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116 ` TNavPointMassFilter.o/ TNavParticleFilter.o/ TNavExtendKalmanFilter.o/ TNavSigmaPointFilter.o/ matrixArrayCalcs.o/ TerrainNav.o/ 1370450769 1000 1000 100644 172192 ` ELF4(;=?ACEGIKMOQSUWY[]_acegimoqsuwxz|~   "$%')+,-/13579;=?ACEGIKMOQSUWY[]_acegikmoqsuvwxyz{|~   "$&(*,.02468:<>@BDFHJLNPRTVXZ\^`bdfgijlmoprsuwxz{|~UEE E]UWVS,Ep<$Xu4׉Et)kX9t X$E$EDE$EU GEǀ GEǀGEEǀGEǀGE$=։NjEt#EDE9t X$$,[^_]UWVS,Ep<$Xu4׉Et)kX9t X$E$EDE$EU GEǀ GEǀGEEǀGEǀGE$=։NjEt#EDE9t X$$,[^_]UWVS,Ep<$Xu4׉Et)kX9t X$E$EDE$EU GEU GEǀGEEǀGEǀGE$=։NjEt#EDE9t X$$,[^_]ÐUWVS,Ep<$Xu4׉Et)kX9t X$E$EDE$EU GEU GEǀGEEǀGEǀGE$=։NjEt#EDE9t X$$,[^_]ÐUWVS,Ep<$Xu4׉Et)kX9t X$E$EDE$EU GEU GEǀGEEEGEǀGE$=։NjEt#EDE9t X$$,[^_]UWVS,Ep<$Xu4׉Et)kX9t X$E$EDE$EU GEU GEǀGEEEGEǀGE$=։NjEt#EDE9t X$$,[^_]UWVS,Ep<$Xu4׉Et)kX9t X$E$EDE$EU GEU GEUGEEEGEǀGE$=։NjEt#EDE9t X$$,[^_]ÐUWVS,Ep<$Xu4׉Et)kX9t X$E$EDE$EU GEU GEUGEEEGEǀGE$=։NjEt#EDE9t X$$,[^_]ÐUWVSEtEtEE$ҋEEGt+EGtEGEG$ҋEǀGEGD$$=։NjEt#EDE9t X$$Et#EDE9t X$[^_]ÐUWVSEtEtEE$ҋEEGt+EGtEGEG$ҋEǀGEGD$$=։NjEt#EDE9t X$$Et#EDE9t X$[^_]ÐUE@u$LEt t'EEU T$$EEU T$$ыEU ݂X0EU ݂X8E@0EtrE@8EtYEDEE D$$E@UDED$$#EEU T$$ÐUVSpE$E D$E$EEED$E$E@uiEƀDE UEt EƀDEE;EuEE\$D$$EƀD5ED$E$E@݀EEtUEDkXEPED$$EDPEDEE\$D$$E@݀Eu^z\E EUT$$ыUDEDt_EE\$D$$|EEݘ,E7EE\$D$$ӉƍE$ډ$E$p[^]US$E D$$E@uD$E$$EGtE$t݅E@]EtN݅E݀Duݝ@݅E݀DuݝH݅ E݀DuݝPD$E$tt݅EݘE9ED$E$tEED$E $ntEE US] E $E $UT$$*u׍E$ E$E$D$E$u׍ED$E $tE ؃[]ED$E $E $aaU8E D$E$EEUT$UT$$8E$ PE܉UE$D$E܉$(t`EEUT$UT$$EUT$ UT$UT$$LU$E܋UQE܋UD$T$E$xE$VE D$E$.U(EE.E$PD$T$E$E$E D$E$VuUS$E D$E$eE ELE$ÍE$\$$tED$E D$E$E$lED$E$u$[]U$E $RE D$E D$E$ED$E $uÐUEPEE]UEPEE]USE$uE $h9[]UE D$E$jUSE$%E $9[]US$]EUT$$LEU T$$7ED$ ED$ED$$+؋]USEEE$3E$ÍE$PSEEE$E$D$E $uE$tE UQ[]UHED$E $UT$E $EEEEUT$UT$$E$PEUMEUD$ T$ED$L$E$IEtEE땐US4E$PEUE$pÍE$cPSED$E $EUD$ T$L$D$E$4[]USE $ÍE$\$$d[]UEU ]UWVS,}E$gƋE$ZËE $Mt$\$$WEED$<$,[^_]USTE EE EEЃEЋEЃE؍EԍU؉T$UT$$>Eԉ$ÍE܍UЉT$UT$$E܉$\$$#t EЃEЍEU T$UT$$E$ÍEUЉT$UT$$E$PSEЉE E‹E9EE‹E9uwEЃEЍEU T$UT$$!E$ËEЃEEUT$UT$$E$PSEЃE M EUD$ T$ED$L$E$]UEPEUME PQM EUQUE$U(EED$E D$E$%US4E EsEU T$UT$$E$ÍEUT$UT$$E$PSEE E EE ;E~AEUT$UT$$pE$FUT$${t7EU T$UT$$"E$EUQ]U(U E)EEEET$UT$$EEU}} $D$D$$$$$$$$ $ $ $  UD$$UE]UE$EUE ]UUE ]U(EEE EED$E$U]U]US$ED$D$E$tEEu0$É؉$D$D$$E$[]UE$UUME EEUEU]UEE@E@]UEt E$UEt E$UEt E$U}tEE$UE$UED$$tEE$ҋE$UED$$tE E$UE]UEt E$UE EEt E$UE EEE EUU]: mappingAUV_specs.cfgTerrainNav::Number of reinitializations: %i TerrainNav::Cannot compute pose estimate; motion has not been initialized. TerrainNav::Measurement type %i from time = %.2f sec. not included; vehicle motion has not been initialized. TerrainNav::Delayed incorporating measurement type %i from time = %.2f sec.; waiting for more recent INS data... TerrainNav:: Measurement type %i successfully incorporated from time = %.2f sec. TerrainNav::Did not incorporate measurement type %i from time= %.2f sec.; no INS pose data available. TerrainNav::Measurement type %i not incorporated from time = %.2f sec.; No relevant navigation data available TerrainNav::Measurement type %i successfully incorporated from time = %.2f sec. TerrainNav::TNavFilter initialized with type %i TerrainNav::attemptInitFilter is increasing Init Search Window by %f m TerrainNav::Filter not initialized - vehicle is currently within a non-valid region of the reference map TerrainNav::Filter not initialized - vehicle is currently on the surface TerrainNav::Filter not initialized - vehicle currently does not have good range measurements TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data TerrainNav:: vehicle motion has been initialized TerrainNav::reinitializing filter from lowInfoTransition with uniform distribution TerrainNav::No valid range measurements for the past %.1f seconds. Re-initializing the filter. TerrainNav::No valid bottom velocity measurements for the past %.1f seconds. Re-initializing the filter. CHECK TerrainNav:: TransitionMatrix is [%i %i %i]TerrainNav::North/East uncertainty has fallen below the minimum of %.1f m^2. Re-initializing the filter. TerrainNav::North/East uncertainty has exceeded the maximum of %.1f m^2. Re-initializing the filter. North: %f East: %f Comb: %f. TerrainNav::North/East uncertainty is within the margins of %.1f m^2. Re-initializing the filter. /usr/include/boost/smart_ptr/shared_ptr.hpppx != 0/usr/include/pcl-1.6/pcl/octree/octree_pointcloud.hthis->leafCount_==0vector::_M_insert_aux/usr/include/eigen3/Eigen/src/Core/util/XprHelper.hv == T(Value)/usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.hrows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows) && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)/usr/include/eigen3/Eigen/src/Core/DenseStorage.h(reinterpret_cast(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"vector::_M_fill_insert/usr/include/eigen3/Eigen/src/Core/Assign.hrows() == other.rows() && cols() == other.cols()/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.hother.rows() == 1 || other.cols() == 1  @o:  Eigen::CwiseNullaryOp::CwiseNullaryOp(typename Eigen::internal::traits >::Index, typename Eigen::internal::traits >::Index, const NullaryOp&) [with NullaryOp = Eigen::internal::scalar_constant_op, PlainObjectType = Eigen::Matrix]Eigen::internal::variable_if_dynamic::variable_if_dynamic(T) [with T = int, int Value = 4]Eigen::internal::variable_if_dynamic::variable_if_dynamic(T) [with T = int, int Value = 1]Eigen::internal::plain_array::plain_array() [with T = float, int Size = 4, int MatrixOrArrayOptions = 0]void Eigen::PlainObjectBase::resizeLike(const Eigen::EigenBase&) [with OtherDerived = Eigen::CwiseNullaryOp, Eigen::Matrix >, Derived = Eigen::Matrix]Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseNullaryOp, Eigen::Matrix >, Derived = Eigen::Matrix]T* boost::shared_ptr< >::operator->() const [with T = pcl::PointCloud]void pcl::octree::OctreePointCloud::setInputCloud(const boost::shared_ptr >&, const boost::shared_ptr > >&) [with PointT = pcl::PointXYZ, LeafT = pcl::octree::OctreeContainerDataTVector, BranchT = pcl::octree::OctreeContainerEmpty, OctreeT = 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U8Ngn& s     ~   D       B UE$EUEE$t E$U(E EEEEE\$$UVSE$EU ET$$ӉƋE$ډ$[^]UEE$t E$UEE$t E$UE $UD$D$$EUE$EUEE$t E$UEE$t E$UEE$t E$UEE$t E$UEE$t E$UEE$t E$U(EEEEE$EEU PEEXUEE$t E$U(EEEEEE\$U T$$EUEE$t E$UEE$t E$UEE$t E$UEE$t E$UEE$t E$UE D$E$US$]E EEEE\$UT$$؉؃$[]UEU U(EEE EED$E$: TerrainNav::Measurement from time = %.2f sec. not included; unable to successfully extract a map segment for correlationTerrainNav::Measurement from time = %.2f sec. not included; encountered NaN values in the correlation map segment TerrainNav::Measurement from time = %.2f sec. not included; the correlation score was too low. Current KL: %.10f Error:Tried to write to an unopened file. Ignoring write command.J.txtmeasProj.txtnumMeas.txtlikeSurfs.txtpostSurfs.txtdepthBias.txtTerrainNav::Minimum Correlation Error: %.4f TerrainNav:: Could not extract enough map to perform the desired correlation. 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T$$7ED$ ED$ED$$+؋]USEEE$3E$ÍE$PSEEE$E$D$E $uE$tE UQ[]UHED$E $UT$E $EEEEUT$UT$$E$PEUMEUD$ T$ED$L$E$IEtEE땐US4E$PEUE$pÍE$cPSED$E $EUD$ T$L$D$E$4[]USE $ÍE$\$$d[]UEU ]UWVS,}E$gƋE$ZËE $Mt$\$$WEED$<$,[^_]USTE EE EEЃEЋEЃE؍EԍU؉T$UT$$>Eԉ$ÍE܍UЉT$UT$$E܉$\$$=t EЃEЍEU T$UT$$E$ÍEUЉT$UT$$E$PSEЉE E‹E9EE‹E9uwEЃEЍEU T$UT$$!E$ËEЃEEUT$UT$$E$PSEЃE M EUD$ T$ED$L$E$]UEPEUME PQM EUQUE$U(EED$E D$E$%US4E EsEU T$UT$$E$ÍEUT$UT$$E$PSEE E EE ;E~AEUT$UT$$pE$FUT$$蕋t7EU T$UT$$"E$EUQ]U(U E)EEEET$UT$$EEU}} $D$D$$$$$$$$ $ $ $  UD$$UUE ]U]UE]UEt E$UEt E$UEt E$UE]UEU ]UE@ ]UE$EUE$EUEE$t E$UEE$t E$UE D$E$UEE$t E$U(E EEEEE\$$UE$EE@UEE$t E$U(E EEEEE\$$UEE$t E$UE $UD$D$$EUE$EUEE$t E$UEE$t E$U(EEEEE$EEU PEEXUEE$t E$U(EEEEEE\$U T$$EUEE$t E$UEE$t E$UEE$t E$UEE$t E$UEE$t E$US$]E EEEE\$UT$$؉؃$[]U8EEE EEEEEEE؋EEEEEt E EZEEtFEeE EЉUm]Eeu` }Eδ fEm]m΋EU(EEh ]EME]EUEEh U8t]t]]EMEM]EuE$p u$]EM]EMEMUEU U(EEE EED$E$UE D$E$UE$: TerrainNav::Measurement from time = %.2f sec. not included; unable to successfully extract a map segment for correlationTerrainNav::Measurement from time = %.2f sec. not included; encountered NaN values in the correlation map segment TNavParticleFilter::mapSquared = {%.2f,%.2f,%.2f,%.2f} TNavParticleFilter::mapMean = {%.2f,%.2f,%.2f,%.2f} TNavParticleFilter::mapVariance = {%.2f,%.2f,%.2f,%.2f} Error:Tried to write to an unopened file. Ignoring write command.randParticles.txtresampParticles.txthomerParticles.txthomerMmse.txtmeasWeights.txtin wat vel meas update current velocity estimate: %f, %f, %f water velocity: %f, %f, %f velvar: %f, %f, %f Error:Tried to write homer location particle data to an unopened file. Ignoring write command.Error:Tried to write homer location mmse data to an unopened file. Ignoring write command.TerrainNav::Resampling particle filter... 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EEЃEЋEЃE؍EԍU؉T$UT$$>Eԉ$ÍE܍UЉT$UT$$E܉$\$$ut EЃEЍEU T$UT$$E$ÍEUЉT$UT$$E$PSEЉE E‹E9EE‹E9uwEЃEЍEU T$UT$$!E$ËEЃEEUT$UT$$E$PSEЃE M EUD$ T$ED$L$E$]UEPEUME PQM EUQUE$U(EED$E D$E$%US4E EsEU T$UT$$E$ÍEUT$UT$$E$PSEE E EE ;E~AEUT$UT$$pE$FUT$$ͷt7EU T$UT$$"E$EUQ]U(U E)EEEET$UT$$EEU}} $D$D$$$$$$$$ $ $ $  UD$$UUE ]U]UE]UEt E$UEt E$UEt E$UE]UEU ]UE@ ]U(EhEUT$$уD$ ED$E D$E$UE$EUE$EUEE$t E$UEE$t E$U(E EEEEE\$$UE D$E$UE$EUEE$t E$U(E EEEEE\$$UE D$E$UE$EUEE$t E$U(E EEEEE\$$UE$EE@ UEE$t E$UE $UD$D$$EU(E EEEEE\$$UE D$E$UE$EUEE$t E$UEE$t E$UEE$t E$UEE$t E$UEE$t E$UEE$t E$U(EEEEE$EEU PEEXUEE$t E$U(EEEEEE\$U T$$EUEE$t E$UEE$t E$UEE$t E$UEE$t E$UEE$t E$US$]E EEEE\$UT$$؉؃$[]UEU U(EEE EED$E$: TerrainNav::Measurement from time = %.2f sec. not included; unable to successfully extract a map segment for correlationTerrainNav::Measurement from time = %.2f sec. not included; not enough valid depth information extracted. TerrainNav::Measurement from time = %.2f sec. not included; there are no good beams from the sonar. Error:Tried to write to an unopened file. Ignoring write command.sigmaPointBefore.txtsigmaPointAfter.txtTerrainNav::Measurement from time = %.2f sec. not included; encountered NaN values in the correlation map segment   @o:  |Gz?|Gz?[>Gz@@?Y@CJ??333333?U]UEE$t E$UEE$t E$UE;E ]UEU EUP]UEPE @9uEE 9u]UE]UE@]UWVS]ދE @ 8E $U RD$T$4$׃؉؍e[^_]U]UEt]US]E D$ED$$؃[]U(EEU T$UT$$уED$E$UE $D$E$tE $;EuUVSEE$ӉƋE$ڃt+!E$tE$$$[^]&d }&d }-!;` })/HXhx)/HXhx(gH(gH(gH%Li{J$A          # +Lf7_zK!N j              !!!!1I8RA^>L         UVSEE$ӉƋE$ڃt+!E$tE$$$[^]UVS E$E$UD$$E$E$tED$$EPET$$EPED$$ӉƍE$ E$$E$'E$t$$؍e[^]UE$UE$U]U]U]U]U]U]U]U]U]UE EEtE E]UEE EtE E]20TNavSigmaPointFilterN5boost6system12system_errorEN5boost6system14error_categoryEN10RBD_COMMON7JanitorEN5boost12noncopyable_11noncopyableEIGCC: (Debian 4.4.5-8) 4.4.5zPR|  AB < AB XAB t*AB *AB *AB AB AB AB JAB 8!AB T!AB p5AB 5AB +AB AB !AB 5AB +AB 4AB P!AB l5AB +AB +AB 5AB 8AB +AB AB 0!AB L5AB h5AB 5AB 5AB 5AB 5AB ?AB 5AB ,;AB H5AB d5AB 5AB 5AB 5AB ?AB LAB  +AB ( AB D5AB `5AB |AB AB 4AB AB AB RAB N( AB 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Failed to allocate memory for a mapdata structure mapdata { xcenter = %f ycenter = %f WARNING: x = NULL WARNING: y = NULL xdimlen = %u ydimlen = %u %f mapbounds { ncid = %d xmin = %f xmax = %f dx = %f ymin = %f ymax = %f dy = %f @GCC: (Debian 4.4.5-8) 4.4.5zPR|  oAB <oAB XeAB otAB }iAB AB IAB  AB  AB  [AB <U%AB XzAB tAB XAB AB AB JAB AB ]AB .symtab.strtab.shstrtab.rel.text.data.bss.rodata.comment.note.GNU-stack.rel.eh_frame4 P"( %8+80880AU4Q x( ,_  t o$9@LS[ov~eX8=[M_p}iI " @U%Nz^ek]Jmapio.cpp_Z11check_erroriP6mapsrc__gxx_personality_v0mcountnc_strerrorstderrfprintf_Z11mapsrc_fillPKcP6mapsrcnc_opennc_inq_dimidnc_inq_dimlenmallocnc_inq_varidnc_get_att_double_Z11mapsrc_findP6mapsrcdd_Z14mapbounds_initv_Z15mapbounds_fill1P6mapsrcP9mapbounds_Z18mapbounds_containsP9mapboundsddfree_Z7nearestdPKdjnc_get_vara_float_Z11mapsrc_initv_Z11mapsrc_freeP6mapsrc_Z15mapsrc_tostringP6mapsrcsprintfstrcat_Z12mapdata_fillP6mapsrcP7mapdataddddmemcpy_Z13mapdata_checkP7mapdataP6mapsrcdddd_Z12mapdata_freeP7mapdatai_Z16mapdata_tostringP7mapdata_Z4getZPKfiii_Z7z_printPKfiistdoutfputc_Z17mapdata_checksizeP9mapboundsP7mapdatadd_Z18mapbounds_tostringP9mapbounds_Z15mapbounds_fill2PKcP9mapbounds  ' =Ev }    Mb     ! 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