Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationSer: Initializing worksiteServer ver Sup: WorkSite::WorkSite -- Adding attributes er: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard//config/dorado389/workSite.cfg visor::createTask() - dropWeight S: Using default vehicle config file "/home/dorado1/auv/altex/onboard//config/dorado389/vehicle.cfg" upervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer Supervisor::createTask() - layeredControlServer Sup: WorkSite::WorkSite -- Finished loading parameters e: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 r: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 v: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 i: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 s: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 o: WorkSite server: 0x21c24 r::createTask() - dynamicControlServer Supervisor::createTask() - tailConeServer Supervisor::createTask() - crossbowServer Supervisor::createTask() - gpsServer Supervisor::createTa: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() s: DynamicControlServer - Got event 1 from TailCone : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 k() - : Preparing to fork : SerialDevice: done... parosciServer S: I'm the child...forking upervisor::createTask(: TailConeServer -- Maximum Elevator Actuator Excursion is 1421 Counts ) : TailConeServer:: -- Minimum Elevator Actuator Excursion is -1272 Counts - p: TailConeServer -- Maximum Rudder Actuator Excursion is 1242 Counts sa: TailConeServer -- Minimum Rudder Actuator Excursion is -1096 Counts 916: SerialDevice: done... Serve: SerialDevice: done... r Supervisor::cr: SerialDevice: done... eateTask() - seabirdServer : SerialDevice: done... Supervisor::cr: Gps: initializing eate: SerialDevice: done... Task(): Gps: done initializing... - : **** EventTriggers::add() - attaching proxy metr: SerialDevice: done... a: PSA916: constructing... b: PSA916: initializing... : SerialDevice: done... : PSA916: trying to write data... y: PSA916: debug mode on... te: SerialDevice: done... S: PSA916: confirming data stream... e: Crossbow.cc: Setting polled mode rv: GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,,2 e: SerialDevice: done... r : **** EventTriggers::add() - attaching proxy : Crossbow.cc: Setting polled mode Super: Crossbow.cc: In getSerialNumber() viso: Crossbow.cc: device->read succeeded r:: Crossbow.cc: I think the serial number is 17266 (4372) :cr: Crossbow.cc: Setting polled mode ea: PSA916: data is streaming... : **** EventTriggers::add() - attaching proxy te: Parosci::init() - mode set okay : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 T: seabirdDriver RUNNING... : GarminGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence? $PGRMO,GPGGA,1 ask() - lb: SerialDevice: done... lServer Supervisor:: Seabird.cc -- Loading CTD constants from /home/dorado1/auv/altex/onboard//config/dorado389/seabird.cfg :createTask() - s: SerialDevice: done... c: CTD.cc -- Calibration constants: T_a = 3.679997e-003 T_b = 6.026245e-004 T_c = 1.592950e-005 T_d = 2.062384e-006 T_f0 = 2798.583000 C_a = 2.805518e-004 C_b = 1.593498e+000 C_c = -10.937486 C_d = -8.484504e-005 C_m = 3.500 EPS = -9.570000e-008 hed: Seabird::Seabird() - create interface to depth sensor... ule: Seabird.cc -- constructing Log... r Supervisor:: CTDLog.cc -- beginning constructor... :cr: CTDLog.cc -- constructor succeeded ea: Seabird.cc -- constructor succeeded t: SerialDevice: done... eT: seabirdDriver -- constructor succeeded ask: Seabird:initializing Seabird... () : SerialDevice: done... : SerialDevice: done... -: SerialDevice: done... dvl : Schedule Server : Subscribing to Layered Control. : PeriodicTask::run() (MetraByte) - sampleInterval=1000, maxInterval=1000 : PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200 : The beacon Array is: : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : SerialDevice: done... : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : SerialDeviceDriver::initialize() : 7 : Starting DVL Initialization. : : 2 : 4 : 5 : SerialDevice: done... : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : 2 : 4 : 5 : 6 : 7 : : PS8000: Inactivate unused channels: $V, 2,00.0000,00.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,09.0000,00.0000,00.0000,00.0000,00.0000,00.0000,00.0000 : Navigation: Server for aux sensor "Velocimeter" not found : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : Lbl::readTaskIF - Got new ping time. Interval = 985110902.434093 : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111710.968704, dt = 0.000000,ping_time = 985110902.434093,yaw = 1.812885, pitch = 0.009396, speed = 1.480673, depth = 0.000000 : tof[1] = 0.625500, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = 0.000000, de = 0.000000 : lbl_goats: init_filter - PING ! at t=985110902.434093 : lbl_goats: init_filter - 0 calls since the last PING. : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active : Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run : -- it should : LayeredControl::execute() -- (t = 0.009999) Behavior depthEnvelope has changed to state Active : LayeredControl::execute() -- (t = 0.019999) Behavior missionTimer has changed to state Active : calling goats 2000:,time = 985111711.168691, dt = 0.199986,ping_time = 0.000000,yaw = 1.812597, pitch = 0.008053, speed = 1.480673, depth = 0.000000 : **** EventTriggers::add() - attaching proxy : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : *** Mission started *** : lbl_goats: dead_reckoning - dn = -0.070903, de = 0.287490 : Schedule Server -> Start : lbl_goats: init_filter - 1 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 808.884588 : calling goats 2000:,time = 985111711.368677, dt = 0.199986,ping_time = 985111711.318680,yaw = 1.813460, pitch = 0.008053, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.071151, de = 0.287429 : lbl_goats: init_filter - PING ! at t=985111711.318680 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111711.568663, dt = 0.199986,ping_time = 0.000000,yaw = 1.816816, pitch = 0.007958, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.072115, de = 0.287189 : lbl_goats: init_filter - 1 calls since the last PING. : **** EventTriggers::add() - attaching proxy : calling goats 2000:,time = 985111711.768650, dt = 0.199986,ping_time = 0.000000,yaw = 1.823239, pitch = 0.003931, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.073960, de = 0.286727 : lbl_goats: init_filter - 2 calls since the last PING. : TailConeServer::initElevator : Succeeded initializing elevator actuator, proceed : calling goats 2000:,time = 985111711.968636, dt = 0.199986,ping_time = 0.000000,yaw = 1.833306, pitch = -0.004218, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.076842, de = 0.285967 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111712.168622, dt = 0.199986,ping_time = 0.000000,yaw = 1.843373, pitch = -0.015532, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.079708, de = 0.285148 : lbl_goats: init_filter - 4 calls since the last PING. : Parosci.cc -- Initial pressure = 0.911487 : Parosci.cc -- Parosci initial pressure period = 30.461030 : calling goats 2000:,time = 985111712.368609, dt = 0.199986,ping_time = 0.000000,yaw = 1.850659, pitch = -0.030392, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.081756, de = 0.284462 : lbl_goats: init_filter - 5 calls since the last PING. : Parosci.cc -- Parosci initial temp period = 5.879851 : Parosci.cc -- Paroscientific configured. : PeriodicTask::run() (Parosci) - sampleInterval=200, maxInterval=200 : TailConeServer::initRudder : Succeeded initializing rudder actuator, proceed : calling goats 2000:,time = 985111712.568595, dt = 0.199986,ping_time = 0.000000,yaw = 1.854207, pitch = -0.043910, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.082723, de = 0.284027 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111712.768581, dt = 0.199986,ping_time = 0.000000,yaw = 1.854782, pitch = -0.052731, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.082851, de = 0.283859 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111712.968568, dt = 0.199986,ping_time = 0.000000,yaw = 1.853248, pitch = -0.054169, speed = 1.480673, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.082409, de = 0.283964 : lbl_goats: init_filter - 8 calls since the last PING. : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : calling goats 2000:,time = 985111713.168554, dt = 0.199986,ping_time = 0.000000,yaw = 1.851618, pitch = -0.047170, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.081975, de = 0.284198 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111713.368540, dt = 0.199986,ping_time = 0.000000,yaw = 1.852001, pitch = -0.032501, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.082132, de = 0.284333 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111713.568526, dt = 0.199986,ping_time = 0.000000,yaw = 1.854494, pitch = -0.012847, speed = 0.000000, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = 0.000000, de = 0.000000 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111713.768513, dt = 0.199986,ping_time = 0.000000,yaw = 1.857370, pitch = 0.006903, speed = 0.000000, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = 0.000000, de = 0.000000 : lbl_goats: init_filter - 12 calls since the last PING. : SerialDevice::confirm() - Timed Out : Seabird::initialize() - confirm() timed out; sleep a bit : calling goats 2000:,time = 985111713.968499, dt = 0.199986,ping_time = 0.000000,yaw = 1.858329, pitch = 0.019846, speed = 0.000000, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = 0.000000, de = 0.000000 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111714.168485, dt = 0.199986,ping_time = 0.000000,yaw = 1.854302, pitch = 0.023010, speed = 0.000000, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = 0.000000, de = 0.000000 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111714.368472, dt = 0.199986,ping_time = 0.000000,yaw = 1.847399, pitch = 0.017737, speed = 0.000000, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = 0.000000, de = 0.000000 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111714.568458, dt = 0.199986,ping_time = 0.000000,yaw = 1.837620, pitch = 0.010163, speed = 0.000000, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = 0.000000, de = 0.000000 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111714.768444, dt = 0.199986,ping_time = 0.000000,yaw = 1.826787, pitch = 0.003164, speed = 0.000000, depth = -0.949222 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = 0.000000, de = 0.000000 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111714.968430, dt = 0.199986,ping_time = 0.000000,yaw = 1.817679, pitch = -0.000671, speed = 0.246779, depth = -0.949222 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.012061, de = 0.047856 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111715.168417, dt = 0.199986,ping_time = 0.000000,yaw = 1.810967, pitch = -0.001438, speed = 0.246779, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.011739, de = 0.047936 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111715.368403, dt = 0.199986,ping_time = 0.000000,yaw = 1.806941, pitch = -0.000096, speed = 0.493558, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.023093, de = 0.095965 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111715.568389, dt = 0.199986,ping_time = 0.000000,yaw = 1.805599, pitch = 0.000767, speed = 0.493558, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.022964, de = 0.095996 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111715.768376, dt = 0.199986,ping_time = 0.000000,yaw = 1.805694, pitch = 0.000959, speed = 0.740337, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.034459, de = 0.143991 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111715.968362, dt = 0.199986,ping_time = 0.000000,yaw = 1.806461, pitch = 0.000192, speed = 0.740337, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.034570, de = 0.143965 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111716.168348, dt = 0.199986,ping_time = 0.000000,yaw = 1.807420, pitch = -0.000288, speed = 0.740337, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.034708, de = 0.143931 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111716.368334, dt = 0.199986,ping_time = 0.000000,yaw = 1.808858, pitch = -0.000767, speed = 1.007680, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.047523, de = 0.195839 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111716.568321, dt = 0.199986,ping_time = 0.000000,yaw = 1.811255, pitch = -0.003931, speed = 1.007680, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.047992, de = 0.195723 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111716.768307, dt = 0.199986,ping_time = 0.000000,yaw = 1.814515, pitch = -0.008437, speed = 1.192765, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.057560, de = 0.231479 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111716.968293, dt = 0.199986,ping_time = 0.000000,yaw = 1.818158, pitch = -0.014093, speed = 1.192765, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.058399, de = 0.231253 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111717.168280, dt = 0.199986,ping_time = 0.000000,yaw = 1.820267, pitch = -0.015915, speed = 1.275024, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.062946, de = 0.247063 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111717.368266, dt = 0.199986,ping_time = 0.000000,yaw = 1.819021, pitch = -0.011217, speed = 1.275024, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.062642, de = 0.247156 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111717.568252, dt = 0.199986,ping_time = 0.000000,yaw = 1.815474, pitch = 0.001534, speed = 1.316154, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.063761, de = 0.255373 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111717.768239, dt = 0.199986,ping_time = 0.000000,yaw = 1.811926, pitch = 0.016874, speed = 1.316154, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.062846, de = 0.255561 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111717.968225, dt = 0.199986,ping_time = 0.000000,yaw = 1.811926, pitch = 0.028283, speed = 1.295589, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.061848, de = 0.251503 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111718.168211, dt = 0.199986,ping_time = 0.000000,yaw = 1.815953, pitch = 0.030200, speed = 1.295589, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.062857, de = 0.251238 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111718.368198, dt = 0.199986,ping_time = 0.000000,yaw = 1.823335, pitch = 0.022339, speed = 1.316154, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.065751, de = 0.254800 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111718.568184, dt = 0.199986,ping_time = 0.000000,yaw = 1.832827, pitch = 0.008533, speed = 1.316154, depth = -0.186125 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.068181, de = 0.254219 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111718.768170, dt = 0.199986,ping_time = 0.000000,yaw = 1.845003, pitch = -0.004698, speed = 1.316154, depth = -0.186125 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.071273, de = 0.253376 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111718.968156, dt = 0.199986,ping_time = 0.000000,yaw = 1.859863, pitch = -0.015532, speed = 1.316154, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.075022, de = 0.252262 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111719.168143, dt = 0.199986,ping_time = 0.000000,yaw = 1.876162, pitch = -0.021284, speed = 1.316154, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.079115, de = 0.250979 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111719.368129, dt = 0.199986,ping_time = 0.000000,yaw = 1.891118, pitch = -0.020517, speed = 1.357284, depth = -0.949222 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.085450, de = 0.257577 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111719.568115, dt = 0.199986,ping_time = 0.000000,yaw = 1.901089, pitch = -0.013614, speed = 1.377849, depth = -0.949222 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.089358, de = 0.260633 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111719.768102, dt = 0.199986,ping_time = 0.000000,yaw = 1.905499, pitch = -0.002972, speed = 1.377849, depth = -0.949222 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.090515, de = 0.260259 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111719.968088, dt = 0.199986,ping_time = 0.000000,yaw = 1.904828, pitch = 0.009204, speed = 1.398414, depth = -0.949222 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.091685, de = 0.264195 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111720.168074, dt = 0.199986,ping_time = 0.000000,yaw = 1.902143, pitch = 0.018887, speed = 1.398414, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.090963, de = 0.264404 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111720.368061, dt = 0.199986,ping_time = 0.000000,yaw = 1.900514, pitch = 0.024352, speed = 1.398414, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.090521, de = 0.264521 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111720.568047, dt = 0.199986,ping_time = 0.000000,yaw = 1.901664, pitch = 0.025982, speed = 1.398414, depth = -0.428086 : tof[1] = 0.900300, tof[2] = 3.782500, tof[3] = 3.154100 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.090822, de = 0.264405 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111720.568047 : sr1=658.822019 sr2=2791.650021 sr3=2326.633957 sr4=0.000000 : init_filter: : i = 1 memo_dr[3][0] = 985111711.37; tt = 0.90 : memo_dr[3][0] + tt = 985111712.27 : memo_dr[3][0] = 985111711.37 : memo_dr[3][1] = 985111711.57 : memo_dr[3][2] = 985111711.77 : memo_dr[3][3] = 985111711.97 : memo_dr[3][4] = 985111712.17 : kk = 5 dnb[1]=-1.67033e-001 deb[1]=6.45201e-001 : init_filter: : i = 2 memo_dr[3][0] = 985111711.37; tt = 3.78 : memo_dr[3][0] + tt = 985111715.15 : memo_dr[3][0] = 985111711.37 : memo_dr[3][1] = 985111711.57 : memo_dr[3][2] = 985111711.77 : memo_dr[3][3] = 985111711.97 : memo_dr[3][4] = 985111712.17 : memo_dr[3][5] = 985111712.37 : memo_dr[3][6] = 985111712.57 : memo_dr[3][7] = 985111712.77 : memo_dr[3][8] = 985111712.97 : memo_dr[3][9] = 985111713.17 : memo_dr[3][10] = 985111713.37 : memo_dr[3][11] = 985111713.57 : memo_dr[3][12] = 985111713.77 : memo_dr[3][13] = 985111713.97 : memo_dr[3][14] = 985111714.17 : memo_dr[3][15] = 985111714.37 : memo_dr[3][16] = 985111714.57 : memo_dr[3][17] = 985111714.77 : memo_dr[3][18] = 985111714.97 : kk = 19 dnb[2]=-4.39322e-001 deb[2]=1.59052e+000 : init_filter: : i = 3 memo_dr[3][0] = 985111711.37; tt = 3.15 : memo_dr[3][0] + tt = 985111714.52 : memo_dr[3][0] = 985111711.37 : memo_dr[3][1] = 985111711.57 : memo_dr[3][2] = 985111711.77 : memo_dr[3][3] = 985111711.97 : memo_dr[3][4] = 985111712.17 : memo_dr[3][5] = 985111712.37 : memo_dr[3][6] = 985111712.57 : memo_dr[3][7] = 985111712.77 : memo_dr[3][8] = 985111712.97 : memo_dr[3][9] = 985111713.17 : memo_dr[3][10] = 985111713.37 : memo_dr[3][11] = 985111713.57 : memo_dr[3][12] = 985111713.77 : memo_dr[3][13] = 985111713.97 : memo_dr[3][14] = 985111714.17 : memo_dr[3][15] = 985111714.37 : kk = 16 dnb[3]=-4.33812e-001 deb[3]=1.56865e+000 : filter_init: residual = 682.544404 : ibad=2 : init_filter: No New Fix : calling goats 2000:,time = 985111721.168006, dt = 0.599959,ping_time = 0.000000,yaw = 1.929276, pitch = 0.016586, speed = 1.316154, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.277007, de = 0.739340 : lbl_goats: init_filter - 47 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111721.367992, dt = 0.199986,ping_time = 985111721.317995,yaw = 1.945191, pitch = 0.010163, speed = 1.316154, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.096254, de = 0.244967 : lbl_goats: init_filter - PING ! at t=985111721.317995 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111721.567978, dt = 0.199986,ping_time = 0.000000,yaw = 1.957846, pitch = 0.005369, speed = 1.316154, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.099350, de = 0.243739 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111721.767965, dt = 0.199986,ping_time = 0.000000,yaw = 1.973953, pitch = 0.000671, speed = 1.316154, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.103265, de = 0.242110 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111721.967951, dt = 0.199986,ping_time = 0.000000,yaw = 1.982773, pitch = -0.000959, speed = 1.357284, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.108690, de = 0.248727 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111722.167937, dt = 0.199986,ping_time = 0.000000,yaw = 1.986321, pitch = -0.002205, speed = 1.357284, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.109571, de = 0.248340 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111722.367924, dt = 0.199986,ping_time = 0.000000,yaw = 1.985649, pitch = -0.003356, speed = 1.357284, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.109404, de = 0.248412 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111722.567910, dt = 0.199986,ping_time = 0.000000,yaw = 1.983349, pitch = -0.002589, speed = 1.357284, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.108832, de = 0.248664 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111722.767896, dt = 0.199986,ping_time = 0.000000,yaw = 1.982773, pitch = 0.003451, speed = 1.357284, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.108689, de = 0.248726 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111722.967882, dt = 0.199986,ping_time = 0.000000,yaw = 1.988046, pitch = 0.013710, speed = 1.357284, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.109989, de = 0.248127 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111723.167869, dt = 0.199986,ping_time = 0.000000,yaw = 2.002236, pitch = 0.024160, speed = 1.357284, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.113477, de = 0.246493 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111723.367855, dt = 0.199986,ping_time = 0.000000,yaw = 2.023711, pitch = 0.033556, speed = 1.398414, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.122309, de = 0.251325 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111723.567841, dt = 0.199986,ping_time = 0.000000,yaw = 2.047967, pitch = 0.038158, speed = 1.398414, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.128347, de = 0.248244 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111723.767828, dt = 0.199986,ping_time = 0.000000,yaw = 2.072607, pitch = 0.036049, speed = 1.398414, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.134435, de = 0.245025 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111723.967814, dt = 0.199986,ping_time = 0.000000,yaw = 2.094658, pitch = 0.027516, speed = 1.398414, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.139843, de = 0.242067 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111724.167800, dt = 0.199986,ping_time = 0.000000,yaw = 2.114025, pitch = 0.017161, speed = 1.398414, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.144537, de = 0.239369 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111724.367786, dt = 0.199986,ping_time = 0.000000,yaw = 2.131569, pitch = 0.007191, speed = 1.377849, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.146546, de = 0.233343 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111724.567773, dt = 0.199986,ping_time = 0.000000,yaw = 2.147389, pitch = 0.002684, speed = 1.377849, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.150222, de = 0.231000 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111724.767759, dt = 0.199986,ping_time = 0.000000,yaw = 2.160619, pitch = 0.001726, speed = 1.377849, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.153265, de = 0.228993 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111724.967745, dt = 0.199986,ping_time = 0.000000,yaw = 2.170878, pitch = 0.003547, speed = 1.377849, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.155605, de = 0.227408 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111725.167732, dt = 0.199986,ping_time = 0.000000,yaw = 2.179027, pitch = 0.004890, speed = 1.377849, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.157452, de = 0.226131 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111725.367718, dt = 0.199986,ping_time = 0.000000,yaw = 2.189765, pitch = 0.005465, speed = 1.377849, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.159871, de = 0.224427 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111725.567704, dt = 0.199986,ping_time = 0.000000,yaw = 2.204434, pitch = 0.005081, speed = 1.377849, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.163146, de = 0.222058 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111725.767691, dt = 0.199986,ping_time = 0.000000,yaw = 2.223417, pitch = 0.005561, speed = 1.377849, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.167331, de = 0.218921 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111725.967677, dt = 0.199986,ping_time = 0.000000,yaw = 2.245851, pitch = 0.008053, speed = 1.377849, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.172197, de = 0.215108 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111726.167663, dt = 0.199986,ping_time = 0.000000,yaw = 2.266464, pitch = 0.011984, speed = 1.377849, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.176587, de = 0.211505 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111726.367650, dt = 0.199986,ping_time = 0.000000,yaw = 2.285830, pitch = 0.017641, speed = 1.377849, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.180635, de = 0.208028 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111726.567636, dt = 0.199986,ping_time = 0.000000,yaw = 2.301745, pitch = 0.023681, speed = 1.418979, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.189389, de = 0.211224 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111726.767622, dt = 0.199986,ping_time = 0.000000,yaw = 2.316606, pitch = 0.029529, speed = 1.418979, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.192477, de = 0.208354 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111726.967608, dt = 0.199986,ping_time = 0.000000,yaw = 2.332329, pitch = 0.032693, speed = 1.418979, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.195710, de = 0.205282 : SerialDevice::confirm() - Timed Out : lbl_goats: init_filter - 28 calls since the last PING. : Seabird::initialize() - confirm() timed out again, send multiple newlines : Seabird: first Ctrl-Z sent... : Seabird: sending configure commands... : calling goats 2000:,time = 985111727.167595, dt = 0.199986,ping_time = 0.000000,yaw = 2.347477, pitch = 0.032597, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.201679, de = 0.205226 : lbl_goats: init_filter - 29 calls since the last PING. : Seabird: setting scans... : calling goats 2000:,time = 985111727.367581, dt = 0.199986,ping_time = 0.000000,yaw = 2.362146, pitch = 0.028570, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.204693, de = 0.202270 : lbl_goats: init_filter - 30 calls since the last PING. : Seabird: setting pump freq... : calling goats 2000:,time = 985111727.567567, dt = 0.199986,ping_time = 0.000000,yaw = 2.375952, pitch = 0.024160, speed = 1.418979, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.204526, de = 0.196599 : lbl_goats: init_filter - 31 calls since the last PING. : Seabird: setting upcast... : Seabird: setting battery type... : calling goats 2000:,time = 985111727.767554, dt = 0.199986,ping_time = 0.000000,yaw = 2.391196, pitch = 0.019558, speed = 1.418979, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.207519, de = 0.193478 : lbl_goats: init_filter - 32 calls since the last PING. : Seabird: setting external voltages to 6... : calling goats 2000:,time = 985111727.967540, dt = 0.199986,ping_time = 0.000000,yaw = 2.412096, pitch = 0.015915, speed = 1.418979, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.211531, de = 0.189111 : lbl_goats: init_filter - 33 calls since the last PING. : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : calling goats 2000:,time = 985111728.167526, dt = 0.199986,ping_time = 0.000000,yaw = 2.438174, pitch = 0.010738, speed = 1.418979, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.216405, de = 0.183544 : lbl_goats: init_filter - 34 calls since the last PING. : Seabird::initialize() - confirming voltage... : calling goats 2000:,time = 985111728.367513, dt = 0.199986,ping_time = 0.000000,yaw = 2.467799, pitch = 0.004506, speed = 1.418979, depth = -0.186125 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.221758, de = 0.177062 : lbl_goats: init_filter - 35 calls since the last PING. : Seabird::initialize() - confirming voltage... : Seabird::initialize() - confirming voltage... : calling goats 2000:,time = 985111728.567499, dt = 0.199986,ping_time = 0.000000,yaw = 2.496082, pitch = -0.000671, speed = 1.418979, depth = -0.186125 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.226678, de = 0.170722 : lbl_goats: init_filter - 36 calls since the last PING. : Seabird::initialize() - confirming voltage... : calling goats 2000:,time = 985111728.767485, dt = 0.199986,ping_time = 0.000000,yaw = 2.523885, pitch = -0.004410, speed = 1.418979, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.231335, de = 0.164353 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111728.967472, dt = 0.199986,ping_time = 0.000000,yaw = 2.550250, pitch = -0.006519, speed = 1.398414, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.232170, de = 0.155902 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111729.167458, dt = 0.199986,ping_time = 0.000000,yaw = 2.574506, pitch = -0.008245, speed = 1.398414, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.235880, de = 0.150224 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111729.367444, dt = 0.199986,ping_time = 0.000000,yaw = 2.596653, pitch = -0.009492, speed = 1.398414, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.239146, de = 0.144962 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111729.567430, dt = 0.199986,ping_time = 0.000000,yaw = 2.615444, pitch = -0.009683, speed = 1.418979, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.245383, de = 0.142508 : lbl_goats: init_filter - 41 calls since the last PING. : Seabird::initialize() - disabling switch... : Seabird: sending DS command... : calling goats 2000:,time = 985111729.767417, dt = 0.199986,ping_time = 0.000000,yaw = 2.633277, pitch = -0.009204, speed = 1.418979, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.247887, de = 0.138110 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111729.967403, dt = 0.199986,ping_time = 0.000000,yaw = 2.650534, pitch = -0.006519, speed = 1.418979, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.250238, de = 0.133815 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111730.167389, dt = 0.199986,ping_time = 0.000000,yaw = 2.667312, pitch = -0.001822, speed = 1.418979, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.252453, de = 0.129600 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111730.367376, dt = 0.199986,ping_time = 0.000000,yaw = 2.683803, pitch = 0.005081, speed = 1.418979, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.254553, de = 0.125418 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111730.567362, dt = 0.199986,ping_time = 0.000000,yaw = 2.701347, pitch = 0.013806, speed = 1.418979, depth = -0.502535 : tof[1] = 0.822400, tof[2] = 0.000000, tof[3] = 3.157500 tof[4] = 1.997800 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.256693, de = 0.120923 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111730.567362 : sr1=601.175981 sr2=0.000000 sr3=2329.150021 sr4=1470.971994 : init_filter: : i = 1 memo_dr[3][0] = 985111721.37; tt = 0.82 : memo_dr[3][0] + tt = 985111722.19 : memo_dr[3][0] = 985111721.37 : memo_dr[3][1] = 985111721.57 : memo_dr[3][2] = 985111721.77 : memo_dr[3][3] = 985111721.97 : memo_dr[3][4] = 985111722.17 : kk = 5 dnb[1]=-2.09931e-001 deb[1]=5.03713e-001 : init_filter: : i = 3 memo_dr[3][0] = 985111721.37; tt = 3.16 : memo_dr[3][0] + tt = 985111724.53 : memo_dr[3][0] = 985111721.37 : memo_dr[3][1] = 985111721.57 : memo_dr[3][2] = 985111721.77 : memo_dr[3][3] = 985111721.97 : memo_dr[3][4] = 985111722.17 : memo_dr[3][5] = 985111722.37 : memo_dr[3][6] = 985111722.57 : memo_dr[3][7] = 985111722.77 : memo_dr[3][8] = 985111722.97 : memo_dr[3][9] = 985111723.17 : memo_dr[3][10] = 985111723.37 : memo_dr[3][11] = 985111723.57 : memo_dr[3][12] = 985111723.77 : memo_dr[3][13] = 985111723.97 : memo_dr[3][14] = 985111724.17 : memo_dr[3][15] = 985111724.37 : kk = 16 dnb[3]=-9.26277e-001 deb[3]=1.93917e+000 : init_filter: : i = 4 memo_dr[3][0] = 985111721.37; tt = 2.00 : memo_dr[3][0] + tt = 985111723.37 : memo_dr[3][0] = 985111721.37 : memo_dr[3][1] = 985111721.57 : memo_dr[3][2] = 985111721.77 : memo_dr[3][3] = 985111721.97 : memo_dr[3][4] = 985111722.17 : memo_dr[3][5] = 985111722.37 : memo_dr[3][6] = 985111722.57 : memo_dr[3][7] = 985111722.77 : memo_dr[3][8] = 985111722.97 : memo_dr[3][9] = 985111723.17 : kk = 10 dnb[4]=-5.33175e-001 deb[4]=1.23288e+000 : filter_init: residual = 213.621552 : ibad=4 : init_filter: No New Fix : calling goats 2000:,time = 985111730.967334, dt = 0.399973,ping_time = 0.000000,yaw = 2.743244, pitch = 0.025694, speed = 1.418979, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.522942, de = 0.220079 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111731.167321, dt = 0.199986,ping_time = 0.000000,yaw = 2.766446, pitch = 0.026174, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.267776, de = 0.105449 : lbl_goats: init_filter - 48 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : calling goats 2000:,time = 985111731.367307, dt = 0.199986,ping_time = 985111731.307311,yaw = 2.791277, pitch = 0.024256, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.270324, de = 0.098773 : lbl_goats: init_filter - PING ! at t=985111731.307311 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111731.567293, dt = 0.199986,ping_time = 0.000000,yaw = 2.814287, pitch = 0.024544, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.272523, de = 0.092526 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111731.767280, dt = 0.199986,ping_time = 0.000000,yaw = 2.832407, pitch = 0.026557, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.274141, de = 0.087569 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111731.967266, dt = 0.199986,ping_time = 0.000000,yaw = 2.849377, pitch = 0.028954, speed = 1.418979, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.271633, de = 0.081715 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111732.167252, dt = 0.199986,ping_time = 0.000000,yaw = 2.864908, pitch = 0.027324, speed = 1.418979, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.272881, de = 0.077490 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111732.367238, dt = 0.199986,ping_time = 0.000000,yaw = 2.883508, pitch = 0.017833, speed = 1.418979, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.274334, de = 0.072417 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111732.567225, dt = 0.199986,ping_time = 0.000000,yaw = 2.906038, pitch = 0.002013, speed = 1.460108, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283938, de = 0.068148 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111732.767211, dt = 0.199986,ping_time = 0.000000,yaw = 2.933170, pitch = -0.010450, speed = 1.460108, depth = 0.000000 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285667, de = 0.060417 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111732.967197, dt = 0.199986,ping_time = 0.000000,yaw = 2.962987, pitch = -0.015148, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287324, de = 0.051870 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111733.167184, dt = 0.199986,ping_time = 0.000000,yaw = 2.992804, pitch = -0.011984, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288755, de = 0.043283 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111733.367170, dt = 0.199986,ping_time = 0.000000,yaw = 3.020607, pitch = -0.005177, speed = 1.460108, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289863, de = 0.035241 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111733.567156, dt = 0.199986,ping_time = 0.000000,yaw = 3.045343, pitch = 0.001150, speed = 1.460108, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290650, de = 0.028062 : lbl_goats: init_filter - 11 calls since the last PING. : Seabird::initialize() - starting logging... : calling goats 2000:,time = 985111733.767143, dt = 0.199986,ping_time = 0.000000,yaw = 3.068256, pitch = 0.004123, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291214, de = 0.021395 : lbl_goats: init_filter - 12 calls since the last PING. : Ctd:initialize() - Logging Started... : Ctd:initialize() - ready! : **** EventTriggers::add() - attaching proxy : calling goats 2000:,time = 985111733.967129, dt = 0.199986,ping_time = 0.000000,yaw = 3.089924, pitch = 0.004410, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291609, de = 0.015081 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111734.167115, dt = 0.199986,ping_time = 0.000000,yaw = 3.108715, pitch = 0.006040, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291838, de = 0.009598 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111734.367102, dt = 0.199986,ping_time = 0.000000,yaw = 3.122809, pitch = 0.009683, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.300160, de = 0.005639 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111734.567088, dt = 0.199986,ping_time = 0.000000,yaw = 3.133642, pitch = 0.012943, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.300192, de = 0.002387 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111734.767074, dt = 0.199986,ping_time = 0.000000,yaw = 3.143230, pitch = 0.013710, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.300198, de = -0.000491 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111734.967060, dt = 0.199986,ping_time = 0.000000,yaw = 3.152146, pitch = 0.011025, speed = 1.398414, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279631, de = -0.002951 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111735.167047, dt = 0.199986,ping_time = 0.000000,yaw = 3.160487, pitch = 0.006040, speed = 1.398414, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279609, de = -0.005284 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111735.367033, dt = 0.199986,ping_time = 0.000000,yaw = 3.168540, pitch = 0.002493, speed = 1.418979, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283672, de = -0.007646 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111735.567019, dt = 0.199986,ping_time = 0.000000,yaw = 3.177553, pitch = 0.003547, speed = 1.418979, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283591, de = -0.010202 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111735.767006, dt = 0.199986,ping_time = 0.000000,yaw = 3.189441, pitch = 0.008533, speed = 1.418979, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283441, de = -0.013573 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111735.966992, dt = 0.199986,ping_time = 0.000000,yaw = 3.203822, pitch = 0.011313, speed = 1.418979, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283209, de = -0.017647 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111736.166978, dt = 0.199986,ping_time = 0.000000,yaw = 3.219449, pitch = 0.006615, speed = 1.480673, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295211, de = -0.023031 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111736.366965, dt = 0.199986,ping_time = 0.000000,yaw = 3.234789, pitch = -0.005561, speed = 1.480673, depth = -0.015647 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294825, de = -0.027556 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111736.566951, dt = 0.199986,ping_time = 0.000000,yaw = 3.248883, pitch = -0.017928, speed = 1.460108, depth = -0.015647 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290276, de = -0.031264 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111736.766937, dt = 0.199986,ping_time = 0.000000,yaw = 3.259525, pitch = -0.024735, speed = 1.460108, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289885, de = -0.034346 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111736.966924, dt = 0.199986,ping_time = 0.000000,yaw = 3.265852, pitch = -0.029337, speed = 1.480673, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293705, de = -0.036685 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111737.166910, dt = 0.199986,ping_time = 0.000000,yaw = 3.268249, pitch = -0.031542, speed = 1.480673, depth = -0.201772 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293596, de = -0.037386 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111737.366896, dt = 0.199986,ping_time = 0.000000,yaw = 3.267386, pitch = -0.032309, speed = 1.480673, depth = -0.201772 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293621, de = -0.037132 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111737.566882, dt = 0.199986,ping_time = 0.000000,yaw = 3.264222, pitch = -0.033460, speed = 1.480673, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293726, de = -0.036201 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111737.766869, dt = 0.199986,ping_time = 0.000000,yaw = 3.260196, pitch = -0.032214, speed = 1.480673, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293881, de = -0.035020 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111737.966855, dt = 0.199986,ping_time = 0.000000,yaw = 3.257415, pitch = -0.027612, speed = 1.480673, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294018, de = -0.034207 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111738.166841, dt = 0.199986,ping_time = 0.000000,yaw = 3.255786, pitch = -0.020900, speed = 1.480673, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294122, de = -0.033733 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111738.366828, dt = 0.199986,ping_time = 0.000000,yaw = 3.254923, pitch = -0.013231, speed = 1.521803, depth = -0.201772 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302361, de = -0.034414 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111738.566814, dt = 0.199986,ping_time = 0.000000,yaw = 3.255306, pitch = -0.008437, speed = 1.521803, depth = -0.201772 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302364, de = -0.034532 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111738.766800, dt = 0.199986,ping_time = 0.000000,yaw = 3.258087, pitch = -0.009012, speed = 1.521803, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302265, de = -0.035372 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111738.966786, dt = 0.199986,ping_time = 0.000000,yaw = 3.264318, pitch = -0.014189, speed = 1.480673, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293857, de = -0.036246 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111739.166773, dt = 0.199986,ping_time = 0.000000,yaw = 3.272564, pitch = -0.023106, speed = 1.480673, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293500, de = -0.038661 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111739.366759, dt = 0.199986,ping_time = 0.000000,yaw = 3.281288, pitch = -0.035090, speed = 1.480673, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293049, de = -0.041206 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111739.566745, dt = 0.199986,ping_time = 0.000000,yaw = 3.288191, pitch = -0.046211, speed = 1.480673, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292625, de = -0.043208 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111739.766732, dt = 0.199986,ping_time = 0.000000,yaw = 3.291738, pitch = -0.053018, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304554, de = -0.046074 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111739.966718, dt = 0.199986,ping_time = 0.000000,yaw = 3.293943, pitch = -0.050909, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304485, de = -0.046751 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111740.166704, dt = 0.199986,ping_time = 0.000000,yaw = 3.296436, pitch = -0.038158, speed = 1.542368, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304540, de = -0.047537 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111740.366690, dt = 0.199986,ping_time = 0.000000,yaw = 3.299121, pitch = -0.019750, speed = 1.562933, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.308635, de = -0.049025 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111740.566677, dt = 0.199986,ping_time = 0.000000,yaw = 3.301422, pitch = 0.002205, speed = 1.562933, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.164200 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.308581, de = -0.049744 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111740.566677 : sr1=0.000000 sr2=0.000000 sr3=2334.108050 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111731.37; tt = 3.16 : memo_dr[3][0] + tt = 985111734.53 : memo_dr[3][0] = 985111731.37 : memo_dr[3][1] = 985111731.57 : memo_dr[3][2] = 985111731.77 : memo_dr[3][3] = 985111731.97 : memo_dr[3][4] = 985111732.17 : memo_dr[3][5] = 985111732.37 : memo_dr[3][6] = 985111732.57 : memo_dr[3][7] = 985111732.77 : memo_dr[3][8] = 985111732.97 : memo_dr[3][9] = 985111733.17 : memo_dr[3][10] = 985111733.37 : memo_dr[3][11] = 985111733.57 : memo_dr[3][12] = 985111733.77 : memo_dr[3][13] = 985111733.97 : memo_dr[3][14] = 985111734.17 : memo_dr[3][15] = 985111734.37 : kk = 16 dnb[3]=-2.24173e+000 deb[3]=4.24110e-001 : nb_nonzero_tofs = 1 => not enough returns : calling goats 2000:,time = 985111740.766663, dt = 0.199986,ping_time = 0.000000,yaw = 3.301422, pitch = 0.010258, speed = 1.562933, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.308565, de = -0.049742 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111740.966649, dt = 0.199986,ping_time = 0.000000,yaw = 3.300846, pitch = 0.015148, speed = 1.562933, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.308574, de = -0.049561 : lbl_goats: init_filter - 48 calls since the last PING. : calling goats 2000:,time = 985111741.166636, dt = 0.199986,ping_time = 0.000000,yaw = 3.299983, pitch = 0.015532, speed = 1.562933, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.308615, de = -0.049295 : lbl_goats: init_filter - 49 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111741.366622, dt = 0.199986,ping_time = 985111741.306626,yaw = 3.300175, pitch = 0.014956, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.308609, de = -0.049354 : lbl_goats: init_filter - PING ! at t=985111741.306626 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111741.566608, dt = 0.199986,ping_time = 0.000000,yaw = 3.302189, pitch = 0.013998, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.308513, de = -0.049976 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111741.766595, dt = 0.199986,ping_time = 0.000000,yaw = 3.305928, pitch = 0.012559, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292102, de = -0.048439 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111741.966581, dt = 0.199986,ping_time = 0.000000,yaw = 3.311488, pitch = 0.010258, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291836, de = -0.050064 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111742.166567, dt = 0.199986,ping_time = 0.000000,yaw = 3.316665, pitch = 0.007862, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291579, de = -0.051576 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111742.366554, dt = 0.199986,ping_time = 0.000000,yaw = 3.318966, pitch = 0.005561, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295512, de = -0.052973 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111742.566540, dt = 0.199986,ping_time = 0.000000,yaw = 3.316953, pitch = 0.000479, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299672, de = -0.053096 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111742.766526, dt = 0.199986,ping_time = 0.000000,yaw = 3.312639, pitch = -0.008149, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299889, de = -0.051801 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111742.966512, dt = 0.199986,ping_time = 0.000000,yaw = 3.310146, pitch = -0.018695, speed = 1.501238, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295921, de = -0.050356 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111743.166499, dt = 0.199986,ping_time = 0.000000,yaw = 3.312735, pitch = -0.027132, speed = 1.501238, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295732, de = -0.051112 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111743.366485, dt = 0.199986,ping_time = 0.000000,yaw = 3.320309, pitch = -0.031638, speed = 1.501238, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295297, de = -0.053343 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111743.566471, dt = 0.199986,ping_time = 0.000000,yaw = 3.328554, pitch = -0.030296, speed = 1.542368, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302938, de = -0.057307 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111743.766458, dt = 0.199986,ping_time = 0.000000,yaw = 3.334114, pitch = -0.027612, speed = 1.542368, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302638, de = -0.058995 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111743.966444, dt = 0.199986,ping_time = 0.000000,yaw = 3.335457, pitch = -0.025598, speed = 1.583498, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.310644, de = -0.060989 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111744.166430, dt = 0.199986,ping_time = 0.000000,yaw = 3.334210, pitch = -0.023873, speed = 1.583498, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.310733, de = -0.060604 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111744.366417, dt = 0.199986,ping_time = 0.000000,yaw = 3.332868, pitch = -0.024927, speed = 1.583498, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.310806, de = -0.060185 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111744.566403, dt = 0.199986,ping_time = 0.000000,yaw = 3.332485, pitch = -0.028187, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298693, de = -0.057721 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111744.766389, dt = 0.199986,ping_time = 0.000000,yaw = 3.334114, pitch = -0.033172, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294518, de = -0.057412 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111744.966376, dt = 0.199986,ping_time = 0.000000,yaw = 3.338525, pitch = -0.037774, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294214, de = -0.058701 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111745.166362, dt = 0.199986,ping_time = 0.000000,yaw = 3.344756, pitch = -0.039212, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297851, de = -0.061359 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111745.366348, dt = 0.199986,ping_time = 0.000000,yaw = 3.349167, pitch = -0.036624, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297607, de = -0.062678 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111745.566334, dt = 0.199986,ping_time = 0.000000,yaw = 3.348687, pitch = -0.030200, speed = 1.542368, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301724, de = -0.063394 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111745.766321, dt = 0.199986,ping_time = 0.000000,yaw = 3.343414, pitch = -0.023585, speed = 1.542368, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302108, de = -0.061813 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111745.966307, dt = 0.199986,ping_time = 0.000000,yaw = 3.337566, pitch = -0.016011, speed = 1.542368, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302510, de = -0.060055 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111746.166293, dt = 0.199986,ping_time = 0.000000,yaw = 3.333635, pitch = -0.010930, speed = 1.542368, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302764, de = -0.058869 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111746.366280, dt = 0.199986,ping_time = 0.000000,yaw = 3.331142, pitch = -0.010738, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302910, de = -0.058114 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111746.566266, dt = 0.199986,ping_time = 0.000000,yaw = 3.329417, pitch = -0.013902, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302998, de = -0.057589 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111746.766252, dt = 0.199986,ping_time = 0.000000,yaw = 3.328170, pitch = -0.021859, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290906, de = -0.054915 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111746.966238, dt = 0.199986,ping_time = 0.000000,yaw = 3.328362, pitch = -0.032981, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290807, de = -0.054954 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111747.166225, dt = 0.199986,ping_time = 0.000000,yaw = 3.330184, pitch = -0.041993, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294644, de = -0.056235 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111747.366211, dt = 0.199986,ping_time = 0.000000,yaw = 3.331909, pitch = -0.046978, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294481, de = -0.056731 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111747.566197, dt = 0.199986,ping_time = 0.000000,yaw = 3.332868, pitch = -0.046882, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294428, de = -0.057014 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111747.766184, dt = 0.199986,ping_time = 0.000000,yaw = 3.333156, pitch = -0.041801, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294478, de = -0.057111 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111747.966170, dt = 0.199986,ping_time = 0.000000,yaw = 3.333827, pitch = -0.030488, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294560, de = -0.057332 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111748.166156, dt = 0.199986,ping_time = 0.000000,yaw = 3.334019, pitch = -0.016970, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298680, de = -0.058194 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111748.366142, dt = 0.199986,ping_time = 0.000000,yaw = 3.331142, pitch = -0.004794, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298885, de = -0.057342 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111748.566129, dt = 0.199986,ping_time = 0.000000,yaw = 3.323856, pitch = 0.002013, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295254, de = -0.054418 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111748.766115, dt = 0.199986,ping_time = 0.000000,yaw = 3.314269, pitch = 0.004410, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295759, de = -0.051584 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111748.966101, dt = 0.199986,ping_time = 0.000000,yaw = 3.305448, pitch = 0.005273, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296201, de = -0.048973 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111749.166088, dt = 0.199986,ping_time = 0.000000,yaw = 3.299121, pitch = 0.004794, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292445, de = -0.046453 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111749.366074, dt = 0.199986,ping_time = 0.000000,yaw = 3.295286, pitch = 0.002493, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292623, de = -0.045332 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111749.566060, dt = 0.199986,ping_time = 0.000000,yaw = 3.295381, pitch = -0.001726, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292619, de = -0.045360 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111749.766047, dt = 0.199986,ping_time = 0.000000,yaw = 3.299121, pitch = -0.008053, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292438, de = -0.046452 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111749.966033, dt = 0.199986,ping_time = 0.000000,yaw = 3.303435, pitch = -0.016299, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292206, de = -0.047709 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111750.166019, dt = 0.199986,ping_time = 0.000000,yaw = 3.304394, pitch = -0.023777, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292116, de = -0.047981 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111750.366006, dt = 0.199986,ping_time = 0.000000,yaw = 3.299888, pitch = -0.028187, speed = 1.542368, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304475, de = -0.048603 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111750.565992, dt = 0.199986,ping_time = 0.000000,yaw = 3.291547, pitch = -0.026461, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.165400 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.304884, de = -0.046064 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111750.565992 : sr1=0.000000 sr2=0.000000 sr3=2334.996021 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111741.37; tt = 3.17 : memo_dr[3][0] + tt = 985111744.53 : memo_dr[3][0] = 985111741.37 : memo_dr[3][1] = 985111741.57 : memo_dr[3][2] = 985111741.77 : memo_dr[3][3] = 985111741.97 : memo_dr[3][4] = 985111742.17 : memo_dr[3][5] = 985111742.37 : memo_dr[3][6] = 985111742.57 : memo_dr[3][7] = 985111742.77 : memo_dr[3][8] = 985111742.97 : memo_dr[3][9] = 985111743.17 : memo_dr[3][10] = 985111743.37 : memo_dr[3][11] = 985111743.57 : memo_dr[3][12] = 985111743.77 : memo_dr[3][13] = 985111743.97 : memo_dr[3][14] = 985111744.17 : memo_dr[3][15] = 985111744.37 : kk = 16 dnb[3]=-2.37949e+000 deb[3]=-4.24912e-001 : init_filter: : i = 5 memo_dr[3][0] = 985111741.37; tt = 2.96 : memo_dr[3][0] + tt = 985111744.32 : memo_dr[3][0] = 985111741.37 : memo_dr[3][1] = 985111741.57 : memo_dr[3][2] = 985111741.77 : memo_dr[3][3] = 985111741.97 : memo_dr[3][4] = 985111742.17 : memo_dr[3][5] = 985111742.37 : memo_dr[3][6] = 985111742.57 : memo_dr[3][7] = 985111742.77 : memo_dr[3][8] = 985111742.97 : memo_dr[3][9] = 985111743.17 : memo_dr[3][10] = 985111743.37 : memo_dr[3][11] = 985111743.57 : memo_dr[3][12] = 985111743.77 : memo_dr[3][13] = 985111743.97 : memo_dr[3][14] = 985111744.17 : kk = 15 dnb[5]=-2.21756e+000 deb[5]=-3.93509e-001 : nb_nonzero_tofs = 2 => not enough returns : calling goats 2000:,time = 985111750.965964, dt = 0.399973,ping_time = 0.000000,yaw = 3.287520, pitch = -0.015915, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.610271, de = -0.089693 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111751.165951, dt = 0.199986,ping_time = 0.000000,yaw = 3.288670, pitch = -0.011601, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.305102, de = -0.045200 : lbl_goats: init_filter - 48 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111751.365937, dt = 0.199986,ping_time = 985111751.305941,yaw = 3.288862, pitch = -0.010642, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296960, de = -0.044052 : lbl_goats: init_filter - PING ! at t=985111751.305941 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111751.565923, dt = 0.199986,ping_time = 0.000000,yaw = 3.287328, pitch = -0.014189, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297015, de = -0.043595 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111751.765910, dt = 0.199986,ping_time = 0.000000,yaw = 3.283877, pitch = -0.020613, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293060, de = -0.041981 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111751.965896, dt = 0.199986,ping_time = 0.000000,yaw = 3.281096, pitch = -0.027516, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293127, de = -0.041160 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111752.165882, dt = 0.199986,ping_time = 0.000000,yaw = 3.278316, pitch = -0.032597, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297267, de = -0.040899 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111752.365869, dt = 0.199986,ping_time = 0.000000,yaw = 3.275536, pitch = -0.037103, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297333, de = -0.040066 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111752.565855, dt = 0.199986,ping_time = 0.000000,yaw = 3.274673, pitch = -0.039979, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293261, de = -0.039259 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111752.765841, dt = 0.199986,ping_time = 0.000000,yaw = 3.275823, pitch = -0.039021, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.305445, de = -0.041248 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111752.965828, dt = 0.199986,ping_time = 0.000000,yaw = 3.277261, pitch = -0.033364, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.305448, de = -0.041696 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111753.165814, dt = 0.199986,ping_time = 0.000000,yaw = 3.275919, pitch = -0.024352, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.305583, de = -0.041297 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111753.365800, dt = 0.199986,ping_time = 0.000000,yaw = 3.269687, pitch = -0.014765, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301813, de = -0.038874 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111753.565786, dt = 0.199986,ping_time = 0.000000,yaw = 3.260579, pitch = -0.007862, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302179, de = -0.036126 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111753.765773, dt = 0.199986,ping_time = 0.000000,yaw = 3.250513, pitch = -0.003547, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302534, de = -0.033083 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111753.965759, dt = 0.199986,ping_time = 0.000000,yaw = 3.242363, pitch = -0.002397, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302795, de = -0.030617 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111754.165745, dt = 0.199986,ping_time = 0.000000,yaw = 3.236036, pitch = -0.003643, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290699, de = -0.027536 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111754.365732, dt = 0.199986,ping_time = 0.000000,yaw = 3.229804, pitch = -0.007958, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290857, de = -0.025724 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111754.565718, dt = 0.199986,ping_time = 0.000000,yaw = 3.225298, pitch = -0.016011, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290942, de = -0.024410 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111754.765704, dt = 0.199986,ping_time = 0.000000,yaw = 3.223955, pitch = -0.028091, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299091, de = -0.024690 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111754.965690, dt = 0.199986,ping_time = 0.000000,yaw = 3.228270, pitch = -0.039979, speed = 1.501238, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298861, de = -0.025969 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111755.165677, dt = 0.199986,ping_time = 0.000000,yaw = 3.236994, pitch = -0.049087, speed = 1.501238, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298502, de = -0.028564 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111755.365663, dt = 0.199986,ping_time = 0.000000,yaw = 3.245815, pitch = -0.051964, speed = 1.501238, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298195, de = -0.031192 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111755.565649, dt = 0.199986,ping_time = 0.000000,yaw = 3.253197, pitch = -0.046978, speed = 1.501238, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298030, de = -0.033400 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111755.765636, dt = 0.199986,ping_time = 0.000000,yaw = 3.256265, pitch = -0.035665, speed = 1.460108, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289899, de = -0.033390 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111755.965622, dt = 0.199986,ping_time = 0.000000,yaw = 3.254539, pitch = -0.025023, speed = 1.460108, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290050, de = -0.032900 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111756.165608, dt = 0.199986,ping_time = 0.000000,yaw = 3.248787, pitch = -0.020421, speed = 1.460108, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290265, de = -0.031234 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111756.365594, dt = 0.199986,ping_time = 0.000000,yaw = 3.242076, pitch = -0.023010, speed = 1.460108, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290452, de = -0.029284 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111756.565581, dt = 0.199986,ping_time = 0.000000,yaw = 3.237282, pitch = -0.029146, speed = 1.460108, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290542, de = -0.027887 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111756.765567, dt = 0.199986,ping_time = 0.000000,yaw = 3.234214, pitch = -0.033556, speed = 1.460108, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290586, de = -0.026992 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111756.965553, dt = 0.199986,ping_time = 0.000000,yaw = 3.232680, pitch = -0.031447, speed = 1.480673, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294741, de = -0.026922 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111757.165540, dt = 0.199986,ping_time = 0.000000,yaw = 3.232488, pitch = -0.024735, speed = 1.480673, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294802, de = -0.026870 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111757.365526, dt = 0.199986,ping_time = 0.000000,yaw = 3.234693, pitch = -0.020421, speed = 1.460108, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290677, de = -0.027141 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111757.565512, dt = 0.199986,ping_time = 0.000000,yaw = 3.242076, pitch = -0.022626, speed = 1.460108, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290454, de = -0.029284 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111757.765499, dt = 0.199986,ping_time = 0.000000,yaw = 3.252909, pitch = -0.026557, speed = 1.521803, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302350, de = -0.033796 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111757.965485, dt = 0.199986,ping_time = 0.000000,yaw = 3.263455, pitch = -0.027612, speed = 1.521803, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301968, de = -0.036982 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111758.165471, dt = 0.199986,ping_time = 0.000000,yaw = 3.269400, pitch = -0.025886, speed = 1.521803, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301756, de = -0.038778 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111758.365458, dt = 0.199986,ping_time = 0.000000,yaw = 3.269304, pitch = -0.023777, speed = 1.521803, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301776, de = -0.038751 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111758.565444, dt = 0.199986,ping_time = 0.000000,yaw = 3.265373, pitch = -0.020996, speed = 1.521803, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301945, de = -0.037567 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111758.765430, dt = 0.199986,ping_time = 0.000000,yaw = 3.259908, pitch = -0.019558, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302154, de = -0.035917 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111758.965416, dt = 0.199986,ping_time = 0.000000,yaw = 3.254731, pitch = -0.019846, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298249, de = -0.033888 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111759.165403, dt = 0.199986,ping_time = 0.000000,yaw = 3.251088, pitch = -0.022434, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298354, de = -0.032800 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111759.365389, dt = 0.199986,ping_time = 0.000000,yaw = 3.249074, pitch = -0.026653, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294301, de = -0.031754 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111759.565375, dt = 0.199986,ping_time = 0.000000,yaw = 3.249362, pitch = -0.031063, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.306515, de = -0.033161 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111759.765362, dt = 0.199986,ping_time = 0.000000,yaw = 3.253197, pitch = -0.033076, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.306366, de = -0.034334 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111759.965348, dt = 0.199986,ping_time = 0.000000,yaw = 3.262593, pitch = -0.029625, speed = 1.542368, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.306063, de = -0.037215 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111760.165334, dt = 0.199986,ping_time = 0.000000,yaw = 3.274864, pitch = -0.023681, speed = 1.501238, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297481, de = -0.039882 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111760.365321, dt = 0.199986,ping_time = 0.000000,yaw = 3.286561, pitch = -0.017449, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.305171, de = -0.044553 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111760.565307, dt = 0.199986,ping_time = 0.000000,yaw = 3.294135, pitch = -0.011888, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.159600 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.304849, de = -0.046867 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111760.565307 : sr1=0.000000 sr2=0.000000 sr3=2330.704014 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111751.37; tt = 3.16 : memo_dr[3][0] + tt = 985111754.53 : memo_dr[3][0] = 985111751.37 : memo_dr[3][1] = 985111751.57 : memo_dr[3][2] = 985111751.77 : memo_dr[3][3] = 985111751.97 : memo_dr[3][4] = 985111752.17 : memo_dr[3][5] = 985111752.37 : memo_dr[3][6] = 985111752.57 : memo_dr[3][7] = 985111752.77 : memo_dr[3][8] = 985111752.97 : memo_dr[3][9] = 985111753.17 : memo_dr[3][10] = 985111753.37 : memo_dr[3][11] = 985111753.57 : memo_dr[3][12] = 985111753.77 : memo_dr[3][13] = 985111753.97 : memo_dr[3][14] = 985111754.17 : memo_dr[3][15] = 985111754.37 : kk = 16 dnb[3]=-2.35847e+000 deb[3]=-3.01021e-001 : nb_nonzero_tofs = 1 => not enough returns : calling goats 2000:,time = 985111760.765293, dt = 0.199986,ping_time = 0.000000,yaw = 3.294998, pitch = -0.008629, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304819, de = -0.047131 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111760.965280, dt = 0.199986,ping_time = 0.000000,yaw = 3.294039, pitch = -0.005848, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304870, de = -0.046840 : lbl_goats: init_filter - 48 calls since the last PING. : calling goats 2000:,time = 985111761.165266, dt = 0.199986,ping_time = 0.000000,yaw = 3.293080, pitch = -0.003547, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292721, de = -0.044686 : lbl_goats: init_filter - 49 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111761.365252, dt = 0.199986,ping_time = 985111761.305256,yaw = 3.294519, pitch = -0.004314, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292656, de = -0.045107 : lbl_goats: init_filter - PING ! at t=985111761.305256 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111761.565238, dt = 0.199986,ping_time = 0.000000,yaw = 3.297491, pitch = -0.011888, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292503, de = -0.045974 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111761.765225, dt = 0.199986,ping_time = 0.000000,yaw = 3.297491, pitch = -0.025407, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292429, de = -0.045962 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111761.965211, dt = 0.199986,ping_time = 0.000000,yaw = 3.292793, pitch = -0.041705, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292481, de = -0.044563 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111762.165197, dt = 0.199986,ping_time = 0.000000,yaw = 3.286945, pitch = -0.055032, speed = 1.542368, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304738, de = -0.044609 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111762.365184, dt = 0.199986,ping_time = 0.000000,yaw = 3.284931, pitch = -0.061839, speed = 1.542368, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304706, de = -0.043978 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111762.565170, dt = 0.199986,ping_time = 0.000000,yaw = 3.290684, pitch = -0.060400, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304474, de = -0.045734 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111762.765156, dt = 0.199986,ping_time = 0.000000,yaw = 3.302380, pitch = -0.052251, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304058, de = -0.049315 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111762.965142, dt = 0.199986,ping_time = 0.000000,yaw = 3.317432, pitch = -0.039308, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299415, de = -0.053199 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111763.165129, dt = 0.199986,ping_time = 0.000000,yaw = 3.332005, pitch = -0.024735, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302785, de = -0.058361 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111763.365115, dt = 0.199986,ping_time = 0.000000,yaw = 3.343702, pitch = -0.009875, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294102, de = -0.060263 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111763.565101, dt = 0.199986,ping_time = 0.000000,yaw = 3.352331, pitch = 0.002397, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293584, de = -0.062802 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111763.765088, dt = 0.199986,ping_time = 0.000000,yaw = 3.359233, pitch = 0.012847, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293120, de = -0.064822 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111763.965074, dt = 0.199986,ping_time = 0.000000,yaw = 3.365657, pitch = 0.019846, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288655, de = -0.065782 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111764.165060, dt = 0.199986,ping_time = 0.000000,yaw = 3.369013, pitch = 0.021476, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288423, de = -0.066748 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111764.365046, dt = 0.199986,ping_time = 0.000000,yaw = 3.365657, pitch = 0.018024, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284656, de = -0.064871 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111764.565033, dt = 0.199986,ping_time = 0.000000,yaw = 3.354248, pitch = 0.011409, speed = 1.460108, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285406, de = -0.061625 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111764.765019, dt = 0.199986,ping_time = 0.000000,yaw = 3.337854, pitch = 0.001342, speed = 1.460108, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286396, de = -0.056941 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111764.965005, dt = 0.199986,ping_time = 0.000000,yaw = 3.323760, pitch = -0.011888, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287150, de = -0.052896 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111765.164992, dt = 0.199986,ping_time = 0.000000,yaw = 3.314364, pitch = -0.028475, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299687, de = -0.052299 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111765.364978, dt = 0.199986,ping_time = 0.000000,yaw = 3.309667, pitch = -0.046307, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299730, de = -0.050857 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111765.564964, dt = 0.199986,ping_time = 0.000000,yaw = 3.307462, pitch = -0.060976, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299605, de = -0.050156 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111765.764951, dt = 0.199986,ping_time = 0.000000,yaw = 3.304969, pitch = -0.069509, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299562, de = -0.049381 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111765.964937, dt = 0.199986,ping_time = 0.000000,yaw = 3.304298, pitch = -0.069892, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295539, de = -0.048514 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111766.164923, dt = 0.199986,ping_time = 0.000000,yaw = 3.306599, pitch = -0.062222, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295576, de = -0.049219 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111766.364910, dt = 0.199986,ping_time = 0.000000,yaw = 3.311872, pitch = -0.048608, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303632, de = -0.052208 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111766.564896, dt = 0.199986,ping_time = 0.000000,yaw = 3.317337, pitch = -0.033076, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303535, de = -0.053901 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111766.764882, dt = 0.199986,ping_time = 0.000000,yaw = 3.321172, pitch = -0.018216, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303442, de = -0.055085 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111766.964868, dt = 0.199986,ping_time = 0.000000,yaw = 3.324431, pitch = -0.004890, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303307, de = -0.056083 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111767.164855, dt = 0.199986,ping_time = 0.000000,yaw = 3.327787, pitch = 0.008149, speed = 1.542368, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303111, de = -0.057099 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111767.364841, dt = 0.199986,ping_time = 0.000000,yaw = 3.331238, pitch = 0.021380, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294777, de = -0.056583 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111767.564827, dt = 0.199986,ping_time = 0.000000,yaw = 3.333635, pitch = 0.028283, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290555, de = -0.056495 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111767.764814, dt = 0.199986,ping_time = 0.000000,yaw = 3.332485, pitch = 0.028187, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290620, de = -0.056161 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111767.964800, dt = 0.199986,ping_time = 0.000000,yaw = 3.326253, pitch = 0.019271, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291026, de = -0.054360 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111768.164786, dt = 0.199986,ping_time = 0.000000,yaw = 3.315898, pitch = 0.007766, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291619, de = -0.051352 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111768.364772, dt = 0.199986,ping_time = 0.000000,yaw = 3.301517, pitch = -0.003643, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292334, de = -0.047154 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111768.564759, dt = 0.199986,ping_time = 0.000000,yaw = 3.287616, pitch = -0.015436, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288860, de = -0.042483 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111768.764745, dt = 0.199986,ping_time = 0.000000,yaw = 3.276303, pitch = -0.030296, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289223, de = -0.039199 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111768.964732, dt = 0.199986,ping_time = 0.000000,yaw = 3.268824, pitch = -0.044773, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301577, de = -0.038579 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111769.164718, dt = 0.199986,ping_time = 0.000000,yaw = 3.265469, pitch = -0.054360, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301562, de = -0.037549 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111769.364704, dt = 0.199986,ping_time = 0.000000,yaw = 3.267003, pitch = -0.061934, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301371, de = -0.037994 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111769.564690, dt = 0.199986,ping_time = 0.000000,yaw = 3.275152, pitch = -0.067783, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296870, de = -0.039887 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111769.764677, dt = 0.199986,ping_time = 0.000000,yaw = 3.290013, pitch = -0.073631, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292065, de = -0.043669 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111769.964663, dt = 0.199986,ping_time = 0.000000,yaw = 3.308420, pitch = -0.076220, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291155, de = -0.049028 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111770.164649, dt = 0.199986,ping_time = 0.000000,yaw = 3.327020, pitch = -0.074782, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290225, de = -0.054441 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111770.364636, dt = 0.199986,ping_time = 0.000000,yaw = 3.341305, pitch = -0.069221, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289534, de = -0.058605 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111770.564622, dt = 0.199986,ping_time = 0.000000,yaw = 3.352331, pitch = -0.057141, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.157300 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.289091, de = -0.061841 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111770.564622 : sr1=0.000000 sr2=0.000000 sr3=2329.001997 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111761.37; tt = 3.16 : memo_dr[3][0] + tt = 985111764.52 : memo_dr[3][0] = 985111761.37 : memo_dr[3][1] = 985111761.57 : memo_dr[3][2] = 985111761.77 : memo_dr[3][3] = 985111761.97 : memo_dr[3][4] = 985111762.17 : memo_dr[3][5] = 985111762.37 : memo_dr[3][6] = 985111762.57 : memo_dr[3][7] = 985111762.77 : memo_dr[3][8] = 985111762.97 : memo_dr[3][9] = 985111763.17 : memo_dr[3][10] = 985111763.37 : memo_dr[3][11] = 985111763.57 : memo_dr[3][12] = 985111763.77 : memo_dr[3][13] = 985111763.97 : memo_dr[3][14] = 985111764.17 : memo_dr[3][15] = 985111764.37 : kk = 16 dnb[3]=-2.33616e+000 deb[3]=-4.24154e-001 : init_filter: : i = 5 memo_dr[3][0] = 985111761.37; tt = 2.94 : memo_dr[3][0] + tt = 985111764.30 : memo_dr[3][0] = 985111761.37 : memo_dr[3][1] = 985111761.57 : memo_dr[3][2] = 985111761.77 : memo_dr[3][3] = 985111761.97 : memo_dr[3][4] = 985111762.17 : memo_dr[3][5] = 985111762.37 : memo_dr[3][6] = 985111762.57 : memo_dr[3][7] = 985111762.77 : memo_dr[3][8] = 985111762.97 : memo_dr[3][9] = 985111763.17 : memo_dr[3][10] = 985111763.37 : memo_dr[3][11] = 985111763.57 : memo_dr[3][12] = 985111763.77 : memo_dr[3][13] = 985111763.97 : memo_dr[3][14] = 985111764.17 : kk = 15 dnb[5]=-2.17792e+000 deb[5]=-3.87929e-001 : nb_nonzero_tofs = 2 => not enough returns : calling goats 2000:,time = 985111770.964594, dt = 0.399973,ping_time = 0.000000,yaw = 3.358658, pitch = -0.034706, speed = 1.583498, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.618121, de = -0.136321 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111771.164581, dt = 0.199986,ping_time = 0.000000,yaw = 3.360096, pitch = -0.025502, speed = 1.583498, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.309048, de = -0.068624 : lbl_goats: init_filter - 48 calls since the last PING. : LayeredControl::execute() -- (t = 60.215875) Behavior setpoint has changed to state Finished : LayeredControl::execute() -- (t = 60.215875) Behavior descend has changed to state Active : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111771.364567, dt = 0.199986,ping_time = 985111771.304571,yaw = 3.361247, pitch = -0.022147, speed = 1.583498, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.308993, de = -0.068985 : lbl_goats: init_filter - PING ! at t=985111771.304571 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111771.564553, dt = 0.199986,ping_time = 0.000000,yaw = 3.360863, pitch = -0.024735, speed = 1.562933, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304988, de = -0.067968 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111771.764540, dt = 0.199986,ping_time = 0.000000,yaw = 3.357987, pitch = -0.031830, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.305121, de = -0.067077 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111771.964526, dt = 0.199986,ping_time = 0.000000,yaw = 3.353864, pitch = -0.038445, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289254, de = -0.062340 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111772.164512, dt = 0.199986,ping_time = 0.000000,yaw = 3.349167, pitch = -0.042664, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289494, de = -0.060970 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111772.364498, dt = 0.199986,ping_time = 0.000000,yaw = 3.346386, pitch = -0.044869, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285612, de = -0.059323 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111772.564485, dt = 0.199986,ping_time = 0.000000,yaw = 3.348112, pitch = -0.045252, speed = 1.460108, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285504, de = -0.059815 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111772.764471, dt = 0.199986,ping_time = 0.000000,yaw = 3.354536, pitch = -0.044198, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297175, de = -0.064256 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111772.964457, dt = 0.199986,ping_time = 0.000000,yaw = 3.364890, pitch = -0.042089, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296521, de = -0.067335 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111773.164444, dt = 0.199986,ping_time = 0.000000,yaw = 3.378312, pitch = -0.039308, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291629, de = -0.070353 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111773.364430, dt = 0.199986,ping_time = 0.000000,yaw = 3.393173, pitch = -0.037295, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290574, de = -0.074685 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111773.564416, dt = 0.199986,ping_time = 0.000000,yaw = 3.406212, pitch = -0.034035, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293576, de = -0.079551 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111773.764403, dt = 0.199986,ping_time = 0.000000,yaw = 3.414648, pitch = -0.027995, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292950, de = -0.082041 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111773.964389, dt = 0.199986,ping_time = 0.000000,yaw = 3.419155, pitch = -0.019654, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292635, de = -0.083377 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111774.164375, dt = 0.199986,ping_time = 0.000000,yaw = 3.421264, pitch = -0.012655, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292491, de = -0.084003 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111774.364362, dt = 0.199986,ping_time = 0.000000,yaw = 3.421360, pitch = -0.009012, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292495, de = -0.084034 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111774.564348, dt = 0.199986,ping_time = 0.000000,yaw = 3.419250, pitch = -0.009971, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292669, de = -0.083417 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111774.764334, dt = 0.199986,ping_time = 0.000000,yaw = 3.413594, pitch = -0.014381, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293120, de = -0.081755 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111774.964320, dt = 0.199986,ping_time = 0.000000,yaw = 3.404582, pitch = -0.021859, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.281895, de = -0.075893 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111775.164307, dt = 0.199986,ping_time = 0.000000,yaw = 3.395761, pitch = -0.032597, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282470, de = -0.073382 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111775.364293, dt = 0.199986,ping_time = 0.000000,yaw = 3.389146, pitch = -0.047745, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290743, de = -0.073482 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111775.564279, dt = 0.199986,ping_time = 0.000000,yaw = 3.387420, pitch = -0.065002, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290586, de = -0.072909 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111775.764266, dt = 0.199986,ping_time = 0.000000,yaw = 3.389050, pitch = -0.077562, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290207, de = -0.073316 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111775.964252, dt = 0.199986,ping_time = 0.000000,yaw = 3.390872, pitch = -0.081013, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289993, de = -0.073825 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111776.164238, dt = 0.199986,ping_time = 0.000000,yaw = 3.392502, pitch = -0.073343, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290044, de = -0.074341 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111776.364224, dt = 0.199986,ping_time = 0.000000,yaw = 3.394419, pitch = -0.059058, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290176, de = -0.074968 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111776.564211, dt = 0.199986,ping_time = 0.000000,yaw = 3.396049, pitch = -0.042568, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294273, de = -0.076539 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111776.764197, dt = 0.199986,ping_time = 0.000000,yaw = 3.395282, pitch = -0.033460, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294434, de = -0.076339 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111776.964184, dt = 0.199986,ping_time = 0.000000,yaw = 3.388571, pitch = -0.032981, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294944, de = -0.074363 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111777.164170, dt = 0.199986,ping_time = 0.000000,yaw = 3.376395, pitch = -0.038925, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295765, de = -0.070751 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111777.364156, dt = 0.199986,ping_time = 0.000000,yaw = 3.362014, pitch = -0.048033, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296634, de = -0.066464 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111777.564142, dt = 0.199986,ping_time = 0.000000,yaw = 3.350221, pitch = -0.059442, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297215, de = -0.062923 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111777.764129, dt = 0.199986,ping_time = 0.000000,yaw = 3.346674, pitch = -0.071426, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285154, de = -0.059314 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111777.964115, dt = 0.199986,ping_time = 0.000000,yaw = 3.352139, pitch = -0.080726, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284623, de = -0.060828 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111778.164101, dt = 0.199986,ping_time = 0.000000,yaw = 3.363068, pitch = -0.082931, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291887, de = -0.065724 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111778.364088, dt = 0.199986,ping_time = 0.000000,yaw = 3.374573, pitch = -0.076987, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291251, de = -0.069111 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111778.564074, dt = 0.199986,ping_time = 0.000000,yaw = 3.383585, pitch = -0.065674, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294835, de = -0.072774 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111778.764060, dt = 0.199986,ping_time = 0.000000,yaw = 3.390201, pitch = -0.049854, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294617, de = -0.074791 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111778.964046, dt = 0.199986,ping_time = 0.000000,yaw = 3.392885, pitch = -0.030967, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294640, de = -0.075640 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111779.164033, dt = 0.199986,ping_time = 0.000000,yaw = 3.390680, pitch = -0.014765, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294915, de = -0.075018 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111779.364019, dt = 0.199986,ping_time = 0.000000,yaw = 3.380709, pitch = -0.002493, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295680, de = -0.072081 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111779.564005, dt = 0.199986,ping_time = 0.000000,yaw = 3.369971, pitch = -0.001342, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284420, de = -0.066109 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111779.763992, dt = 0.199986,ping_time = 0.000000,yaw = 3.359042, pitch = -0.009300, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285113, de = -0.062994 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111779.963978, dt = 0.199986,ping_time = 0.000000,yaw = 3.352522, pitch = -0.024064, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285447, de = -0.061118 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111780.163964, dt = 0.199986,ping_time = 0.000000,yaw = 3.351755, pitch = -0.042376, speed = 1.460108, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285320, de = -0.060862 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111780.363950, dt = 0.199986,ping_time = 0.000000,yaw = 3.356741, pitch = -0.057812, speed = 1.439543, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.280782, de = -0.061359 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111780.563937, dt = 0.199986,ping_time = 0.000000,yaw = 3.371505, pitch = -0.067495, speed = 1.439543, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.155400 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.279675, de = -0.065458 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111780.563937 : sr1=0.000000 sr2=0.000000 sr3=2327.596028 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111771.36; tt = 3.16 : memo_dr[3][0] + tt = 985111774.52 : memo_dr[3][0] = 985111771.36 : memo_dr[3][1] = 985111771.56 : memo_dr[3][2] = 985111771.76 : memo_dr[3][3] = 985111771.96 : memo_dr[3][4] = 985111772.16 : memo_dr[3][5] = 985111772.36 : memo_dr[3][6] = 985111772.56 : memo_dr[3][7] = 985111772.76 : memo_dr[3][8] = 985111772.96 : memo_dr[3][9] = 985111773.16 : memo_dr[3][10] = 985111773.36 : memo_dr[3][11] = 985111773.56 : memo_dr[3][12] = 985111773.76 : memo_dr[3][13] = 985111773.96 : memo_dr[3][14] = 985111774.16 : memo_dr[3][15] = 985111774.36 : kk = 16 dnb[3]=-2.32205e+000 deb[3]=-5.58732e-001 : init_filter: : i = 5 memo_dr[3][0] = 985111771.36; tt = 2.94 : memo_dr[3][0] + tt = 985111774.30 : memo_dr[3][0] = 985111771.36 : memo_dr[3][1] = 985111771.56 : memo_dr[3][2] = 985111771.76 : memo_dr[3][3] = 985111771.96 : memo_dr[3][4] = 985111772.16 : memo_dr[3][5] = 985111772.36 : memo_dr[3][6] = 985111772.56 : memo_dr[3][7] = 985111772.76 : memo_dr[3][8] = 985111772.96 : memo_dr[3][9] = 985111773.16 : memo_dr[3][10] = 985111773.36 : memo_dr[3][11] = 985111773.56 : memo_dr[3][12] = 985111773.76 : memo_dr[3][13] = 985111773.96 : memo_dr[3][14] = 985111774.16 : kk = 15 dnb[5]=-2.16395e+000 deb[5]=-5.13313e-001 : nb_nonzero_tofs = 2 => not enough returns : calling goats 2000:,time = 985111780.963909, dt = 0.399973,ping_time = 0.000000,yaw = 3.401514, pitch = -0.052635, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.555667, de = -0.147772 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111781.163896, dt = 0.199986,ping_time = 0.000000,yaw = 3.418579, pitch = -0.037199, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.276724, de = -0.078671 : lbl_goats: init_filter - 48 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111781.363882, dt = 0.199986,ping_time = 985111781.303886,yaw = 3.433919, pitch = -0.021476, speed = 1.562933, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299236, de = -0.090055 : lbl_goats: init_filter - PING ! at t=985111781.303886 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111781.563868, dt = 0.199986,ping_time = 0.000000,yaw = 3.446191, pitch = -0.010546, speed = 1.562933, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298160, de = -0.093736 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111781.763855, dt = 0.199986,ping_time = 0.000000,yaw = 3.454436, pitch = -0.005944, speed = 1.562933, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297389, de = -0.096195 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111781.963841, dt = 0.199986,ping_time = 0.000000,yaw = 3.459613, pitch = -0.009300, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.281254, de = -0.092587 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111782.163827, dt = 0.199986,ping_time = 0.000000,yaw = 3.463832, pitch = -0.014860, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.280842, de = -0.093766 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111782.363814, dt = 0.199986,ping_time = 0.000000,yaw = 3.468338, pitch = -0.023297, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284266, de = -0.096335 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111782.563800, dt = 0.199986,ping_time = 0.000000,yaw = 3.473611, pitch = -0.033364, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283673, de = -0.097805 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111782.763786, dt = 0.199986,ping_time = 0.000000,yaw = 3.477638, pitch = -0.042664, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283176, de = -0.098912 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111782.963772, dt = 0.199986,ping_time = 0.000000,yaw = 3.480801, pitch = -0.048800, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282782, de = -0.099779 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111783.163759, dt = 0.199986,ping_time = 0.000000,yaw = 3.485020, pitch = -0.047553, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282376, de = -0.100977 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111783.363745, dt = 0.199986,ping_time = 0.000000,yaw = 3.490293, pitch = -0.042568, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285765, de = -0.103892 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111783.563731, dt = 0.199986,ping_time = 0.000000,yaw = 3.495566, pitch = -0.038541, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285259, de = -0.105414 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111783.763718, dt = 0.199986,ping_time = 0.000000,yaw = 3.500456, pitch = -0.036432, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284763, de = -0.106816 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111783.963704, dt = 0.199986,ping_time = 0.000000,yaw = 3.506304, pitch = -0.037583, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.272603, de = -0.104077 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111784.163690, dt = 0.199986,ping_time = 0.000000,yaw = 3.515028, pitch = -0.042472, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.271631, de = -0.106431 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111784.363676, dt = 0.199986,ping_time = 0.000000,yaw = 3.526917, pitch = -0.051964, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.270226, de = -0.109603 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111784.563663, dt = 0.199986,ping_time = 0.000000,yaw = 3.537175, pitch = -0.062606, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.268923, de = -0.112301 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111784.763649, dt = 0.199986,ping_time = 0.000000,yaw = 3.542832, pitch = -0.074398, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.271842, de = -0.115330 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111784.963636, dt = 0.199986,ping_time = 0.000000,yaw = 3.541106, pitch = -0.082835, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279412, de = -0.117973 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111785.163622, dt = 0.199986,ping_time = 0.000000,yaw = 3.534395, pitch = -0.085519, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.280134, de = -0.116069 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111785.363608, dt = 0.199986,ping_time = 0.000000,yaw = 3.524999, pitch = -0.081493, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285108, de = -0.115003 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111785.563594, dt = 0.199986,ping_time = 0.000000,yaw = 3.517329, pitch = -0.072960, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286171, de = -0.112888 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111785.763581, dt = 0.199986,ping_time = 0.000000,yaw = 3.512152, pitch = -0.063085, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286944, de = -0.111480 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111785.963567, dt = 0.199986,ping_time = 0.000000,yaw = 3.510043, pitch = -0.053881, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287333, de = -0.110934 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111786.163553, dt = 0.199986,ping_time = 0.000000,yaw = 3.509276, pitch = -0.044677, speed = 1.542368, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287549, de = -0.110764 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111786.363540, dt = 0.199986,ping_time = 0.000000,yaw = 3.507167, pitch = -0.034227, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284062, de = -0.108733 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111786.563526, dt = 0.199986,ping_time = 0.000000,yaw = 3.504578, pitch = -0.027228, speed = 1.521803, depth = -0.818939 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284404, de = -0.108021 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111786.763512, dt = 0.199986,ping_time = 0.000000,yaw = 3.504099, pitch = -0.024640, speed = 1.521803, depth = -0.818939 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284475, de = -0.107892 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111786.963498, dt = 0.199986,ping_time = 0.000000,yaw = 3.505537, pitch = -0.027324, speed = 1.521803, depth = -0.818939 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284299, de = -0.108293 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111787.163485, dt = 0.199986,ping_time = 0.000000,yaw = 3.507071, pitch = -0.033652, speed = 1.521803, depth = -0.818939 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284078, de = -0.108708 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111787.363471, dt = 0.199986,ping_time = 0.000000,yaw = 3.504482, pitch = -0.043047, speed = 1.460108, depth = -0.818939 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.272732, de = -0.103558 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111787.563457, dt = 0.199986,ping_time = 0.000000,yaw = 3.496333, pitch = -0.056086, speed = 1.460108, depth = -0.818939 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.273390, de = -0.101266 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111787.763444, dt = 0.199986,ping_time = 0.000000,yaw = 3.484445, pitch = -0.068837, speed = 1.460108, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.274356, de = -0.097931 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111787.963430, dt = 0.199986,ping_time = 0.000000,yaw = 3.473131, pitch = -0.074398, speed = 1.562933, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294726, de = -0.101458 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111788.163416, dt = 0.199986,ping_time = 0.000000,yaw = 3.463065, pitch = -0.070084, speed = 1.562933, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295825, de = -0.098517 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111788.363402, dt = 0.199986,ping_time = 0.000000,yaw = 3.453190, pitch = -0.058291, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293100, de = -0.094404 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111788.563389, dt = 0.199986,ping_time = 0.000000,yaw = 3.443794, pitch = -0.045061, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294176, de = -0.091709 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111788.763375, dt = 0.199986,ping_time = 0.000000,yaw = 3.437562, pitch = -0.035090, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283065, de = -0.086314 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111788.963361, dt = 0.199986,ping_time = 0.000000,yaw = 3.437179, pitch = -0.028283, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283159, de = -0.086224 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111789.163348, dt = 0.199986,ping_time = 0.000000,yaw = 3.442068, pitch = -0.021955, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282779, de = -0.087621 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111789.363334, dt = 0.199986,ping_time = 0.000000,yaw = 3.448396, pitch = -0.014573, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282257, de = -0.089421 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111789.563320, dt = 0.199986,ping_time = 0.000000,yaw = 3.451752, pitch = -0.009396, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.281973, de = -0.090373 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111789.763307, dt = 0.199986,ping_time = 0.000000,yaw = 3.451368, pitch = -0.010258, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282005, de = -0.090264 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111789.963293, dt = 0.199986,ping_time = 0.000000,yaw = 3.448684, pitch = -0.020517, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282202, de = -0.089493 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111790.163279, dt = 0.199986,ping_time = 0.000000,yaw = 3.446862, pitch = -0.032693, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286193, de = -0.090185 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111790.363266, dt = 0.199986,ping_time = 0.000000,yaw = 3.445424, pitch = -0.044198, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286196, de = -0.089734 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111790.563252, dt = 0.199986,ping_time = 0.000000,yaw = 3.439576, pitch = -0.049183, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.151700 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.286649, de = -0.088038 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111790.563252 : sr1=0.000000 sr2=0.000000 sr3=2324.858015 sr4=0.000000 : Seabird: error reading voltages : init_filter: : i = 3 memo_dr[3][0] = 985111781.36; tt = 3.15 : memo_dr[3][0] + tt = 985111784.52 : Seabird: error reading voltages : memo_dr[3][0] = 985111781.36 : memo_dr[3][1] = 985111781.56 : memo_dr[3][2] = 985111781.76 : memo_dr[3][3] = 985111781.96 : memo_dr[3][4] = 985111782.16 : memo_dr[3][5] = 985111782.36 : memo_dr[3][6] = 985111782.56 : memo_dr[3][7] = 985111782.76 : memo_dr[3][8] = 985111782.96 : memo_dr[3][9] = 985111783.16 : memo_dr[3][10] = 985111783.36 : memo_dr[3][11] = 985111783.56 : memo_dr[3][12] = 985111783.76 : memo_dr[3][13] = 985111783.96 : memo_dr[3][14] = 985111784.16 : memo_dr[3][15] = 985111784.36 : kk = 16 dnb[3]=-2.23922e+000 deb[3]=-7.85015e-001 : init_filter: : i = 5 memo_dr[3][0] = 985111781.36; tt = 2.93 : memo_dr[3][0] + tt = 985111784.30 : memo_dr[3][0] = 985111781.36 : memo_dr[3][1] = 985111781.56 : memo_dr[3][2] = 985111781.76 : memo_dr[3][3] = 985111781.96 : memo_dr[3][4] = 985111782.16 : memo_dr[3][5] = 985111782.36 : memo_dr[3][6] = 985111782.56 : memo_dr[3][7] = 985111782.76 : memo_dr[3][8] = 985111782.96 : memo_dr[3][9] = 985111783.16 : memo_dr[3][10] = 985111783.36 : memo_dr[3][11] = 985111783.56 : memo_dr[3][12] = 985111783.76 : memo_dr[3][13] = 985111783.96 : memo_dr[3][14] = 985111784.16 : kk = 15 dnb[5]=-2.09014e+000 deb[5]=-7.25189e-001 : nb_nonzero_tofs = 2 => not enough returns : calling goats 2000:,time = 985111790.963224, dt = 0.399973,ping_time = 0.000000,yaw = 3.413306, pitch = -0.041609, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.577924, de = -0.161012 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111791.163211, dt = 0.199986,ping_time = 0.000000,yaw = 3.397583, pitch = -0.037487, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290240, de = -0.075965 : lbl_goats: init_filter - 48 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : calling goats 2000:,time = 985111791.363197, dt = 0.199986,ping_time = 985111791.313200,yaw = 3.384544, pitch = -0.036049, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291221, de = -0.072178 : lbl_goats: init_filter - PING ! at t=985111791.313200 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111791.563183, dt = 0.199986,ping_time = 0.000000,yaw = 3.374957, pitch = -0.038158, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283880, de = -0.067477 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111791.763170, dt = 0.199986,ping_time = 0.000000,yaw = 3.370163, pitch = -0.040171, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284178, de = -0.066110 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111791.963156, dt = 0.199986,ping_time = 0.000000,yaw = 3.367862, pitch = -0.042184, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284305, de = -0.065450 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111792.163142, dt = 0.199986,ping_time = 0.000000,yaw = 3.367958, pitch = -0.044390, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284272, de = -0.065471 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111792.363128, dt = 0.199986,ping_time = 0.000000,yaw = 3.370163, pitch = -0.049471, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292061, de = -0.067944 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111792.563115, dt = 0.199986,ping_time = 0.000000,yaw = 3.375532, pitch = -0.056278, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291587, de = -0.069486 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111792.763101, dt = 0.199986,ping_time = 0.000000,yaw = 3.383010, pitch = -0.060017, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294982, de = -0.072630 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111792.963088, dt = 0.199986,ping_time = 0.000000,yaw = 3.389146, pitch = -0.055511, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294607, de = -0.074458 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111793.163074, dt = 0.199986,ping_time = 0.000000,yaw = 3.391255, pitch = -0.044677, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294610, de = -0.075120 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111793.363060, dt = 0.199986,ping_time = 0.000000,yaw = 3.388858, pitch = -0.033460, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294918, de = -0.074447 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111793.563046, dt = 0.199986,ping_time = 0.000000,yaw = 3.386078, pitch = -0.028570, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291180, de = -0.072642 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111793.763033, dt = 0.199986,ping_time = 0.000000,yaw = 3.385695, pitch = -0.029721, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291198, de = -0.072528 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111793.963019, dt = 0.199986,ping_time = 0.000000,yaw = 3.387229, pitch = -0.033268, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287067, de = -0.071967 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111794.163005, dt = 0.199986,ping_time = 0.000000,yaw = 3.387900, pitch = -0.035090, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287001, de = -0.072155 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111794.362992, dt = 0.199986,ping_time = 0.000000,yaw = 3.386941, pitch = -0.034706, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283087, de = -0.070883 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111794.562978, dt = 0.199986,ping_time = 0.000000,yaw = 3.384928, pitch = -0.035569, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283220, de = -0.070311 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111794.762964, dt = 0.199986,ping_time = 0.000000,yaw = 3.384928, pitch = -0.039596, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283177, de = -0.070300 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111794.962950, dt = 0.199986,ping_time = 0.000000,yaw = 3.387324, pitch = -0.041513, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282986, de = -0.070973 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111795.162937, dt = 0.199986,ping_time = 0.000000,yaw = 3.391735, pitch = -0.038062, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282709, de = -0.072230 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111795.362923, dt = 0.199986,ping_time = 0.000000,yaw = 3.396145, pitch = -0.030680, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290416, de = -0.075565 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111795.562909, dt = 0.199986,ping_time = 0.000000,yaw = 3.399788, pitch = -0.023873, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290193, de = -0.076637 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111795.762896, dt = 0.199986,ping_time = 0.000000,yaw = 3.400651, pitch = -0.020421, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290148, de = -0.076893 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111795.962882, dt = 0.199986,ping_time = 0.000000,yaw = 3.397199, pitch = -0.021188, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290408, de = -0.075890 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111796.162868, dt = 0.199986,ping_time = 0.000000,yaw = 3.390680, pitch = -0.025215, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282900, de = -0.071961 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111796.362854, dt = 0.199986,ping_time = 0.000000,yaw = 3.384256, pitch = -0.031926, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287292, de = -0.071117 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111796.562841, dt = 0.199986,ping_time = 0.000000,yaw = 3.381476, pitch = -0.042664, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287374, de = -0.070290 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111796.762827, dt = 0.199986,ping_time = 0.000000,yaw = 3.383681, pitch = -0.054552, speed = 1.480673, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287052, de = -0.070882 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111796.962814, dt = 0.199986,ping_time = 0.000000,yaw = 3.390488, pitch = -0.063085, speed = 1.480673, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286419, de = -0.072798 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111797.162800, dt = 0.199986,ping_time = 0.000000,yaw = 3.399500, pitch = -0.067399, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285670, de = -0.075355 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111797.362786, dt = 0.199986,ping_time = 0.000000,yaw = 3.406499, pitch = -0.068646, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289072, de = -0.078420 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111797.562772, dt = 0.199986,ping_time = 0.000000,yaw = 3.409280, pitch = -0.066057, speed = 1.501238, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288903, de = -0.079237 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111797.762759, dt = 0.199986,ping_time = 0.000000,yaw = 3.408417, pitch = -0.060976, speed = 1.521803, depth = -0.744492 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293024, de = -0.080096 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111797.962745, dt = 0.199986,ping_time = 0.000000,yaw = 3.404965, pitch = -0.055415, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293394, de = -0.079110 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111798.162731, dt = 0.199986,ping_time = 0.000000,yaw = 3.400267, pitch = -0.050430, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293840, de = -0.077751 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111798.362718, dt = 0.199986,ping_time = 0.000000,yaw = 3.394707, pitch = -0.048225, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294300, de = -0.076124 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111798.562704, dt = 0.199986,ping_time = 0.000000,yaw = 3.390680, pitch = -0.049279, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294589, de = -0.074935 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111798.762690, dt = 0.199986,ping_time = 0.000000,yaw = 3.388858, pitch = -0.054265, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294649, de = -0.074379 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111798.962676, dt = 0.199986,ping_time = 0.000000,yaw = 3.387900, pitch = -0.062414, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290599, de = -0.073060 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111799.162663, dt = 0.199986,ping_time = 0.000000,yaw = 3.386462, pitch = -0.070947, speed = 1.501238, depth = -0.186125 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290538, de = -0.072601 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111799.362649, dt = 0.199986,ping_time = 0.000000,yaw = 3.385311, pitch = -0.075836, speed = 1.562933, depth = -0.186125 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302456, de = -0.075209 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111799.562635, dt = 0.199986,ping_time = 0.000000,yaw = 3.385119, pitch = -0.072193, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302552, de = -0.075171 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111799.762622, dt = 0.199986,ping_time = 0.000000,yaw = 3.386270, pitch = -0.061167, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302689, de = -0.075575 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111799.962608, dt = 0.199986,ping_time = 0.000000,yaw = 3.389721, pitch = -0.048225, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302640, de = -0.076674 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111800.162594, dt = 0.199986,ping_time = 0.000000,yaw = 3.394515, pitch = -0.035953, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302425, de = -0.078164 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111800.362580, dt = 0.199986,ping_time = 0.000000,yaw = 3.399500, pitch = -0.026461, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302122, de = -0.079694 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111800.562567, dt = 0.199986,ping_time = 0.000000,yaw = 3.404678, pitch = -0.020996, speed = 1.562933, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.147700 tof[4] = 2.093600 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.301744, de = -0.081268 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111800.562567 : sr1=0.000000 sr2=0.000000 sr3=2321.898053 sr4=1541.864026 : init_filter: : i = 3 memo_dr[3][0] = 985111791.36; tt = 3.15 : memo_dr[3][0] + tt = 985111794.51 : memo_dr[3][0] = 985111791.36 : memo_dr[3][1] = 985111791.56 : memo_dr[3][2] = 985111791.76 : memo_dr[3][3] = 985111791.96 : memo_dr[3][4] = 985111792.16 : memo_dr[3][5] = 985111792.36 : memo_dr[3][6] = 985111792.56 : memo_dr[3][7] = 985111792.76 : memo_dr[3][8] = 985111792.96 : memo_dr[3][9] = 985111793.16 : memo_dr[3][10] = 985111793.36 : memo_dr[3][11] = 985111793.56 : memo_dr[3][12] = 985111793.76 : memo_dr[3][13] = 985111793.96 : memo_dr[3][14] = 985111794.16 : memo_dr[3][15] = 985111794.36 : kk = 16 dnb[3]=-2.27822e+000 deb[3]=-5.56244e-001 : init_filter: : i = 4 memo_dr[3][0] = 985111791.36; tt = 2.09 : memo_dr[3][0] + tt = 985111793.46 : memo_dr[3][0] = 985111791.36 : memo_dr[3][1] = 985111791.56 : memo_dr[3][2] = 985111791.76 : memo_dr[3][3] = 985111791.96 : memo_dr[3][4] = 985111792.16 : memo_dr[3][5] = 985111792.36 : memo_dr[3][6] = 985111792.56 : memo_dr[3][7] = 985111792.76 : memo_dr[3][8] = 985111792.96 : memo_dr[3][9] = 985111793.16 : memo_dr[3][10] = 985111793.36 : kk = 11 dnb[4]=-1.51697e+000 deb[4]=-3.65610e-001 : init_filter: : i = 5 memo_dr[3][0] = 985111791.36; tt = 2.92 : memo_dr[3][0] + tt = 985111794.28 : memo_dr[3][0] = 985111791.36 : memo_dr[3][1] = 985111791.56 : memo_dr[3][2] = 985111791.76 : memo_dr[3][3] = 985111791.96 : memo_dr[3][4] = 985111792.16 : memo_dr[3][5] = 985111792.36 : memo_dr[3][6] = 985111792.56 : memo_dr[3][7] = 985111792.76 : memo_dr[3][8] = 985111792.96 : memo_dr[3][9] = 985111793.16 : memo_dr[3][10] = 985111793.36 : memo_dr[3][11] = 985111793.56 : memo_dr[3][12] = 985111793.76 : memo_dr[3][13] = 985111793.96 : memo_dr[3][14] = 985111794.16 : kk = 15 dnb[5]=-2.11707e+000 deb[5]=-5.15836e-001 : filter_init: residual = 2.476688 : init_filter: Compute a New Fix : (3)-beacon LBL fix: n=4067858.04 e=600721.97 residual=2.476688 : dnb[0]=-13.68 deb[0]=-3.46 : Init_filter: init_with_residual = 0 residual = 2.47669e+000 : calling goats 2000:,time = 985111801.162526, dt = 0.599959,ping_time = 0.000000,yaw = 3.407650, pitch = -0.032693, speed = 1.460108, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.844731, de = -0.230204 : lbl_goats: init_filter - 47 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : calling goats 2000:,time = 985111801.362512, dt = 0.199986,ping_time = 985111801.302516,yaw = 3.409759, pitch = -0.045924, speed = 1.460108, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.281268, de = -0.077288 : lbl_goats: init_filter - PING ! at t=985111801.302516 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111801.562498, dt = 0.199986,ping_time = 0.000000,yaw = 3.415128, pitch = -0.057333, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296497, de = -0.083187 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111801.762485, dt = 0.199986,ping_time = 0.000000,yaw = 3.422510, pitch = -0.063948, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295756, de = -0.085340 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111801.962471, dt = 0.199986,ping_time = 0.000000,yaw = 3.429125, pitch = -0.064044, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291247, de = -0.086130 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111802.162457, dt = 0.199986,ping_time = 0.000000,yaw = 3.431906, pitch = -0.058100, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291112, de = -0.086971 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111802.362444, dt = 0.199986,ping_time = 0.000000,yaw = 3.431235, pitch = -0.048225, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287387, de = -0.085648 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111802.562430, dt = 0.199986,ping_time = 0.000000,yaw = 3.428934, pitch = -0.038445, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287705, de = -0.085022 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111802.762416, dt = 0.199986,ping_time = 0.000000,yaw = 3.426153, pitch = -0.032597, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288000, de = -0.084240 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111802.962402, dt = 0.199986,ping_time = 0.000000,yaw = 3.422414, pitch = -0.030392, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284384, de = -0.082029 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111803.162389, dt = 0.199986,ping_time = 0.000000,yaw = 3.418004, pitch = -0.032309, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284725, de = -0.080769 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111803.362375, dt = 0.199986,ping_time = 0.000000,yaw = 3.414265, pitch = -0.035473, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284995, de = -0.079695 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111803.562361, dt = 0.199986,ping_time = 0.000000,yaw = 3.413786, pitch = -0.037966, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285007, de = -0.079551 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111803.762348, dt = 0.199986,ping_time = 0.000000,yaw = 3.415799, pitch = -0.039404, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284830, de = -0.080121 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111803.962334, dt = 0.199986,ping_time = 0.000000,yaw = 3.418483, pitch = -0.041993, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284584, de = -0.080876 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111804.162320, dt = 0.199986,ping_time = 0.000000,yaw = 3.420017, pitch = -0.046211, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284407, de = -0.081298 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111804.362307, dt = 0.199986,ping_time = 0.000000,yaw = 3.420593, pitch = -0.051197, speed = 1.480673, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284291, de = -0.081441 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111804.562293, dt = 0.199986,ping_time = 0.000000,yaw = 3.422702, pitch = -0.055223, speed = 1.562933, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299839, de = -0.086580 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111804.762279, dt = 0.199986,ping_time = 0.000000,yaw = 3.425290, pitch = -0.056086, speed = 1.562933, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299599, de = -0.087352 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111804.962266, dt = 0.199986,ping_time = 0.000000,yaw = 3.426537, pitch = -0.055127, speed = 1.542368, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295565, de = -0.086575 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111805.162252, dt = 0.199986,ping_time = 0.000000,yaw = 3.425674, pitch = -0.054169, speed = 1.542368, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295655, de = -0.086325 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111805.362238, dt = 0.199986,ping_time = 0.000000,yaw = 3.423085, pitch = -0.053306, speed = 1.542368, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295892, de = -0.085563 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111805.562224, dt = 0.199986,ping_time = 0.000000,yaw = 3.420209, pitch = -0.053018, speed = 1.501238, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288244, de = -0.082454 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111805.762211, dt = 0.199986,ping_time = 0.000000,yaw = 3.418963, pitch = -0.052731, speed = 1.501238, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288351, de = -0.082096 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111805.962197, dt = 0.199986,ping_time = 0.000000,yaw = 3.418483, pitch = -0.050813, speed = 1.501238, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288419, de = -0.081966 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111806.162183, dt = 0.199986,ping_time = 0.000000,yaw = 3.418292, pitch = -0.046595, speed = 1.501238, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288494, de = -0.081928 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111806.362170, dt = 0.199986,ping_time = 0.000000,yaw = 3.416470, pitch = -0.041513, speed = 1.501238, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288707, de = -0.081420 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111806.562156, dt = 0.199986,ping_time = 0.000000,yaw = 3.412731, pitch = -0.036240, speed = 1.501238, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289069, de = -0.080357 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111806.762142, dt = 0.199986,ping_time = 0.000000,yaw = 3.405349, pitch = -0.031159, speed = 1.542368, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297641, de = -0.080377 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111806.962128, dt = 0.199986,ping_time = 0.000000,yaw = 3.396912, pitch = -0.027708, speed = 1.542368, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298339, de = -0.077871 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111807.162115, dt = 0.199986,ping_time = 0.000000,yaw = 3.388379, pitch = -0.027995, speed = 1.542368, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298990, de = -0.075322 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111807.362101, dt = 0.199986,ping_time = 0.000000,yaw = 3.382147, pitch = -0.030488, speed = 1.521803, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295439, de = -0.072473 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111807.562087, dt = 0.199986,ping_time = 0.000000,yaw = 3.378121, pitch = -0.036336, speed = 1.501238, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291675, de = -0.070305 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111807.762074, dt = 0.199986,ping_time = 0.000000,yaw = 3.376587, pitch = -0.041417, speed = 1.501238, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291725, de = -0.069844 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111807.962060, dt = 0.199986,ping_time = 0.000000,yaw = 3.378025, pitch = -0.045540, speed = 1.501238, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291572, de = -0.070251 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111808.162046, dt = 0.199986,ping_time = 0.000000,yaw = 3.381668, pitch = -0.049854, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299234, de = -0.073251 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111808.362032, dt = 0.199986,ping_time = 0.000000,yaw = 3.384928, pitch = -0.055607, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294917, de = -0.073214 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111808.562019, dt = 0.199986,ping_time = 0.000000,yaw = 3.385886, pitch = -0.061167, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294751, de = -0.073473 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111808.762005, dt = 0.199986,ping_time = 0.000000,yaw = 3.385215, pitch = -0.064619, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294736, de = -0.073260 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111808.961991, dt = 0.199986,ping_time = 0.000000,yaw = 3.383202, pitch = -0.065578, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294865, de = -0.072661 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111809.161978, dt = 0.199986,ping_time = 0.000000,yaw = 3.379079, pitch = -0.063948, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295193, de = -0.071453 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111809.361964, dt = 0.199986,ping_time = 0.000000,yaw = 3.370930, pitch = -0.060880, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287827, de = -0.067192 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111809.561950, dt = 0.199986,ping_time = 0.000000,yaw = 3.360672, pitch = -0.056853, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288570, de = -0.064251 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111809.761937, dt = 0.199986,ping_time = 0.000000,yaw = 3.352331, pitch = -0.053689, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293162, de = -0.062711 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111809.961923, dt = 0.199986,ping_time = 0.000000,yaw = 3.350221, pitch = -0.050909, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293336, de = -0.062102 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111810.161909, dt = 0.199986,ping_time = 0.000000,yaw = 3.353002, pitch = -0.048416, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293199, de = -0.062925 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111810.361896, dt = 0.199986,ping_time = 0.000000,yaw = 3.357795, pitch = -0.046403, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296935, de = -0.065217 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111810.561882, dt = 0.199986,ping_time = 0.000000,yaw = 3.362781, pitch = -0.044390, speed = 1.521803, depth = -0.428086 : tof[1] = 0.721600, tof[2] = 0.000000, tof[3] = 3.141900 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.296633, de = -0.066703 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111810.561882 : sr1=526.583997 sr2=0.000000 sr3=2317.606046 sr4=0.000000 : init_filter: : i = 1 memo_dr[3][0] = 985111801.36; tt = 0.72 : memo_dr[3][0] + tt = 985111802.08 : memo_dr[3][0] = 985111801.36 : memo_dr[3][1] = 985111801.56 : memo_dr[3][2] = 985111801.76 : memo_dr[3][3] = 985111801.96 : kk = 4 dnb[1]=-5.25336e-001 deb[1]=-1.49102e-001 : init_filter: : i = 3 memo_dr[3][0] = 985111801.36; tt = 3.14 : memo_dr[3][0] + tt = 985111804.50 : memo_dr[3][0] = 985111801.36 : memo_dr[3][1] = 985111801.56 : memo_dr[3][2] = 985111801.76 : memo_dr[3][3] = 985111801.96 : memo_dr[3][4] = 985111802.16 : memo_dr[3][5] = 985111802.36 : memo_dr[3][6] = 985111802.56 : memo_dr[3][7] = 985111802.76 : memo_dr[3][8] = 985111802.96 : memo_dr[3][9] = 985111803.16 : memo_dr[3][10] = 985111803.36 : memo_dr[3][11] = 985111803.56 : memo_dr[3][12] = 985111803.76 : memo_dr[3][13] = 985111803.96 : memo_dr[3][14] = 985111804.16 : memo_dr[3][15] = 985111804.36 : kk = 16 dnb[3]=-2.25696e+000 deb[3]=-6.48018e-001 : nb_nonzero_tofs = 2 => not enough returns : calling goats 2000:,time = 985111810.961854, dt = 0.399973,ping_time = 0.000000,yaw = 3.361534, pitch = -0.034898, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.601677, de = -0.134510 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111811.161841, dt = 0.199986,ping_time = 0.000000,yaw = 3.357028, pitch = -0.025119, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301227, de = -0.065918 : lbl_goats: init_filter - 48 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111811.361827, dt = 0.199986,ping_time = 985111811.301831,yaw = 3.350317, pitch = -0.013614, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301730, de = -0.063909 : lbl_goats: init_filter - PING ! at t=985111811.301831 : lbl_goats: init_filter - 0 calls since the last PING. : LayeredControl::execute() -- (t = 100.393123) Behavior descend has changed to state Finished : LayeredControl::execute() -- (t = 100.393123) Behavior setpoint has changed to state Active : calling goats 2000:,time = 985111811.561813, dt = 0.199986,ping_time = 0.000000,yaw = 3.344661, pitch = -0.005465, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298082, de = -0.061377 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111811.761800, dt = 0.199986,ping_time = 0.000000,yaw = 3.343798, pitch = -0.006711, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298133, de = -0.061119 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111811.961786, dt = 0.199986,ping_time = 0.000000,yaw = 3.346770, pitch = -0.017737, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297909, de = -0.061997 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111812.161772, dt = 0.199986,ping_time = 0.000000,yaw = 3.350317, pitch = -0.034898, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297553, de = -0.063025 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111812.361759, dt = 0.199986,ping_time = 0.000000,yaw = 3.350701, pitch = -0.051101, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285268, de = -0.060537 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111812.561745, dt = 0.199986,ping_time = 0.000000,yaw = 3.346674, pitch = -0.062797, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285319, de = -0.059348 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111812.761731, dt = 0.199986,ping_time = 0.000000,yaw = 3.339867, pitch = -0.068550, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285608, de = -0.057383 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111812.961718, dt = 0.199986,ping_time = 0.000000,yaw = 3.333347, pitch = -0.069413, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298042, de = -0.057862 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111813.161704, dt = 0.199986,ping_time = 0.000000,yaw = 3.330184, pitch = -0.064523, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298321, de = -0.056937 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111813.361690, dt = 0.199986,ping_time = 0.000000,yaw = 3.331430, pitch = -0.056470, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302428, de = -0.058112 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111813.561676, dt = 0.199986,ping_time = 0.000000,yaw = 3.338237, pitch = -0.048320, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302155, de = -0.060195 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111813.761663, dt = 0.199986,ping_time = 0.000000,yaw = 3.349646, pitch = -0.041322, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301543, de = -0.063658 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111813.961649, dt = 0.199986,ping_time = 0.000000,yaw = 3.363260, pitch = -0.036720, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296693, de = -0.066866 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111814.161635, dt = 0.199986,ping_time = 0.000000,yaw = 3.375340, pitch = -0.033939, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295893, de = -0.070452 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111814.361622, dt = 0.199986,ping_time = 0.000000,yaw = 3.384352, pitch = -0.032501, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295260, de = -0.073119 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111814.561608, dt = 0.199986,ping_time = 0.000000,yaw = 3.388571, pitch = -0.031638, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294957, de = -0.074366 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111814.761594, dt = 0.199986,ping_time = 0.000000,yaw = 3.388571, pitch = -0.028187, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294988, de = -0.074374 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111814.961580, dt = 0.199986,ping_time = 0.000000,yaw = 3.385886, pitch = -0.024256, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295216, de = -0.073589 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111815.161567, dt = 0.199986,ping_time = 0.000000,yaw = 3.383010, pitch = -0.021955, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295443, de = -0.072744 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111815.361553, dt = 0.199986,ping_time = 0.000000,yaw = 3.382243, pitch = -0.023010, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295491, de = -0.072515 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111815.561539, dt = 0.199986,ping_time = 0.000000,yaw = 3.382147, pitch = -0.025023, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295484, de = -0.072484 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111815.761526, dt = 0.199986,ping_time = 0.000000,yaw = 3.382723, pitch = -0.026557, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295431, de = -0.072651 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111815.961512, dt = 0.199986,ping_time = 0.000000,yaw = 3.382723, pitch = -0.027228, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295425, de = -0.072649 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111816.161498, dt = 0.199986,ping_time = 0.000000,yaw = 3.382147, pitch = -0.029146, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287466, de = -0.070517 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111816.361484, dt = 0.199986,ping_time = 0.000000,yaw = 3.383394, pitch = -0.032981, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287344, de = -0.070867 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111816.561471, dt = 0.199986,ping_time = 0.000000,yaw = 3.387612, pitch = -0.041417, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286952, de = -0.072055 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111816.761457, dt = 0.199986,ping_time = 0.000000,yaw = 3.393940, pitch = -0.052922, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286335, de = -0.073830 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111816.961443, dt = 0.199986,ping_time = 0.000000,yaw = 3.400076, pitch = -0.064427, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285683, de = -0.075534 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111817.161430, dt = 0.199986,ping_time = 0.000000,yaw = 3.404006, pitch = -0.069509, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293211, de = -0.078759 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111817.361416, dt = 0.199986,ping_time = 0.000000,yaw = 3.405349, pitch = -0.065194, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293191, de = -0.079175 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111817.561402, dt = 0.199986,ping_time = 0.000000,yaw = 3.405732, pitch = -0.054360, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293351, de = -0.079339 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111817.761389, dt = 0.199986,ping_time = 0.000000,yaw = 3.409184, pitch = -0.042568, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297205, de = -0.081484 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111817.961375, dt = 0.199986,ping_time = 0.000000,yaw = 3.415607, pitch = -0.033268, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296781, de = -0.083421 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111818.161361, dt = 0.199986,ping_time = 0.000000,yaw = 3.423756, pitch = -0.028475, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296135, de = -0.085849 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111818.361348, dt = 0.199986,ping_time = 0.000000,yaw = 3.430851, pitch = -0.028858, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295515, de = -0.087947 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111818.561334, dt = 0.199986,ping_time = 0.000000,yaw = 3.433631, pitch = -0.033268, speed = 1.542368, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295229, de = -0.088756 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111818.761320, dt = 0.199986,ping_time = 0.000000,yaw = 3.431331, pitch = -0.040363, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279603, de = -0.083357 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111818.961306, dt = 0.199986,ping_time = 0.000000,yaw = 3.425195, pitch = -0.051005, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279973, de = -0.081600 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111819.161293, dt = 0.199986,ping_time = 0.000000,yaw = 3.418483, pitch = -0.058675, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284345, de = -0.080808 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111819.361279, dt = 0.199986,ping_time = 0.000000,yaw = 3.411293, pitch = -0.059634, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284903, de = -0.078757 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111819.561265, dt = 0.199986,ping_time = 0.000000,yaw = 3.403623, pitch = -0.052539, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285612, de = -0.076600 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111819.761252, dt = 0.199986,ping_time = 0.000000,yaw = 3.398158, pitch = -0.041897, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294120, de = -0.077162 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111819.961238, dt = 0.199986,ping_time = 0.000000,yaw = 3.394898, pitch = -0.030296, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294493, de = -0.076234 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111820.161224, dt = 0.199986,ping_time = 0.000000,yaw = 3.393748, pitch = -0.019942, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286693, de = -0.073863 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111820.361211, dt = 0.199986,ping_time = 0.000000,yaw = 3.394611, pitch = -0.011025, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286669, de = -0.074121 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111820.561197, dt = 0.199986,ping_time = 0.000000,yaw = 3.395857, pitch = -0.008149, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.136800 tof[4] = 2.131800 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.282604, de = -0.073446 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111820.561197 : sr1=0.000000 sr2=0.000000 sr3=2313.832038 sr4=1570.131953 : init_filter: : i = 3 memo_dr[3][0] = 985111811.36; tt = 3.14 : memo_dr[3][0] + tt = 985111814.50 : memo_dr[3][0] = 985111811.36 : memo_dr[3][1] = 985111811.56 : memo_dr[3][2] = 985111811.76 : memo_dr[3][3] = 985111811.96 : memo_dr[3][4] = 985111812.16 : memo_dr[3][5] = 985111812.36 : memo_dr[3][6] = 985111812.56 : memo_dr[3][7] = 985111812.76 : memo_dr[3][8] = 985111812.96 : memo_dr[3][9] = 985111813.16 : memo_dr[3][10] = 985111813.36 : memo_dr[3][11] = 985111813.56 : memo_dr[3][12] = 985111813.76 : memo_dr[3][13] = 985111813.96 : memo_dr[3][14] = 985111814.16 : memo_dr[3][15] = 985111814.36 : kk = 16 dnb[3]=-2.32348e+000 deb[3]=-4.86434e-001 : init_filter: : i = 4 memo_dr[3][0] = 985111811.36; tt = 2.13 : memo_dr[3][0] + tt = 985111813.49 : memo_dr[3][0] = 985111811.36 : memo_dr[3][1] = 985111811.56 : memo_dr[3][2] = 985111811.76 : memo_dr[3][3] = 985111811.96 : memo_dr[3][4] = 985111812.16 : memo_dr[3][5] = 985111812.36 : memo_dr[3][6] = 985111812.56 : memo_dr[3][7] = 985111812.76 : memo_dr[3][8] = 985111812.96 : memo_dr[3][9] = 985111813.16 : memo_dr[3][10] = 985111813.36 : kk = 11 dnb[4]=-1.57274e+000 deb[4]=-3.20916e-001 : init_filter: : i = 5 memo_dr[3][0] = 985111811.36; tt = 2.92 : memo_dr[3][0] + tt = 985111814.29 : memo_dr[3][0] = 985111811.36 : memo_dr[3][1] = 985111811.56 : memo_dr[3][2] = 985111811.76 : memo_dr[3][3] = 985111811.96 : memo_dr[3][4] = 985111812.16 : memo_dr[3][5] = 985111812.36 : memo_dr[3][6] = 985111812.56 : memo_dr[3][7] = 985111812.76 : memo_dr[3][8] = 985111812.96 : memo_dr[3][9] = 985111813.16 : memo_dr[3][10] = 985111813.36 : memo_dr[3][11] = 985111813.56 : memo_dr[3][12] = 985111813.76 : memo_dr[3][13] = 985111813.96 : memo_dr[3][14] = 985111814.16 : kk = 15 dnb[5]=-2.16627e+000 deb[5]=-4.48038e-001 : filter_init: residual = 14.670559 : init_filter: Compute a New Fix : (3)-beacon LBL fix: n=4067832.41 e=600714.39 residual=14.670559 : dnb[0]=-13.76 deb[0]=-3.38 : Init_filter: init_with_residual = 0 residual = 1.46706e+001 : calling goats 2000:,time = 985111821.161156, dt = 0.599959,ping_time = 0.000000,yaw = 3.408704, pitch = -0.030488, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.844547, de = -0.231111 : lbl_goats: init_filter - 47 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111821.361142, dt = 0.199986,ping_time = 985111821.301146,yaw = 3.408896, pitch = -0.050621, speed = 1.583498, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.305040, de = -0.083537 : lbl_goats: init_filter - PING ! at t=985111821.301146 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111821.561128, dt = 0.199986,ping_time = 0.000000,yaw = 3.409184, pitch = -0.070851, speed = 1.583498, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304641, de = -0.083522 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111821.761115, dt = 0.199986,ping_time = 0.000000,yaw = 3.410718, pitch = -0.085903, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292303, de = -0.080622 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111821.961101, dt = 0.199986,ping_time = 0.000000,yaw = 3.411772, pitch = -0.091368, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292076, de = -0.080891 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111822.161087, dt = 0.199986,ping_time = 0.000000,yaw = 3.410430, pitch = -0.088492, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292260, de = -0.080520 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111822.361074, dt = 0.199986,ping_time = 0.000000,yaw = 3.406403, pitch = -0.080342, speed = 1.542368, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296740, de = -0.080470 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111822.561060, dt = 0.199986,ping_time = 0.000000,yaw = 3.401226, pitch = -0.068646, speed = 1.542368, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297412, de = -0.079001 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111822.761046, dt = 0.199986,ping_time = 0.000000,yaw = 3.396049, pitch = -0.055319, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298064, de = -0.077525 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111822.961032, dt = 0.199986,ping_time = 0.000000,yaw = 3.391351, pitch = -0.041993, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298618, de = -0.076173 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111823.161019, dt = 0.199986,ping_time = 0.000000,yaw = 3.386462, pitch = -0.032693, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291115, de = -0.072745 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111823.361005, dt = 0.199986,ping_time = 0.000000,yaw = 3.380997, pitch = -0.031351, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291521, de = -0.071156 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111823.560991, dt = 0.199986,ping_time = 0.000000,yaw = 3.377354, pitch = -0.036720, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291725, de = -0.070081 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111823.760978, dt = 0.199986,ping_time = 0.000000,yaw = 3.377929, pitch = -0.046211, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291570, de = -0.070221 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111823.960964, dt = 0.199986,ping_time = 0.000000,yaw = 3.382531, pitch = -0.057237, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295065, de = -0.072501 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111824.160950, dt = 0.199986,ping_time = 0.000000,yaw = 3.388379, pitch = -0.068358, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294430, de = -0.074173 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111824.360936, dt = 0.199986,ping_time = 0.000000,yaw = 3.393077, pitch = -0.075932, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293917, de = -0.075514 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111824.560923, dt = 0.199986,ping_time = 0.000000,yaw = 3.396528, pitch = -0.077370, speed = 1.562933, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301558, de = -0.078588 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111824.760909, dt = 0.199986,ping_time = 0.000000,yaw = 3.400747, pitch = -0.071714, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289456, de = -0.076739 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111824.960895, dt = 0.199986,ping_time = 0.000000,yaw = 3.406595, pitch = -0.059538, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289233, de = -0.078494 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111825.160882, dt = 0.199986,ping_time = 0.000000,yaw = 3.412252, pitch = -0.042184, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289040, de = -0.080199 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111825.360868, dt = 0.199986,ping_time = 0.000000,yaw = 3.415128, pitch = -0.027036, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288960, de = -0.081073 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111825.560854, dt = 0.199986,ping_time = 0.000000,yaw = 3.413498, pitch = -0.015627, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293123, de = -0.081726 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111825.760841, dt = 0.199986,ping_time = 0.000000,yaw = 3.408513, pitch = -0.011697, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293542, de = -0.080268 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111825.960827, dt = 0.199986,ping_time = 0.000000,yaw = 3.401034, pitch = -0.016011, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294117, de = -0.078066 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111826.160813, dt = 0.199986,ping_time = 0.000000,yaw = 3.392406, pitch = -0.025502, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282773, de = -0.072449 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111826.360800, dt = 0.199986,ping_time = 0.000000,yaw = 3.382339, pitch = -0.036336, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283393, de = -0.069575 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111826.560786, dt = 0.199986,ping_time = 0.000000,yaw = 3.371122, pitch = -0.046499, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288037, de = -0.067299 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111826.760772, dt = 0.199986,ping_time = 0.000000,yaw = 3.361439, pitch = -0.052059, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288596, de = -0.064489 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111826.960758, dt = 0.199986,ping_time = 0.000000,yaw = 3.356932, pitch = -0.053114, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292879, de = -0.064062 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111827.160745, dt = 0.199986,ping_time = 0.000000,yaw = 3.358946, pitch = -0.051005, speed = 1.501238, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292782, de = -0.064659 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111827.360731, dt = 0.199986,ping_time = 0.000000,yaw = 3.365945, pitch = -0.046019, speed = 1.501238, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292393, de = -0.066722 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111827.560717, dt = 0.199986,ping_time = 0.000000,yaw = 3.374477, pitch = -0.039500, speed = 1.480673, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287896, de = -0.068286 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111827.760704, dt = 0.199986,ping_time = 0.000000,yaw = 3.382339, pitch = -0.031830, speed = 1.460108, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283437, de = -0.069586 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111827.960690, dt = 0.199986,ping_time = 0.000000,yaw = 3.388475, pitch = -0.025502, speed = 1.460108, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283056, de = -0.071337 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111828.160676, dt = 0.199986,ping_time = 0.000000,yaw = 3.393077, pitch = -0.023106, speed = 1.460108, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282741, de = -0.072643 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111828.360663, dt = 0.199986,ping_time = 0.000000,yaw = 3.397487, pitch = -0.025502, speed = 1.460108, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282402, de = -0.073885 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111828.560649, dt = 0.199986,ping_time = 0.000000,yaw = 3.403911, pitch = -0.032214, speed = 1.501238, depth = -0.704302 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289806, de = -0.077814 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111828.760635, dt = 0.199986,ping_time = 0.000000,yaw = 3.411485, pitch = -0.039692, speed = 1.501238, depth = -0.257609 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289131, de = -0.079986 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111828.960622, dt = 0.199986,ping_time = 0.000000,yaw = 3.416087, pitch = -0.045924, speed = 1.501238, depth = -0.257609 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288683, de = -0.081294 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111829.160608, dt = 0.199986,ping_time = 0.000000,yaw = 3.414936, pitch = -0.048320, speed = 1.521803, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292699, de = -0.082061 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111829.360594, dt = 0.199986,ping_time = 0.000000,yaw = 3.411293, pitch = -0.045540, speed = 1.521803, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293034, de = -0.081005 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111829.560580, dt = 0.199986,ping_time = 0.000000,yaw = 3.410622, pitch = -0.039308, speed = 1.521803, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293166, de = -0.080830 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111829.760567, dt = 0.199986,ping_time = 0.000000,yaw = 3.413881, pitch = -0.033843, speed = 1.521803, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292959, de = -0.081801 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111829.960553, dt = 0.199986,ping_time = 0.000000,yaw = 3.418004, pitch = -0.032597, speed = 1.521803, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292632, de = -0.083012 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111830.160539, dt = 0.199986,ping_time = 0.000000,yaw = 3.420401, pitch = -0.034515, speed = 1.480673, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284510, de = -0.081445 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111830.360526, dt = 0.199986,ping_time = 0.000000,yaw = 3.421647, pitch = -0.039500, speed = 1.480673, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284356, de = -0.081785 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111830.560512, dt = 0.199986,ping_time = 0.000000,yaw = 3.425866, pitch = -0.048992, speed = 1.480673, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.136400 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.283889, de = -0.082949 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111830.560512 : sr1=0.000000 sr2=0.000000 sr3=2313.535988 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111821.36; tt = 3.14 : memo_dr[3][0] + tt = 985111824.50 : memo_dr[3][0] = 985111821.36 : memo_dr[3][1] = 985111821.56 : memo_dr[3][2] = 985111821.76 : memo_dr[3][3] = 985111821.96 : memo_dr[3][4] = 985111822.16 : memo_dr[3][5] = 985111822.36 : memo_dr[3][6] = 985111822.56 : memo_dr[3][7] = 985111822.76 : memo_dr[3][8] = 985111822.96 : memo_dr[3][9] = 985111823.16 : memo_dr[3][10] = 985111823.36 : memo_dr[3][11] = 985111823.56 : memo_dr[3][12] = 985111823.76 : memo_dr[3][13] = 985111823.96 : memo_dr[3][14] = 985111824.16 : memo_dr[3][15] = 985111824.36 : kk = 16 dnb[3]=-2.31667e+000 deb[3]=-6.02360e-001 : nb_nonzero_tofs = 1 => not enough returns : calling goats 2000:,time = 985111830.760498, dt = 0.199986,ping_time = 0.000000,yaw = 3.431426, pitch = -0.057333, speed = 1.480673, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283298, de = -0.084488 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111830.960484, dt = 0.199986,ping_time = 0.000000,yaw = 3.438809, pitch = -0.064427, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290392, de = -0.088944 : lbl_goats: init_filter - 48 calls since the last PING. : calling goats 2000:,time = 985111831.160471, dt = 0.199986,ping_time = 0.000000,yaw = 3.444561, pitch = -0.066153, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289843, de = -0.090603 : lbl_goats: init_filter - 49 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111831.360457, dt = 0.199986,ping_time = 985111831.300461,yaw = 3.446574, pitch = -0.060400, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289766, de = -0.091219 : lbl_goats: init_filter - PING ! at t=985111831.300461 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111831.560443, dt = 0.199986,ping_time = 0.000000,yaw = 3.445616, pitch = -0.050238, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286097, de = -0.089763 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111831.760430, dt = 0.199986,ping_time = 0.000000,yaw = 3.442548, pitch = -0.038350, speed = 1.501238, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286522, de = -0.088932 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111831.960416, dt = 0.199986,ping_time = 0.000000,yaw = 3.439192, pitch = -0.029242, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290838, de = -0.089202 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111832.160402, dt = 0.199986,ping_time = 0.000000,yaw = 3.438425, pitch = -0.023873, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290947, de = -0.088992 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111832.360388, dt = 0.199986,ping_time = 0.000000,yaw = 3.440247, pitch = -0.021284, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290802, de = -0.089527 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111832.560375, dt = 0.199986,ping_time = 0.000000,yaw = 3.443411, pitch = -0.021092, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290518, de = -0.090447 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111832.760361, dt = 0.199986,ping_time = 0.000000,yaw = 3.443411, pitch = -0.022626, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290509, de = -0.090444 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111832.960347, dt = 0.199986,ping_time = 0.000000,yaw = 3.437850, pitch = -0.023297, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291002, de = -0.088826 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111833.160334, dt = 0.199986,ping_time = 0.000000,yaw = 3.429701, pitch = -0.023489, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291715, de = -0.086451 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111833.360320, dt = 0.199986,ping_time = 0.000000,yaw = 3.420976, pitch = -0.024640, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292450, de = -0.083900 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111833.560306, dt = 0.199986,ping_time = 0.000000,yaw = 3.414457, pitch = -0.030392, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292945, de = -0.081979 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111833.760293, dt = 0.199986,ping_time = 0.000000,yaw = 3.410526, pitch = -0.042856, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293131, de = -0.080790 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111833.960279, dt = 0.199986,ping_time = 0.000000,yaw = 3.409759, pitch = -0.058291, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292964, de = -0.080502 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111834.160265, dt = 0.199986,ping_time = 0.000000,yaw = 3.410334, pitch = -0.072289, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292649, de = -0.080597 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111834.360252, dt = 0.199986,ping_time = 0.000000,yaw = 3.410238, pitch = -0.081205, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292457, de = -0.080513 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111834.560238, dt = 0.199986,ping_time = 0.000000,yaw = 3.409184, pitch = -0.082451, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288559, de = -0.079113 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111834.760224, dt = 0.199986,ping_time = 0.000000,yaw = 3.406403, pitch = -0.074973, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292906, de = -0.079430 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111834.960210, dt = 0.199986,ping_time = 0.000000,yaw = 3.401897, pitch = -0.061263, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293535, de = -0.078182 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111835.160197, dt = 0.199986,ping_time = 0.000000,yaw = 3.395378, pitch = -0.046499, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286320, de = -0.074265 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111835.360183, dt = 0.199986,ping_time = 0.000000,yaw = 3.388571, pitch = -0.035282, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286950, de = -0.072347 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111835.560169, dt = 0.199986,ping_time = 0.000000,yaw = 3.383489, pitch = -0.030680, speed = 1.439543, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279376, de = -0.068930 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111835.760156, dt = 0.199986,ping_time = 0.000000,yaw = 3.381956, pitch = -0.032597, speed = 1.439543, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279464, de = -0.068497 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111835.960142, dt = 0.199986,ping_time = 0.000000,yaw = 3.382051, pitch = -0.038350, speed = 1.439543, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279400, de = -0.068510 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111836.160128, dt = 0.199986,ping_time = 0.000000,yaw = 3.381476, pitch = -0.043239, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283375, de = -0.069312 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111836.360115, dt = 0.199986,ping_time = 0.000000,yaw = 3.379463, pitch = -0.044677, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283496, de = -0.068737 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111836.560101, dt = 0.199986,ping_time = 0.000000,yaw = 3.376011, pitch = -0.042664, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283757, de = -0.067764 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111836.760087, dt = 0.199986,ping_time = 0.000000,yaw = 3.370930, pitch = -0.036528, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296174, de = -0.069140 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111836.960074, dt = 0.199986,ping_time = 0.000000,yaw = 3.362206, pitch = -0.026941, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296856, de = -0.066574 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111837.160060, dt = 0.199986,ping_time = 0.000000,yaw = 3.348783, pitch = -0.018408, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301804, de = -0.063441 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111837.360046, dt = 0.199986,ping_time = 0.000000,yaw = 3.336799, pitch = -0.017066, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302550, de = -0.059821 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111837.560032, dt = 0.199986,ping_time = 0.000000,yaw = 3.330471, pitch = -0.023873, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302880, de = -0.057898 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111837.760019, dt = 0.199986,ping_time = 0.000000,yaw = 3.330855, pitch = -0.036240, speed = 1.439543, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282562, de = -0.054126 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111837.960005, dt = 0.199986,ping_time = 0.000000,yaw = 3.334594, pitch = -0.050525, speed = 1.439543, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282183, de = -0.055148 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111838.159991, dt = 0.199986,ping_time = 0.000000,yaw = 3.338908, pitch = -0.062510, speed = 1.439543, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.281752, de = -0.056327 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111838.359978, dt = 0.199986,ping_time = 0.000000,yaw = 3.341017, pitch = -0.069317, speed = 1.439543, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.281505, de = -0.056895 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111838.559964, dt = 0.199986,ping_time = 0.000000,yaw = 3.340634, pitch = -0.068742, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285561, de = -0.057601 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111838.759950, dt = 0.199986,ping_time = 0.000000,yaw = 3.338908, pitch = -0.062797, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293821, de = -0.058740 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111838.959936, dt = 0.199986,ping_time = 0.000000,yaw = 3.336703, pitch = -0.053689, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294106, de = -0.058123 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111839.159923, dt = 0.199986,ping_time = 0.000000,yaw = 3.336032, pitch = -0.043047, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298328, de = -0.058749 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111839.359909, dt = 0.199986,ping_time = 0.000000,yaw = 3.337278, pitch = -0.032214, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298376, de = -0.059145 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111839.559895, dt = 0.199986,ping_time = 0.000000,yaw = 3.341017, pitch = -0.023297, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298227, de = -0.060275 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111839.759882, dt = 0.199986,ping_time = 0.000000,yaw = 3.345332, pitch = -0.020133, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297985, de = -0.061565 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111839.959868, dt = 0.199986,ping_time = 0.000000,yaw = 3.347729, pitch = -0.022243, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297823, de = -0.062277 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111840.159854, dt = 0.199986,ping_time = 0.000000,yaw = 3.345907, pitch = -0.026078, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297908, de = -0.061728 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111840.359840, dt = 0.199986,ping_time = 0.000000,yaw = 3.340059, pitch = -0.032214, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298211, de = -0.059974 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111840.559827, dt = 0.199986,ping_time = 0.000000,yaw = 3.329225, pitch = -0.039884, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.131700 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.298760, de = -0.056724 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111840.559827 : sr1=0.000000 sr2=0.000000 sr3=2310.058029 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111831.36; tt = 3.13 : memo_dr[3][0] + tt = 985111834.49 : memo_dr[3][0] = 985111831.36 : memo_dr[3][1] = 985111831.56 : memo_dr[3][2] = 985111831.76 : memo_dr[3][3] = 985111831.96 : memo_dr[3][4] = 985111832.16 : memo_dr[3][5] = 985111832.36 : memo_dr[3][6] = 985111832.56 : memo_dr[3][7] = 985111832.76 : memo_dr[3][8] = 985111832.96 : memo_dr[3][9] = 985111833.16 : memo_dr[3][10] = 985111833.36 : memo_dr[3][11] = 985111833.56 : memo_dr[3][12] = 985111833.76 : memo_dr[3][13] = 985111833.96 : memo_dr[3][14] = 985111834.16 : memo_dr[3][15] = 985111834.36 : kk = 16 dnb[3]=-2.27788e+000 deb[3]=-6.77337e-001 : nb_nonzero_tofs = 1 => not enough returns : calling goats 2000:,time = 985111840.759813, dt = 0.199986,ping_time = 0.000000,yaw = 3.323760, pitch = -0.041897, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299041, de = -0.055086 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111840.959799, dt = 0.199986,ping_time = 0.000000,yaw = 3.318966, pitch = -0.040938, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299314, de = -0.053654 : lbl_goats: init_filter - 48 calls since the last PING. : calling goats 2000:,time = 985111841.159786, dt = 0.199986,ping_time = 0.000000,yaw = 3.316953, pitch = -0.036911, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299468, de = -0.053060 : lbl_goats: init_filter - 49 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111841.359772, dt = 0.199986,ping_time = 985111841.299776,yaw = 3.316761, pitch = -0.032501, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291429, de = -0.051578 : lbl_goats: init_filter - PING ! at t=985111841.299776 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111841.559758, dt = 0.199986,ping_time = 0.000000,yaw = 3.316378, pitch = -0.027612, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291491, de = -0.051474 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111841.759745, dt = 0.199986,ping_time = 0.000000,yaw = 3.316090, pitch = -0.023681, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287487, de = -0.050681 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111841.959731, dt = 0.199986,ping_time = 0.000000,yaw = 3.317720, pitch = -0.022243, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287413, de = -0.051151 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111842.159717, dt = 0.199986,ping_time = 0.000000,yaw = 3.321939, pitch = -0.025023, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287176, de = -0.052360 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111842.359704, dt = 0.199986,ping_time = 0.000000,yaw = 3.328074, pitch = -0.031638, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286796, de = -0.054111 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111842.559690, dt = 0.199986,ping_time = 0.000000,yaw = 3.333060, pitch = -0.039884, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294506, de = -0.057088 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111842.759676, dt = 0.199986,ping_time = 0.000000,yaw = 3.331909, pitch = -0.045828, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294497, de = -0.056734 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111842.959662, dt = 0.199986,ping_time = 0.000000,yaw = 3.322801, pitch = -0.048608, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299003, de = -0.054783 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111843.159649, dt = 0.199986,ping_time = 0.000000,yaw = 3.308996, pitch = -0.047745, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299743, de = -0.050652 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111843.359635, dt = 0.199986,ping_time = 0.000000,yaw = 3.294519, pitch = -0.044485, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.300490, de = -0.046314 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111843.559621, dt = 0.199986,ping_time = 0.000000,yaw = 3.283877, pitch = -0.041801, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301001, de = -0.043119 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111843.759608, dt = 0.199986,ping_time = 0.000000,yaw = 3.277645, pitch = -0.041801, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301264, de = -0.041242 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111843.959594, dt = 0.199986,ping_time = 0.000000,yaw = 3.276974, pitch = -0.045636, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293099, de = -0.039924 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111844.159580, dt = 0.199986,ping_time = 0.000000,yaw = 3.282439, pitch = -0.053210, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292767, de = -0.041510 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111844.359567, dt = 0.199986,ping_time = 0.000000,yaw = 3.294806, pitch = -0.063277, speed = 1.439543, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283947, de = -0.043848 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111844.559553, dt = 0.199986,ping_time = 0.000000,yaw = 3.312639, pitch = -0.073343, speed = 1.439543, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282925, de = -0.048871 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111844.759539, dt = 0.199986,ping_time = 0.000000,yaw = 3.330759, pitch = -0.080246, speed = 1.439543, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.281844, de = -0.053960 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111844.959526, dt = 0.199986,ping_time = 0.000000,yaw = 3.343989, pitch = -0.080726, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293141, de = -0.060154 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111845.159512, dt = 0.199986,ping_time = 0.000000,yaw = 3.351276, pitch = -0.074302, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292841, de = -0.062320 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111845.359498, dt = 0.199986,ping_time = 0.000000,yaw = 3.354536, pitch = -0.063277, speed = 1.562933, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304894, de = -0.065924 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111845.559484, dt = 0.199986,ping_time = 0.000000,yaw = 3.358275, pitch = -0.051005, speed = 1.562933, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304859, de = -0.067111 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111845.759471, dt = 0.199986,ping_time = 0.000000,yaw = 3.362781, pitch = -0.043718, speed = 1.501238, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292633, de = -0.065804 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111845.959457, dt = 0.199986,ping_time = 0.000000,yaw = 3.366232, pitch = -0.046211, speed = 1.501238, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292371, de = -0.066806 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111846.159443, dt = 0.199986,ping_time = 0.000000,yaw = 3.367958, pitch = -0.056278, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292105, de = -0.067275 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111846.359430, dt = 0.199986,ping_time = 0.000000,yaw = 3.369780, pitch = -0.068742, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295751, de = -0.068683 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111846.559416, dt = 0.199986,ping_time = 0.000000,yaw = 3.375340, pitch = -0.080150, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295113, de = -0.070266 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111846.759402, dt = 0.199986,ping_time = 0.000000,yaw = 3.385886, pitch = -0.088108, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294158, de = -0.073325 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111846.959388, dt = 0.199986,ping_time = 0.000000,yaw = 3.399021, pitch = -0.089259, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293140, de = -0.077175 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111847.159375, dt = 0.199986,ping_time = 0.000000,yaw = 3.411101, pitch = -0.081301, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296336, de = -0.081857 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111847.359361, dt = 0.199986,ping_time = 0.000000,yaw = 3.421839, pitch = -0.066153, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295771, de = -0.085129 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111847.559347, dt = 0.199986,ping_time = 0.000000,yaw = 3.431906, pitch = -0.050046, speed = 1.542368, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295175, de = -0.088185 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111847.759334, dt = 0.199986,ping_time = 0.000000,yaw = 3.441397, pitch = -0.039596, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290536, de = -0.089811 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111847.959320, dt = 0.199986,ping_time = 0.000000,yaw = 3.448971, pitch = -0.037774, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289868, de = -0.092016 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111848.159306, dt = 0.199986,ping_time = 0.000000,yaw = 3.454915, pitch = -0.040171, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289289, de = -0.093728 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111848.359292, dt = 0.199986,ping_time = 0.000000,yaw = 3.460093, pitch = -0.045157, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288739, de = -0.095204 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111848.559279, dt = 0.199986,ping_time = 0.000000,yaw = 3.466133, pitch = -0.052347, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284165, de = -0.095603 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111848.759265, dt = 0.199986,ping_time = 0.000000,yaw = 3.469488, pitch = -0.059634, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291500, de = -0.099161 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111848.959251, dt = 0.199986,ping_time = 0.000000,yaw = 3.468242, pitch = -0.066153, speed = 1.542368, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291503, de = -0.098757 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111849.159238, dt = 0.199986,ping_time = 0.000000,yaw = 3.464886, pitch = -0.070084, speed = 1.542368, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291755, de = -0.097752 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111849.359224, dt = 0.199986,ping_time = 0.000000,yaw = 3.464311, pitch = -0.071042, speed = 1.521803, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287901, de = -0.096277 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111849.559210, dt = 0.199986,ping_time = 0.000000,yaw = 3.470447, pitch = -0.068166, speed = 1.480673, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279596, de = -0.095411 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111849.759197, dt = 0.199986,ping_time = 0.000000,yaw = 3.481568, pitch = -0.063277, speed = 1.480673, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.278607, de = -0.098546 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111849.959183, dt = 0.199986,ping_time = 0.000000,yaw = 3.493648, pitch = -0.058100, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.277483, de = -0.101936 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111850.159169, dt = 0.199986,ping_time = 0.000000,yaw = 3.501894, pitch = -0.053018, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.276712, de = -0.104250 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111850.359156, dt = 0.199986,ping_time = 0.000000,yaw = 3.505057, pitch = -0.047074, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284142, de = -0.108077 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111850.559142, dt = 0.199986,ping_time = 0.000000,yaw = 3.504578, pitch = -0.040171, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.125200 tof[4] = 2.170600 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.284280, de = -0.107974 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111850.559142 : sr1=0.000000 sr2=0.000000 sr3=2305.248025 sr4=1598.843954 : init_filter: : i = 3 memo_dr[3][0] = 985111841.36; tt = 3.13 : memo_dr[3][0] + tt = 985111844.48 : memo_dr[3][0] = 985111841.36 : memo_dr[3][1] = 985111841.56 : memo_dr[3][2] = 985111841.76 : memo_dr[3][3] = 985111841.96 : memo_dr[3][4] = 985111842.16 : memo_dr[3][5] = 985111842.36 : memo_dr[3][6] = 985111842.56 : memo_dr[3][7] = 985111842.76 : memo_dr[3][8] = 985111842.96 : memo_dr[3][9] = 985111843.16 : memo_dr[3][10] = 985111843.36 : memo_dr[3][11] = 985111843.56 : memo_dr[3][12] = 985111843.76 : memo_dr[3][13] = 985111843.96 : memo_dr[3][14] = 985111844.16 : memo_dr[3][15] = 985111844.36 : kk = 16 dnb[3]=-2.29311e+000 deb[3]=-3.85109e-001 : init_filter: : i = 4 memo_dr[3][0] = 985111841.36; tt = 2.17 : memo_dr[3][0] + tt = 985111843.53 : memo_dr[3][0] = 985111841.36 : memo_dr[3][1] = 985111841.56 : memo_dr[3][2] = 985111841.76 : memo_dr[3][3] = 985111841.96 : memo_dr[3][4] = 985111842.16 : memo_dr[3][5] = 985111842.36 : memo_dr[3][6] = 985111842.56 : memo_dr[3][7] = 985111842.76 : memo_dr[3][8] = 985111842.96 : memo_dr[3][9] = 985111843.16 : memo_dr[3][10] = 985111843.36 : kk = 11 dnb[4]=-1.58804e+000 deb[4]=-2.85076e-001 : nb_nonzero_tofs = 2 => not enough returns : calling goats 2000:,time = 985111850.959114, dt = 0.399973,ping_time = 0.000000,yaw = 3.496237, pitch = -0.041226, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.570316, de = -0.211189 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111851.159101, dt = 0.199986,ping_time = 0.000000,yaw = 3.492881, pitch = -0.048800, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.273843, de = -0.100361 : lbl_goats: init_filter - 48 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.999315 : calling goats 2000:,time = 985111851.359087, dt = 0.199986,ping_time = 985111851.299091,yaw = 3.493169, pitch = -0.060880, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.273632, de = -0.100373 : lbl_goats: init_filter - PING ! at t=985111851.299091 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111851.559073, dt = 0.199986,ping_time = 0.000000,yaw = 3.496429, pitch = -0.072097, speed = 1.439543, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.269253, de = -0.099763 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111851.759060, dt = 0.199986,ping_time = 0.000000,yaw = 3.499784, pitch = -0.076891, speed = 1.439543, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.268821, de = -0.100630 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111851.959046, dt = 0.199986,ping_time = 0.000000,yaw = 3.498922, pitch = -0.074782, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.268950, de = -0.100414 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111852.159032, dt = 0.199986,ping_time = 0.000000,yaw = 3.496333, pitch = -0.068550, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.269330, de = -0.099762 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111852.359019, dt = 0.199986,ping_time = 0.000000,yaw = 3.495854, pitch = -0.061455, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288752, de = -0.106799 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111852.559005, dt = 0.199986,ping_time = 0.000000,yaw = 3.499497, pitch = -0.054840, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288472, de = -0.107892 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111852.758991, dt = 0.199986,ping_time = 0.000000,yaw = 3.505729, pitch = -0.048129, speed = 1.542368, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287894, de = -0.109726 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111852.958978, dt = 0.199986,ping_time = 0.000000,yaw = 3.509659, pitch = -0.041513, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.272210, de = -0.104975 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111853.158964, dt = 0.199986,ping_time = 0.000000,yaw = 3.509084, pitch = -0.038829, speed = 1.460108, depth = -0.130288 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.272300, de = -0.104830 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111853.358950, dt = 0.199986,ping_time = 0.000000,yaw = 3.503140, pitch = -0.039979, speed = 1.480673, depth = -0.130288 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.276749, de = -0.104658 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111853.558936, dt = 0.199986,ping_time = 0.000000,yaw = 3.496237, pitch = -0.042856, speed = 1.480673, depth = -0.130288 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.277432, de = -0.102733 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111853.758923, dt = 0.199986,ping_time = 0.000000,yaw = 3.491348, pitch = -0.044198, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285635, de = -0.104186 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111853.958909, dt = 0.199986,ping_time = 0.000000,yaw = 3.488375, pitch = -0.043431, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285953, de = -0.103340 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111854.158895, dt = 0.199986,ping_time = 0.000000,yaw = 3.485883, pitch = -0.041034, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286239, de = -0.102637 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111854.358882, dt = 0.199986,ping_time = 0.000000,yaw = 3.483294, pitch = -0.038541, speed = 1.480673, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.278788, de = -0.099151 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111854.558868, dt = 0.199986,ping_time = 0.000000,yaw = 3.480706, pitch = -0.035665, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.282949, de = -0.099807 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111854.758854, dt = 0.199986,ping_time = 0.000000,yaw = 3.479076, pitch = -0.034131, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.283127, de = -0.099351 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111854.958840, dt = 0.199986,ping_time = 0.000000,yaw = 3.476871, pitch = -0.033172, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.275591, de = -0.096025 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111855.158827, dt = 0.199986,ping_time = 0.000000,yaw = 3.474570, pitch = -0.032405, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.275818, de = -0.095393 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111855.358813, dt = 0.199986,ping_time = 0.000000,yaw = 3.471310, pitch = -0.032981, speed = 1.460108, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.276123, de = -0.094492 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111855.558799, dt = 0.199986,ping_time = 0.000000,yaw = 3.467283, pitch = -0.035665, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.280369, de = -0.094685 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111855.758786, dt = 0.199986,ping_time = 0.000000,yaw = 3.462585, pitch = -0.041705, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284644, de = -0.094642 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111855.958772, dt = 0.199986,ping_time = 0.000000,yaw = 3.458846, pitch = -0.050334, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284883, de = -0.093540 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111856.158758, dt = 0.199986,ping_time = 0.000000,yaw = 3.456066, pitch = -0.058675, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285012, de = -0.092705 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111856.358744, dt = 0.199986,ping_time = 0.000000,yaw = 3.454532, pitch = -0.063756, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292875, de = -0.094766 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111856.558731, dt = 0.199986,ping_time = 0.000000,yaw = 3.455203, pitch = -0.064715, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284986, de = -0.092425 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111856.768716, dt = 0.209986,ping_time = 0.000000,yaw = 3.456545, pitch = -0.060496, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299184, de = -0.097473 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111856.968703, dt = 0.199986,ping_time = 0.000000,yaw = 3.456737, pitch = -0.049759, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285088, de = -0.092941 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111857.168689, dt = 0.199986,ping_time = 0.000000,yaw = 3.455107, pitch = -0.036240, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285405, de = -0.092530 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111857.368675, dt = 0.199986,ping_time = 0.000000,yaw = 3.452327, pitch = -0.024927, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285760, de = -0.091768 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111857.568662, dt = 0.199986,ping_time = 0.000000,yaw = 3.449642, pitch = -0.021955, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289944, de = -0.092254 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111857.768648, dt = 0.199986,ping_time = 0.000000,yaw = 3.446766, pitch = -0.029625, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290150, de = -0.091401 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111857.968634, dt = 0.199986,ping_time = 0.000000,yaw = 3.441301, pitch = -0.043431, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290499, de = -0.089769 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111858.168621, dt = 0.199986,ping_time = 0.000000,yaw = 3.434303, pitch = -0.056470, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286999, de = -0.086492 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111858.368607, dt = 0.199986,ping_time = 0.000000,yaw = 3.426729, pitch = -0.066824, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287462, de = -0.084262 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111858.568593, dt = 0.199986,ping_time = 0.000000,yaw = 3.420880, pitch = -0.071426, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291801, de = -0.083684 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111858.768580, dt = 0.199986,ping_time = 0.000000,yaw = 3.417429, pitch = -0.069317, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292132, de = -0.082688 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111858.968566, dt = 0.199986,ping_time = 0.000000,yaw = 3.415128, pitch = -0.062989, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292444, de = -0.082050 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111859.168552, dt = 0.199986,ping_time = 0.000000,yaw = 3.413594, pitch = -0.053881, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292725, de = -0.081645 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111859.368538, dt = 0.199986,ping_time = 0.000000,yaw = 3.412827, pitch = -0.043431, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292937, de = -0.081462 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111859.568525, dt = 0.199986,ping_time = 0.000000,yaw = 3.412731, pitch = -0.032789, speed = 1.480673, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285143, de = -0.079265 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111859.768511, dt = 0.199986,ping_time = 0.000000,yaw = 3.413786, pitch = -0.024544, speed = 1.480673, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285127, de = -0.079585 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111859.968497, dt = 0.199986,ping_time = 0.000000,yaw = 3.413498, pitch = -0.018887, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285185, de = -0.079512 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111860.168484, dt = 0.199986,ping_time = 0.000000,yaw = 3.409280, pitch = -0.014860, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289502, de = -0.079402 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111860.368470, dt = 0.199986,ping_time = 0.000000,yaw = 3.399213, pitch = -0.013998, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290291, de = -0.076484 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111860.568456, dt = 0.199986,ping_time = 0.000000,yaw = 3.392789, pitch = -0.016107, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.139900 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.290767, de = -0.074616 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111860.568456 : sr1=0.000000 sr2=0.000000 sr3=2316.125977 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111851.36; tt = 3.14 : memo_dr[3][0] + tt = 985111854.50 : memo_dr[3][0] = 985111851.36 : memo_dr[3][1] = 985111851.56 : memo_dr[3][2] = 985111851.76 : memo_dr[3][3] = 985111851.96 : memo_dr[3][4] = 985111852.16 : memo_dr[3][5] = 985111852.36 : memo_dr[3][6] = 985111852.56 : memo_dr[3][7] = 985111852.76 : memo_dr[3][8] = 985111852.96 : memo_dr[3][9] = 985111853.16 : memo_dr[3][10] = 985111853.36 : memo_dr[3][11] = 985111853.56 : memo_dr[3][12] = 985111853.76 : memo_dr[3][13] = 985111853.96 : memo_dr[3][14] = 985111854.16 : memo_dr[3][15] = 985111854.36 : kk = 16 dnb[3]=-2.18347e+000 deb[3]=-8.11091e-001 : init_filter: : i = 5 memo_dr[3][0] = 985111851.36; tt = 2.90 : memo_dr[3][0] + tt = 985111854.26 : memo_dr[3][0] = 985111851.36 : memo_dr[3][1] = 985111851.56 : memo_dr[3][2] = 985111851.76 : memo_dr[3][3] = 985111851.96 : memo_dr[3][4] = 985111852.16 : memo_dr[3][5] = 985111852.36 : memo_dr[3][6] = 985111852.56 : memo_dr[3][7] = 985111852.76 : memo_dr[3][8] = 985111852.96 : memo_dr[3][9] = 985111853.16 : memo_dr[3][10] = 985111853.36 : memo_dr[3][11] = 985111853.56 : memo_dr[3][12] = 985111853.76 : memo_dr[3][13] = 985111853.96 : memo_dr[3][14] = 985111854.16 : kk = 15 dnb[5]=-2.01339e+000 deb[5]=-7.50392e-001 : nb_nonzero_tofs = 2 => not enough returns : calling goats 2000:,time = 985111860.968429, dt = 0.399973,ping_time = 0.000000,yaw = 3.373231, pitch = -0.041705, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.583909, de = -0.137728 : lbl_goats: init_filter - 47 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.819327 : calling goats 2000:,time = 985111861.168415, dt = 0.199986,ping_time = 985111861.118418,yaw = 3.371409, pitch = -0.050909, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295954, de = -0.069239 : lbl_goats: init_filter - PING ! at t=985111861.118418 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111861.368401, dt = 0.199986,ping_time = 0.000000,yaw = 3.368629, pitch = -0.058100, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296029, de = -0.068389 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111861.568388, dt = 0.199986,ping_time = 0.000000,yaw = 3.362589, pitch = -0.062606, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296356, de = -0.066581 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111861.768374, dt = 0.199986,ping_time = 0.000000,yaw = 3.356741, pitch = -0.065194, speed = 1.439543, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.280654, de = -0.061331 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111861.968360, dt = 0.199986,ping_time = 0.000000,yaw = 3.353193, pitch = -0.064811, speed = 1.439543, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.280877, de = -0.060337 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111862.168346, dt = 0.199986,ping_time = 0.000000,yaw = 3.353097, pitch = -0.062030, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288959, de = -0.062044 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111862.368333, dt = 0.199986,ping_time = 0.000000,yaw = 3.354823, pitch = -0.057428, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288931, de = -0.062560 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111862.568319, dt = 0.199986,ping_time = 0.000000,yaw = 3.358275, pitch = -0.051292, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288810, de = -0.063578 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111862.768305, dt = 0.199986,ping_time = 0.000000,yaw = 3.364506, pitch = -0.043335, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288516, de = -0.065401 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111862.968292, dt = 0.199986,ping_time = 0.000000,yaw = 3.372368, pitch = -0.033843, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288099, de = -0.067692 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111863.168278, dt = 0.199986,ping_time = 0.000000,yaw = 3.379367, pitch = -0.024544, speed = 1.480673, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287696, de = -0.069726 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111863.368264, dt = 0.199986,ping_time = 0.000000,yaw = 3.384448, pitch = -0.019079, speed = 1.480673, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287373, de = -0.071195 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111863.568251, dt = 0.199986,ping_time = 0.000000,yaw = 3.387900, pitch = -0.018695, speed = 1.501238, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291115, de = -0.073190 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111863.768237, dt = 0.199986,ping_time = 0.000000,yaw = 3.388187, pitch = -0.023585, speed = 1.501238, depth = -0.241963 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291064, de = -0.073266 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111863.968223, dt = 0.199986,ping_time = 0.000000,yaw = 3.383489, pitch = -0.030967, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291346, de = -0.071883 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111864.168210, dt = 0.199986,ping_time = 0.000000,yaw = 3.374094, pitch = -0.038254, speed = 1.501238, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291935, de = -0.069125 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111864.368196, dt = 0.199986,ping_time = 0.000000,yaw = 3.361918, pitch = -0.046115, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.300676, de = -0.067340 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111864.568182, dt = 0.199986,ping_time = 0.000000,yaw = 3.353385, pitch = -0.054456, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.301113, de = -0.064744 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111864.768168, dt = 0.199986,ping_time = 0.000000,yaw = 3.350605, pitch = -0.063373, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.289088, de = -0.061319 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111864.968155, dt = 0.199986,ping_time = 0.000000,yaw = 3.353002, pitch = -0.070563, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288801, de = -0.061981 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111865.168141, dt = 0.199986,ping_time = 0.000000,yaw = 3.357316, pitch = -0.075453, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296440, de = -0.064960 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111865.368127, dt = 0.199986,ping_time = 0.000000,yaw = 3.359905, pitch = -0.076795, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296240, de = -0.065720 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111865.568114, dt = 0.199986,ping_time = 0.000000,yaw = 3.359521, pitch = -0.075549, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284282, de = -0.062953 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111865.768100, dt = 0.199986,ping_time = 0.000000,yaw = 3.358946, pitch = -0.073919, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.284353, de = -0.062797 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111865.968086, dt = 0.199986,ping_time = 0.000000,yaw = 3.361151, pitch = -0.073343, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288229, de = -0.064320 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111866.168073, dt = 0.199986,ping_time = 0.000000,yaw = 3.365849, pitch = -0.073919, speed = 1.480673, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287911, de = -0.065670 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111866.368059, dt = 0.199986,ping_time = 0.000000,yaw = 3.370642, pitch = -0.073727, speed = 1.501238, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291591, de = -0.067982 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111866.568045, dt = 0.199986,ping_time = 0.000000,yaw = 3.373902, pitch = -0.070755, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295423, de = -0.069891 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111866.768032, dt = 0.199986,ping_time = 0.000000,yaw = 3.374094, pitch = -0.064523, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295535, de = -0.069978 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111866.968018, dt = 0.199986,ping_time = 0.000000,yaw = 3.372081, pitch = -0.056278, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295822, de = -0.069417 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111867.168004, dt = 0.199986,ping_time = 0.000000,yaw = 3.369684, pitch = -0.044773, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296160, de = -0.068748 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111867.367990, dt = 0.199986,ping_time = 0.000000,yaw = 3.367958, pitch = -0.029529, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296446, de = -0.068275 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111867.567977, dt = 0.199986,ping_time = 0.000000,yaw = 3.365369, pitch = -0.012559, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296728, de = -0.067532 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111867.767963, dt = 0.199986,ping_time = 0.000000,yaw = 3.361822, pitch = 0.000863, speed = 1.521803, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296989, de = -0.066484 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111867.967949, dt = 0.199986,ping_time = 0.000000,yaw = 3.359809, pitch = 0.004985, speed = 1.521803, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297119, de = -0.065885 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111868.167936, dt = 0.199986,ping_time = 0.000000,yaw = 3.362014, pitch = -0.003068, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.296975, de = -0.066541 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111868.367922, dt = 0.199986,ping_time = 0.000000,yaw = 3.366999, pitch = -0.021572, speed = 1.439543, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.280541, de = -0.064329 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111868.567908, dt = 0.199986,ping_time = 0.000000,yaw = 3.370451, pitch = -0.044294, speed = 1.439543, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.280108, de = -0.065248 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111868.767894, dt = 0.199986,ping_time = 0.000000,yaw = 3.369684, pitch = -0.065194, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287832, de = -0.066815 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111868.967881, dt = 0.199986,ping_time = 0.000000,yaw = 3.367574, pitch = -0.081109, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.287637, de = -0.066130 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111869.167867, dt = 0.199986,ping_time = 0.000000,yaw = 3.368054, pitch = -0.090792, speed = 1.542368, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299339, de = -0.068972 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111869.367853, dt = 0.199986,ping_time = 0.000000,yaw = 3.371985, pitch = -0.091559, speed = 1.542368, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299044, de = -0.070143 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111869.567840, dt = 0.199986,ping_time = 0.000000,yaw = 3.376203, pitch = -0.083506, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294971, de = -0.070502 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111869.767826, dt = 0.199986,ping_time = 0.000000,yaw = 3.380422, pitch = -0.070755, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294961, de = -0.071816 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111869.967812, dt = 0.199986,ping_time = 0.000000,yaw = 3.387420, pitch = -0.056182, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294724, de = -0.073947 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111870.167798, dt = 0.199986,ping_time = 0.000000,yaw = 3.398542, pitch = -0.044677, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.298028, de = -0.078309 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111870.367785, dt = 0.199986,ping_time = 0.000000,yaw = 3.414553, pitch = -0.034610, speed = 1.542368, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.120100 tof[4] = 2.201200 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.296855, de = -0.083104 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111870.367785 : sr1=0.000000 sr2=0.000000 sr3=2301.474016 sr4=1621.488006 : init_filter: : i = 3 memo_dr[3][0] = 985111861.17; tt = 3.12 : memo_dr[3][0] + tt = 985111864.29 : memo_dr[3][0] = 985111861.17 : memo_dr[3][1] = 985111861.37 : memo_dr[3][2] = 985111861.57 : memo_dr[3][3] = 985111861.77 : memo_dr[3][4] = 985111861.97 : memo_dr[3][5] = 985111862.17 : memo_dr[3][6] = 985111862.37 : memo_dr[3][7] = 985111862.57 : memo_dr[3][8] = 985111862.77 : memo_dr[3][9] = 985111862.97 : memo_dr[3][10] = 985111863.17 : memo_dr[3][11] = 985111863.37 : memo_dr[3][12] = 985111863.57 : memo_dr[3][13] = 985111863.77 : memo_dr[3][14] = 985111863.97 : memo_dr[3][15] = 985111864.17 : kk = 16 dnb[3]=-2.25870e+000 deb[3]=-5.23998e-001 : init_filter: : i = 4 memo_dr[3][0] = 985111861.17; tt = 2.20 : memo_dr[3][0] + tt = 985111863.37 : memo_dr[3][0] = 985111861.17 : memo_dr[3][1] = 985111861.37 : memo_dr[3][2] = 985111861.57 : memo_dr[3][3] = 985111861.77 : memo_dr[3][4] = 985111861.97 : memo_dr[3][5] = 985111862.17 : memo_dr[3][6] = 985111862.37 : memo_dr[3][7] = 985111862.57 : memo_dr[3][8] = 985111862.77 : memo_dr[3][9] = 985111862.97 : memo_dr[3][10] = 985111863.17 : memo_dr[3][11] = 985111863.37 : kk = 12 dnb[4]=-1.59141e+000 deb[4]=-3.58679e-001 : init_filter: : i = 5 memo_dr[3][0] = 985111861.17; tt = 2.90 : memo_dr[3][0] + tt = 985111864.06 : memo_dr[3][0] = 985111861.17 : memo_dr[3][1] = 985111861.37 : memo_dr[3][2] = 985111861.57 : memo_dr[3][3] = 985111861.77 : memo_dr[3][4] = 985111861.97 : memo_dr[3][5] = 985111862.17 : memo_dr[3][6] = 985111862.37 : memo_dr[3][7] = 985111862.57 : memo_dr[3][8] = 985111862.77 : memo_dr[3][9] = 985111862.97 : memo_dr[3][10] = 985111863.17 : memo_dr[3][11] = 985111863.37 : memo_dr[3][12] = 985111863.57 : memo_dr[3][13] = 985111863.77 : memo_dr[3][14] = 985111863.97 : kk = 15 dnb[5]=-2.09463e+000 deb[5]=-4.84390e-001 : filter_init: residual = 3.601136 : init_filter: Compute a New Fix : (3)-beacon LBL fix: n=4067778.83 e=600714.62 residual=3.601136 : dnb[0]=-13.72 deb[0]=-3.18 : Init_filter: init_with_residual = 0 residual = 3.60114e+000 : calling goats 2000:,time = 985111870.967744, dt = 0.599959,ping_time = 0.000000,yaw = 3.413690, pitch = -0.030967, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.879007, de = -0.245258 : lbl_goats: init_filter - 47 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : calling goats 2000:,time = 985111871.167730, dt = 0.199986,ping_time = 985111871.107734,yaw = 3.398829, pitch = -0.040650, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294083, de = -0.077363 : lbl_goats: init_filter - PING ! at t=985111871.107734 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111871.367716, dt = 0.199986,ping_time = 0.000000,yaw = 3.389242, pitch = -0.052826, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294643, de = -0.074497 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111871.567703, dt = 0.199986,ping_time = 0.000000,yaw = 3.391159, pitch = -0.062510, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294335, de = -0.075020 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111871.767689, dt = 0.199986,ping_time = 0.000000,yaw = 3.403048, pitch = -0.068646, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293304, de = -0.078482 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111871.967675, dt = 0.199986,ping_time = 0.000000,yaw = 3.417429, pitch = -0.068070, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292157, de = -0.082695 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111872.167662, dt = 0.199986,ping_time = 0.000000,yaw = 3.428263, pitch = -0.061359, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291371, de = -0.085893 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111872.367648, dt = 0.199986,ping_time = 0.000000,yaw = 3.436795, pitch = -0.049183, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290823, de = -0.088436 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111872.567634, dt = 0.199986,ping_time = 0.000000,yaw = 3.442835, pitch = -0.034610, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290461, de = -0.090246 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111872.767620, dt = 0.199986,ping_time = 0.000000,yaw = 3.448108, pitch = -0.020421, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286174, de = -0.090571 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111872.967607, dt = 0.199986,ping_time = 0.000000,yaw = 3.453861, pitch = -0.009492, speed = 1.501238, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285695, de = -0.092231 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111873.167593, dt = 0.199986,ping_time = 0.000000,yaw = 3.460860, pitch = -0.007478, speed = 1.460108, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.277238, de = -0.091648 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111873.367579, dt = 0.199986,ping_time = 0.000000,yaw = 3.470064, pitch = -0.015340, speed = 1.460108, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.276358, de = -0.094188 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111873.567566, dt = 0.199986,ping_time = 0.000000,yaw = 3.481185, pitch = -0.029817, speed = 1.439543, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.271327, de = -0.095854 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111873.767552, dt = 0.199986,ping_time = 0.000000,yaw = 3.494895, pitch = -0.047362, speed = 1.439543, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.269805, de = -0.099497 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111873.967538, dt = 0.199986,ping_time = 0.000000,yaw = 3.511673, pitch = -0.060496, speed = 1.439543, depth = -0.387896 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.267907, de = -0.103936 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111874.167525, dt = 0.199986,ping_time = 0.000000,yaw = 3.531615, pitch = -0.065769, speed = 1.460108, depth = -0.201772 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.269489, de = -0.110782 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111874.367511, dt = 0.199986,ping_time = 0.000000,yaw = 3.555104, pitch = -0.063660, speed = 1.460108, depth = -0.201772 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.266849, de = -0.117096 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111874.567497, dt = 0.199986,ping_time = 0.000000,yaw = 3.577538, pitch = -0.053881, speed = 1.521803, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.275475, de = -0.128326 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111874.767484, dt = 0.199986,ping_time = 0.000000,yaw = 3.593645, pitch = -0.039404, speed = 1.521803, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.273557, de = -0.132836 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111874.967470, dt = 0.199986,ping_time = 0.000000,yaw = 3.600068, pitch = -0.027803, speed = 1.521803, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.272805, de = -0.134643 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111875.167456, dt = 0.199986,ping_time = 0.000000,yaw = 3.597384, pitch = -0.022818, speed = 1.521803, depth = -0.443732 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.273199, de = -0.133927 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111875.367442, dt = 0.199986,ping_time = 0.000000,yaw = 3.589426, pitch = -0.020517, speed = 1.521803, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.274270, de = -0.131756 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111875.567429, dt = 0.199986,ping_time = 0.000000,yaw = 3.579360, pitch = -0.022530, speed = 1.480673, depth = -0.332059 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.268123, de = -0.125496 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111875.767415, dt = 0.199986,ping_time = 0.000000,yaw = 3.568430, pitch = -0.027324, speed = 1.480673, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.269446, de = -0.122544 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111875.967401, dt = 0.199986,ping_time = 0.000000,yaw = 3.559801, pitch = -0.033652, speed = 1.480673, depth = -0.574018 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.270441, de = -0.120191 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111876.167388, dt = 0.199986,ping_time = 0.000000,yaw = 3.554241, pitch = -0.041801, speed = 1.521803, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.278551, de = -0.121945 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111876.367374, dt = 0.199986,ping_time = 0.000000,yaw = 3.552227, pitch = -0.048129, speed = 1.521803, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.278716, de = -0.121349 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111876.567360, dt = 0.199986,ping_time = 0.000000,yaw = 3.552803, pitch = -0.050813, speed = 1.521803, depth = -0.518181 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.278609, de = -0.121493 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111876.767346, dt = 0.199986,ping_time = 0.000000,yaw = 3.553665, pitch = -0.051868, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.278489, de = -0.121727 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111876.967333, dt = 0.199986,ping_time = 0.000000,yaw = 3.552611, pitch = -0.054840, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.278573, de = -0.121414 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111877.167319, dt = 0.199986,ping_time = 0.000000,yaw = 3.548201, pitch = -0.059154, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.271496, de = -0.116907 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111877.367305, dt = 0.199986,ping_time = 0.000000,yaw = 3.541490, pitch = -0.062989, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.272210, de = -0.115056 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111877.567292, dt = 0.199986,ping_time = 0.000000,yaw = 3.533148, pitch = -0.063756, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.273147, de = -0.112776 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111877.767278, dt = 0.199986,ping_time = 0.000000,yaw = 3.523273, pitch = -0.059346, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.274322, de = -0.110103 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111877.967264, dt = 0.199986,ping_time = 0.000000,yaw = 3.511002, pitch = -0.050334, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.279619, de = -0.108264 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111878.167250, dt = 0.199986,ping_time = 0.000000,yaw = 3.493744, pitch = -0.040075, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.281577, de = -0.103471 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111878.367237, dt = 0.199986,ping_time = 0.000000,yaw = 3.468050, pitch = -0.030871, speed = 1.542368, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292022, de = -0.098870 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111878.567223, dt = 0.199986,ping_time = 0.000000,yaw = 3.439096, pitch = -0.024544, speed = 1.542368, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294814, de = -0.090391 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111878.767209, dt = 0.199986,ping_time = 0.000000,yaw = 3.411389, pitch = -0.022722, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293255, de = -0.081096 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111878.967196, dt = 0.199986,ping_time = 0.000000,yaw = 3.390968, pitch = -0.024927, speed = 1.521803, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294834, de = -0.075087 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111879.167182, dt = 0.199986,ping_time = 0.000000,yaw = 3.376778, pitch = -0.030392, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295825, de = -0.070886 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111879.367168, dt = 0.199986,ping_time = 0.000000,yaw = 3.366999, pitch = -0.036911, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288427, de = -0.066137 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111879.567155, dt = 0.199986,ping_time = 0.000000,yaw = 3.356645, pitch = -0.043718, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285003, de = -0.062253 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111879.767141, dt = 0.199986,ping_time = 0.000000,yaw = 3.344948, pitch = -0.047745, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.285659, de = -0.058905 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111879.967127, dt = 0.199986,ping_time = 0.000000,yaw = 3.332676, pitch = -0.049567, speed = 1.460108, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.286335, de = -0.055390 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111880.167114, dt = 0.199986,ping_time = 0.000000,yaw = 3.321843, pitch = -0.048512, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.290974, de = -0.053024 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111880.367100, dt = 0.199986,ping_time = 0.000000,yaw = 3.309475, pitch = -0.046019, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 3.116800 tof[4] = 0.000000 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.291642, de = -0.049427 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111880.367100 : sr1=0.000000 sr2=0.000000 sr3=2299.032052 sr4=0.000000 : init_filter: : i = 3 memo_dr[3][0] = 985111871.17; tt = 3.12 : memo_dr[3][0] + tt = 985111874.28 : memo_dr[3][0] = 985111871.17 : memo_dr[3][1] = 985111871.37 : memo_dr[3][2] = 985111871.57 : memo_dr[3][3] = 985111871.77 : memo_dr[3][4] = 985111871.97 : memo_dr[3][5] = 985111872.17 : memo_dr[3][6] = 985111872.37 : memo_dr[3][7] = 985111872.57 : memo_dr[3][8] = 985111872.77 : memo_dr[3][9] = 985111872.97 : memo_dr[3][10] = 985111873.17 : memo_dr[3][11] = 985111873.37 : memo_dr[3][12] = 985111873.57 : memo_dr[3][13] = 985111873.77 : memo_dr[3][14] = 985111873.97 : memo_dr[3][15] = 985111874.17 : kk = 16 dnb[3]=-2.21667e+000 deb[3]=-6.92686e-001 : nb_nonzero_tofs = 1 => not enough returns : calling goats 2000:,time = 985111880.567086, dt = 0.199986,ping_time = 0.000000,yaw = 3.299025, pitch = -0.046211, speed = 1.480673, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292140, de = -0.046376 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111880.767072, dt = 0.199986,ping_time = 0.000000,yaw = 3.284548, pitch = -0.048608, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292748, de = -0.042137 : lbl_goats: init_filter - 48 calls since the last PING. : calling goats 2000:,time = 985111880.967059, dt = 0.199986,ping_time = 0.000000,yaw = 3.267290, pitch = -0.052635, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293371, de = -0.037072 : lbl_goats: init_filter - 49 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 10.009314 : calling goats 2000:,time = 985111881.167045, dt = 0.199986,ping_time = 985111881.117048,yaw = 3.250800, pitch = -0.057716, speed = 1.521803, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302023, de = -0.033115 : lbl_goats: init_filter - PING ! at t=985111881.117048 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111881.367031, dt = 0.199986,ping_time = 0.000000,yaw = 3.237282, pitch = -0.063373, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302339, de = -0.029019 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111881.567018, dt = 0.199986,ping_time = 0.000000,yaw = 3.229133, pitch = -0.065482, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.306613, de = -0.026910 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111881.767004, dt = 0.199986,ping_time = 0.000000,yaw = 3.224435, pitch = -0.063948, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.306766, de = -0.025472 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111881.966990, dt = 0.199986,ping_time = 0.000000,yaw = 3.219545, pitch = -0.058867, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.306983, de = -0.023979 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111882.166977, dt = 0.199986,ping_time = 0.000000,yaw = 3.212067, pitch = -0.051005, speed = 1.542368, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.307287, de = -0.021692 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111882.366963, dt = 0.199986,ping_time = 0.000000,yaw = 3.202863, pitch = -0.041705, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303505, de = -0.018619 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111882.566949, dt = 0.199986,ping_time = 0.000000,yaw = 3.194810, pitch = -0.033076, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299638, de = -0.015961 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111882.766936, dt = 0.199986,ping_time = 0.000000,yaw = 3.188386, pitch = -0.025982, speed = 1.501238, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299797, de = -0.014039 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111882.966922, dt = 0.199986,ping_time = 0.000000,yaw = 3.182346, pitch = -0.022339, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.299903, de = -0.012229 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111883.166908, dt = 0.199986,ping_time = 0.000000,yaw = 3.175923, pitch = -0.023201, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291751, de = -0.010020 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111883.366894, dt = 0.199986,ping_time = 0.000000,yaw = 3.166335, pitch = -0.026365, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295921, de = -0.007323 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111883.566881, dt = 0.199986,ping_time = 0.000000,yaw = 3.153776, pitch = -0.030871, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295951, de = -0.003606 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111883.766867, dt = 0.199986,ping_time = 0.000000,yaw = 3.139587, pitch = -0.038158, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291788, de = 0.000585 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111883.966853, dt = 0.199986,ping_time = 0.000000,yaw = 3.127794, pitch = -0.048704, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291628, de = 0.004024 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111884.166840, dt = 0.199986,ping_time = 0.000000,yaw = 3.119645, pitch = -0.061934, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291372, de = 0.006396 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111884.366826, dt = 0.199986,ping_time = 0.000000,yaw = 3.115618, pitch = -0.069988, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303492, de = 0.007885 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111884.566812, dt = 0.199986,ping_time = 0.000000,yaw = 3.113605, pitch = -0.069604, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303484, de = 0.008496 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111884.766798, dt = 0.199986,ping_time = 0.000000,yaw = 3.111112, pitch = -0.060592, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303640, de = 0.009258 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111884.966785, dt = 0.199986,ping_time = 0.000000,yaw = 3.108140, pitch = -0.046403, speed = 1.521803, depth = -0.688656 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303842, de = 0.010168 : lbl_goats: init_filter - 19 calls since the last PING. : calling goats 2000:,time = 985111885.166771, dt = 0.199986,ping_time = 0.000000,yaw = 3.105647, pitch = -0.033843, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303969, de = 0.010931 : lbl_goats: init_filter - 20 calls since the last PING. : calling goats 2000:,time = 985111885.366757, dt = 0.199986,ping_time = 0.000000,yaw = 3.103442, pitch = -0.025790, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304017, de = 0.011604 : lbl_goats: init_filter - 21 calls since the last PING. : calling goats 2000:,time = 985111885.566744, dt = 0.199986,ping_time = 0.000000,yaw = 3.100087, pitch = -0.023393, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303994, de = 0.012625 : lbl_goats: init_filter - 22 calls since the last PING. : calling goats 2000:,time = 985111885.766730, dt = 0.199986,ping_time = 0.000000,yaw = 3.095580, pitch = -0.027995, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303899, de = 0.013993 : lbl_goats: init_filter - 23 calls since the last PING. : calling goats 2000:,time = 985111885.966716, dt = 0.199986,ping_time = 0.000000,yaw = 3.089924, pitch = -0.038637, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303707, de = 0.015706 : lbl_goats: init_filter - 24 calls since the last PING. : calling goats 2000:,time = 985111886.166702, dt = 0.199986,ping_time = 0.000000,yaw = 3.083404, pitch = -0.051868, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303416, de = 0.017675 : lbl_goats: init_filter - 25 calls since the last PING. : calling goats 2000:,time = 985111886.366689, dt = 0.199986,ping_time = 0.000000,yaw = 3.076310, pitch = -0.064715, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294865, de = 0.019277 : lbl_goats: init_filter - 26 calls since the last PING. : calling goats 2000:,time = 985111886.566675, dt = 0.199986,ping_time = 0.000000,yaw = 3.070653, pitch = -0.072576, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294592, de = 0.020933 : lbl_goats: init_filter - 27 calls since the last PING. : calling goats 2000:,time = 985111886.766661, dt = 0.199986,ping_time = 0.000000,yaw = 3.068065, pitch = -0.074206, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302682, de = 0.022296 : lbl_goats: init_filter - 28 calls since the last PING. : calling goats 2000:,time = 985111886.966648, dt = 0.199986,ping_time = 0.000000,yaw = 3.070270, pitch = -0.072672, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302765, de = 0.021631 : lbl_goats: init_filter - 29 calls since the last PING. : calling goats 2000:,time = 985111887.166634, dt = 0.199986,ping_time = 0.000000,yaw = 3.077077, pitch = -0.072481, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302909, de = 0.019570 : lbl_goats: init_filter - 30 calls since the last PING. : calling goats 2000:,time = 985111887.366620, dt = 0.199986,ping_time = 0.000000,yaw = 3.086568, pitch = -0.073056, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303068, de = 0.016693 : lbl_goats: init_filter - 31 calls since the last PING. : calling goats 2000:,time = 985111887.566607, dt = 0.199986,ping_time = 0.000000,yaw = 3.096923, pitch = -0.072193, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.307342, de = 0.013738 : lbl_goats: init_filter - 32 calls since the last PING. : calling goats 2000:,time = 985111887.766593, dt = 0.199986,ping_time = 0.000000,yaw = 3.106989, pitch = -0.068454, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.307546, de = 0.010646 : lbl_goats: init_filter - 33 calls since the last PING. : calling goats 2000:,time = 985111887.966579, dt = 0.199986,ping_time = 0.000000,yaw = 3.116193, pitch = -0.063085, speed = 1.542368, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.307739, de = 0.007818 : lbl_goats: init_filter - 34 calls since the last PING. : calling goats 2000:,time = 985111888.166566, dt = 0.199986,ping_time = 0.000000,yaw = 3.122425, pitch = -0.058867, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303757, de = 0.005823 : lbl_goats: init_filter - 35 calls since the last PING. : calling goats 2000:,time = 985111888.366552, dt = 0.199986,ping_time = 0.000000,yaw = 3.124726, pitch = -0.052635, speed = 1.521803, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.303875, de = 0.005126 : lbl_goats: init_filter - 36 calls since the last PING. : calling goats 2000:,time = 985111888.566538, dt = 0.199986,ping_time = 0.000000,yaw = 3.124438, pitch = -0.043910, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304002, de = 0.005215 : lbl_goats: init_filter - 37 calls since the last PING. : calling goats 2000:,time = 985111888.766524, dt = 0.199986,ping_time = 0.000000,yaw = 3.125205, pitch = -0.033364, speed = 1.521803, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304130, de = 0.004984 : lbl_goats: init_filter - 38 calls since the last PING. : calling goats 2000:,time = 985111888.966511, dt = 0.199986,ping_time = 0.000000,yaw = 3.129136, pitch = -0.024256, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304227, de = 0.003790 : lbl_goats: init_filter - 39 calls since the last PING. : calling goats 2000:,time = 985111889.166497, dt = 0.199986,ping_time = 0.000000,yaw = 3.135943, pitch = -0.019271, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.304278, de = 0.001719 : lbl_goats: init_filter - 40 calls since the last PING. : calling goats 2000:,time = 985111889.366483, dt = 0.199986,ping_time = 0.000000,yaw = 3.143997, pitch = -0.020613, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291939, de = -0.000702 : lbl_goats: init_filter - 41 calls since the last PING. : calling goats 2000:,time = 985111889.566470, dt = 0.199986,ping_time = 0.000000,yaw = 3.152338, pitch = -0.028283, speed = 1.460108, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291868, de = -0.003136 : lbl_goats: init_filter - 42 calls since the last PING. : calling goats 2000:,time = 985111889.766456, dt = 0.199986,ping_time = 0.000000,yaw = 3.161542, pitch = -0.039979, speed = 1.460108, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291710, de = -0.005820 : lbl_goats: init_filter - 43 calls since the last PING. : calling goats 2000:,time = 985111889.966442, dt = 0.199986,ping_time = 0.000000,yaw = 3.172184, pitch = -0.053018, speed = 1.460108, depth = -0.632820 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291455, de = -0.008919 : lbl_goats: init_filter - 44 calls since the last PING. : calling goats 2000:,time = 985111890.166429, dt = 0.199986,ping_time = 0.000000,yaw = 3.183688, pitch = -0.064523, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.291136, de = -0.012263 : lbl_goats: init_filter - 45 calls since the last PING. : Lbl::readTaskIF - Got new return times. : calling goats 2000:,time = 985111890.366415, dt = 0.199986,ping_time = 0.000000,yaw = 3.198261, pitch = -0.076028, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 2.890900 tof[4] = 2.229700 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: lbl_goats2000 - lbl.newdata = 1 : lbl_goats: dead_reckoning - dn = -0.290691, de = -0.016491 : lbl_goats: init_filter - 46 calls since the last PING. : NEWDATA at t=985111890.366415 : sr1=0.000000 sr2=0.000000 sr3=2131.865924 sr4=1642.578065 : init_filter: : i = 3 memo_dr[3][0] = 985111881.17; tt = 2.89 : memo_dr[3][0] + tt = 985111884.06 : memo_dr[3][0] = 985111881.17 : memo_dr[3][1] = 985111881.37 : memo_dr[3][2] = 985111881.57 : memo_dr[3][3] = 985111881.77 : memo_dr[3][4] = 985111881.97 : memo_dr[3][5] = 985111882.17 : memo_dr[3][6] = 985111882.37 : memo_dr[3][7] = 985111882.57 : memo_dr[3][8] = 985111882.77 : memo_dr[3][9] = 985111882.97 : memo_dr[3][10] = 985111883.17 : memo_dr[3][11] = 985111883.37 : memo_dr[3][12] = 985111883.57 : memo_dr[3][13] = 985111883.77 : memo_dr[3][14] = 985111883.97 : kk = 15 dnb[3]=-2.17155e+000 deb[3]=-1.19782e-001 : init_filter: : i = 4 memo_dr[3][0] = 985111881.17; tt = 2.23 : memo_dr[3][0] + tt = 985111883.40 : memo_dr[3][0] = 985111881.17 : memo_dr[3][1] = 985111881.37 : memo_dr[3][2] = 985111881.57 : memo_dr[3][3] = 985111881.77 : memo_dr[3][4] = 985111881.97 : memo_dr[3][5] = 985111882.17 : memo_dr[3][6] = 985111882.37 : memo_dr[3][7] = 985111882.57 : memo_dr[3][8] = 985111882.77 : memo_dr[3][9] = 985111882.97 : memo_dr[3][10] = 985111883.17 : memo_dr[3][11] = 985111883.37 : kk = 12 dnb[4]=-1.68539e+000 deb[4]=-1.16073e-001 : nb_nonzero_tofs = 2 => not enough returns : calling goats 2000:,time = 985111890.766388, dt = 0.399973,ping_time = 0.000000,yaw = 3.214272, pitch = -0.083602, speed = 1.460108, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.580427, de = -0.042260 : lbl_goats: init_filter - 47 calls since the last PING. : calling goats 2000:,time = 985111890.966374, dt = 0.199986,ping_time = 0.000000,yaw = 3.218107, pitch = -0.077945, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302528, de = -0.023193 : lbl_goats: init_filter - 48 calls since the last PING. : Lbl::readTaskIF - Got new ping time. Interval = 9.989316 : calling goats 2000:,time = 985111891.166360, dt = 0.199986,ping_time = 985111891.106364,yaw = 3.222134, pitch = -0.064044, speed = 1.521803, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302731, de = -0.024435 : lbl_goats: init_filter - PING ! at t=985111891.106364 : lbl_goats: init_filter - 0 calls since the last PING. : calling goats 2000:,time = 985111891.366346, dt = 0.199986,ping_time = 0.000000,yaw = 3.227215, pitch = -0.044869, speed = 1.521803, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.302920, de = -0.026000 : lbl_goats: init_filter - 1 calls since the last PING. : calling goats 2000:,time = 985111891.566333, dt = 0.199986,ping_time = 0.000000,yaw = 3.233159, pitch = -0.028666, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294753, de = -0.027065 : lbl_goats: init_filter - 2 calls since the last PING. : calling goats 2000:,time = 985111891.766319, dt = 0.199986,ping_time = 0.000000,yaw = 3.239871, pitch = -0.017353, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294641, de = -0.029050 : lbl_goats: init_filter - 3 calls since the last PING. : calling goats 2000:,time = 985111891.966305, dt = 0.199986,ping_time = 0.000000,yaw = 3.249074, pitch = -0.014669, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.294374, de = -0.031762 : lbl_goats: init_filter - 4 calls since the last PING. : calling goats 2000:,time = 985111892.166292, dt = 0.199986,ping_time = 0.000000,yaw = 3.260963, pitch = -0.022051, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293936, de = -0.035255 : lbl_goats: init_filter - 5 calls since the last PING. : calling goats 2000:,time = 985111892.366278, dt = 0.199986,ping_time = 0.000000,yaw = 3.273618, pitch = -0.035186, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293356, de = -0.038957 : lbl_goats: init_filter - 6 calls since the last PING. : calling goats 2000:,time = 985111892.566264, dt = 0.199986,ping_time = 0.000000,yaw = 3.284931, pitch = -0.050238, speed = 1.460108, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288643, de = -0.041659 : lbl_goats: init_filter - 7 calls since the last PING. : calling goats 2000:,time = 985111892.766250, dt = 0.199986,ping_time = 0.000000,yaw = 3.290875, pitch = -0.061839, speed = 1.460108, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.288202, de = -0.043346 : lbl_goats: init_filter - 8 calls since the last PING. : calling goats 2000:,time = 985111892.966237, dt = 0.199986,ping_time = 0.000000,yaw = 3.290588, pitch = -0.067399, speed = 1.480673, depth = -0.558371 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292169, de = -0.043857 : lbl_goats: init_filter - 9 calls since the last PING. : calling goats 2000:,time = 985111893.166223, dt = 0.199986,ping_time = 0.000000,yaw = 3.285411, pitch = -0.063085, speed = 1.480673, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292474, de = -0.042355 : lbl_goats: init_filter - 10 calls since the last PING. : calling goats 2000:,time = 985111893.366209, dt = 0.199986,ping_time = 0.000000,yaw = 3.279083, pitch = -0.050046, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297022, de = -0.041097 : lbl_goats: init_filter - 11 calls since the last PING. : calling goats 2000:,time = 985111893.566196, dt = 0.199986,ping_time = 0.000000,yaw = 3.275440, pitch = -0.033460, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297375, de = -0.040042 : lbl_goats: init_filter - 12 calls since the last PING. : calling goats 2000:,time = 985111893.766182, dt = 0.199986,ping_time = 0.000000,yaw = 3.276974, pitch = -0.020900, speed = 1.501238, depth = -0.502535 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297415, de = -0.040512 : lbl_goats: init_filter - 13 calls since the last PING. : calling goats 2000:,time = 985111893.966168, dt = 0.199986,ping_time = 0.000000,yaw = 3.280809, pitch = -0.017066, speed = 1.501238, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.297279, de = -0.041655 : lbl_goats: init_filter - 14 calls since the last PING. : calling goats 2000:,time = 985111894.166154, dt = 0.199986,ping_time = 0.000000,yaw = 3.284068, pitch = -0.019942, speed = 1.480673, depth = -0.316412 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.293056, de = -0.042038 : lbl_goats: init_filter - 15 calls since the last PING. : calling goats 2000:,time = 985111894.366141, dt = 0.199986,ping_time = 0.000000,yaw = 3.286753, pitch = -0.026557, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292897, de = -0.042818 : lbl_goats: init_filter - 16 calls since the last PING. : calling goats 2000:,time = 985111894.566127, dt = 0.199986,ping_time = 0.000000,yaw = 3.290971, pitch = -0.034227, speed = 1.480673, depth = -0.372249 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292645, de = -0.044043 : lbl_goats: init_filter - 17 calls since the last PING. : calling goats 2000:,time = 985111894.766113, dt = 0.199986,ping_time = 0.000000,yaw = 3.298833, pitch = -0.042184, speed = 1.480673, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.292201, de = -0.046328 : lbl_goats: init_filter - 18 calls since the last PING. : calling goats 2000:,time = 985111894.966100, dt = 0.199986,ping_time = 0.000000,yaw = 3.305928, pitch = -0.047458, speed = 1.501238, depth = -0.428086 : tof[1] = 0.000000, tof[2] = 0.000000, tof[3] = 0.000000 tof[4] = 0.000000 : lbl_goats: dead_reckoning - dn = -0.295849, de = -0.049061 : lbl_goats: init_filter - 19 calls since the last PING. : **** SharedData destructor for object LblDriverOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task DynamicControlIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() : TaskServer::signalHandler() for task DropWeightIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task CTDIFServer - exit() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task LblIFServer - exit() : **** SharedData destructor for object crossbowOutput **** : **** SharedData destructor for object PSA916Output_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : **** SharedData destructor for object PSA916Input_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object crossbowCommand **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : Supervisor::cleanup() - delete _theSupervisor : **** SharedData destructor for object LblDriverOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object SeabirdOutput_ShmemName **** : **** SharedData destructor for object MetraByteOutput **** : **** SharedData destructor for object crossbowOutput **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object crossbowCommand **** : TaskServer::signalHandler() for task RangeFinderIFServer - exit() : TaskServer::signalHandler() for task LblIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() : TaskServer::signalHandler() for task DepthSensorIFServer - exit() : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : Supervisor::shutdown() : TaskServer::signalHandler() for task MetraByteIFServer - exit() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() - _theTaskServer doesn't exist : Supervisor::shutdown() - done() : TaskServer::signalHandler() - _theTaskServer doesn't exist : TaskServer::signalHandler() - _theTaskServer doesn't exist : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****