNo:447 2021-10-10T16:09:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , -0.01 2021-10-10T16:09:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882196.63 epoch sec; seqNo:1021; 4061615.70 north; 594403.32 east 2021-10-10T16:09:57Z- AHRS_M2 msg: 1633882197.00 epoch sec; seqNo:1013 2021-10-10T16:09:57Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.02 psi 2021-10-10T16:09:57Z- handleDepth()-Depth_Keller msg: 1633882197001 epoch sec; seqNo:1022; depth 50.64 2021-10-10T16:09:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882197.02 epoch sec; seqNo:1022; 4061616.07 north; 594402.10 east 2021-10-10T16:09:57Z- AHRS_M2 msg: 1633882197.40 epoch sec; seqNo:1014 2021-10-10T16:09:57Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.02 psi 2021-10-10T16:09:57Z- handleDepth()-Depth_Keller msg: 1633882197412 epoch sec; seqNo:1023; depth 50.67 2021-10-10T16:09:57Z- handleDvl() - RDI_Pathfinder msg: 1633882197.44 epoch sec; seqNo:448 2021-10-10T16:09:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.81 , 31.74 , 31.44 2021-10-10T16:09:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.09 , 0.01 2021-10-10T16:09:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882197.46 epoch sec; seqNo:1023; 4061616.07 north; 594402.10 east 2021-10-10T16:09:57Z- AHRS_M2 msg: 1633882197.81 epoch sec; seqNo:1015 2021-10-10T16:09:57Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.02 psi 2021-10-10T16:09:57Z- handleDepth()-Depth_Keller msg: 1633882197816 epoch sec; seqNo:1024; depth 50.65 2021-10-10T16:09:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:57Z- handleDvl() - RDI_Pathfinder msg: 1633882197.82 epoch sec; seqNo:449 2021-10-10T16:09:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.09 , 0.01 2021-10-10T16:09:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882197.83 epoch sec; seqNo:1024; 4061616.07 north; 594402.10 east 2021-10-10T16:09:58Z- AHRS_M2 msg: 1633882198.22 epoch sec; seqNo:1016 2021-10-10T16:09:58Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.02 psi 2021-10-10T16:09:58Z- handleDepth()-Depth_Keller msg: 1633882198221 epoch sec; seqNo:1025; depth 50.67 2021-10-10T16:09:58Z- handleDvl() - RDI_Pathfinder msg: 1633882198.25 epoch sec; seqNo:450 2021-10-10T16:09:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.29 , 36.35 , 31.59 , 31.59 2021-10-10T16:09:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.09 , 0.03 2021-10-10T16:09:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882198.26 epoch sec; seqNo:1025; 4061616.06 north; 594400.88 east 2021-10-10T16:09:58Z- AHRS_M2 msg: 1633882198.62 epoch sec; seqNo:1017 2021-10-10T16:09:58Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.02 psi 2021-10-10T16:09:58Z- handleDepth()-Depth_Keller msg: 1633882198630 epoch sec; seqNo:1026; depth 50.68 2021-10-10T16:09:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882198.64 epoch sec; seqNo:1026; 4061616.43 north; 594400.87 east 2021-10-10T16:09:59Z- AHRS_M2 msg: 1633882199.02 epoch sec; seqNo:1018 2021-10-10T16:09:59Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.02 psi 2021-10-10T16:09:59Z- handleDepth()-Depth_Keller msg: 1633882199029 epoch sec; seqNo:1027; depth 50.69 2021-10-10T16:09:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:09:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:09:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:09:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:09:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:09:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:09:59Z- handleDvl() - RDI_Pathfinder msg: 1633882199.03 epoch sec; seqNo:451 2021-10-10T16:09:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:09:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.09 , 0.03 2021-10-10T16:09:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882199.04 epoch sec; seqNo:1027; 4061616.43 north; 594400.87 east 2021-10-10T16:09:59Z- AHRS_M2 msg: 1633882199.42 epoch sec; seqNo:1019 2021-10-10T16:09:59Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.02 psi 2021-10-10T16:09:59Z- handleDepth()-Depth_Keller msg: 1633882199429 epoch sec; seqNo:1028; depth 50.71 2021-10-10T16:09:59Z- handleDvl() - RDI_Pathfinder msg: 1633882199.46 epoch sec; seqNo:452 2021-10-10T16:09:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.19 , 31.74 , 31.74 2021-10-10T16:09:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.06 2021-10-10T16:09:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882199.48 epoch sec; seqNo:1028; 4061616.42 north; 594399.65 east 2021-10-10T16:09:59Z- AHRS_M2 msg: 1633882199.83 epoch sec; seqNo:1020 2021-10-10T16:09:59Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.03 psi 2021-10-10T16:09:59Z- handleDepth()-Depth_Keller msg: 1633882199830 epoch sec; seqNo:1029; depth 50.73 2021-10-10T16:09:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882199.84 epoch sec; seqNo:1029; 4061616.42 north; 594399.65 east 2021-10-10T16:10:00Z- LcmTrn::handleMessages() - handling 47 messages took 0.76 ms and 131 calls... 2021-10-10T16:10:00Z- waiting for 1633882197.59, time is 1633882199.84 2021-10-10T16:10:00Z- LcmTrn::updateTrn() >>>> pose time 1633882199.84, meas time 1633882199.46 <<<< 2021-10-10T16:10:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882199.46 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:00Z- TerrainNav::motionUpdate() - currEstimate = (4061616, 594399.65, 50.73) 2021-10-10T16:10:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:00Z- TerrainNav:: SubcloudNIS is 0.24, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:00Z- TNavBF::Projecting Measurements 2021-10-10T16:10:00Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:10:00Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:10:00Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:10:00Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:10:00Z- TNavFilter::4 good beams. 2021-10-10T16:10:00Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:00Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:00Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:10:00Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:10:00Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:10:00Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:00Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:00Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:00Z- TerrainMapOctree: (vehN, vehE ) = (4061616.34, 594400.01). 2021-10-10T16:10:00Z- TerrainMapOctree: Min Distance = 200.92. 2021-10-10T16:10:00Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:10:00Z- Forcing Subcloud Comparison 2021-10-10T16:10:00Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:10:00Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:00Z- Filter 0 partialDeltaRmsComputation: 4.340934 terrainVariance: 2.595097 1-SumSquareWeights: 0.989575 2021-10-10T16:10:00Z- Filter 0 meanExpectedMeasDiff: -1.321301 delta_rms_squared: 2.585201 alpha: 0.992323 2021-10-10T16:10:00Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:00Z- Filter 0 partialDeltaRmsComputation: 13.003309 terrainVariance: 1.711581 1-SumSquareWeights: 0.989575 2021-10-10T16:10:00Z- Filter 0 meanExpectedMeasDiff: 3.360317 delta_rms_squared: 1.701685 alpha: 0.988383 2021-10-10T16:10:00Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:00Z- Filter 0 partialDeltaRmsComputation: 23.814450 terrainVariance: 3.463833 1-SumSquareWeights: 0.989575 2021-10-10T16:10:00Z- Filter 0 meanExpectedMeasDiff: -4.511166 delta_rms_squared: 3.453937 alpha: 0.994243 2021-10-10T16:10:00Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:00Z- Filter 0 partialDeltaRmsComputation: 3.636736 terrainVariance: 0.793491 1-SumSquareWeights: 0.989575 2021-10-10T16:10:00Z- Filter 0 meanExpectedMeasDiff: 1.686193 delta_rms_squared: 0.783595 alpha: 0.975112 2021-10-10T16:10:00Z- Filter 0 SubcloudNIS: 0.279047 2021-10-10T16:10:00Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:10:00Z- TNavBF:: Filter 0 sumWeights = 0.010061 2021-10-10T16:10:00Z- Filter 0 NorthBias: -20.3 EastBias: -47.9 DepthBias: -26.8 NorthVariance: 640.6 EastVariance: 348.8 DepthVariance: 8.8 this->DepthBiasCov: 0.4 2021-10-10T16:10:00Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882199.46 sec. 2021-10-10T16:10:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:00Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:00Z- variances([0], [2], and psi_berg) = 640.109146 348.618644 0.000000 2021-10-10T16:10:00Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:00Z- LcmTrn::publishEstimates() - MLE : 4061610.19 594358.70 43.42 2021-10-10T16:10:00Z- LcmTrn::publishEstimates() - MMSE : 4061596.08 594351.76 23.96 2021-10-10T16:10:00Z- LcmTrn::publishEstimates() - COVAR: 640.11 348.62 8.85 0.00 2021-10-10T16:10:00Z- AHRS_M2 msg: 1633882200.24 epoch sec; seqNo:1021 2021-10-10T16:10:00Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.03 psi 2021-10-10T16:10:00Z- handleDepth()-Depth_Keller msg: 1633882200248 epoch sec; seqNo:1030; depth 50.74 2021-10-10T16:10:00Z- handleDvl() - RDI_Pathfinder msg: 1633882200.27 epoch sec; seqNo:453 2021-10-10T16:10:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.35 , 31.74 , 31.90 2021-10-10T16:10:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , 0.07 2021-10-10T16:10:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882200.30 epoch sec; seqNo:1030; 4061616.80 north; 594399.65 east 2021-10-10T16:10:00Z- AHRS_M2 msg: 1633882200.63 epoch sec; seqNo:1022 2021-10-10T16:10:00Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.03 psi 2021-10-10T16:10:00Z- handleDepth()-Depth_Keller msg: 1633882200637 epoch sec; seqNo:1031; depth 50.76 2021-10-10T16:10:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882200.66 epoch sec; seqNo:1031; 4061616.79 north; 594398.43 east 2021-10-10T16:10:01Z- handleDepth()-Depth_Keller msg: 1633882201055 epoch sec; seqNo:1032; depth 50.77 2021-10-10T16:10:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882201.06 epoch sec; seqNo:1032; 4061616.79 north; 594398.43 east 2021-10-10T16:10:01Z- AHRS_M2 msg: 1633882201.44 epoch sec; seqNo:1023 2021-10-10T16:10:01Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.03 psi 2021-10-10T16:10:01Z- handleDepth()-Depth_Keller msg: 1633882201451 epoch sec; seqNo:1033; depth 50.77 2021-10-10T16:10:01Z- handleDvl() - RDI_Pathfinder msg: 1633882201.47 epoch sec; seqNo:454 2021-10-10T16:10:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.65 , 31.74 , 32.05 2021-10-10T16:10:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.08 , 0.07 2021-10-10T16:10:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882201.48 epoch sec; seqNo:1033; 4061617.17 north; 594398.42 east 2021-10-10T16:10:01Z- AHRS_M2 msg: 1633882201.85 epoch sec; seqNo:1024 2021-10-10T16:10:01Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.03 psi 2021-10-10T16:10:01Z- handleDepth()-Depth_Keller msg: 1633882201853 epoch sec; seqNo:1034; depth 50.79 2021-10-10T16:10:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882201.88 epoch sec; seqNo:1034; 4061617.15 north; 594397.20 east 2021-10-10T16:10:02Z- AHRS_M2 msg: 1633882202.27 epoch sec; seqNo:1025 2021-10-10T16:10:02Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.03 psi 2021-10-10T16:10:02Z- handleDepth()-Depth_Keller msg: 1633882202278 epoch sec; seqNo:1035; depth 50.81 2021-10-10T16:10:02Z- handleDvl() - RDI_Pathfinder msg: 1633882202.30 epoch sec; seqNo:455 2021-10-10T16:10:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.96 , 31.90 , 32.20 2021-10-10T16:10:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.10 , 0.05 2021-10-10T16:10:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882202.31 epoch sec; seqNo:1035; 4061617.15 north; 594397.20 east 2021-10-10T16:10:02Z- AHRS_M2 msg: 1633882202.65 epoch sec; seqNo:1026 2021-10-10T16:10:02Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.04 psi 2021-10-10T16:10:02Z- handleDepth()-Depth_Keller msg: 1633882202657 epoch sec; seqNo:1036; depth 50.81 2021-10-10T16:10:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:02Z- handleDvl() - RDI_Pathfinder msg: 1633882202.66 epoch sec; seqNo:456 2021-10-10T16:10:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.10 , 0.05 2021-10-10T16:10:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882202.67 epoch sec; seqNo:1036; 4061617.15 north; 594397.20 east 2021-10-10T16:10:03Z- AHRS_M2 msg: 1633882203.06 epoch sec; seqNo:1027 2021-10-10T16:10:03Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.04 psi 2021-10-10T16:10:03Z- handleDepth()-Depth_Keller msg: 1633882203063 epoch sec; seqNo:1037; depth 50.82 2021-10-10T16:10:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882203.07 epoch sec; seqNo:1037; 4061617.52 north; 594395.98 east 2021-10-10T16:10:03Z- AHRS_M2 msg: 1633882203.46 epoch sec; seqNo:1028 2021-10-10T16:10:03Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.04 psi 2021-10-10T16:10:03Z- handleDepth()-Depth_Keller msg: 1633882203478 epoch sec; seqNo:1038; depth 50.82 2021-10-10T16:10:03Z- handleDvl() - RDI_Pathfinder msg: 1633882203.50 epoch sec; seqNo:457 2021-10-10T16:10:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.60 , 36.96 , 31.90 , 32.66 2021-10-10T16:10:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.04 2021-10-10T16:10:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882203.51 epoch sec; seqNo:1038; 4061617.52 north; 594395.98 east 2021-10-10T16:10:03Z- AHRS_M2 msg: 1633882203.86 epoch sec; seqNo:1029 2021-10-10T16:10:03Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.05 psi 2021-10-10T16:10:03Z- handleDepth()-Depth_Keller msg: 1633882203875 epoch sec; seqNo:1039; depth 50.84 2021-10-10T16:10:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:03Z- handleDvl() - RDI_Pathfinder msg: 1633882203.88 epoch sec; seqNo:458 2021-10-10T16:10:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , 0.04 2021-10-10T16:10:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882203.90 epoch sec; seqNo:1039; 4061617.52 north; 594395.98 east 2021-10-10T16:10:04Z- AHRS_M2 msg: 1633882204.29 epoch sec; seqNo:1030 2021-10-10T16:10:04Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.05 psi 2021-10-10T16:10:04Z- handleDepth()-Depth_Keller msg: 1633882204299 epoch sec; seqNo:1040; depth 50.83 2021-10-10T16:10:04Z- handleDvl() - RDI_Pathfinder msg: 1633882204.33 epoch sec; seqNo:459 2021-10-10T16:10:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.60 , 36.81 , 31.90 , 32.51 2021-10-10T16:10:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.02 2021-10-10T16:10:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882204.34 epoch sec; seqNo:1040; 4061617.50 north; 594394.76 east 2021-10-10T16:10:04Z- AHRS_M2 msg: 1633882204.67 epoch sec; seqNo:1031 2021-10-10T16:10:04Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.05 psi 2021-10-10T16:10:04Z- handleDepth()-Depth_Keller msg: 1633882204678 epoch sec; seqNo:1041; depth 50.83 2021-10-10T16:10:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882204.69 epoch sec; seqNo:1041; 4061617.88 north; 594394.75 east 2021-10-10T16:10:05Z- AHRS_M2 msg: 1633882205.08 epoch sec; seqNo:1032 2021-10-10T16:10:05Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.05 psi 2021-10-10T16:10:05Z- handleDepth()-Depth_Keller msg: 1633882205081 epoch sec; seqNo:1042; depth 50.84 2021-10-10T16:10:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:05Z- handleDvl() - RDI_Pathfinder msg: 1633882205.09 epoch sec; seqNo:460 2021-10-10T16:10:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.02 2021-10-10T16:10:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882205.10 epoch sec; seqNo:1042; 4061617.88 north; 594394.75 east 2021-10-10T16:10:05Z- LcmTrn::handleMessages() - handling 46 messages took 0.74 ms and 131 calls... 2021-10-10T16:10:05Z- waiting for 1633882202.84, time is 1633882205.10 2021-10-10T16:10:05Z- LcmTrn::updateTrn() equating pose 1633882205.10 and meas times 1633882205.10 2021-10-10T16:10:05Z- LcmTrn::updateTrn() >>>> pose time 1633882205.10, meas time 1633882205.10 <<<< 2021-10-10T16:10:05Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882205.10, ping # 0. 2021-10-10T16:10:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882205.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:05Z- TerrainNav::motionUpdate() - currEstimate = (4061618, 594394.75, 50.84) 2021-10-10T16:10:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:05Z- TerrainNav:: SubcloudNIS is 0.28, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:05Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:10:05Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:10:05Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882205.10 sec.; No relevant navigation data available 2021-10-10T16:10:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:05Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:05Z- variances([0], [2], and psi_berg) = 638.472499 348.094664 0.000000 2021-10-10T16:10:05Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:05Z- LcmTrn::publishEstimates() - MLE : 4061611.65 594353.81 43.53 2021-10-10T16:10:05Z- LcmTrn::publishEstimates() - MMSE : 4061597.56 594346.83 24.07 2021-10-10T16:10:05Z- LcmTrn::publishEstimates() - COVAR: 638.47 348.09 9.13 0.00 2021-10-10T16:10:05Z- AHRS_M2 msg: 1633882205.48 epoch sec; seqNo:1033 2021-10-10T16:10:05Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.05 psi 2021-10-10T16:10:05Z- handleDepth()-Depth_Keller msg: 1633882205491 epoch sec; seqNo:1043; depth 50.84 2021-10-10T16:10:05Z- handleDvl() - RDI_Pathfinder msg: 1633882205.52 epoch sec; seqNo:461 2021-10-10T16:10:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.60 , 37.11 , 31.90 , 32.36 2021-10-10T16:10:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.08 , 0.00 2021-10-10T16:10:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882205.53 epoch sec; seqNo:1043; 4061617.87 north; 594393.53 east 2021-10-10T16:10:05Z- AHRS_M2 msg: 1633882205.88 epoch sec; seqNo:1034 2021-10-10T16:10:05Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.06 psi 2021-10-10T16:10:05Z- handleDepth()-Depth_Keller msg: 1633882205892 epoch sec; seqNo:1044; depth 50.82 2021-10-10T16:10:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882205.90 epoch sec; seqNo:1044; 4061617.87 north; 594393.53 east 2021-10-10T16:10:06Z- AHRS_M2 msg: 1633882206.31 epoch sec; seqNo:1035 2021-10-10T16:10:06Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.05 psi 2021-10-10T16:10:06Z- handleDepth()-Depth_Keller msg: 1633882206352 epoch sec; seqNo:1045; depth 50.82 2021-10-10T16:10:06Z- handleDvl() - RDI_Pathfinder msg: 1633882206.37 epoch sec; seqNo:462 2021-10-10T16:10:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.60 , 36.81 , 31.59 , 32.05 2021-10-10T16:10:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.08 , -0.01 2021-10-10T16:10:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882206.40 epoch sec; seqNo:1045; 4061618.25 north; 594393.53 east 2021-10-10T16:10:06Z- AHRS_M2 msg: 1633882206.69 epoch sec; seqNo:1036 2021-10-10T16:10:06Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.06 psi 2021-10-10T16:10:06Z- handleDepth()-Depth_Keller msg: 1633882206696 epoch sec; seqNo:1046; depth 50.82 2021-10-10T16:10:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882206.72 epoch sec; seqNo:1046; 4061618.25 north; 594393.53 east 2021-10-10T16:10:07Z- AHRS_M2 msg: 1633882207.10 epoch sec; seqNo:1037 2021-10-10T16:10:07Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.06 psi 2021-10-10T16:10:07Z- handleDepth()-Depth_Keller msg: 1633882207107 epoch sec; seqNo:1047; depth 50.82 2021-10-10T16:10:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882207.12 epoch sec; seqNo:1047; 4061618.24 north; 594392.31 east 2021-10-10T16:10:07Z- AHRS_M2 msg: 1633882207.50 epoch sec; seqNo:1038 2021-10-10T16:10:07Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.06 psi 2021-10-10T16:10:07Z- handleDepth()-Depth_Keller msg: 1633882207512 epoch sec; seqNo:1048; depth 50.80 2021-10-10T16:10:07Z- handleDvl() - RDI_Pathfinder msg: 1633882207.53 epoch sec; seqNo:463 2021-10-10T16:10:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.81 , 31.74 , 32.05 2021-10-10T16:10:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , -0.01 2021-10-10T16:10:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882207.54 epoch sec; seqNo:1048; 4061618.61 north; 594392.30 east 2021-10-10T16:10:07Z- AHRS_M2 msg: 1633882207.90 epoch sec; seqNo:1039 2021-10-10T16:10:07Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.06 psi 2021-10-10T16:10:07Z- handleDepth()-Depth_Keller msg: 1633882207909 epoch sec; seqNo:1049; depth 50.81 2021-10-10T16:10:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882207.92 epoch sec; seqNo:1049; 4061618.61 north; 594392.30 east 2021-10-10T16:10:08Z- AHRS_M2 msg: 1633882208.34 epoch sec; seqNo:1040 2021-10-10T16:10:08Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.06 psi 2021-10-10T16:10:08Z- handleDepth()-Depth_Keller msg: 1633882208369 epoch sec; seqNo:1050; depth 50.81 2021-10-10T16:10:08Z- handleDvl() - RDI_Pathfinder msg: 1633882208.39 epoch sec; seqNo:464 2021-10-10T16:10:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.81 , 31.44 , 31.74 2021-10-10T16:10:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , -0.00 2021-10-10T16:10:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882208.41 epoch sec; seqNo:1050; 4061618.60 north; 594391.08 east 2021-10-10T16:10:08Z- AHRS_M2 msg: 1633882208.71 epoch sec; seqNo:1041 2021-10-10T16:10:08Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.06 psi 2021-10-10T16:10:08Z- handleDepth()-Depth_Keller msg: 1633882208718 epoch sec; seqNo:1051; depth 50.81 2021-10-10T16:10:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:08Z- handleDvl() - RDI_Pathfinder msg: 1633882208.72 epoch sec; seqNo:465 2021-10-10T16:10:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.09 , -0.00 2021-10-10T16:10:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882208.74 epoch sec; seqNo:1051; 4061618.60 north; 594391.08 east 2021-10-10T16:10:09Z- AHRS_M2 msg: 1633882209.12 epoch sec; seqNo:1042 2021-10-10T16:10:09Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.06 psi 2021-10-10T16:10:09Z- handleDepth()-Depth_Keller msg: 1633882209120 epoch sec; seqNo:1052; depth 50.80 2021-10-10T16:10:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882209.14 epoch sec; seqNo:1052; 4061618.98 north; 594391.08 east 2021-10-10T16:10:09Z- AHRS_M2 msg: 1633882209.52 epoch sec; seqNo:1043 2021-10-10T16:10:09Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.06 psi 2021-10-10T16:10:09Z- handleDepth()-Depth_Keller msg: 1633882209528 epoch sec; seqNo:1053; depth 50.79 2021-10-10T16:10:09Z- handleDvl() - RDI_Pathfinder msg: 1633882209.55 epoch sec; seqNo:466 2021-10-10T16:10:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.96 , 31.28 , 31.74 2021-10-10T16:10:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.00 2021-10-10T16:10:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882209.57 epoch sec; seqNo:1053; 4061618.97 north; 594389.86 east 2021-10-10T16:10:09Z- AHRS_M2 msg: 1633882209.92 epoch sec; seqNo:1044 2021-10-10T16:10:09Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:09Z- handleDepth()-Depth_Keller msg: 1633882209937 epoch sec; seqNo:1054; depth 50.80 2021-10-10T16:10:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:09Z- handleDvl() - RDI_Pathfinder msg: 1633882209.94 epoch sec; seqNo:467 2021-10-10T16:10:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.00 2021-10-10T16:10:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882209.95 epoch sec; seqNo:1054; 4061618.97 north; 594389.86 east 2021-10-10T16:10:10Z- AHRS_M2 msg: 1633882210.33 epoch sec; seqNo:1045 2021-10-10T16:10:10Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:10Z- handleDepth()-Depth_Keller msg: 1633882210373 epoch sec; seqNo:1055; depth 50.79 2021-10-10T16:10:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882210.41 epoch sec; seqNo:1055; 4061619.33 north; 594388.64 east 2021-10-10T16:10:10Z- LcmTrn::handleMessages() - handling 46 messages took 0.97 ms and 126 calls... 2021-10-10T16:10:10Z- waiting for 1633882208.10, time is 1633882210.41 2021-10-10T16:10:10Z- LcmTrn::updateTrn() >>>> pose time 1633882210.41, meas time 1633882209.94 <<<< 2021-10-10T16:10:10Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882209.94, ping # 0. 2021-10-10T16:10:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882209.94 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:10Z- TerrainNav::motionUpdate() - currEstimate = (4061619, 594388.64, 50.79) 2021-10-10T16:10:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:10Z- TerrainNav:: SubcloudNIS is 0.28, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:10Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:10:10Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:10:10Z- TNavBF::Projecting Measurements 2021-10-10T16:10:10Z- TNavFilter::Measurement from time = 1633882209.94 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:10:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:10Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:10Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:10:10Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:10:10Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:10:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:10Z- Filter 0 NorthBias: -20.3 EastBias: -48.0 DepthBias: -26.8 NorthVariance: 636.8 EastVariance: 347.6 DepthVariance: 9.4 this->DepthBiasCov: 0.9 2021-10-10T16:10:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:10Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:10Z- variances([0], [2], and psi_berg) = 636.288380 347.394764 0.000000 2021-10-10T16:10:10Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:10Z- LcmTrn::publishEstimates() - MLE : 4061613.09 594347.69 43.49 2021-10-10T16:10:10Z- LcmTrn::publishEstimates() - MMSE : 4061599.04 594340.66 24.02 2021-10-10T16:10:10Z- LcmTrn::publishEstimates() - COVAR: 636.29 347.39 9.47 0.00 2021-10-10T16:10:10Z- AHRS_M2 msg: 1633882210.73 epoch sec; seqNo:1046 2021-10-10T16:10:10Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:10Z- handleDepth()-Depth_Keller msg: 1633882210737 epoch sec; seqNo:1056; depth 50.80 2021-10-10T16:10:10Z- handleDvl() - RDI_Pathfinder msg: 1633882210.76 epoch sec; seqNo:468 2021-10-10T16:10:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.29 , 37.26 , 31.44 , 31.59 2021-10-10T16:10:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.01 2021-10-10T16:10:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882210.78 epoch sec; seqNo:1056; 4061619.33 north; 594388.64 east 2021-10-10T16:10:11Z- AHRS_M2 msg: 1633882211.14 epoch sec; seqNo:1047 2021-10-10T16:10:11Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:11Z- handleDepth()-Depth_Keller msg: 1633882211147 epoch sec; seqNo:1057; depth 50.81 2021-10-10T16:10:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:11Z- handleDvl() - RDI_Pathfinder msg: 1633882211.15 epoch sec; seqNo:469 2021-10-10T16:10:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.10 , 0.01 2021-10-10T16:10:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882211.16 epoch sec; seqNo:1057; 4061619.33 north; 594388.64 east 2021-10-10T16:10:11Z- AHRS_M2 msg: 1633882211.54 epoch sec; seqNo:1048 2021-10-10T16:10:11Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:11Z- handleDepth()-Depth_Keller msg: 1633882211550 epoch sec; seqNo:1058; depth 50.81 2021-10-10T16:10:11Z- handleDvl() - RDI_Pathfinder msg: 1633882211.57 epoch sec; seqNo:470 2021-10-10T16:10:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.34 , 31.28 , 31.59 2021-10-10T16:10:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.13 , 0.03 2021-10-10T16:10:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882211.58 epoch sec; seqNo:1058; 4061619.70 north; 594387.41 east 2021-10-10T16:10:11Z- AHRS_M2 msg: 1633882211.94 epoch sec; seqNo:1049 2021-10-10T16:10:11Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:11Z- handleDepth()-Depth_Keller msg: 1633882211949 epoch sec; seqNo:1059; depth 50.80 2021-10-10T16:10:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882211.97 epoch sec; seqNo:1059; 4061619.70 north; 594387.41 east 2021-10-10T16:10:12Z- AHRS_M2 msg: 1633882212.36 epoch sec; seqNo:1050 2021-10-10T16:10:12Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:12Z- handleDepth()-Depth_Keller msg: 1633882212368 epoch sec; seqNo:1060; depth 50.82 2021-10-10T16:10:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:12Z- handleDvl() - RDI_Pathfinder msg: 1633882212.37 epoch sec; seqNo:471 2021-10-10T16:10:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.13 , 0.03 2021-10-10T16:10:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882212.43 epoch sec; seqNo:1060; 4061619.70 north; 594387.41 east 2021-10-10T16:10:12Z- AHRS_M2 msg: 1633882212.75 epoch sec; seqNo:1051 2021-10-10T16:10:12Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:12Z- handleDepth()-Depth_Keller msg: 1633882212757 epoch sec; seqNo:1061; depth 50.83 2021-10-10T16:10:12Z- handleDvl() - RDI_Pathfinder msg: 1633882212.78 epoch sec; seqNo:472 2021-10-10T16:10:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.29 , 36.19 , 31.28 , 31.89 2021-10-10T16:10:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.13 , 0.04 2021-10-10T16:10:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882212.81 epoch sec; seqNo:1061; 4061619.68 north; 594386.19 east 2021-10-10T16:10:13Z- AHRS_M2 msg: 1633882213.16 epoch sec; seqNo:1052 2021-10-10T16:10:13Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:13Z- handleDepth()-Depth_Keller msg: 1633882213169 epoch sec; seqNo:1062; depth 50.84 2021-10-10T16:10:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882213.18 epoch sec; seqNo:1062; 4061620.06 north; 594386.19 east 2021-10-10T16:10:13Z- AHRS_M2 msg: 1633882213.56 epoch sec; seqNo:1053 2021-10-10T16:10:13Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.07 psi 2021-10-10T16:10:13Z- handleDepth()-Depth_Keller msg: 1633882213565 epoch sec; seqNo:1063; depth 50.84 2021-10-10T16:10:13Z- handleDvl() - RDI_Pathfinder msg: 1633882213.58 epoch sec; seqNo:473 2021-10-10T16:10:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 36.34 , 31.28 , 31.59 2021-10-10T16:10:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.12 , 0.05 2021-10-10T16:10:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882213.61 epoch sec; seqNo:1063; 4061620.06 north; 594386.19 east 2021-10-10T16:10:13Z- AHRS_M2 msg: 1633882213.96 epoch sec; seqNo:1054 2021-10-10T16:10:13Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 5.07 psi 2021-10-10T16:10:13Z- handleDepth()-Depth_Keller msg: 1633882213969 epoch sec; seqNo:1064; depth 50.85 2021-10-10T16:10:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882213.99 epoch sec; seqNo:1064; 4061620.05 north; 594384.97 east 2021-10-10T16:10:14Z- AHRS_M2 msg: 1633882214.37 epoch sec; seqNo:1055 2021-10-10T16:10:14Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 5.07 psi 2021-10-10T16:10:14Z- handleDepth()-Depth_Keller msg: 1633882214397 epoch sec; seqNo:1065; depth 50.86 2021-10-10T16:10:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882214.44 epoch sec; seqNo:1065; 4061620.05 north; 594384.97 east 2021-10-10T16:10:14Z- AHRS_M2 msg: 1633882214.78 epoch sec; seqNo:1056 2021-10-10T16:10:14Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 5.08 psi 2021-10-10T16:10:14Z- handleDepth()-Depth_Keller msg: 1633882214783 epoch sec; seqNo:1066; depth 50.87 2021-10-10T16:10:14Z- handleDvl() - RDI_Pathfinder msg: 1633882214.81 epoch sec; seqNo:474 2021-10-10T16:10:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.59 , 36.34 , 31.13 , 31.89 2021-10-10T16:10:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.11 , 0.07 2021-10-10T16:10:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882214.82 epoch sec; seqNo:1066; 4061620.43 north; 594384.96 east 2021-10-10T16:10:15Z- AHRS_M2 msg: 1633882215.18 epoch sec; seqNo:1057 2021-10-10T16:10:15Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.08 psi 2021-10-10T16:10:15Z- handleDepth()-Depth_Keller msg: 1633882215186 epoch sec; seqNo:1067; depth 50.88 2021-10-10T16:10:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882215.20 epoch sec; seqNo:1067; 4061620.41 north; 594383.74 east 2021-10-10T16:10:15Z- LcmTrn::handleMessages() - handling 43 messages took 0.84 ms and 126 calls... 2021-10-10T16:10:15Z- waiting for 1633882213.41, time is 1633882215.20 2021-10-10T16:10:15Z- LcmTrn::updateTrn() >>>> pose time 1633882215.20, meas time 1633882214.81 <<<< 2021-10-10T16:10:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882214.81 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:15Z- TerrainNav::motionUpdate() - currEstimate = (4061620, 594383.74, 50.88) 2021-10-10T16:10:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:15Z- TerrainNav:: SubcloudNIS is 0.28, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:15Z- TNavBF::Projecting Measurements 2021-10-10T16:10:15Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:10:15Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:10:15Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:10:15Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:10:15Z- TNavFilter::4 good beams. 2021-10-10T16:10:15Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:15Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:15Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:10:15Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:10:15Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:10:15Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:15Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:15Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:15Z- TerrainMapOctree: (vehN, vehE ) = (4061620.33, 594384.14). 2021-10-10T16:10:15Z- TerrainMapOctree: Min Distance = 186.57. 2021-10-10T16:10:15Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:10:15Z- Forcing Subcloud Comparison 2021-10-10T16:10:15Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:10:15Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:15Z- Filter 0 partialDeltaRmsComputation: 10.113053 terrainVariance: 3.016371 1-SumSquareWeights: 0.996422 2021-10-10T16:10:15Z- Filter 0 meanExpectedMeasDiff: -2.663960 delta_rms_squared: 3.006406 alpha: 0.993392 2021-10-10T16:10:15Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:15Z- Filter 0 partialDeltaRmsComputation: 19.833814 terrainVariance: 3.399966 1-SumSquareWeights: 0.996422 2021-10-10T16:10:15Z- Filter 0 meanExpectedMeasDiff: 4.053868 delta_rms_squared: 3.390002 alpha: 0.994135 2021-10-10T16:10:15Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:15Z- Filter 0 partialDeltaRmsComputation: 30.866835 terrainVariance: 1.784793 1-SumSquareWeights: 0.996422 2021-10-10T16:10:15Z- Filter 0 meanExpectedMeasDiff: -5.392777 delta_rms_squared: 1.774829 alpha: 0.988857 2021-10-10T16:10:15Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:15Z- Filter 0 partialDeltaRmsComputation: 4.734934 terrainVariance: 1.058249 1-SumSquareWeights: 0.996422 2021-10-10T16:10:15Z- Filter 0 meanExpectedMeasDiff: 1.917468 delta_rms_squared: 1.048285 alpha: 0.981278 2021-10-10T16:10:15Z- Filter 0 SubcloudNIS: 0.262365 2021-10-10T16:10:15Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:10:15Z- TNavBF:: Filter 0 sumWeights = 0.001129 2021-10-10T16:10:15Z- Filter 0 NorthBias: -18.0 EastBias: -44.9 DepthBias: -27.2 NorthVariance: 334.5 EastVariance: 313.3 DepthVariance: 9.4 this->DepthBiasCov: 0.5 2021-10-10T16:10:15Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882214.81 sec. 2021-10-10T16:10:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:15Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:15Z- variances([0], [2], and psi_berg) = 334.454807 313.308997 0.000000 2021-10-10T16:10:15Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:15Z- LcmTrn::publishEstimates() - MLE : 4061614.18 594342.79 43.57 2021-10-10T16:10:15Z- LcmTrn::publishEstimates() - MMSE : 4061602.40 594338.85 23.63 2021-10-10T16:10:15Z- LcmTrn::publishEstimates() - COVAR: 334.45 313.31 9.47 0.00 2021-10-10T16:10:15Z- AHRS_M2 msg: 1633882215.58 epoch sec; seqNo:1058 2021-10-10T16:10:15Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 5.08 psi 2021-10-10T16:10:15Z- handleDepth()-Depth_Keller msg: 1633882215592 epoch sec; seqNo:1068; depth 50.89 2021-10-10T16:10:15Z- handleDvl() - RDI_Pathfinder msg: 1633882215.61 epoch sec; seqNo:475 2021-10-10T16:10:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.59 , 36.34 , 31.43 , 31.89 2021-10-10T16:10:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.10 , 0.06 2021-10-10T16:10:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882215.64 epoch sec; seqNo:1068; 4061620.41 north; 594383.74 east 2021-10-10T16:10:16Z- AHRS_M2 msg: 1633882216.00 epoch sec; seqNo:1059 2021-10-10T16:10:16Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 5.08 psi 2021-10-10T16:10:16Z- handleDepth()-Depth_Keller msg: 1633882216011 epoch sec; seqNo:1069; depth 50.90 2021-10-10T16:10:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:16Z- handleDvl() - RDI_Pathfinder msg: 1633882216.01 epoch sec; seqNo:476 2021-10-10T16:10:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.10 , 0.06 2021-10-10T16:10:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882216.03 epoch sec; seqNo:1069; 4061620.79 north; 594383.74 east 2021-10-10T16:10:16Z- AHRS_M2 msg: 1633882216.39 epoch sec; seqNo:1060 2021-10-10T16:10:16Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.08 psi 2021-10-10T16:10:16Z- handleDepth()-Depth_Keller msg: 1633882216393 epoch sec; seqNo:1070; depth 50.89 2021-10-10T16:10:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882216.42 epoch sec; seqNo:1070; 4061620.78 north; 594382.52 east 2021-10-10T16:10:16Z- AHRS_M2 msg: 1633882216.79 epoch sec; seqNo:1061 2021-10-10T16:10:16Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.09 psi 2021-10-10T16:10:16Z- handleDepth()-Depth_Keller msg: 1633882216797 epoch sec; seqNo:1071; depth 50.89 2021-10-10T16:10:16Z- handleDvl() - RDI_Pathfinder msg: 1633882216.82 epoch sec; seqNo:477 2021-10-10T16:10:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.75 , 36.34 , 31.59 , 31.59 2021-10-10T16:10:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.05 2021-10-10T16:10:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882216.84 epoch sec; seqNo:1071; 4061620.78 north; 594382.52 east 2021-10-10T16:10:17Z- AHRS_M2 msg: 1633882217.20 epoch sec; seqNo:1062 2021-10-10T16:10:17Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.09 psi 2021-10-10T16:10:17Z- handleDepth()-Depth_Keller msg: 1633882217211 epoch sec; seqNo:1072; depth 50.90 2021-10-10T16:10:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:17Z- handleDvl() - RDI_Pathfinder msg: 1633882217.21 epoch sec; seqNo:478 2021-10-10T16:10:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.05 2021-10-10T16:10:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882217.23 epoch sec; seqNo:1072; 4061621.16 north; 594382.51 east 2021-10-10T16:10:17Z- AHRS_M2 msg: 1633882217.63 epoch sec; seqNo:1063 2021-10-10T16:10:17Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.09 psi 2021-10-10T16:10:17Z- handleDepth()-Depth_Keller msg: 1633882217649 epoch sec; seqNo:1073; depth 50.89 2021-10-10T16:10:17Z- handleDvl() - RDI_Pathfinder msg: 1633882217.68 epoch sec; seqNo:479 2021-10-10T16:10:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.21 , 36.34 , 31.43 , 31.43 2021-10-10T16:10:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.03 2021-10-10T16:10:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882217.69 epoch sec; seqNo:1073; 4061621.14 north; 594381.29 east 2021-10-10T16:10:18Z- AHRS_M2 msg: 1633882218.00 epoch sec; seqNo:1064 2021-10-10T16:10:18Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.09 psi 2021-10-10T16:10:18Z- handleDepth()-Depth_Keller msg: 1633882218008 epoch sec; seqNo:1074; depth 50.88 2021-10-10T16:10:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882218.02 epoch sec; seqNo:1074; 4061621.14 north; 594381.29 east 2021-10-10T16:10:18Z- AHRS_M2 msg: 1633882218.42 epoch sec; seqNo:1065 2021-10-10T16:10:18Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.09 psi 2021-10-10T16:10:18Z- handleDepth()-Depth_Keller msg: 1633882218423 epoch sec; seqNo:1075; depth 50.89 2021-10-10T16:10:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:18Z- handleDvl() - RDI_Pathfinder msg: 1633882218.43 epoch sec; seqNo:480 2021-10-10T16:10:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.03 2021-10-10T16:10:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882218.44 epoch sec; seqNo:1075; 4061621.14 north; 594381.29 east 2021-10-10T16:10:18Z- AHRS_M2 msg: 1633882218.82 epoch sec; seqNo:1066 2021-10-10T16:10:18Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:18Z- handleDepth()-Depth_Keller msg: 1633882218823 epoch sec; seqNo:1076; depth 50.87 2021-10-10T16:10:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882218.83 epoch sec; seqNo:1076; 4061621.52 north; 594381.29 east 2021-10-10T16:10:19Z- AHRS_M2 msg: 1633882219.22 epoch sec; seqNo:1067 2021-10-10T16:10:19Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:19Z- handleDepth()-Depth_Keller msg: 1633882219221 epoch sec; seqNo:1077; depth 50.87 2021-10-10T16:10:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882219.24 epoch sec; seqNo:1077; 4061621.51 north; 594380.07 east 2021-10-10T16:10:19Z- AHRS_M2 msg: 1633882219.64 epoch sec; seqNo:1068 2021-10-10T16:10:19Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:19Z- handleDepth()-Depth_Keller msg: 1633882219662 epoch sec; seqNo:1078; depth 50.87 2021-10-10T16:10:19Z- handleDvl() - RDI_Pathfinder msg: 1633882219.68 epoch sec; seqNo:481 2021-10-10T16:10:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.05 , 36.80 , 31.43 , 31.59 2021-10-10T16:10:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.07 , -0.02 2021-10-10T16:10:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882219.70 epoch sec; seqNo:1078; 4061621.51 north; 594380.07 east 2021-10-10T16:10:20Z- AHRS_M2 msg: 1633882220.03 epoch sec; seqNo:1069 2021-10-10T16:10:20Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:20Z- handleDepth()-Depth_Keller msg: 1633882220029 epoch sec; seqNo:1079; depth 50.84 2021-10-10T16:10:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882220.05 epoch sec; seqNo:1079; 4061621.89 north; 594380.06 east 2021-10-10T16:10:20Z- AHRS_M2 msg: 1633882220.44 epoch sec; seqNo:1070 2021-10-10T16:10:20Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:20Z- handleDepth()-Depth_Keller msg: 1633882220448 epoch sec; seqNo:1080; depth 50.84 2021-10-10T16:10:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882220.46 epoch sec; seqNo:1080; 4061621.88 north; 594378.84 east 2021-10-10T16:10:20Z- LcmTrn::handleMessages() - handling 46 messages took 0.69 ms and 132 calls... 2021-10-10T16:10:20Z- waiting for 1633882218.20, time is 1633882220.46 2021-10-10T16:10:20Z- LcmTrn::updateTrn() >>>> pose time 1633882220.46, meas time 1633882219.68 <<<< 2021-10-10T16:10:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882219.68 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:20Z- TerrainNav::motionUpdate() - currEstimate = (4061622, 594378.84, 50.84) 2021-10-10T16:10:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:20Z- TerrainNav:: SubcloudNIS is 0.26, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:20Z- TNavBF::Projecting Measurements 2021-10-10T16:10:20Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:10:20Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:10:20Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:10:20Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:10:20Z- TNavFilter::4 good beams. 2021-10-10T16:10:20Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:20Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:20Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:10:20Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:10:20Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:10:20Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:20Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:20Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:20Z- TerrainMapOctree: (vehN, vehE ) = (4061621.66, 594379.56). 2021-10-10T16:10:20Z- TerrainMapOctree: Min Distance = 182.37. 2021-10-10T16:10:20Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:10:20Z- Forcing Subcloud Comparison 2021-10-10T16:10:20Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:10:20Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:20Z- Filter 0 partialDeltaRmsComputation: 9.119221 terrainVariance: 3.296361 1-SumSquareWeights: 0.992493 2021-10-10T16:10:20Z- Filter 0 meanExpectedMeasDiff: -2.413060 delta_rms_squared: 3.286436 alpha: 0.993951 2021-10-10T16:10:20Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:20Z- Filter 0 partialDeltaRmsComputation: 17.974108 terrainVariance: 2.703695 1-SumSquareWeights: 0.992493 2021-10-10T16:10:20Z- Filter 0 meanExpectedMeasDiff: 3.907738 delta_rms_squared: 2.693770 alpha: 0.992630 2021-10-10T16:10:20Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:20Z- Filter 0 partialDeltaRmsComputation: 23.037078 terrainVariance: 2.208337 1-SumSquareWeights: 0.992493 2021-10-10T16:10:20Z- Filter 0 meanExpectedMeasDiff: -4.563852 delta_rms_squared: 2.198412 alpha: 0.990985 2021-10-10T16:10:20Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:20Z- Filter 0 partialDeltaRmsComputation: 4.656328 terrainVariance: 1.186067 1-SumSquareWeights: 0.992493 2021-10-10T16:10:20Z- Filter 0 meanExpectedMeasDiff: 1.862864 delta_rms_squared: 1.176142 alpha: 0.983280 2021-10-10T16:10:20Z- Filter 0 SubcloudNIS: 0.310871 2021-10-10T16:10:20Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:10:20Z- TNavBF:: Filter 0 sumWeights = 0.002128 2021-10-10T16:10:20Z- Filter 0 NorthBias: -13.5 EastBias: -36.1 DepthBias: -26.3 NorthVariance: 165.0 EastVariance: 228.1 DepthVariance: 6.4 this->DepthBiasCov: 0.4 2021-10-10T16:10:20Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882219.68 sec. 2021-10-10T16:10:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:20Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:20Z- variances([0], [2], and psi_berg) = 165.008339 228.076534 0.000000 2021-10-10T16:10:20Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:20Z- LcmTrn::publishEstimates() - MLE : 4061611.64 594351.90 43.53 2021-10-10T16:10:20Z- LcmTrn::publishEstimates() - MMSE : 4061608.38 594342.70 24.53 2021-10-10T16:10:20Z- LcmTrn::publishEstimates() - COVAR: 165.01 228.08 6.46 0.00 2021-10-10T16:10:20Z- AHRS_M2 msg: 1633882220.83 epoch sec; seqNo:1071 2021-10-10T16:10:20Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:20Z- handleDepth()-Depth_Keller msg: 1633882220837 epoch sec; seqNo:1081; depth 50.82 2021-10-10T16:10:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:20Z- handleDvl() - RDI_Pathfinder msg: 1633882220.84 epoch sec; seqNo:482 2021-10-10T16:10:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.07 , -0.02 2021-10-10T16:10:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882220.86 epoch sec; seqNo:1081; 4061621.88 north; 594378.84 east 2021-10-10T16:10:21Z- AHRS_M2 msg: 1633882221.24 epoch sec; seqNo:1072 2021-10-10T16:10:21Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:21Z- handleDepth()-Depth_Keller msg: 1633882221247 epoch sec; seqNo:1082; depth 50.83 2021-10-10T16:10:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882221.26 epoch sec; seqNo:1082; 4061622.25 north; 594378.84 east 2021-10-10T16:10:21Z- AHRS_M2 msg: 1633882221.66 epoch sec; seqNo:1073 2021-10-10T16:10:21Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:21Z- handleDepth()-Depth_Keller msg: 1633882221666 epoch sec; seqNo:1083; depth 50.81 2021-10-10T16:10:21Z- handleDvl() - RDI_Pathfinder msg: 1633882221.69 epoch sec; seqNo:483 2021-10-10T16:10:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.21 , 37.11 , 31.59 , 31.89 2021-10-10T16:10:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.10 , -0.03 2021-10-10T16:10:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882221.70 epoch sec; seqNo:1083; 4061622.24 north; 594377.62 east 2021-10-10T16:10:22Z- AHRS_M2 msg: 1633882222.04 epoch sec; seqNo:1074 2021-10-10T16:10:22Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:22Z- handleDepth()-Depth_Keller msg: 1633882222048 epoch sec; seqNo:1084; depth 50.79 2021-10-10T16:10:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:22Z- handleDvl() - RDI_Pathfinder msg: 1633882222.05 epoch sec; seqNo:484 2021-10-10T16:10:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.10 , -0.03 2021-10-10T16:10:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882222.07 epoch sec; seqNo:1084; 4061622.24 north; 594377.62 east 2021-10-10T16:10:22Z- AHRS_M2 msg: 1633882222.45 epoch sec; seqNo:1075 2021-10-10T16:10:22Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:22Z- handleDepth()-Depth_Keller msg: 1633882222454 epoch sec; seqNo:1085; depth 50.79 2021-10-10T16:10:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882222.46 epoch sec; seqNo:1085; 4061622.62 north; 594377.61 east 2021-10-10T16:10:22Z- AHRS_M2 msg: 1633882222.85 epoch sec; seqNo:1076 2021-10-10T16:10:22Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:22Z- handleDepth()-Depth_Keller msg: 1633882222857 epoch sec; seqNo:1086; depth 50.79 2021-10-10T16:10:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882222.87 epoch sec; seqNo:1086; 4061622.61 north; 594376.39 east 2021-10-10T16:10:23Z- AHRS_M2 msg: 1633882223.26 epoch sec; seqNo:1077 2021-10-10T16:10:23Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:23Z- handleDepth()-Depth_Keller msg: 1633882223270 epoch sec; seqNo:1087; depth 50.79 2021-10-10T16:10:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882223.28 epoch sec; seqNo:1087; 4061622.61 north; 594376.39 east 2021-10-10T16:10:23Z- AHRS_M2 msg: 1633882223.67 epoch sec; seqNo:1078 2021-10-10T16:10:23Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:23Z- handleDepth()-Depth_Keller msg: 1633882223674 epoch sec; seqNo:1088; depth 50.78 2021-10-10T16:10:23Z- handleDvl() - RDI_Pathfinder msg: 1633882223.69 epoch sec; seqNo:485 2021-10-10T16:10:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.36 , 36.65 , 31.43 , 32.35 2021-10-10T16:10:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.12 , 0.01 2021-10-10T16:10:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882223.71 epoch sec; seqNo:1088; 4061622.99 north; 594376.39 east 2021-10-10T16:10:24Z- AHRS_M2 msg: 1633882224.07 epoch sec; seqNo:1079 2021-10-10T16:10:24Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:24Z- handleDepth()-Depth_Keller msg: 1633882224069 epoch sec; seqNo:1089; depth 50.78 2021-10-10T16:10:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882224.10 epoch sec; seqNo:1089; 4061622.97 north; 594375.17 east 2021-10-10T16:10:24Z- AHRS_M2 msg: 1633882224.47 epoch sec; seqNo:1080 2021-10-10T16:10:24Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:24Z- handleDepth()-Depth_Keller msg: 1633882224480 epoch sec; seqNo:1090; depth 50.77 2021-10-10T16:10:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882224.49 epoch sec; seqNo:1090; 4061622.97 north; 594375.17 east 2021-10-10T16:10:24Z- AHRS_M2 msg: 1633882224.87 epoch sec; seqNo:1081 2021-10-10T16:10:24Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:24Z- handleDepth()-Depth_Keller msg: 1633882224878 epoch sec; seqNo:1091; depth 50.77 2021-10-10T16:10:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882224.89 epoch sec; seqNo:1091; 4061623.35 north; 594375.17 east 2021-10-10T16:10:25Z- AHRS_M2 msg: 1633882225.28 epoch sec; seqNo:1082 2021-10-10T16:10:25Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:25Z- handleDepth()-Depth_Keller msg: 1633882225286 epoch sec; seqNo:1092; depth 50.80 2021-10-10T16:10:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882225.30 epoch sec; seqNo:1092; 4061623.34 north; 594373.95 east 2021-10-10T16:10:25Z- AHRS_M2 msg: 1633882225.68 epoch sec; seqNo:1083 2021-10-10T16:10:25Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:25Z- handleDepth()-Depth_Keller msg: 1633882225688 epoch sec; seqNo:1093; depth 50.79 2021-10-10T16:10:25Z- handleDvl() - RDI_Pathfinder msg: 1633882225.72 epoch sec; seqNo:486 2021-10-10T16:10:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.75 , 36.80 , 31.43 , 32.05 2021-10-10T16:10:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.11 , 0.04 2021-10-10T16:10:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882225.73 epoch sec; seqNo:1093; 4061623.34 north; 594373.95 east 2021-10-10T16:10:25Z- LcmTrn::handleMessages() - handling 44 messages took 0.68 ms and 130 calls... 2021-10-10T16:10:25Z- waiting for 1633882223.46, time is 1633882225.73 2021-10-10T16:10:25Z- LcmTrn::updateTrn() equating pose 1633882225.73 and meas times 1633882225.73 2021-10-10T16:10:25Z- LcmTrn::updateTrn() >>>> pose time 1633882225.73, meas time 1633882225.73 <<<< 2021-10-10T16:10:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882225.73 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:25Z- TerrainNav::motionUpdate() - currEstimate = (4061623, 594373.95, 50.79) 2021-10-10T16:10:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:25Z- TerrainNav:: SubcloudNIS is 0.31, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:25Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882225.73 sec.; No relevant navigation data available 2021-10-10T16:10:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:25Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:25Z- variances([0], [2], and psi_berg) = 165.010095 228.111885 0.000000 2021-10-10T16:10:25Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:25Z- LcmTrn::publishEstimates() - MLE : 4061613.10 594347.00 43.49 2021-10-10T16:10:25Z- LcmTrn::publishEstimates() - MMSE : 4061609.85 594337.80 24.49 2021-10-10T16:10:25Z- LcmTrn::publishEstimates() - COVAR: 165.01 228.11 6.72 0.00 2021-10-10T16:10:26Z- AHRS_M2 msg: 1633882226.09 epoch sec; seqNo:1084 2021-10-10T16:10:26Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:26Z- handleDepth()-Depth_Keller msg: 1633882226090 epoch sec; seqNo:1094; depth 50.79 2021-10-10T16:10:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882226.11 epoch sec; seqNo:1094; 4061623.72 north; 594373.94 east 2021-10-10T16:10:26Z- AHRS_M2 msg: 1633882226.51 epoch sec; seqNo:1085 2021-10-10T16:10:26Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:10:26Z- handleDepth()-Depth_Keller msg: 1633882226528 epoch sec; seqNo:1095; depth 50.82 2021-10-10T16:10:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882226.56 epoch sec; seqNo:1095; 4061623.70 north; 594372.72 east 2021-10-10T16:10:26Z- AHRS_M2 msg: 1633882226.89 epoch sec; seqNo:1086 2021-10-10T16:10:26Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:26Z- handleDepth()-Depth_Keller msg: 1633882226897 epoch sec; seqNo:1096; depth 50.81 2021-10-10T16:10:26Z- handleDvl() - RDI_Pathfinder msg: 1633882226.92 epoch sec; seqNo:487 2021-10-10T16:10:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.59 , 36.95 , 31.43 , 32.20 2021-10-10T16:10:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.11 , 0.05 2021-10-10T16:10:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882226.94 epoch sec; seqNo:1096; 4061623.70 north; 594372.72 east 2021-10-10T16:10:27Z- AHRS_M2 msg: 1633882227.30 epoch sec; seqNo:1087 2021-10-10T16:10:27Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:27Z- handleDepth()-Depth_Keller msg: 1633882227301 epoch sec; seqNo:1097; depth 50.82 2021-10-10T16:10:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882227.32 epoch sec; seqNo:1097; 4061624.08 north; 594372.72 east 2021-10-10T16:10:27Z- AHRS_M2 msg: 1633882227.70 epoch sec; seqNo:1088 2021-10-10T16:10:27Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:27Z- handleDepth()-Depth_Keller msg: 1633882227706 epoch sec; seqNo:1098; depth 50.83 2021-10-10T16:10:27Z- handleDvl() - RDI_Pathfinder msg: 1633882227.72 epoch sec; seqNo:488 2021-10-10T16:10:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.51 , 36.49 , 31.28 , 32.35 2021-10-10T16:10:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.04 2021-10-10T16:10:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882227.75 epoch sec; seqNo:1098; 4061624.07 north; 594371.50 east 2021-10-10T16:10:28Z- AHRS_M2 msg: 1633882228.11 epoch sec; seqNo:1089 2021-10-10T16:10:28Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:28Z- handleDepth()-Depth_Keller msg: 1633882228115 epoch sec; seqNo:1099; depth 50.82 2021-10-10T16:10:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:28Z- handleDvl() - RDI_Pathfinder msg: 1633882228.12 epoch sec; seqNo:489 2021-10-10T16:10:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.04 2021-10-10T16:10:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882228.13 epoch sec; seqNo:1099; 4061624.07 north; 594371.50 east 2021-10-10T16:10:28Z- AHRS_M2 msg: 1633882228.51 epoch sec; seqNo:1090 2021-10-10T16:10:28Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:28Z- handleDepth()-Depth_Keller msg: 1633882228513 epoch sec; seqNo:1100; depth 50.84 2021-10-10T16:10:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882228.53 epoch sec; seqNo:1100; 4061624.45 north; 594371.49 east 2021-10-10T16:10:28Z- AHRS_M2 msg: 1633882228.92 epoch sec; seqNo:1091 2021-10-10T16:10:28Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:28Z- handleDepth()-Depth_Keller msg: 1633882228921 epoch sec; seqNo:1101; depth 50.86 2021-10-10T16:10:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882228.93 epoch sec; seqNo:1101; 4061624.43 north; 594370.27 east 2021-10-10T16:10:29Z- AHRS_M2 msg: 1633882229.32 epoch sec; seqNo:1092 2021-10-10T16:10:29Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:29Z- handleDepth()-Depth_Keller msg: 1633882229327 epoch sec; seqNo:1102; depth 50.85 2021-10-10T16:10:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:29Z- handleDvl() - RDI_Pathfinder msg: 1633882229.33 epoch sec; seqNo:490 2021-10-10T16:10:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.04 2021-10-10T16:10:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882229.34 epoch sec; seqNo:1102; 4061624.43 north; 594370.27 east 2021-10-10T16:10:29Z- AHRS_M2 msg: 1633882229.72 epoch sec; seqNo:1093 2021-10-10T16:10:29Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.11 psi 2021-10-10T16:10:29Z- handleDepth()-Depth_Keller msg: 1633882229726 epoch sec; seqNo:1103; depth 50.85 2021-10-10T16:10:29Z- handleDvl() - RDI_Pathfinder msg: 1633882229.75 epoch sec; seqNo:491 2021-10-10T16:10:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.05 , 37.26 , 31.28 , 32.35 2021-10-10T16:10:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.11 , 0.03 2021-10-10T16:10:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882229.76 epoch sec; seqNo:1103; 4061624.81 north; 594370.27 east 2021-10-10T16:10:30Z- AHRS_M2 msg: 1633882230.12 epoch sec; seqNo:1094 2021-10-10T16:10:30Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.11 psi 2021-10-10T16:10:30Z- handleDepth()-Depth_Keller msg: 1633882230132 epoch sec; seqNo:1104; depth 50.85 2021-10-10T16:10:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882230.16 epoch sec; seqNo:1104; 4061624.80 north; 594369.05 east 2021-10-10T16:10:30Z- AHRS_M2 msg: 1633882230.53 epoch sec; seqNo:1095 2021-10-10T16:10:30Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.11 psi 2021-10-10T16:10:30Z- handleDepth()-Depth_Keller msg: 1633882230533 epoch sec; seqNo:1105; depth 50.85 2021-10-10T16:10:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:30Z- handleDvl() - RDI_Pathfinder msg: 1633882230.54 epoch sec; seqNo:492 2021-10-10T16:10:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.11 , 0.03 2021-10-10T16:10:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882230.54 epoch sec; seqNo:1105; 4061624.80 north; 594369.05 east 2021-10-10T16:10:30Z- AHRS_M2 msg: 1633882230.93 epoch sec; seqNo:1096 2021-10-10T16:10:30Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.11 psi 2021-10-10T16:10:30Z- handleDepth()-Depth_Keller msg: 1633882230937 epoch sec; seqNo:1106; depth 50.85 2021-10-10T16:10:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882230.95 epoch sec; seqNo:1106; 4061624.80 north; 594369.05 east 2021-10-10T16:10:31Z- LcmTrn::handleMessages() - handling 45 messages took 0.76 ms and 130 calls... 2021-10-10T16:10:31Z- waiting for 1633882228.73, time is 1633882230.95 2021-10-10T16:10:31Z- LcmTrn::updateTrn() >>>> pose time 1633882230.95, meas time 1633882230.54 <<<< 2021-10-10T16:10:31Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882230.54, ping # 0. 2021-10-10T16:10:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882230.54 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:31Z- TerrainNav::motionUpdate() - currEstimate = (4061625, 594369.05, 50.85) 2021-10-10T16:10:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:31Z- TerrainNav:: SubcloudNIS is 0.31, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:31Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:10:31Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:10:31Z- TNavBF::Projecting Measurements 2021-10-10T16:10:31Z- TNavFilter::Measurement from time = 1633882230.54 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:10:31Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:31Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:31Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:10:31Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:10:31Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:10:31Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:31Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:31Z- Filter 0 NorthBias: -13.5 EastBias: -36.1 DepthBias: -26.3 NorthVariance: 165.0 EastVariance: 228.1 DepthVariance: 7.0 this->DepthBiasCov: 0.9 2021-10-10T16:10:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:31Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:31Z- variances([0], [2], and psi_berg) = 165.013780 228.155933 0.000000 2021-10-10T16:10:31Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:31Z- LcmTrn::publishEstimates() - MLE : 4061614.56 594342.10 43.54 2021-10-10T16:10:31Z- LcmTrn::publishEstimates() - MMSE : 4061611.31 594332.90 24.54 2021-10-10T16:10:31Z- LcmTrn::publishEstimates() - COVAR: 165.01 228.16 6.99 0.00 2021-10-10T16:10:31Z- AHRS_M2 msg: 1633882231.34 epoch sec; seqNo:1097 2021-10-10T16:10:31Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.11 psi 2021-10-10T16:10:31Z- handleDepth()-Depth_Keller msg: 1633882231342 epoch sec; seqNo:1107; depth 50.85 2021-10-10T16:10:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882231.36 epoch sec; seqNo:1107; 4061625.18 north; 594369.04 east 2021-10-10T16:10:31Z- AHRS_M2 msg: 1633882231.74 epoch sec; seqNo:1098 2021-10-10T16:10:31Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.11 psi 2021-10-10T16:10:31Z- handleDepth()-Depth_Keller msg: 1633882231752 epoch sec; seqNo:1108; depth 50.85 2021-10-10T16:10:31Z- handleDvl() - RDI_Pathfinder msg: 1633882231.78 epoch sec; seqNo:493 2021-10-10T16:10:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.75 , 36.18 , 31.58 , 32.04 2021-10-10T16:10:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.10 , 0.00 2021-10-10T16:10:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882231.79 epoch sec; seqNo:1108; 4061625.16 north; 594367.82 east 2021-10-10T16:10:32Z- AHRS_M2 msg: 1633882232.15 epoch sec; seqNo:1099 2021-10-10T16:10:32Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.12 psi 2021-10-10T16:10:32Z- handleDepth()-Depth_Keller msg: 1633882232155 epoch sec; seqNo:1109; depth 50.83 2021-10-10T16:10:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882232.17 epoch sec; seqNo:1109; 4061625.16 north; 594367.82 east 2021-10-10T16:10:32Z- AHRS_M2 msg: 1633882232.58 epoch sec; seqNo:1100 2021-10-10T16:10:32Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:10:32Z- handleDepth()-Depth_Keller msg: 1633882232581 epoch sec; seqNo:1110; depth 50.82 2021-10-10T16:10:32Z- handleDvl() - RDI_Pathfinder msg: 1633882232.61 epoch sec; seqNo:494 2021-10-10T16:10:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.90 , 36.03 , 31.58 , 31.74 2021-10-10T16:10:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.10 , -0.00 2021-10-10T16:10:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882232.63 epoch sec; seqNo:1110; 4061625.54 north; 594367.82 east 2021-10-10T16:10:32Z- AHRS_M2 msg: 1633882232.95 epoch sec; seqNo:1101 2021-10-10T16:10:32Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:10:32Z- handleDepth()-Depth_Keller msg: 1633882232965 epoch sec; seqNo:1111; depth 50.82 2021-10-10T16:10:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:32Z- handleDvl() - RDI_Pathfinder msg: 1633882232.97 epoch sec; seqNo:495 2021-10-10T16:10:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.10 , -0.00 2021-10-10T16:10:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882232.98 epoch sec; seqNo:1111; 4061625.53 north; 594366.60 east 2021-10-10T16:10:33Z- AHRS_M2 msg: 1633882233.36 epoch sec; seqNo:1102 2021-10-10T16:10:33Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:10:33Z- handleDepth()-Depth_Keller msg: 1633882233361 epoch sec; seqNo:1112; depth 50.82 2021-10-10T16:10:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882233.37 epoch sec; seqNo:1112; 4061625.53 north; 594366.60 east 2021-10-10T16:10:33Z- AHRS_M2 msg: 1633882233.76 epoch sec; seqNo:1103 2021-10-10T16:10:33Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:10:33Z- handleDepth()-Depth_Keller msg: 1633882233765 epoch sec; seqNo:1113; depth 50.80 2021-10-10T16:10:33Z- handleDvl() - RDI_Pathfinder msg: 1633882233.79 epoch sec; seqNo:496 2021-10-10T16:10:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.59 , 35.88 , 31.74 , 31.58 2021-10-10T16:10:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.10 , -0.01 2021-10-10T16:10:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882233.81 epoch sec; seqNo:1113; 4061625.91 north; 594366.59 east 2021-10-10T16:10:34Z- AHRS_M2 msg: 1633882234.17 epoch sec; seqNo:1104 2021-10-10T16:10:34Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:10:34Z- handleDepth()-Depth_Keller msg: 1633882234175 epoch sec; seqNo:1114; depth 50.79 2021-10-10T16:10:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:34Z- handleDvl() - RDI_Pathfinder msg: 1633882234.18 epoch sec; seqNo:497 2021-10-10T16:10:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.10 , -0.01 2021-10-10T16:10:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882234.19 epoch sec; seqNo:1114; 4061625.89 north; 594365.37 east 2021-10-10T16:10:34Z- AHRS_M2 msg: 1633882234.59 epoch sec; seqNo:1105 2021-10-10T16:10:34Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:10:34Z- handleDepth()-Depth_Keller msg: 1633882234608 epoch sec; seqNo:1115; depth 50.77 2021-10-10T16:10:34Z- handleDvl() - RDI_Pathfinder msg: 1633882234.63 epoch sec; seqNo:498 2021-10-10T16:10:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.83 , 35.42 , 31.89 , 31.74 2021-10-10T16:10:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , -0.02 2021-10-10T16:10:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882234.65 epoch sec; seqNo:1115; 4061625.89 north; 594365.37 east 2021-10-10T16:10:34Z- AHRS_M2 msg: 1633882234.97 epoch sec; seqNo:1106 2021-10-10T16:10:34Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.12 psi 2021-10-10T16:10:34Z- handleDepth()-Depth_Keller msg: 1633882234977 epoch sec; seqNo:1116; depth 50.76 2021-10-10T16:10:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882234.99 epoch sec; seqNo:1116; 4061626.27 north; 594365.37 east 2021-10-10T16:10:35Z- AHRS_M2 msg: 1633882235.38 epoch sec; seqNo:1107 2021-10-10T16:10:35Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.12 psi 2021-10-10T16:10:35Z- handleDepth()-Depth_Keller msg: 1633882235382 epoch sec; seqNo:1117; depth 50.75 2021-10-10T16:10:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:35Z- handleDvl() - RDI_Pathfinder msg: 1633882235.38 epoch sec; seqNo:499 2021-10-10T16:10:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , -0.02 2021-10-10T16:10:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882235.39 epoch sec; seqNo:1117; 4061626.26 north; 594364.15 east 2021-10-10T16:10:35Z- AHRS_M2 msg: 1633882235.78 epoch sec; seqNo:1108 2021-10-10T16:10:35Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.12 psi 2021-10-10T16:10:35Z- handleDepth()-Depth_Keller msg: 1633882235786 epoch sec; seqNo:1118; depth 50.75 2021-10-10T16:10:35Z- handleDvl() - RDI_Pathfinder msg: 1633882235.81 epoch sec; seqNo:500 2021-10-10T16:10:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.67 , 35.57 , 32.04 , 31.89 2021-10-10T16:10:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.10 , -0.03 2021-10-10T16:10:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882235.82 epoch sec; seqNo:1118; 4061626.26 north; 594364.15 east 2021-10-10T16:10:36Z- LcmTrn::handleMessages() - handling 44 messages took 0.71 ms and 130 calls... 2021-10-10T16:10:36Z- waiting for 1633882233.95, time is 1633882235.82 2021-10-10T16:10:36Z- LcmTrn::updateTrn() equating pose 1633882235.82 and meas times 1633882235.82 2021-10-10T16:10:36Z- LcmTrn::updateTrn() >>>> pose time 1633882235.82, meas time 1633882235.82 <<<< 2021-10-10T16:10:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882235.82 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:36Z- TerrainNav::motionUpdate() - currEstimate = (4061626, 594364.15, 50.75) 2021-10-10T16:10:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:36Z- TerrainNav:: SubcloudNIS is 0.31, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:36Z- TNavBF::Projecting Measurements 2021-10-10T16:10:36Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:10:36Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:10:36Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:10:36Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:10:36Z- TNavFilter::4 good beams. 2021-10-10T16:10:36Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:36Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:36Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:10:36Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:10:36Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:10:36Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:36Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:36Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:36Z- TerrainMapOctree: (vehN, vehE ) = (4061626.26, 594364.15). 2021-10-10T16:10:36Z- TerrainMapOctree: Min Distance = 168.35. 2021-10-10T16:10:36Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:10:36Z- Forcing Subcloud Comparison 2021-10-10T16:10:36Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:10:36Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:36Z- Filter 0 partialDeltaRmsComputation: 19.914337 terrainVariance: 2.186239 1-SumSquareWeights: 0.991127 2021-10-10T16:10:36Z- Filter 0 meanExpectedMeasDiff: -4.210475 delta_rms_squared: 2.176328 alpha: 0.990894 2021-10-10T16:10:36Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:36Z- Filter 0 partialDeltaRmsComputation: 31.155717 terrainVariance: 4.191074 1-SumSquareWeights: 0.991127 2021-10-10T16:10:36Z- Filter 0 meanExpectedMeasDiff: 5.192749 delta_rms_squared: 4.181163 alpha: 0.995239 2021-10-10T16:10:36Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:36Z- Filter 0 partialDeltaRmsComputation: 44.583447 terrainVariance: 0.662007 1-SumSquareWeights: 0.991127 2021-10-10T16:10:36Z- Filter 0 meanExpectedMeasDiff: -6.627325 delta_rms_squared: 0.652096 alpha: 0.970242 2021-10-10T16:10:36Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:36Z- Filter 0 partialDeltaRmsComputation: 5.930609 terrainVariance: 0.929300 1-SumSquareWeights: 0.991127 2021-10-10T16:10:36Z- Filter 0 meanExpectedMeasDiff: 2.236361 delta_rms_squared: 0.919389 alpha: 0.978710 2021-10-10T16:10:36Z- Filter 0 SubcloudNIS: 0.387975 2021-10-10T16:10:36Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:10:36Z- TNavBF:: Filter 0 sumWeights = 0.000033 2021-10-10T16:10:36Z- Filter 0 NorthBias: -27.3 EastBias: -40.3 DepthBias: -29.2 NorthVariance: 344.2 EastVariance: 702.3 DepthVariance: 14.6 this->DepthBiasCov: 0.5 2021-10-10T16:10:36Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882235.82 sec. 2021-10-10T16:10:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:36Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:36Z- variances([0], [2], and psi_berg) = 344.203874 702.277743 0.000000 2021-10-10T16:10:36Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:36Z- LcmTrn::publishEstimates() - MLE : 4061613.02 594345.20 43.45 2021-10-10T16:10:36Z- LcmTrn::publishEstimates() - MMSE : 4061598.94 594323.82 21.54 2021-10-10T16:10:36Z- LcmTrn::publishEstimates() - COVAR: 344.20 702.28 14.58 0.00 2021-10-10T16:10:36Z- AHRS_M2 msg: 1633882236.18 epoch sec; seqNo:1109 2021-10-10T16:10:36Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.12 psi 2021-10-10T16:10:36Z- handleDepth()-Depth_Keller msg: 1633882236201 epoch sec; seqNo:1119; depth 50.75 2021-10-10T16:10:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882236.22 epoch sec; seqNo:1119; 4061626.64 north; 594364.15 east 2021-10-10T16:10:36Z- AHRS_M2 msg: 1633882236.62 epoch sec; seqNo:1110 2021-10-10T16:10:36Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.12 psi 2021-10-10T16:10:36Z- handleDepth()-Depth_Keller msg: 1633882236629 epoch sec; seqNo:1120; depth 50.73 2021-10-10T16:10:36Z- handleDvl() - RDI_Pathfinder msg: 1633882236.65 epoch sec; seqNo:501 2021-10-10T16:10:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.52 , 35.57 , 32.20 , 31.58 2021-10-10T16:10:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.10 , -0.01 2021-10-10T16:10:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882236.68 epoch sec; seqNo:1120; 4061626.63 north; 594362.93 east 2021-10-10T16:10:37Z- AHRS_M2 msg: 1633882236.99 epoch sec; seqNo:1111 2021-10-10T16:10:37Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.12 psi 2021-10-10T16:10:37Z- handleDepth()-Depth_Keller msg: 1633882236998 epoch sec; seqNo:1121; depth 50.71 2021-10-10T16:10:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882237.01 epoch sec; seqNo:1121; 4061626.63 north; 594362.93 east 2021-10-10T16:10:37Z- AHRS_M2 msg: 1633882237.40 epoch sec; seqNo:1112 2021-10-10T16:10:37Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.12 psi 2021-10-10T16:10:37Z- handleDepth()-Depth_Keller msg: 1633882237408 epoch sec; seqNo:1122; depth 50.73 2021-10-10T16:10:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882237.42 epoch sec; seqNo:1122; 4061627.00 north; 594362.92 east 2021-10-10T16:10:37Z- AHRS_M2 msg: 1633882237.80 epoch sec; seqNo:1113 2021-10-10T16:10:37Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.12 psi 2021-10-10T16:10:37Z- handleDepth()-Depth_Keller msg: 1633882237811 epoch sec; seqNo:1123; depth 50.72 2021-10-10T16:10:37Z- handleDvl() - RDI_Pathfinder msg: 1633882237.84 epoch sec; seqNo:502 2021-10-10T16:10:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.52 , 35.57 , 32.35 , 31.43 2021-10-10T16:10:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.10 , 0.00 2021-10-10T16:10:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882237.85 epoch sec; seqNo:1123; 4061626.99 north; 594361.70 east 2021-10-10T16:10:38Z- AHRS_M2 msg: 1633882238.20 epoch sec; seqNo:1114 2021-10-10T16:10:38Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.11 psi 2021-10-10T16:10:38Z- handleDepth()-Depth_Keller msg: 1633882238209 epoch sec; seqNo:1124; depth 50.70 2021-10-10T16:10:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882238.22 epoch sec; seqNo:1124; 4061626.99 north; 594361.70 east 2021-10-10T16:10:38Z- AHRS_M2 msg: 1633882238.63 epoch sec; seqNo:1115 2021-10-10T16:10:38Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.11 psi 2021-10-10T16:10:38Z- handleDepth()-Depth_Keller msg: 1633882238647 epoch sec; seqNo:1125; depth 50.70 2021-10-10T16:10:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882238.68 epoch sec; seqNo:1125; 4061627.37 north; 594361.70 east 2021-10-10T16:10:39Z- AHRS_M2 msg: 1633882239.01 epoch sec; seqNo:1116 2021-10-10T16:10:39Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.11 psi 2021-10-10T16:10:39Z- handleDepth()-Depth_Keller msg: 1633882239017 epoch sec; seqNo:1126; depth 50.69 2021-10-10T16:10:39Z- handleDvl() - RDI_Pathfinder msg: 1633882239.05 epoch sec; seqNo:503 2021-10-10T16:10:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.52 , 35.57 , 32.35 , 31.58 2021-10-10T16:10:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.10 , 0.01 2021-10-10T16:10:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882239.07 epoch sec; seqNo:1126; 4061627.36 north; 594360.48 east 2021-10-10T16:10:39Z- AHRS_M2 msg: 1633882239.42 epoch sec; seqNo:1117 2021-10-10T16:10:39Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.11 psi 2021-10-10T16:10:39Z- handleDepth()-Depth_Keller msg: 1633882239428 epoch sec; seqNo:1127; depth 50.69 2021-10-10T16:10:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882239.46 epoch sec; seqNo:1127; 4061627.36 north; 594360.48 east 2021-10-10T16:10:39Z- AHRS_M2 msg: 1633882239.82 epoch sec; seqNo:1118 2021-10-10T16:10:39Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.11 psi 2021-10-10T16:10:39Z- handleDepth()-Depth_Keller msg: 1633882239825 epoch sec; seqNo:1128; depth 50.68 2021-10-10T16:10:39Z- handleDvl() - RDI_Pathfinder msg: 1633882239.84 epoch sec; seqNo:504 2021-10-10T16:10:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.52 , 35.57 , 32.81 , 31.58 2021-10-10T16:10:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , 0.02 2021-10-10T16:10:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882239.87 epoch sec; seqNo:1128; 4061627.74 north; 594360.47 east 2021-10-10T16:10:40Z- AHRS_M2 msg: 1633882240.23 epoch sec; seqNo:1119 2021-10-10T16:10:40Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:40Z- handleDepth()-Depth_Keller msg: 1633882240231 epoch sec; seqNo:1129; depth 50.68 2021-10-10T16:10:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:40Z- handleDvl() - RDI_Pathfinder msg: 1633882240.23 epoch sec; seqNo:505 2021-10-10T16:10:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , 0.02 2021-10-10T16:10:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882240.25 epoch sec; seqNo:1129; 4061627.72 north; 594359.25 east 2021-10-10T16:10:40Z- AHRS_M2 msg: 1633882240.63 epoch sec; seqNo:1120 2021-10-10T16:10:40Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:40Z- handleDepth()-Depth_Keller msg: 1633882240664 epoch sec; seqNo:1130; depth 50.69 2021-10-10T16:10:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882240.70 epoch sec; seqNo:1130; 4061628.10 north; 594359.25 east 2021-10-10T16:10:41Z- AHRS_M2 msg: 1633882241.03 epoch sec; seqNo:1121 2021-10-10T16:10:41Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:41Z- handleDepth()-Depth_Keller msg: 1633882241037 epoch sec; seqNo:1131; depth 50.66 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: 1633882241.06 epoch sec; seqNo:506 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.67 , 35.57 , 33.12 , 31.43 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.03 2021-10-10T16:10:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882241.08 epoch sec; seqNo:1131; 4061628.10 north; 594359.25 east 2021-10-10T16:10:41Z- LcmTrn::handleMessages() - handling 45 messages took 0.81 ms and 128 calls... 2021-10-10T16:10:41Z- waiting for 1633882238.82, time is 1633882241.08 2021-10-10T16:10:41Z- LcmTrn::updateTrn() equating pose 1633882241.08 and meas times 1633882241.08 2021-10-10T16:10:41Z- LcmTrn::updateTrn() >>>> pose time 1633882241.08, meas time 1633882241.08 <<<< 2021-10-10T16:10:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882241.08 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:41Z- TerrainNav::motionUpdate() - currEstimate = (4061628, 594359.25, 50.66) 2021-10-10T16:10:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:41Z- TerrainNav:: SubcloudNIS is 0.39, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:41Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882241.08 sec.; No relevant navigation data available 2021-10-10T16:10:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:41Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:41Z- variances([0], [2], and psi_berg) = 344.204203 703.823597 0.000000 2021-10-10T16:10:41Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:41Z- LcmTrn::publishEstimates() - MLE : 4061614.86 594340.30 43.35 2021-10-10T16:10:41Z- LcmTrn::publishEstimates() - MMSE : 4061600.78 594318.80 21.43 2021-10-10T16:10:41Z- LcmTrn::publishEstimates() - COVAR: 344.20 703.82 14.83 0.00 2021-10-10T16:10:41Z- AHRS_M2 msg: 1633882241.44 epoch sec; seqNo:1122 2021-10-10T16:10:41Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:41Z- handleDepth()-Depth_Keller msg: 1633882241447 epoch sec; seqNo:1132; depth 50.66 2021-10-10T16:10:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: 1633882241.45 epoch sec; seqNo:507 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.03 2021-10-10T16:10:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882241.47 epoch sec; seqNo:1132; 4061628.09 north; 594358.03 east 2021-10-10T16:10:41Z- AHRS_M2 msg: 1633882241.84 epoch sec; seqNo:1123 2021-10-10T16:10:41Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:41Z- handleDepth()-Depth_Keller msg: 1633882241850 epoch sec; seqNo:1133; depth 50.65 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: 1633882241.87 epoch sec; seqNo:508 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.98 , 35.72 , 34.65 , 31.43 2021-10-10T16:10:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.10 , 0.02 2021-10-10T16:10:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882241.88 epoch sec; seqNo:1133; 4061628.47 north; 594358.02 east 2021-10-10T16:10:42Z- AHRS_M2 msg: 1633882242.24 epoch sec; seqNo:1124 2021-10-10T16:10:42Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:42Z- handleDepth()-Depth_Keller msg: 1633882242249 epoch sec; seqNo:1134; depth 50.65 2021-10-10T16:10:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882242.27 epoch sec; seqNo:1134; 4061628.47 north; 594358.02 east 2021-10-10T16:10:42Z- AHRS_M2 msg: 1633882242.65 epoch sec; seqNo:1125 2021-10-10T16:10:42Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:42Z- handleDepth()-Depth_Keller msg: 1633882242656 epoch sec; seqNo:1135; depth 50.64 2021-10-10T16:10:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:42Z- handleDvl() - RDI_Pathfinder msg: 1633882242.66 epoch sec; seqNo:509 2021-10-10T16:10:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.10 , 0.02 2021-10-10T16:10:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882242.70 epoch sec; seqNo:1135; 4061628.45 north; 594356.80 east 2021-10-10T16:10:43Z- AHRS_M2 msg: 1633882243.05 epoch sec; seqNo:1126 2021-10-10T16:10:43Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:43Z- handleDepth()-Depth_Keller msg: 1633882243057 epoch sec; seqNo:1136; depth 50.63 2021-10-10T16:10:43Z- handleDvl() - RDI_Pathfinder msg: 1633882243.08 epoch sec; seqNo:510 2021-10-10T16:10:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.28 , 35.88 , 35.11 , 31.28 2021-10-10T16:10:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.02 2021-10-10T16:10:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882243.11 epoch sec; seqNo:1136; 4061628.45 north; 594356.80 east 2021-10-10T16:10:43Z- AHRS_M2 msg: 1633882243.46 epoch sec; seqNo:1127 2021-10-10T16:10:43Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:43Z- handleDepth()-Depth_Keller msg: 1633882243464 epoch sec; seqNo:1137; depth 50.61 2021-10-10T16:10:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882243.48 epoch sec; seqNo:1137; 4061628.83 north; 594356.80 east 2021-10-10T16:10:43Z- AHRS_M2 msg: 1633882243.86 epoch sec; seqNo:1128 2021-10-10T16:10:43Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:43Z- handleDepth()-Depth_Keller msg: 1633882243867 epoch sec; seqNo:1138; depth 50.59 2021-10-10T16:10:43Z- handleDvl() - RDI_Pathfinder msg: 1633882243.89 epoch sec; seqNo:511 2021-10-10T16:10:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.28 , 35.42 , 34.96 , 30.97 2021-10-10T16:10:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.01 2021-10-10T16:10:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882243.91 epoch sec; seqNo:1138; 4061628.82 north; 594355.58 east 2021-10-10T16:10:44Z- AHRS_M2 msg: 1633882244.27 epoch sec; seqNo:1129 2021-10-10T16:10:44Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:44Z- handleDepth()-Depth_Keller msg: 1633882244269 epoch sec; seqNo:1139; depth 50.59 2021-10-10T16:10:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882244.29 epoch sec; seqNo:1139; 4061628.82 north; 594355.58 east 2021-10-10T16:10:44Z- AHRS_M2 msg: 1633882244.67 epoch sec; seqNo:1130 2021-10-10T16:10:44Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.11 psi 2021-10-10T16:10:44Z- handleDepth()-Depth_Keller msg: 1633882244673 epoch sec; seqNo:1140; depth 50.57 2021-10-10T16:10:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882244.69 epoch sec; seqNo:1140; 4061629.20 north; 594355.57 east 2021-10-10T16:10:45Z- AHRS_M2 msg: 1633882245.07 epoch sec; seqNo:1131 2021-10-10T16:10:45Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.11 psi 2021-10-10T16:10:45Z- handleDepth()-Depth_Keller msg: 1633882245078 epoch sec; seqNo:1141; depth 50.54 2021-10-10T16:10:45Z- handleDvl() - RDI_Pathfinder msg: 1633882245.10 epoch sec; seqNo:512 2021-10-10T16:10:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.97 , 35.57 , 36.18 , 31.12 2021-10-10T16:10:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.09 , -0.02 2021-10-10T16:10:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882245.11 epoch sec; seqNo:1141; 4061629.20 north; 594355.57 east 2021-10-10T16:10:45Z- AHRS_M2 msg: 1633882245.48 epoch sec; seqNo:1132 2021-10-10T16:10:45Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.11 psi 2021-10-10T16:10:45Z- handleDepth()-Depth_Keller msg: 1633882245485 epoch sec; seqNo:1142; depth 50.52 2021-10-10T16:10:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882245.51 epoch sec; seqNo:1142; 4061629.18 north; 594354.35 east 2021-10-10T16:10:45Z- AHRS_M2 msg: 1633882245.88 epoch sec; seqNo:1133 2021-10-10T16:10:45Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.10 psi 2021-10-10T16:10:45Z- handleDepth()-Depth_Keller msg: 1633882245888 epoch sec; seqNo:1143; depth 50.52 2021-10-10T16:10:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882245.90 epoch sec; seqNo:1143; 4061629.56 north; 594354.35 east 2021-10-10T16:10:46Z- AHRS_M2 msg: 1633882246.29 epoch sec; seqNo:1134 2021-10-10T16:10:46Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.11 psi 2021-10-10T16:10:46Z- handleDepth()-Depth_Keller msg: 1633882246296 epoch sec; seqNo:1144; depth 50.50 2021-10-10T16:10:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882246.31 epoch sec; seqNo:1144; 4061629.56 north; 594354.35 east 2021-10-10T16:10:46Z- LcmTrn::handleMessages() - handling 45 messages took 0.76 ms and 129 calls... 2021-10-10T16:10:46Z- waiting for 1633882244.08, time is 1633882246.31 2021-10-10T16:10:46Z- LcmTrn::updateTrn() >>>> pose time 1633882246.31, meas time 1633882245.10 <<<< 2021-10-10T16:10:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882245.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:46Z- TerrainNav::motionUpdate() - currEstimate = (4061630, 594354.35, 50.50) 2021-10-10T16:10:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:46Z- TerrainNav:: SubcloudNIS is 0.39, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:46Z- TNavBF::Projecting Measurements 2021-10-10T16:10:46Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:10:46Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:10:46Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:10:46Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:10:46Z- TNavFilter::4 good beams. 2021-10-10T16:10:46Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:46Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:46Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:10:46Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:10:46Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:10:46Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:46Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:46Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:46Z- TerrainMapOctree: (vehN, vehE ) = (4061629.23, 594355.48). 2021-10-10T16:10:46Z- TerrainMapOctree: Min Distance = 160.35. 2021-10-10T16:10:46Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:10:46Z- Forcing Subcloud Comparison 2021-10-10T16:10:46Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:10:46Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:46Z- Filter 0 partialDeltaRmsComputation: 7.233367 terrainVariance: 4.058603 1-SumSquareWeights: 0.995238 2021-10-10T16:10:46Z- Filter 0 meanExpectedMeasDiff: -1.781787 delta_rms_squared: 4.048651 alpha: 0.995084 2021-10-10T16:10:46Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:46Z- Filter 0 partialDeltaRmsComputation: 14.134784 terrainVariance: 7.446155 1-SumSquareWeights: 0.995238 2021-10-10T16:10:46Z- Filter 0 meanExpectedMeasDiff: 2.586238 delta_rms_squared: 7.436203 alpha: 0.997318 2021-10-10T16:10:46Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:46Z- Filter 0 partialDeltaRmsComputation: 17.676387 terrainVariance: 2.663786 1-SumSquareWeights: 0.995238 2021-10-10T16:10:46Z- Filter 0 meanExpectedMeasDiff: -3.874610 delta_rms_squared: 2.653833 alpha: 0.992520 2021-10-10T16:10:46Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:46Z- Filter 0 partialDeltaRmsComputation: 6.938424 terrainVariance: 2.092022 1-SumSquareWeights: 0.995238 2021-10-10T16:10:46Z- Filter 0 meanExpectedMeasDiff: 2.201455 delta_rms_squared: 2.082070 alpha: 0.990486 2021-10-10T16:10:46Z- Filter 0 SubcloudNIS: 0.535653 2021-10-10T16:10:46Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:10:46Z- TNavBF:: Filter 0 sumWeights = 0.011022 2021-10-10T16:10:46Z- Filter 0 NorthBias: -34.0 EastBias: -42.6 DepthBias: -30.1 NorthVariance: 360.9 EastVariance: 1000.7 DepthVariance: 17.4 this->DepthBiasCov: 0.5 2021-10-10T16:10:46Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882245.10 sec. 2021-10-10T16:10:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:46Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:46Z- variances([0], [2], and psi_berg) = 360.885972 1002.067262 0.000000 2021-10-10T16:10:46Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:46Z- LcmTrn::publishEstimates() - MLE : 4061628.33 594356.40 43.19 2021-10-10T16:10:46Z- LcmTrn::publishEstimates() - MMSE : 4061595.59 594311.52 20.37 2021-10-10T16:10:46Z- LcmTrn::publishEstimates() - COVAR: 360.89 1002.07 17.43 0.00 2021-10-10T16:10:46Z- AHRS_M2 msg: 1633882246.69 epoch sec; seqNo:1135 2021-10-10T16:10:46Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.10 psi 2021-10-10T16:10:46Z- handleDepth()-Depth_Keller msg: 1633882246693 epoch sec; seqNo:1145; depth 50.48 2021-10-10T16:10:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882246.71 epoch sec; seqNo:1145; 4061629.55 north; 594353.13 east 2021-10-10T16:10:47Z- AHRS_M2 msg: 1633882247.09 epoch sec; seqNo:1136 2021-10-10T16:10:47Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.10 psi 2021-10-10T16:10:47Z- handleDepth()-Depth_Keller msg: 1633882247103 epoch sec; seqNo:1146; depth 50.46 2021-10-10T16:10:47Z- handleDvl() - RDI_Pathfinder msg: 1633882247.13 epoch sec; seqNo:513 2021-10-10T16:10:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.20 , 35.72 , 37.56 , 30.97 2021-10-10T16:10:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , -0.05 2021-10-10T16:10:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882247.15 epoch sec; seqNo:1146; 4061629.93 north; 594353.12 east 2021-10-10T16:10:47Z- AHRS_M2 msg: 1633882247.51 epoch sec; seqNo:1137 2021-10-10T16:10:47Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.10 psi 2021-10-10T16:10:47Z- handleDepth()-Depth_Keller msg: 1633882247511 epoch sec; seqNo:1147; depth 50.43 2021-10-10T16:10:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882247.53 epoch sec; seqNo:1147; 4061629.93 north; 594353.12 east 2021-10-10T16:10:47Z- AHRS_M2 msg: 1633882247.90 epoch sec; seqNo:1138 2021-10-10T16:10:47Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.10 psi 2021-10-10T16:10:47Z- handleDepth()-Depth_Keller msg: 1633882247910 epoch sec; seqNo:1148; depth 50.42 2021-10-10T16:10:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882247.92 epoch sec; seqNo:1148; 4061629.91 north; 594351.90 east 2021-10-10T16:10:48Z- AHRS_M2 msg: 1633882248.30 epoch sec; seqNo:1139 2021-10-10T16:10:48Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.10 psi 2021-10-10T16:10:48Z- handleDepth()-Depth_Keller msg: 1633882248309 epoch sec; seqNo:1149; depth 50.41 2021-10-10T16:10:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882248.32 epoch sec; seqNo:1149; 4061629.91 north; 594351.90 east 2021-10-10T16:10:48Z- AHRS_M2 msg: 1633882248.71 epoch sec; seqNo:1140 2021-10-10T16:10:48Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.10 psi 2021-10-10T16:10:48Z- handleDepth()-Depth_Keller msg: 1633882248716 epoch sec; seqNo:1150; depth 50.38 2021-10-10T16:10:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:48Z- handleDvl() - RDI_Pathfinder msg: 1633882248.72 epoch sec; seqNo:514 2021-10-10T16:10:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , -0.05 2021-10-10T16:10:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882248.73 epoch sec; seqNo:1150; 4061630.29 north; 594351.90 east 2021-10-10T16:10:49Z- AHRS_M2 msg: 1633882249.11 epoch sec; seqNo:1141 2021-10-10T16:10:49Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.09 psi 2021-10-10T16:10:49Z- handleDepth()-Depth_Keller msg: 1633882249123 epoch sec; seqNo:1151; depth 50.39 2021-10-10T16:10:49Z- handleDvl() - RDI_Pathfinder msg: 1633882249.14 epoch sec; seqNo:515 2021-10-10T16:10:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.51 , 35.11 , 38.18 , 30.97 2021-10-10T16:10:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.11 , -0.04 2021-10-10T16:10:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882249.16 epoch sec; seqNo:1151; 4061630.28 north; 594350.68 east 2021-10-10T16:10:49Z- AHRS_M2 msg: 1633882249.52 epoch sec; seqNo:1142 2021-10-10T16:10:49Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.09 psi 2021-10-10T16:10:49Z- handleDepth()-Depth_Keller msg: 1633882249543 epoch sec; seqNo:1152; depth 50.38 2021-10-10T16:10:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882249.56 epoch sec; seqNo:1152; 4061630.28 north; 594350.68 east 2021-10-10T16:10:49Z- AHRS_M2 msg: 1633882249.92 epoch sec; seqNo:1143 2021-10-10T16:10:49Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.09 psi 2021-10-10T16:10:49Z- handleDepth()-Depth_Keller msg: 1633882249927 epoch sec; seqNo:1153; depth 50.38 2021-10-10T16:10:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:49Z- handleDvl() - RDI_Pathfinder msg: 1633882249.93 epoch sec; seqNo:516 2021-10-10T16:10:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.11 , -0.04 2021-10-10T16:10:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882249.94 epoch sec; seqNo:1153; 4061630.66 north; 594350.68 east 2021-10-10T16:10:50Z- AHRS_M2 msg: 1633882250.33 epoch sec; seqNo:1144 2021-10-10T16:10:50Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.09 psi 2021-10-10T16:10:50Z- handleDepth()-Depth_Keller msg: 1633882250337 epoch sec; seqNo:1154; depth 50.36 2021-10-10T16:10:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882250.35 epoch sec; seqNo:1154; 4061630.65 north; 594349.46 east 2021-10-10T16:10:50Z- AHRS_M2 msg: 1633882250.73 epoch sec; seqNo:1145 2021-10-10T16:10:50Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.08 psi 2021-10-10T16:10:50Z- handleDepth()-Depth_Keller msg: 1633882250734 epoch sec; seqNo:1155; depth 50.36 2021-10-10T16:10:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882250.74 epoch sec; seqNo:1155; 4061630.65 north; 594349.46 east 2021-10-10T16:10:51Z- AHRS_M2 msg: 1633882251.13 epoch sec; seqNo:1146 2021-10-10T16:10:51Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.08 psi 2021-10-10T16:10:51Z- handleDepth()-Depth_Keller msg: 1633882251136 epoch sec; seqNo:1156; depth 50.36 2021-10-10T16:10:51Z- handleDvl() - RDI_Pathfinder msg: 1633882251.16 epoch sec; seqNo:517 2021-10-10T16:10:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.12 , 35.26 , 38.79 , 30.82 2021-10-10T16:10:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.08 , 0.02 2021-10-10T16:10:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882251.18 epoch sec; seqNo:1156; 4061631.02 north; 594349.45 east 2021-10-10T16:10:51Z- LcmTrn::handleMessages() - handling 41 messages took 0.64 ms and 128 calls... 2021-10-10T16:10:51Z- waiting for 1633882249.31, time is 1633882251.18 2021-10-10T16:10:51Z- LcmTrn::updateTrn() equating pose 1633882251.18 and meas times 1633882251.18 2021-10-10T16:10:51Z- LcmTrn::updateTrn() >>>> pose time 1633882251.18, meas time 1633882251.18 <<<< 2021-10-10T16:10:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882251.18 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:51Z- TerrainNav::motionUpdate() - currEstimate = (4061631, 594349.45, 50.36) 2021-10-10T16:10:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:51Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:51Z- TNavBF::Projecting Measurements 2021-10-10T16:10:51Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:10:51Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:10:51Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:10:51Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:10:51Z- TNavFilter::4 good beams. 2021-10-10T16:10:51Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:51Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:51Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:10:51Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:10:51Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:10:51Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:51Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:51Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:51Z- TerrainMapOctree: (vehN, vehE ) = (4061631.02, 594349.45). 2021-10-10T16:10:51Z- TerrainMapOctree: Min Distance = 155.07. 2021-10-10T16:10:51Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:10:51Z- Forcing Subcloud Comparison 2021-10-10T16:10:51Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:10:51Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:51Z- Filter 0 partialDeltaRmsComputation: 4.721102 terrainVariance: 4.653866 1-SumSquareWeights: 0.992485 2021-10-10T16:10:51Z- Filter 0 meanExpectedMeasDiff: 0.259299 delta_rms_squared: 4.643941 alpha: 0.995712 2021-10-10T16:10:51Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:51Z- Filter 0 partialDeltaRmsComputation: 3.864501 terrainVariance: 3.863092 1-SumSquareWeights: 0.992485 2021-10-10T16:10:51Z- Filter 0 meanExpectedMeasDiff: 0.037537 delta_rms_squared: 3.853167 alpha: 0.994836 2021-10-10T16:10:51Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:51Z- Filter 0 partialDeltaRmsComputation: 8.894300 terrainVariance: 4.746497 1-SumSquareWeights: 0.992485 2021-10-10T16:10:51Z- Filter 0 meanExpectedMeasDiff: -2.036615 delta_rms_squared: 4.736572 alpha: 0.995795 2021-10-10T16:10:51Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:10:51Z- Filter 0 partialDeltaRmsComputation: 5.273536 terrainVariance: 1.815538 1-SumSquareWeights: 0.992485 2021-10-10T16:10:51Z- Filter 0 meanExpectedMeasDiff: 1.859569 delta_rms_squared: 1.805613 alpha: 0.989045 2021-10-10T16:10:51Z- Filter 0 SubcloudNIS: 0.597139 2021-10-10T16:10:51Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:10:51Z- TNavBF:: Filter 0 sumWeights = 0.084922 2021-10-10T16:10:51Z- Filter 0 NorthBias: -34.4 EastBias: -29.2 DepthBias: -29.0 NorthVariance: 444.7 EastVariance: 1054.6 DepthVariance: 16.5 this->DepthBiasCov: 0.4 2021-10-10T16:10:51Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882251.18 sec. 2021-10-10T16:10:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:51Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:51Z- variances([0], [2], and psi_berg) = 444.695602 1054.641494 0.000000 2021-10-10T16:10:51Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:51Z- LcmTrn::publishEstimates() - MLE : 4061629.79 594351.50 43.06 2021-10-10T16:10:51Z- LcmTrn::publishEstimates() - MMSE : 4061596.66 594320.27 21.39 2021-10-10T16:10:51Z- LcmTrn::publishEstimates() - COVAR: 444.70 1054.64 16.46 0.00 2021-10-10T16:10:51Z- AHRS_M2 msg: 1633882251.54 epoch sec; seqNo:1147 2021-10-10T16:10:51Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.08 psi 2021-10-10T16:10:51Z- handleDepth()-Depth_Keller msg: 1633882251544 epoch sec; seqNo:1157; depth 50.36 2021-10-10T16:10:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882251.56 epoch sec; seqNo:1157; 4061631.01 north; 594348.23 east 2021-10-10T16:10:51Z- AHRS_M2 msg: 1633882251.94 epoch sec; seqNo:1148 2021-10-10T16:10:51Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.08 psi 2021-10-10T16:10:51Z- handleDepth()-Depth_Keller msg: 1633882251946 epoch sec; seqNo:1158; depth 50.35 2021-10-10T16:10:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882251.96 epoch sec; seqNo:1158; 4061631.01 north; 594348.23 east 2021-10-10T16:10:52Z- AHRS_M2 msg: 1633882252.34 epoch sec; seqNo:1149 2021-10-10T16:10:52Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:52Z- handleDepth()-Depth_Keller msg: 1633882252360 epoch sec; seqNo:1159; depth 50.36 2021-10-10T16:10:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:52Z- handleDvl() - RDI_Pathfinder msg: 1633882252.36 epoch sec; seqNo:518 2021-10-10T16:10:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.08 , 0.02 2021-10-10T16:10:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882252.37 epoch sec; seqNo:1159; 4061631.39 north; 594348.23 east 2021-10-10T16:10:52Z- AHRS_M2 msg: 1633882252.75 epoch sec; seqNo:1150 2021-10-10T16:10:52Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:52Z- handleDepth()-Depth_Keller msg: 1633882252753 epoch sec; seqNo:1160; depth 50.34 2021-10-10T16:10:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882252.76 epoch sec; seqNo:1160; 4061631.38 north; 594347.01 east 2021-10-10T16:10:53Z- AHRS_M2 msg: 1633882253.15 epoch sec; seqNo:1151 2021-10-10T16:10:53Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:53Z- handleDepth()-Depth_Keller msg: 1633882253157 epoch sec; seqNo:1161; depth 50.35 2021-10-10T16:10:53Z- handleDvl() - RDI_Pathfinder msg: 1633882253.18 epoch sec; seqNo:519 2021-10-10T16:10:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.58 , 35.41 , 39.55 , 30.82 2021-10-10T16:10:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.06 , 0.05 2021-10-10T16:10:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882253.20 epoch sec; seqNo:1161; 4061631.38 north; 594347.01 east 2021-10-10T16:10:53Z- AHRS_M2 msg: 1633882253.56 epoch sec; seqNo:1152 2021-10-10T16:10:53Z- AHRS_M2 msg: -0.22 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:53Z- handleDepth()-Depth_Keller msg: 1633882253568 epoch sec; seqNo:1162; depth 50.34 2021-10-10T16:10:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:53Z- handleDvl() - RDI_Pathfinder msg: 1633882253.57 epoch sec; seqNo:520 2021-10-10T16:10:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.06 , 0.05 2021-10-10T16:10:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882253.58 epoch sec; seqNo:1162; 4061631.75 north; 594347.00 east 2021-10-10T16:10:53Z- AHRS_M2 msg: 1633882253.96 epoch sec; seqNo:1153 2021-10-10T16:10:53Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:53Z- handleDepth()-Depth_Keller msg: 1633882253966 epoch sec; seqNo:1163; depth 50.31 2021-10-10T16:10:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882253.98 epoch sec; seqNo:1163; 4061631.74 north; 594345.78 east 2021-10-10T16:10:54Z- AHRS_M2 msg: 1633882254.36 epoch sec; seqNo:1154 2021-10-10T16:10:54Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:54Z- handleDepth()-Depth_Keller msg: 1633882254375 epoch sec; seqNo:1164; depth 50.31 2021-10-10T16:10:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882254.39 epoch sec; seqNo:1164; 4061631.74 north; 594345.78 east 2021-10-10T16:10:54Z- AHRS_M2 msg: 1633882254.77 epoch sec; seqNo:1155 2021-10-10T16:10:54Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:54Z- handleDepth()-Depth_Keller msg: 1633882254776 epoch sec; seqNo:1165; depth 50.29 2021-10-10T16:10:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:54Z- handleDvl() - RDI_Pathfinder msg: 1633882254.78 epoch sec; seqNo:521 2021-10-10T16:10:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.06 , 0.05 2021-10-10T16:10:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882254.79 epoch sec; seqNo:1165; 4061632.12 north; 594345.78 east 2021-10-10T16:10:55Z- AHRS_M2 msg: 1633882255.17 epoch sec; seqNo:1156 2021-10-10T16:10:55Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:55Z- handleDepth()-Depth_Keller msg: 1633882255177 epoch sec; seqNo:1166; depth 50.28 2021-10-10T16:10:55Z- handleDvl() - RDI_Pathfinder msg: 1633882255.20 epoch sec; seqNo:522 2021-10-10T16:10:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.58 , 35.60 , 40.20 , 31.17 2021-10-10T16:10:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.06 , 0.01 2021-10-10T16:10:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882255.23 epoch sec; seqNo:1166; 4061632.11 north; 594344.56 east 2021-10-10T16:10:55Z- AHRS_M2 msg: 1633882255.58 epoch sec; seqNo:1157 2021-10-10T16:10:55Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:55Z- handleDepth()-Depth_Keller msg: 1633882255583 epoch sec; seqNo:1167; depth 50.27 2021-10-10T16:10:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882255.60 epoch sec; seqNo:1167; 4061632.11 north; 594344.56 east 2021-10-10T16:10:55Z- AHRS_M2 msg: 1633882255.98 epoch sec; seqNo:1158 2021-10-10T16:10:55Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:56Z- handleDepth()-Depth_Keller msg: 1633882255997 epoch sec; seqNo:1168; depth 50.26 2021-10-10T16:10:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:56Z- handleDvl() - RDI_Pathfinder msg: 1633882256.02 epoch sec; seqNo:523 2021-10-10T16:10:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.06 , 0.01 2021-10-10T16:10:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882256.03 epoch sec; seqNo:1168; 4061632.49 north; 594344.55 east 2021-10-10T16:10:56Z- AHRS_M2 msg: 1633882256.38 epoch sec; seqNo:1159 2021-10-10T16:10:56Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:56Z- handleDepth()-Depth_Keller msg: 1633882256389 epoch sec; seqNo:1169; depth 50.25 2021-10-10T16:10:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882256.40 epoch sec; seqNo:1169; 4061632.47 north; 594343.33 east 2021-10-10T16:10:56Z- LcmTrn::handleMessages() - handling 45 messages took 0.67 ms and 131 calls... 2021-10-10T16:10:56Z- waiting for 1633882254.18, time is 1633882256.40 2021-10-10T16:10:56Z- LcmTrn::updateTrn() >>>> pose time 1633882256.40, meas time 1633882256.02 <<<< 2021-10-10T16:10:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882256.02, ping # 0. 2021-10-10T16:10:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882256.02 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:10:56Z- TerrainNav::motionUpdate() - currEstimate = (4061632, 594343.33, 50.25) 2021-10-10T16:10:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:10:56Z- TerrainNav:: SubcloudNIS is 0.60, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:10:56Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:10:56Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:10:56Z- TNavBF::Projecting Measurements 2021-10-10T16:10:56Z- TNavFilter::Measurement from time = 1633882256.02 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:10:56Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:10:56Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:10:56Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:10:56Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:10:56Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:10:56Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:10:56Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:10:56Z- Filter 0 NorthBias: -34.4 EastBias: -29.9 DepthBias: -29.0 NorthVariance: 444.7 EastVariance: 1077.8 DepthVariance: 16.7 this->DepthBiasCov: 0.7 2021-10-10T16:10:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:10:56Z- TNavBF::mmse selected from filter -1 2021-10-10T16:10:56Z- variances([0], [2], and psi_berg) = 444.645985 1083.747002 0.000000 2021-10-10T16:10:56Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:10:56Z- LcmTrn::publishEstimates() - MLE : 4061631.24 594345.38 42.94 2021-10-10T16:10:56Z- LcmTrn::publishEstimates() - MMSE : 4061598.11 594313.30 21.20 2021-10-10T16:10:56Z- LcmTrn::publishEstimates() - COVAR: 444.65 1083.75 16.73 0.00 2021-10-10T16:10:56Z- AHRS_M2 msg: 1633882256.79 epoch sec; seqNo:1160 2021-10-10T16:10:56Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:56Z- handleDepth()-Depth_Keller msg: 1633882256796 epoch sec; seqNo:1170; depth 50.22 2021-10-10T16:10:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882256.81 epoch sec; seqNo:1170; 4061632.47 north; 594343.33 east 2021-10-10T16:10:57Z- AHRS_M2 msg: 1633882257.19 epoch sec; seqNo:1161 2021-10-10T16:10:57Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:57Z- handleDepth()-Depth_Keller msg: 1633882257205 epoch sec; seqNo:1171; depth 50.19 2021-10-10T16:10:57Z- handleDvl() - RDI_Pathfinder msg: 1633882257.23 epoch sec; seqNo:524 2021-10-10T16:10:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.41 , 35.77 , 40.20 , 31.17 2021-10-10T16:10:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , -0.06 2021-10-10T16:10:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882257.24 epoch sec; seqNo:1171; 4061632.47 north; 594343.33 east 2021-10-10T16:10:57Z- AHRS_M2 msg: 1633882257.60 epoch sec; seqNo:1162 2021-10-10T16:10:57Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:57Z- handleDepth()-Depth_Keller msg: 1633882257601 epoch sec; seqNo:1172; depth 50.18 2021-10-10T16:10:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882257.63 epoch sec; seqNo:1172; 4061632.85 north; 594343.33 east 2021-10-10T16:10:58Z- AHRS_M2 msg: 1633882258.00 epoch sec; seqNo:1163 2021-10-10T16:10:58Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.07 psi 2021-10-10T16:10:58Z- handleDepth()-Depth_Keller msg: 1633882258005 epoch sec; seqNo:1173; depth 50.16 2021-10-10T16:10:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882258.01 epoch sec; seqNo:1173; 4061632.84 north; 594342.11 east 2021-10-10T16:10:58Z- AHRS_M2 msg: 1633882258.40 epoch sec; seqNo:1164 2021-10-10T16:10:58Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.06 psi 2021-10-10T16:10:58Z- handleDepth()-Depth_Keller msg: 1633882258412 epoch sec; seqNo:1174; depth 50.12 2021-10-10T16:10:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:58Z- handleDvl() - RDI_Pathfinder msg: 1633882258.41 epoch sec; seqNo:525 2021-10-10T16:10:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , -0.06 2021-10-10T16:10:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882258.42 epoch sec; seqNo:1174; 4061632.84 north; 594342.11 east 2021-10-10T16:10:58Z- AHRS_M2 msg: 1633882258.81 epoch sec; seqNo:1165 2021-10-10T16:10:58Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.06 psi 2021-10-10T16:10:58Z- handleDepth()-Depth_Keller msg: 1633882258821 epoch sec; seqNo:1175; depth 50.12 2021-10-10T16:10:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882258.84 epoch sec; seqNo:1175; 4061633.22 north; 594342.10 east 2021-10-10T16:10:59Z- AHRS_M2 msg: 1633882259.21 epoch sec; seqNo:1166 2021-10-10T16:10:59Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 5.06 psi 2021-10-10T16:10:59Z- handleDepth()-Depth_Keller msg: 1633882259217 epoch sec; seqNo:1176; depth 50.09 2021-10-10T16:10:59Z- handleDvl() - RDI_Pathfinder msg: 1633882259.24 epoch sec; seqNo:526 2021-10-10T16:10:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.58 , 36.28 , 40.88 , 31.17 2021-10-10T16:10:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , -0.06 2021-10-10T16:10:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882259.26 epoch sec; seqNo:1176; 4061633.20 north; 594340.88 east 2021-10-10T16:10:59Z- AHRS_M2 msg: 1633882259.62 epoch sec; seqNo:1167 2021-10-10T16:10:59Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.06 psi 2021-10-10T16:10:59Z- handleDepth()-Depth_Keller msg: 1633882259621 epoch sec; seqNo:1177; depth 50.07 2021-10-10T16:10:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:10:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:10:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:10:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:10:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:10:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:10:59Z- handleDvl() - RDI_Pathfinder msg: 1633882259.62 epoch sec; seqNo:527 2021-10-10T16:10:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:10:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , -0.06 2021-10-10T16:10:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882259.64 epoch sec; seqNo:1177; 4061633.20 north; 594340.88 east 2021-10-10T16:11:00Z- AHRS_M2 msg: 1633882260.02 epoch sec; seqNo:1168 2021-10-10T16:11:00Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.05 psi 2021-10-10T16:11:00Z- handleDepth()-Depth_Keller msg: 1633882260027 epoch sec; seqNo:1178; depth 50.06 2021-10-10T16:11:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882260.04 epoch sec; seqNo:1178; 4061633.20 north; 594340.88 east 2021-10-10T16:11:00Z- AHRS_M2 msg: 1633882260.43 epoch sec; seqNo:1169 2021-10-10T16:11:00Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.05 psi 2021-10-10T16:11:00Z- handleDepth()-Depth_Keller msg: 1633882260436 epoch sec; seqNo:1179; depth 50.03 2021-10-10T16:11:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882260.45 epoch sec; seqNo:1179; 4061633.57 north; 594339.66 east 2021-10-10T16:11:00Z- AHRS_M2 msg: 1633882260.83 epoch sec; seqNo:1170 2021-10-10T16:11:00Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.05 psi 2021-10-10T16:11:00Z- handleDepth()-Depth_Keller msg: 1633882260861 epoch sec; seqNo:1180; depth 50.03 2021-10-10T16:11:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:00Z- handleDvl() - RDI_Pathfinder msg: 1633882260.88 epoch sec; seqNo:528 2021-10-10T16:11:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.08 , -0.06 2021-10-10T16:11:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882260.90 epoch sec; seqNo:1180; 4061633.57 north; 594339.66 east 2021-10-10T16:11:01Z- AHRS_M2 msg: 1633882261.24 epoch sec; seqNo:1171 2021-10-10T16:11:01Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.05 psi 2021-10-10T16:11:01Z- handleDepth()-Depth_Keller msg: 1633882261243 epoch sec; seqNo:1181; depth 50.01 2021-10-10T16:11:01Z- handleDvl() - RDI_Pathfinder msg: 1633882261.26 epoch sec; seqNo:529 2021-10-10T16:11:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.09 , 36.11 , 41.05 , 31.00 2021-10-10T16:11:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.10 , -0.01 2021-10-10T16:11:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882261.29 epoch sec; seqNo:1181; 4061633.57 north; 594339.66 east 2021-10-10T16:11:01Z- AHRS_M2 msg: 1633882261.64 epoch sec; seqNo:1172 2021-10-10T16:11:01Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.05 psi 2021-10-10T16:11:01Z- handleDepth()-Depth_Keller msg: 1633882261645 epoch sec; seqNo:1182; depth 49.99 2021-10-10T16:11:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882261.66 epoch sec; seqNo:1182; 4061633.55 north; 594338.44 east 2021-10-10T16:11:01Z- LcmTrn::handleMessages() - handling 45 messages took 0.74 ms and 130 calls... 2021-10-10T16:11:01Z- waiting for 1633882259.40, time is 1633882261.66 2021-10-10T16:11:01Z- LcmTrn::updateTrn() >>>> pose time 1633882261.66, meas time 1633882261.26 <<<< 2021-10-10T16:11:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882261.26 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:01Z- TerrainNav::motionUpdate() - currEstimate = (4061634, 594338.44, 49.99) 2021-10-10T16:11:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:01Z- TerrainNav:: SubcloudNIS is 0.60, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:01Z- TNavBF::Projecting Measurements 2021-10-10T16:11:01Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:11:01Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:11:01Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:11:01Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:11:01Z- TNavFilter::4 good beams. 2021-10-10T16:11:01Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:11:01Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:11:01Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:11:01Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:11:01Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:11:01Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:11:01Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:11:01Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:01Z- TerrainMapOctree: (vehN, vehE ) = (4061633.47, 594338.81). 2021-10-10T16:11:01Z- TerrainMapOctree: Min Distance = 146.51. 2021-10-10T16:11:01Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:11:01Z- Forcing Subcloud Comparison 2021-10-10T16:11:01Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:11:01Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:01Z- Filter 0 partialDeltaRmsComputation: 6.109945 terrainVariance: 4.879966 1-SumSquareWeights: 0.989044 2021-10-10T16:11:01Z- Filter 0 meanExpectedMeasDiff: 1.109044 delta_rms_squared: 4.870076 alpha: 0.995910 2021-10-10T16:11:01Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:01Z- Filter 0 partialDeltaRmsComputation: 5.137009 terrainVariance: 5.132070 1-SumSquareWeights: 0.989044 2021-10-10T16:11:01Z- Filter 0 meanExpectedMeasDiff: 0.070278 delta_rms_squared: 5.122180 alpha: 0.996111 2021-10-10T16:11:02Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:02Z- Filter 0 partialDeltaRmsComputation: 3.997841 terrainVariance: 0.939107 1-SumSquareWeights: 0.989044 2021-10-10T16:11:02Z- Filter 0 meanExpectedMeasDiff: -1.748924 delta_rms_squared: 0.929217 alpha: 0.978930 2021-10-10T16:11:02Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:02Z- Filter 0 partialDeltaRmsComputation: 2.337956 terrainVariance: 1.720343 1-SumSquareWeights: 0.989044 2021-10-10T16:11:02Z- Filter 0 meanExpectedMeasDiff: 0.785884 delta_rms_squared: 1.710452 alpha: 0.988442 2021-10-10T16:11:02Z- Filter 0 SubcloudNIS: 0.669021 2021-10-10T16:11:02Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:11:02Z- TNavBF:: Filter 0 sumWeights = 0.188726 2021-10-10T16:11:02Z- Filter 0 NorthBias: -37.2 EastBias: -12.8 DepthBias: -27.9 NorthVariance: 426.3 EastVariance: 653.1 DepthVariance: 9.9 this->DepthBiasCov: 0.5 2021-10-10T16:11:02Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882261.26 sec. 2021-10-10T16:11:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:02Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:02Z- variances([0], [2], and psi_berg) = 426.218531 669.373494 0.000000 2021-10-10T16:11:02Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:02Z- LcmTrn::publishEstimates() - MLE : 4061632.32 594340.49 42.68 2021-10-10T16:11:02Z- LcmTrn::publishEstimates() - MMSE : 4061596.38 594325.35 22.03 2021-10-10T16:11:02Z- LcmTrn::publishEstimates() - COVAR: 426.22 669.37 9.99 0.00 2021-10-10T16:11:02Z- AHRS_M2 msg: 1633882262.04 epoch sec; seqNo:1173 2021-10-10T16:11:02Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.05 psi 2021-10-10T16:11:02Z- handleDepth()-Depth_Keller msg: 1633882262045 epoch sec; seqNo:1183; depth 49.99 2021-10-10T16:11:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882262.06 epoch sec; seqNo:1183; 4061633.93 north; 594338.43 east 2021-10-10T16:11:02Z- AHRS_M2 msg: 1633882262.45 epoch sec; seqNo:1174 2021-10-10T16:11:02Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:02Z- handleDepth()-Depth_Keller msg: 1633882262451 epoch sec; seqNo:1184; depth 49.99 2021-10-10T16:11:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882262.46 epoch sec; seqNo:1184; 4061633.93 north; 594338.43 east 2021-10-10T16:11:02Z- AHRS_M2 msg: 1633882262.87 epoch sec; seqNo:1175 2021-10-10T16:11:02Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:02Z- handleDepth()-Depth_Keller msg: 1633882262899 epoch sec; seqNo:1185; depth 49.99 2021-10-10T16:11:02Z- handleDvl() - RDI_Pathfinder msg: 1633882262.92 epoch sec; seqNo:530 2021-10-10T16:11:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.60 , 35.77 , 41.22 , 30.83 2021-10-10T16:11:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , -0.00 2021-10-10T16:11:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882262.95 epoch sec; seqNo:1185; 4061633.92 north; 594337.21 east 2021-10-10T16:11:03Z- AHRS_M2 msg: 1633882263.25 epoch sec; seqNo:1176 2021-10-10T16:11:03Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:03Z- handleDepth()-Depth_Keller msg: 1633882263258 epoch sec; seqNo:1186; depth 49.99 2021-10-10T16:11:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882263.27 epoch sec; seqNo:1186; 4061633.92 north; 594337.21 east 2021-10-10T16:11:03Z- AHRS_M2 msg: 1633882263.66 epoch sec; seqNo:1177 2021-10-10T16:11:03Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:03Z- handleDepth()-Depth_Keller msg: 1633882263668 epoch sec; seqNo:1187; depth 49.97 2021-10-10T16:11:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882263.68 epoch sec; seqNo:1187; 4061634.30 north; 594337.21 east 2021-10-10T16:11:04Z- AHRS_M2 msg: 1633882264.06 epoch sec; seqNo:1178 2021-10-10T16:11:04Z- AHRS_M2 msg: -0.23 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:04Z- handleDepth()-Depth_Keller msg: 1633882264065 epoch sec; seqNo:1188; depth 49.97 2021-10-10T16:11:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882264.07 epoch sec; seqNo:1188; 4061634.29 north; 594335.99 east 2021-10-10T16:11:04Z- AHRS_M2 msg: 1633882264.46 epoch sec; seqNo:1179 2021-10-10T16:11:04Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:04Z- handleDepth()-Depth_Keller msg: 1633882264472 epoch sec; seqNo:1189; depth 49.98 2021-10-10T16:11:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:04Z- handleDvl() - RDI_Pathfinder msg: 1633882264.47 epoch sec; seqNo:531 2021-10-10T16:11:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , -0.00 2021-10-10T16:11:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882264.48 epoch sec; seqNo:1189; 4061634.29 north; 594335.99 east 2021-10-10T16:11:04Z- AHRS_M2 msg: 1633882264.90 epoch sec; seqNo:1180 2021-10-10T16:11:04Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:04Z- handleDepth()-Depth_Keller msg: 1633882264902 epoch sec; seqNo:1190; depth 49.97 2021-10-10T16:11:04Z- handleDvl() - RDI_Pathfinder msg: 1633882264.93 epoch sec; seqNo:532 2021-10-10T16:11:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.11 , 36.45 , 41.73 , 30.83 2021-10-10T16:11:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , 0.00 2021-10-10T16:11:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882264.95 epoch sec; seqNo:1190; 4061634.27 north; 594334.77 east 2021-10-10T16:11:05Z- AHRS_M2 msg: 1633882265.27 epoch sec; seqNo:1181 2021-10-10T16:11:05Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:05Z- handleDepth()-Depth_Keller msg: 1633882265277 epoch sec; seqNo:1191; depth 49.98 2021-10-10T16:11:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882265.30 epoch sec; seqNo:1191; 4061634.65 north; 594334.77 east 2021-10-10T16:11:05Z- AHRS_M2 msg: 1633882265.68 epoch sec; seqNo:1182 2021-10-10T16:11:05Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:05Z- handleDepth()-Depth_Keller msg: 1633882265681 epoch sec; seqNo:1192; depth 49.98 2021-10-10T16:11:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:05Z- handleDvl() - RDI_Pathfinder msg: 1633882265.68 epoch sec; seqNo:533 2021-10-10T16:11:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.09 , 0.00 2021-10-10T16:11:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882265.69 epoch sec; seqNo:1192; 4061634.65 north; 594334.77 east 2021-10-10T16:11:06Z- AHRS_M2 msg: 1633882266.08 epoch sec; seqNo:1183 2021-10-10T16:11:06Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:06Z- handleDepth()-Depth_Keller msg: 1633882266085 epoch sec; seqNo:1193; depth 49.97 2021-10-10T16:11:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882266.10 epoch sec; seqNo:1193; 4061634.65 north; 594334.77 east 2021-10-10T16:11:06Z- AHRS_M2 msg: 1633882266.49 epoch sec; seqNo:1184 2021-10-10T16:11:06Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.03 psi 2021-10-10T16:11:06Z- handleDepth()-Depth_Keller msg: 1633882266497 epoch sec; seqNo:1194; depth 49.98 2021-10-10T16:11:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882266.51 epoch sec; seqNo:1194; 4061635.02 north; 594333.54 east 2021-10-10T16:11:06Z- AHRS_M2 msg: 1633882266.90 epoch sec; seqNo:1185 2021-10-10T16:11:06Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.03 psi 2021-10-10T16:11:06Z- handleDepth()-Depth_Keller msg: 1633882266909 epoch sec; seqNo:1195; depth 49.98 2021-10-10T16:11:06Z- handleDvl() - RDI_Pathfinder msg: 1633882266.93 epoch sec; seqNo:534 2021-10-10T16:11:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.62 , 37.13 , 41.05 , 30.66 2021-10-10T16:11:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , 0.04 2021-10-10T16:11:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882266.94 epoch sec; seqNo:1195; 4061635.02 north; 594333.54 east 2021-10-10T16:11:07Z- LcmTrn::handleMessages() - handling 44 messages took 0.73 ms and 129 calls... 2021-10-10T16:11:07Z- waiting for 1633882264.66, time is 1633882266.94 2021-10-10T16:11:07Z- LcmTrn::updateTrn() equating pose 1633882266.94 and meas times 1633882266.94 2021-10-10T16:11:07Z- LcmTrn::updateTrn() >>>> pose time 1633882266.94, meas time 1633882266.94 <<<< 2021-10-10T16:11:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882266.94 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:07Z- TerrainNav::motionUpdate() - currEstimate = (4061635, 594333.54, 49.98) 2021-10-10T16:11:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:07Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:07Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882266.94 sec.; No relevant navigation data available 2021-10-10T16:11:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:07Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:07Z- variances([0], [2], and psi_berg) = 426.073597 727.207760 0.000000 2021-10-10T16:11:07Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:07Z- LcmTrn::publishEstimates() - MLE : 4061633.78 594335.59 42.67 2021-10-10T16:11:07Z- LcmTrn::publishEstimates() - MMSE : 4061597.84 594319.59 21.95 2021-10-10T16:11:07Z- LcmTrn::publishEstimates() - COVAR: 426.07 727.21 10.40 0.00 2021-10-10T16:11:07Z- AHRS_M2 msg: 1633882267.29 epoch sec; seqNo:1186 2021-10-10T16:11:07Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.03 psi 2021-10-10T16:11:07Z- handleDepth()-Depth_Keller msg: 1633882267297 epoch sec; seqNo:1196; depth 49.96 2021-10-10T16:11:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882267.31 epoch sec; seqNo:1196; 4061635.02 north; 594333.54 east 2021-10-10T16:11:07Z- AHRS_M2 msg: 1633882267.70 epoch sec; seqNo:1187 2021-10-10T16:11:07Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.03 psi 2021-10-10T16:11:07Z- handleDepth()-Depth_Keller msg: 1633882267708 epoch sec; seqNo:1197; depth 49.96 2021-10-10T16:11:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882267.72 epoch sec; seqNo:1197; 4061635.00 north; 594332.32 east 2021-10-10T16:11:08Z- AHRS_M2 msg: 1633882268.10 epoch sec; seqNo:1188 2021-10-10T16:11:08Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:08Z- handleDepth()-Depth_Keller msg: 1633882268108 epoch sec; seqNo:1198; depth 49.96 2021-10-10T16:11:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:08Z- handleDvl() - RDI_Pathfinder msg: 1633882268.11 epoch sec; seqNo:535 2021-10-10T16:11:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.06 , 0.04 2021-10-10T16:11:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882268.12 epoch sec; seqNo:1198; 4061635.38 north; 594332.32 east 2021-10-10T16:11:08Z- AHRS_M2 msg: 1633882268.50 epoch sec; seqNo:1189 2021-10-10T16:11:08Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:08Z- handleDepth()-Depth_Keller msg: 1633882268509 epoch sec; seqNo:1199; depth 49.97 2021-10-10T16:11:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882268.52 epoch sec; seqNo:1199; 4061635.38 north; 594332.32 east 2021-10-10T16:11:08Z- AHRS_M2 msg: 1633882268.91 epoch sec; seqNo:1190 2021-10-10T16:11:08Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:08Z- handleDepth()-Depth_Keller msg: 1633882268915 epoch sec; seqNo:1200; depth 49.94 2021-10-10T16:11:08Z- handleDvl() - RDI_Pathfinder msg: 1633882268.93 epoch sec; seqNo:536 2021-10-10T16:11:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.96 , 37.65 , 41.73 , 31.00 2021-10-10T16:11:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.01 2021-10-10T16:11:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882268.96 epoch sec; seqNo:1200; 4061635.37 north; 594331.10 east 2021-10-10T16:11:09Z- AHRS_M2 msg: 1633882269.31 epoch sec; seqNo:1191 2021-10-10T16:11:09Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:09Z- handleDepth()-Depth_Keller msg: 1633882269324 epoch sec; seqNo:1201; depth 49.93 2021-10-10T16:11:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:09Z- handleDvl() - RDI_Pathfinder msg: 1633882269.33 epoch sec; seqNo:537 2021-10-10T16:11:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.01 2021-10-10T16:11:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882269.34 epoch sec; seqNo:1201; 4061635.75 north; 594331.09 east 2021-10-10T16:11:09Z- AHRS_M2 msg: 1633882269.72 epoch sec; seqNo:1192 2021-10-10T16:11:09Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:09Z- handleDepth()-Depth_Keller msg: 1633882269721 epoch sec; seqNo:1202; depth 49.93 2021-10-10T16:11:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882269.74 epoch sec; seqNo:1202; 4061635.75 north; 594331.09 east 2021-10-10T16:11:10Z- AHRS_M2 msg: 1633882270.12 epoch sec; seqNo:1193 2021-10-10T16:11:10Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:10Z- handleDepth()-Depth_Keller msg: 1633882270124 epoch sec; seqNo:1203; depth 49.93 2021-10-10T16:11:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882270.13 epoch sec; seqNo:1203; 4061635.73 north; 594329.87 east 2021-10-10T16:11:10Z- AHRS_M2 msg: 1633882270.52 epoch sec; seqNo:1194 2021-10-10T16:11:10Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:10Z- handleDepth()-Depth_Keller msg: 1633882270529 epoch sec; seqNo:1204; depth 49.91 2021-10-10T16:11:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:10Z- handleDvl() - RDI_Pathfinder msg: 1633882270.53 epoch sec; seqNo:538 2021-10-10T16:11:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.01 2021-10-10T16:11:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882270.54 epoch sec; seqNo:1204; 4061635.73 north; 594329.87 east 2021-10-10T16:11:10Z- AHRS_M2 msg: 1633882270.93 epoch sec; seqNo:1195 2021-10-10T16:11:10Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:10Z- handleDepth()-Depth_Keller msg: 1633882270939 epoch sec; seqNo:1205; depth 49.90 2021-10-10T16:11:10Z- handleDvl() - RDI_Pathfinder msg: 1633882270.96 epoch sec; seqNo:539 2021-10-10T16:11:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.79 , 39.01 , 42.08 , 31.34 2021-10-10T16:11:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.09 , -0.05 2021-10-10T16:11:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882270.97 epoch sec; seqNo:1205; 4061636.11 north; 594329.87 east 2021-10-10T16:11:11Z- AHRS_M2 msg: 1633882271.33 epoch sec; seqNo:1196 2021-10-10T16:11:11Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:11Z- handleDepth()-Depth_Keller msg: 1633882271343 epoch sec; seqNo:1206; depth 49.87 2021-10-10T16:11:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882271.36 epoch sec; seqNo:1206; 4061636.10 north; 594328.65 east 2021-10-10T16:11:11Z- AHRS_M2 msg: 1633882271.74 epoch sec; seqNo:1197 2021-10-10T16:11:11Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:11Z- handleDepth()-Depth_Keller msg: 1633882271748 epoch sec; seqNo:1207; depth 49.87 2021-10-10T16:11:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:11Z- handleDvl() - RDI_Pathfinder msg: 1633882271.75 epoch sec; seqNo:540 2021-10-10T16:11:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.09 , -0.05 2021-10-10T16:11:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882271.76 epoch sec; seqNo:1207; 4061636.10 north; 594328.65 east 2021-10-10T16:11:12Z- LcmTrn::handleMessages() - handling 42 messages took 0.66 ms and 128 calls... 2021-10-10T16:11:12Z- waiting for 1633882269.94, time is 1633882271.76 2021-10-10T16:11:12Z- LcmTrn::updateTrn() equating pose 1633882271.76 and meas times 1633882271.76 2021-10-10T16:11:12Z- LcmTrn::updateTrn() >>>> pose time 1633882271.76, meas time 1633882271.76 <<<< 2021-10-10T16:11:12Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882271.76, ping # 0. 2021-10-10T16:11:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882271.76 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:12Z- TerrainNav::motionUpdate() - currEstimate = (4061636, 594328.65, 49.87) 2021-10-10T16:11:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:12Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:12Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:11:12Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:11:12Z- TNavBF::Projecting Measurements 2021-10-10T16:11:12Z- TNavFilter::Measurement from time = 1633882271.76 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:11:12Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:11:12Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:11:12Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:11:12Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:11:12Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:11:12Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:11:12Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:11:12Z- Filter 0 NorthBias: -37.2 EastBias: -14.8 DepthBias: -28.1 NorthVariance: 425.9 EastVariance: 779.8 DepthVariance: 10.8 this->DepthBiasCov: 1.0 2021-10-10T16:11:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:12Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:12Z- variances([0], [2], and psi_berg) = 425.901706 779.820523 0.000000 2021-10-10T16:11:12Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:12Z- LcmTrn::publishEstimates() - MLE : 4061634.86 594330.70 42.57 2021-10-10T16:11:12Z- LcmTrn::publishEstimates() - MMSE : 4061598.92 594313.88 21.79 2021-10-10T16:11:12Z- LcmTrn::publishEstimates() - COVAR: 425.90 779.82 10.79 0.00 2021-10-10T16:11:12Z- AHRS_M2 msg: 1633882272.14 epoch sec; seqNo:1198 2021-10-10T16:11:12Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:12Z- handleDepth()-Depth_Keller msg: 1633882272145 epoch sec; seqNo:1208; depth 49.84 2021-10-10T16:11:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882272.16 epoch sec; seqNo:1208; 4061636.10 north; 594328.65 east 2021-10-10T16:11:12Z- AHRS_M2 msg: 1633882272.54 epoch sec; seqNo:1199 2021-10-10T16:11:12Z- AHRS_M2 msg: -0.22 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:12Z- handleDepth()-Depth_Keller msg: 1633882272556 epoch sec; seqNo:1209; depth 49.85 2021-10-10T16:11:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882272.58 epoch sec; seqNo:1209; 4061636.46 north; 594327.42 east 2021-10-10T16:11:12Z- AHRS_M2 msg: 1633882272.95 epoch sec; seqNo:1200 2021-10-10T16:11:12Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:12Z- handleDepth()-Depth_Keller msg: 1633882272959 epoch sec; seqNo:1210; depth 49.83 2021-10-10T16:11:13Z- handleDvl() - RDI_Pathfinder msg: 1633882272.98 epoch sec; seqNo:541 2021-10-10T16:11:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.11 , 40.03 , 42.59 , 32.19 2021-10-10T16:11:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , -0.06 2021-10-10T16:11:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882273.00 epoch sec; seqNo:1210; 4061636.46 north; 594327.42 east 2021-10-10T16:11:13Z- AHRS_M2 msg: 1633882273.35 epoch sec; seqNo:1201 2021-10-10T16:11:13Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:13Z- handleDepth()-Depth_Keller msg: 1633882273358 epoch sec; seqNo:1211; depth 49.81 2021-10-10T16:11:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882273.37 epoch sec; seqNo:1211; 4061636.46 north; 594327.42 east 2021-10-10T16:11:13Z- AHRS_M2 msg: 1633882273.76 epoch sec; seqNo:1202 2021-10-10T16:11:13Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:13Z- handleDepth()-Depth_Keller msg: 1633882273766 epoch sec; seqNo:1212; depth 49.79 2021-10-10T16:11:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882273.78 epoch sec; seqNo:1212; 4061636.45 north; 594326.20 east 2021-10-10T16:11:14Z- AHRS_M2 msg: 1633882274.16 epoch sec; seqNo:1203 2021-10-10T16:11:14Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:11:14Z- handleDepth()-Depth_Keller msg: 1633882274165 epoch sec; seqNo:1213; depth 49.80 2021-10-10T16:11:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:14Z- handleDvl() - RDI_Pathfinder msg: 1633882274.17 epoch sec; seqNo:542 2021-10-10T16:11:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , -0.06 2021-10-10T16:11:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882274.18 epoch sec; seqNo:1213; 4061636.83 north; 594326.20 east 2021-10-10T16:11:14Z- AHRS_M2 msg: 1633882274.56 epoch sec; seqNo:1204 2021-10-10T16:11:14Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.03 psi 2021-10-10T16:11:14Z- handleDepth()-Depth_Keller msg: 1633882274569 epoch sec; seqNo:1214; depth 49.78 2021-10-10T16:11:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882274.58 epoch sec; seqNo:1214; 4061636.83 north; 594326.20 east 2021-10-10T16:11:14Z- AHRS_M2 msg: 1633882274.97 epoch sec; seqNo:1205 2021-10-10T16:11:14Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.03 psi 2021-10-10T16:11:14Z- handleDepth()-Depth_Keller msg: 1633882274974 epoch sec; seqNo:1215; depth 49.78 2021-10-10T16:11:15Z- handleDvl() - RDI_Pathfinder msg: 1633882274.99 epoch sec; seqNo:543 2021-10-10T16:11:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.96 , 41.22 , 42.58 , 33.04 2021-10-10T16:11:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.10 , -0.01 2021-10-10T16:11:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882275.01 epoch sec; seqNo:1215; 4061636.82 north; 594324.98 east 2021-10-10T16:11:15Z- AHRS_M2 msg: 1633882275.37 epoch sec; seqNo:1206 2021-10-10T16:11:15Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.03 psi 2021-10-10T16:11:15Z- handleDepth()-Depth_Keller msg: 1633882275377 epoch sec; seqNo:1216; depth 49.76 2021-10-10T16:11:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:15Z- handleDvl() - RDI_Pathfinder msg: 1633882275.39 epoch sec; seqNo:544 2021-10-10T16:11:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.10 , -0.01 2021-10-10T16:11:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882275.40 epoch sec; seqNo:1216; 4061636.82 north; 594324.98 east 2021-10-10T16:11:15Z- AHRS_M2 msg: 1633882275.78 epoch sec; seqNo:1207 2021-10-10T16:11:15Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.03 psi 2021-10-10T16:11:15Z- handleDepth()-Depth_Keller msg: 1633882275781 epoch sec; seqNo:1217; depth 49.77 2021-10-10T16:11:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882275.79 epoch sec; seqNo:1217; 4061637.20 north; 594324.97 east 2021-10-10T16:11:16Z- AHRS_M2 msg: 1633882276.18 epoch sec; seqNo:1208 2021-10-10T16:11:16Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.03 psi 2021-10-10T16:11:16Z- handleDepth()-Depth_Keller msg: 1633882276192 epoch sec; seqNo:1218; depth 49.77 2021-10-10T16:11:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882276.20 epoch sec; seqNo:1218; 4061637.18 north; 594323.75 east 2021-10-10T16:11:16Z- AHRS_M2 msg: 1633882276.59 epoch sec; seqNo:1209 2021-10-10T16:11:16Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.03 psi 2021-10-10T16:11:16Z- handleDepth()-Depth_Keller msg: 1633882276590 epoch sec; seqNo:1219; depth 49.76 2021-10-10T16:11:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:16Z- handleDvl() - RDI_Pathfinder msg: 1633882276.59 epoch sec; seqNo:545 2021-10-10T16:11:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.10 , -0.01 2021-10-10T16:11:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882276.61 epoch sec; seqNo:1219; 4061637.18 north; 594323.75 east 2021-10-10T16:11:16Z- AHRS_M2 msg: 1633882276.99 epoch sec; seqNo:1210 2021-10-10T16:11:16Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.03 psi 2021-10-10T16:11:16Z- handleDepth()-Depth_Keller msg: 1633882276993 epoch sec; seqNo:1220; depth 49.74 2021-10-10T16:11:17Z- handleDvl() - RDI_Pathfinder msg: 1633882277.02 epoch sec; seqNo:546 2021-10-10T16:11:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.10 , 41.22 , 42.72 , 33.72 2021-10-10T16:11:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , 0.02 2021-10-10T16:11:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882277.03 epoch sec; seqNo:1220; 4061637.17 north; 594322.53 east 2021-10-10T16:11:17Z- LcmTrn::handleMessages() - handling 45 messages took 0.66 ms and 131 calls... 2021-10-10T16:11:17Z- waiting for 1633882274.76, time is 1633882277.03 2021-10-10T16:11:17Z- LcmTrn::updateTrn() equating pose 1633882277.03 and meas times 1633882277.03 2021-10-10T16:11:17Z- LcmTrn::updateTrn() >>>> pose time 1633882277.03, meas time 1633882277.03 <<<< 2021-10-10T16:11:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882277.03 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:17Z- TerrainNav::motionUpdate() - currEstimate = (4061637, 594322.53, 49.74) 2021-10-10T16:11:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:17Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:17Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882277.03 sec.; No relevant navigation data available 2021-10-10T16:11:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:17Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:17Z- variances([0], [2], and psi_berg) = 425.681699 833.646485 0.000000 2021-10-10T16:11:17Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:17Z- LcmTrn::publishEstimates() - MLE : 4061635.93 594324.58 42.43 2021-10-10T16:11:17Z- LcmTrn::publishEstimates() - MMSE : 4061599.98 594306.91 21.59 2021-10-10T16:11:17Z- LcmTrn::publishEstimates() - COVAR: 425.68 833.65 11.24 0.00 2021-10-10T16:11:17Z- AHRS_M2 msg: 1633882277.40 epoch sec; seqNo:1211 2021-10-10T16:11:17Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.03 psi 2021-10-10T16:11:17Z- handleDepth()-Depth_Keller msg: 1633882277408 epoch sec; seqNo:1221; depth 49.76 2021-10-10T16:11:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882277.44 epoch sec; seqNo:1221; 4061637.55 north; 594322.53 east 2021-10-10T16:11:17Z- AHRS_M2 msg: 1633882277.80 epoch sec; seqNo:1212 2021-10-10T16:11:17Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.03 psi 2021-10-10T16:11:17Z- handleDepth()-Depth_Keller msg: 1633882277800 epoch sec; seqNo:1222; depth 49.74 2021-10-10T16:11:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:17Z- handleDvl() - RDI_Pathfinder msg: 1633882277.80 epoch sec; seqNo:547 2021-10-10T16:11:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , 0.02 2021-10-10T16:11:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882277.81 epoch sec; seqNo:1222; 4061637.55 north; 594322.53 east 2021-10-10T16:11:18Z- AHRS_M2 msg: 1633882278.20 epoch sec; seqNo:1213 2021-10-10T16:11:18Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.04 psi 2021-10-10T16:11:18Z- handleDepth()-Depth_Keller msg: 1633882278206 epoch sec; seqNo:1223; depth 49.74 2021-10-10T16:11:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882278.22 epoch sec; seqNo:1223; 4061637.55 north; 594322.53 east 2021-10-10T16:11:18Z- AHRS_M2 msg: 1633882278.60 epoch sec; seqNo:1214 2021-10-10T16:11:18Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.04 psi 2021-10-10T16:11:18Z- handleDepth()-Depth_Keller msg: 1633882278620 epoch sec; seqNo:1224; depth 49.75 2021-10-10T16:11:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882278.63 epoch sec; seqNo:1224; 4061637.53 north; 594321.31 east 2021-10-10T16:11:19Z- AHRS_M2 msg: 1633882279.01 epoch sec; seqNo:1215 2021-10-10T16:11:19Z- AHRS_M2 msg: -0.21 phi; 0.04 theta; 5.04 psi 2021-10-10T16:11:19Z- handleDepth()-Depth_Keller msg: 1633882279014 epoch sec; seqNo:1225; depth 49.75 2021-10-10T16:11:19Z- handleDvl() - RDI_Pathfinder msg: 1633882279.03 epoch sec; seqNo:548 2021-10-10T16:11:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.29 , 41.78 , 43.10 , 34.67 2021-10-10T16:11:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , -0.00 2021-10-10T16:11:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882279.05 epoch sec; seqNo:1225; 4061637.91 north; 594321.30 east 2021-10-10T16:11:19Z- AHRS_M2 msg: 1633882279.41 epoch sec; seqNo:1216 2021-10-10T16:11:19Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 5.05 psi 2021-10-10T16:11:19Z- handleDepth()-Depth_Keller msg: 1633882279420 epoch sec; seqNo:1226; depth 49.73 2021-10-10T16:11:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882279.45 epoch sec; seqNo:1226; 4061637.90 north; 594320.08 east 2021-10-10T16:11:19Z- AHRS_M2 msg: 1633882279.82 epoch sec; seqNo:1217 2021-10-10T16:11:19Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.05 psi 2021-10-10T16:11:19Z- handleDepth()-Depth_Keller msg: 1633882279821 epoch sec; seqNo:1227; depth 49.74 2021-10-10T16:11:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882279.83 epoch sec; seqNo:1227; 4061637.90 north; 594320.08 east 2021-10-10T16:11:20Z- AHRS_M2 msg: 1633882280.22 epoch sec; seqNo:1218 2021-10-10T16:11:20Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.05 psi 2021-10-10T16:11:20Z- handleDepth()-Depth_Keller msg: 1633882280225 epoch sec; seqNo:1228; depth 49.72 2021-10-10T16:11:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:20Z- handleDvl() - RDI_Pathfinder msg: 1633882280.23 epoch sec; seqNo:549 2021-10-10T16:11:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , -0.00 2021-10-10T16:11:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882280.23 epoch sec; seqNo:1228; 4061637.90 north; 594320.08 east 2021-10-10T16:11:20Z- AHRS_M2 msg: 1633882280.63 epoch sec; seqNo:1219 2021-10-10T16:11:20Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.05 psi 2021-10-10T16:11:20Z- handleDepth()-Depth_Keller msg: 1633882280639 epoch sec; seqNo:1229; depth 49.73 2021-10-10T16:11:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882280.65 epoch sec; seqNo:1229; 4061638.28 north; 594320.08 east 2021-10-10T16:11:21Z- AHRS_M2 msg: 1633882281.05 epoch sec; seqNo:1220 2021-10-10T16:11:21Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.05 psi 2021-10-10T16:11:21Z- handleDepth()-Depth_Keller msg: 1633882281059 epoch sec; seqNo:1230; depth 49.73 2021-10-10T16:11:21Z- handleDvl() - RDI_Pathfinder msg: 1633882281.08 epoch sec; seqNo:550 2021-10-10T16:11:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.85 , 41.59 , 42.53 , 35.41 2021-10-10T16:11:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , -0.01 2021-10-10T16:11:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882281.11 epoch sec; seqNo:1230; 4061638.26 north; 594318.86 east 2021-10-10T16:11:21Z- AHRS_M2 msg: 1633882281.44 epoch sec; seqNo:1221 2021-10-10T16:11:21Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.05 psi 2021-10-10T16:11:21Z- handleDepth()-Depth_Keller msg: 1633882281442 epoch sec; seqNo:1231; depth 49.71 2021-10-10T16:11:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:21Z- handleDvl() - RDI_Pathfinder msg: 1633882281.44 epoch sec; seqNo:551 2021-10-10T16:11:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , -0.01 2021-10-10T16:11:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882281.47 epoch sec; seqNo:1231; 4061638.26 north; 594318.86 east 2021-10-10T16:11:21Z- AHRS_M2 msg: 1633882281.84 epoch sec; seqNo:1222 2021-10-10T16:11:21Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.05 psi 2021-10-10T16:11:21Z- handleDepth()-Depth_Keller msg: 1633882281844 epoch sec; seqNo:1232; depth 49.73 2021-10-10T16:11:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882281.86 epoch sec; seqNo:1232; 4061638.64 north; 594318.86 east 2021-10-10T16:11:22Z- LcmTrn::handleMessages() - handling 41 messages took 0.61 ms and 128 calls... 2021-10-10T16:11:22Z- waiting for 1633882280.03, time is 1633882281.86 2021-10-10T16:11:22Z- LcmTrn::updateTrn() >>>> pose time 1633882281.86, meas time 1633882281.44 <<<< 2021-10-10T16:11:22Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882281.44, ping # 0. 2021-10-10T16:11:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882281.44 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:22Z- TerrainNav::motionUpdate() - currEstimate = (4061639, 594318.86, 49.73) 2021-10-10T16:11:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:22Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:22Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:11:22Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:11:22Z- TNavBF::Projecting Measurements 2021-10-10T16:11:22Z- TNavFilter::Measurement from time = 1633882281.44 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:11:22Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:11:22Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:11:22Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:11:22Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:11:22Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:11:22Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:11:22Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:11:22Z- Filter 0 NorthBias: -37.2 EastBias: -16.2 DepthBias: -28.2 NorthVariance: 425.5 EastVariance: 871.3 DepthVariance: 11.5 this->DepthBiasCov: 1.5 2021-10-10T16:11:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:22Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:22Z- variances([0], [2], and psi_berg) = 425.428337 882.123726 0.000000 2021-10-10T16:11:22Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:22Z- LcmTrn::publishEstimates() - MLE : 4061637.41 594320.91 42.43 2021-10-10T16:11:22Z- LcmTrn::publishEstimates() - MMSE : 4061601.45 594302.45 21.52 2021-10-10T16:11:22Z- LcmTrn::publishEstimates() - COVAR: 425.43 882.12 11.56 0.00 2021-10-10T16:11:22Z- AHRS_M2 msg: 1633882282.24 epoch sec; seqNo:1223 2021-10-10T16:11:22Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.05 psi 2021-10-10T16:11:22Z- handleDepth()-Depth_Keller msg: 1633882282253 epoch sec; seqNo:1233; depth 49.71 2021-10-10T16:11:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882282.26 epoch sec; seqNo:1233; 4061638.63 north; 594317.63 east 2021-10-10T16:11:22Z- AHRS_M2 msg: 1633882282.64 epoch sec; seqNo:1224 2021-10-10T16:11:22Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.06 psi 2021-10-10T16:11:22Z- handleDepth()-Depth_Keller msg: 1633882282655 epoch sec; seqNo:1234; depth 49.72 2021-10-10T16:11:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:22Z- handleDvl() - RDI_Pathfinder msg: 1633882282.66 epoch sec; seqNo:552 2021-10-10T16:11:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , -0.01 2021-10-10T16:11:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882282.69 epoch sec; seqNo:1234; 4061638.63 north; 594317.63 east 2021-10-10T16:11:23Z- AHRS_M2 msg: 1633882283.06 epoch sec; seqNo:1225 2021-10-10T16:11:23Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.06 psi 2021-10-10T16:11:23Z- handleDepth()-Depth_Keller msg: 1633882283061 epoch sec; seqNo:1235; depth 49.70 2021-10-10T16:11:23Z- handleDvl() - RDI_Pathfinder msg: 1633882283.09 epoch sec; seqNo:553 2021-10-10T16:11:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.41 , 41.78 , 43.09 , 35.79 2021-10-10T16:11:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , -0.00 2021-10-10T16:11:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882283.11 epoch sec; seqNo:1235; 4061638.62 north; 594316.41 east 2021-10-10T16:11:23Z- AHRS_M2 msg: 1633882283.45 epoch sec; seqNo:1226 2021-10-10T16:11:23Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.06 psi 2021-10-10T16:11:23Z- handleDepth()-Depth_Keller msg: 1633882283464 epoch sec; seqNo:1236; depth 49.70 2021-10-10T16:11:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882283.48 epoch sec; seqNo:1236; 4061639.00 north; 594316.41 east 2021-10-10T16:11:23Z- AHRS_M2 msg: 1633882283.86 epoch sec; seqNo:1227 2021-10-10T16:11:23Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.06 psi 2021-10-10T16:11:23Z- handleDepth()-Depth_Keller msg: 1633882283866 epoch sec; seqNo:1237; depth 49.70 2021-10-10T16:11:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:23Z- handleDvl() - RDI_Pathfinder msg: 1633882283.88 epoch sec; seqNo:554 2021-10-10T16:11:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , -0.00 2021-10-10T16:11:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882283.88 epoch sec; seqNo:1237; 4061639.00 north; 594316.41 east 2021-10-10T16:11:24Z- AHRS_M2 msg: 1633882284.26 epoch sec; seqNo:1228 2021-10-10T16:11:24Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.07 psi 2021-10-10T16:11:24Z- handleDepth()-Depth_Keller msg: 1633882284269 epoch sec; seqNo:1238; depth 49.69 2021-10-10T16:11:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882284.28 epoch sec; seqNo:1238; 4061639.00 north; 594316.41 east 2021-10-10T16:11:24Z- AHRS_M2 msg: 1633882284.67 epoch sec; seqNo:1229 2021-10-10T16:11:24Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.07 psi 2021-10-10T16:11:24Z- handleDepth()-Depth_Keller msg: 1633882284675 epoch sec; seqNo:1239; depth 49.69 2021-10-10T16:11:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882284.68 epoch sec; seqNo:1239; 4061639.36 north; 594315.19 east 2021-10-10T16:11:25Z- AHRS_M2 msg: 1633882285.07 epoch sec; seqNo:1230 2021-10-10T16:11:25Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.07 psi 2021-10-10T16:11:25Z- handleDepth()-Depth_Keller msg: 1633882285084 epoch sec; seqNo:1240; depth 49.68 2021-10-10T16:11:25Z- handleDvl() - RDI_Pathfinder msg: 1633882285.10 epoch sec; seqNo:555 2021-10-10T16:11:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.22 , 42.35 , 43.10 , 36.35 2021-10-10T16:11:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.12 , -0.03 2021-10-10T16:11:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882285.12 epoch sec; seqNo:1240; 4061639.36 north; 594315.19 east 2021-10-10T16:11:25Z- AHRS_M2 msg: 1633882285.47 epoch sec; seqNo:1231 2021-10-10T16:11:25Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.07 psi 2021-10-10T16:11:25Z- handleDepth()-Depth_Keller msg: 1633882285480 epoch sec; seqNo:1241; depth 49.68 2021-10-10T16:11:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882285.51 epoch sec; seqNo:1241; 4061639.36 north; 594315.19 east 2021-10-10T16:11:25Z- AHRS_M2 msg: 1633882285.88 epoch sec; seqNo:1232 2021-10-10T16:11:25Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:25Z- handleDepth()-Depth_Keller msg: 1633882285881 epoch sec; seqNo:1242; depth 49.68 2021-10-10T16:11:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882285.89 epoch sec; seqNo:1242; 4061639.35 north; 594313.97 east 2021-10-10T16:11:26Z- AHRS_M2 msg: 1633882286.28 epoch sec; seqNo:1233 2021-10-10T16:11:26Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:26Z- handleDepth()-Depth_Keller msg: 1633882286291 epoch sec; seqNo:1243; depth 49.68 2021-10-10T16:11:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:26Z- handleDvl() - RDI_Pathfinder msg: 1633882286.29 epoch sec; seqNo:556 2021-10-10T16:11:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.12 , -0.03 2021-10-10T16:11:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882286.30 epoch sec; seqNo:1243; 4061639.73 north; 594313.96 east 2021-10-10T16:11:26Z- AHRS_M2 msg: 1633882286.68 epoch sec; seqNo:1234 2021-10-10T16:11:26Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:26Z- handleDepth()-Depth_Keller msg: 1633882286688 epoch sec; seqNo:1244; depth 49.68 2021-10-10T16:11:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882286.71 epoch sec; seqNo:1244; 4061639.73 north; 594313.96 east 2021-10-10T16:11:27Z- AHRS_M2 msg: 1633882287.09 epoch sec; seqNo:1235 2021-10-10T16:11:27Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:27Z- handleDepth()-Depth_Keller msg: 1633882287093 epoch sec; seqNo:1245; depth 49.67 2021-10-10T16:11:27Z- handleDvl() - RDI_Pathfinder msg: 1633882287.12 epoch sec; seqNo:557 2021-10-10T16:11:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.41 , 42.16 , 42.90 , 37.10 2021-10-10T16:11:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.11 , -0.04 2021-10-10T16:11:27Z- LcmTrn::handleMessages() - handling 44 messages took 0.76 ms and 128 calls... 2021-10-10T16:11:27Z- waiting for 1633882284.86, time is 1633882287.12 2021-10-10T16:11:27Z- LcmTrn::updateTrn() equating pose 1633882287.12 and meas times 1633882287.12 2021-10-10T16:11:27Z- LcmTrn::updateTrn() >>>> pose time 1633882287.12, meas time 1633882287.12 <<<< 2021-10-10T16:11:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882287.12 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:27Z- TerrainNav::motionUpdate() - currEstimate = (4061640, 594313.96, 49.67) 2021-10-10T16:11:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:27Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:27Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882287.12 sec.; No relevant navigation data available 2021-10-10T16:11:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:27Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:27Z- variances([0], [2], and psi_berg) = 425.180800 922.622914 0.000000 2021-10-10T16:11:27Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:27Z- LcmTrn::publishEstimates() - MLE : 4061638.49 594316.01 42.36 2021-10-10T16:11:27Z- LcmTrn::publishEstimates() - MMSE : 4061602.53 594296.88 21.40 2021-10-10T16:11:27Z- LcmTrn::publishEstimates() - COVAR: 425.18 922.62 11.90 0.00 2021-10-10T16:11:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882287.13 epoch sec; seqNo:1245; 4061639.71 north; 594312.74 east 2021-10-10T16:11:27Z- AHRS_M2 msg: 1633882287.49 epoch sec; seqNo:1236 2021-10-10T16:11:27Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:27Z- handleDepth()-Depth_Keller msg: 1633882287504 epoch sec; seqNo:1246; depth 49.68 2021-10-10T16:11:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:27Z- handleDvl() - RDI_Pathfinder msg: 1633882287.51 epoch sec; seqNo:558 2021-10-10T16:11:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.11 , -0.04 2021-10-10T16:11:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882287.52 epoch sec; seqNo:1246; 4061639.71 north; 594312.74 east 2021-10-10T16:11:27Z- AHRS_M2 msg: 1633882287.90 epoch sec; seqNo:1237 2021-10-10T16:11:27Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:27Z- handleDepth()-Depth_Keller msg: 1633882287908 epoch sec; seqNo:1247; depth 49.67 2021-10-10T16:11:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882287.92 epoch sec; seqNo:1247; 4061640.09 north; 594312.74 east 2021-10-10T16:11:28Z- AHRS_M2 msg: 1633882288.30 epoch sec; seqNo:1238 2021-10-10T16:11:28Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:28Z- handleDepth()-Depth_Keller msg: 1633882288305 epoch sec; seqNo:1248; depth 49.69 2021-10-10T16:11:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882288.32 epoch sec; seqNo:1248; 4061640.08 north; 594311.52 east 2021-10-10T16:11:28Z- AHRS_M2 msg: 1633882288.71 epoch sec; seqNo:1239 2021-10-10T16:11:28Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:28Z- handleDepth()-Depth_Keller msg: 1633882288711 epoch sec; seqNo:1249; depth 49.69 2021-10-10T16:11:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:28Z- handleDvl() - RDI_Pathfinder msg: 1633882288.71 epoch sec; seqNo:559 2021-10-10T16:11:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.11 , -0.04 2021-10-10T16:11:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882288.72 epoch sec; seqNo:1249; 4061640.08 north; 594311.52 east 2021-10-10T16:11:29Z- AHRS_M2 msg: 1633882289.11 epoch sec; seqNo:1240 2021-10-10T16:11:29Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:11:29Z- handleDepth()-Depth_Keller msg: 1633882289113 epoch sec; seqNo:1250; depth 49.70 2021-10-10T16:11:29Z- handleDvl() - RDI_Pathfinder msg: 1633882289.13 epoch sec; seqNo:560 2021-10-10T16:11:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.85 , 42.90 , 42.90 , 37.10 2021-10-10T16:11:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.10 , 0.00 2021-10-10T16:11:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882289.16 epoch sec; seqNo:1250; 4061640.44 north; 594310.29 east 2021-10-10T16:11:29Z- AHRS_M2 msg: 1633882289.51 epoch sec; seqNo:1241 2021-10-10T16:11:29Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.09 psi 2021-10-10T16:11:29Z- handleDepth()-Depth_Keller msg: 1633882289518 epoch sec; seqNo:1251; depth 49.70 2021-10-10T16:11:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882289.53 epoch sec; seqNo:1251; 4061640.44 north; 594310.29 east 2021-10-10T16:11:29Z- AHRS_M2 msg: 1633882289.92 epoch sec; seqNo:1242 2021-10-10T16:11:29Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.09 psi 2021-10-10T16:11:29Z- handleDepth()-Depth_Keller msg: 1633882289929 epoch sec; seqNo:1252; depth 49.71 2021-10-10T16:11:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:29Z- handleDvl() - RDI_Pathfinder msg: 1633882289.93 epoch sec; seqNo:561 2021-10-10T16:11:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.10 , 0.00 2021-10-10T16:11:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882289.94 epoch sec; seqNo:1252; 4061640.44 north; 594310.29 east 2021-10-10T16:11:30Z- AHRS_M2 msg: 1633882290.32 epoch sec; seqNo:1243 2021-10-10T16:11:30Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.09 psi 2021-10-10T16:11:30Z- handleDepth()-Depth_Keller msg: 1633882290324 epoch sec; seqNo:1253; depth 49.73 2021-10-10T16:11:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882290.33 epoch sec; seqNo:1253; 4061640.81 north; 594309.07 east 2021-10-10T16:11:30Z- AHRS_M2 msg: 1633882290.73 epoch sec; seqNo:1244 2021-10-10T16:11:30Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.09 psi 2021-10-10T16:11:30Z- handleDepth()-Depth_Keller msg: 1633882290731 epoch sec; seqNo:1254; depth 49.72 2021-10-10T16:11:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882290.74 epoch sec; seqNo:1254; 4061640.81 north; 594309.07 east 2021-10-10T16:11:31Z- AHRS_M2 msg: 1633882291.13 epoch sec; seqNo:1245 2021-10-10T16:11:31Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.09 psi 2021-10-10T16:11:31Z- handleDepth()-Depth_Keller msg: 1633882291134 epoch sec; seqNo:1255; depth 49.73 2021-10-10T16:11:31Z- handleDvl() - RDI_Pathfinder msg: 1633882291.15 epoch sec; seqNo:562 2021-10-10T16:11:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.28 , 43.28 , 43.47 , 37.47 2021-10-10T16:11:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.05 2021-10-10T16:11:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882291.17 epoch sec; seqNo:1255; 4061640.81 north; 594309.07 east 2021-10-10T16:11:31Z- AHRS_M2 msg: 1633882291.53 epoch sec; seqNo:1246 2021-10-10T16:11:31Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.10 psi 2021-10-10T16:11:31Z- handleDepth()-Depth_Keller msg: 1633882291537 epoch sec; seqNo:1256; depth 49.73 2021-10-10T16:11:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882291.56 epoch sec; seqNo:1256; 4061641.17 north; 594307.84 east 2021-10-10T16:11:31Z- AHRS_M2 msg: 1633882291.94 epoch sec; seqNo:1247 2021-10-10T16:11:31Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.10 psi 2021-10-10T16:11:31Z- handleDepth()-Depth_Keller msg: 1633882291947 epoch sec; seqNo:1257; depth 49.75 2021-10-10T16:11:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882291.96 epoch sec; seqNo:1257; 4061641.17 north; 594307.84 east 2021-10-10T16:11:32Z- LcmTrn::handleMessages() - handling 42 messages took 0.67 ms and 128 calls... 2021-10-10T16:11:32Z- waiting for 1633882290.12, time is 1633882291.96 2021-10-10T16:11:32Z- LcmTrn::updateTrn() >>>> pose time 1633882291.96, meas time 1633882291.15 <<<< 2021-10-10T16:11:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882291.15 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:32Z- TerrainNav::motionUpdate() - currEstimate = (4061641, 594307.84, 49.75) 2021-10-10T16:11:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:32Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:32Z- TNavBF::Projecting Measurements 2021-10-10T16:11:32Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:11:32Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:11:32Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:11:32Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:11:32Z- TNavFilter::4 good beams. 2021-10-10T16:11:32Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:11:32Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:11:32Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:11:32Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:11:32Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:11:32Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:11:32Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:11:32Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:32Z- TerrainMapOctree: (vehN, vehE ) = (4061640.93, 594308.86). 2021-10-10T16:11:32Z- TerrainMapOctree: Min Distance = 123.94. 2021-10-10T16:11:32Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:11:32Z- Forcing Subcloud Comparison 2021-10-10T16:11:32Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:11:32Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:32Z- Filter 0 partialDeltaRmsComputation: 2.599374 terrainVariance: 2.565669 1-SumSquareWeights: 0.993345 2021-10-10T16:11:32Z- Filter 0 meanExpectedMeasDiff: 0.183589 delta_rms_squared: 2.555736 alpha: 0.992235 2021-10-10T16:11:32Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:32Z- Filter 0 partialDeltaRmsComputation: 9.088105 terrainVariance: 2.667502 1-SumSquareWeights: 0.993345 2021-10-10T16:11:32Z- Filter 0 meanExpectedMeasDiff: 2.533891 delta_rms_squared: 2.657569 alpha: 0.992531 2021-10-10T16:11:32Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:32Z- Filter 0 partialDeltaRmsComputation: 3.422876 terrainVariance: 0.567834 1-SumSquareWeights: 0.993345 2021-10-10T16:11:32Z- Filter 0 meanExpectedMeasDiff: -1.689687 delta_rms_squared: 0.557900 alpha: 0.965392 2021-10-10T16:11:32Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:32Z- Filter 0 partialDeltaRmsComputation: 8.804309 terrainVariance: 1.666683 1-SumSquareWeights: 0.993345 2021-10-10T16:11:32Z- Filter 0 meanExpectedMeasDiff: 2.671634 delta_rms_squared: 1.656749 alpha: 0.988072 2021-10-10T16:11:32Z- Filter 0 SubcloudNIS: 0.783656 2021-10-10T16:11:32Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:11:32Z- TNavBF:: Filter 0 sumWeights = 0.129844 2021-10-10T16:11:32Z- Filter 0 NorthBias: -44.0 EastBias: -9.6 DepthBias: -26.6 NorthVariance: 251.1 EastVariance: 521.8 DepthVariance: 3.6 this->DepthBiasCov: 0.7 2021-10-10T16:11:32Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882291.15 sec. 2021-10-10T16:11:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:32Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:32Z- variances([0], [2], and psi_berg) = 251.014787 545.306213 0.000000 2021-10-10T16:11:32Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:32Z- LcmTrn::publishEstimates() - MLE : 4061586.94 594309.89 42.44 2021-10-10T16:11:32Z- LcmTrn::publishEstimates() - MMSE : 4061597.14 594297.89 23.15 2021-10-10T16:11:32Z- LcmTrn::publishEstimates() - COVAR: 251.01 545.31 3.68 0.00 2021-10-10T16:11:32Z- AHRS_M2 msg: 1633882292.34 epoch sec; seqNo:1248 2021-10-10T16:11:32Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.10 psi 2021-10-10T16:11:32Z- handleDepth()-Depth_Keller msg: 1633882292348 epoch sec; seqNo:1258; depth 49.74 2021-10-10T16:11:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:32Z- handleDvl() - RDI_Pathfinder msg: 1633882292.35 epoch sec; seqNo:563 2021-10-10T16:11:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.05 2021-10-10T16:11:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882292.36 epoch sec; seqNo:1258; 4061641.17 north; 594307.84 east 2021-10-10T16:11:32Z- AHRS_M2 msg: 1633882292.74 epoch sec; seqNo:1249 2021-10-10T16:11:32Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.10 psi 2021-10-10T16:11:32Z- handleDepth()-Depth_Keller msg: 1633882292760 epoch sec; seqNo:1259; depth 49.74 2021-10-10T16:11:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882292.77 epoch sec; seqNo:1259; 4061641.54 north; 594306.62 east 2021-10-10T16:11:33Z- AHRS_M2 msg: 1633882293.15 epoch sec; seqNo:1250 2021-10-10T16:11:33Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.11 psi 2021-10-10T16:11:33Z- handleDepth()-Depth_Keller msg: 1633882293156 epoch sec; seqNo:1260; depth 49.75 2021-10-10T16:11:33Z- handleDvl() - RDI_Pathfinder msg: 1633882293.19 epoch sec; seqNo:564 2021-10-10T16:11:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.47 , 43.47 , 42.90 , 37.85 2021-10-10T16:11:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.08 , 0.00 2021-10-10T16:11:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882293.20 epoch sec; seqNo:1260; 4061641.54 north; 594306.62 east 2021-10-10T16:11:33Z- AHRS_M2 msg: 1633882293.55 epoch sec; seqNo:1251 2021-10-10T16:11:33Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.11 psi 2021-10-10T16:11:33Z- handleDepth()-Depth_Keller msg: 1633882293557 epoch sec; seqNo:1261; depth 49.76 2021-10-10T16:11:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:33Z- handleDvl() - RDI_Pathfinder msg: 1633882293.56 epoch sec; seqNo:565 2021-10-10T16:11:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.08 , 0.00 2021-10-10T16:11:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882293.57 epoch sec; seqNo:1261; 4061641.54 north; 594306.62 east 2021-10-10T16:11:33Z- AHRS_M2 msg: 1633882293.96 epoch sec; seqNo:1252 2021-10-10T16:11:33Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.11 psi 2021-10-10T16:11:33Z- handleDepth()-Depth_Keller msg: 1633882293962 epoch sec; seqNo:1262; depth 49.75 2021-10-10T16:11:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882293.97 epoch sec; seqNo:1262; 4061641.92 north; 594306.61 east 2021-10-10T16:11:34Z- AHRS_M2 msg: 1633882294.36 epoch sec; seqNo:1253 2021-10-10T16:11:34Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:11:34Z- handleDepth()-Depth_Keller msg: 1633882294370 epoch sec; seqNo:1263; depth 49.75 2021-10-10T16:11:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882294.38 epoch sec; seqNo:1263; 4061641.91 north; 594305.39 east 2021-10-10T16:11:34Z- AHRS_M2 msg: 1633882294.77 epoch sec; seqNo:1254 2021-10-10T16:11:34Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:11:34Z- handleDepth()-Depth_Keller msg: 1633882294769 epoch sec; seqNo:1264; depth 49.74 2021-10-10T16:11:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:34Z- handleDvl() - RDI_Pathfinder msg: 1633882294.77 epoch sec; seqNo:566 2021-10-10T16:11:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.08 , 0.00 2021-10-10T16:11:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882294.78 epoch sec; seqNo:1264; 4061641.91 north; 594305.39 east 2021-10-10T16:11:35Z- AHRS_M2 msg: 1633882295.17 epoch sec; seqNo:1255 2021-10-10T16:11:35Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:11:35Z- handleDepth()-Depth_Keller msg: 1633882295173 epoch sec; seqNo:1265; depth 49.75 2021-10-10T16:11:35Z- handleDvl() - RDI_Pathfinder msg: 1633882295.19 epoch sec; seqNo:567 2021-10-10T16:11:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.22 , 43.84 , 43.28 , 37.85 2021-10-10T16:11:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , -0.02 2021-10-10T16:11:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882295.22 epoch sec; seqNo:1265; 4061642.28 north; 594305.39 east 2021-10-10T16:11:35Z- AHRS_M2 msg: 1633882295.57 epoch sec; seqNo:1256 2021-10-10T16:11:35Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.12 psi 2021-10-10T16:11:35Z- handleDepth()-Depth_Keller msg: 1633882295578 epoch sec; seqNo:1266; depth 49.74 2021-10-10T16:11:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882295.59 epoch sec; seqNo:1266; 4061642.27 north; 594304.17 east 2021-10-10T16:11:35Z- AHRS_M2 msg: 1633882295.98 epoch sec; seqNo:1257 2021-10-10T16:11:35Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:35Z- handleDepth()-Depth_Keller msg: 1633882295993 epoch sec; seqNo:1267; depth 49.74 2021-10-10T16:11:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:36Z- handleDvl() - RDI_Pathfinder msg: 1633882295.99 epoch sec; seqNo:568 2021-10-10T16:11:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , -0.02 2021-10-10T16:11:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882296.00 epoch sec; seqNo:1267; 4061642.27 north; 594304.17 east 2021-10-10T16:11:36Z- AHRS_M2 msg: 1633882296.38 epoch sec; seqNo:1258 2021-10-10T16:11:36Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:36Z- handleDepth()-Depth_Keller msg: 1633882296385 epoch sec; seqNo:1268; depth 49.73 2021-10-10T16:11:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882296.39 epoch sec; seqNo:1268; 4061642.65 north; 594304.17 east 2021-10-10T16:11:36Z- AHRS_M2 msg: 1633882296.78 epoch sec; seqNo:1259 2021-10-10T16:11:36Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:36Z- handleDepth()-Depth_Keller msg: 1633882296789 epoch sec; seqNo:1269; depth 49.74 2021-10-10T16:11:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882296.80 epoch sec; seqNo:1269; 4061642.64 north; 594302.95 east 2021-10-10T16:11:37Z- AHRS_M2 msg: 1633882297.19 epoch sec; seqNo:1260 2021-10-10T16:11:37Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:37Z- handleDepth()-Depth_Keller msg: 1633882297196 epoch sec; seqNo:1270; depth 49.72 2021-10-10T16:11:37Z- handleDvl() - RDI_Pathfinder msg: 1633882297.21 epoch sec; seqNo:569 2021-10-10T16:11:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.41 , 44.03 , 43.47 , 38.41 2021-10-10T16:11:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , -0.02 2021-10-10T16:11:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882297.23 epoch sec; seqNo:1270; 4061642.64 north; 594302.95 east 2021-10-10T16:11:37Z- LcmTrn::handleMessages() - handling 46 messages took 0.72 ms and 131 calls... 2021-10-10T16:11:37Z- waiting for 1633882294.96, time is 1633882297.23 2021-10-10T16:11:37Z- LcmTrn::updateTrn() equating pose 1633882297.23 and meas times 1633882297.23 2021-10-10T16:11:37Z- LcmTrn::updateTrn() >>>> pose time 1633882297.23, meas time 1633882297.23 <<<< 2021-10-10T16:11:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882297.23 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:37Z- TerrainNav::motionUpdate() - currEstimate = (4061643, 594302.95, 49.72) 2021-10-10T16:11:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:37Z- TerrainNav:: SubcloudNIS is 0.78, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:37Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882297.23 sec.; No relevant navigation data available 2021-10-10T16:11:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:37Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:37Z- variances([0], [2], and psi_berg) = 250.819095 595.366771 0.000000 2021-10-10T16:11:37Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:37Z- LcmTrn::publishEstimates() - MLE : 4061587.40 594305.00 42.42 2021-10-10T16:11:37Z- LcmTrn::publishEstimates() - MMSE : 4061598.60 594292.31 23.09 2021-10-10T16:11:37Z- LcmTrn::publishEstimates() - COVAR: 250.82 595.37 4.03 0.00 2021-10-10T16:11:37Z- AHRS_M2 msg: 1633882297.59 epoch sec; seqNo:1261 2021-10-10T16:11:37Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:37Z- handleDepth()-Depth_Keller msg: 1633882297605 epoch sec; seqNo:1271; depth 49.72 2021-10-10T16:11:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882297.62 epoch sec; seqNo:1271; 4061643.02 north; 594302.94 east 2021-10-10T16:11:38Z- AHRS_M2 msg: 1633882298.00 epoch sec; seqNo:1262 2021-10-10T16:11:38Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:38Z- handleDepth()-Depth_Keller msg: 1633882298001 epoch sec; seqNo:1272; depth 49.73 2021-10-10T16:11:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882298.01 epoch sec; seqNo:1272; 4061643.00 north; 594301.72 east 2021-10-10T16:11:38Z- AHRS_M2 msg: 1633882298.40 epoch sec; seqNo:1263 2021-10-10T16:11:38Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:38Z- handleDepth()-Depth_Keller msg: 1633882298408 epoch sec; seqNo:1273; depth 49.71 2021-10-10T16:11:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:38Z- handleDvl() - RDI_Pathfinder msg: 1633882298.41 epoch sec; seqNo:570 2021-10-10T16:11:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , -0.02 2021-10-10T16:11:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882298.42 epoch sec; seqNo:1273; 4061643.00 north; 594301.72 east 2021-10-10T16:11:38Z- AHRS_M2 msg: 1633882298.81 epoch sec; seqNo:1264 2021-10-10T16:11:38Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:38Z- handleDepth()-Depth_Keller msg: 1633882298813 epoch sec; seqNo:1274; depth 49.71 2021-10-10T16:11:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882298.83 epoch sec; seqNo:1274; 4061643.38 north; 594301.72 east 2021-10-10T16:11:39Z- AHRS_M2 msg: 1633882299.21 epoch sec; seqNo:1265 2021-10-10T16:11:39Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:39Z- handleDepth()-Depth_Keller msg: 1633882299213 epoch sec; seqNo:1275; depth 49.70 2021-10-10T16:11:39Z- handleDvl() - RDI_Pathfinder msg: 1633882299.24 epoch sec; seqNo:571 2021-10-10T16:11:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.22 , 44.40 , 43.47 , 38.78 2021-10-10T16:11:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.12 , -0.01 2021-10-10T16:11:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882299.26 epoch sec; seqNo:1275; 4061643.37 north; 594300.50 east 2021-10-10T16:11:39Z- AHRS_M2 msg: 1633882299.61 epoch sec; seqNo:1266 2021-10-10T16:11:39Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:39Z- handleDepth()-Depth_Keller msg: 1633882299617 epoch sec; seqNo:1276; depth 49.71 2021-10-10T16:11:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:39Z- handleDvl() - RDI_Pathfinder msg: 1633882299.62 epoch sec; seqNo:572 2021-10-10T16:11:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.12 , -0.01 2021-10-10T16:11:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882299.65 epoch sec; seqNo:1276; 4061643.37 north; 594300.50 east 2021-10-10T16:11:40Z- AHRS_M2 msg: 1633882300.02 epoch sec; seqNo:1267 2021-10-10T16:11:40Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:40Z- handleDepth()-Depth_Keller msg: 1633882300021 epoch sec; seqNo:1277; depth 49.70 2021-10-10T16:11:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882300.03 epoch sec; seqNo:1277; 4061643.75 north; 594300.49 east 2021-10-10T16:11:40Z- AHRS_M2 msg: 1633882300.42 epoch sec; seqNo:1268 2021-10-10T16:11:40Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.12 psi 2021-10-10T16:11:40Z- handleDepth()-Depth_Keller msg: 1633882300437 epoch sec; seqNo:1278; depth 49.70 2021-10-10T16:11:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882300.45 epoch sec; seqNo:1278; 4061643.73 north; 594299.27 east 2021-10-10T16:11:40Z- AHRS_M2 msg: 1633882300.84 epoch sec; seqNo:1269 2021-10-10T16:11:40Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 5.12 psi 2021-10-10T16:11:40Z- handleDepth()-Depth_Keller msg: 1633882300853 epoch sec; seqNo:1279; depth 49.69 2021-10-10T16:11:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:40Z- handleDvl() - RDI_Pathfinder msg: 1633882300.86 epoch sec; seqNo:573 2021-10-10T16:11:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.12 , -0.01 2021-10-10T16:11:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882300.90 epoch sec; seqNo:1279; 4061643.73 north; 594299.27 east 2021-10-10T16:11:41Z- AHRS_M2 msg: 1633882301.23 epoch sec; seqNo:1270 2021-10-10T16:11:41Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 5.12 psi 2021-10-10T16:11:41Z- handleDepth()-Depth_Keller msg: 1633882301237 epoch sec; seqNo:1280; depth 49.69 2021-10-10T16:11:41Z- handleDvl() - RDI_Pathfinder msg: 1633882301.26 epoch sec; seqNo:574 2021-10-10T16:11:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.22 , 45.15 , 43.47 , 38.97 2021-10-10T16:11:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.13 , -0.01 2021-10-10T16:11:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882301.28 epoch sec; seqNo:1280; 4061644.11 north; 594299.27 east 2021-10-10T16:11:41Z- AHRS_M2 msg: 1633882301.63 epoch sec; seqNo:1271 2021-10-10T16:11:41Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 5.12 psi 2021-10-10T16:11:41Z- handleDepth()-Depth_Keller msg: 1633882301638 epoch sec; seqNo:1281; depth 49.70 2021-10-10T16:11:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882301.65 epoch sec; seqNo:1281; 4061644.10 north; 594298.05 east 2021-10-10T16:11:42Z- AHRS_M2 msg: 1633882302.04 epoch sec; seqNo:1272 2021-10-10T16:11:42Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 5.12 psi 2021-10-10T16:11:42Z- handleDepth()-Depth_Keller msg: 1633882302048 epoch sec; seqNo:1282; depth 49.70 2021-10-10T16:11:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:42Z- handleDvl() - RDI_Pathfinder msg: 1633882302.05 epoch sec; seqNo:575 2021-10-10T16:11:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.13 , -0.01 2021-10-10T16:11:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882302.06 epoch sec; seqNo:1282; 4061644.10 north; 594298.05 east 2021-10-10T16:11:42Z- AHRS_M2 msg: 1633882302.44 epoch sec; seqNo:1273 2021-10-10T16:11:42Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 5.12 psi 2021-10-10T16:11:42Z- LcmTrn::handleMessages() - handling 43 messages took 0.81 ms and 126 calls... 2021-10-10T16:11:42Z- waiting for 1633882300.23, time is 1633882302.44 2021-10-10T16:11:42Z- LcmTrn::updateTrn() >>>> pose time 1633882302.44, meas time 1633882302.05 <<<< 2021-10-10T16:11:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882302.05, ping # 0. 2021-10-10T16:11:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882302.05 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:42Z- TerrainNav::motionUpdate() - currEstimate = (4061644, 594298.05, 49.70) 2021-10-10T16:11:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:42Z- TerrainNav:: SubcloudNIS is 0.78, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:42Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:11:42Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:11:42Z- TNavBF::Projecting Measurements 2021-10-10T16:11:42Z- TNavFilter::Measurement from time = 1633882302.05 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:11:42Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:11:42Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:11:42Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:11:42Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:11:42Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:11:42Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:11:42Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:11:42Z- Filter 0 NorthBias: -44.0 EastBias: -11.3 DepthBias: -26.7 NorthVariance: 250.6 EastVariance: 640.2 DepthVariance: 4.4 this->DepthBiasCov: 1.3 2021-10-10T16:11:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:42Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:42Z- variances([0], [2], and psi_berg) = 250.568868 652.169901 0.000000 2021-10-10T16:11:42Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:42Z- LcmTrn::publishEstimates() - MLE : 4061588.86 594300.10 42.39 2021-10-10T16:11:42Z- LcmTrn::publishEstimates() - MMSE : 4061600.06 594286.62 23.03 2021-10-10T16:11:42Z- LcmTrn::publishEstimates() - COVAR: 250.57 652.17 4.39 0.00 2021-10-10T16:11:42Z- handleDepth()-Depth_Keller msg: 1633882302448 epoch sec; seqNo:1283; depth 49.70 2021-10-10T16:11:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882302.48 epoch sec; seqNo:1283; 4061644.48 north; 594298.04 east 2021-10-10T16:11:42Z- AHRS_M2 msg: 1633882302.87 epoch sec; seqNo:1274 2021-10-10T16:11:42Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 5.12 psi 2021-10-10T16:11:42Z- handleDepth()-Depth_Keller msg: 1633882302893 epoch sec; seqNo:1284; depth 49.71 2021-10-10T16:11:42Z- handleDvl() - RDI_Pathfinder msg: 1633882302.91 epoch sec; seqNo:576 2021-10-10T16:11:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.03 , 45.34 , 43.47 , 38.78 2021-10-10T16:11:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.12 , 0.00 2021-10-10T16:11:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882302.94 epoch sec; seqNo:1284; 4061644.46 north; 594296.82 east 2021-10-10T16:11:43Z- AHRS_M2 msg: 1633882303.25 epoch sec; seqNo:1275 2021-10-10T16:11:43Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 5.12 psi 2021-10-10T16:11:43Z- handleDepth()-Depth_Keller msg: 1633882303254 epoch sec; seqNo:1285; depth 49.70 2021-10-10T16:11:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:43Z- handleDvl() - RDI_Pathfinder msg: 1633882303.26 epoch sec; seqNo:577 2021-10-10T16:11:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.12 , 0.00 2021-10-10T16:11:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882303.27 epoch sec; seqNo:1285; 4061644.46 north; 594296.82 east 2021-10-10T16:11:43Z- AHRS_M2 msg: 1633882303.65 epoch sec; seqNo:1276 2021-10-10T16:11:43Z- AHRS_M2 msg: -0.23 phi; -0.00 theta; 5.12 psi 2021-10-10T16:11:43Z- handleDepth()-Depth_Keller msg: 1633882303665 epoch sec; seqNo:1286; depth 49.70 2021-10-10T16:11:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882303.67 epoch sec; seqNo:1286; 4061644.84 north; 594296.82 east 2021-10-10T16:11:44Z- AHRS_M2 msg: 1633882304.06 epoch sec; seqNo:1277 2021-10-10T16:11:44Z- AHRS_M2 msg: -0.23 phi; -0.00 theta; 5.12 psi 2021-10-10T16:11:44Z- handleDepth()-Depth_Keller msg: 1633882304064 epoch sec; seqNo:1287; depth 49.72 2021-10-10T16:11:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882304.07 epoch sec; seqNo:1287; 4061644.83 north; 594295.60 east 2021-10-10T16:11:44Z- AHRS_M2 msg: 1633882304.47 epoch sec; seqNo:1278 2021-10-10T16:11:44Z- AHRS_M2 msg: -0.23 phi; -0.00 theta; 5.12 psi 2021-10-10T16:11:44Z- handleDepth()-Depth_Keller msg: 1633882304473 epoch sec; seqNo:1288; depth 49.73 2021-10-10T16:11:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:44Z- handleDvl() - RDI_Pathfinder msg: 1633882304.48 epoch sec; seqNo:578 2021-10-10T16:11:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.12 , 0.00 2021-10-10T16:11:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882304.49 epoch sec; seqNo:1288; 4061644.83 north; 594295.60 east 2021-10-10T16:11:44Z- AHRS_M2 msg: 1633882304.89 epoch sec; seqNo:1279 2021-10-10T16:11:44Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.12 psi 2021-10-10T16:11:44Z- handleDepth()-Depth_Keller msg: 1633882304899 epoch sec; seqNo:1289; depth 49.73 2021-10-10T16:11:44Z- handleDvl() - RDI_Pathfinder msg: 1633882304.92 epoch sec; seqNo:579 2021-10-10T16:11:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.22 , 45.15 , 43.47 , 39.53 2021-10-10T16:11:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.12 , 0.01 2021-10-10T16:11:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882304.94 epoch sec; seqNo:1289; 4061645.21 north; 594295.59 east 2021-10-10T16:11:45Z- AHRS_M2 msg: 1633882305.27 epoch sec; seqNo:1280 2021-10-10T16:11:45Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.12 psi 2021-10-10T16:11:45Z- handleDepth()-Depth_Keller msg: 1633882305279 epoch sec; seqNo:1290; depth 49.75 2021-10-10T16:11:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882305.30 epoch sec; seqNo:1290; 4061645.19 north; 594294.37 east 2021-10-10T16:11:45Z- AHRS_M2 msg: 1633882305.67 epoch sec; seqNo:1281 2021-10-10T16:11:45Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.12 psi 2021-10-10T16:11:45Z- handleDepth()-Depth_Keller msg: 1633882305677 epoch sec; seqNo:1291; depth 49.75 2021-10-10T16:11:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:45Z- handleDvl() - RDI_Pathfinder msg: 1633882305.68 epoch sec; seqNo:580 2021-10-10T16:11:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.12 , 0.01 2021-10-10T16:11:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882305.69 epoch sec; seqNo:1291; 4061645.19 north; 594294.37 east 2021-10-10T16:11:46Z- AHRS_M2 msg: 1633882306.09 epoch sec; seqNo:1282 2021-10-10T16:11:46Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.12 psi 2021-10-10T16:11:46Z- handleDepth()-Depth_Keller msg: 1633882306095 epoch sec; seqNo:1292; depth 49.75 2021-10-10T16:11:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882306.11 epoch sec; seqNo:1292; 4061645.19 north; 594294.37 east 2021-10-10T16:11:46Z- AHRS_M2 msg: 1633882306.48 epoch sec; seqNo:1283 2021-10-10T16:11:46Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 5.12 psi 2021-10-10T16:11:46Z- handleDepth()-Depth_Keller msg: 1633882306492 epoch sec; seqNo:1293; depth 49.78 2021-10-10T16:11:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882306.50 epoch sec; seqNo:1293; 4061645.56 north; 594293.15 east 2021-10-10T16:11:46Z- AHRS_M2 msg: 1633882306.90 epoch sec; seqNo:1284 2021-10-10T16:11:46Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.12 psi 2021-10-10T16:11:46Z- handleDepth()-Depth_Keller msg: 1633882306905 epoch sec; seqNo:1294; depth 49.79 2021-10-10T16:11:46Z- handleDvl() - RDI_Pathfinder msg: 1633882306.93 epoch sec; seqNo:581 2021-10-10T16:11:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.41 , 44.97 , 43.47 , 39.72 2021-10-10T16:11:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.13 , 0.03 2021-10-10T16:11:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882306.94 epoch sec; seqNo:1294; 4061645.56 north; 594293.15 east 2021-10-10T16:11:47Z- AHRS_M2 msg: 1633882307.29 epoch sec; seqNo:1285 2021-10-10T16:11:47Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.12 psi 2021-10-10T16:11:47Z- handleDepth()-Depth_Keller msg: 1633882307293 epoch sec; seqNo:1295; depth 49.81 2021-10-10T16:11:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882307.31 epoch sec; seqNo:1295; 4061645.56 north; 594293.15 east 2021-10-10T16:11:47Z- LcmTrn::handleMessages() - handling 44 messages took 0.65 ms and 131 calls... 2021-10-10T16:11:47Z- waiting for 1633882305.44, time is 1633882307.31 2021-10-10T16:11:47Z- LcmTrn::updateTrn() >>>> pose time 1633882307.31, meas time 1633882306.93 <<<< 2021-10-10T16:11:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882306.93 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:47Z- TerrainNav::motionUpdate() - currEstimate = (4061646, 594293.15, 49.81) 2021-10-10T16:11:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:47Z- TerrainNav:: SubcloudNIS is 0.78, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:47Z- TNavBF::Projecting Measurements 2021-10-10T16:11:47Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:11:47Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:11:47Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:11:47Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:11:47Z- TNavFilter::4 good beams. 2021-10-10T16:11:47Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:11:47Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:11:47Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:11:47Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:11:47Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:11:47Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:11:47Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:11:47Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:47Z- TerrainMapOctree: (vehN, vehE ) = (4061645.45, 594293.53). 2021-10-10T16:11:47Z- TerrainMapOctree: Min Distance = 113.25. 2021-10-10T16:11:47Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:11:47Z- Forcing Subcloud Comparison 2021-10-10T16:11:47Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:11:47Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:47Z- Filter 0 partialDeltaRmsComputation: 3.411329 terrainVariance: 0.904217 1-SumSquareWeights: 0.993115 2021-10-10T16:11:47Z- Filter 0 meanExpectedMeasDiff: 1.583386 delta_rms_squared: 0.894286 alpha: 0.978125 2021-10-10T16:11:47Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:47Z- Filter 0 partialDeltaRmsComputation: 0.598208 terrainVariance: 0.571109 1-SumSquareWeights: 0.993115 2021-10-10T16:11:47Z- Filter 0 meanExpectedMeasDiff: -0.164616 delta_rms_squared: 0.561178 alpha: 0.965587 2021-10-10T16:11:47Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:47Z- Filter 0 partialDeltaRmsComputation: 9.399366 terrainVariance: 0.179133 1-SumSquareWeights: 0.993115 2021-10-10T16:11:47Z- Filter 0 meanExpectedMeasDiff: -3.036484 delta_rms_squared: 0.169202 alpha: 0.894293 2021-10-10T16:11:47Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:47Z- Filter 0 partialDeltaRmsComputation: 12.059272 terrainVariance: 0.452994 1-SumSquareWeights: 0.993115 2021-10-10T16:11:47Z- Filter 0 meanExpectedMeasDiff: 3.406799 delta_rms_squared: 0.443063 alpha: 0.956809 2021-10-10T16:11:47Z- Filter 0 SubcloudNIS: 0.878077 2021-10-10T16:11:47Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:11:47Z- TNavBF:: Filter 0 sumWeights = 0.118775 2021-10-10T16:11:47Z- Filter 0 NorthBias: -38.9 EastBias: -3.4 DepthBias: -25.2 NorthVariance: 263.3 EastVariance: 203.3 DepthVariance: 2.2 this->DepthBiasCov: 0.6 2021-10-10T16:11:47Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882306.93 sec. 2021-10-10T16:11:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:47Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:47Z- variances([0], [2], and psi_berg) = 263.204610 223.431908 0.000000 2021-10-10T16:11:47Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:47Z- LcmTrn::publishEstimates() - MLE : 4061606.32 594295.20 42.50 2021-10-10T16:11:47Z- LcmTrn::publishEstimates() - MMSE : 4061606.67 594289.56 24.59 2021-10-10T16:11:47Z- LcmTrn::publishEstimates() - COVAR: 263.20 223.43 2.23 0.00 2021-10-10T16:11:47Z- AHRS_M2 msg: 1633882307.69 epoch sec; seqNo:1286 2021-10-10T16:11:47Z- AHRS_M2 msg: -0.22 phi; -0.02 theta; 5.12 psi 2021-10-10T16:11:47Z- handleDepth()-Depth_Keller msg: 1633882307698 epoch sec; seqNo:1296; depth 49.84 2021-10-10T16:11:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882307.71 epoch sec; seqNo:1296; 4061645.93 north; 594291.92 east 2021-10-10T16:11:48Z- AHRS_M2 msg: 1633882308.10 epoch sec; seqNo:1287 2021-10-10T16:11:48Z- AHRS_M2 msg: -0.22 phi; -0.02 theta; 5.12 psi 2021-10-10T16:11:48Z- handleDepth()-Depth_Keller msg: 1633882308109 epoch sec; seqNo:1297; depth 49.84 2021-10-10T16:11:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:48Z- handleDvl() - RDI_Pathfinder msg: 1633882308.11 epoch sec; seqNo:582 2021-10-10T16:11:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.13 , 0.03 2021-10-10T16:11:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882308.12 epoch sec; seqNo:1297; 4061645.93 north; 594291.92 east 2021-10-10T16:11:48Z- AHRS_M2 msg: 1633882308.50 epoch sec; seqNo:1288 2021-10-10T16:11:48Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.11 psi 2021-10-10T16:11:48Z- handleDepth()-Depth_Keller msg: 1633882308505 epoch sec; seqNo:1298; depth 49.86 2021-10-10T16:11:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882308.52 epoch sec; seqNo:1298; 4061645.93 north; 594291.92 east 2021-10-10T16:11:48Z- AHRS_M2 msg: 1633882308.91 epoch sec; seqNo:1289 2021-10-10T16:11:48Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.11 psi 2021-10-10T16:11:48Z- handleDepth()-Depth_Keller msg: 1633882308914 epoch sec; seqNo:1299; depth 49.86 2021-10-10T16:11:48Z- handleDvl() - RDI_Pathfinder msg: 1633882308.93 epoch sec; seqNo:583 2021-10-10T16:11:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.60 , 43.47 , 43.28 , 40.28 2021-10-10T16:11:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , 0.04 2021-10-10T16:11:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882308.95 epoch sec; seqNo:1299; 4061646.29 north; 594290.70 east 2021-10-10T16:11:49Z- AHRS_M2 msg: 1633882309.31 epoch sec; seqNo:1290 2021-10-10T16:11:49Z- AHRS_M2 msg: -0.22 phi; -0.02 theta; 5.11 psi 2021-10-10T16:11:49Z- handleDepth()-Depth_Keller msg: 1633882309312 epoch sec; seqNo:1300; depth 49.89 2021-10-10T16:11:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:49Z- handleDvl() - RDI_Pathfinder msg: 1633882309.32 epoch sec; seqNo:584 2021-10-10T16:11:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , 0.04 2021-10-10T16:11:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882309.34 epoch sec; seqNo:1300; 4061646.29 north; 594290.70 east 2021-10-10T16:11:49Z- AHRS_M2 msg: 1633882309.71 epoch sec; seqNo:1291 2021-10-10T16:11:49Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.11 psi 2021-10-10T16:11:49Z- handleDepth()-Depth_Keller msg: 1633882309717 epoch sec; seqNo:1301; depth 49.92 2021-10-10T16:11:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882309.73 epoch sec; seqNo:1301; 4061646.29 north; 594290.70 east 2021-10-10T16:11:50Z- AHRS_M2 msg: 1633882310.12 epoch sec; seqNo:1292 2021-10-10T16:11:50Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:50Z- handleDepth()-Depth_Keller msg: 1633882310128 epoch sec; seqNo:1302; depth 49.92 2021-10-10T16:11:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882310.14 epoch sec; seqNo:1302; 4061646.66 north; 594289.48 east 2021-10-10T16:11:50Z- AHRS_M2 msg: 1633882310.52 epoch sec; seqNo:1293 2021-10-10T16:11:50Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:50Z- handleDepth()-Depth_Keller msg: 1633882310543 epoch sec; seqNo:1303; depth 49.95 2021-10-10T16:11:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:50Z- handleDvl() - RDI_Pathfinder msg: 1633882310.55 epoch sec; seqNo:585 2021-10-10T16:11:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , 0.04 2021-10-10T16:11:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882310.55 epoch sec; seqNo:1303; 4061646.66 north; 594289.48 east 2021-10-10T16:11:50Z- AHRS_M2 msg: 1633882310.92 epoch sec; seqNo:1294 2021-10-10T16:11:50Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:50Z- handleDepth()-Depth_Keller msg: 1633882310936 epoch sec; seqNo:1304; depth 49.96 2021-10-10T16:11:50Z- handleDvl() - RDI_Pathfinder msg: 1633882310.95 epoch sec; seqNo:586 2021-10-10T16:11:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.60 , 44.22 , 43.09 , 40.84 2021-10-10T16:11:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , 0.02 2021-10-10T16:11:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882310.98 epoch sec; seqNo:1304; 4061646.66 north; 594289.48 east 2021-10-10T16:11:51Z- AHRS_M2 msg: 1633882311.33 epoch sec; seqNo:1295 2021-10-10T16:11:51Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:51Z- handleDepth()-Depth_Keller msg: 1633882311343 epoch sec; seqNo:1305; depth 49.97 2021-10-10T16:11:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882311.36 epoch sec; seqNo:1305; 4061647.02 north; 594288.25 east 2021-10-10T16:11:51Z- AHRS_M2 msg: 1633882311.73 epoch sec; seqNo:1296 2021-10-10T16:11:51Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:51Z- handleDepth()-Depth_Keller msg: 1633882311737 epoch sec; seqNo:1306; depth 49.99 2021-10-10T16:11:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:51Z- handleDvl() - RDI_Pathfinder msg: 1633882311.74 epoch sec; seqNo:587 2021-10-10T16:11:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , 0.02 2021-10-10T16:11:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882311.76 epoch sec; seqNo:1306; 4061647.02 north; 594288.25 east 2021-10-10T16:11:52Z- AHRS_M2 msg: 1633882312.14 epoch sec; seqNo:1297 2021-10-10T16:11:52Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:52Z- handleDepth()-Depth_Keller msg: 1633882312142 epoch sec; seqNo:1307; depth 50.00 2021-10-10T16:11:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882312.15 epoch sec; seqNo:1307; 4061647.02 north; 594288.25 east 2021-10-10T16:11:52Z- AHRS_M2 msg: 1633882312.54 epoch sec; seqNo:1298 2021-10-10T16:11:52Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:52Z- handleDepth()-Depth_Keller msg: 1633882312563 epoch sec; seqNo:1308; depth 50.00 2021-10-10T16:11:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882312.57 epoch sec; seqNo:1308; 4061647.39 north; 594287.03 east 2021-10-10T16:11:52Z- LcmTrn::handleMessages() - handling 45 messages took 0.66 ms and 131 calls... 2021-10-10T16:11:52Z- waiting for 1633882310.31, time is 1633882312.57 2021-10-10T16:11:52Z- LcmTrn::updateTrn() >>>> pose time 1633882312.57, meas time 1633882311.74 <<<< 2021-10-10T16:11:52Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882311.74, ping # 0. 2021-10-10T16:11:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882311.74 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:52Z- TerrainNav::motionUpdate() - currEstimate = (4061647, 594287.03, 50.00) 2021-10-10T16:11:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:52Z- TerrainNav:: SubcloudNIS is 0.88, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:52Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:11:52Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:11:52Z- TNavBF::Projecting Measurements 2021-10-10T16:11:52Z- TNavFilter::Measurement from time = 1633882311.74 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:11:52Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:11:52Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:11:52Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:11:52Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:11:52Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:11:52Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:11:52Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:11:52Z- Filter 0 NorthBias: -38.9 EastBias: -4.4 DepthBias: -25.3 NorthVariance: 262.8 EastVariance: 295.8 DepthVariance: 2.6 this->DepthBiasCov: 0.9 2021-10-10T16:11:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:52Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:52Z- variances([0], [2], and psi_berg) = 262.567108 325.063263 0.000000 2021-10-10T16:11:52Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:52Z- LcmTrn::publishEstimates() - MLE : 4061608.15 594289.08 42.69 2021-10-10T16:11:52Z- LcmTrn::publishEstimates() - MMSE : 4061608.49 594282.25 24.72 2021-10-10T16:11:52Z- LcmTrn::publishEstimates() - COVAR: 262.57 325.06 2.73 0.00 2021-10-10T16:11:52Z- AHRS_M2 msg: 1633882312.94 epoch sec; seqNo:1299 2021-10-10T16:11:52Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:52Z- handleDepth()-Depth_Keller msg: 1633882312949 epoch sec; seqNo:1309; depth 50.03 2021-10-10T16:11:52Z- handleDvl() - RDI_Pathfinder msg: 1633882312.98 epoch sec; seqNo:588 2021-10-10T16:11:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.60 , 44.97 , 42.90 , 41.22 2021-10-10T16:11:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , -0.00 2021-10-10T16:11:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882312.99 epoch sec; seqNo:1309; 4061647.39 north; 594287.03 east 2021-10-10T16:11:53Z- AHRS_M2 msg: 1633882313.35 epoch sec; seqNo:1300 2021-10-10T16:11:53Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:53Z- handleDepth()-Depth_Keller msg: 1633882313353 epoch sec; seqNo:1310; depth 50.04 2021-10-10T16:11:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882313.37 epoch sec; seqNo:1310; 4061647.39 north; 594287.03 east 2021-10-10T16:11:53Z- AHRS_M2 msg: 1633882313.75 epoch sec; seqNo:1301 2021-10-10T16:11:53Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:53Z- handleDepth()-Depth_Keller msg: 1633882313758 epoch sec; seqNo:1311; depth 50.06 2021-10-10T16:11:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882313.77 epoch sec; seqNo:1311; 4061647.77 north; 594287.02 east 2021-10-10T16:11:54Z- AHRS_M2 msg: 1633882314.16 epoch sec; seqNo:1302 2021-10-10T16:11:54Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:54Z- handleDepth()-Depth_Keller msg: 1633882314168 epoch sec; seqNo:1312; depth 50.05 2021-10-10T16:11:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:54Z- handleDvl() - RDI_Pathfinder msg: 1633882314.17 epoch sec; seqNo:589 2021-10-10T16:11:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , -0.00 2021-10-10T16:11:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882314.18 epoch sec; seqNo:1312; 4061647.75 north; 594285.80 east 2021-10-10T16:11:54Z- AHRS_M2 msg: 1633882314.56 epoch sec; seqNo:1303 2021-10-10T16:11:54Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:54Z- handleDepth()-Depth_Keller msg: 1633882314565 epoch sec; seqNo:1313; depth 50.06 2021-10-10T16:11:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882314.58 epoch sec; seqNo:1313; 4061647.75 north; 594285.80 east 2021-10-10T16:11:54Z- AHRS_M2 msg: 1633882314.96 epoch sec; seqNo:1304 2021-10-10T16:11:54Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:54Z- handleDepth()-Depth_Keller msg: 1633882314969 epoch sec; seqNo:1314; depth 50.09 2021-10-10T16:11:55Z- handleDvl() - RDI_Pathfinder msg: 1633882314.99 epoch sec; seqNo:590 2021-10-10T16:11:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.63 , 45.38 , 42.92 , 40.67 2021-10-10T16:11:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.10 , 0.01 2021-10-10T16:11:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882315.01 epoch sec; seqNo:1314; 4061648.13 north; 594285.80 east 2021-10-10T16:11:55Z- AHRS_M2 msg: 1633882315.37 epoch sec; seqNo:1305 2021-10-10T16:11:55Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:55Z- handleDepth()-Depth_Keller msg: 1633882315374 epoch sec; seqNo:1315; depth 50.10 2021-10-10T16:11:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:55Z- handleDvl() - RDI_Pathfinder msg: 1633882315.38 epoch sec; seqNo:591 2021-10-10T16:11:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.10 , 0.01 2021-10-10T16:11:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882315.39 epoch sec; seqNo:1315; 4061648.12 north; 594284.58 east 2021-10-10T16:11:55Z- AHRS_M2 msg: 1633882315.77 epoch sec; seqNo:1306 2021-10-10T16:11:55Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:55Z- handleDepth()-Depth_Keller msg: 1633882315787 epoch sec; seqNo:1316; depth 50.11 2021-10-10T16:11:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882315.80 epoch sec; seqNo:1316; 4061648.12 north; 594284.58 east 2021-10-10T16:11:56Z- AHRS_M2 msg: 1633882316.18 epoch sec; seqNo:1307 2021-10-10T16:11:56Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:56Z- handleDepth()-Depth_Keller msg: 1633882316184 epoch sec; seqNo:1317; depth 50.13 2021-10-10T16:11:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882316.20 epoch sec; seqNo:1317; 4061648.50 north; 594284.57 east 2021-10-10T16:11:56Z- AHRS_M2 msg: 1633882316.58 epoch sec; seqNo:1308 2021-10-10T16:11:56Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:56Z- handleDepth()-Depth_Keller msg: 1633882316586 epoch sec; seqNo:1318; depth 50.15 2021-10-10T16:11:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:56Z- handleDvl() - RDI_Pathfinder msg: 1633882316.59 epoch sec; seqNo:592 2021-10-10T16:11:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.10 , 0.01 2021-10-10T16:11:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882316.60 epoch sec; seqNo:1318; 4061648.48 north; 594283.35 east 2021-10-10T16:11:56Z- AHRS_M2 msg: 1633882316.98 epoch sec; seqNo:1309 2021-10-10T16:11:56Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:57Z- handleDepth()-Depth_Keller msg: 1633882316996 epoch sec; seqNo:1319; depth 50.13 2021-10-10T16:11:57Z- handleDvl() - RDI_Pathfinder msg: 1633882317.02 epoch sec; seqNo:593 2021-10-10T16:11:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.04 , 45.17 , 42.92 , 40.47 2021-10-10T16:11:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.02 2021-10-10T16:11:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882317.05 epoch sec; seqNo:1319; 4061648.48 north; 594283.35 east 2021-10-10T16:11:57Z- AHRS_M2 msg: 1633882317.39 epoch sec; seqNo:1310 2021-10-10T16:11:57Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:57Z- handleDepth()-Depth_Keller msg: 1633882317400 epoch sec; seqNo:1320; depth 50.17 2021-10-10T16:11:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882317.42 epoch sec; seqNo:1320; 4061648.86 north; 594283.35 east 2021-10-10T16:11:57Z- LcmTrn::handleMessages() - handling 42 messages took 0.68 ms and 128 calls... 2021-10-10T16:11:57Z- waiting for 1633882315.57, time is 1633882317.42 2021-10-10T16:11:57Z- LcmTrn::updateTrn() >>>> pose time 1633882317.42, meas time 1633882317.02 <<<< 2021-10-10T16:11:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882317.02 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:11:57Z- TerrainNav::motionUpdate() - currEstimate = (4061649, 594283.35, 50.17) 2021-10-10T16:11:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:11:57Z- TerrainNav:: SubcloudNIS is 0.88, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:11:57Z- TNavBF::Projecting Measurements 2021-10-10T16:11:57Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:11:57Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:11:57Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:11:57Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:11:57Z- TNavFilter::4 good beams. 2021-10-10T16:11:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:11:57Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:11:57Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:11:57Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:11:57Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:11:57Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:11:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:11:57Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:57Z- TerrainMapOctree: (vehN, vehE ) = (4061648.74, 594283.65). 2021-10-10T16:11:57Z- TerrainMapOctree: Min Distance = 106.71. 2021-10-10T16:11:57Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:11:57Z- Forcing Subcloud Comparison 2021-10-10T16:11:57Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:11:57Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:57Z- Filter 0 partialDeltaRmsComputation: 5.149295 terrainVariance: 0.647457 1-SumSquareWeights: 0.991464 2021-10-10T16:11:57Z- Filter 0 meanExpectedMeasDiff: 2.121754 delta_rms_squared: 0.637542 alpha: 0.969584 2021-10-10T16:11:57Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:57Z- Filter 0 partialDeltaRmsComputation: 1.042027 terrainVariance: 0.461101 1-SumSquareWeights: 0.991464 2021-10-10T16:11:57Z- Filter 0 meanExpectedMeasDiff: -0.762185 delta_rms_squared: 0.451187 alpha: 0.957554 2021-10-10T16:11:57Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:57Z- Filter 0 partialDeltaRmsComputation: 14.949842 terrainVariance: 0.218593 1-SumSquareWeights: 0.991464 2021-10-10T16:11:57Z- Filter 0 meanExpectedMeasDiff: -3.838131 delta_rms_squared: 0.208678 alpha: 0.912541 2021-10-10T16:11:57Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:11:57Z- Filter 0 partialDeltaRmsComputation: 9.939180 terrainVariance: 0.219186 1-SumSquareWeights: 0.991464 2021-10-10T16:11:57Z- Filter 0 meanExpectedMeasDiff: 3.117690 delta_rms_squared: 0.209272 alpha: 0.912767 2021-10-10T16:11:57Z- Filter 0 SubcloudNIS: 0.912120 2021-10-10T16:11:57Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:11:57Z- TNavBF:: Filter 0 sumWeights = 0.073701 2021-10-10T16:11:57Z- Filter 0 NorthBias: -30.7 EastBias: -0.4 DepthBias: -24.3 NorthVariance: 420.1 EastVariance: 68.8 DepthVariance: 2.0 this->DepthBiasCov: 0.6 2021-10-10T16:11:57Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882317.02 sec. 2021-10-10T16:11:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:11:58Z- TNavBF::mmse selected from filter -1 2021-10-10T16:11:58Z- variances([0], [2], and psi_berg) = 419.871763 91.320561 0.000000 2021-10-10T16:11:58Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:11:58Z- LcmTrn::publishEstimates() - MLE : 4061648.63 594285.40 42.86 2021-10-10T16:11:58Z- LcmTrn::publishEstimates() - MMSE : 4061618.17 594282.68 25.81 2021-10-10T16:11:58Z- LcmTrn::publishEstimates() - COVAR: 419.87 91.32 2.04 0.00 2021-10-10T16:11:58Z- AHRS_M2 msg: 1633882317.80 epoch sec; seqNo:1311 2021-10-10T16:11:58Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:58Z- handleDepth()-Depth_Keller msg: 1633882317817 epoch sec; seqNo:1321; depth 50.18 2021-10-10T16:11:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:11:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:11:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:11:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:11:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:11:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:11:58Z- handleDvl() - RDI_Pathfinder msg: 1633882317.82 epoch sec; seqNo:594 2021-10-10T16:11:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:11:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.02 2021-10-10T16:11:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882317.83 epoch sec; seqNo:1321; 4061648.85 north; 594282.13 east 2021-10-10T16:11:58Z- AHRS_M2 msg: 1633882318.20 epoch sec; seqNo:1312 2021-10-10T16:11:58Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:58Z- handleDepth()-Depth_Keller msg: 1633882318207 epoch sec; seqNo:1322; depth 50.19 2021-10-10T16:11:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882318.22 epoch sec; seqNo:1322; 4061648.85 north; 594282.13 east 2021-10-10T16:11:58Z- AHRS_M2 msg: 1633882318.61 epoch sec; seqNo:1313 2021-10-10T16:11:58Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:58Z- handleDepth()-Depth_Keller msg: 1633882318611 epoch sec; seqNo:1323; depth 50.21 2021-10-10T16:11:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882318.62 epoch sec; seqNo:1323; 4061649.23 north; 594282.12 east 2021-10-10T16:11:59Z- AHRS_M2 msg: 1633882319.01 epoch sec; seqNo:1314 2021-10-10T16:11:59Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:59Z- handleDepth()-Depth_Keller msg: 1633882319010 epoch sec; seqNo:1324; depth 50.21 2021-10-10T16:11:59Z- handleDvl() - RDI_Pathfinder msg: 1633882319.03 epoch sec; seqNo:595 2021-10-10T16:11:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.04 , 44.76 , 43.13 , 40.88 2021-10-10T16:11:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.12 , 0.01 2021-10-10T16:11:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882319.04 epoch sec; seqNo:1324; 4061649.21 north; 594280.90 east 2021-10-10T16:11:59Z- AHRS_M2 msg: 1633882319.41 epoch sec; seqNo:1315 2021-10-10T16:11:59Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:59Z- handleDepth()-Depth_Keller msg: 1633882319415 epoch sec; seqNo:1325; depth 50.22 2021-10-10T16:11:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882319.44 epoch sec; seqNo:1325; 4061649.21 north; 594280.90 east 2021-10-10T16:11:59Z- AHRS_M2 msg: 1633882319.81 epoch sec; seqNo:1316 2021-10-10T16:11:59Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:11:59Z- handleDepth()-Depth_Keller msg: 1633882319817 epoch sec; seqNo:1326; depth 50.23 2021-10-10T16:11:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882319.83 epoch sec; seqNo:1326; 4061649.59 north; 594280.90 east 2021-10-10T16:12:00Z- AHRS_M2 msg: 1633882320.22 epoch sec; seqNo:1317 2021-10-10T16:12:00Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 5.11 psi 2021-10-10T16:12:00Z- handleDepth()-Depth_Keller msg: 1633882320222 epoch sec; seqNo:1327; depth 50.24 2021-10-10T16:12:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:00Z- handleDvl() - RDI_Pathfinder msg: 1633882320.22 epoch sec; seqNo:596 2021-10-10T16:12:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.12 , 0.01 2021-10-10T16:12:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882320.23 epoch sec; seqNo:1327; 4061649.58 north; 594279.68 east 2021-10-10T16:12:00Z- AHRS_M2 msg: 1633882320.63 epoch sec; seqNo:1318 2021-10-10T16:12:00Z- AHRS_M2 msg: -0.24 phi; -0.02 theta; 5.11 psi 2021-10-10T16:12:00Z- handleDepth()-Depth_Keller msg: 1633882320632 epoch sec; seqNo:1328; depth 50.25 2021-10-10T16:12:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882320.64 epoch sec; seqNo:1328; 4061649.58 north; 594279.68 east 2021-10-10T16:12:01Z- AHRS_M2 msg: 1633882321.02 epoch sec; seqNo:1319 2021-10-10T16:12:01Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.11 psi 2021-10-10T16:12:01Z- handleDepth()-Depth_Keller msg: 1633882321032 epoch sec; seqNo:1329; depth 50.26 2021-10-10T16:12:01Z- handleDvl() - RDI_Pathfinder msg: 1633882321.08 epoch sec; seqNo:597 2021-10-10T16:12:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.83 , 43.74 , 43.53 , 40.88 2021-10-10T16:12:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.12 , 0.00 2021-10-10T16:12:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882321.11 epoch sec; seqNo:1329; 4061649.96 north; 594279.68 east 2021-10-10T16:12:01Z- AHRS_M2 msg: 1633882321.43 epoch sec; seqNo:1320 2021-10-10T16:12:01Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.10 psi 2021-10-10T16:12:01Z- handleDepth()-Depth_Keller msg: 1633882321437 epoch sec; seqNo:1330; depth 50.28 2021-10-10T16:12:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882321.45 epoch sec; seqNo:1330; 4061649.94 north; 594278.46 east 2021-10-10T16:12:01Z- AHRS_M2 msg: 1633882321.84 epoch sec; seqNo:1321 2021-10-10T16:12:01Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.10 psi 2021-10-10T16:12:01Z- handleDepth()-Depth_Keller msg: 1633882321846 epoch sec; seqNo:1331; depth 50.29 2021-10-10T16:12:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882321.86 epoch sec; seqNo:1331; 4061649.94 north; 594278.46 east 2021-10-10T16:12:02Z- AHRS_M2 msg: 1633882322.24 epoch sec; seqNo:1322 2021-10-10T16:12:02Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.10 psi 2021-10-10T16:12:02Z- handleDepth()-Depth_Keller msg: 1633882322247 epoch sec; seqNo:1332; depth 50.30 2021-10-10T16:12:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882322.26 epoch sec; seqNo:1332; 4061649.94 north; 594278.46 east 2021-10-10T16:12:02Z- AHRS_M2 msg: 1633882322.64 epoch sec; seqNo:1323 2021-10-10T16:12:02Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.10 psi 2021-10-10T16:12:02Z- handleDepth()-Depth_Keller msg: 1633882322647 epoch sec; seqNo:1333; depth 50.32 2021-10-10T16:12:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882322.67 epoch sec; seqNo:1333; 4061650.31 north; 594277.23 east 2021-10-10T16:12:03Z- LcmTrn::handleMessages() - handling 43 messages took 0.61 ms and 130 calls... 2021-10-10T16:12:03Z- waiting for 1633882320.42, time is 1633882322.67 2021-10-10T16:12:03Z- LcmTrn::updateTrn() >>>> pose time 1633882322.67, meas time 1633882321.08 <<<< 2021-10-10T16:12:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882321.08 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:03Z- TerrainNav::motionUpdate() - currEstimate = (4061650, 594277.23, 50.32) 2021-10-10T16:12:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:03Z- TerrainNav:: SubcloudNIS is 0.91, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:03Z- TNavBF::Projecting Measurements 2021-10-10T16:12:03Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:12:03Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:12:03Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:12:03Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:12:03Z- TNavFilter::4 good beams. 2021-10-10T16:12:03Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:12:03Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:12:03Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:12:03Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:12:03Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:12:03Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:12:03Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:12:03Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:03Z- TerrainMapOctree: (vehN, vehE ) = (4061649.87, 594279.08). 2021-10-10T16:12:03Z- TerrainMapOctree: Min Distance = 104.27. 2021-10-10T16:12:03Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:12:03Z- Forcing Subcloud Comparison 2021-10-10T16:12:03Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:12:03Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:03Z- Filter 0 partialDeltaRmsComputation: 2.562091 terrainVariance: 0.772335 1-SumSquareWeights: 0.982576 2021-10-10T16:12:03Z- Filter 0 meanExpectedMeasDiff: 1.337818 delta_rms_squared: 0.762509 alpha: 0.974441 2021-10-10T16:12:03Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:03Z- Filter 0 partialDeltaRmsComputation: 4.203389 terrainVariance: 0.570490 1-SumSquareWeights: 0.982576 2021-10-10T16:12:03Z- Filter 0 meanExpectedMeasDiff: -1.906016 delta_rms_squared: 0.560665 alpha: 0.965557 2021-10-10T16:12:03Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:03Z- Filter 0 partialDeltaRmsComputation: 15.704270 terrainVariance: 0.181556 1-SumSquareWeights: 0.982576 2021-10-10T16:12:03Z- Filter 0 meanExpectedMeasDiff: -3.939888 delta_rms_squared: 0.171731 alpha: 0.895687 2021-10-10T16:12:03Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:03Z- Filter 0 partialDeltaRmsComputation: 14.433215 terrainVariance: 0.179511 1-SumSquareWeights: 0.982576 2021-10-10T16:12:03Z- Filter 0 meanExpectedMeasDiff: 3.775408 delta_rms_squared: 0.169685 alpha: 0.894562 2021-10-10T16:12:03Z- Filter 0 SubcloudNIS: 0.899425 2021-10-10T16:12:03Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:12:03Z- TNavBF:: Filter 0 sumWeights = 0.043439 2021-10-10T16:12:03Z- Filter 0 NorthBias: -24.3 EastBias: 0.8 DepthBias: -24.0 NorthVariance: 406.5 EastVariance: 18.9 DepthVariance: 1.4 this->DepthBiasCov: 0.5 2021-10-10T16:12:03Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882321.08 sec. 2021-10-10T16:12:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:03Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:03Z- variances([0], [2], and psi_berg) = 406.378211 81.326886 0.000000 2021-10-10T16:12:03Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:03Z- LcmTrn::publishEstimates() - MLE : 4061650.07 594279.28 43.01 2021-10-10T16:12:03Z- LcmTrn::publishEstimates() - MMSE : 4061625.96 594277.34 26.25 2021-10-10T16:12:03Z- LcmTrn::publishEstimates() - COVAR: 406.38 81.33 1.62 0.00 2021-10-10T16:12:03Z- AHRS_M2 msg: 1633882323.04 epoch sec; seqNo:1324 2021-10-10T16:12:03Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.09 psi 2021-10-10T16:12:03Z- handleDepth()-Depth_Keller msg: 1633882323052 epoch sec; seqNo:1334; depth 50.33 2021-10-10T16:12:03Z- handleDvl() - RDI_Pathfinder msg: 1633882323.07 epoch sec; seqNo:598 2021-10-10T16:12:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 43.84 , 43.65 , 40.84 2021-10-10T16:12:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.12 , 0.02 2021-10-10T16:12:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882323.10 epoch sec; seqNo:1334; 4061650.31 north; 594277.23 east 2021-10-10T16:12:03Z- AHRS_M2 msg: 1633882323.45 epoch sec; seqNo:1325 2021-10-10T16:12:03Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.09 psi 2021-10-10T16:12:03Z- handleDepth()-Depth_Keller msg: 1633882323456 epoch sec; seqNo:1335; depth 50.35 2021-10-10T16:12:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882323.47 epoch sec; seqNo:1335; 4061650.31 north; 594277.23 east 2021-10-10T16:12:03Z- AHRS_M2 msg: 1633882323.85 epoch sec; seqNo:1326 2021-10-10T16:12:03Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.09 psi 2021-10-10T16:12:03Z- handleDepth()-Depth_Keller msg: 1633882323857 epoch sec; seqNo:1336; depth 50.37 2021-10-10T16:12:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:03Z- handleDvl() - RDI_Pathfinder msg: 1633882323.87 epoch sec; seqNo:599 2021-10-10T16:12:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.12 , 0.02 2021-10-10T16:12:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882323.88 epoch sec; seqNo:1336; 4061650.68 north; 594276.01 east 2021-10-10T16:12:04Z- AHRS_M2 msg: 1633882324.26 epoch sec; seqNo:1327 2021-10-10T16:12:04Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.09 psi 2021-10-10T16:12:04Z- handleDepth()-Depth_Keller msg: 1633882324261 epoch sec; seqNo:1337; depth 50.37 2021-10-10T16:12:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882324.27 epoch sec; seqNo:1337; 4061650.68 north; 594276.01 east 2021-10-10T16:12:04Z- AHRS_M2 msg: 1633882324.66 epoch sec; seqNo:1328 2021-10-10T16:12:04Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.09 psi 2021-10-10T16:12:04Z- handleDepth()-Depth_Keller msg: 1633882324669 epoch sec; seqNo:1338; depth 50.38 2021-10-10T16:12:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882324.68 epoch sec; seqNo:1338; 4061650.68 north; 594276.01 east 2021-10-10T16:12:05Z- AHRS_M2 msg: 1633882325.07 epoch sec; seqNo:1329 2021-10-10T16:12:05Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.08 psi 2021-10-10T16:12:05Z- handleDepth()-Depth_Keller msg: 1633882325070 epoch sec; seqNo:1339; depth 50.40 2021-10-10T16:12:05Z- handleDvl() - RDI_Pathfinder msg: 1633882325.09 epoch sec; seqNo:600 2021-10-10T16:12:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.41 , 44.78 , 43.65 , 40.66 2021-10-10T16:12:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.11 , 0.04 2021-10-10T16:12:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882325.10 epoch sec; seqNo:1339; 4061651.04 north; 594274.78 east 2021-10-10T16:12:05Z- AHRS_M2 msg: 1633882325.47 epoch sec; seqNo:1330 2021-10-10T16:12:05Z- AHRS_M2 msg: -0.23 phi; -0.02 theta; 5.08 psi 2021-10-10T16:12:05Z- handleDepth()-Depth_Keller msg: 1633882325481 epoch sec; seqNo:1340; depth 50.41 2021-10-10T16:12:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882325.50 epoch sec; seqNo:1340; 4061651.04 north; 594274.78 east 2021-10-10T16:12:05Z- AHRS_M2 msg: 1633882325.87 epoch sec; seqNo:1331 2021-10-10T16:12:05Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.08 psi 2021-10-10T16:12:05Z- handleDepth()-Depth_Keller msg: 1633882325877 epoch sec; seqNo:1341; depth 50.42 2021-10-10T16:12:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882325.89 epoch sec; seqNo:1341; 4061651.04 north; 594274.78 east 2021-10-10T16:12:06Z- AHRS_M2 msg: 1633882326.28 epoch sec; seqNo:1332 2021-10-10T16:12:06Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.08 psi 2021-10-10T16:12:06Z- handleDepth()-Depth_Keller msg: 1633882326288 epoch sec; seqNo:1342; depth 50.43 2021-10-10T16:12:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:06Z- handleDvl() - RDI_Pathfinder msg: 1633882326.29 epoch sec; seqNo:601 2021-10-10T16:12:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.11 , 0.04 2021-10-10T16:12:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882326.31 epoch sec; seqNo:1342; 4061651.03 north; 594273.56 east 2021-10-10T16:12:06Z- AHRS_M2 msg: 1633882326.68 epoch sec; seqNo:1333 2021-10-10T16:12:06Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.08 psi 2021-10-10T16:12:06Z- handleDepth()-Depth_Keller msg: 1633882326687 epoch sec; seqNo:1343; depth 50.43 2021-10-10T16:12:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882326.70 epoch sec; seqNo:1343; 4061651.41 north; 594273.56 east 2021-10-10T16:12:07Z- AHRS_M2 msg: 1633882327.08 epoch sec; seqNo:1334 2021-10-10T16:12:07Z- AHRS_M2 msg: -0.24 phi; -0.01 theta; 5.08 psi 2021-10-10T16:12:07Z- handleDepth()-Depth_Keller msg: 1633882327095 epoch sec; seqNo:1344; depth 50.44 2021-10-10T16:12:07Z- handleDvl() - RDI_Pathfinder msg: 1633882327.12 epoch sec; seqNo:602 2021-10-10T16:12:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.83 , 45.17 , 43.94 , 41.29 2021-10-10T16:12:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , 0.03 2021-10-10T16:12:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882327.13 epoch sec; seqNo:1344; 4061651.41 north; 594273.56 east 2021-10-10T16:12:07Z- AHRS_M2 msg: 1633882327.49 epoch sec; seqNo:1335 2021-10-10T16:12:07Z- AHRS_M2 msg: -0.24 phi; -0.01 theta; 5.07 psi 2021-10-10T16:12:07Z- handleDepth()-Depth_Keller msg: 1633882327500 epoch sec; seqNo:1345; depth 50.45 2021-10-10T16:12:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:07Z- handleDvl() - RDI_Pathfinder msg: 1633882327.50 epoch sec; seqNo:603 2021-10-10T16:12:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , 0.03 2021-10-10T16:12:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882327.52 epoch sec; seqNo:1345; 4061651.39 north; 594272.34 east 2021-10-10T16:12:07Z- AHRS_M2 msg: 1633882327.89 epoch sec; seqNo:1336 2021-10-10T16:12:07Z- AHRS_M2 msg: -0.24 phi; -0.01 theta; 5.07 psi 2021-10-10T16:12:07Z- handleDepth()-Depth_Keller msg: 1633882327900 epoch sec; seqNo:1346; depth 50.47 2021-10-10T16:12:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882327.91 epoch sec; seqNo:1346; 4061651.39 north; 594272.34 east 2021-10-10T16:12:08Z- LcmTrn::handleMessages() - handling 45 messages took 0.59 ms and 133 calls... 2021-10-10T16:12:08Z- waiting for 1633882325.67, time is 1633882327.91 2021-10-10T16:12:08Z- LcmTrn::updateTrn() >>>> pose time 1633882327.91, meas time 1633882327.50 <<<< 2021-10-10T16:12:08Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882327.50, ping # 0. 2021-10-10T16:12:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882327.50 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:08Z- TerrainNav::motionUpdate() - currEstimate = (4061651, 594272.34, 50.47) 2021-10-10T16:12:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:08Z- TerrainNav:: SubcloudNIS is 0.90, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:08Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:12:08Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:12:08Z- TNavBF::Projecting Measurements 2021-10-10T16:12:08Z- TNavFilter::Measurement from time = 1633882327.50 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:12:08Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:12:08Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:12:08Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:12:08Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:12:08Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:12:08Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:12:08Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:12:08Z- Filter 0 NorthBias: -24.4 EastBias: -0.9 DepthBias: -24.1 NorthVariance: 406.1 EastVariance: 173.7 DepthVariance: 2.0 this->DepthBiasCov: 0.8 2021-10-10T16:12:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:08Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:08Z- variances([0], [2], and psi_berg) = 406.072870 198.651603 0.000000 2021-10-10T16:12:08Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:08Z- LcmTrn::publishEstimates() - MLE : 4061651.16 594274.39 43.16 2021-10-10T16:12:08Z- LcmTrn::publishEstimates() - MMSE : 4061627.01 594271.18 26.34 2021-10-10T16:12:08Z- LcmTrn::publishEstimates() - COVAR: 406.07 198.65 2.12 0.00 2021-10-10T16:12:08Z- AHRS_M2 msg: 1633882328.30 epoch sec; seqNo:1337 2021-10-10T16:12:08Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.07 psi 2021-10-10T16:12:08Z- handleDepth()-Depth_Keller msg: 1633882328307 epoch sec; seqNo:1347; depth 50.49 2021-10-10T16:12:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882328.32 epoch sec; seqNo:1347; 4061651.77 north; 594272.33 east 2021-10-10T16:12:08Z- AHRS_M2 msg: 1633882328.70 epoch sec; seqNo:1338 2021-10-10T16:12:08Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.07 psi 2021-10-10T16:12:08Z- handleDepth()-Depth_Keller msg: 1633882328712 epoch sec; seqNo:1348; depth 50.48 2021-10-10T16:12:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:08Z- handleDvl() - RDI_Pathfinder msg: 1633882328.71 epoch sec; seqNo:604 2021-10-10T16:12:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , 0.03 2021-10-10T16:12:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882328.72 epoch sec; seqNo:1348; 4061651.76 north; 594271.11 east 2021-10-10T16:12:09Z- AHRS_M2 msg: 1633882329.11 epoch sec; seqNo:1339 2021-10-10T16:12:09Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.07 psi 2021-10-10T16:12:09Z- handleDepth()-Depth_Keller msg: 1633882329109 epoch sec; seqNo:1349; depth 50.50 2021-10-10T16:12:09Z- handleDvl() - RDI_Pathfinder msg: 1633882329.13 epoch sec; seqNo:605 2021-10-10T16:12:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.83 , 45.38 , 43.94 , 41.49 2021-10-10T16:12:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.10 , 0.02 2021-10-10T16:12:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882329.15 epoch sec; seqNo:1349; 4061651.76 north; 594271.11 east 2021-10-10T16:12:09Z- AHRS_M2 msg: 1633882329.51 epoch sec; seqNo:1340 2021-10-10T16:12:09Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.06 psi 2021-10-10T16:12:09Z- handleDepth()-Depth_Keller msg: 1633882329513 epoch sec; seqNo:1350; depth 50.50 2021-10-10T16:12:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882329.54 epoch sec; seqNo:1350; 4061652.14 north; 594271.11 east 2021-10-10T16:12:09Z- AHRS_M2 msg: 1633882329.91 epoch sec; seqNo:1341 2021-10-10T16:12:09Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.06 psi 2021-10-10T16:12:09Z- handleDepth()-Depth_Keller msg: 1633882329917 epoch sec; seqNo:1351; depth 50.52 2021-10-10T16:12:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:09Z- handleDvl() - RDI_Pathfinder msg: 1633882329.92 epoch sec; seqNo:606 2021-10-10T16:12:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.10 , 0.02 2021-10-10T16:12:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882329.93 epoch sec; seqNo:1351; 4061652.12 north; 594269.89 east 2021-10-10T16:12:10Z- AHRS_M2 msg: 1633882330.32 epoch sec; seqNo:1342 2021-10-10T16:12:10Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.06 psi 2021-10-10T16:12:10Z- handleDepth()-Depth_Keller msg: 1633882330323 epoch sec; seqNo:1352; depth 50.53 2021-10-10T16:12:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882330.33 epoch sec; seqNo:1352; 4061652.12 north; 594269.89 east 2021-10-10T16:12:10Z- AHRS_M2 msg: 1633882330.72 epoch sec; seqNo:1343 2021-10-10T16:12:10Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 5.06 psi 2021-10-10T16:12:10Z- handleDepth()-Depth_Keller msg: 1633882330732 epoch sec; seqNo:1353; depth 50.54 2021-10-10T16:12:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882330.74 epoch sec; seqNo:1353; 4061652.50 north; 594269.88 east 2021-10-10T16:12:11Z- handleDepth()-Depth_Keller msg: 1633882331148 epoch sec; seqNo:1354; depth 50.56 2021-10-10T16:12:11Z- handleDvl() - RDI_Pathfinder msg: 1633882331.17 epoch sec; seqNo:607 2021-10-10T16:12:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.83 , 45.99 , 43.94 , 41.70 2021-10-10T16:12:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.04 2021-10-10T16:12:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882331.19 epoch sec; seqNo:1354; 4061652.49 north; 594268.66 east 2021-10-10T16:12:11Z- AHRS_M2 msg: 1633882331.53 epoch sec; seqNo:1344 2021-10-10T16:12:11Z- AHRS_M2 msg: -0.23 phi; -0.00 theta; 5.05 psi 2021-10-10T16:12:11Z- handleDepth()-Depth_Keller msg: 1633882331540 epoch sec; seqNo:1355; depth 50.56 2021-10-10T16:12:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882331.57 epoch sec; seqNo:1355; 4061652.49 north; 594268.66 east 2021-10-10T16:12:11Z- AHRS_M2 msg: 1633882331.93 epoch sec; seqNo:1345 2021-10-10T16:12:11Z- AHRS_M2 msg: -0.23 phi; -0.00 theta; 5.05 psi 2021-10-10T16:12:11Z- handleDepth()-Depth_Keller msg: 1633882331937 epoch sec; seqNo:1356; depth 50.56 2021-10-10T16:12:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882331.95 epoch sec; seqNo:1356; 4061652.49 north; 594268.66 east 2021-10-10T16:12:12Z- AHRS_M2 msg: 1633882332.34 epoch sec; seqNo:1346 2021-10-10T16:12:12Z- AHRS_M2 msg: -0.23 phi; -0.00 theta; 5.05 psi 2021-10-10T16:12:12Z- handleDepth()-Depth_Keller msg: 1633882332344 epoch sec; seqNo:1357; depth 50.57 2021-10-10T16:12:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:12Z- handleDvl() - RDI_Pathfinder msg: 1633882332.35 epoch sec; seqNo:608 2021-10-10T16:12:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.09 , 0.04 2021-10-10T16:12:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882332.35 epoch sec; seqNo:1357; 4061652.85 north; 594267.44 east 2021-10-10T16:12:12Z- AHRS_M2 msg: 1633882332.75 epoch sec; seqNo:1347 2021-10-10T16:12:12Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 5.05 psi 2021-10-10T16:12:12Z- handleDepth()-Depth_Keller msg: 1633882332756 epoch sec; seqNo:1358; depth 50.58 2021-10-10T16:12:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882332.77 epoch sec; seqNo:1358; 4061652.85 north; 594267.44 east 2021-10-10T16:12:13Z- AHRS_M2 msg: 1633882333.14 epoch sec; seqNo:1348 2021-10-10T16:12:13Z- AHRS_M2 msg: -0.23 phi; 0.00 theta; 5.05 psi 2021-10-10T16:12:13Z- handleDepth()-Depth_Keller msg: 1633882333149 epoch sec; seqNo:1359; depth 50.59 2021-10-10T16:12:13Z- handleDvl() - RDI_Pathfinder msg: 1633882333.17 epoch sec; seqNo:609 2021-10-10T16:12:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.83 , 46.81 , 44.35 , 41.70 2021-10-10T16:12:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , 0.03 2021-10-10T16:12:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882333.19 epoch sec; seqNo:1359; 4061652.85 north; 594267.44 east 2021-10-10T16:12:13Z- LcmTrn::handleMessages() - handling 44 messages took 0.70 ms and 130 calls... 2021-10-10T16:12:13Z- waiting for 1633882330.91, time is 1633882333.19 2021-10-10T16:12:13Z- LcmTrn::updateTrn() equating pose 1633882333.19 and meas times 1633882333.19 2021-10-10T16:12:13Z- LcmTrn::updateTrn() >>>> pose time 1633882333.19, meas time 1633882333.19 <<<< 2021-10-10T16:12:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882333.19 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:13Z- TerrainNav::motionUpdate() - currEstimate = (4061653, 594267.44, 50.59) 2021-10-10T16:12:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:13Z- TerrainNav:: SubcloudNIS is 0.90, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:13Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882333.19 sec.; No relevant navigation data available 2021-10-10T16:12:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:13Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:13Z- variances([0], [2], and psi_berg) = 405.794862 286.654280 0.000000 2021-10-10T16:12:13Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:13Z- LcmTrn::publishEstimates() - MLE : 4061652.62 594269.49 43.28 2021-10-10T16:12:13Z- LcmTrn::publishEstimates() - MMSE : 4061628.44 594265.31 26.41 2021-10-10T16:12:13Z- LcmTrn::publishEstimates() - COVAR: 405.79 286.65 2.56 0.00 2021-10-10T16:12:13Z- AHRS_M2 msg: 1633882333.55 epoch sec; seqNo:1349 2021-10-10T16:12:13Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 5.05 psi 2021-10-10T16:12:13Z- handleDepth()-Depth_Keller msg: 1633882333553 epoch sec; seqNo:1360; depth 50.58 2021-10-10T16:12:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882333.57 epoch sec; seqNo:1360; 4061653.22 north; 594266.21 east 2021-10-10T16:12:13Z- AHRS_M2 msg: 1633882333.95 epoch sec; seqNo:1350 2021-10-10T16:12:13Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 5.05 psi 2021-10-10T16:12:13Z- handleDepth()-Depth_Keller msg: 1633882333957 epoch sec; seqNo:1361; depth 50.59 2021-10-10T16:12:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882333.97 epoch sec; seqNo:1361; 4061653.22 north; 594266.21 east 2021-10-10T16:12:14Z- AHRS_M2 msg: 1633882334.36 epoch sec; seqNo:1351 2021-10-10T16:12:14Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 5.05 psi 2021-10-10T16:12:14Z- handleDepth()-Depth_Keller msg: 1633882334362 epoch sec; seqNo:1362; depth 50.58 2021-10-10T16:12:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882334.37 epoch sec; seqNo:1362; 4061653.22 north; 594266.21 east 2021-10-10T16:12:14Z- AHRS_M2 msg: 1633882334.76 epoch sec; seqNo:1352 2021-10-10T16:12:14Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 5.04 psi 2021-10-10T16:12:14Z- handleDepth()-Depth_Keller msg: 1633882334765 epoch sec; seqNo:1363; depth 50.57 2021-10-10T16:12:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882334.79 epoch sec; seqNo:1363; 4061653.21 north; 594264.99 east 2021-10-10T16:12:15Z- AHRS_M2 msg: 1633882335.16 epoch sec; seqNo:1353 2021-10-10T16:12:15Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 5.05 psi 2021-10-10T16:12:15Z- handleDepth()-Depth_Keller msg: 1633882335174 epoch sec; seqNo:1364; depth 50.59 2021-10-10T16:12:15Z- handleDvl() - RDI_Pathfinder msg: 1633882335.19 epoch sec; seqNo:610 2021-10-10T16:12:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.04 , 47.42 , 44.56 , 41.29 2021-10-10T16:12:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.07 , 0.01 2021-10-10T16:12:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882335.22 epoch sec; seqNo:1364; 4061653.59 north; 594264.99 east 2021-10-10T16:12:15Z- AHRS_M2 msg: 1633882335.58 epoch sec; seqNo:1354 2021-10-10T16:12:15Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.04 psi 2021-10-10T16:12:15Z- handleDepth()-Depth_Keller msg: 1633882335581 epoch sec; seqNo:1365; depth 50.58 2021-10-10T16:12:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882335.60 epoch sec; seqNo:1365; 4061653.59 north; 594264.99 east 2021-10-10T16:12:15Z- AHRS_M2 msg: 1633882335.97 epoch sec; seqNo:1355 2021-10-10T16:12:15Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.04 psi 2021-10-10T16:12:15Z- handleDepth()-Depth_Keller msg: 1633882335989 epoch sec; seqNo:1366; depth 50.59 2021-10-10T16:12:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:15Z- handleDvl() - RDI_Pathfinder msg: 1633882335.99 epoch sec; seqNo:611 2021-10-10T16:12:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.07 , 0.01 2021-10-10T16:12:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882336.00 epoch sec; seqNo:1366; 4061653.57 north; 594263.77 east 2021-10-10T16:12:16Z- AHRS_M2 msg: 1633882336.38 epoch sec; seqNo:1356 2021-10-10T16:12:16Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.04 psi 2021-10-10T16:12:16Z- handleDepth()-Depth_Keller msg: 1633882336381 epoch sec; seqNo:1367; depth 50.58 2021-10-10T16:12:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882336.39 epoch sec; seqNo:1367; 4061653.95 north; 594263.77 east 2021-10-10T16:12:16Z- AHRS_M2 msg: 1633882336.78 epoch sec; seqNo:1357 2021-10-10T16:12:16Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 5.04 psi 2021-10-10T16:12:16Z- handleDepth()-Depth_Keller msg: 1633882336787 epoch sec; seqNo:1368; depth 50.55 2021-10-10T16:12:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882336.80 epoch sec; seqNo:1368; 4061653.95 north; 594263.77 east 2021-10-10T16:12:17Z- AHRS_M2 msg: 1633882337.19 epoch sec; seqNo:1358 2021-10-10T16:12:17Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 5.04 psi 2021-10-10T16:12:17Z- handleDepth()-Depth_Keller msg: 1633882337201 epoch sec; seqNo:1369; depth 50.55 2021-10-10T16:12:17Z- handleDvl() - RDI_Pathfinder msg: 1633882337.22 epoch sec; seqNo:612 2021-10-10T16:12:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.24 , 48.03 , 44.76 , 41.70 2021-10-10T16:12:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.00 2021-10-10T16:12:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882337.23 epoch sec; seqNo:1369; 4061653.94 north; 594262.54 east 2021-10-10T16:12:17Z- AHRS_M2 msg: 1633882337.59 epoch sec; seqNo:1359 2021-10-10T16:12:17Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 5.04 psi 2021-10-10T16:12:17Z- handleDepth()-Depth_Keller msg: 1633882337596 epoch sec; seqNo:1370; depth 50.55 2021-10-10T16:12:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882337.62 epoch sec; seqNo:1370; 4061653.94 north; 594262.54 east 2021-10-10T16:12:18Z- AHRS_M2 msg: 1633882337.99 epoch sec; seqNo:1360 2021-10-10T16:12:18Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 5.04 psi 2021-10-10T16:12:18Z- handleDepth()-Depth_Keller msg: 1633882337997 epoch sec; seqNo:1371; depth 50.52 2021-10-10T16:12:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882338.01 epoch sec; seqNo:1371; 4061654.32 north; 594262.54 east 2021-10-10T16:12:18Z- LcmTrn::handleMessages() - handling 39 messages took 0.66 ms and 125 calls... 2021-10-10T16:12:18Z- waiting for 1633882336.19, time is 1633882338.01 2021-10-10T16:12:18Z- LcmTrn::updateTrn() >>>> pose time 1633882338.01, meas time 1633882337.22 <<<< 2021-10-10T16:12:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882337.22 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:18Z- TerrainNav::motionUpdate() - currEstimate = (4061654, 594262.54, 50.52) 2021-10-10T16:12:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:18Z- TerrainNav:: SubcloudNIS is 0.90, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:18Z- TNavBF::Projecting Measurements 2021-10-10T16:12:18Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:12:18Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:12:18Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:12:18Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:12:18Z- TNavFilter::4 good beams. 2021-10-10T16:12:18Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:12:18Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:12:18Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:12:18Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:12:18Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:12:18Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:12:18Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:12:18Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:18Z- TerrainMapOctree: (vehN, vehE ) = (4061654.08, 594263.34). 2021-10-10T16:12:18Z- TerrainMapOctree: Min Distance = 96.85. 2021-10-10T16:12:18Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:12:18Z- Forcing Subcloud Comparison 2021-10-10T16:12:18Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:12:18Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:18Z- Filter 0 partialDeltaRmsComputation: 0.301353 terrainVariance: 0.218338 1-SumSquareWeights: 0.974577 2021-10-10T16:12:18Z- Filter 0 meanExpectedMeasDiff: -0.288123 delta_rms_squared: 0.208593 alpha: 0.912508 2021-10-10T16:12:18Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:18Z- Filter 0 partialDeltaRmsComputation: 9.185773 terrainVariance: 0.879895 1-SumSquareWeights: 0.974577 2021-10-10T16:12:18Z- Filter 0 meanExpectedMeasDiff: 2.881992 delta_rms_squared: 0.870149 alpha: 0.977532 2021-10-10T16:12:18Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:18Z- Filter 0 partialDeltaRmsComputation: 29.190918 terrainVariance: 0.543545 1-SumSquareWeights: 0.974577 2021-10-10T16:12:18Z- Filter 0 meanExpectedMeasDiff: -5.352324 delta_rms_squared: 0.533799 alpha: 0.963886 2021-10-10T16:12:18Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:18Z- Filter 0 partialDeltaRmsComputation: 18.630740 terrainVariance: 0.217058 1-SumSquareWeights: 0.974577 2021-10-10T16:12:18Z- Filter 0 meanExpectedMeasDiff: 4.291117 delta_rms_squared: 0.207312 alpha: 0.912015 2021-10-10T16:12:18Z- Filter 0 SubcloudNIS: 0.897740 2021-10-10T16:12:18Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:12:18Z- TNavBF:: Filter 0 sumWeights = 0.009977 2021-10-10T16:12:18Z- Filter 0 NorthBias: -36.4 EastBias: -1.0 DepthBias: -24.2 NorthVariance: 241.8 EastVariance: 142.9 DepthVariance: 1.1 this->DepthBiasCov: 0.6 2021-10-10T16:12:18Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882337.22 sec. 2021-10-10T16:12:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:18Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:18Z- variances([0], [2], and psi_berg) = 241.666238 173.581205 0.000000 2021-10-10T16:12:18Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:18Z- LcmTrn::publishEstimates() - MLE : 4061621.08 594264.59 43.22 2021-10-10T16:12:18Z- LcmTrn::publishEstimates() - MMSE : 4061617.93 594261.21 26.36 2021-10-10T16:12:18Z- LcmTrn::publishEstimates() - COVAR: 241.67 173.58 1.16 0.00 2021-10-10T16:12:18Z- AHRS_M2 msg: 1633882338.40 epoch sec; seqNo:1361 2021-10-10T16:12:18Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 5.04 psi 2021-10-10T16:12:18Z- handleDepth()-Depth_Keller msg: 1633882338408 epoch sec; seqNo:1372; depth 50.52 2021-10-10T16:12:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:18Z- handleDvl() - RDI_Pathfinder msg: 1633882338.41 epoch sec; seqNo:613 2021-10-10T16:12:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.00 2021-10-10T16:12:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882338.42 epoch sec; seqNo:1372; 4061654.32 north; 594262.54 east 2021-10-10T16:12:18Z- AHRS_M2 msg: 1633882338.80 epoch sec; seqNo:1362 2021-10-10T16:12:18Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 5.04 psi 2021-10-10T16:12:18Z- handleDepth()-Depth_Keller msg: 1633882338815 epoch sec; seqNo:1373; depth 50.52 2021-10-10T16:12:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882338.84 epoch sec; seqNo:1373; 4061654.30 north; 594261.32 east 2021-10-10T16:12:19Z- AHRS_M2 msg: 1633882339.20 epoch sec; seqNo:1363 2021-10-10T16:12:19Z- AHRS_M2 msg: -0.22 phi; 0.03 theta; 5.04 psi 2021-10-10T16:12:19Z- handleDepth()-Depth_Keller msg: 1633882339209 epoch sec; seqNo:1374; depth 50.51 2021-10-10T16:12:19Z- handleDvl() - RDI_Pathfinder msg: 1633882339.23 epoch sec; seqNo:614 2021-10-10T16:12:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.24 , 48.85 , 45.17 , 41.29 2021-10-10T16:12:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , -0.00 2021-10-10T16:12:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882339.25 epoch sec; seqNo:1374; 4061654.68 north; 594261.32 east 2021-10-10T16:12:19Z- AHRS_M2 msg: 1633882339.61 epoch sec; seqNo:1364 2021-10-10T16:12:19Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.04 psi 2021-10-10T16:12:19Z- handleDepth()-Depth_Keller msg: 1633882339619 epoch sec; seqNo:1375; depth 50.48 2021-10-10T16:12:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882339.63 epoch sec; seqNo:1375; 4061654.68 north; 594261.32 east 2021-10-10T16:12:20Z- AHRS_M2 msg: 1633882340.01 epoch sec; seqNo:1365 2021-10-10T16:12:20Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.04 psi 2021-10-10T16:12:20Z- handleDepth()-Depth_Keller msg: 1633882340018 epoch sec; seqNo:1376; depth 50.48 2021-10-10T16:12:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882340.03 epoch sec; seqNo:1376; 4061654.67 north; 594260.10 east 2021-10-10T16:12:20Z- AHRS_M2 msg: 1633882340.42 epoch sec; seqNo:1366 2021-10-10T16:12:20Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.04 psi 2021-10-10T16:12:20Z- handleDepth()-Depth_Keller msg: 1633882340439 epoch sec; seqNo:1377; depth 50.45 2021-10-10T16:12:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882340.45 epoch sec; seqNo:1377; 4061654.67 north; 594260.10 east 2021-10-10T16:12:20Z- AHRS_M2 msg: 1633882340.82 epoch sec; seqNo:1367 2021-10-10T16:12:20Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.04 psi 2021-10-10T16:12:20Z- handleDepth()-Depth_Keller msg: 1633882340835 epoch sec; seqNo:1378; depth 50.43 2021-10-10T16:12:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:20Z- handleDvl() - RDI_Pathfinder msg: 1633882340.84 epoch sec; seqNo:615 2021-10-10T16:12:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.09 , -0.00 2021-10-10T16:12:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882340.90 epoch sec; seqNo:1378; 4061655.05 north; 594260.09 east 2021-10-10T16:12:21Z- handleDepth()-Depth_Keller msg: 1633882341244 epoch sec; seqNo:1379; depth 50.41 2021-10-10T16:12:21Z- handleDvl() - RDI_Pathfinder msg: 1633882341.26 epoch sec; seqNo:616 2021-10-10T16:12:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.24 , 49.46 , 45.17 , 41.49 2021-10-10T16:12:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.11 , -0.00 2021-10-10T16:12:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882341.28 epoch sec; seqNo:1379; 4061655.03 north; 594258.87 east 2021-10-10T16:12:21Z- AHRS_M2 msg: 1633882341.63 epoch sec; seqNo:1368 2021-10-10T16:12:21Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.03 psi 2021-10-10T16:12:21Z- handleDepth()-Depth_Keller msg: 1633882341639 epoch sec; seqNo:1380; depth 50.40 2021-10-10T16:12:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882341.65 epoch sec; seqNo:1380; 4061655.03 north; 594258.87 east 2021-10-10T16:12:22Z- AHRS_M2 msg: 1633882342.03 epoch sec; seqNo:1369 2021-10-10T16:12:22Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 5.04 psi 2021-10-10T16:12:22Z- handleDepth()-Depth_Keller msg: 1633882342043 epoch sec; seqNo:1381; depth 50.39 2021-10-10T16:12:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:22Z- handleDvl() - RDI_Pathfinder msg: 1633882342.05 epoch sec; seqNo:617 2021-10-10T16:12:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.11 , -0.00 2021-10-10T16:12:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882342.06 epoch sec; seqNo:1381; 4061655.03 north; 594258.87 east 2021-10-10T16:12:22Z- AHRS_M2 msg: 1633882342.44 epoch sec; seqNo:1370 2021-10-10T16:12:22Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.03 psi 2021-10-10T16:12:22Z- handleDepth()-Depth_Keller msg: 1633882342445 epoch sec; seqNo:1382; depth 50.36 2021-10-10T16:12:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882342.45 epoch sec; seqNo:1382; 4061655.02 north; 594257.65 east 2021-10-10T16:12:22Z- AHRS_M2 msg: 1633882342.87 epoch sec; seqNo:1371 2021-10-10T16:12:22Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.03 psi 2021-10-10T16:12:22Z- handleDepth()-Depth_Keller msg: 1633882342886 epoch sec; seqNo:1383; depth 50.36 2021-10-10T16:12:22Z- handleDvl() - RDI_Pathfinder msg: 1633882342.93 epoch sec; seqNo:618 2021-10-10T16:12:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.45 , 49.46 , 45.58 , 41.70 2021-10-10T16:12:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.13 , -0.00 2021-10-10T16:12:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882342.95 epoch sec; seqNo:1383; 4061655.40 north; 594257.65 east 2021-10-10T16:12:23Z- AHRS_M2 msg: 1633882343.24 epoch sec; seqNo:1372 2021-10-10T16:12:23Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:12:23Z- handleDepth()-Depth_Keller msg: 1633882343249 epoch sec; seqNo:1384; depth 50.34 2021-10-10T16:12:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:23Z- handleDvl() - RDI_Pathfinder msg: 1633882343.26 epoch sec; seqNo:619 2021-10-10T16:12:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.13 , -0.00 2021-10-10T16:12:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882343.27 epoch sec; seqNo:1384; 4061655.40 north; 594257.65 east 2021-10-10T16:12:23Z- LcmTrn::handleMessages() - handling 45 messages took 0.75 ms and 130 calls... 2021-10-10T16:12:23Z- waiting for 1633882341.01, time is 1633882343.27 2021-10-10T16:12:23Z- LcmTrn::updateTrn() equating pose 1633882343.27 and meas times 1633882343.27 2021-10-10T16:12:23Z- LcmTrn::updateTrn() >>>> pose time 1633882343.27, meas time 1633882343.27 <<<< 2021-10-10T16:12:23Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882343.27, ping # 0. 2021-10-10T16:12:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882343.27 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:23Z- TerrainNav::motionUpdate() - currEstimate = (4061655, 594257.65, 50.34) 2021-10-10T16:12:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:23Z- TerrainNav:: SubcloudNIS is 0.90, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:23Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:12:23Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:12:23Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882343.27 sec.; No relevant navigation data available 2021-10-10T16:12:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:23Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:23Z- variances([0], [2], and psi_berg) = 241.390853 246.516167 0.000000 2021-10-10T16:12:23Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:23Z- LcmTrn::publishEstimates() - MLE : 4061622.16 594259.70 43.03 2021-10-10T16:12:23Z- LcmTrn::publishEstimates() - MMSE : 4061619.01 594255.51 26.14 2021-10-10T16:12:23Z- LcmTrn::publishEstimates() - COVAR: 241.39 246.52 1.50 0.00 2021-10-10T16:12:23Z- AHRS_M2 msg: 1633882343.65 epoch sec; seqNo:1373 2021-10-10T16:12:23Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.03 psi 2021-10-10T16:12:23Z- handleDepth()-Depth_Keller msg: 1633882343652 epoch sec; seqNo:1385; depth 50.33 2021-10-10T16:12:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882343.66 epoch sec; seqNo:1385; 4061655.39 north; 594256.43 east 2021-10-10T16:12:24Z- AHRS_M2 msg: 1633882344.05 epoch sec; seqNo:1374 2021-10-10T16:12:24Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:12:24Z- handleDepth()-Depth_Keller msg: 1633882344060 epoch sec; seqNo:1386; depth 50.30 2021-10-10T16:12:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882344.07 epoch sec; seqNo:1386; 4061655.39 north; 594256.43 east 2021-10-10T16:12:24Z- AHRS_M2 msg: 1633882344.46 epoch sec; seqNo:1375 2021-10-10T16:12:24Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:12:24Z- handleDepth()-Depth_Keller msg: 1633882344467 epoch sec; seqNo:1387; depth 50.29 2021-10-10T16:12:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:24Z- handleDvl() - RDI_Pathfinder msg: 1633882344.47 epoch sec; seqNo:620 2021-10-10T16:12:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.13 , -0.00 2021-10-10T16:12:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882344.48 epoch sec; seqNo:1387; 4061655.75 north; 594255.20 east 2021-10-10T16:12:24Z- AHRS_M2 msg: 1633882344.89 epoch sec; seqNo:1376 2021-10-10T16:12:24Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.04 psi 2021-10-10T16:12:24Z- handleDepth()-Depth_Keller msg: 1633882344898 epoch sec; seqNo:1388; depth 50.29 2021-10-10T16:12:24Z- handleDvl() - RDI_Pathfinder msg: 1633882344.93 epoch sec; seqNo:621 2021-10-10T16:12:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.45 , 49.67 , 45.78 , 41.70 2021-10-10T16:12:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.13 , 0.01 2021-10-10T16:12:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882344.95 epoch sec; seqNo:1388; 4061655.75 north; 594255.20 east 2021-10-10T16:12:25Z- AHRS_M2 msg: 1633882345.26 epoch sec; seqNo:1377 2021-10-10T16:12:25Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:25Z- handleDepth()-Depth_Keller msg: 1633882345269 epoch sec; seqNo:1389; depth 50.27 2021-10-10T16:12:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882345.30 epoch sec; seqNo:1389; 4061655.75 north; 594255.20 east 2021-10-10T16:12:25Z- AHRS_M2 msg: 1633882345.67 epoch sec; seqNo:1378 2021-10-10T16:12:25Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:25Z- handleDepth()-Depth_Keller msg: 1633882345673 epoch sec; seqNo:1390; depth 50.25 2021-10-10T16:12:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:25Z- handleDvl() - RDI_Pathfinder msg: 1633882345.68 epoch sec; seqNo:622 2021-10-10T16:12:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.13 , 0.01 2021-10-10T16:12:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882345.68 epoch sec; seqNo:1390; 4061655.74 north; 594253.98 east 2021-10-10T16:12:26Z- AHRS_M2 msg: 1633882346.10 epoch sec; seqNo:1379 2021-10-10T16:12:26Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:26Z- handleDepth()-Depth_Keller msg: 1633882346102 epoch sec; seqNo:1391; depth 50.23 2021-10-10T16:12:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882346.11 epoch sec; seqNo:1391; 4061656.12 north; 594253.98 east 2021-10-10T16:12:26Z- AHRS_M2 msg: 1633882346.48 epoch sec; seqNo:1380 2021-10-10T16:12:26Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:26Z- handleDepth()-Depth_Keller msg: 1633882346489 epoch sec; seqNo:1392; depth 50.24 2021-10-10T16:12:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882346.50 epoch sec; seqNo:1392; 4061656.12 north; 594253.98 east 2021-10-10T16:12:26Z- AHRS_M2 msg: 1633882346.90 epoch sec; seqNo:1381 2021-10-10T16:12:26Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:26Z- handleDepth()-Depth_Keller msg: 1633882346905 epoch sec; seqNo:1393; depth 50.21 2021-10-10T16:12:26Z- handleDvl() - RDI_Pathfinder msg: 1633882346.93 epoch sec; seqNo:623 2021-10-10T16:12:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.65 , 49.87 , 45.99 , 41.90 2021-10-10T16:12:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.04 2021-10-10T16:12:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882346.94 epoch sec; seqNo:1393; 4061656.10 north; 594252.76 east 2021-10-10T16:12:27Z- AHRS_M2 msg: 1633882347.29 epoch sec; seqNo:1382 2021-10-10T16:12:27Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:27Z- handleDepth()-Depth_Keller msg: 1633882347289 epoch sec; seqNo:1394; depth 50.21 2021-10-10T16:12:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882347.31 epoch sec; seqNo:1394; 4061656.10 north; 594252.76 east 2021-10-10T16:12:27Z- AHRS_M2 msg: 1633882347.69 epoch sec; seqNo:1383 2021-10-10T16:12:27Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:27Z- handleDepth()-Depth_Keller msg: 1633882347694 epoch sec; seqNo:1395; depth 50.19 2021-10-10T16:12:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882347.70 epoch sec; seqNo:1395; 4061656.48 north; 594252.75 east 2021-10-10T16:12:28Z- AHRS_M2 msg: 1633882348.09 epoch sec; seqNo:1384 2021-10-10T16:12:28Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:28Z- handleDepth()-Depth_Keller msg: 1633882348105 epoch sec; seqNo:1396; depth 50.16 2021-10-10T16:12:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:28Z- handleDvl() - RDI_Pathfinder msg: 1633882348.11 epoch sec; seqNo:624 2021-10-10T16:12:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.04 2021-10-10T16:12:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882348.12 epoch sec; seqNo:1396; 4061656.47 north; 594251.53 east 2021-10-10T16:12:28Z- AHRS_M2 msg: 1633882348.50 epoch sec; seqNo:1385 2021-10-10T16:12:28Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:28Z- handleDepth()-Depth_Keller msg: 1633882348501 epoch sec; seqNo:1397; depth 50.15 2021-10-10T16:12:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882348.51 epoch sec; seqNo:1397; 4061656.47 north; 594251.53 east 2021-10-10T16:12:28Z- LcmTrn::handleMessages() - handling 44 messages took 0.63 ms and 131 calls... 2021-10-10T16:12:28Z- waiting for 1633882346.27, time is 1633882348.51 2021-10-10T16:12:28Z- LcmTrn::updateTrn() >>>> pose time 1633882348.51, meas time 1633882348.11 <<<< 2021-10-10T16:12:28Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882348.11, ping # 0. 2021-10-10T16:12:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882348.11 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:28Z- TerrainNav::motionUpdate() - currEstimate = (4061656, 594251.53, 50.15) 2021-10-10T16:12:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:28Z- TerrainNav:: SubcloudNIS is 0.90, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:28Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:12:28Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:12:28Z- TNavBF::Projecting Measurements 2021-10-10T16:12:28Z- TNavFilter::Measurement from time = 1633882348.11 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:12:28Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:12:28Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:12:28Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:12:28Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:12:28Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:12:28Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:12:28Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:12:28Z- Filter 0 NorthBias: -36.4 EastBias: -3.0 DepthBias: -24.2 NorthVariance: 241.1 EastVariance: 319.4 DepthVariance: 1.9 this->DepthBiasCov: 1.2 2021-10-10T16:12:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:28Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:28Z- variances([0], [2], and psi_berg) = 240.981783 339.125927 0.000000 2021-10-10T16:12:28Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:28Z- LcmTrn::publishEstimates() - MLE : 4061623.23 594253.58 42.84 2021-10-10T16:12:28Z- LcmTrn::publishEstimates() - MMSE : 4061620.08 594248.34 25.92 2021-10-10T16:12:28Z- LcmTrn::publishEstimates() - COVAR: 240.98 339.13 1.94 0.00 2021-10-10T16:12:28Z- AHRS_M2 msg: 1633882348.91 epoch sec; seqNo:1386 2021-10-10T16:12:28Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:28Z- handleDepth()-Depth_Keller msg: 1633882348912 epoch sec; seqNo:1398; depth 50.14 2021-10-10T16:12:28Z- handleDvl() - RDI_Pathfinder msg: 1633882348.95 epoch sec; seqNo:625 2021-10-10T16:12:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.06 , 50.28 , 46.40 , 42.10 2021-10-10T16:12:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.05 2021-10-10T16:12:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882348.96 epoch sec; seqNo:1398; 4061656.47 north; 594251.53 east 2021-10-10T16:12:29Z- AHRS_M2 msg: 1633882349.31 epoch sec; seqNo:1387 2021-10-10T16:12:29Z- AHRS_M2 msg: -0.21 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:29Z- handleDepth()-Depth_Keller msg: 1633882349309 epoch sec; seqNo:1399; depth 50.12 2021-10-10T16:12:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:29Z- handleDvl() - RDI_Pathfinder msg: 1633882349.31 epoch sec; seqNo:626 2021-10-10T16:12:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.05 2021-10-10T16:12:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882349.33 epoch sec; seqNo:1399; 4061656.83 north; 594250.31 east 2021-10-10T16:12:29Z- AHRS_M2 msg: 1633882349.71 epoch sec; seqNo:1388 2021-10-10T16:12:29Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.04 psi 2021-10-10T16:12:29Z- handleDepth()-Depth_Keller msg: 1633882349714 epoch sec; seqNo:1400; depth 50.10 2021-10-10T16:12:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882349.72 epoch sec; seqNo:1400; 4061656.83 north; 594250.31 east 2021-10-10T16:12:30Z- AHRS_M2 msg: 1633882350.11 epoch sec; seqNo:1389 2021-10-10T16:12:30Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.05 psi 2021-10-10T16:12:30Z- handleDepth()-Depth_Keller msg: 1633882350124 epoch sec; seqNo:1401; depth 50.08 2021-10-10T16:12:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882350.14 epoch sec; seqNo:1401; 4061656.83 north; 594250.31 east 2021-10-10T16:12:30Z- AHRS_M2 msg: 1633882350.52 epoch sec; seqNo:1390 2021-10-10T16:12:30Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.05 psi 2021-10-10T16:12:30Z- handleDepth()-Depth_Keller msg: 1633882350527 epoch sec; seqNo:1402; depth 50.07 2021-10-10T16:12:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:30Z- handleDvl() - RDI_Pathfinder msg: 1633882350.53 epoch sec; seqNo:627 2021-10-10T16:12:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.09 , 0.05 2021-10-10T16:12:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882350.54 epoch sec; seqNo:1402; 4061657.20 north; 594249.08 east 2021-10-10T16:12:30Z- AHRS_M2 msg: 1633882350.93 epoch sec; seqNo:1391 2021-10-10T16:12:30Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.05 psi 2021-10-10T16:12:30Z- handleDepth()-Depth_Keller msg: 1633882350935 epoch sec; seqNo:1403; depth 50.04 2021-10-10T16:12:30Z- handleDvl() - RDI_Pathfinder msg: 1633882350.95 epoch sec; seqNo:628 2021-10-10T16:12:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.26 , 50.08 , 46.60 , 42.10 2021-10-10T16:12:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.08 , 0.03 2021-10-10T16:12:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882350.99 epoch sec; seqNo:1403; 4061657.20 north; 594249.08 east 2021-10-10T16:12:31Z- AHRS_M2 msg: 1633882351.32 epoch sec; seqNo:1392 2021-10-10T16:12:31Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.05 psi 2021-10-10T16:12:31Z- handleDepth()-Depth_Keller msg: 1633882351332 epoch sec; seqNo:1404; depth 50.02 2021-10-10T16:12:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882351.36 epoch sec; seqNo:1404; 4061657.20 north; 594249.08 east 2021-10-10T16:12:31Z- AHRS_M2 msg: 1633882351.73 epoch sec; seqNo:1393 2021-10-10T16:12:31Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.05 psi 2021-10-10T16:12:31Z- handleDepth()-Depth_Keller msg: 1633882351740 epoch sec; seqNo:1405; depth 49.99 2021-10-10T16:12:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882351.75 epoch sec; seqNo:1405; 4061657.19 north; 594247.86 east 2021-10-10T16:12:32Z- AHRS_M2 msg: 1633882352.13 epoch sec; seqNo:1394 2021-10-10T16:12:32Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.06 psi 2021-10-10T16:12:32Z- handleDepth()-Depth_Keller msg: 1633882352139 epoch sec; seqNo:1406; depth 49.98 2021-10-10T16:12:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882352.15 epoch sec; seqNo:1406; 4061657.56 north; 594247.86 east 2021-10-10T16:12:32Z- AHRS_M2 msg: 1633882352.54 epoch sec; seqNo:1395 2021-10-10T16:12:32Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.06 psi 2021-10-10T16:12:32Z- handleDepth()-Depth_Keller msg: 1633882352547 epoch sec; seqNo:1407; depth 49.96 2021-10-10T16:12:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882352.56 epoch sec; seqNo:1407; 4061657.56 north; 594247.86 east 2021-10-10T16:12:32Z- AHRS_M2 msg: 1633882352.95 epoch sec; seqNo:1396 2021-10-10T16:12:32Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.06 psi 2021-10-10T16:12:32Z- handleDepth()-Depth_Keller msg: 1633882352954 epoch sec; seqNo:1408; depth 49.93 2021-10-10T16:12:33Z- handleDvl() - RDI_Pathfinder msg: 1633882352.99 epoch sec; seqNo:629 2021-10-10T16:12:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 50.28 , 46.40 , 42.31 2021-10-10T16:12:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.07 , -0.01 2021-10-10T16:12:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882353.01 epoch sec; seqNo:1408; 4061657.55 north; 594246.64 east 2021-10-10T16:12:33Z- AHRS_M2 msg: 1633882353.35 epoch sec; seqNo:1397 2021-10-10T16:12:33Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.06 psi 2021-10-10T16:12:33Z- handleDepth()-Depth_Keller msg: 1633882353349 epoch sec; seqNo:1409; depth 49.91 2021-10-10T16:12:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882353.36 epoch sec; seqNo:1409; 4061657.93 north; 594246.63 east 2021-10-10T16:12:33Z- LcmTrn::handleMessages() - handling 41 messages took 0.77 ms and 125 calls... 2021-10-10T16:12:33Z- waiting for 1633882351.51, time is 1633882353.36 2021-10-10T16:12:33Z- LcmTrn::updateTrn() >>>> pose time 1633882353.36, meas time 1633882352.99 <<<< 2021-10-10T16:12:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882352.99 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:33Z- TerrainNav::motionUpdate() - currEstimate = (4061658, 594246.63, 49.91) 2021-10-10T16:12:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:33Z- TerrainNav:: SubcloudNIS is 0.90, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:33Z- TNavBF::Projecting Measurements 2021-10-10T16:12:33Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:12:33Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:12:33Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:12:33Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:12:33Z- TNavFilter::4 good beams. 2021-10-10T16:12:33Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:12:33Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:12:33Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:12:33Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:12:33Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:12:33Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:12:33Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:12:33Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:33Z- TerrainMapOctree: (vehN, vehE ) = (4061657.82, 594247.01). 2021-10-10T16:12:33Z- TerrainMapOctree: Min Distance = 92.23. 2021-10-10T16:12:33Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:12:33Z- Forcing Subcloud Comparison 2021-10-10T16:12:33Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:12:33Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:33Z- Filter 0 partialDeltaRmsComputation: 1.800965 terrainVariance: 0.169333 1-SumSquareWeights: 0.988705 2021-10-10T16:12:33Z- Filter 0 meanExpectedMeasDiff: -1.277354 delta_rms_squared: 0.159446 alpha: 0.888546 2021-10-10T16:12:33Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:33Z- Filter 0 partialDeltaRmsComputation: 13.903371 terrainVariance: 0.184789 1-SumSquareWeights: 0.988705 2021-10-10T16:12:33Z- Filter 0 meanExpectedMeasDiff: 3.703861 delta_rms_squared: 0.174902 alpha: 0.897384 2021-10-10T16:12:33Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:33Z- Filter 0 partialDeltaRmsComputation: 25.184262 terrainVariance: 0.344315 1-SumSquareWeights: 0.988705 2021-10-10T16:12:33Z- Filter 0 meanExpectedMeasDiff: -4.983969 delta_rms_squared: 0.334428 alpha: 0.943571 2021-10-10T16:12:33Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:33Z- Filter 0 partialDeltaRmsComputation: 17.247336 terrainVariance: 0.152846 1-SumSquareWeights: 0.988705 2021-10-10T16:12:33Z- Filter 0 meanExpectedMeasDiff: 4.134548 delta_rms_squared: 0.142959 alpha: 0.877270 2021-10-10T16:12:33Z- Filter 0 SubcloudNIS: 1.073406 2021-10-10T16:12:33Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:12:33Z- TNavBF:: Filter 0 sumWeights = 0.012838 2021-10-10T16:12:33Z- Filter 0 NorthBias: -43.5 EastBias: -0.6 DepthBias: -23.9 NorthVariance: 167.9 EastVariance: 125.1 DepthVariance: 0.9 this->DepthBiasCov: 0.7 2021-10-10T16:12:33Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882352.99 sec. 2021-10-10T16:12:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:33Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:33Z- variances([0], [2], and psi_berg) = 167.896275 145.381671 0.000000 2021-10-10T16:12:33Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:33Z- LcmTrn::publishEstimates() - MLE : 4061602.69 594248.69 42.60 2021-10-10T16:12:33Z- LcmTrn::publishEstimates() - MMSE : 4061614.42 594245.78 26.00 2021-10-10T16:12:33Z- LcmTrn::publishEstimates() - COVAR: 167.90 145.38 0.92 0.00 2021-10-10T16:12:33Z- AHRS_M2 msg: 1633882353.75 epoch sec; seqNo:1398 2021-10-10T16:12:33Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.07 psi 2021-10-10T16:12:33Z- handleDepth()-Depth_Keller msg: 1633882353755 epoch sec; seqNo:1410; depth 49.88 2021-10-10T16:12:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882353.77 epoch sec; seqNo:1410; 4061657.93 north; 594246.63 east 2021-10-10T16:12:34Z- AHRS_M2 msg: 1633882354.15 epoch sec; seqNo:1399 2021-10-10T16:12:34Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.06 psi 2021-10-10T16:12:34Z- handleDepth()-Depth_Keller msg: 1633882354165 epoch sec; seqNo:1411; depth 49.87 2021-10-10T16:12:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:34Z- handleDvl() - RDI_Pathfinder msg: 1633882354.17 epoch sec; seqNo:630 2021-10-10T16:12:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.07 , -0.01 2021-10-10T16:12:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882354.18 epoch sec; seqNo:1411; 4061657.93 north; 594246.63 east 2021-10-10T16:12:34Z- AHRS_M2 msg: 1633882354.56 epoch sec; seqNo:1400 2021-10-10T16:12:34Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.06 psi 2021-10-10T16:12:34Z- handleDepth()-Depth_Keller msg: 1633882354561 epoch sec; seqNo:1412; depth 49.82 2021-10-10T16:12:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882354.57 epoch sec; seqNo:1412; 4061657.92 north; 594245.41 east 2021-10-10T16:12:34Z- AHRS_M2 msg: 1633882354.96 epoch sec; seqNo:1401 2021-10-10T16:12:34Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.07 psi 2021-10-10T16:12:34Z- handleDepth()-Depth_Keller msg: 1633882354968 epoch sec; seqNo:1413; depth 49.80 2021-10-10T16:12:35Z- handleDvl() - RDI_Pathfinder msg: 1633882354.99 epoch sec; seqNo:631 2021-10-10T16:12:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 50.49 , 46.81 , 42.72 2021-10-10T16:12:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.05 , -0.00 2021-10-10T16:12:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882355.02 epoch sec; seqNo:1413; 4061658.30 north; 594245.41 east 2021-10-10T16:12:35Z- AHRS_M2 msg: 1633882355.36 epoch sec; seqNo:1402 2021-10-10T16:12:35Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.06 psi 2021-10-10T16:12:35Z- handleDepth()-Depth_Keller msg: 1633882355374 epoch sec; seqNo:1414; depth 49.77 2021-10-10T16:12:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:35Z- handleDvl() - RDI_Pathfinder msg: 1633882355.38 epoch sec; seqNo:632 2021-10-10T16:12:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.05 , -0.00 2021-10-10T16:12:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882355.39 epoch sec; seqNo:1414; 4061658.30 north; 594245.41 east 2021-10-10T16:12:35Z- AHRS_M2 msg: 1633882355.77 epoch sec; seqNo:1403 2021-10-10T16:12:35Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.07 psi 2021-10-10T16:12:35Z- handleDepth()-Depth_Keller msg: 1633882355773 epoch sec; seqNo:1415; depth 49.74 2021-10-10T16:12:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882355.78 epoch sec; seqNo:1415; 4061658.28 north; 594244.19 east 2021-10-10T16:12:36Z- handleDepth()-Depth_Keller msg: 1633882356191 epoch sec; seqNo:1416; depth 49.71 2021-10-10T16:12:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882356.20 epoch sec; seqNo:1416; 4061658.66 north; 594244.19 east 2021-10-10T16:12:36Z- AHRS_M2 msg: 1633882356.58 epoch sec; seqNo:1404 2021-10-10T16:12:36Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.07 psi 2021-10-10T16:12:36Z- handleDepth()-Depth_Keller msg: 1633882356588 epoch sec; seqNo:1417; depth 49.69 2021-10-10T16:12:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:36Z- handleDvl() - RDI_Pathfinder msg: 1633882356.59 epoch sec; seqNo:633 2021-10-10T16:12:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.05 , -0.00 2021-10-10T16:12:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882356.60 epoch sec; seqNo:1417; 4061658.66 north; 594244.19 east 2021-10-10T16:12:36Z- AHRS_M2 msg: 1633882356.98 epoch sec; seqNo:1405 2021-10-10T16:12:36Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.07 psi 2021-10-10T16:12:37Z- handleDepth()-Depth_Keller msg: 1633882356998 epoch sec; seqNo:1418; depth 49.66 2021-10-10T16:12:37Z- handleDvl() - RDI_Pathfinder msg: 1633882357.02 epoch sec; seqNo:634 2021-10-10T16:12:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.67 , 50.49 , 47.01 , 42.72 2021-10-10T16:12:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.08 , 0.03 2021-10-10T16:12:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882357.03 epoch sec; seqNo:1418; 4061658.65 north; 594242.97 east 2021-10-10T16:12:37Z- AHRS_M2 msg: 1633882357.38 epoch sec; seqNo:1406 2021-10-10T16:12:37Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.07 psi 2021-10-10T16:12:37Z- handleDepth()-Depth_Keller msg: 1633882357389 epoch sec; seqNo:1419; depth 49.63 2021-10-10T16:12:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882357.40 epoch sec; seqNo:1419; 4061659.03 north; 594242.96 east 2021-10-10T16:12:37Z- AHRS_M2 msg: 1633882357.79 epoch sec; seqNo:1407 2021-10-10T16:12:37Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.07 psi 2021-10-10T16:12:37Z- handleDepth()-Depth_Keller msg: 1633882357795 epoch sec; seqNo:1420; depth 49.61 2021-10-10T16:12:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882357.80 epoch sec; seqNo:1420; 4061659.03 north; 594242.96 east 2021-10-10T16:12:38Z- AHRS_M2 msg: 1633882358.19 epoch sec; seqNo:1408 2021-10-10T16:12:38Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.07 psi 2021-10-10T16:12:38Z- handleDepth()-Depth_Keller msg: 1633882358204 epoch sec; seqNo:1421; depth 49.58 2021-10-10T16:12:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882358.21 epoch sec; seqNo:1421; 4061659.01 north; 594241.74 east 2021-10-10T16:12:38Z- AHRS_M2 msg: 1633882358.60 epoch sec; seqNo:1409 2021-10-10T16:12:38Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.07 psi 2021-10-10T16:12:38Z- handleDepth()-Depth_Keller msg: 1633882358606 epoch sec; seqNo:1422; depth 49.55 2021-10-10T16:12:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882358.63 epoch sec; seqNo:1422; 4061659.39 north; 594241.74 east 2021-10-10T16:12:38Z- LcmTrn::handleMessages() - handling 43 messages took 0.70 ms and 129 calls... 2021-10-10T16:12:38Z- waiting for 1633882356.36, time is 1633882358.63 2021-10-10T16:12:38Z- LcmTrn::updateTrn() >>>> pose time 1633882358.63, meas time 1633882357.02 <<<< 2021-10-10T16:12:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882357.02 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:38Z- TerrainNav::motionUpdate() - currEstimate = (4061659, 594241.74, 49.55) 2021-10-10T16:12:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:38Z- TerrainNav:: SubcloudNIS is 1.07, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:39Z- TNavBF::Projecting Measurements 2021-10-10T16:12:39Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:12:39Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:12:39Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:12:39Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:12:39Z- TNavFilter::4 good beams. 2021-10-10T16:12:39Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:12:39Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:12:39Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:12:39Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:12:39Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:12:39Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:12:39Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:12:39Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:39Z- TerrainMapOctree: (vehN, vehE ) = (4061658.94, 594243.24). 2021-10-10T16:12:39Z- TerrainMapOctree: Min Distance = 91.31. 2021-10-10T16:12:39Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:12:39Z- Forcing Subcloud Comparison 2021-10-10T16:12:39Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:12:39Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:39Z- Filter 0 partialDeltaRmsComputation: 2.367094 terrainVariance: 0.375536 1-SumSquareWeights: 0.985562 2021-10-10T16:12:39Z- Filter 0 meanExpectedMeasDiff: -1.411226 delta_rms_squared: 0.365680 alpha: 0.948144 2021-10-10T16:12:39Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:39Z- Filter 0 partialDeltaRmsComputation: 9.579684 terrainVariance: 0.259342 1-SumSquareWeights: 0.985562 2021-10-10T16:12:39Z- Filter 0 meanExpectedMeasDiff: 3.052924 delta_rms_squared: 0.249486 alpha: 0.925785 2021-10-10T16:12:39Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:39Z- Filter 0 partialDeltaRmsComputation: 24.450166 terrainVariance: 0.200234 1-SumSquareWeights: 0.985562 2021-10-10T16:12:39Z- Filter 0 meanExpectedMeasDiff: -4.924422 delta_rms_squared: 0.190378 alpha: 0.904933 2021-10-10T16:12:39Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:12:39Z- Filter 0 partialDeltaRmsComputation: 15.233497 terrainVariance: 0.128900 1-SumSquareWeights: 0.985562 2021-10-10T16:12:39Z- Filter 0 meanExpectedMeasDiff: 3.886463 delta_rms_squared: 0.119044 alpha: 0.856161 2021-10-10T16:12:39Z- Filter 0 SubcloudNIS: 1.199618 2021-10-10T16:12:39Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:12:39Z- TNavBF:: Filter 0 sumWeights = 0.017950 2021-10-10T16:12:39Z- Filter 0 NorthBias: -45.0 EastBias: -0.1 DepthBias: -23.8 NorthVariance: 150.3 EastVariance: 86.4 DepthVariance: 0.7 this->DepthBiasCov: 0.5 2021-10-10T16:12:39Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882357.02 sec. 2021-10-10T16:12:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:39Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:39Z- variances([0], [2], and psi_berg) = 150.257432 130.305225 0.000000 2021-10-10T16:12:39Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:39Z- LcmTrn::publishEstimates() - MLE : 4061601.16 594243.79 42.25 2021-10-10T16:12:39Z- LcmTrn::publishEstimates() - MMSE : 4061614.39 594241.12 25.73 2021-10-10T16:12:39Z- LcmTrn::publishEstimates() - COVAR: 150.26 130.31 0.77 0.00 2021-10-10T16:12:39Z- AHRS_M2 msg: 1633882359.00 epoch sec; seqNo:1410 2021-10-10T16:12:39Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.08 psi 2021-10-10T16:12:39Z- handleDepth()-Depth_Keller msg: 1633882359005 epoch sec; seqNo:1423; depth 49.52 2021-10-10T16:12:39Z- handleDvl() - RDI_Pathfinder msg: 1633882359.02 epoch sec; seqNo:635 2021-10-10T16:12:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.67 , 50.89 , 47.01 , 43.13 2021-10-10T16:12:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.01 2021-10-10T16:12:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882359.05 epoch sec; seqNo:1423; 4061659.39 north; 594241.74 east 2021-10-10T16:12:39Z- AHRS_M2 msg: 1633882359.41 epoch sec; seqNo:1411 2021-10-10T16:12:39Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.08 psi 2021-10-10T16:12:39Z- handleDepth()-Depth_Keller msg: 1633882359413 epoch sec; seqNo:1424; depth 49.47 2021-10-10T16:12:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882359.43 epoch sec; seqNo:1424; 4061659.38 north; 594240.52 east 2021-10-10T16:12:39Z- AHRS_M2 msg: 1633882359.81 epoch sec; seqNo:1412 2021-10-10T16:12:39Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.08 psi 2021-10-10T16:12:39Z- handleDepth()-Depth_Keller msg: 1633882359818 epoch sec; seqNo:1425; depth 49.47 2021-10-10T16:12:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882359.83 epoch sec; seqNo:1425; 4061659.38 north; 594240.52 east 2021-10-10T16:12:40Z- AHRS_M2 msg: 1633882360.21 epoch sec; seqNo:1413 2021-10-10T16:12:40Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.08 psi 2021-10-10T16:12:40Z- handleDepth()-Depth_Keller msg: 1633882360224 epoch sec; seqNo:1426; depth 49.44 2021-10-10T16:12:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:40Z- handleDvl() - RDI_Pathfinder msg: 1633882360.23 epoch sec; seqNo:636 2021-10-10T16:12:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.01 2021-10-10T16:12:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882360.24 epoch sec; seqNo:1426; 4061659.76 north; 594240.51 east 2021-10-10T16:12:40Z- AHRS_M2 msg: 1633882360.62 epoch sec; seqNo:1414 2021-10-10T16:12:40Z- AHRS_M2 msg: -0.21 phi; 0.05 theta; 5.08 psi 2021-10-10T16:12:40Z- handleDepth()-Depth_Keller msg: 1633882360628 epoch sec; seqNo:1427; depth 49.41 2021-10-10T16:12:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882360.64 epoch sec; seqNo:1427; 4061659.74 north; 594239.29 east 2021-10-10T16:12:41Z- AHRS_M2 msg: 1633882361.03 epoch sec; seqNo:1415 2021-10-10T16:12:41Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.08 psi 2021-10-10T16:12:41Z- handleDepth()-Depth_Keller msg: 1633882361037 epoch sec; seqNo:1428; depth 49.38 2021-10-10T16:12:41Z- handleDvl() - RDI_Pathfinder msg: 1633882361.06 epoch sec; seqNo:637 2021-10-10T16:12:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.96 , 50.93 , 46.94 , 43.62 2021-10-10T16:12:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.11 , -0.00 2021-10-10T16:12:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882361.08 epoch sec; seqNo:1428; 4061659.74 north; 594239.29 east 2021-10-10T16:12:41Z- AHRS_M2 msg: 1633882361.43 epoch sec; seqNo:1416 2021-10-10T16:12:41Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 5.08 psi 2021-10-10T16:12:41Z- handleDepth()-Depth_Keller msg: 1633882361439 epoch sec; seqNo:1429; depth 49.35 2021-10-10T16:12:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:41Z- handleDvl() - RDI_Pathfinder msg: 1633882361.44 epoch sec; seqNo:638 2021-10-10T16:12:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.11 , -0.00 2021-10-10T16:12:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882361.46 epoch sec; seqNo:1429; 4061660.12 north; 594239.29 east 2021-10-10T16:12:41Z- AHRS_M2 msg: 1633882361.83 epoch sec; seqNo:1417 2021-10-10T16:12:41Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 5.08 psi 2021-10-10T16:12:41Z- handleDepth()-Depth_Keller msg: 1633882361833 epoch sec; seqNo:1430; depth 49.33 2021-10-10T16:12:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882361.84 epoch sec; seqNo:1430; 4061660.11 north; 594238.07 east 2021-10-10T16:12:42Z- AHRS_M2 msg: 1633882362.23 epoch sec; seqNo:1418 2021-10-10T16:12:42Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 5.08 psi 2021-10-10T16:12:42Z- handleDepth()-Depth_Keller msg: 1633882362244 epoch sec; seqNo:1431; depth 49.31 2021-10-10T16:12:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882362.25 epoch sec; seqNo:1431; 4061660.11 north; 594238.07 east 2021-10-10T16:12:42Z- AHRS_M2 msg: 1633882362.64 epoch sec; seqNo:1419 2021-10-10T16:12:42Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 5.08 psi 2021-10-10T16:12:42Z- handleDepth()-Depth_Keller msg: 1633882362647 epoch sec; seqNo:1432; depth 49.28 2021-10-10T16:12:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:42Z- handleDvl() - RDI_Pathfinder msg: 1633882362.65 epoch sec; seqNo:639 2021-10-10T16:12:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.11 , -0.00 2021-10-10T16:12:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882362.66 epoch sec; seqNo:1432; 4061660.49 north; 594238.06 east 2021-10-10T16:12:43Z- AHRS_M2 msg: 1633882363.04 epoch sec; seqNo:1420 2021-10-10T16:12:43Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:12:43Z- handleDepth()-Depth_Keller msg: 1633882363045 epoch sec; seqNo:1433; depth 49.27 2021-10-10T16:12:43Z- handleDvl() - RDI_Pathfinder msg: 1633882363.07 epoch sec; seqNo:640 2021-10-10T16:12:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.96 , 51.15 , 46.94 , 43.84 2021-10-10T16:12:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.12 , 0.03 2021-10-10T16:12:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882363.09 epoch sec; seqNo:1433; 4061660.47 north; 594236.84 east 2021-10-10T16:12:43Z- AHRS_M2 msg: 1633882363.45 epoch sec; seqNo:1421 2021-10-10T16:12:43Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.08 psi 2021-10-10T16:12:43Z- handleDepth()-Depth_Keller msg: 1633882363451 epoch sec; seqNo:1434; depth 49.25 2021-10-10T16:12:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882363.48 epoch sec; seqNo:1434; 4061660.47 north; 594236.84 east 2021-10-10T16:12:43Z- AHRS_M2 msg: 1633882363.85 epoch sec; seqNo:1422 2021-10-10T16:12:43Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.09 psi 2021-10-10T16:12:43Z- handleDepth()-Depth_Keller msg: 1633882363856 epoch sec; seqNo:1435; depth 49.22 2021-10-10T16:12:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:43Z- handleDvl() - RDI_Pathfinder msg: 1633882363.86 epoch sec; seqNo:641 2021-10-10T16:12:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.12 , 0.03 2021-10-10T16:12:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882363.87 epoch sec; seqNo:1435; 4061660.47 north; 594236.84 east 2021-10-10T16:12:44Z- LcmTrn::handleMessages() - handling 46 messages took 0.62 ms and 133 calls... 2021-10-10T16:12:44Z- waiting for 1633882361.63, time is 1633882363.87 2021-10-10T16:12:44Z- LcmTrn::updateTrn() equating pose 1633882363.87 and meas times 1633882363.87 2021-10-10T16:12:44Z- LcmTrn::updateTrn() >>>> pose time 1633882363.87, meas time 1633882363.87 <<<< 2021-10-10T16:12:44Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882363.87, ping # 0. 2021-10-10T16:12:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882363.87 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:44Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594236.84, 49.22) 2021-10-10T16:12:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:44Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:44Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:12:44Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:12:44Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882363.87 sec.; No relevant navigation data available 2021-10-10T16:12:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:44Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:44Z- variances([0], [2], and psi_berg) = 150.222033 205.794013 0.000000 2021-10-10T16:12:44Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:44Z- LcmTrn::publishEstimates() - MLE : 4061602.24 594238.89 41.91 2021-10-10T16:12:44Z- LcmTrn::publishEstimates() - MMSE : 4061615.48 594235.41 25.37 2021-10-10T16:12:44Z- LcmTrn::publishEstimates() - COVAR: 150.22 205.79 1.08 0.00 2021-10-10T16:12:44Z- AHRS_M2 msg: 1633882364.26 epoch sec; seqNo:1423 2021-10-10T16:12:44Z- AHRS_M2 msg: -0.21 phi; 0.03 theta; 5.09 psi 2021-10-10T16:12:44Z- handleDepth()-Depth_Keller msg: 1633882364267 epoch sec; seqNo:1436; depth 49.20 2021-10-10T16:12:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882364.28 epoch sec; seqNo:1436; 4061660.84 north; 594235.62 east 2021-10-10T16:12:44Z- AHRS_M2 msg: 1633882364.66 epoch sec; seqNo:1424 2021-10-10T16:12:44Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 5.09 psi 2021-10-10T16:12:44Z- handleDepth()-Depth_Keller msg: 1633882364661 epoch sec; seqNo:1437; depth 49.19 2021-10-10T16:12:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882364.68 epoch sec; seqNo:1437; 4061660.84 north; 594235.62 east 2021-10-10T16:12:45Z- AHRS_M2 msg: 1633882365.06 epoch sec; seqNo:1425 2021-10-10T16:12:45Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.09 psi 2021-10-10T16:12:45Z- handleDepth()-Depth_Keller msg: 1633882365065 epoch sec; seqNo:1438; depth 49.17 2021-10-10T16:12:45Z- handleDvl() - RDI_Pathfinder msg: 1633882365.09 epoch sec; seqNo:642 2021-10-10T16:12:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.96 , 51.37 , 46.94 , 44.51 2021-10-10T16:12:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.13 , 0.05 2021-10-10T16:12:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882365.11 epoch sec; seqNo:1438; 4061660.84 north; 594235.62 east 2021-10-10T16:12:45Z- AHRS_M2 msg: 1633882365.46 epoch sec; seqNo:1426 2021-10-10T16:12:45Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.09 psi 2021-10-10T16:12:45Z- handleDepth()-Depth_Keller msg: 1633882365470 epoch sec; seqNo:1439; depth 49.17 2021-10-10T16:12:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882365.49 epoch sec; seqNo:1439; 4061661.21 north; 594234.39 east 2021-10-10T16:12:45Z- AHRS_M2 msg: 1633882365.87 epoch sec; seqNo:1427 2021-10-10T16:12:45Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.09 psi 2021-10-10T16:12:45Z- handleDepth()-Depth_Keller msg: 1633882365879 epoch sec; seqNo:1440; depth 49.17 2021-10-10T16:12:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882365.89 epoch sec; seqNo:1440; 4061661.21 north; 594234.39 east 2021-10-10T16:12:46Z- AHRS_M2 msg: 1633882366.27 epoch sec; seqNo:1428 2021-10-10T16:12:46Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 5.10 psi 2021-10-10T16:12:46Z- handleDepth()-Depth_Keller msg: 1633882366289 epoch sec; seqNo:1441; depth 49.13 2021-10-10T16:12:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:46Z- handleDvl() - RDI_Pathfinder msg: 1633882366.29 epoch sec; seqNo:643 2021-10-10T16:12:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.13 , 0.05 2021-10-10T16:12:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882366.30 epoch sec; seqNo:1441; 4061661.21 north; 594234.39 east 2021-10-10T16:12:46Z- AHRS_M2 msg: 1633882366.68 epoch sec; seqNo:1429 2021-10-10T16:12:46Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:12:46Z- handleDepth()-Depth_Keller msg: 1633882366681 epoch sec; seqNo:1442; depth 49.14 2021-10-10T16:12:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882366.69 epoch sec; seqNo:1442; 4061661.19 north; 594233.17 east 2021-10-10T16:12:47Z- AHRS_M2 msg: 1633882367.08 epoch sec; seqNo:1430 2021-10-10T16:12:47Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:12:47Z- handleDepth()-Depth_Keller msg: 1633882367085 epoch sec; seqNo:1443; depth 49.13 2021-10-10T16:12:47Z- handleDvl() - RDI_Pathfinder msg: 1633882367.10 epoch sec; seqNo:644 2021-10-10T16:12:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.96 , 51.15 , 46.50 , 44.73 2021-10-10T16:12:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , 0.05 2021-10-10T16:12:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882367.13 epoch sec; seqNo:1443; 4061661.57 north; 594233.17 east 2021-10-10T16:12:47Z- AHRS_M2 msg: 1633882367.49 epoch sec; seqNo:1431 2021-10-10T16:12:47Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:12:47Z- handleDepth()-Depth_Keller msg: 1633882367491 epoch sec; seqNo:1444; depth 49.11 2021-10-10T16:12:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:47Z- handleDvl() - RDI_Pathfinder msg: 1633882367.49 epoch sec; seqNo:645 2021-10-10T16:12:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , 0.05 2021-10-10T16:12:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882367.51 epoch sec; seqNo:1444; 4061661.57 north; 594233.17 east 2021-10-10T16:12:47Z- AHRS_M2 msg: 1633882367.89 epoch sec; seqNo:1432 2021-10-10T16:12:47Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:12:47Z- handleDepth()-Depth_Keller msg: 1633882367896 epoch sec; seqNo:1445; depth 49.11 2021-10-10T16:12:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882367.91 epoch sec; seqNo:1445; 4061661.56 north; 594231.95 east 2021-10-10T16:12:48Z- AHRS_M2 msg: 1633882368.29 epoch sec; seqNo:1433 2021-10-10T16:12:48Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 5.10 psi 2021-10-10T16:12:48Z- handleDepth()-Depth_Keller msg: 1633882368304 epoch sec; seqNo:1446; depth 49.11 2021-10-10T16:12:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882368.31 epoch sec; seqNo:1446; 4061661.94 north; 594231.94 east 2021-10-10T16:12:48Z- AHRS_M2 msg: 1633882368.70 epoch sec; seqNo:1434 2021-10-10T16:12:48Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 5.10 psi 2021-10-10T16:12:48Z- handleDepth()-Depth_Keller msg: 1633882368707 epoch sec; seqNo:1447; depth 49.10 2021-10-10T16:12:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:48Z- handleDvl() - RDI_Pathfinder msg: 1633882368.71 epoch sec; seqNo:646 2021-10-10T16:12:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.11 , 0.05 2021-10-10T16:12:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882368.72 epoch sec; seqNo:1447; 4061661.94 north; 594231.94 east 2021-10-10T16:12:49Z- AHRS_M2 msg: 1633882369.10 epoch sec; seqNo:1435 2021-10-10T16:12:49Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 5.10 psi 2021-10-10T16:12:49Z- handleDepth()-Depth_Keller msg: 1633882369118 epoch sec; seqNo:1448; depth 49.10 2021-10-10T16:12:49Z- handleDvl() - RDI_Pathfinder msg: 1633882369.14 epoch sec; seqNo:647 2021-10-10T16:12:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.19 , 51.81 , 46.50 , 45.17 2021-10-10T16:12:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.10 , 0.06 2021-10-10T16:12:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882369.17 epoch sec; seqNo:1448; 4061661.92 north; 594230.72 east 2021-10-10T16:12:49Z- LcmTrn::handleMessages() - handling 45 messages took 0.73 ms and 130 calls... 2021-10-10T16:12:49Z- waiting for 1633882366.87, time is 1633882369.17 2021-10-10T16:12:49Z- LcmTrn::updateTrn() equating pose 1633882369.17 and meas times 1633882369.17 2021-10-10T16:12:49Z- LcmTrn::updateTrn() >>>> pose time 1633882369.17, meas time 1633882369.17 <<<< 2021-10-10T16:12:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882369.17 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:49Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594230.72, 49.10) 2021-10-10T16:12:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:49Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:49Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882369.17 sec.; No relevant navigation data available 2021-10-10T16:12:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:49Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:49Z- variances([0], [2], and psi_berg) = 150.185757 284.920709 0.000000 2021-10-10T16:12:49Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:49Z- LcmTrn::publishEstimates() - MLE : 4061603.69 594232.78 41.79 2021-10-10T16:12:49Z- LcmTrn::publishEstimates() - MMSE : 4061616.94 594228.41 25.23 2021-10-10T16:12:49Z- LcmTrn::publishEstimates() - COVAR: 150.19 284.92 1.46 0.00 2021-10-10T16:12:49Z- AHRS_M2 msg: 1633882369.50 epoch sec; seqNo:1436 2021-10-10T16:12:49Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 5.10 psi 2021-10-10T16:12:49Z- handleDepth()-Depth_Keller msg: 1633882369509 epoch sec; seqNo:1449; depth 49.09 2021-10-10T16:12:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882369.54 epoch sec; seqNo:1449; 4061662.30 north; 594230.72 east 2021-10-10T16:12:49Z- AHRS_M2 msg: 1633882369.92 epoch sec; seqNo:1437 2021-10-10T16:12:49Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 5.10 psi 2021-10-10T16:12:49Z- handleDepth()-Depth_Keller msg: 1633882369921 epoch sec; seqNo:1450; depth 49.09 2021-10-10T16:12:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:49Z- handleDvl() - RDI_Pathfinder msg: 1633882369.92 epoch sec; seqNo:648 2021-10-10T16:12:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.10 , 0.06 2021-10-10T16:12:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882369.93 epoch sec; seqNo:1450; 4061662.30 north; 594230.72 east 2021-10-10T16:12:50Z- AHRS_M2 msg: 1633882370.32 epoch sec; seqNo:1438 2021-10-10T16:12:50Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 5.11 psi 2021-10-10T16:12:50Z- handleDepth()-Depth_Keller msg: 1633882370323 epoch sec; seqNo:1451; depth 49.07 2021-10-10T16:12:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882370.33 epoch sec; seqNo:1451; 4061662.29 north; 594229.50 east 2021-10-10T16:12:50Z- AHRS_M2 msg: 1633882370.72 epoch sec; seqNo:1439 2021-10-10T16:12:50Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 5.12 psi 2021-10-10T16:12:50Z- handleDepth()-Depth_Keller msg: 1633882370721 epoch sec; seqNo:1452; depth 49.10 2021-10-10T16:12:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882370.74 epoch sec; seqNo:1452; 4061662.67 north; 594229.50 east 2021-10-10T16:12:51Z- AHRS_M2 msg: 1633882371.13 epoch sec; seqNo:1440 2021-10-10T16:12:51Z- AHRS_M2 msg: -0.17 phi; -0.00 theta; 5.12 psi 2021-10-10T16:12:51Z- handleDepth()-Depth_Keller msg: 1633882371142 epoch sec; seqNo:1453; depth 49.07 2021-10-10T16:12:51Z- handleDvl() - RDI_Pathfinder msg: 1633882371.17 epoch sec; seqNo:649 2021-10-10T16:12:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.41 , 51.59 , 46.28 , 45.39 2021-10-10T16:12:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.08 , 0.05 2021-10-10T16:12:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882371.18 epoch sec; seqNo:1453; 4061662.67 north; 594229.50 east 2021-10-10T16:12:51Z- AHRS_M2 msg: 1633882371.52 epoch sec; seqNo:1441 2021-10-10T16:12:51Z- AHRS_M2 msg: -0.15 phi; -0.00 theta; 5.14 psi 2021-10-10T16:12:51Z- handleDepth()-Depth_Keller msg: 1633882371529 epoch sec; seqNo:1454; depth 49.09 2021-10-10T16:12:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882371.55 epoch sec; seqNo:1454; 4061662.65 north; 594228.28 east 2021-10-10T16:12:51Z- AHRS_M2 msg: 1633882371.93 epoch sec; seqNo:1442 2021-10-10T16:12:51Z- AHRS_M2 msg: -0.12 phi; -0.00 theta; 5.16 psi 2021-10-10T16:12:51Z- handleDepth()-Depth_Keller msg: 1633882371941 epoch sec; seqNo:1455; depth 49.08 2021-10-10T16:12:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882371.96 epoch sec; seqNo:1455; 4061663.03 north; 594228.27 east 2021-10-10T16:12:52Z- AHRS_M2 msg: 1633882372.33 epoch sec; seqNo:1443 2021-10-10T16:12:52Z- AHRS_M2 msg: -0.09 phi; -0.00 theta; 5.18 psi 2021-10-10T16:12:52Z- handleDepth()-Depth_Keller msg: 1633882372337 epoch sec; seqNo:1456; depth 49.09 2021-10-10T16:12:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:52Z- handleDvl() - RDI_Pathfinder msg: 1633882372.34 epoch sec; seqNo:650 2021-10-10T16:12:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.08 , 0.05 2021-10-10T16:12:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882372.35 epoch sec; seqNo:1456; 4061663.03 north; 594228.27 east 2021-10-10T16:12:52Z- AHRS_M2 msg: 1633882372.74 epoch sec; seqNo:1444 2021-10-10T16:12:52Z- AHRS_M2 msg: -0.06 phi; 0.00 theta; 5.20 psi 2021-10-10T16:12:52Z- handleDepth()-Depth_Keller msg: 1633882372741 epoch sec; seqNo:1457; depth 49.07 2021-10-10T16:12:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882372.75 epoch sec; seqNo:1457; 4061663.41 north; 594228.27 east 2021-10-10T16:12:53Z- AHRS_M2 msg: 1633882373.14 epoch sec; seqNo:1445 2021-10-10T16:12:53Z- AHRS_M2 msg: -0.02 phi; 0.00 theta; 5.23 psi 2021-10-10T16:12:53Z- handleDepth()-Depth_Keller msg: 1633882373146 epoch sec; seqNo:1458; depth 49.08 2021-10-10T16:12:53Z- handleDvl() - RDI_Pathfinder msg: 1633882373.17 epoch sec; seqNo:651 2021-10-10T16:12:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.96 , 48.05 , 46.06 , 44.95 2021-10-10T16:12:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.08 , 0.02 2021-10-10T16:12:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882373.18 epoch sec; seqNo:1458; 4061663.40 north; 594227.05 east 2021-10-10T16:12:53Z- AHRS_M2 msg: 1633882373.54 epoch sec; seqNo:1446 2021-10-10T16:12:53Z- AHRS_M2 msg: 0.03 phi; 0.00 theta; 5.26 psi 2021-10-10T16:12:53Z- handleDepth()-Depth_Keller msg: 1633882373554 epoch sec; seqNo:1459; depth 49.08 2021-10-10T16:12:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:53Z- handleDvl() - RDI_Pathfinder msg: 1633882373.56 epoch sec; seqNo:652 2021-10-10T16:12:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.08 , 0.02 2021-10-10T16:12:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882373.57 epoch sec; seqNo:1459; 4061663.78 north; 594227.04 east 2021-10-10T16:12:53Z- AHRS_M2 msg: 1633882373.95 epoch sec; seqNo:1447 2021-10-10T16:12:53Z- AHRS_M2 msg: 0.07 phi; 0.00 theta; 5.29 psi 2021-10-10T16:12:53Z- handleDepth()-Depth_Keller msg: 1633882373953 epoch sec; seqNo:1460; depth 49.07 2021-10-10T16:12:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882373.96 epoch sec; seqNo:1460; 4061663.78 north; 594227.04 east 2021-10-10T16:12:54Z- LcmTrn::handleMessages() - handling 41 messages took 0.64 ms and 128 calls... 2021-10-10T16:12:54Z- waiting for 1633882372.17, time is 1633882373.96 2021-10-10T16:12:54Z- LcmTrn::updateTrn() >>>> pose time 1633882373.96, meas time 1633882373.56 <<<< 2021-10-10T16:12:54Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882373.56, ping # 0. 2021-10-10T16:12:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882373.56 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:54Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594227.04, 49.07) 2021-10-10T16:12:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:54Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:54Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:12:54Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:12:54Z- TNavBF::Projecting Measurements 2021-10-10T16:12:54Z- TNavFilter::Measurement from time = 1633882373.56 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:12:54Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:12:54Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:12:54Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:12:54Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:12:54Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:12:54Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:12:54Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:12:54Z- Filter 0 NorthBias: -45.0 EastBias: -3.0 DepthBias: -23.9 NorthVariance: 150.2 EastVariance: 342.1 DepthVariance: 1.7 this->DepthBiasCov: 1.4 2021-10-10T16:12:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:54Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:54Z- variances([0], [2], and psi_berg) = 150.153326 358.623098 0.000000 2021-10-10T16:12:54Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:54Z- LcmTrn::publishEstimates() - MLE : 4061605.54 594229.09 41.77 2021-10-10T16:12:54Z- LcmTrn::publishEstimates() - MMSE : 4061618.80 594223.89 25.18 2021-10-10T16:12:54Z- LcmTrn::publishEstimates() - COVAR: 150.15 358.62 1.73 0.00 2021-10-10T16:12:54Z- AHRS_M2 msg: 1633882374.35 epoch sec; seqNo:1448 2021-10-10T16:12:54Z- AHRS_M2 msg: 0.11 phi; 0.01 theta; 5.32 psi 2021-10-10T16:12:54Z- handleDepth()-Depth_Keller msg: 1633882374357 epoch sec; seqNo:1461; depth 49.07 2021-10-10T16:12:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882374.37 epoch sec; seqNo:1461; 4061664.14 north; 594225.82 east 2021-10-10T16:12:54Z- AHRS_M2 msg: 1633882374.76 epoch sec; seqNo:1449 2021-10-10T16:12:54Z- AHRS_M2 msg: 0.14 phi; 0.01 theta; 5.36 psi 2021-10-10T16:12:54Z- handleDepth()-Depth_Keller msg: 1633882374761 epoch sec; seqNo:1462; depth 49.07 2021-10-10T16:12:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:54Z- handleDvl() - RDI_Pathfinder msg: 1633882374.76 epoch sec; seqNo:653 2021-10-10T16:12:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.08 , 0.02 2021-10-10T16:12:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882374.77 epoch sec; seqNo:1462; 4061664.14 north; 594225.82 east 2021-10-10T16:12:55Z- AHRS_M2 msg: 1633882375.16 epoch sec; seqNo:1450 2021-10-10T16:12:55Z- AHRS_M2 msg: 0.16 phi; 0.00 theta; 5.39 psi 2021-10-10T16:12:55Z- handleDepth()-Depth_Keller msg: 1633882375166 epoch sec; seqNo:1463; depth 49.06 2021-10-10T16:12:55Z- handleDvl() - RDI_Pathfinder msg: 1633882375.18 epoch sec; seqNo:654 2021-10-10T16:12:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.94 , 42.96 , 46.94 , 44.73 2021-10-10T16:12:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.11 , -0.01 2021-10-10T16:12:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882375.20 epoch sec; seqNo:1463; 4061664.52 north; 594225.81 east 2021-10-10T16:12:55Z- AHRS_M2 msg: 1633882375.56 epoch sec; seqNo:1451 2021-10-10T16:12:55Z- AHRS_M2 msg: 0.17 phi; 0.00 theta; 5.43 psi 2021-10-10T16:12:55Z- handleDepth()-Depth_Keller msg: 1633882375569 epoch sec; seqNo:1464; depth 49.06 2021-10-10T16:12:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882375.59 epoch sec; seqNo:1464; 4061664.51 north; 594224.59 east 2021-10-10T16:12:55Z- AHRS_M2 msg: 1633882375.97 epoch sec; seqNo:1452 2021-10-10T16:12:55Z- AHRS_M2 msg: 0.18 phi; 0.00 theta; 5.46 psi 2021-10-10T16:12:55Z- handleDepth()-Depth_Keller msg: 1633882375976 epoch sec; seqNo:1465; depth 49.05 2021-10-10T16:12:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:55Z- handleDvl() - RDI_Pathfinder msg: 1633882375.98 epoch sec; seqNo:655 2021-10-10T16:12:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.11 , -0.01 2021-10-10T16:12:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882375.99 epoch sec; seqNo:1465; 4061664.89 north; 594224.59 east 2021-10-10T16:12:56Z- AHRS_M2 msg: 1633882376.37 epoch sec; seqNo:1453 2021-10-10T16:12:56Z- AHRS_M2 msg: 0.18 phi; 0.00 theta; 5.50 psi 2021-10-10T16:12:56Z- handleDepth()-Depth_Keller msg: 1633882376378 epoch sec; seqNo:1466; depth 49.05 2021-10-10T16:12:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882376.39 epoch sec; seqNo:1466; 4061665.27 north; 594224.59 east 2021-10-10T16:12:56Z- AHRS_M2 msg: 1633882376.78 epoch sec; seqNo:1454 2021-10-10T16:12:56Z- AHRS_M2 msg: 0.18 phi; -0.00 theta; 5.53 psi 2021-10-10T16:12:56Z- handleDepth()-Depth_Keller msg: 1633882376787 epoch sec; seqNo:1467; depth 49.03 2021-10-10T16:12:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882376.80 epoch sec; seqNo:1467; 4061665.27 north; 594224.59 east 2021-10-10T16:12:57Z- AHRS_M2 msg: 1633882377.18 epoch sec; seqNo:1455 2021-10-10T16:12:57Z- AHRS_M2 msg: 0.18 phi; -0.00 theta; 5.56 psi 2021-10-10T16:12:57Z- handleDepth()-Depth_Keller msg: 1633882377185 epoch sec; seqNo:1468; depth 49.02 2021-10-10T16:12:57Z- handleDvl() - RDI_Pathfinder msg: 1633882377.20 epoch sec; seqNo:656 2021-10-10T16:12:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.58 , 41.41 , 47.61 , 45.61 2021-10-10T16:12:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.15 , -0.03 2021-10-10T16:12:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882377.24 epoch sec; seqNo:1468; 4061665.63 north; 594223.36 east 2021-10-10T16:12:57Z- AHRS_M2 msg: 1633882377.59 epoch sec; seqNo:1456 2021-10-10T16:12:57Z- AHRS_M2 msg: 0.17 phi; -0.00 theta; 5.60 psi 2021-10-10T16:12:57Z- handleDepth()-Depth_Keller msg: 1633882377591 epoch sec; seqNo:1469; depth 49.02 2021-10-10T16:12:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882377.61 epoch sec; seqNo:1469; 4061666.01 north; 594223.36 east 2021-10-10T16:12:57Z- AHRS_M2 msg: 1633882377.99 epoch sec; seqNo:1457 2021-10-10T16:12:57Z- AHRS_M2 msg: 0.17 phi; -0.01 theta; 5.63 psi 2021-10-10T16:12:58Z- handleDepth()-Depth_Keller msg: 1633882378005 epoch sec; seqNo:1470; depth 49.01 2021-10-10T16:12:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882378.01 epoch sec; seqNo:1470; 4061666.01 north; 594223.36 east 2021-10-10T16:12:58Z- AHRS_M2 msg: 1633882378.39 epoch sec; seqNo:1458 2021-10-10T16:12:58Z- AHRS_M2 msg: 0.17 phi; -0.01 theta; 5.66 psi 2021-10-10T16:12:58Z- handleDepth()-Depth_Keller msg: 1633882378397 epoch sec; seqNo:1471; depth 49.01 2021-10-10T16:12:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:58Z- handleDvl() - RDI_Pathfinder msg: 1633882378.40 epoch sec; seqNo:657 2021-10-10T16:12:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.15 , -0.03 2021-10-10T16:12:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882378.41 epoch sec; seqNo:1471; 4061666.39 north; 594223.35 east 2021-10-10T16:12:58Z- AHRS_M2 msg: 1633882378.80 epoch sec; seqNo:1459 2021-10-10T16:12:58Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.69 psi 2021-10-10T16:12:58Z- handleDepth()-Depth_Keller msg: 1633882378801 epoch sec; seqNo:1472; depth 49.00 2021-10-10T16:12:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882378.82 epoch sec; seqNo:1472; 4061666.77 north; 594223.35 east 2021-10-10T16:12:59Z- AHRS_M2 msg: 1633882379.20 epoch sec; seqNo:1460 2021-10-10T16:12:59Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.73 psi 2021-10-10T16:12:59Z- handleDepth()-Depth_Keller msg: 1633882379212 epoch sec; seqNo:1473; depth 49.00 2021-10-10T16:12:59Z- handleDvl() - RDI_Pathfinder msg: 1633882379.23 epoch sec; seqNo:658 2021-10-10T16:12:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.70 , 41.41 , 46.94 , 45.83 2021-10-10T16:12:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.19 , -0.04 2021-10-10T16:12:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882379.24 epoch sec; seqNo:1473; 4061666.75 north; 594222.13 east 2021-10-10T16:12:59Z- LcmTrn::handleMessages() - handling 45 messages took 0.69 ms and 131 calls... 2021-10-10T16:12:59Z- waiting for 1633882376.96, time is 1633882379.24 2021-10-10T16:12:59Z- LcmTrn::updateTrn() equating pose 1633882379.24 and meas times 1633882379.24 2021-10-10T16:12:59Z- LcmTrn::updateTrn() >>>> pose time 1633882379.24, meas time 1633882379.24 <<<< 2021-10-10T16:12:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882379.24 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:12:59Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594222.13, 49.00) 2021-10-10T16:12:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:12:59Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:12:59Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882379.24 sec.; No relevant navigation data available 2021-10-10T16:12:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:12:59Z- TNavBF::mmse selected from filter -1 2021-10-10T16:12:59Z- variances([0], [2], and psi_berg) = 150.125205 424.255136 0.000000 2021-10-10T16:12:59Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:12:59Z- LcmTrn::publishEstimates() - MLE : 4061608.52 594224.18 41.69 2021-10-10T16:12:59Z- LcmTrn::publishEstimates() - MMSE : 4061621.78 594218.22 25.08 2021-10-10T16:12:59Z- LcmTrn::publishEstimates() - COVAR: 150.13 424.26 2.07 0.00 2021-10-10T16:12:59Z- AHRS_M2 msg: 1633882379.61 epoch sec; seqNo:1461 2021-10-10T16:12:59Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.76 psi 2021-10-10T16:12:59Z- handleDepth()-Depth_Keller msg: 1633882379609 epoch sec; seqNo:1474; depth 49.00 2021-10-10T16:12:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:12:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:12:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:12:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:12:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:12:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:12:59Z- handleDvl() - RDI_Pathfinder msg: 1633882379.61 epoch sec; seqNo:659 2021-10-10T16:12:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:12:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.19 , -0.04 2021-10-10T16:12:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882379.64 epoch sec; seqNo:1474; 4061667.13 north; 594222.12 east 2021-10-10T16:13:00Z- AHRS_M2 msg: 1633882380.01 epoch sec; seqNo:1462 2021-10-10T16:13:00Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.79 psi 2021-10-10T16:13:00Z- handleDepth()-Depth_Keller msg: 1633882380013 epoch sec; seqNo:1475; depth 48.99 2021-10-10T16:13:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882380.02 epoch sec; seqNo:1475; 4061667.51 north; 594222.12 east 2021-10-10T16:13:00Z- AHRS_M2 msg: 1633882380.42 epoch sec; seqNo:1463 2021-10-10T16:13:00Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.83 psi 2021-10-10T16:13:00Z- handleDepth()-Depth_Keller msg: 1633882380422 epoch sec; seqNo:1476; depth 49.00 2021-10-10T16:13:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882380.43 epoch sec; seqNo:1476; 4061667.89 north; 594222.12 east 2021-10-10T16:13:00Z- AHRS_M2 msg: 1633882380.82 epoch sec; seqNo:1464 2021-10-10T16:13:00Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.86 psi 2021-10-10T16:13:00Z- handleDepth()-Depth_Keller msg: 1633882380838 epoch sec; seqNo:1477; depth 49.00 2021-10-10T16:13:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:00Z- handleDvl() - RDI_Pathfinder msg: 1633882380.85 epoch sec; seqNo:660 2021-10-10T16:13:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.19 , -0.04 2021-10-10T16:13:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882380.87 epoch sec; seqNo:1477; 4061668.27 north; 594222.11 east 2021-10-10T16:13:01Z- AHRS_M2 msg: 1633882381.22 epoch sec; seqNo:1465 2021-10-10T16:13:01Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.89 psi 2021-10-10T16:13:01Z- handleDepth()-Depth_Keller msg: 1633882381232 epoch sec; seqNo:1478; depth 49.01 2021-10-10T16:13:01Z- handleDvl() - RDI_Pathfinder msg: 1633882381.26 epoch sec; seqNo:661 2021-10-10T16:13:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.48 , 41.41 , 46.06 , 45.83 2021-10-10T16:13:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.22 , -0.04 2021-10-10T16:13:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882381.28 epoch sec; seqNo:1478; 4061668.26 north; 594220.89 east 2021-10-10T16:13:01Z- AHRS_M2 msg: 1633882381.62 epoch sec; seqNo:1466 2021-10-10T16:13:01Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 5.92 psi 2021-10-10T16:13:01Z- handleDepth()-Depth_Keller msg: 1633882381629 epoch sec; seqNo:1479; depth 49.01 2021-10-10T16:13:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882381.64 epoch sec; seqNo:1479; 4061668.63 north; 594220.89 east 2021-10-10T16:13:02Z- AHRS_M2 msg: 1633882382.03 epoch sec; seqNo:1467 2021-10-10T16:13:02Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 5.95 psi 2021-10-10T16:13:02Z- handleDepth()-Depth_Keller msg: 1633882382036 epoch sec; seqNo:1480; depth 49.01 2021-10-10T16:13:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:02Z- handleDvl() - RDI_Pathfinder msg: 1633882382.04 epoch sec; seqNo:662 2021-10-10T16:13:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.22 , -0.04 2021-10-10T16:13:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882382.05 epoch sec; seqNo:1480; 4061669.01 north; 594220.88 east 2021-10-10T16:13:02Z- AHRS_M2 msg: 1633882382.43 epoch sec; seqNo:1468 2021-10-10T16:13:02Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 5.99 psi 2021-10-10T16:13:02Z- handleDepth()-Depth_Keller msg: 1633882382442 epoch sec; seqNo:1481; depth 49.00 2021-10-10T16:13:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882382.45 epoch sec; seqNo:1481; 4061669.39 north; 594220.88 east 2021-10-10T16:13:02Z- AHRS_M2 msg: 1633882382.85 epoch sec; seqNo:1469 2021-10-10T16:13:02Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 6.02 psi 2021-10-10T16:13:02Z- handleDepth()-Depth_Keller msg: 1633882382874 epoch sec; seqNo:1482; depth 49.02 2021-10-10T16:13:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882382.90 epoch sec; seqNo:1482; 4061669.77 north; 594220.87 east 2021-10-10T16:13:03Z- AHRS_M2 msg: 1633882383.24 epoch sec; seqNo:1470 2021-10-10T16:13:03Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 6.05 psi 2021-10-10T16:13:03Z- handleDepth()-Depth_Keller msg: 1633882383245 epoch sec; seqNo:1483; depth 49.01 2021-10-10T16:13:03Z- handleDvl() - RDI_Pathfinder msg: 1633882383.27 epoch sec; seqNo:663 2021-10-10T16:13:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.48 , 41.63 , 45.61 , 46.06 2021-10-10T16:13:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.22 , -0.02 2021-10-10T16:13:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882383.30 epoch sec; seqNo:1483; 4061669.77 north; 594220.87 east 2021-10-10T16:13:03Z- AHRS_M2 msg: 1633882383.65 epoch sec; seqNo:1471 2021-10-10T16:13:03Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 6.08 psi 2021-10-10T16:13:03Z- handleDepth()-Depth_Keller msg: 1633882383656 epoch sec; seqNo:1484; depth 49.03 2021-10-10T16:13:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882383.67 epoch sec; seqNo:1484; 4061670.15 north; 594220.87 east 2021-10-10T16:13:04Z- AHRS_M2 msg: 1633882384.05 epoch sec; seqNo:1472 2021-10-10T16:13:04Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 6.12 psi 2021-10-10T16:13:04Z- handleDepth()-Depth_Keller msg: 1633882384061 epoch sec; seqNo:1485; depth 49.02 2021-10-10T16:13:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882384.07 epoch sec; seqNo:1485; 4061670.52 north; 594219.65 east 2021-10-10T16:13:04Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 125 calls... 2021-10-10T16:13:04Z- waiting for 1633882382.24, time is 1633882384.07 2021-10-10T16:13:04Z- LcmTrn::updateTrn() >>>> pose time 1633882384.07, meas time 1633882383.27 <<<< 2021-10-10T16:13:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882383.27 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:04Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594219.65, 49.02) 2021-10-10T16:13:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:04Z- TerrainNav:: SubcloudNIS is 1.20, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:13:04Z- TNavBF::Projecting Measurements 2021-10-10T16:13:04Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:13:04Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:13:04Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:13:04Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:13:04Z- TNavFilter::4 good beams. 2021-10-10T16:13:04Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:13:04Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:13:04Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:13:04Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:13:04Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:13:04Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:13:04Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:13:04Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:04Z- TerrainMapOctree: (vehN, vehE ) = (4061669.89, 594220.06). 2021-10-10T16:13:04Z- TerrainMapOctree: Min Distance = 85.53. 2021-10-10T16:13:04Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:13:04Z- Forcing Subcloud Comparison 2021-10-10T16:13:04Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:13:04Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:04Z- Filter 0 partialDeltaRmsComputation: 3.928902 terrainVariance: 0.114254 1-SumSquareWeights: 0.985411 2021-10-10T16:13:04Z- Filter 0 meanExpectedMeasDiff: 1.953112 delta_rms_squared: 0.104400 alpha: 0.839228 2021-10-10T16:13:04Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:04Z- Filter 0 partialDeltaRmsComputation: 0.274085 terrainVariance: 0.056010 1-SumSquareWeights: 0.985411 2021-10-10T16:13:04Z- Filter 0 meanExpectedMeasDiff: -0.466985 delta_rms_squared: 0.046156 alpha: 0.697684 2021-10-10T16:13:04Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:04Z- Filter 0 partialDeltaRmsComputation: 18.552845 terrainVariance: 0.117396 1-SumSquareWeights: 0.985411 2021-10-10T16:13:04Z- Filter 0 meanExpectedMeasDiff: 4.293652 delta_rms_squared: 0.107542 alpha: 0.843189 2021-10-10T16:13:04Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:04Z- Filter 0 partialDeltaRmsComputation: 26.137881 terrainVariance: 0.138676 1-SumSquareWeights: 0.985411 2021-10-10T16:13:04Z- Filter 0 meanExpectedMeasDiff: -5.098941 delta_rms_squared: 0.128822 alpha: 0.865612 2021-10-10T16:13:04Z- Filter 0 SubcloudNIS: 1.272920 2021-10-10T16:13:04Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:13:04Z- TNavBF:: Filter 0 sumWeights = 0.031996 2021-10-10T16:13:04Z- Filter 0 NorthBias: -46.9 EastBias: -7.4 DepthBias: -23.9 NorthVariance: 149.4 EastVariance: 689.8 DepthVariance: 1.1 this->DepthBiasCov: 0.8 2021-10-10T16:13:04Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882383.27 sec. 2021-10-10T16:13:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:13:04Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:04Z- variances([0], [2], and psi_berg) = 149.340813 704.477566 0.000000 2021-10-10T16:13:04Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:13:04Z- LcmTrn::publishEstimates() - MLE : 4061612.28 594221.70 41.71 2021-10-10T16:13:04Z- LcmTrn::publishEstimates() - MMSE : 4061623.65 594212.03 25.13 2021-10-10T16:13:04Z- LcmTrn::publishEstimates() - COVAR: 149.34 704.48 1.12 0.00 2021-10-10T16:13:04Z- AHRS_M2 msg: 1633882384.45 epoch sec; seqNo:1473 2021-10-10T16:13:04Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 6.15 psi 2021-10-10T16:13:04Z- handleDepth()-Depth_Keller msg: 1633882384457 epoch sec; seqNo:1486; depth 49.03 2021-10-10T16:13:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:04Z- handleDvl() - RDI_Pathfinder msg: 1633882384.46 epoch sec; seqNo:664 2021-10-10T16:13:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.22 , -0.02 2021-10-10T16:13:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882384.47 epoch sec; seqNo:1486; 4061670.89 north; 594219.64 east 2021-10-10T16:13:04Z- AHRS_M2 msg: 1633882384.88 epoch sec; seqNo:1474 2021-10-10T16:13:04Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 6.18 psi 2021-10-10T16:13:04Z- handleDepth()-Depth_Keller msg: 1633882384894 epoch sec; seqNo:1487; depth 49.03 2021-10-10T16:13:04Z- handleDvl() - RDI_Pathfinder msg: 1633882384.93 epoch sec; seqNo:665 2021-10-10T16:13:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.26 , 41.63 , 45.39 , 46.50 2021-10-10T16:13:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.20 , -0.03 2021-10-10T16:13:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882384.94 epoch sec; seqNo:1487; 4061671.27 north; 594219.64 east 2021-10-10T16:13:05Z- AHRS_M2 msg: 1633882385.26 epoch sec; seqNo:1475 2021-10-10T16:13:05Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 6.21 psi 2021-10-10T16:13:05Z- handleDepth()-Depth_Keller msg: 1633882385266 epoch sec; seqNo:1488; depth 49.05 2021-10-10T16:13:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882385.28 epoch sec; seqNo:1488; 4061671.27 north; 594219.64 east 2021-10-10T16:13:05Z- AHRS_M2 msg: 1633882385.66 epoch sec; seqNo:1476 2021-10-10T16:13:05Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 6.25 psi 2021-10-10T16:13:05Z- handleDepth()-Depth_Keller msg: 1633882385672 epoch sec; seqNo:1489; depth 49.06 2021-10-10T16:13:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:05Z- handleDvl() - RDI_Pathfinder msg: 1633882385.67 epoch sec; seqNo:666 2021-10-10T16:13:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.20 , -0.03 2021-10-10T16:13:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882385.69 epoch sec; seqNo:1489; 4061671.65 north; 594219.63 east 2021-10-10T16:13:06Z- AHRS_M2 msg: 1633882386.07 epoch sec; seqNo:1477 2021-10-10T16:13:06Z- AHRS_M2 msg: 0.14 phi; -0.01 theta; 6.28 psi 2021-10-10T16:13:06Z- handleDepth()-Depth_Keller msg: 1633882386078 epoch sec; seqNo:1490; depth 49.05 2021-10-10T16:13:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882386.09 epoch sec; seqNo:1490; 4061672.03 north; 594219.63 east 2021-10-10T16:13:06Z- AHRS_M2 msg: 1633882386.47 epoch sec; seqNo:1478 2021-10-10T16:13:06Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 0.03 psi 2021-10-10T16:13:06Z- handleDepth()-Depth_Keller msg: 1633882386494 epoch sec; seqNo:1491; depth 49.06 2021-10-10T16:13:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882386.50 epoch sec; seqNo:1491; 4061672.41 north; 594219.62 east 2021-10-10T16:13:06Z- AHRS_M2 msg: 1633882386.90 epoch sec; seqNo:1479 2021-10-10T16:13:06Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 0.09 psi 2021-10-10T16:13:06Z- handleDepth()-Depth_Keller msg: 1633882386910 epoch sec; seqNo:1492; depth 49.07 2021-10-10T16:13:06Z- handleDvl() - RDI_Pathfinder msg: 1633882386.93 epoch sec; seqNo:667 2021-10-10T16:13:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.81 , 41.63 , 45.39 , 46.94 2021-10-10T16:13:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.21 , -0.04 2021-10-10T16:13:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882386.94 epoch sec; seqNo:1492; 4061672.79 north; 594219.62 east 2021-10-10T16:13:07Z- AHRS_M2 msg: 1633882387.29 epoch sec; seqNo:1480 2021-10-10T16:13:07Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 0.12 psi 2021-10-10T16:13:07Z- handleDepth()-Depth_Keller msg: 1633882387290 epoch sec; seqNo:1493; depth 49.07 2021-10-10T16:13:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882387.31 epoch sec; seqNo:1493; 4061672.79 north; 594219.62 east 2021-10-10T16:13:07Z- AHRS_M2 msg: 1633882387.69 epoch sec; seqNo:1481 2021-10-10T16:13:07Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 0.15 psi 2021-10-10T16:13:07Z- handleDepth()-Depth_Keller msg: 1633882387694 epoch sec; seqNo:1494; depth 49.08 2021-10-10T16:13:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882387.70 epoch sec; seqNo:1494; 4061673.17 north; 594219.62 east 2021-10-10T16:13:08Z- AHRS_M2 msg: 1633882388.09 epoch sec; seqNo:1482 2021-10-10T16:13:08Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 0.18 psi 2021-10-10T16:13:08Z- handleDepth()-Depth_Keller msg: 1633882388097 epoch sec; seqNo:1495; depth 49.09 2021-10-10T16:13:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:08Z- handleDvl() - RDI_Pathfinder msg: 1633882388.10 epoch sec; seqNo:668 2021-10-10T16:13:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.21 , -0.04 2021-10-10T16:13:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882388.12 epoch sec; seqNo:1495; 4061673.55 north; 594219.61 east 2021-10-10T16:13:08Z- AHRS_M2 msg: 1633882388.49 epoch sec; seqNo:1483 2021-10-10T16:13:08Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 0.21 psi 2021-10-10T16:13:08Z- handleDepth()-Depth_Keller msg: 1633882388497 epoch sec; seqNo:1496; depth 49.10 2021-10-10T16:13:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882388.51 epoch sec; seqNo:1496; 4061673.92 north; 594219.61 east 2021-10-10T16:13:08Z- AHRS_M2 msg: 1633882388.90 epoch sec; seqNo:1484 2021-10-10T16:13:08Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 0.24 psi 2021-10-10T16:13:08Z- handleDepth()-Depth_Keller msg: 1633882388909 epoch sec; seqNo:1497; depth 49.09 2021-10-10T16:13:08Z- handleDvl() - RDI_Pathfinder msg: 1633882388.93 epoch sec; seqNo:669 2021-10-10T16:13:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.03 , 41.63 , 45.39 , 47.16 2021-10-10T16:13:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.21 , -0.03 2021-10-10T16:13:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882388.94 epoch sec; seqNo:1497; 4061674.30 north; 594219.60 east 2021-10-10T16:13:09Z- AHRS_M2 msg: 1633882389.30 epoch sec; seqNo:1485 2021-10-10T16:13:09Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 0.27 psi 2021-10-10T16:13:09Z- handleDepth()-Depth_Keller msg: 1633882389312 epoch sec; seqNo:1498; depth 49.10 2021-10-10T16:13:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:09Z- handleDvl() - RDI_Pathfinder msg: 1633882389.31 epoch sec; seqNo:670 2021-10-10T16:13:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.21 , -0.03 2021-10-10T16:13:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882389.33 epoch sec; seqNo:1498; 4061674.68 north; 594219.60 east 2021-10-10T16:13:09Z- LcmTrn::handleMessages() - handling 46 messages took 0.74 ms and 131 calls... 2021-10-10T16:13:09Z- waiting for 1633882387.07, time is 1633882389.33 2021-10-10T16:13:09Z- LcmTrn::updateTrn() equating pose 1633882389.33 and meas times 1633882389.33 2021-10-10T16:13:09Z- LcmTrn::updateTrn() >>>> pose time 1633882389.33, meas time 1633882389.33 <<<< 2021-10-10T16:13:09Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882389.33, ping # 0. 2021-10-10T16:13:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882389.33 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:09Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594219.60, 49.10) 2021-10-10T16:13:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:09Z- TerrainNav:: SubcloudNIS is 1.27, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:13:09Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:13:09Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:13:09Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882389.33 sec.; No relevant navigation data available 2021-10-10T16:13:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:13:09Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:09Z- variances([0], [2], and psi_berg) = 149.306453 738.098616 0.000000 2021-10-10T16:13:09Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:13:09Z- LcmTrn::publishEstimates() - MLE : 4061616.45 594221.65 41.79 2021-10-10T16:13:09Z- LcmTrn::publishEstimates() - MMSE : 4061627.82 594211.55 25.20 2021-10-10T16:13:09Z- LcmTrn::publishEstimates() - COVAR: 149.31 738.10 1.34 0.00 2021-10-10T16:13:09Z- AHRS_M2 msg: 1633882389.70 epoch sec; seqNo:1486 2021-10-10T16:13:09Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 0.30 psi 2021-10-10T16:13:09Z- handleDepth()-Depth_Keller msg: 1633882389708 epoch sec; seqNo:1499; depth 49.11 2021-10-10T16:13:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882389.72 epoch sec; seqNo:1499; 4061674.68 north; 594219.60 east 2021-10-10T16:13:10Z- AHRS_M2 msg: 1633882390.11 epoch sec; seqNo:1487 2021-10-10T16:13:10Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 0.33 psi 2021-10-10T16:13:10Z- handleDepth()-Depth_Keller msg: 1633882390113 epoch sec; seqNo:1500; depth 49.12 2021-10-10T16:13:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882390.12 epoch sec; seqNo:1500; 4061675.06 north; 594219.60 east 2021-10-10T16:13:10Z- AHRS_M2 msg: 1633882390.51 epoch sec; seqNo:1488 2021-10-10T16:13:10Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 0.36 psi 2021-10-10T16:13:10Z- handleDepth()-Depth_Keller msg: 1633882390518 epoch sec; seqNo:1501; depth 49.12 2021-10-10T16:13:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:10Z- handleDvl() - RDI_Pathfinder msg: 1633882390.52 epoch sec; seqNo:671 2021-10-10T16:13:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.21 , -0.03 2021-10-10T16:13:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882390.53 epoch sec; seqNo:1501; 4061675.44 north; 594219.59 east 2021-10-10T16:13:10Z- AHRS_M2 msg: 1633882390.92 epoch sec; seqNo:1489 2021-10-10T16:13:10Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 0.39 psi 2021-10-10T16:13:10Z- handleDepth()-Depth_Keller msg: 1633882390921 epoch sec; seqNo:1502; depth 49.13 2021-10-10T16:13:10Z- handleDvl() - RDI_Pathfinder msg: 1633882390.95 epoch sec; seqNo:672 2021-10-10T16:13:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.48 , 41.41 , 45.17 , 47.38 2021-10-10T16:13:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.20 , -0.02 2021-10-10T16:13:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882390.96 epoch sec; seqNo:1502; 4061675.82 north; 594219.59 east 2021-10-10T16:13:11Z- AHRS_M2 msg: 1633882391.32 epoch sec; seqNo:1490 2021-10-10T16:13:11Z- AHRS_M2 msg: 0.15 phi; -0.03 theta; 0.42 psi 2021-10-10T16:13:11Z- handleDepth()-Depth_Keller msg: 1633882391336 epoch sec; seqNo:1503; depth 49.13 2021-10-10T16:13:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882391.35 epoch sec; seqNo:1503; 4061676.20 north; 594219.58 east 2021-10-10T16:13:11Z- AHRS_M2 msg: 1633882391.72 epoch sec; seqNo:1491 2021-10-10T16:13:11Z- AHRS_M2 msg: 0.15 phi; -0.03 theta; 0.45 psi 2021-10-10T16:13:11Z- handleDepth()-Depth_Keller msg: 1633882391740 epoch sec; seqNo:1504; depth 49.15 2021-10-10T16:13:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:11Z- handleDvl() - RDI_Pathfinder msg: 1633882391.74 epoch sec; seqNo:673 2021-10-10T16:13:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.20 , -0.02 2021-10-10T16:13:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882391.75 epoch sec; seqNo:1504; 4061676.20 north; 594219.58 east 2021-10-10T16:13:12Z- AHRS_M2 msg: 1633882392.13 epoch sec; seqNo:1492 2021-10-10T16:13:12Z- AHRS_M2 msg: 0.15 phi; -0.03 theta; 0.49 psi 2021-10-10T16:13:12Z- handleDepth()-Depth_Keller msg: 1633882392133 epoch sec; seqNo:1505; depth 49.14 2021-10-10T16:13:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882392.14 epoch sec; seqNo:1505; 4061676.58 north; 594219.58 east 2021-10-10T16:13:12Z- AHRS_M2 msg: 1633882392.53 epoch sec; seqNo:1493 2021-10-10T16:13:12Z- AHRS_M2 msg: 0.15 phi; -0.03 theta; 0.52 psi 2021-10-10T16:13:12Z- handleDepth()-Depth_Keller msg: 1633882392544 epoch sec; seqNo:1506; depth 49.16 2021-10-10T16:13:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882392.55 epoch sec; seqNo:1506; 4061676.96 north; 594219.57 east 2021-10-10T16:13:12Z- AHRS_M2 msg: 1633882392.94 epoch sec; seqNo:1494 2021-10-10T16:13:12Z- AHRS_M2 msg: 0.15 phi; -0.03 theta; 0.55 psi 2021-10-10T16:13:12Z- handleDepth()-Depth_Keller msg: 1633882392944 epoch sec; seqNo:1507; depth 49.16 2021-10-10T16:13:12Z- handleDvl() - RDI_Pathfinder msg: 1633882392.96 epoch sec; seqNo:674 2021-10-10T16:13:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.48 , 41.63 , 44.73 , 48.05 2021-10-10T16:13:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.17 , -0.03 2021-10-10T16:13:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882393.00 epoch sec; seqNo:1507; 4061677.33 north; 594219.57 east 2021-10-10T16:13:13Z- AHRS_M2 msg: 1633882393.34 epoch sec; seqNo:1495 2021-10-10T16:13:13Z- AHRS_M2 msg: 0.15 phi; -0.03 theta; 0.58 psi 2021-10-10T16:13:13Z- handleDepth()-Depth_Keller msg: 1633882393346 epoch sec; seqNo:1508; depth 49.18 2021-10-10T16:13:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882393.36 epoch sec; seqNo:1508; 4061677.33 north; 594219.57 east 2021-10-10T16:13:13Z- AHRS_M2 msg: 1633882393.74 epoch sec; seqNo:1496 2021-10-10T16:13:13Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 0.61 psi 2021-10-10T16:13:13Z- handleDepth()-Depth_Keller msg: 1633882393749 epoch sec; seqNo:1509; depth 49.19 2021-10-10T16:13:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882393.77 epoch sec; seqNo:1509; 4061677.71 north; 594219.57 east 2021-10-10T16:13:14Z- AHRS_M2 msg: 1633882394.15 epoch sec; seqNo:1497 2021-10-10T16:13:14Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 0.64 psi 2021-10-10T16:13:14Z- handleDepth()-Depth_Keller msg: 1633882394159 epoch sec; seqNo:1510; depth 49.18 2021-10-10T16:13:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:14Z- handleDvl() - RDI_Pathfinder msg: 1633882394.16 epoch sec; seqNo:675 2021-10-10T16:13:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.17 , -0.03 2021-10-10T16:13:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882394.17 epoch sec; seqNo:1510; 4061678.11 north; 594220.78 east 2021-10-10T16:13:14Z- AHRS_M2 msg: 1633882394.55 epoch sec; seqNo:1498 2021-10-10T16:13:14Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 0.67 psi 2021-10-10T16:13:14Z- handleDepth()-Depth_Keller msg: 1633882394557 epoch sec; seqNo:1511; depth 49.20 2021-10-10T16:13:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882394.57 epoch sec; seqNo:1511; 4061678.48 north; 594220.78 east 2021-10-10T16:13:14Z- LcmTrn::handleMessages() - handling 44 messages took 0.67 ms and 130 calls... 2021-10-10T16:13:14Z- waiting for 1633882392.33, time is 1633882394.57 2021-10-10T16:13:14Z- LcmTrn::updateTrn() >>>> pose time 1633882394.57, meas time 1633882394.16 <<<< 2021-10-10T16:13:14Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882394.16, ping # 0. 2021-10-10T16:13:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882394.16 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:14Z- TerrainNav::motionUpdate() - currEstimate = (4061678, 594220.78, 49.20) 2021-10-10T16:13:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:14Z- TerrainNav:: SubcloudNIS is 1.27, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:13:14Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:13:14Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:13:14Z- TNavBF::Projecting Measurements 2021-10-10T16:13:14Z- TNavFilter::Measurement from time = 1633882394.16 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:13:14Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:13:14Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:13:14Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:13:14Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:13:14Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:13:14Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:13:14Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:13:14Z- Filter 0 NorthBias: -46.9 EastBias: -8.4 DepthBias: -23.9 NorthVariance: 149.3 EastVariance: 768.1 DepthVariance: 1.5 this->DepthBiasCov: 1.2 2021-10-10T16:13:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:13:14Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:14Z- variances([0], [2], and psi_berg) = 149.268177 776.467848 0.000000 2021-10-10T16:13:14Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:13:14Z- LcmTrn::publishEstimates() - MLE : 4061620.25 594222.83 41.89 2021-10-10T16:13:14Z- LcmTrn::publishEstimates() - MMSE : 4061631.63 594212.23 25.29 2021-10-10T16:13:14Z- LcmTrn::publishEstimates() - COVAR: 149.27 776.47 1.56 0.00 2021-10-10T16:13:14Z- AHRS_M2 msg: 1633882394.96 epoch sec; seqNo:1499 2021-10-10T16:13:14Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 0.70 psi 2021-10-10T16:13:14Z- handleDepth()-Depth_Keller msg: 1633882394962 epoch sec; seqNo:1512; depth 49.20 2021-10-10T16:13:14Z- handleDvl() - RDI_Pathfinder msg: 1633882394.98 epoch sec; seqNo:676 2021-10-10T16:13:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.26 , 41.63 , 44.51 , 48.05 2021-10-10T16:13:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.16 , -0.02 2021-10-10T16:13:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882394.99 epoch sec; seqNo:1512; 4061678.48 north; 594220.78 east 2021-10-10T16:13:15Z- AHRS_M2 msg: 1633882395.36 epoch sec; seqNo:1500 2021-10-10T16:13:15Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 0.73 psi 2021-10-10T16:13:15Z- handleDepth()-Depth_Keller msg: 1633882395365 epoch sec; seqNo:1513; depth 49.22 2021-10-10T16:13:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:15Z- handleDvl() - RDI_Pathfinder msg: 1633882395.37 epoch sec; seqNo:677 2021-10-10T16:13:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.16 , -0.02 2021-10-10T16:13:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882395.39 epoch sec; seqNo:1513; 4061678.86 north; 594220.77 east 2021-10-10T16:13:15Z- AHRS_M2 msg: 1633882395.77 epoch sec; seqNo:1501 2021-10-10T16:13:15Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 0.76 psi 2021-10-10T16:13:15Z- handleDepth()-Depth_Keller msg: 1633882395769 epoch sec; seqNo:1514; depth 49.24 2021-10-10T16:13:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882395.78 epoch sec; seqNo:1514; 4061678.86 north; 594220.77 east 2021-10-10T16:13:16Z- AHRS_M2 msg: 1633882396.17 epoch sec; seqNo:1502 2021-10-10T16:13:16Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 0.79 psi 2021-10-10T16:13:16Z- handleDepth()-Depth_Keller msg: 1633882396184 epoch sec; seqNo:1515; depth 49.23 2021-10-10T16:13:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882396.19 epoch sec; seqNo:1515; 4061679.24 north; 594220.77 east 2021-10-10T16:13:16Z- AHRS_M2 msg: 1633882396.57 epoch sec; seqNo:1503 2021-10-10T16:13:16Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 0.82 psi 2021-10-10T16:13:16Z- handleDepth()-Depth_Keller msg: 1633882396578 epoch sec; seqNo:1516; depth 49.25 2021-10-10T16:13:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:16Z- handleDvl() - RDI_Pathfinder msg: 1633882396.58 epoch sec; seqNo:678 2021-10-10T16:13:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.16 , -0.02 2021-10-10T16:13:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882396.59 epoch sec; seqNo:1516; 4061679.62 north; 594220.77 east 2021-10-10T16:13:16Z- AHRS_M2 msg: 1633882396.98 epoch sec; seqNo:1504 2021-10-10T16:13:16Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 0.85 psi 2021-10-10T16:13:16Z- handleDepth()-Depth_Keller msg: 1633882396990 epoch sec; seqNo:1517; depth 49.25 2021-10-10T16:13:17Z- handleDvl() - RDI_Pathfinder msg: 1633882397.01 epoch sec; seqNo:679 2021-10-10T16:13:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.26 , 41.41 , 44.06 , 48.49 2021-10-10T16:13:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.13 , -0.01 2021-10-10T16:13:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882397.02 epoch sec; seqNo:1517; 4061679.62 north; 594220.77 east 2021-10-10T16:13:17Z- AHRS_M2 msg: 1633882397.38 epoch sec; seqNo:1505 2021-10-10T16:13:17Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 0.88 psi 2021-10-10T16:13:17Z- handleDepth()-Depth_Keller msg: 1633882397391 epoch sec; seqNo:1518; depth 49.27 2021-10-10T16:13:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882397.41 epoch sec; seqNo:1518; 4061680.00 north; 594220.76 east 2021-10-10T16:13:17Z- AHRS_M2 msg: 1633882397.78 epoch sec; seqNo:1506 2021-10-10T16:13:17Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 0.91 psi 2021-10-10T16:13:17Z- handleDepth()-Depth_Keller msg: 1633882397789 epoch sec; seqNo:1519; depth 49.28 2021-10-10T16:13:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:17Z- handleDvl() - RDI_Pathfinder msg: 1633882397.79 epoch sec; seqNo:680 2021-10-10T16:13:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.13 , -0.01 2021-10-10T16:13:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882397.80 epoch sec; seqNo:1519; 4061680.01 north; 594221.98 east 2021-10-10T16:13:18Z- AHRS_M2 msg: 1633882398.19 epoch sec; seqNo:1507 2021-10-10T16:13:18Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 0.94 psi 2021-10-10T16:13:18Z- handleDepth()-Depth_Keller msg: 1633882398194 epoch sec; seqNo:1520; depth 49.28 2021-10-10T16:13:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882398.20 epoch sec; seqNo:1520; 4061680.39 north; 594221.98 east 2021-10-10T16:13:18Z- AHRS_M2 msg: 1633882398.59 epoch sec; seqNo:1508 2021-10-10T16:13:18Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 0.96 psi 2021-10-10T16:13:18Z- handleDepth()-Depth_Keller msg: 1633882398597 epoch sec; seqNo:1521; depth 49.29 2021-10-10T16:13:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882398.61 epoch sec; seqNo:1521; 4061680.39 north; 594221.98 east 2021-10-10T16:13:19Z- AHRS_M2 msg: 1633882399.00 epoch sec; seqNo:1509 2021-10-10T16:13:19Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 0.99 psi 2021-10-10T16:13:19Z- handleDepth()-Depth_Keller msg: 1633882399004 epoch sec; seqNo:1522; depth 49.31 2021-10-10T16:13:19Z- handleDvl() - RDI_Pathfinder msg: 1633882399.02 epoch sec; seqNo:681 2021-10-10T16:13:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.59 , 41.63 , 43.84 , 48.94 2021-10-10T16:13:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , -0.11 , -0.03 2021-10-10T16:13:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882399.05 epoch sec; seqNo:1522; 4061680.77 north; 594221.97 east 2021-10-10T16:13:19Z- AHRS_M2 msg: 1633882399.40 epoch sec; seqNo:1510 2021-10-10T16:13:19Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 1.02 psi 2021-10-10T16:13:19Z- handleDepth()-Depth_Keller msg: 1633882399407 epoch sec; seqNo:1523; depth 49.31 2021-10-10T16:13:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882399.43 epoch sec; seqNo:1523; 4061680.77 north; 594221.97 east 2021-10-10T16:13:19Z- LcmTrn::handleMessages() - handling 42 messages took 0.65 ms and 129 calls... 2021-10-10T16:13:19Z- waiting for 1633882397.57, time is 1633882399.43 2021-10-10T16:13:19Z- LcmTrn::updateTrn() >>>> pose time 1633882399.43, meas time 1633882399.02 <<<< 2021-10-10T16:13:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882399.02 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:19Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594221.97, 49.31) 2021-10-10T16:13:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:19Z- TerrainNav:: SubcloudNIS is 1.27, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:13:19Z- TNavBF::Projecting Measurements 2021-10-10T16:13:19Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:13:19Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:13:19Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:13:19Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:13:19Z- TNavFilter::4 good beams. 2021-10-10T16:13:19Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:13:19Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:13:19Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:13:19Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:13:19Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:13:19Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:13:19Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:13:19Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:19Z- TerrainMapOctree: (vehN, vehE ) = (4061680.58, 594221.87). 2021-10-10T16:13:19Z- TerrainMapOctree: Min Distance = 74.90. 2021-10-10T16:13:19Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:13:19Z- Forcing Subcloud Comparison 2021-10-10T16:13:19Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:13:19Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:19Z- Filter 0 partialDeltaRmsComputation: 14.491922 terrainVariance: 0.075911 1-SumSquareWeights: 0.986997 2021-10-10T16:13:19Z- Filter 0 meanExpectedMeasDiff: 3.796842 delta_rms_squared: 0.066042 alpha: 0.767554 2021-10-10T16:13:19Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:19Z- Filter 0 partialDeltaRmsComputation: 7.166112 terrainVariance: 0.075541 1-SumSquareWeights: 0.986997 2021-10-10T16:13:19Z- Filter 0 meanExpectedMeasDiff: -2.662813 delta_rms_squared: 0.065671 alpha: 0.766550 2021-10-10T16:13:19Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:19Z- Filter 0 partialDeltaRmsComputation: 14.035824 terrainVariance: 0.206960 1-SumSquareWeights: 0.986997 2021-10-10T16:13:19Z- Filter 0 meanExpectedMeasDiff: 3.718718 delta_rms_squared: 0.197090 alpha: 0.907872 2021-10-10T16:13:19Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:19Z- Filter 0 partialDeltaRmsComputation: 12.722876 terrainVariance: 0.089880 1-SumSquareWeights: 0.986997 2021-10-10T16:13:19Z- Filter 0 meanExpectedMeasDiff: -3.554293 delta_rms_squared: 0.080010 alpha: 0.800020 2021-10-10T16:13:19Z- Filter 0 SubcloudNIS: 1.363080 2021-10-10T16:13:19Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:13:19Z- TNavBF:: Filter 0 sumWeights = 0.040273 2021-10-10T16:13:19Z- Filter 0 NorthBias: -49.3 EastBias: -23.7 DepthBias: -24.0 NorthVariance: 141.8 EastVariance: 1752.0 DepthVariance: 1.3 this->DepthBiasCov: 0.7 2021-10-10T16:13:19Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882399.02 sec. 2021-10-10T16:13:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:13:19Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:19Z- variances([0], [2], and psi_berg) = 141.822958 1752.264377 0.000000 2021-10-10T16:13:19Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:13:19Z- LcmTrn::publishEstimates() - MLE : 4061622.53 594224.03 42.00 2021-10-10T16:13:19Z- LcmTrn::publishEstimates() - MMSE : 4061631.45 594198.30 25.31 2021-10-10T16:13:19Z- LcmTrn::publishEstimates() - COVAR: 141.82 1752.26 1.34 0.00 2021-10-10T16:13:19Z- AHRS_M2 msg: 1633882399.80 epoch sec; seqNo:1511 2021-10-10T16:13:19Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 1.06 psi 2021-10-10T16:13:19Z- handleDepth()-Depth_Keller msg: 1633882399816 epoch sec; seqNo:1524; depth 49.33 2021-10-10T16:13:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882399.83 epoch sec; seqNo:1524; 4061681.15 north; 594221.97 east 2021-10-10T16:13:20Z- AHRS_M2 msg: 1633882400.21 epoch sec; seqNo:1512 2021-10-10T16:13:20Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.09 psi 2021-10-10T16:13:20Z- handleDepth()-Depth_Keller msg: 1633882400220 epoch sec; seqNo:1525; depth 49.34 2021-10-10T16:13:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:20Z- handleDvl() - RDI_Pathfinder msg: 1633882400.22 epoch sec; seqNo:682 2021-10-10T16:13:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , -0.11 , -0.03 2021-10-10T16:13:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882400.24 epoch sec; seqNo:1525; 4061681.16 north; 594223.19 east 2021-10-10T16:13:20Z- AHRS_M2 msg: 1633882400.61 epoch sec; seqNo:1513 2021-10-10T16:13:20Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.11 psi 2021-10-10T16:13:20Z- handleDepth()-Depth_Keller msg: 1633882400617 epoch sec; seqNo:1526; depth 49.36 2021-10-10T16:13:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882400.63 epoch sec; seqNo:1526; 4061681.54 north; 594223.19 east 2021-10-10T16:13:21Z- AHRS_M2 msg: 1633882401.02 epoch sec; seqNo:1514 2021-10-10T16:13:21Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.14 psi 2021-10-10T16:13:21Z- handleDepth()-Depth_Keller msg: 1633882401027 epoch sec; seqNo:1527; depth 49.36 2021-10-10T16:13:21Z- handleDvl() - RDI_Pathfinder msg: 1633882401.05 epoch sec; seqNo:683 2021-10-10T16:13:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.71 , 41.41 , 43.62 , 49.16 2021-10-10T16:13:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.11 , -0.07 2021-10-10T16:13:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882401.08 epoch sec; seqNo:1527; 4061681.54 north; 594223.19 east 2021-10-10T16:13:21Z- AHRS_M2 msg: 1633882401.43 epoch sec; seqNo:1515 2021-10-10T16:13:21Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.17 psi 2021-10-10T16:13:21Z- handleDepth()-Depth_Keller msg: 1633882401432 epoch sec; seqNo:1528; depth 49.39 2021-10-10T16:13:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:21Z- handleDvl() - RDI_Pathfinder msg: 1633882401.43 epoch sec; seqNo:684 2021-10-10T16:13:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.11 , -0.07 2021-10-10T16:13:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882401.45 epoch sec; seqNo:1528; 4061681.54 north; 594223.19 east 2021-10-10T16:13:21Z- AHRS_M2 msg: 1633882401.83 epoch sec; seqNo:1516 2021-10-10T16:13:21Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.20 psi 2021-10-10T16:13:21Z- handleDepth()-Depth_Keller msg: 1633882401832 epoch sec; seqNo:1529; depth 49.40 2021-10-10T16:13:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882401.85 epoch sec; seqNo:1529; 4061681.92 north; 594223.18 east 2021-10-10T16:13:22Z- AHRS_M2 msg: 1633882402.23 epoch sec; seqNo:1517 2021-10-10T16:13:22Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.23 psi 2021-10-10T16:13:22Z- handleDepth()-Depth_Keller msg: 1633882402240 epoch sec; seqNo:1530; depth 49.41 2021-10-10T16:13:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882402.25 epoch sec; seqNo:1530; 4061681.92 north; 594223.18 east 2021-10-10T16:13:22Z- AHRS_M2 msg: 1633882402.63 epoch sec; seqNo:1518 2021-10-10T16:13:22Z- AHRS_M2 msg: 0.15 phi; -0.08 theta; 1.26 psi 2021-10-10T16:13:22Z- handleDepth()-Depth_Keller msg: 1633882402638 epoch sec; seqNo:1531; depth 49.43 2021-10-10T16:13:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:22Z- handleDvl() - RDI_Pathfinder msg: 1633882402.64 epoch sec; seqNo:685 2021-10-10T16:13:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.11 , -0.07 2021-10-10T16:13:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882402.65 epoch sec; seqNo:1531; 4061681.93 north; 594224.40 east 2021-10-10T16:13:23Z- AHRS_M2 msg: 1633882403.04 epoch sec; seqNo:1519 2021-10-10T16:13:23Z- AHRS_M2 msg: 0.15 phi; -0.08 theta; 1.28 psi 2021-10-10T16:13:23Z- handleDepth()-Depth_Keller msg: 1633882403047 epoch sec; seqNo:1532; depth 49.46 2021-10-10T16:13:23Z- handleDvl() - RDI_Pathfinder msg: 1633882403.07 epoch sec; seqNo:686 2021-10-10T16:13:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.04 , 41.19 , 43.18 , 49.16 2021-10-10T16:13:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , -0.10 , -0.06 2021-10-10T16:13:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882403.09 epoch sec; seqNo:1532; 4061681.93 north; 594224.40 east 2021-10-10T16:13:23Z- AHRS_M2 msg: 1633882403.44 epoch sec; seqNo:1520 2021-10-10T16:13:23Z- AHRS_M2 msg: 0.15 phi; -0.08 theta; 1.31 psi 2021-10-10T16:13:23Z- handleDepth()-Depth_Keller msg: 1633882403452 epoch sec; seqNo:1533; depth 49.46 2021-10-10T16:13:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882403.48 epoch sec; seqNo:1533; 4061682.31 north; 594224.40 east 2021-10-10T16:13:23Z- AHRS_M2 msg: 1633882403.85 epoch sec; seqNo:1521 2021-10-10T16:13:23Z- AHRS_M2 msg: 0.15 phi; -0.08 theta; 1.34 psi 2021-10-10T16:13:23Z- handleDepth()-Depth_Keller msg: 1633882403853 epoch sec; seqNo:1534; depth 49.49 2021-10-10T16:13:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:23Z- handleDvl() - RDI_Pathfinder msg: 1633882403.86 epoch sec; seqNo:687 2021-10-10T16:13:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , -0.10 , -0.06 2021-10-10T16:13:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882403.87 epoch sec; seqNo:1534; 4061682.31 north; 594224.40 east 2021-10-10T16:13:24Z- AHRS_M2 msg: 1633882404.26 epoch sec; seqNo:1522 2021-10-10T16:13:24Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.39 psi 2021-10-10T16:13:24Z- handleDepth()-Depth_Keller msg: 1633882404261 epoch sec; seqNo:1535; depth 49.50 2021-10-10T16:13:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882404.27 epoch sec; seqNo:1535; 4061682.31 north; 594224.40 east 2021-10-10T16:13:24Z- AHRS_M2 msg: 1633882404.66 epoch sec; seqNo:1523 2021-10-10T16:13:24Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.42 psi 2021-10-10T16:13:24Z- handleDepth()-Depth_Keller msg: 1633882404663 epoch sec; seqNo:1536; depth 49.54 2021-10-10T16:13:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882404.67 epoch sec; seqNo:1536; 4061682.31 north; 594224.40 east 2021-10-10T16:13:25Z- LcmTrn::handleMessages() - handling 45 messages took 0.65 ms and 132 calls... 2021-10-10T16:13:25Z- waiting for 1633882402.43, time is 1633882404.67 2021-10-10T16:13:25Z- LcmTrn::updateTrn() >>>> pose time 1633882404.67, meas time 1633882403.86 <<<< 2021-10-10T16:13:25Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882403.86, ping # 0. 2021-10-10T16:13:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882403.86 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:25Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594224.40, 49.54) 2021-10-10T16:13:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:25Z- TerrainNav:: SubcloudNIS is 1.36, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:13:25Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:13:25Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:13:25Z- TNavBF::Projecting Measurements 2021-10-10T16:13:25Z- TNavFilter::Measurement from time = 1633882403.86 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:13:25Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:13:25Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:13:25Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:13:25Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:13:25Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:13:25Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:13:25Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:13:25Z- Filter 0 NorthBias: -49.3 EastBias: -23.7 DepthBias: -24.0 NorthVariance: 141.7 EastVariance: 1753.1 DepthVariance: 1.5 this->DepthBiasCov: 0.8 2021-10-10T16:13:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:13:25Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:25Z- variances([0], [2], and psi_berg) = 141.702816 1753.432882 0.000000 2021-10-10T16:13:25Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:13:25Z- LcmTrn::publishEstimates() - MLE : 4061624.08 594226.45 42.23 2021-10-10T16:13:25Z- LcmTrn::publishEstimates() - MMSE : 4061632.99 594200.68 25.53 2021-10-10T16:13:25Z- LcmTrn::publishEstimates() - COVAR: 141.70 1753.43 1.49 0.00 2021-10-10T16:13:25Z- AHRS_M2 msg: 1633882405.06 epoch sec; seqNo:1524 2021-10-10T16:13:25Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.45 psi 2021-10-10T16:13:25Z- handleDepth()-Depth_Keller msg: 1633882405064 epoch sec; seqNo:1537; depth 49.55 2021-10-10T16:13:25Z- handleDvl() - RDI_Pathfinder msg: 1633882405.09 epoch sec; seqNo:688 2021-10-10T16:13:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.04 , 41.41 , 42.96 , 49.38 2021-10-10T16:13:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , -0.07 , -0.00 2021-10-10T16:13:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882405.10 epoch sec; seqNo:1537; 4061682.33 north; 594225.62 east 2021-10-10T16:13:25Z- AHRS_M2 msg: 1633882405.46 epoch sec; seqNo:1525 2021-10-10T16:13:25Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.48 psi 2021-10-10T16:13:25Z- handleDepth()-Depth_Keller msg: 1633882405465 epoch sec; seqNo:1538; depth 49.60 2021-10-10T16:13:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882405.48 epoch sec; seqNo:1538; 4061682.71 north; 594225.61 east 2021-10-10T16:13:25Z- AHRS_M2 msg: 1633882405.87 epoch sec; seqNo:1526 2021-10-10T16:13:25Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.50 psi 2021-10-10T16:13:25Z- handleDepth()-Depth_Keller msg: 1633882405880 epoch sec; seqNo:1539; depth 49.62 2021-10-10T16:13:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882405.89 epoch sec; seqNo:1539; 4061682.71 north; 594225.61 east 2021-10-10T16:13:26Z- AHRS_M2 msg: 1633882406.27 epoch sec; seqNo:1527 2021-10-10T16:13:26Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.53 psi 2021-10-10T16:13:26Z- handleDepth()-Depth_Keller msg: 1633882406276 epoch sec; seqNo:1540; depth 49.63 2021-10-10T16:13:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:26Z- handleDvl() - RDI_Pathfinder msg: 1633882406.28 epoch sec; seqNo:689 2021-10-10T16:13:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , -0.07 , -0.00 2021-10-10T16:13:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882406.29 epoch sec; seqNo:1540; 4061682.71 north; 594225.61 east 2021-10-10T16:13:26Z- AHRS_M2 msg: 1633882406.67 epoch sec; seqNo:1528 2021-10-10T16:13:26Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.56 psi 2021-10-10T16:13:26Z- handleDepth()-Depth_Keller msg: 1633882406683 epoch sec; seqNo:1541; depth 49.66 2021-10-10T16:13:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882406.69 epoch sec; seqNo:1541; 4061682.71 north; 594225.61 east 2021-10-10T16:13:27Z- AHRS_M2 msg: 1633882407.08 epoch sec; seqNo:1529 2021-10-10T16:13:27Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.58 psi 2021-10-10T16:13:27Z- handleDepth()-Depth_Keller msg: 1633882407087 epoch sec; seqNo:1542; depth 49.69 2021-10-10T16:13:27Z- handleDvl() - RDI_Pathfinder msg: 1633882407.11 epoch sec; seqNo:690 2021-10-10T16:13:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.82 , 41.41 , 42.74 , 49.38 2021-10-10T16:13:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.01 , 0.04 2021-10-10T16:13:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882407.16 epoch sec; seqNo:1542; 4061682.71 north; 594225.61 east 2021-10-10T16:13:27Z- AHRS_M2 msg: 1633882407.48 epoch sec; seqNo:1530 2021-10-10T16:13:27Z- AHRS_M2 msg: 0.14 phi; -0.08 theta; 1.61 psi 2021-10-10T16:13:27Z- handleDepth()-Depth_Keller msg: 1633882407486 epoch sec; seqNo:1543; depth 49.72 2021-10-10T16:13:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:27Z- handleDvl() - RDI_Pathfinder msg: 1633882407.49 epoch sec; seqNo:691 2021-10-10T16:13:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.01 , 0.04 2021-10-10T16:13:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882407.51 epoch sec; seqNo:1543; 4061682.72 north; 594226.83 east 2021-10-10T16:13:27Z- AHRS_M2 msg: 1633882407.88 epoch sec; seqNo:1531 2021-10-10T16:13:27Z- AHRS_M2 msg: 0.14 phi; -0.07 theta; 1.64 psi 2021-10-10T16:13:27Z- handleDepth()-Depth_Keller msg: 1633882407892 epoch sec; seqNo:1544; depth 49.74 2021-10-10T16:13:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882407.90 epoch sec; seqNo:1544; 4061682.72 north; 594226.83 east 2021-10-10T16:13:28Z- AHRS_M2 msg: 1633882408.29 epoch sec; seqNo:1532 2021-10-10T16:13:28Z- AHRS_M2 msg: 0.14 phi; -0.07 theta; 1.67 psi 2021-10-10T16:13:28Z- handleDepth()-Depth_Keller msg: 1633882408299 epoch sec; seqNo:1545; depth 49.77 2021-10-10T16:13:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882408.31 epoch sec; seqNo:1545; 4061682.72 north; 594226.83 east 2021-10-10T16:13:28Z- AHRS_M2 msg: 1633882408.69 epoch sec; seqNo:1533 2021-10-10T16:13:28Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.70 psi 2021-10-10T16:13:28Z- handleDepth()-Depth_Keller msg: 1633882408702 epoch sec; seqNo:1546; depth 49.80 2021-10-10T16:13:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:28Z- handleDvl() - RDI_Pathfinder msg: 1633882408.70 epoch sec; seqNo:692 2021-10-10T16:13:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.01 , 0.04 2021-10-10T16:13:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882408.71 epoch sec; seqNo:1546; 4061682.72 north; 594226.83 east 2021-10-10T16:13:29Z- AHRS_M2 msg: 1633882409.10 epoch sec; seqNo:1534 2021-10-10T16:13:29Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.73 psi 2021-10-10T16:13:29Z- handleDepth()-Depth_Keller msg: 1633882409101 epoch sec; seqNo:1547; depth 49.82 2021-10-10T16:13:29Z- handleDvl() - RDI_Pathfinder msg: 1633882409.13 epoch sec; seqNo:693 2021-10-10T16:13:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.60 , 41.41 , 42.96 , 48.94 2021-10-10T16:13:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.01 , 0.02 2021-10-10T16:13:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882409.14 epoch sec; seqNo:1547; 4061682.72 north; 594226.83 east 2021-10-10T16:13:29Z- AHRS_M2 msg: 1633882409.50 epoch sec; seqNo:1535 2021-10-10T16:13:29Z- AHRS_M2 msg: 0.14 phi; -0.07 theta; 1.76 psi 2021-10-10T16:13:29Z- handleDepth()-Depth_Keller msg: 1633882409505 epoch sec; seqNo:1548; depth 49.85 2021-10-10T16:13:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882409.52 epoch sec; seqNo:1548; 4061682.73 north; 594228.05 east 2021-10-10T16:13:29Z- AHRS_M2 msg: 1633882409.90 epoch sec; seqNo:1536 2021-10-10T16:13:29Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.79 psi 2021-10-10T16:13:29Z- handleDepth()-Depth_Keller msg: 1633882409910 epoch sec; seqNo:1549; depth 49.87 2021-10-10T16:13:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:29Z- handleDvl() - RDI_Pathfinder msg: 1633882409.91 epoch sec; seqNo:694 2021-10-10T16:13:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.01 , 0.02 2021-10-10T16:13:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882409.92 epoch sec; seqNo:1549; 4061682.35 north; 594228.06 east 2021-10-10T16:13:30Z- LcmTrn::handleMessages() - handling 46 messages took 0.69 ms and 132 calls... 2021-10-10T16:13:30Z- waiting for 1633882407.67, time is 1633882409.92 2021-10-10T16:13:30Z- LcmTrn::updateTrn() equating pose 1633882409.92 and meas times 1633882409.92 2021-10-10T16:13:30Z- LcmTrn::updateTrn() >>>> pose time 1633882409.92, meas time 1633882409.92 <<<< 2021-10-10T16:13:30Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882409.92, ping # 0. 2021-10-10T16:13:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882409.92 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:30Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594228.06, 49.87) 2021-10-10T16:13:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:30Z- TerrainNav:: SubcloudNIS is 1.36, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:13:30Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:13:30Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:13:30Z- TerrainNav::Measurement type 1 not incorporated from time = 1633882409.92 sec.; No relevant navigation data available 2021-10-10T16:13:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:13:30Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:30Z- variances([0], [2], and psi_berg) = 141.603612 1754.578038 0.000000 2021-10-10T16:13:30Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:13:30Z- LcmTrn::publishEstimates() - MLE : 4061624.12 594230.11 42.56 2021-10-10T16:13:30Z- LcmTrn::publishEstimates() - MMSE : 4061633.03 594204.30 25.86 2021-10-10T16:13:30Z- LcmTrn::publishEstimates() - COVAR: 141.60 1754.58 1.67 0.00 2021-10-10T16:13:30Z- AHRS_M2 msg: 1633882410.31 epoch sec; seqNo:1537 2021-10-10T16:13:30Z- AHRS_M2 msg: 0.14 phi; -0.07 theta; 1.81 psi 2021-10-10T16:13:30Z- handleDepth()-Depth_Keller msg: 1633882410315 epoch sec; seqNo:1550; depth 49.90 2021-10-10T16:13:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882410.32 epoch sec; seqNo:1550; 4061682.35 north; 594228.06 east 2021-10-10T16:13:30Z- AHRS_M2 msg: 1633882410.71 epoch sec; seqNo:1538 2021-10-10T16:13:30Z- AHRS_M2 msg: 0.14 phi; -0.07 theta; 1.84 psi 2021-10-10T16:13:30Z- handleDepth()-Depth_Keller msg: 1633882410717 epoch sec; seqNo:1551; depth 49.92 2021-10-10T16:13:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882410.73 epoch sec; seqNo:1551; 4061682.35 north; 594228.06 east 2021-10-10T16:13:31Z- AHRS_M2 msg: 1633882411.12 epoch sec; seqNo:1539 2021-10-10T16:13:31Z- AHRS_M2 msg: 0.13 phi; -0.07 theta; 1.86 psi 2021-10-10T16:13:31Z- handleDepth()-Depth_Keller msg: 1633882411121 epoch sec; seqNo:1552; depth 49.94 2021-10-10T16:13:31Z- handleDvl() - RDI_Pathfinder msg: 1633882411.18 epoch sec; seqNo:695 2021-10-10T16:13:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.16 , 41.63 , 42.96 , 47.16 2021-10-10T16:13:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , 0.03 , -0.01 2021-10-10T16:13:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882411.20 epoch sec; seqNo:1552; 4061682.35 north; 594228.06 east 2021-10-10T16:13:31Z- AHRS_M2 msg: 1633882411.52 epoch sec; seqNo:1540 2021-10-10T16:13:31Z- AHRS_M2 msg: 0.12 phi; -0.07 theta; 1.89 psi 2021-10-10T16:13:31Z- handleDepth()-Depth_Keller msg: 1633882411525 epoch sec; seqNo:1553; depth 49.97 2021-10-10T16:13:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882411.54 epoch sec; seqNo:1553; 4061682.37 north; 594229.28 east 2021-10-10T16:13:31Z- AHRS_M2 msg: 1633882411.93 epoch sec; seqNo:1541 2021-10-10T16:13:31Z- AHRS_M2 msg: 0.11 phi; -0.07 theta; 1.91 psi 2021-10-10T16:13:31Z- handleDepth()-Depth_Keller msg: 1633882411933 epoch sec; seqNo:1554; depth 49.99 2021-10-10T16:13:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882411.94 epoch sec; seqNo:1554; 4061681.99 north; 594229.28 east 2021-10-10T16:13:32Z- AHRS_M2 msg: 1633882412.33 epoch sec; seqNo:1542 2021-10-10T16:13:32Z- AHRS_M2 msg: 0.10 phi; -0.07 theta; 1.93 psi 2021-10-10T16:13:32Z- handleDepth()-Depth_Keller msg: 1633882412345 epoch sec; seqNo:1555; depth 50.00 2021-10-10T16:13:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:32Z- handleDvl() - RDI_Pathfinder msg: 1633882412.35 epoch sec; seqNo:696 2021-10-10T16:13:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , 0.03 , -0.01 2021-10-10T16:13:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882412.36 epoch sec; seqNo:1555; 4061681.99 north; 594229.28 east 2021-10-10T16:13:32Z- AHRS_M2 msg: 1633882412.73 epoch sec; seqNo:1543 2021-10-10T16:13:32Z- AHRS_M2 msg: 0.08 phi; -0.07 theta; 1.95 psi 2021-10-10T16:13:32Z- handleDepth()-Depth_Keller msg: 1633882412741 epoch sec; seqNo:1556; depth 50.02 2021-10-10T16:13:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882412.76 epoch sec; seqNo:1556; 4061681.99 north; 594229.28 east 2021-10-10T16:13:33Z- AHRS_M2 msg: 1633882413.14 epoch sec; seqNo:1544 2021-10-10T16:13:33Z- AHRS_M2 msg: 0.08 phi; -0.07 theta; 1.97 psi 2021-10-10T16:13:33Z- handleDepth()-Depth_Keller msg: 1633882413142 epoch sec; seqNo:1557; depth 50.03 2021-10-10T16:13:33Z- handleDvl() - RDI_Pathfinder msg: 1633882413.16 epoch sec; seqNo:697 2021-10-10T16:13:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.62 , 42.10 , 42.51 , 46.81 2021-10-10T16:13:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.03 , -0.02 2021-10-10T16:13:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882413.17 epoch sec; seqNo:1557; 4061681.61 north; 594229.29 east 2021-10-10T16:13:33Z- AHRS_M2 msg: 1633882413.54 epoch sec; seqNo:1545 2021-10-10T16:13:33Z- AHRS_M2 msg: 0.07 phi; -0.07 theta; 1.99 psi 2021-10-10T16:13:33Z- handleDepth()-Depth_Keller msg: 1633882413545 epoch sec; seqNo:1558; depth 50.06 2021-10-10T16:13:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:33Z- handleDvl() - RDI_Pathfinder msg: 1633882413.55 epoch sec; seqNo:698 2021-10-10T16:13:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.03 , -0.02 2021-10-10T16:13:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882413.57 epoch sec; seqNo:1558; 4061681.62 north; 594230.51 east 2021-10-10T16:13:33Z- AHRS_M2 msg: 1633882413.94 epoch sec; seqNo:1546 2021-10-10T16:13:33Z- AHRS_M2 msg: 0.06 phi; -0.07 theta; 2.00 psi 2021-10-10T16:13:33Z- handleDepth()-Depth_Keller msg: 1633882413949 epoch sec; seqNo:1559; depth 50.07 2021-10-10T16:13:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882413.96 epoch sec; seqNo:1559; 4061681.62 north; 594230.51 east 2021-10-10T16:13:34Z- AHRS_M2 msg: 1633882414.35 epoch sec; seqNo:1547 2021-10-10T16:13:34Z- AHRS_M2 msg: 0.05 phi; -0.07 theta; 2.02 psi 2021-10-10T16:13:34Z- handleDepth()-Depth_Keller msg: 1633882414353 epoch sec; seqNo:1560; depth 50.08 2021-10-10T16:13:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882414.36 epoch sec; seqNo:1560; 4061681.62 north; 594230.51 east 2021-10-10T16:13:34Z- AHRS_M2 msg: 1633882414.75 epoch sec; seqNo:1548 2021-10-10T16:13:34Z- AHRS_M2 msg: 0.04 phi; -0.08 theta; 2.04 psi 2021-10-10T16:13:34Z- handleDepth()-Depth_Keller msg: 1633882414759 epoch sec; seqNo:1561; depth 50.09 2021-10-10T16:13:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:34Z- handleDvl() - RDI_Pathfinder msg: 1633882414.76 epoch sec; seqNo:699 2021-10-10T16:13:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.03 , -0.02 2021-10-10T16:13:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882414.77 epoch sec; seqNo:1561; 4061681.24 north; 594230.51 east 2021-10-10T16:13:35Z- LcmTrn::handleMessages() - handling 41 messages took 0.60 ms and 129 calls... 2021-10-10T16:13:35Z- waiting for 1633882412.92, time is 1633882414.77 2021-10-10T16:13:35Z- LcmTrn::updateTrn() equating pose 1633882414.77 and meas times 1633882414.77 2021-10-10T16:13:35Z- LcmTrn::updateTrn() >>>> pose time 1633882414.77, meas time 1633882414.77 <<<< 2021-10-10T16:13:35Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633882414.77, ping # 0. 2021-10-10T16:13:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882414.77 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:35Z- TerrainNav::motionUpdate() - currEstimate = (4061681, 594230.51, 50.09) 2021-10-10T16:13:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:35Z- TerrainNav:: SubcloudNIS is 1.36, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:13:35Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T16:13:35Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T16:13:35Z- TNavBF::Projecting Measurements 2021-10-10T16:13:35Z- TNavFilter::Measurement from time = 1633882414.77 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T16:13:35Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:13:35Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:13:35Z- TNavBF:: beamIndex[1] = 0 2021-10-10T16:13:35Z- TNavBF:: beamIndex[2] = 0 2021-10-10T16:13:35Z- TNavBF:: beamIndex[3] = 0 2021-10-10T16:13:35Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:13:35Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:13:35Z- Filter 0 NorthBias: -49.3 EastBias: -23.8 DepthBias: -24.0 NorthVariance: 141.5 EastVariance: 1755.7 DepthVariance: 1.8 this->DepthBiasCov: 1.1 2021-10-10T16:13:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:13:35Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:35Z- variances([0], [2], and psi_berg) = 141.522181 1755.682396 0.000000 2021-10-10T16:13:35Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:13:35Z- LcmTrn::publishEstimates() - MLE : 4061623.01 594232.56 42.78 2021-10-10T16:13:35Z- LcmTrn::publishEstimates() - MMSE : 4061631.92 594206.72 26.09 2021-10-10T16:13:35Z- LcmTrn::publishEstimates() - COVAR: 141.52 1755.68 1.81 0.00 2021-10-10T16:13:35Z- AHRS_M2 msg: 1633882415.16 epoch sec; seqNo:1549 2021-10-10T16:13:35Z- AHRS_M2 msg: 0.03 phi; -0.08 theta; 2.05 psi 2021-10-10T16:13:35Z- handleDepth()-Depth_Keller msg: 1633882415161 epoch sec; seqNo:1562; depth 50.12 2021-10-10T16:13:35Z- handleDvl() - RDI_Pathfinder msg: 1633882415.19 epoch sec; seqNo:700 2021-10-10T16:13:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.78 , 43.13 , 42.10 , 46.40 2021-10-10T16:13:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , 0.04 , -0.01 2021-10-10T16:13:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882415.20 epoch sec; seqNo:1562; 4061681.24 north; 594230.51 east 2021-10-10T16:13:35Z- AHRS_M2 msg: 1633882415.56 epoch sec; seqNo:1550 2021-10-10T16:13:35Z- AHRS_M2 msg: 0.02 phi; -0.08 theta; 2.07 psi 2021-10-10T16:13:35Z- handleDepth()-Depth_Keller msg: 1633882415565 epoch sec; seqNo:1563; depth 50.13 2021-10-10T16:13:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882415.58 epoch sec; seqNo:1563; 4061681.24 north; 594230.51 east 2021-10-10T16:13:35Z- AHRS_M2 msg: 1633882415.96 epoch sec; seqNo:1551 2021-10-10T16:13:35Z- AHRS_M2 msg: 0.02 phi; -0.08 theta; 2.08 psi 2021-10-10T16:13:35Z- handleDepth()-Depth_Keller msg: 1633882415969 epoch sec; seqNo:1564; depth 50.15 2021-10-10T16:13:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882415.98 epoch sec; seqNo:1564; 4061680.88 north; 594231.74 east 2021-10-10T16:13:36Z- AHRS_M2 msg: 1633882416.37 epoch sec; seqNo:1552 2021-10-10T16:13:36Z- AHRS_M2 msg: 0.01 phi; -0.08 theta; 2.09 psi 2021-10-10T16:13:36Z- handleDepth()-Depth_Keller msg: 1633882416374 epoch sec; seqNo:1565; depth 50.16 2021-10-10T16:13:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882416.38 epoch sec; seqNo:1565; 4061680.88 north; 594231.74 east 2021-10-10T16:13:36Z- AHRS_M2 msg: 1633882416.77 epoch sec; seqNo:1553 2021-10-10T16:13:36Z- AHRS_M2 msg: -0.00 phi; -0.08 theta; 2.10 psi 2021-10-10T16:13:36Z- handleDepth()-Depth_Keller msg: 1633882416777 epoch sec; seqNo:1566; depth 50.19 2021-10-10T16:13:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882416.79 epoch sec; seqNo:1566; 4061680.50 north; 594231.74 east 2021-10-10T16:13:37Z- AHRS_M2 msg: 1633882417.18 epoch sec; seqNo:1554 2021-10-10T16:13:37Z- AHRS_M2 msg: -0.01 phi; -0.08 theta; 2.12 psi 2021-10-10T16:13:37Z- handleDepth()-Depth_Keller msg: 1633882417187 epoch sec; seqNo:1567; depth 50.20 2021-10-10T16:13:37Z- handleDvl() - RDI_Pathfinder msg: 1633882417.21 epoch sec; seqNo:701 2021-10-10T16:13:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.35 , 43.94 , 41.70 , 46.19 2021-10-10T16:13:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , 0.08 , -0.01 2021-10-10T16:13:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882417.24 epoch sec; seqNo:1567; 4061680.50 north; 594231.74 east 2021-10-10T16:13:37Z- AHRS_M2 msg: 1633882417.58 epoch sec; seqNo:1555 2021-10-10T16:13:37Z- AHRS_M2 msg: -0.02 phi; -0.09 theta; 2.13 psi 2021-10-10T16:13:37Z- handleDepth()-Depth_Keller msg: 1633882417587 epoch sec; seqNo:1568; depth 50.22 2021-10-10T16:13:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882417.60 epoch sec; seqNo:1568; 4061680.50 north; 594231.74 east 2021-10-10T16:13:37Z- AHRS_M2 msg: 1633882417.98 epoch sec; seqNo:1556 2021-10-10T16:13:37Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 2.14 psi 2021-10-10T16:13:37Z- handleDepth()-Depth_Keller msg: 1633882417989 epoch sec; seqNo:1569; depth 50.24 2021-10-10T16:13:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882418.01 epoch sec; seqNo:1569; 4061680.12 north; 594231.74 east 2021-10-10T16:13:38Z- AHRS_M2 msg: 1633882418.39 epoch sec; seqNo:1557 2021-10-10T16:13:38Z- AHRS_M2 msg: -0.04 phi; -0.09 theta; 2.15 psi 2021-10-10T16:13:38Z- handleDepth()-Depth_Keller msg: 1633882418402 epoch sec; seqNo:1570; depth 50.25 2021-10-10T16:13:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882418.42 epoch sec; seqNo:1570; 4061680.13 north; 594232.97 east 2021-10-10T16:13:38Z- AHRS_M2 msg: 1633882418.79 epoch sec; seqNo:1558 2021-10-10T16:13:38Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 2.16 psi 2021-10-10T16:13:38Z- handleDepth()-Depth_Keller msg: 1633882418797 epoch sec; seqNo:1571; depth 50.27 2021-10-10T16:13:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882418.81 epoch sec; seqNo:1571; 4061679.76 north; 594232.97 east 2021-10-10T16:13:39Z- AHRS_M2 msg: 1633882419.20 epoch sec; seqNo:1559 2021-10-10T16:13:39Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 2.17 psi 2021-10-10T16:13:39Z- handleDepth()-Depth_Keller msg: 1633882419208 epoch sec; seqNo:1572; depth 50.30 2021-10-10T16:13:39Z- handleDvl() - RDI_Pathfinder msg: 1633882419.23 epoch sec; seqNo:702 2021-10-10T16:13:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.13 , 45.38 , 41.29 , 46.40 2021-10-10T16:13:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , 0.11 , -0.02 2021-10-10T16:13:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882419.24 epoch sec; seqNo:1572; 4061679.76 north; 594232.97 east 2021-10-10T16:13:39Z- AHRS_M2 msg: 1633882419.60 epoch sec; seqNo:1560 2021-10-10T16:13:39Z- AHRS_M2 msg: -0.06 phi; -0.09 theta; 2.18 psi 2021-10-10T16:13:39Z- handleDepth()-Depth_Keller msg: 1633882419605 epoch sec; seqNo:1573; depth 50.31 2021-10-10T16:13:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882419.63 epoch sec; seqNo:1573; 4061679.38 north; 594232.97 east 2021-10-10T16:13:40Z- AHRS_M2 msg: 1633882420.00 epoch sec; seqNo:1561 2021-10-10T16:13:40Z- AHRS_M2 msg: -0.06 phi; -0.10 theta; 2.19 psi 2021-10-10T16:13:40Z- handleDepth()-Depth_Keller msg: 1633882420009 epoch sec; seqNo:1574; depth 50.34 2021-10-10T16:13:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882420.02 epoch sec; seqNo:1574; 4061679.38 north; 594232.97 east 2021-10-10T16:13:40Z- LcmTrn::handleMessages() - handling 42 messages took 0.73 ms and 127 calls... 2021-10-10T16:13:40Z- waiting for 1633882417.77, time is 1633882420.02 2021-10-10T16:13:40Z- LcmTrn::updateTrn() >>>> pose time 1633882420.02, meas time 1633882419.23 <<<< 2021-10-10T16:13:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882419.23 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:40Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594232.97, 50.34) 2021-10-10T16:13:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:40Z- TerrainNav:: SubcloudNIS is 1.36, in allowable region under 1.40. Keep on Trucking. 2021-10-10T16:13:40Z- TNavBF::Projecting Measurements 2021-10-10T16:13:40Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T16:13:40Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T16:13:40Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T16:13:40Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T16:13:40Z- TNavFilter::4 good beams. 2021-10-10T16:13:40Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T16:13:40Z- TNavBF:: beamIndex[0] = 0 2021-10-10T16:13:40Z- TNavBF:: beamIndex[1] = 1 2021-10-10T16:13:40Z- TNavBF:: beamIndex[2] = 2 2021-10-10T16:13:40Z- TNavBF:: beamIndex[3] = 3 2021-10-10T16:13:40Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T16:13:40Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T16:13:40Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:40Z- TerrainMapOctree: (vehN, vehE ) = (4061679.66, 594232.60). 2021-10-10T16:13:40Z- TerrainMapOctree: Min Distance = 72.46. 2021-10-10T16:13:40Z- TerrainMapOctree: Using tile 4. 2021-10-10T16:13:40Z- Forcing Subcloud Comparison 2021-10-10T16:13:40Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T16:13:40Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:40Z- Filter 0 partialDeltaRmsComputation: 10.979198 terrainVariance: 0.308974 1-SumSquareWeights: 0.986006 2021-10-10T16:13:40Z- Filter 0 meanExpectedMeasDiff: 3.266531 delta_rms_squared: 0.299114 alpha: 0.937327 2021-10-10T16:13:40Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:40Z- Filter 0 partialDeltaRmsComputation: 9.941229 terrainVariance: 0.112764 1-SumSquareWeights: 0.986006 2021-10-10T16:13:40Z- Filter 0 meanExpectedMeasDiff: -3.135038 delta_rms_squared: 0.102904 alpha: 0.837271 2021-10-10T16:13:40Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:40Z- Filter 0 partialDeltaRmsComputation: 1.826696 terrainVariance: 0.102225 1-SumSquareWeights: 0.986006 2021-10-10T16:13:40Z- Filter 0 meanExpectedMeasDiff: -1.313191 delta_rms_squared: 0.092365 alpha: 0.822009 2021-10-10T16:13:40Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T16:13:40Z- Filter 0 partialDeltaRmsComputation: 1.911900 terrainVariance: 0.078065 1-SumSquareWeights: 0.986006 2021-10-10T16:13:40Z- Filter 0 meanExpectedMeasDiff: 1.354192 delta_rms_squared: 0.068205 alpha: 0.773256 2021-10-10T16:13:40Z- Filter 0 SubcloudNIS: 1.424209 2021-10-10T16:13:40Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T16:13:40Z- TNavBF:: Filter 0 sumWeights = 0.159890 2021-10-10T16:13:40Z- Filter 0 NorthBias: -48.8 EastBias: -48.3 DepthBias: -24.5 NorthVariance: 154.4 EastVariance: 2344.4 DepthVariance: 1.6 this->DepthBiasCov: 0.6 2021-10-10T16:13:40Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633882419.23 sec. 2021-10-10T16:13:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T16:13:40Z- TNavBF::mmse selected from filter -1 2021-10-10T16:13:40Z- variances([0], [2], and psi_berg) = 154.361714 2344.307782 0.000000 2021-10-10T16:13:40Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T16:13:40Z- LcmTrn::publishEstimates() - MLE : 4061622.14 594136.03 43.03 2021-10-10T16:13:40Z- LcmTrn::publishEstimates() - MMSE : 4061630.57 594184.82 25.89 2021-10-10T16:13:40Z- LcmTrn::publishEstimates() - COVAR: 154.36 2344.31 1.61 0.00 2021-10-10T16:13:40Z- AHRS_M2 msg: 1633882420.41 epoch sec; seqNo:1562 2021-10-10T16:13:40Z- AHRS_M2 msg: -0.07 phi; -0.10 theta; 2.20 psi 2021-10-10T16:13:40Z- handleDepth()-Depth_Keller msg: 1633882420416 epoch sec; seqNo:1575; depth 50.36 2021-10-10T16:13:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882420.43 epoch sec; seqNo:1575; 4061679.00 north; 594232.98 east 2021-10-10T16:13:40Z- handleDepth()-Depth_Keller msg: 1633882420915 epoch sec; seqNo:1576; depth 50.38 2021-10-10T16:13:40Z- handleDvl() - RDI_Pathfinder msg: 1633882420.94 epoch sec; seqNo:703 2021-10-10T16:13:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.51 , 46.40 , 41.29 , 46.40 2021-10-10T16:13:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , 0.13 , -0.00 2021-10-10T16:13:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882420.95 epoch sec; seqNo:1576; 4061679.01 north; 594234.20 east 2021-10-10T16:13:41Z- handleDepth()-Depth_Keller msg: 1633882421236 epoch sec; seqNo:1577; depth 50.42 2021-10-10T16:13:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882421.25 epoch sec; seqNo:1577; 4061678.63 north; 594234.20 east 2021-10-10T16:13:41Z- AHRS_M2 msg: 1633882421.63 epoch sec; seqNo:1563 2021-10-10T16:13:41Z- AHRS_M2 msg: -0.08 phi; -0.10 theta; 2.24 psi 2021-10-10T16:13:41Z- handleDepth()-Depth_Keller msg: 1633882421632 epoch sec; seqNo:1578; depth 50.44 2021-10-10T16:13:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882421.65 epoch sec; seqNo:1578; 4061678.63 north; 594234.20 east 2021-10-10T16:13:42Z- AHRS_M2 msg: 1633882422.03 epoch sec; seqNo:1564 2021-10-10T16:13:42Z- AHRS_M2 msg: -0.09 phi; -0.10 theta; 2.24 psi 2021-10-10T16:13:42Z- handleDepth()-Depth_Keller msg: 1633882422032 epoch sec; seqNo:1579; depth 50.46 2021-10-10T16:13:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:42Z- handleDvl() - RDI_Pathfinder msg: 1633882422.04 epoch sec; seqNo:704 2021-10-10T16:13:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , 0.13 , -0.00 2021-10-10T16:13:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882422.04 epoch sec; seqNo:1579; 4061678.25 north; 594234.21 east 2021-10-10T16:13:42Z- AHRS_M2 msg: 1633882422.43 epoch sec; seqNo:1565 2021-10-10T16:13:42Z- AHRS_M2 msg: -0.09 phi; -0.10 theta; 2.25 psi 2021-10-10T16:13:42Z- handleDepth()-Depth_Keller msg: 1633882422441 epoch sec; seqNo:1580; depth 50.49 2021-10-10T16:13:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882422.45 epoch sec; seqNo:1580; 4061678.25 north; 594234.21 east 2021-10-10T16:13:42Z- AHRS_M2 msg: 1633882422.86 epoch sec; seqNo:1566 2021-10-10T16:13:42Z- AHRS_M2 msg: -0.10 phi; -0.10 theta; 2.26 psi 2021-10-10T16:13:42Z- handleDepth()-Depth_Keller msg: 1633882422872 epoch sec; seqNo:1581; depth 50.52 2021-10-10T16:13:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882422.91 epoch sec; seqNo:1581; 4061677.87 north; 594234.21 east 2021-10-10T16:13:43Z- AHRS_M2 msg: 1633882423.24 epoch sec; seqNo:1567 2021-10-10T16:13:43Z- AHRS_M2 msg: -0.10 phi; -0.09 theta; 2.27 psi 2021-10-10T16:13:43Z- handleDepth()-Depth_Keller msg: 1633882423244 epoch sec; seqNo:1582; depth 50.54 2021-10-10T16:13:43Z- handleDvl() - RDI_Pathfinder msg: 1633882423.28 epoch sec; seqNo:705 2021-10-10T16:13:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.90 , 47.01 , 40.88 , 46.81 2021-10-10T16:13:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.14 , 0.01 2021-10-10T16:13:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882423.29 epoch sec; seqNo:1582; 4061677.50 north; 594234.21 east 2021-10-10T16:13:43Z- AHRS_M2 msg: 1633882423.64 epoch sec; seqNo:1568 2021-10-10T16:13:43Z- AHRS_M2 msg: -0.10 phi; -0.09 theta; 2.28 psi 2021-10-10T16:13:43Z- handleDepth()-Depth_Keller msg: 1633882423646 epoch sec; seqNo:1583; depth 50.57 2021-10-10T16:13:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882423.66 epoch sec; seqNo:1583; 4061677.51 north; 594235.43 east 2021-10-10T16:13:44Z- AHRS_M2 msg: 1633882424.05 epoch sec; seqNo:1569 2021-10-10T16:13:44Z- AHRS_M2 msg: -0.11 phi; -0.09 theta; 2.28 psi 2021-10-10T16:13:44Z- handleDepth()-Depth_Keller msg: 1633882424056 epoch sec; seqNo:1584; depth 50.59 2021-10-10T16:13:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882424.07 epoch sec; seqNo:1584; 4061677.13 north; 594235.44 east 2021-10-10T16:13:44Z- AHRS_M2 msg: 1633882424.45 epoch sec; seqNo:1570 2021-10-10T16:13:44Z- AHRS_M2 msg: -0.12 phi; -0.09 theta; 2.29 psi 2021-10-10T16:13:44Z- handleDepth()-Depth_Keller msg: 1633882424454 epoch sec; seqNo:1585; depth 50.64 2021-10-10T16:13:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T16:13:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T16:13:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T16:13:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T16:13:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T16:13:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T16:13:44Z- handleDvl() - RDI_Pathfinder msg: 1633882424.46 epoch sec; seqNo:706 2021-10-10T16:13:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T16:13:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.14 , 0.01 2021-10-10T16:13:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882424.47 epoch sec; seqNo:1585; 4061677.13 north; 594235.44 east 2021-10-10T16:13:44Z- AHRS_M2 msg: 1633882424.89 epoch sec; seqNo:1571 2021-10-10T16:13:44Z- AHRS_M2 msg: -0.12 phi; -0.09 theta; 2.29 psi 2021-10-10T16:13:44Z- handleDepth()-Depth_Keller msg: 1633882424898 epoch sec; seqNo:1586; depth 50.65 2021-10-10T16:13:44Z- handleDvl() - RDI_Pathfinder msg: 1633882424.92 epoch sec; seqNo:707 2021-10-10T16:13:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.29 , 47.62 , 41.29 , 46.60 2021-10-10T16:13:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.14 , 0.01 2021-10-10T16:13:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882424.95 epoch sec; seqNo:1586; 4061676.75 north; 594235.44 east 2021-10-10T16:13:45Z- AHRS_M2 msg: 1633882425.26 epoch sec; seqNo:1572 2021-10-10T16:13:45Z- AHRS_M2 msg: -0.13 phi; -0.09 theta; 2.30 psi 2021-10-10T16:13:45Z- handleDepth()-Depth_Keller msg: 1633882425267 epoch sec; seqNo:1587; depth 50.69 2021-10-10T16:13:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633882425.28 epoch sec; seqNo:1587; 4061676.37 north; 594235.45 east 2021-10-10T16:13:45Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T16:13:45Z- waiting for 1633882423.02, time is 1633882425.28 2021-10-10T16:13:45Z- LcmTrn::updateTrn() >>>> pose time 1633882425.28, meas time 1633882424.92 <<<< 2021-10-10T16:13:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633882424.92 sec, ping # 0; waiting for more recent INS data... 2021-10-10T16:13:45Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594235.45, 50.69) 2021-10-10T16:13:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T16:13:45Z- TerrainNav:: SubcloudNIS of 1.42 exceeds the maximum allowed of 1.40. Re-initializing the filter. 2021-10-10T16:13:45Z- reinitFilter: getDistribToSave == 0 2021-10-10T16:13:45Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T16:13:45Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T16:13:45Z- Sensor 0 is of type 1. 2021-10-10T16:13:45Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T16:13:45Z- Sensor 1 is of type 2. 2021-10-10T16:13:45Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T16:13:45Z- Sensor 2 is of type 5. 2021-10-10T16:13:45Z- Random noise maker initialized with 1633882425 2021-10-10T16:13:45Z- setDistribToSave(0) 2021-10-10T16:13:45Z- setDistribToSave set to 0 2021-10-10T16:13:45Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T16:13:45Z- Sensor #1: 2021-10-10T16:13:45Z- Sensor name: rdiDVL 2021-10-10T16:13:45Z- Sensor type: 1 2021-10-10T16:13:45Z- Number of beams per measurement: 4 2021-10-10T16:13:45Z- Sensor #1 to vehicle transformation information: 2021-10-10T16:13:45Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:13:45Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:13:45Z- 2021-10-10T16:13:45Z- Sensor #2: 2021-10-10T16:13:45Z- Sensor name: resonSeabat8101 2021-10-10T16:13:45Z- Sensor type: 2 2021-10-10T16:13:45Z- Number of beams per measurement: 11 2021-10-10T16:13:45Z- Sensor #2 to vehicle transformation information: 2021-10-10T16:13:45Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:13:45Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:13:45Z- 2021-10-10T16:13:45Z- Sensor #3: 2021-10-10T16:13:45Z- Sensor name: imagenexdeltat 2021-10-10T16:13:45Z- Sensor type: 5 2021-10-10T16:13:45Z- Number of beams per measurement: 120 2021-10-10T16:13:45Z- Sensor #3 to vehicle transformation information: 2021-10-10T16:13:45Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T16:13:45Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T16:13:45Z- 2021-10-10T16:13:45Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T16:13:45Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T16:13:45Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T16:13:45Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T16:13:45Z- TNavBF::numFilters: 1