Listen for TerrainNavClient connection with message size 2500...
Opening log .//trn.log.0006
Constructing tercom with map:/IcebergAUV/Maps/TheWall_2m.bo, cfg:/ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg, map type: 2, and filter:2
TNavConfig::setParticlesFile: value is now particles.cfg
TNavConfig::setMapFile: value is now /IcebergAUV/Maps/TheWall_2m.bo
TNavConfig::setVehicleSpecsFile: value is now /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
TNavConfig::setParticlesFile: value is now /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNavConfig::setLogDir: value is now 2017.059.04-TRN/
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
Opening log 2017.059.04-TRN//trn.log.0000
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072945.70, East: 591683.55, Depth: 0.00

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317794.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317794.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072945.70, East: 591683.55, Depth: 0.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072945.70, East: 591683.55, Depth: 0.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00 TerrainNav::Measurement type 5 from time = 1488317800.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317800.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072945.68, East: 591683.51, Depth: 0.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072945.28, East: 591683.11, Depth: 0.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317806.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317806.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072944.38, East: 591682.21, Depth: 0.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072942.98, East: 591680.90, Depth: 0.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317812.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317812.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072941.08, East: 591679.39, Depth: 0.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072938.68, East: 591677.94, Depth: 0.00
TerrainNav::measUpdate() - IDT[45] = 14.90, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317818.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 14.90, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317818.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072935.85, East: 591676.81, Depth: 0.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072932.70, East: 591676.11, Depth: 0.00
TerrainNav::measUpdate() - IDT[45] = 6.33, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317824.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 6.33, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317824.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072929.31, East: 591675.82, Depth: 0.02TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072925.77, East: 591675.81, Depth: 0.12
TerrainNav::measUpdate() - IDT[45] = 8.08, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317830.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 8.08, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317830.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072922.12, East: 591675.98, Depth: 0.28TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle is currently on the surface
INS : North: 4072918.41, East: 591676.24, Depth: 0.49
TerrainNav::measUpdate() - IDT[45] = 12.88, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317836.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 12.88, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317836.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072914.89, East: 591676.52, Depth: 1.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072911.67, East: 591676.78, Depth: 2.36
TerrainNav::measUpdate() - IDT[45] = 23.18, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317842.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 23.18, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317842.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072908.73, East: 591677.01, Depth: 3.74TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072905.99, East: 591677.22, Depth: 5.14
TerrainNav::measUpdate() - IDT[45] = 40.44, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317848.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 40.44, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317848.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072903.21, East: 591677.69, Depth: 6.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072900.40, East: 591678.64, Depth: 6.93
TerrainNav::measUpdate() - IDT[45] = 81.85, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317854.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 81.85, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317854.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072897.77, East: 591680.14, Depth: 7.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072895.53, East: 591682.13, Depth: 8.01
TerrainNav::measUpdate() - IDT[45] = 82.09, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317860.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 82.09, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317860.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072893.84, East: 591684.46, Depth: 8.68TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072892.81, East: 591686.91, Depth: 9.51
TerrainNav::measUpdate() - IDT[45] = 69.08, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317866.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 69.08, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317866.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072892.40, East: 591689.29, Depth: 10.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072892.53, East: 591691.50, Depth: 11.48
TerrainNav::measUpdate() - IDT[45] = 72.36, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317872.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 72.36, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317872.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072893.12, East: 591693.48, Depth: 12.46TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072894.07, East: 591695.20, Depth: 13.39
TerrainNav::measUpdate() - IDT[45] = 81.64, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317878.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 81.64, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317878.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072895.31, East: 591696.63, Depth: 14.26TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072896.77, East: 591697.77, Depth: 15.07
TerrainNav::measUpdate() - IDT[45] = 91.88, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317884.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 91.88, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317884.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072898.39, East: 591698.59, Depth: 15.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072900.12, East: 591699.10, Depth: 16.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317890.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317890.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072901.90, East: 591699.29, Depth: 17.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072903.68, East: 591699.17, Depth: 17.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317896.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317896.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072905.41, East: 591698.75, Depth: 18.51TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072907.04, East: 591698.05, Depth: 19.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317902.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317902.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072908.55, East: 591697.09, Depth: 19.75TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072909.95, East: 591695.94, Depth: 20.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317908.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317908.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072911.25, East: 591694.70, Depth: 21.07TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072912.52, East: 591693.42, Depth: 21.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317914.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317914.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072913.78, East: 591692.18, Depth: 22.54TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072915.08, East: 591691.01, Depth: 23.31
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317920.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317920.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072916.46, East: 591689.95, Depth: 24.08TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072917.92, East: 591689.03, Depth: 24.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317926.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317926.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072919.45, East: 591688.25, Depth: 25.59TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072921.05, East: 591687.62, Depth: 26.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317932.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317932.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072922.71, East: 591687.12, Depth: 27.08TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072924.39, East: 591686.75, Depth: 27.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317938.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317938.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072926.10, East: 591686.49, Depth: 28.56TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072927.82, East: 591686.33, Depth: 29.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317944.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317944.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072929.55, East: 591686.25, Depth: 30.05TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072931.28, East: 591686.24, Depth: 30.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317950.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317950.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072933.01, East: 591686.27, Depth: 31.57TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072934.73, East: 591686.32, Depth: 32.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317956.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317956.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072936.46, East: 591686.37, Depth: 33.10TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4072938.18, East: 591686.39, Depth: 33.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317962.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317962.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072939.91, East: 591686.38, Depth: 34.64TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072941.63, East: 591686.34, Depth: 35.41
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317968.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317968.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072943.35, East: 591686.29, Depth: 36.19TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072945.07, East: 591686.23, Depth: 36.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317974.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317974.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072946.79, East: 591686.19, Depth: 37.74TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072948.51, East: 591686.19, Depth: 38.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317980.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317980.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072950.23, East: 591686.22, Depth: 39.28TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072951.94, East: 591686.30, Depth: 40.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317986.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317986.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072953.65, East: 591686.42, Depth: 40.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072955.36, East: 591686.60, Depth: 41.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317992.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317992.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072957.06, East: 591686.82, Depth: 42.37TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072958.76, East: 591687.08, Depth: 43.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317998.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488317998.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072960.45, East: 591687.39, Depth: 43.91TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072962.13, East: 591687.74, Depth: 44.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318004.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318004.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072963.81, East: 591688.12, Depth: 45.44TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072965.48, East: 591688.55, Depth: 46.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318010.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318010.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072967.14, East: 591689.00, Depth: 46.98TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072968.81, East: 591689.49, Depth: 47.75
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318016.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318016.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072970.49, East: 591690.02, Depth: 48.51TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072972.18, East: 591690.58, Depth: 49.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318022.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318022.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072973.90, East: 591691.17, Depth: 50.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072975.65, East: 591691.78, Depth: 50.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318028.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318028.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072977.42, East: 591692.43, Depth: 51.54TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072979.24, East: 591693.10, Depth: 52.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318034.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318034.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072981.11, East: 591693.79, Depth: 53.07TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072983.03, East: 591694.49, Depth: 53.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318040.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318040.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072985.02, East: 591695.21, Depth: 54.59TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072987.08, East: 591695.93, Depth: 55.36
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318046.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318046.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072989.22, East: 591696.66, Depth: 56.11TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072991.46, East: 591697.39, Depth: 56.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318052.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318052.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072993.80, East: 591698.11, Depth: 57.58TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072996.26, East: 591698.83, Depth: 58.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318058.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318058.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072998.84, East: 591699.54, Depth: 58.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073001.57, East: 591700.24, Depth: 59.57
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318064.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318064.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073004.44, East: 591700.93, Depth: 60.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073007.46, East: 591701.61, Depth: 60.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318070.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318070.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073010.64, East: 591702.28, Depth: 61.02TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073013.98, East: 591702.96, Depth: 61.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318076.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318076.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073017.49, East: 591703.64, Depth: 61.52TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073021.14, East: 591704.34, Depth: 61.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318082.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318082.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073024.94, East: 591705.07, Depth: 61.57TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073028.88, East: 591705.83, Depth: 61.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318088.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318088.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073032.93, East: 591706.65, Depth: 61.23TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073037.06, East: 591707.53, Depth: 60.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318094.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318094.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073041.02, East: 591708.99, Depth: 60.61TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073044.46, East: 591711.33, Depth: 60.18
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318100.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318100.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073047.08, East: 591714.48, Depth: 59.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073048.68, East: 591718.21, Depth: 58.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318106.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318106.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073049.13, East: 591722.23, Depth: 58.24TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073048.40, East: 591726.21, Depth: 57.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318112.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318112.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073046.55, East: 591729.80, Depth: 56.64TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073043.75, East: 591732.72, Depth: 55.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318118.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318118.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073040.24, East: 591734.70, Depth: 55.32TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073036.36, East: 591735.62, Depth: 54.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318124.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318124.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073032.45, East: 591735.42, Depth: 54.71TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073028.84, East: 591734.20, Depth: 54.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318130.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318130.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073025.79, East: 591732.12, Depth: 54.91TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073023.41, East: 591729.41, Depth: 55.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318136.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318136.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073021.48, East: 591726.40, Depth: 55.81TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073019.67, East: 591723.34, Depth: 56.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318142.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318142.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073017.72, East: 591720.43, Depth: 57.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073015.49, East: 591717.78, Depth: 57.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318148.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318148.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073012.92, East: 591715.50, Depth: 58.70TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073010.05, East: 591713.61, Depth: 59.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318154.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318154.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073006.94, East: 591712.13, Depth: 60.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073003.66, East: 591711.04, Depth: 60.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318160.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318160.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4073000.28, East: 591710.26, Depth: 61.31TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072996.84, East: 591709.72, Depth: 61.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318166.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318166.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072993.37, East: 591709.34, Depth: 62.69TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072989.90, East: 591709.09, Depth: 63.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318172.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318172.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072986.42, East: 591708.95, Depth: 64.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072982.97, East: 591708.90, Depth: 65.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318178.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318178.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072979.52, East: 591708.93, Depth: 65.85TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072976.10, East: 591709.04, Depth: 66.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318184.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318184.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072972.70, East: 591709.23, Depth: 67.56TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072969.31, East: 591709.48, Depth: 68.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318190.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318190.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072965.94, East: 591709.79, Depth: 69.29TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072962.59, East: 591710.16, Depth: 70.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318196.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318196.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072959.26, East: 591710.56, Depth: 71.04TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072955.93, East: 591710.98, Depth: 71.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318202.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318202.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072952.62, East: 591711.43, Depth: 72.78TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072949.31, East: 591711.88, Depth: 73.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318208.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318208.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072946.00, East: 591712.33, Depth: 74.51TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072942.69, East: 591712.76, Depth: 75.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318214.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318214.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072939.38, East: 591713.18, Depth: 76.23TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072936.07, East: 591713.58, Depth: 77.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318220.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318220.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072932.75, East: 591713.94, Depth: 77.93TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072929.43, East: 591714.28, Depth: 78.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318226.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318226.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072926.10, East: 591714.59, Depth: 79.62TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072922.76, East: 591714.87, Depth: 80.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318232.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318232.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072919.42, East: 591715.12, Depth: 81.30TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072916.07, East: 591715.35, Depth: 82.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318238.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318238.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072912.69, East: 591715.55, Depth: 82.89TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072909.27, East: 591715.74, Depth: 83.63
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318244.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318244.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072905.82, East: 591715.93, Depth: 84.34TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072902.32, East: 591716.10, Depth: 85.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318250.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318250.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072898.80, East: 591716.28, Depth: 85.69TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072895.25, East: 591716.46, Depth: 86.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318256.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318256.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072891.69, East: 591716.64, Depth: 87.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072888.11, East: 591716.84, Depth: 87.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318262.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318262.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072884.52, East: 591717.04, Depth: 88.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072880.93, East: 591717.26, Depth: 89.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318268.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318268.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072877.33, East: 591717.49, Depth: 89.78TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072873.72, East: 591717.73, Depth: 90.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318274.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318274.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072870.11, East: 591717.98, Depth: 91.17TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072866.51, East: 591718.24, Depth: 91.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318280.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318280.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072862.92, East: 591718.51, Depth: 92.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072859.36, East: 591718.79, Depth: 93.43
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318286.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318286.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072855.81, East: 591719.06, Depth: 94.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072852.27, East: 591719.34, Depth: 95.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318292.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318292.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072848.74, East: 591719.62, Depth: 95.80TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072845.23, East: 591719.90, Depth: 96.61
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318298.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318298.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072841.73, East: 591720.18, Depth: 97.43TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072838.24, East: 591720.46, Depth: 98.26
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318304.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318304.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072834.78, East: 591720.73, Depth: 99.10TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072831.34, East: 591720.99, Depth: 99.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318310.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318310.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072827.91, East: 591721.25, Depth: 100.81TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072824.49, East: 591721.51, Depth: 101.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318316.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318316.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072821.08, East: 591721.76, Depth: 102.52TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072817.69, East: 591722.01, Depth: 103.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318322.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318322.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072814.31, East: 591722.25, Depth: 104.25TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072810.95, East: 591722.49, Depth: 105.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318328.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318328.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072807.61, East: 591722.73, Depth: 106.04TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072804.28, East: 591722.97, Depth: 106.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318334.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318334.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072800.95, East: 591723.20, Depth: 107.80TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072797.60, East: 591723.43, Depth: 108.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318340.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318340.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072794.26, East: 591723.66, Depth: 109.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072790.91, East: 591723.90, Depth: 110.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318346.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318346.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072787.57, East: 591724.14, Depth: 111.17TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072784.25, East: 591724.37, Depth: 112.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318352.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318352.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072780.93, East: 591724.61, Depth: 112.92TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072777.62, East: 591724.85, Depth: 113.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318358.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318358.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072774.32, East: 591725.08, Depth: 114.68TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072771.03, East: 591725.32, Depth: 115.57
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318364.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318364.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072767.75, East: 591725.56, Depth: 116.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072764.48, East: 591725.80, Depth: 117.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318370.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318370.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072761.23, East: 591726.03, Depth: 118.29TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072757.99, East: 591726.27, Depth: 119.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318376.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318376.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072754.76, East: 591726.51, Depth: 120.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072751.53, East: 591726.74, Depth: 121.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318382.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318382.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072748.30, East: 591726.98, Depth: 121.92TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072745.06, East: 591727.21, Depth: 122.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318388.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318388.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072741.83, East: 591727.45, Depth: 123.70TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072738.60, East: 591727.69, Depth: 124.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318394.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318394.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072735.36, East: 591727.92, Depth: 125.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072732.12, East: 591728.16, Depth: 126.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318400.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318400.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072728.87, East: 591728.40, Depth: 127.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072725.61, East: 591728.64, Depth: 128.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318406.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318406.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072722.34, East: 591728.88, Depth: 128.90TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072719.04, East: 591729.12, Depth: 129.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318412.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318412.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072715.74, East: 591729.36, Depth: 130.54TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072712.42, East: 591729.60, Depth: 131.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318418.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318418.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072709.08, East: 591729.84, Depth: 132.15TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072705.73, East: 591730.09, Depth: 132.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318424.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318424.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072702.37, East: 591730.33, Depth: 133.75TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072698.99, East: 591730.58, Depth: 134.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318430.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318430.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072695.61, East: 591730.83, Depth: 135.33TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072692.21, East: 591731.07, Depth: 136.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318436.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318436.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072688.81, East: 591731.32, Depth: 136.91TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072685.40, East: 591731.57, Depth: 137.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318442.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318442.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072681.99, East: 591731.82, Depth: 138.50TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072678.57, East: 591732.06, Depth: 139.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318448.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318448.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072675.14, East: 591732.31, Depth: 140.08TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072671.71, East: 591732.56, Depth: 140.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318454.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318454.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072668.29, East: 591732.80, Depth: 141.68TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072664.85, East: 591733.05, Depth: 142.48
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318460.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318460.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072661.42, East: 591733.30, Depth: 143.28TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072657.99, East: 591733.55, Depth: 144.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318466.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318466.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072654.55, East: 591733.79, Depth: 144.88TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072651.12, East: 591734.04, Depth: 145.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318472.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318472.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072647.68, East: 591734.29, Depth: 146.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072644.25, East: 591734.54, Depth: 147.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318478.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318478.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072640.81, East: 591734.79, Depth: 148.09TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072637.38, East: 591735.03, Depth: 148.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318484.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318484.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072633.94, East: 591735.28, Depth: 149.70TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072630.51, East: 591735.53, Depth: 150.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318490.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318490.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072627.07, East: 591735.78, Depth: 151.32TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072623.64, East: 591736.03, Depth: 152.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318496.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318496.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072620.21, East: 591736.28, Depth: 152.93TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072616.77, East: 591736.53, Depth: 153.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318502.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318502.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072613.34, East: 591736.78, Depth: 154.55TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072609.91, East: 591737.03, Depth: 155.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318508.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318508.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072606.48, East: 591737.28, Depth: 156.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072603.05, East: 591737.53, Depth: 156.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318514.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318514.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072599.61, East: 591737.78, Depth: 157.78TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072596.18, East: 591738.02, Depth: 158.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318520.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318520.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072592.75, East: 591738.27, Depth: 159.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072589.32, East: 591738.52, Depth: 160.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318526.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318526.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072585.89, East: 591738.77, Depth: 161.01TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072582.46, East: 591739.02, Depth: 161.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318532.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318532.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072579.03, East: 591739.27, Depth: 162.63TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072575.61, East: 591739.52, Depth: 163.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318538.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318538.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072572.18, East: 591739.77, Depth: 164.25TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072568.75, East: 591740.02, Depth: 165.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318544.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318544.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072565.32, East: 591740.26, Depth: 165.86TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072561.89, East: 591740.51, Depth: 166.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318550.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318550.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072558.46, East: 591740.76, Depth: 167.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072555.04, East: 591741.01, Depth: 168.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318556.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318556.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072551.61, East: 591741.26, Depth: 169.10TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072548.18, East: 591741.51, Depth: 169.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318562.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318562.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072544.75, East: 591741.76, Depth: 170.72TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072541.33, East: 591742.00, Depth: 171.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318568.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318568.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072537.90, East: 591742.25, Depth: 172.34TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072534.47, East: 591742.50, Depth: 173.15
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318574.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318574.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072531.05, East: 591742.75, Depth: 173.96TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072527.62, East: 591743.00, Depth: 174.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318580.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318580.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072524.19, East: 591743.25, Depth: 175.58TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072520.77, East: 591743.49, Depth: 176.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318586.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318586.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072517.34, East: 591743.74, Depth: 177.19TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072513.91, East: 591743.99, Depth: 178.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318592.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318592.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072510.49, East: 591744.24, Depth: 178.81TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072507.06, East: 591744.49, Depth: 179.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318598.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318598.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072503.64, East: 591744.74, Depth: 180.43TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072500.21, East: 591744.99, Depth: 181.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318604.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318604.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072496.79, East: 591745.23, Depth: 182.05TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072493.36, East: 591745.48, Depth: 182.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318610.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318610.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072489.93, East: 591745.73, Depth: 183.67TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072486.51, East: 591745.98, Depth: 184.48
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318616.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318616.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072483.08, East: 591746.23, Depth: 185.29TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072479.66, East: 591746.48, Depth: 186.10
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318622.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318622.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072476.23, East: 591746.73, Depth: 186.91TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072472.81, East: 591746.97, Depth: 187.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318628.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318628.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072469.38, East: 591747.22, Depth: 188.53TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072465.96, East: 591747.47, Depth: 189.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318634.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318634.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072462.53, East: 591747.72, Depth: 190.15TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072459.11, East: 591747.97, Depth: 190.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318640.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318640.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072455.68, East: 591748.22, Depth: 191.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072452.26, East: 591748.46, Depth: 192.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318646.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318646.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072448.83, East: 591748.71, Depth: 193.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072445.41, East: 591748.96, Depth: 194.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318652.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318652.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072441.98, East: 591749.21, Depth: 195.01TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072438.56, East: 591749.46, Depth: 195.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318658.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318658.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072435.13, East: 591749.71, Depth: 196.63TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072431.71, East: 591749.96, Depth: 197.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318664.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318664.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072428.28, East: 591750.20, Depth: 198.25TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072424.86, East: 591750.45, Depth: 199.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318670.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318670.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072421.43, East: 591750.70, Depth: 199.87TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072418.01, East: 591750.95, Depth: 200.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318676.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318676.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072414.58, East: 591751.20, Depth: 201.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072411.16, East: 591751.45, Depth: 202.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318682.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318682.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072407.73, East: 591751.69, Depth: 203.11TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072404.31, East: 591751.94, Depth: 203.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318688.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318688.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072400.88, East: 591752.19, Depth: 204.73TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072397.46, East: 591752.44, Depth: 205.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318694.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318694.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072394.03, East: 591752.69, Depth: 206.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072390.61, East: 591752.94, Depth: 207.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318700.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318700.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072387.19, East: 591753.18, Depth: 207.97TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072383.76, East: 591753.43, Depth: 208.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318706.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318706.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072380.34, East: 591753.68, Depth: 209.59TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072376.91, East: 591753.93, Depth: 210.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318712.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318712.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072373.49, East: 591754.18, Depth: 211.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072370.06, East: 591754.43, Depth: 212.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318718.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318718.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072366.64, East: 591754.68, Depth: 212.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072363.21, East: 591754.92, Depth: 213.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318724.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318724.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072359.79, East: 591755.17, Depth: 214.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072356.36, East: 591755.42, Depth: 215.26
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318730.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318730.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072352.94, East: 591755.67, Depth: 216.07TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072349.52, East: 591755.92, Depth: 216.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318736.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318736.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072346.09, East: 591756.17, Depth: 217.69TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072342.67, East: 591756.41, Depth: 218.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318742.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318742.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072339.24, East: 591756.66, Depth: 219.31TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072335.82, East: 591756.91, Depth: 220.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318748.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318748.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072332.39, East: 591757.16, Depth: 220.93TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072328.97, East: 591757.41, Depth: 221.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318754.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318754.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072325.54, East: 591757.66, Depth: 222.55TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072322.12, East: 591757.90, Depth: 223.36
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318760.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318760.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072318.69, East: 591758.15, Depth: 224.17TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072315.27, East: 591758.40, Depth: 224.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318766.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318766.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072311.85, East: 591758.65, Depth: 225.79TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072308.42, East: 591758.90, Depth: 226.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318772.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318772.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072305.00, East: 591759.15, Depth: 227.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072301.57, East: 591759.39, Depth: 228.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318778.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318778.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072298.15, East: 591759.64, Depth: 229.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072294.72, East: 591759.89, Depth: 229.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318784.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318784.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072291.30, East: 591760.14, Depth: 230.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072287.87, East: 591760.39, Depth: 231.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318790.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318790.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072284.45, East: 591760.64, Depth: 232.27TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072281.03, East: 591760.89, Depth: 233.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318796.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318796.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072277.60, East: 591761.13, Depth: 233.89TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072274.18, East: 591761.38, Depth: 234.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318802.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318802.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072270.75, East: 591761.63, Depth: 235.51TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072267.33, East: 591761.88, Depth: 236.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318808.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318808.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072263.90, East: 591762.13, Depth: 237.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072260.48, East: 591762.38, Depth: 237.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318814.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318814.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072257.05, East: 591762.62, Depth: 238.75TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072253.63, East: 591762.87, Depth: 239.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318820.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318820.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072250.21, East: 591763.12, Depth: 240.37TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072246.78, East: 591763.37, Depth: 241.18
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318826.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318826.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072243.36, East: 591763.62, Depth: 241.99TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072239.93, East: 591763.87, Depth: 242.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318832.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318832.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072236.51, East: 591764.11, Depth: 243.61TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072233.08, East: 591764.36, Depth: 244.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318838.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318838.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072229.66, East: 591764.61, Depth: 245.23TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072226.23, East: 591764.86, Depth: 246.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318844.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318844.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072222.81, East: 591765.11, Depth: 246.85TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072219.39, East: 591765.36, Depth: 247.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318850.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318850.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072215.96, East: 591765.60, Depth: 248.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072212.54, East: 591765.85, Depth: 249.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318856.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318856.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072209.11, East: 591766.10, Depth: 250.09TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072205.69, East: 591766.35, Depth: 250.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318862.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318862.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072202.26, East: 591766.60, Depth: 251.71TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072198.84, East: 591766.85, Depth: 252.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318868.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318868.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072195.42, East: 591767.10, Depth: 253.33TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072191.99, East: 591767.34, Depth: 254.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318874.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318874.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072188.57, East: 591767.59, Depth: 254.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072185.14, East: 591767.84, Depth: 255.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318880.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318880.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072181.72, East: 591768.09, Depth: 256.57TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072178.29, East: 591768.34, Depth: 257.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318886.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318886.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072174.87, East: 591768.59, Depth: 258.19TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072171.44, East: 591768.83, Depth: 259.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318892.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318892.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072168.02, East: 591769.08, Depth: 259.81TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072164.60, East: 591769.33, Depth: 260.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318898.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318898.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072161.17, East: 591769.58, Depth: 261.43TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072157.75, East: 591769.83, Depth: 262.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318904.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318904.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072154.32, East: 591770.08, Depth: 263.05TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072150.90, East: 591770.32, Depth: 263.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318910.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318910.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072147.47, East: 591770.57, Depth: 264.67TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072144.05, East: 591770.82, Depth: 265.48
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318916.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318916.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072140.62, East: 591771.07, Depth: 266.29TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072137.20, East: 591771.32, Depth: 267.10
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318922.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318922.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072133.78, East: 591771.57, Depth: 267.91TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072130.35, East: 591771.81, Depth: 268.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318928.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318928.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072126.93, East: 591772.06, Depth: 269.53TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072123.50, East: 591772.31, Depth: 270.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318934.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318934.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072120.08, East: 591772.56, Depth: 271.15TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072116.65, East: 591772.81, Depth: 271.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318940.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318940.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072113.23, East: 591773.06, Depth: 272.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072109.81, East: 591773.30, Depth: 273.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318946.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318946.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072106.38, East: 591773.55, Depth: 274.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072102.96, East: 591773.80, Depth: 275.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318952.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318952.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072099.53, East: 591774.05, Depth: 276.01TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072096.11, East: 591774.30, Depth: 276.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318958.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318958.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072092.68, East: 591774.55, Depth: 277.63TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072089.26, East: 591774.80, Depth: 278.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318964.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318964.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072085.83, East: 591775.04, Depth: 279.25TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072082.41, East: 591775.29, Depth: 280.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318970.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318970.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072078.99, East: 591775.54, Depth: 280.87TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072075.56, East: 591775.79, Depth: 281.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318976.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318976.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072072.14, East: 591776.04, Depth: 282.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072068.71, East: 591776.29, Depth: 283.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318982.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318982.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072065.29, East: 591776.53, Depth: 284.11TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072061.86, East: 591776.78, Depth: 284.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318988.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318988.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072058.44, East: 591777.03, Depth: 285.73TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072055.01, East: 591777.28, Depth: 286.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318994.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488318994.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072051.59, East: 591777.53, Depth: 287.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072048.17, East: 591777.78, Depth: 288.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319000.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319000.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072044.74, East: 591778.02, Depth: 288.97TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072041.32, East: 591778.27, Depth: 289.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319006.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319006.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072037.89, East: 591778.52, Depth: 290.59TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072034.47, East: 591778.77, Depth: 291.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319012.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319012.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072031.04, East: 591779.02, Depth: 292.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072027.62, East: 591779.27, Depth: 293.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319018.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319018.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072024.20, East: 591779.51, Depth: 293.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072020.77, East: 591779.76, Depth: 294.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319024.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319024.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072017.35, East: 591780.01, Depth: 295.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072013.92, East: 591780.26, Depth: 296.26
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319030.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319030.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072010.50, East: 591780.51, Depth: 297.07TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072007.07, East: 591780.76, Depth: 297.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319036.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319036.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072003.65, East: 591781.01, Depth: 298.69TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4072000.22, East: 591781.25, Depth: 299.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319042.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319042.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071996.80, East: 591781.50, Depth: 300.31TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071993.38, East: 591781.75, Depth: 301.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319048.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319048.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071989.97, East: 591781.99, Depth: 301.92TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071986.61, East: 591781.86, Depth: 302.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319054.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319054.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071983.40, East: 591781.10, Depth: 303.43TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071980.49, East: 591779.67, Depth: 304.10
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319060.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319060.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071977.84, East: 591777.76, Depth: 304.76TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071975.40, East: 591775.56, Depth: 305.45
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319066.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319066.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071973.06, East: 591773.22, Depth: 306.17TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071970.78, East: 591770.82, Depth: 306.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319072.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319072.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071968.50, East: 591768.41, Depth: 307.73TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071966.20, East: 591766.02, Depth: 308.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319078.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319078.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071963.84, East: 591763.67, Depth: 309.38TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071961.42, East: 591761.40, Depth: 310.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319084.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319084.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071958.92, East: 591759.21, Depth: 311.05TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071956.33, East: 591757.11, Depth: 311.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319090.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319090.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071953.66, East: 591755.11, Depth: 312.70TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071950.91, East: 591753.21, Depth: 313.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319096.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319096.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071948.09, East: 591751.42, Depth: 314.34TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071945.20, East: 591749.72, Depth: 315.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319102.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319102.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071942.26, East: 591748.11, Depth: 315.99TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071939.29, East: 591746.57, Depth: 316.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319108.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319108.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071936.28, East: 591745.09, Depth: 317.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071933.25, East: 591743.64, Depth: 318.48
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319114.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319114.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071930.21, East: 591742.23, Depth: 319.32TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071927.17, East: 591740.82, Depth: 320.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319120.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319120.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071924.12, East: 591739.40, Depth: 321.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071921.09, East: 591737.97, Depth: 321.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319126.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319126.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071918.07, East: 591736.51, Depth: 322.68TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071915.07, East: 591735.00, Depth: 323.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319132.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319132.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071912.09, East: 591733.46, Depth: 324.36TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071909.13, East: 591731.87, Depth: 325.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319138.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319138.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071906.19, East: 591730.24, Depth: 326.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071903.28, East: 591728.56, Depth: 326.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319144.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319144.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071900.39, East: 591726.85, Depth: 327.70TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071897.51, East: 591725.10, Depth: 328.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319150.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319150.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071894.65, East: 591723.33, Depth: 329.37TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071891.81, East: 591721.53, Depth: 330.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319156.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319156.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071888.97, East: 591719.72, Depth: 331.04TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071886.14, East: 591717.89, Depth: 331.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319162.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319162.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071883.31, East: 591716.07, Depth: 332.71TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071880.48, East: 591714.24, Depth: 333.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319168.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319168.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071877.64, East: 591712.42, Depth: 334.38TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071874.80, East: 591710.61, Depth: 335.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319174.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319174.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071871.95, East: 591708.81, Depth: 336.05TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071869.09, East: 591707.03, Depth: 336.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319180.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319180.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071866.22, East: 591705.26, Depth: 337.72TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071863.33, East: 591703.50, Depth: 338.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319186.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319186.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071860.44, East: 591701.77, Depth: 339.38TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071857.55, East: 591700.04, Depth: 340.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319192.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319192.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071854.64, East: 591698.33, Depth: 341.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071851.73, East: 591696.63, Depth: 341.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319198.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319198.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071848.81, East: 591694.94, Depth: 342.73TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071845.89, East: 591693.26, Depth: 343.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319204.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319204.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071842.97, East: 591691.58, Depth: 344.40TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071840.04, East: 591689.90, Depth: 345.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319210.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319210.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071837.12, East: 591688.22, Depth: 346.07TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071834.20, East: 591686.53, Depth: 346.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319216.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319216.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071831.28, East: 591684.85, Depth: 347.74TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071828.36, East: 591683.16, Depth: 348.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319222.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319222.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071825.45, East: 591681.46, Depth: 349.42TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071822.53, East: 591679.76, Depth: 350.25
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319228.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319228.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071819.63, East: 591678.05, Depth: 351.09TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071816.72, East: 591676.34, Depth: 351.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319234.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319234.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071813.82, East: 591674.62, Depth: 352.76TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071810.92, East: 591672.90, Depth: 353.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319240.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319240.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071808.03, East: 591671.17, Depth: 354.43TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071805.13, East: 591669.44, Depth: 355.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319246.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319246.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071802.24, East: 591667.71, Depth: 356.10TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071799.34, East: 591665.97, Depth: 356.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319252.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319252.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071796.45, East: 591664.24, Depth: 357.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071793.56, East: 591662.50, Depth: 358.61
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319258.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319258.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071790.67, East: 591660.77, Depth: 359.44TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071787.77, East: 591659.03, Depth: 360.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319264.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319264.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071784.88, East: 591657.30, Depth: 361.11TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071781.98, East: 591655.57, Depth: 361.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319270.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319270.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071779.08, East: 591653.84, Depth: 362.78TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071776.18, East: 591652.12, Depth: 363.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319276.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319276.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071773.28, East: 591650.39, Depth: 364.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071770.38, East: 591648.67, Depth: 365.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319282.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319282.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071767.48, East: 591646.95, Depth: 366.12TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071764.58, East: 591645.23, Depth: 366.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319288.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319288.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071761.67, East: 591643.51, Depth: 367.79TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071758.77, East: 591641.80, Depth: 368.63
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319294.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319294.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071755.87, East: 591640.08, Depth: 369.46TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071752.96, East: 591638.36, Depth: 370.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319300.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319300.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071750.06, East: 591636.65, Depth: 371.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071747.15, East: 591634.93, Depth: 371.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319306.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319306.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071744.25, East: 591633.21, Depth: 372.80TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071741.34, East: 591631.50, Depth: 373.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319312.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319312.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071738.44, East: 591629.78, Depth: 374.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071735.53, East: 591628.06, Depth: 375.31
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319318.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319318.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071732.63, East: 591626.34, Depth: 376.14TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071729.73, East: 591624.62, Depth: 376.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319324.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319324.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071726.83, East: 591622.90, Depth: 377.81TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071723.92, East: 591621.18, Depth: 378.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319330.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319330.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071721.02, East: 591619.46, Depth: 379.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071718.12, East: 591617.73, Depth: 380.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319336.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319336.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071715.22, East: 591616.01, Depth: 381.15TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071712.32, East: 591614.29, Depth: 381.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319342.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319342.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071709.42, East: 591612.57, Depth: 382.82TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071706.52, East: 591610.84, Depth: 383.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319348.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319348.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071703.62, East: 591609.12, Depth: 384.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071700.71, East: 591607.40, Depth: 385.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319354.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319354.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071697.81, East: 591605.67, Depth: 386.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071694.91, East: 591603.95, Depth: 387.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319360.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319360.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071692.01, East: 591602.23, Depth: 387.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071689.11, East: 591600.50, Depth: 388.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319366.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319366.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071686.21, East: 591598.78, Depth: 389.50TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071683.30, East: 591597.06, Depth: 390.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319372.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319372.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071680.40, East: 591595.34, Depth: 391.17TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071677.50, East: 591593.62, Depth: 392.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319378.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319378.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071674.60, East: 591591.90, Depth: 392.84TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071671.70, East: 591590.18, Depth: 393.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319384.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319384.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071668.79, East: 591588.46, Depth: 394.51TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071665.89, East: 591586.73, Depth: 395.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319390.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319390.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071662.99, East: 591585.01, Depth: 396.18TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071660.08, East: 591583.29, Depth: 397.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319396.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319396.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071657.18, East: 591581.57, Depth: 397.85TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071654.28, East: 591579.85, Depth: 398.69
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319402.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319402.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071651.38, East: 591578.13, Depth: 399.52TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071648.47, East: 591576.41, Depth: 400.36
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319408.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319408.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071645.57, East: 591574.69, Depth: 401.19TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071642.67, East: 591572.97, Depth: 402.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319414.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319414.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071639.77, East: 591571.25, Depth: 402.86TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071636.87, East: 591569.52, Depth: 403.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319420.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319420.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071633.96, East: 591567.80, Depth: 404.53TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071631.06, East: 591566.08, Depth: 405.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319426.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319426.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071628.16, East: 591564.36, Depth: 406.20TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071625.26, East: 591562.64, Depth: 407.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319432.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319432.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071622.35, East: 591560.92, Depth: 407.87TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071619.45, East: 591559.19, Depth: 408.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319438.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319438.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071616.55, East: 591557.47, Depth: 409.54TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071613.65, East: 591555.75, Depth: 410.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319444.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319444.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071610.75, East: 591554.03, Depth: 411.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071607.84, East: 591552.31, Depth: 412.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319450.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319450.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071604.94, East: 591550.58, Depth: 412.88TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071602.04, East: 591548.86, Depth: 413.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319456.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319456.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071599.14, East: 591547.14, Depth: 414.55TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071596.23, East: 591545.42, Depth: 415.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319462.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319462.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071593.33, East: 591543.70, Depth: 416.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071590.43, East: 591541.98, Depth: 417.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319468.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319468.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071587.53, East: 591540.26, Depth: 417.89TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071584.63, East: 591538.53, Depth: 418.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319474.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319474.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071581.72, East: 591536.81, Depth: 419.56TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071578.82, East: 591535.09, Depth: 420.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319480.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319480.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071575.92, East: 591533.37, Depth: 421.23TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071573.02, East: 591531.65, Depth: 422.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319486.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319486.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071570.11, East: 591529.93, Depth: 422.90TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071567.21, East: 591528.21, Depth: 423.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319492.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319492.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071564.31, East: 591526.48, Depth: 424.57TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071561.41, East: 591524.76, Depth: 425.41
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319498.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319498.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071558.50, East: 591523.04, Depth: 426.24TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071555.60, East: 591521.32, Depth: 427.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319504.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319504.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071552.70, East: 591519.60, Depth: 427.91TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071549.80, East: 591517.88, Depth: 428.75
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319510.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319510.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071546.89, East: 591516.15, Depth: 429.58TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071543.99, East: 591514.43, Depth: 430.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319516.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319516.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071541.09, East: 591512.71, Depth: 431.25TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071538.19, East: 591510.99, Depth: 432.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319522.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319522.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071535.29, East: 591509.27, Depth: 432.92TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071532.38, East: 591507.55, Depth: 433.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319528.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319528.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071529.48, East: 591505.82, Depth: 434.59TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071526.58, East: 591504.10, Depth: 435.43
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319534.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319534.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071523.68, East: 591502.38, Depth: 436.26TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071520.77, East: 591500.66, Depth: 437.10
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319540.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319540.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071517.87, East: 591498.94, Depth: 437.93TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071514.97, East: 591497.22, Depth: 438.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319546.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319546.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071512.07, East: 591495.50, Depth: 439.60TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071509.16, East: 591493.77, Depth: 440.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319552.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319552.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071506.26, East: 591492.05, Depth: 441.27TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071503.36, East: 591490.33, Depth: 442.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319558.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319558.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071500.46, East: 591488.61, Depth: 442.94TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071497.56, East: 591486.89, Depth: 443.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319564.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319564.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071494.65, East: 591485.17, Depth: 444.61TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071491.75, East: 591483.44, Depth: 445.45
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319570.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319570.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071488.85, East: 591481.72, Depth: 446.28TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071485.95, East: 591480.00, Depth: 447.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319576.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319576.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071483.04, East: 591478.28, Depth: 447.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071480.14, East: 591476.56, Depth: 448.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319582.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319582.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071477.24, East: 591474.84, Depth: 449.62TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071474.34, East: 591473.12, Depth: 450.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319588.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319588.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071471.43, East: 591471.39, Depth: 451.29TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071468.53, East: 591469.67, Depth: 452.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319594.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319594.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071465.63, East: 591467.95, Depth: 452.96TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071462.73, East: 591466.23, Depth: 453.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319600.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319600.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071459.83, East: 591464.51, Depth: 454.63TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071456.92, East: 591462.79, Depth: 455.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319606.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319606.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071454.02, East: 591461.06, Depth: 456.30TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071451.12, East: 591459.34, Depth: 457.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319612.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319612.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071448.22, East: 591457.62, Depth: 457.97TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071445.31, East: 591455.90, Depth: 458.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319618.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319618.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071442.41, East: 591454.18, Depth: 459.64TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071439.51, East: 591452.46, Depth: 460.48
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319624.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319624.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071436.61, East: 591450.74, Depth: 461.31TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071433.70, East: 591449.01, Depth: 462.15
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319630.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319630.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071430.80, East: 591447.29, Depth: 462.98TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071427.90, East: 591445.57, Depth: 463.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319636.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319636.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071425.00, East: 591443.85, Depth: 464.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071422.10, East: 591442.13, Depth: 465.49
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319642.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319642.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071419.19, East: 591440.41, Depth: 466.32TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071416.29, East: 591438.68, Depth: 467.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319648.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319648.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071413.39, East: 591436.96, Depth: 467.99TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071410.49, East: 591435.24, Depth: 468.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319654.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319654.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071407.58, East: 591433.52, Depth: 469.66TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071404.68, East: 591431.80, Depth: 470.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319660.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319660.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071401.78, East: 591430.08, Depth: 471.33TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071398.88, East: 591428.36, Depth: 472.17
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319666.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319666.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071395.97, East: 591426.63, Depth: 473.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071393.07, East: 591424.91, Depth: 473.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319672.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319672.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071390.17, East: 591423.19, Depth: 474.67TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071387.27, East: 591421.47, Depth: 475.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319678.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319678.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071384.36, East: 591419.75, Depth: 476.34TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071381.46, East: 591418.03, Depth: 477.18
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319684.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319684.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071378.56, East: 591416.30, Depth: 478.01TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071375.66, East: 591414.58, Depth: 478.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319690.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319690.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071372.76, East: 591412.86, Depth: 479.68TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071369.85, East: 591411.14, Depth: 480.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319696.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319696.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071366.95, East: 591409.42, Depth: 481.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071364.05, East: 591407.70, Depth: 482.19
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319702.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319702.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071361.15, East: 591405.97, Depth: 483.02TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071358.24, East: 591404.25, Depth: 483.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319708.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319708.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071355.34, East: 591402.53, Depth: 484.69TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071352.44, East: 591400.81, Depth: 485.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319714.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319714.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071349.54, East: 591399.09, Depth: 486.36TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071346.63, East: 591397.37, Depth: 487.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319720.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319720.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071343.73, East: 591395.65, Depth: 488.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071340.83, East: 591393.92, Depth: 488.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319726.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319726.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071337.93, East: 591392.20, Depth: 489.70TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071335.03, East: 591390.48, Depth: 490.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319732.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319732.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071332.12, East: 591388.76, Depth: 491.37TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071329.22, East: 591387.04, Depth: 492.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319738.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319738.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071326.32, East: 591385.32, Depth: 493.04TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071323.42, East: 591383.59, Depth: 493.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319744.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319744.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071320.51, East: 591381.87, Depth: 494.71TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071317.61, East: 591380.15, Depth: 495.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319750.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319750.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071314.71, East: 591378.43, Depth: 496.38TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071311.81, East: 591376.71, Depth: 497.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319756.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319756.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071308.90, East: 591374.99, Depth: 498.05TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071306.00, East: 591373.27, Depth: 498.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319762.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319762.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071303.10, East: 591371.54, Depth: 499.72TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071300.20, East: 591369.82, Depth: 500.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319768.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319768.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071297.30, East: 591368.10, Depth: 501.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071294.39, East: 591366.38, Depth: 502.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319774.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319774.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071291.49, East: 591364.66, Depth: 503.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071288.59, East: 591362.94, Depth: 503.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319780.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319780.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071285.69, East: 591361.21, Depth: 504.73TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071282.78, East: 591359.49, Depth: 505.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319786.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319786.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071279.88, East: 591357.77, Depth: 506.40TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071276.98, East: 591356.05, Depth: 507.23
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319792.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319792.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071274.08, East: 591354.33, Depth: 508.07TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071271.17, East: 591352.61, Depth: 508.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319798.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319798.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071268.27, East: 591350.89, Depth: 509.74TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071265.37, East: 591349.16, Depth: 510.57
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319804.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319804.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071262.47, East: 591347.44, Depth: 511.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071259.57, East: 591345.72, Depth: 512.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319810.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319810.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071256.66, East: 591344.00, Depth: 513.08TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071253.76, East: 591342.28, Depth: 513.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319816.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319816.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071250.86, East: 591340.56, Depth: 514.75TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071247.96, East: 591338.83, Depth: 515.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319822.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319822.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071245.05, East: 591337.11, Depth: 516.42TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071242.15, East: 591335.39, Depth: 517.25
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319828.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319828.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071239.25, East: 591333.67, Depth: 518.09TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071236.35, East: 591331.95, Depth: 518.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319834.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319834.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071233.44, East: 591330.23, Depth: 519.76TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071230.54, East: 591328.51, Depth: 520.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319840.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319840.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071227.64, East: 591326.78, Depth: 521.43TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071224.74, East: 591325.06, Depth: 522.26
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319846.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319846.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071221.83, East: 591323.34, Depth: 523.10TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071218.93, East: 591321.62, Depth: 523.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319852.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319852.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071216.03, East: 591319.90, Depth: 524.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071213.13, East: 591318.18, Depth: 525.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319858.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319858.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071210.23, East: 591316.45, Depth: 526.44TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071207.32, East: 591314.73, Depth: 527.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319864.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319864.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071204.42, East: 591313.01, Depth: 528.11TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071201.52, East: 591311.29, Depth: 528.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319870.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319870.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071198.62, East: 591309.57, Depth: 529.78TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071195.71, East: 591307.85, Depth: 530.61
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319876.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319876.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071192.81, East: 591306.12, Depth: 531.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071189.91, East: 591304.40, Depth: 532.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319882.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319882.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071187.01, East: 591302.68, Depth: 533.12TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071184.10, East: 591300.96, Depth: 533.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319888.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319888.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071181.20, East: 591299.24, Depth: 534.79TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071178.30, East: 591297.52, Depth: 535.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319894.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319894.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071175.40, East: 591295.80, Depth: 536.46TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071172.50, East: 591294.07, Depth: 537.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319900.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319900.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071169.59, East: 591292.35, Depth: 538.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071166.69, East: 591290.63, Depth: 538.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319906.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319906.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071163.79, East: 591288.91, Depth: 539.80TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071160.89, East: 591287.19, Depth: 540.63
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319912.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319912.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071157.98, East: 591285.47, Depth: 541.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071155.08, East: 591283.74, Depth: 542.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319918.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319918.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071152.18, East: 591282.02, Depth: 543.14TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071149.28, East: 591280.30, Depth: 543.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319924.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319924.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071146.37, East: 591278.58, Depth: 544.81TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071143.47, East: 591276.86, Depth: 545.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319930.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319930.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071140.57, East: 591275.14, Depth: 546.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071137.67, East: 591273.42, Depth: 547.31
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319936.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319936.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071134.77, East: 591271.69, Depth: 548.15TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071131.86, East: 591269.97, Depth: 548.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319942.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319942.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071128.96, East: 591268.25, Depth: 549.82TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071126.06, East: 591266.53, Depth: 550.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319948.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319948.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071123.16, East: 591264.81, Depth: 551.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071120.25, East: 591263.09, Depth: 552.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319954.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319954.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071117.35, East: 591261.36, Depth: 553.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071114.45, East: 591259.64, Depth: 553.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319960.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319960.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071111.55, East: 591257.92, Depth: 554.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071108.64, East: 591256.20, Depth: 555.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319966.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319966.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071105.74, East: 591254.48, Depth: 556.50TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071102.84, East: 591252.76, Depth: 557.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319972.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319972.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071099.94, East: 591251.03, Depth: 558.17TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071097.03, East: 591249.31, Depth: 559.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319978.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319978.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071094.13, East: 591247.59, Depth: 559.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071091.22, East: 591245.86, Depth: 560.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319984.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319984.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071088.31, East: 591244.14, Depth: 561.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071085.39, East: 591242.41, Depth: 562.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319990.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319990.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071082.46, East: 591240.67, Depth: 563.08TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071079.51, East: 591238.92, Depth: 563.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319996.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488319996.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071076.55, East: 591237.16, Depth: 564.60TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071073.56, East: 591235.39, Depth: 565.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320002.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320002.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071070.56, East: 591233.61, Depth: 566.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071067.53, East: 591231.81, Depth: 566.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320008.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320008.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071064.47, East: 591230.00, Depth: 567.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071061.39, East: 591228.17, Depth: 568.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320014.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320014.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071058.28, East: 591226.33, Depth: 568.70TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071055.17, East: 591224.49, Depth: 569.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320020.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320020.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071052.05, East: 591222.65, Depth: 570.05TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071048.93, East: 591220.79, Depth: 570.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320026.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320026.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071045.80, East: 591218.94, Depth: 571.40TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071042.66, East: 591217.08, Depth: 572.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320032.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320032.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071039.53, East: 591215.23, Depth: 572.79TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071036.39, East: 591213.36, Depth: 573.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320038.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320038.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071033.25, East: 591211.50, Depth: 574.15TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071030.10, East: 591209.62, Depth: 574.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320044.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320044.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071026.95, East: 591207.75, Depth: 575.50TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071023.79, East: 591205.88, Depth: 576.19
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320050.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320050.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071020.65, East: 591204.01, Depth: 576.90TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071017.52, East: 591202.16, Depth: 577.63
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320056.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320056.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071014.41, East: 591200.31, Depth: 578.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071011.30, East: 591198.46, Depth: 579.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320062.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320062.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071008.19, East: 591196.61, Depth: 579.87TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071005.09, East: 591194.77, Depth: 580.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320068.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320068.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4071002.01, East: 591192.94, Depth: 581.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070998.96, East: 591191.14, Depth: 582.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320074.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320074.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070995.95, East: 591189.35, Depth: 583.10TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070992.95, East: 591187.57, Depth: 583.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320080.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320080.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070989.97, East: 591185.79, Depth: 584.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070987.00, East: 591184.03, Depth: 585.69
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320086.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320086.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070984.05, East: 591182.28, Depth: 586.57TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070981.13, East: 591180.55, Depth: 587.45
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320092.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320092.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070978.22, East: 591178.82, Depth: 588.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070975.34, East: 591177.11, Depth: 589.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320098.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320098.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070972.49, East: 591175.42, Depth: 590.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070969.65, East: 591173.73, Depth: 591.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320104.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320104.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070966.81, East: 591172.05, Depth: 592.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070963.99, East: 591170.37, Depth: 592.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320110.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320110.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070961.16, East: 591168.70, Depth: 593.86TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070958.34, East: 591167.02, Depth: 594.75
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320116.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320116.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070955.52, East: 591165.35, Depth: 595.64TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070952.71, East: 591163.69, Depth: 596.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320122.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320122.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070949.91, East: 591162.03, Depth: 597.44TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070947.12, East: 591160.37, Depth: 598.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320128.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320128.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070944.33, East: 591158.72, Depth: 599.26TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070941.55, East: 591157.08, Depth: 600.17
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320134.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320134.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070938.78, East: 591155.43, Depth: 601.08TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070936.00, East: 591153.79, Depth: 601.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320140.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320140.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070933.22, East: 591152.14, Depth: 602.88TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070930.45, East: 591150.50, Depth: 603.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320146.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320146.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070927.66, East: 591148.85, Depth: 604.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070924.87, East: 591147.19, Depth: 605.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320152.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320152.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070922.06, East: 591145.52, Depth: 606.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070919.24, East: 591143.85, Depth: 607.19
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320158.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320158.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070916.42, East: 591142.18, Depth: 608.04TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070913.60, East: 591140.51, Depth: 608.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320164.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320164.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070910.78, East: 591138.84, Depth: 609.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070907.97, East: 591137.17, Depth: 610.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320170.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320170.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070905.15, East: 591135.50, Depth: 611.52TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070902.33, East: 591133.83, Depth: 612.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320176.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320176.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070899.50, East: 591132.15, Depth: 613.24TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070896.66, East: 591130.47, Depth: 614.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320182.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320182.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070893.81, East: 591128.77, Depth: 614.89TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070890.95, East: 591127.08, Depth: 615.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320188.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320188.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070888.11, East: 591125.39, Depth: 616.59TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070885.27, East: 591123.71, Depth: 617.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320194.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320194.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070882.45, East: 591122.04, Depth: 618.36TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070879.62, East: 591120.36, Depth: 619.25
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320200.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320200.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070876.80, East: 591118.69, Depth: 620.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070873.99, East: 591117.02, Depth: 621.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320206.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320206.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070871.19, East: 591115.35, Depth: 621.93TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070868.41, East: 591113.71, Depth: 622.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320212.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320212.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070865.66, East: 591112.07, Depth: 623.82TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070862.93, East: 591110.45, Depth: 624.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320218.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320218.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070860.21, East: 591108.84, Depth: 625.76TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070857.50, East: 591107.22, Depth: 626.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320224.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320224.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070854.79, East: 591105.62, Depth: 627.66TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070852.09, East: 591104.01, Depth: 628.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320230.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320230.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070849.40, East: 591102.41, Depth: 629.55TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070846.73, East: 591100.82, Depth: 630.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320236.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320236.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070844.06, East: 591099.24, Depth: 631.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070841.39, East: 591097.65, Depth: 632.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320242.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320242.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070838.72, East: 591096.07, Depth: 633.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070836.03, East: 591094.48, Depth: 634.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320248.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320248.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070833.34, East: 591092.88, Depth: 635.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070830.63, East: 591091.27, Depth: 636.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320254.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320254.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070827.89, East: 591089.65, Depth: 636.90TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070825.14, East: 591088.02, Depth: 637.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320260.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320260.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070822.37, East: 591086.38, Depth: 638.58TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070819.59, East: 591084.73, Depth: 639.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320266.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320266.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070816.78, East: 591083.07, Depth: 640.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070813.96, East: 591081.40, Depth: 641.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320272.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320272.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070811.12, East: 591079.73, Depth: 641.84TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070808.26, East: 591078.04, Depth: 642.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320278.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320278.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070805.40, East: 591076.35, Depth: 643.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070802.53, East: 591074.65, Depth: 644.25
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320284.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320284.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070799.64, East: 591072.94, Depth: 645.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070796.75, East: 591071.23, Depth: 645.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320290.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320290.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070793.85, East: 591069.51, Depth: 646.67TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070790.95, East: 591067.79, Depth: 647.48
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320296.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320296.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070788.04, East: 591066.06, Depth: 648.30TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070785.14, East: 591064.33, Depth: 649.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320302.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320302.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070782.22, East: 591062.60, Depth: 649.92TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070779.31, East: 591060.87, Depth: 650.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320308.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320308.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070776.39, East: 591059.14, Depth: 651.56TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070773.48, East: 591057.40, Depth: 652.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320314.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320314.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070770.56, East: 591055.67, Depth: 653.20TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070767.64, East: 591053.93, Depth: 654.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320320.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320320.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070764.72, East: 591052.20, Depth: 654.85TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070761.80, East: 591050.46, Depth: 655.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320326.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320326.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070758.89, East: 591048.73, Depth: 656.50TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070755.97, East: 591047.00, Depth: 657.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320332.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320332.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070753.05, East: 591045.26, Depth: 658.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070750.13, East: 591043.53, Depth: 658.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320338.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320338.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070747.21, East: 591041.80, Depth: 659.81TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070744.30, East: 591040.07, Depth: 660.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320344.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320344.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070741.38, East: 591038.34, Depth: 661.47TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070738.46, East: 591036.61, Depth: 662.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320350.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320350.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070735.54, East: 591034.88, Depth: 663.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070732.63, East: 591033.15, Depth: 663.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320356.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320356.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070729.71, East: 591031.42, Depth: 664.79TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070726.79, East: 591029.70, Depth: 665.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320362.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320362.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070723.88, East: 591027.97, Depth: 666.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070720.96, East: 591026.24, Depth: 667.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320368.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320368.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070718.05, East: 591024.51, Depth: 668.11TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070715.14, East: 591022.79, Depth: 668.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320374.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320374.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070712.22, East: 591021.06, Depth: 669.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070709.30, East: 591019.33, Depth: 670.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320380.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320380.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070706.38, East: 591017.59, Depth: 671.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070703.45, East: 591015.86, Depth: 672.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320386.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320386.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070700.52, East: 591014.12, Depth: 673.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070697.60, East: 591012.38, Depth: 673.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320392.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320392.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070694.67, East: 591010.65, Depth: 674.68TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070691.76, East: 591008.92, Depth: 675.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320398.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320398.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070688.85, East: 591007.20, Depth: 676.37TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070685.94, East: 591005.47, Depth: 677.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320404.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320404.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070683.04, East: 591003.75, Depth: 678.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070680.13, East: 591002.03, Depth: 678.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320410.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320410.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070677.22, East: 591000.30, Depth: 679.73TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070674.31, East: 590998.57, Depth: 680.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320416.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320416.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070671.41, East: 590996.84, Depth: 681.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070668.50, East: 590995.12, Depth: 682.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320422.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320422.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070665.59, East: 590993.39, Depth: 683.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070662.69, East: 590991.67, Depth: 683.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320428.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320428.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070659.79, East: 590989.95, Depth: 684.74TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070656.89, East: 590988.23, Depth: 685.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320434.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320434.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070653.99, East: 590986.51, Depth: 686.43TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070651.10, East: 590984.80, Depth: 687.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320440.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320440.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070648.20, East: 590983.08, Depth: 688.12TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070645.31, East: 590981.36, Depth: 688.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320446.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320446.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070642.41, East: 590979.65, Depth: 689.80TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070639.52, East: 590977.93, Depth: 690.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320452.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320452.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070636.63, East: 590976.21, Depth: 691.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070633.73, East: 590974.50, Depth: 692.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320458.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320458.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070630.83, East: 590972.78, Depth: 693.15TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070627.94, East: 590971.06, Depth: 693.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320464.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320464.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070625.04, East: 590969.34, Depth: 694.82TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070622.14, East: 590967.62, Depth: 695.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320470.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320470.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070619.24, East: 590965.90, Depth: 696.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070616.34, East: 590964.18, Depth: 697.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320476.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320476.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070613.44, East: 590962.46, Depth: 698.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070610.54, East: 590960.74, Depth: 698.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320482.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320482.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070607.63, East: 590959.02, Depth: 699.82TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070604.73, East: 590957.30, Depth: 700.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320488.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320488.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070601.83, East: 590955.58, Depth: 701.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070598.93, East: 590953.86, Depth: 702.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320494.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320494.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070596.02, East: 590952.13, Depth: 703.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070593.12, East: 590950.41, Depth: 703.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320500.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320500.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070590.22, East: 590948.69, Depth: 704.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070587.31, East: 590946.97, Depth: 705.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320506.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320506.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070584.41, East: 590945.24, Depth: 706.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070581.51, East: 590943.52, Depth: 707.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320512.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320512.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070578.61, East: 590941.80, Depth: 708.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070575.70, East: 590940.08, Depth: 709.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320518.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320518.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070572.80, East: 590938.36, Depth: 709.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070569.90, East: 590936.63, Depth: 710.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320524.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320524.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070566.99, East: 590934.91, Depth: 711.50TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070564.09, East: 590933.19, Depth: 712.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320530.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320530.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070561.19, East: 590931.47, Depth: 713.17TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070558.28, East: 590929.74, Depth: 714.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320536.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320536.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070555.38, East: 590928.02, Depth: 714.84TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070552.48, East: 590926.30, Depth: 715.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320542.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320542.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070549.57, East: 590924.58, Depth: 716.51TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070546.67, East: 590922.86, Depth: 717.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320548.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320548.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070543.77, East: 590921.14, Depth: 718.18TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070540.87, East: 590919.41, Depth: 719.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320554.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320554.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070537.96, East: 590917.69, Depth: 719.85TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070535.06, East: 590915.97, Depth: 720.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320560.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320560.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070532.16, East: 590914.25, Depth: 721.52TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070529.25, East: 590912.53, Depth: 722.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320566.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320566.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070526.35, East: 590910.80, Depth: 723.19TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070523.45, East: 590909.08, Depth: 724.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320572.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320572.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070520.55, East: 590907.36, Depth: 724.86TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070517.64, East: 590905.64, Depth: 725.69
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320578.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320578.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070514.74, East: 590903.92, Depth: 726.53TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070511.84, East: 590902.20, Depth: 727.36
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320584.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320584.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070508.93, East: 590900.47, Depth: 728.20TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070506.03, East: 590898.75, Depth: 729.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320590.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320590.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070503.13, East: 590897.03, Depth: 729.87TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070500.23, East: 590895.31, Depth: 730.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320596.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320596.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070497.32, East: 590893.59, Depth: 731.54TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070494.42, East: 590891.86, Depth: 732.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320602.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320602.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070491.52, East: 590890.14, Depth: 733.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070488.62, East: 590888.42, Depth: 734.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320608.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320608.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070485.71, East: 590886.70, Depth: 734.88TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070482.81, East: 590884.98, Depth: 735.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320614.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320614.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070479.91, East: 590883.26, Depth: 736.55TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070477.01, East: 590881.53, Depth: 737.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320620.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320620.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070474.10, East: 590879.81, Depth: 738.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070471.20, East: 590878.09, Depth: 739.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320626.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320626.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070468.30, East: 590876.37, Depth: 739.89TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070465.40, East: 590874.65, Depth: 740.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320632.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320632.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070462.49, East: 590872.93, Depth: 741.56TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070459.59, East: 590871.20, Depth: 742.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320638.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320638.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070456.69, East: 590869.48, Depth: 743.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070453.79, East: 590867.76, Depth: 744.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320644.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320644.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070450.88, East: 590866.04, Depth: 744.89TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070447.98, East: 590864.32, Depth: 745.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320650.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320650.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070445.08, East: 590862.60, Depth: 746.56TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070442.18, East: 590860.88, Depth: 747.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320656.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320656.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070439.27, East: 590859.15, Depth: 748.23TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070436.37, East: 590857.43, Depth: 749.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320662.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320662.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070433.46, East: 590855.70, Depth: 749.88TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070430.54, East: 590853.97, Depth: 750.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320668.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320668.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070427.59, East: 590852.22, Depth: 751.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070424.61, East: 590850.45, Depth: 752.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320674.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320674.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070421.59, East: 590848.66, Depth: 752.82TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070418.54, East: 590846.85, Depth: 753.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320680.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320680.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070415.46, East: 590845.02, Depth: 754.10TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070412.36, East: 590843.19, Depth: 754.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320686.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320686.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070409.24, East: 590841.35, Depth: 755.38TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070406.11, East: 590839.49, Depth: 756.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320692.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320692.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070402.97, East: 590837.63, Depth: 756.66TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070399.82, East: 590835.77, Depth: 757.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320698.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320698.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070396.67, East: 590833.91, Depth: 758.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070393.53, East: 590832.05, Depth: 758.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320704.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320704.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070390.43, East: 590830.18, Depth: 759.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070387.48, East: 590828.13, Depth: 760.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320710.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320710.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070384.72, East: 590825.91, Depth: 761.04TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070382.12, East: 590823.58, Depth: 761.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320716.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320716.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070379.62, East: 590821.18, Depth: 762.79TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070377.19, East: 590818.75, Depth: 763.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320722.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320722.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070374.78, East: 590816.30, Depth: 764.53TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070372.37, East: 590813.87, Depth: 765.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320728.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320728.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070369.95, East: 590811.48, Depth: 766.26TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070367.52, East: 590809.14, Depth: 767.15
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320734.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320734.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070365.07, East: 590806.86, Depth: 768.07TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070362.60, East: 590804.64, Depth: 769.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320740.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320740.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070360.14, East: 590802.49, Depth: 769.97TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070357.68, East: 590800.41, Depth: 770.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320746.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320746.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070355.23, East: 590798.38, Depth: 771.99TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070352.77, East: 590796.39, Depth: 772.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320752.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320752.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070350.31, East: 590794.42, Depth: 773.97TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070347.85, East: 590792.48, Depth: 774.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320758.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320758.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070345.38, East: 590790.55, Depth: 775.91TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070342.92, East: 590788.63, Depth: 776.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320764.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320764.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070340.46, East: 590786.71, Depth: 777.81TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070338.00, East: 590784.79, Depth: 778.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320770.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320770.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070335.54, East: 590782.85, Depth: 779.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070333.07, East: 590780.89, Depth: 780.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320776.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320776.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070330.59, East: 590778.92, Depth: 781.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070328.11, East: 590776.92, Depth: 782.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320782.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320782.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070325.62, East: 590774.89, Depth: 783.11TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070323.12, East: 590772.83, Depth: 783.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320788.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320788.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070320.62, East: 590770.75, Depth: 784.76TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070318.11, East: 590768.65, Depth: 785.57
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320794.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320794.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070315.60, East: 590766.52, Depth: 786.38TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070313.08, East: 590764.37, Depth: 787.18
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320800.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320800.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070310.55, East: 590762.20, Depth: 787.98TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070308.02, East: 590760.01, Depth: 788.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320806.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320806.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070305.48, East: 590757.82, Depth: 789.57TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070302.94, East: 590755.61, Depth: 790.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320812.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320812.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070300.39, East: 590753.40, Depth: 791.17TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070297.83, East: 590751.18, Depth: 791.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320818.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320818.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070295.26, East: 590748.96, Depth: 792.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070292.68, East: 590746.74, Depth: 793.57
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 98.49
TerrainNav::Measurement type 5 from time = 1488320824.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 98.49
TerrainNav::Measurement type 5 from time = 1488320824.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070290.10, East: 590744.52, Depth: 794.37TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070287.51, East: 590742.31, Depth: 795.18
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 95.91
TerrainNav::Measurement type 5 from time = 1488320830.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 95.91
TerrainNav::Measurement type 5 from time = 1488320830.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070284.92, East: 590740.09, Depth: 795.98TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070282.31, East: 590737.89, Depth: 796.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 93.67
TerrainNav::Measurement type 5 from time = 1488320836.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 93.67
TerrainNav::Measurement type 5 from time = 1488320836.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070279.70, East: 590735.68, Depth: 797.60TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070277.09, East: 590733.48, Depth: 798.41
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 89.92
TerrainNav::Measurement type 5 from time = 1488320842.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 89.92
TerrainNav::Measurement type 5 from time = 1488320842.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070274.47, East: 590731.28, Depth: 799.23TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070271.85, East: 590729.09, Depth: 800.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 86.07
TerrainNav::Measurement type 5 from time = 1488320848.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 86.07
TerrainNav::Measurement type 5 from time = 1488320848.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070269.23, East: 590726.90, Depth: 800.85TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070266.61, East: 590724.70, Depth: 801.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 87.39
TerrainNav::Measurement type 5 from time = 1488320854.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 87.39
TerrainNav::Measurement type 5 from time = 1488320854.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070263.98, East: 590722.51, Depth: 802.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070261.36, East: 590720.32, Depth: 803.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 84.96
TerrainNav::Measurement type 5 from time = 1488320860.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 84.96
TerrainNav::Measurement type 5 from time = 1488320860.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070258.74, East: 590718.13, Depth: 804.12TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070256.11, East: 590715.94, Depth: 804.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 82.36
TerrainNav::Measurement type 5 from time = 1488320866.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 82.36
TerrainNav::Measurement type 5 from time = 1488320866.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070253.48, East: 590713.74, Depth: 805.72TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070250.83, East: 590711.52, Depth: 806.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 84.52
TerrainNav::Measurement type 5 from time = 1488320872.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 84.52
TerrainNav::Measurement type 5 from time = 1488320872.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070248.15, East: 590709.27, Depth: 807.19TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070245.45, East: 590707.00, Depth: 807.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 84.63
TerrainNav::Measurement type 5 from time = 1488320878.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 84.63
TerrainNav::Measurement type 5 from time = 1488320878.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070242.72, East: 590704.70, Depth: 808.49TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070239.96, East: 590702.38, Depth: 809.10
TerrainNav::measUpdate() - IDT[45] = 99.61, IDT[75] = 85.82
TerrainNav::Measurement type 5 from time = 1488320884.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 99.61, IDT[75] = 85.82
TerrainNav::Measurement type 5 from time = 1488320884.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070237.18, East: 590700.04, Depth: 809.71TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070234.38, East: 590697.68, Depth: 810.33
TerrainNav::measUpdate() - IDT[45] = 95.98, IDT[75] = 83.55
TerrainNav::Measurement type 5 from time = 1488320890.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 95.98, IDT[75] = 83.55
TerrainNav::Measurement type 5 from time = 1488320890.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070231.62, East: 590695.32, Depth: 810.98TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070229.16, East: 590692.70, Depth: 811.66
TerrainNav::measUpdate() - IDT[45] = 99.89, IDT[75] = 89.98
TerrainNav::Measurement type 5 from time = 1488320896.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 99.89, IDT[75] = 89.98
TerrainNav::Measurement type 5 from time = 1488320896.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070227.06, East: 590689.83, Depth: 812.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070225.27, East: 590686.80, Depth: 813.17
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320902.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320902.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070223.71, East: 590683.69, Depth: 813.98TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070222.29, East: 590680.54, Depth: 814.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320908.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320908.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070220.95, East: 590677.41, Depth: 815.73TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070219.61, East: 590674.31, Depth: 816.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320914.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320914.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070218.25, East: 590671.26, Depth: 817.59TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070216.83, East: 590668.25, Depth: 818.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 96.20
TerrainNav::Measurement type 5 from time = 1488320920.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 96.20
TerrainNav::Measurement type 5 from time = 1488320920.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070215.34, East: 590665.29, Depth: 819.42TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070213.76, East: 590662.38, Depth: 820.31
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 95.41
TerrainNav::Measurement type 5 from time = 1488320926.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 95.41
TerrainNav::Measurement type 5 from time = 1488320926.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070212.09, East: 590659.50, Depth: 821.16TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070210.34, East: 590656.66, Depth: 821.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 91.98
TerrainNav::Measurement type 5 from time = 1488320932.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 91.98
TerrainNav::Measurement type 5 from time = 1488320932.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070208.50, East: 590653.85, Depth: 822.79TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070206.60, East: 590651.06, Depth: 823.58
TerrainNav::measUpdate() - IDT[45] = 97.36, IDT[75] = 91.26
TerrainNav::Measurement type 5 from time = 1488320938.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 97.36, IDT[75] = 91.26
TerrainNav::Measurement type 5 from time = 1488320938.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070204.63, East: 590648.29, Depth: 824.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070202.62, East: 590645.53, Depth: 825.10
TerrainNav::measUpdate() - IDT[45] = 96.84, IDT[75] = 87.66
TerrainNav::Measurement type 5 from time = 1488320944.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 96.84, IDT[75] = 87.66
TerrainNav::Measurement type 5 from time = 1488320944.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070200.57, East: 590642.76, Depth: 825.84TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070198.49, East: 590640.00, Depth: 826.58
TerrainNav::measUpdate() - IDT[45] = 97.30, IDT[75] = 85.50
TerrainNav::Measurement type 5 from time = 1488320950.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 97.30, IDT[75] = 85.50
TerrainNav::Measurement type 5 from time = 1488320950.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070196.40, East: 590637.22, Depth: 827.31TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070194.31, East: 590634.42, Depth: 828.04
TerrainNav::measUpdate() - IDT[45] = 98.50, IDT[75] = 85.34
TerrainNav::Measurement type 5 from time = 1488320956.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 98.50, IDT[75] = 85.34
TerrainNav::Measurement type 5 from time = 1488320956.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070192.22, East: 590631.60, Depth: 828.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070190.15, East: 590628.75, Depth: 829.49
TerrainNav::measUpdate() - IDT[45] = 99.60, IDT[75] = 82.97
TerrainNav::Measurement type 5 from time = 1488320962.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 99.60, IDT[75] = 82.97
TerrainNav::Measurement type 5 from time = 1488320962.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070188.10, East: 590625.87, Depth: 830.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070186.08, East: 590622.96, Depth: 830.94
TerrainNav::measUpdate() - IDT[45] = 97.44, IDT[75] = 81.62
TerrainNav::Measurement type 5 from time = 1488320968.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 97.44, IDT[75] = 81.62
TerrainNav::Measurement type 5 from time = 1488320968.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070184.08, East: 590620.03, Depth: 831.66TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070182.12, East: 590617.07, Depth: 832.39
TerrainNav::measUpdate() - IDT[45] = 97.67, IDT[75] = 86.65
TerrainNav::Measurement type 5 from time = 1488320974.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 97.67, IDT[75] = 86.65
TerrainNav::Measurement type 5 from time = 1488320974.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070180.18, East: 590614.08, Depth: 833.12TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070178.27, East: 590611.07, Depth: 833.85
TerrainNav::measUpdate() - IDT[45] = 96.82, IDT[75] = 66.00
TerrainNav::Measurement type 5 from time = 1488320980.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 96.82, IDT[75] = 66.00
TerrainNav::Measurement type 5 from time = 1488320980.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070176.37, East: 590608.05, Depth: 834.58TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070174.50, East: 590605.01, Depth: 835.31
TerrainNav::measUpdate() - IDT[45] = 94.75, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320986.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 94.75, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320986.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070172.64, East: 590601.96, Depth: 836.04TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070170.78, East: 590598.90, Depth: 836.78
TerrainNav::measUpdate() - IDT[45] = 93.35, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320992.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 93.35, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320992.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070168.93, East: 590595.85, Depth: 837.52TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070167.08, East: 590592.79, Depth: 838.26
TerrainNav::measUpdate() - IDT[45] = 98.06, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320998.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 98.06, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488320998.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070165.22, East: 590589.73, Depth: 839.00TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070163.35, East: 590586.68, Depth: 839.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321004.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321004.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070161.48, East: 590583.64, Depth: 840.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070159.59, East: 590580.61, Depth: 841.23
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321010.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321010.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070157.69, East: 590577.58, Depth: 841.97TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070155.78, East: 590574.56, Depth: 842.71
TerrainNav::measUpdate() - IDT[45] = 65.83, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321016.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 65.83, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321016.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070153.86, East: 590571.55, Depth: 843.46TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070151.93, East: 590568.55, Depth: 844.21
TerrainNav::measUpdate() - IDT[45] = 65.44, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321022.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 65.44, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321022.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070149.99, East: 590565.55, Depth: 844.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070148.04, East: 590562.56, Depth: 845.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321028.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321028.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070146.09, East: 590559.57, Depth: 846.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070144.14, East: 590556.59, Depth: 847.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321034.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321034.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070142.18, East: 590553.61, Depth: 847.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070140.22, East: 590550.63, Depth: 848.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321040.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321040.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070138.26, East: 590547.65, Depth: 849.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070136.31, East: 590544.67, Depth: 850.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321046.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321046.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070134.36, East: 590541.68, Depth: 850.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070132.41, East: 590538.70, Depth: 851.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321052.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321052.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070130.47, East: 590535.71, Depth: 852.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070128.53, East: 590532.72, Depth: 853.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321058.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321058.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070126.60, East: 590529.73, Depth: 853.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070124.67, East: 590526.74, Depth: 854.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321064.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321064.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070122.75, East: 590523.74, Depth: 855.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070120.82, East: 590520.74, Depth: 856.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321070.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321070.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070118.90, East: 590517.74, Depth: 856.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070116.99, East: 590514.74, Depth: 857.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321076.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321076.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070115.07, East: 590511.74, Depth: 858.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070113.15, East: 590508.74, Depth: 859.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321082.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321082.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070111.24, East: 590505.74, Depth: 859.95TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070109.32, East: 590502.74, Depth: 860.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321088.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321088.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070107.40, East: 590499.74, Depth: 861.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070105.48, East: 590496.74, Depth: 862.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321094.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321094.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070103.56, East: 590493.74, Depth: 862.94TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070101.67, East: 590490.73, Depth: 863.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321100.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321100.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070100.15, East: 590487.53, Depth: 864.25TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070099.33, East: 590484.12, Depth: 864.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321106.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321106.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070099.33, East: 590480.63, Depth: 865.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070100.18, East: 590477.27, Depth: 865.31
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321112.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321112.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070101.84, East: 590474.22, Depth: 865.45TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070104.23, East: 590471.59, Depth: 865.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321118.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321118.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070107.14, East: 590469.30, Depth: 865.27TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070110.40, East: 590467.15, Depth: 864.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321124.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321124.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070113.82, East: 590464.94, Depth: 864.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070117.23, East: 590462.46, Depth: 863.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321130.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321130.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070120.49, East: 590459.64, Depth: 863.59TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070123.55, East: 590456.54, Depth: 863.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321136.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321136.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070126.38, East: 590453.26, Depth: 863.46TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070128.94, East: 590449.92, Depth: 863.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321142.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321142.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070131.26, East: 590446.59, Depth: 864.67TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070133.37, East: 590443.30, Depth: 865.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321148.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321148.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070135.32, East: 590440.01, Depth: 866.46TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070137.16, East: 590436.73, Depth: 867.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321154.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321154.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070138.92, East: 590433.42, Depth: 868.12TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070140.64, East: 590430.07, Depth: 868.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321160.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321160.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070142.32, East: 590426.68, Depth: 869.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070143.98, East: 590423.23, Depth: 869.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321166.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321166.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070145.64, East: 590419.73, Depth: 870.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070147.31, East: 590416.17, Depth: 870.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321172.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321172.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070149.00, East: 590412.57, Depth: 871.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070150.71, East: 590408.93, Depth: 871.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321178.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321178.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070152.47, East: 590405.26, Depth: 871.54TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070154.26, East: 590401.57, Depth: 871.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321184.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321184.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070156.11, East: 590397.87, Depth: 871.97TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070157.99, East: 590394.15, Depth: 872.17
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321190.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321190.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070159.92, East: 590390.44, Depth: 872.37TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070161.89, East: 590386.72, Depth: 872.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321196.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321196.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070163.89, East: 590383.01, Depth: 872.80TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070165.92, East: 590379.31, Depth: 873.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321202.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321202.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070167.98, East: 590375.61, Depth: 873.25TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070170.04, East: 590371.91, Depth: 873.49
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321208.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321208.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070172.11, East: 590368.22, Depth: 873.73TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070174.18, East: 590364.53, Depth: 873.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321214.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321214.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070176.25, East: 590360.84, Depth: 874.24TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070178.31, East: 590357.14, Depth: 874.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321220.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321220.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070180.37, East: 590353.44, Depth: 874.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070182.41, East: 590349.74, Depth: 875.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321226.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321226.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070184.44, East: 590346.03, Depth: 875.31TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070186.45, East: 590342.32, Depth: 875.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321232.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321232.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070188.46, East: 590338.61, Depth: 875.85TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070190.45, East: 590334.89, Depth: 876.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321238.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321238.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070192.44, East: 590331.17, Depth: 876.41TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070194.42, East: 590327.44, Depth: 876.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321244.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321244.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070196.40, East: 590323.72, Depth: 876.96TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070198.37, East: 590319.99, Depth: 877.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321250.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321250.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070200.34, East: 590316.27, Depth: 877.52TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070202.31, East: 590312.55, Depth: 877.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321256.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321256.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070204.29, East: 590308.83, Depth: 878.08TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070206.26, East: 590305.11, Depth: 878.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321262.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321262.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070208.24, East: 590301.39, Depth: 878.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070210.22, East: 590297.68, Depth: 878.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321268.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321268.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070212.21, East: 590293.97, Depth: 879.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070214.19, East: 590290.26, Depth: 879.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321274.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321274.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070216.18, East: 590286.55, Depth: 879.78TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070218.18, East: 590282.85, Depth: 880.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321280.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321280.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070220.17, East: 590279.15, Depth: 880.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.17, East: 590275.44, Depth: 880.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321286.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321286.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070224.16, East: 590271.74, Depth: 880.92TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070226.16, East: 590268.04, Depth: 881.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321292.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321292.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070228.15, East: 590264.34, Depth: 881.50TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070230.15, East: 590260.64, Depth: 881.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321298.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321298.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070232.14, East: 590256.94, Depth: 882.07TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070234.13, East: 590253.24, Depth: 882.36
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321304.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321304.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070236.12, East: 590249.54, Depth: 882.65TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070238.11, East: 590245.84, Depth: 882.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321310.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321310.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070240.10, East: 590242.14, Depth: 883.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070242.09, East: 590238.44, Depth: 883.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321316.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321316.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070244.08, East: 590234.74, Depth: 883.80TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070246.06, East: 590231.04, Depth: 884.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321322.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321322.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070248.05, East: 590227.33, Depth: 884.38TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070250.03, East: 590223.63, Depth: 884.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321328.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321328.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070252.02, East: 590219.93, Depth: 884.96TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070254.00, East: 590216.23, Depth: 885.25
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321334.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321334.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070255.99, East: 590212.53, Depth: 885.54TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070257.97, East: 590208.83, Depth: 885.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321340.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321340.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070259.96, East: 590205.13, Depth: 886.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070261.94, East: 590201.43, Depth: 886.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321346.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321346.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070263.93, East: 590197.73, Depth: 886.71TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070265.91, East: 590194.03, Depth: 887.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321352.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321352.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070267.90, East: 590190.34, Depth: 887.29TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070269.89, East: 590186.64, Depth: 887.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321358.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321358.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070271.87, East: 590182.94, Depth: 887.88TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070273.86, East: 590179.24, Depth: 888.17
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321364.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321364.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070275.84, East: 590175.55, Depth: 888.46TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070277.83, East: 590171.85, Depth: 888.75
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321370.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321370.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070279.82, East: 590168.15, Depth: 889.04TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070281.80, East: 590164.45, Depth: 889.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321376.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321376.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070283.79, East: 590160.76, Depth: 889.63TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070285.77, East: 590157.06, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321382.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321382.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070287.76, East: 590153.36, Depth: 890.22TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070289.74, East: 590149.67, Depth: 890.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321388.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321388.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070291.73, East: 590145.97, Depth: 890.80TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070293.72, East: 590142.27, Depth: 891.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321394.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321394.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070295.70, East: 590138.58, Depth: 891.39TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070297.68, East: 590134.88, Depth: 891.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321400.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321400.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070299.67, East: 590131.19, Depth: 891.97TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070301.65, East: 590127.49, Depth: 892.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321406.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321406.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070303.64, East: 590123.79, Depth: 892.56TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070305.62, East: 590120.10, Depth: 892.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321412.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321412.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070307.61, East: 590116.40, Depth: 893.15TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070309.59, East: 590112.70, Depth: 893.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321418.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321418.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070311.58, East: 590109.01, Depth: 893.74TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070313.56, East: 590105.31, Depth: 894.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321424.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321424.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070315.55, East: 590101.62, Depth: 894.32TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070317.53, East: 590097.92, Depth: 894.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321430.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321430.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070319.52, East: 590094.22, Depth: 894.91TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070321.50, East: 590090.53, Depth: 895.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321436.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321436.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070323.48, East: 590086.83, Depth: 895.50TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070325.47, East: 590083.14, Depth: 895.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321442.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321442.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070327.45, East: 590079.44, Depth: 896.09TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070329.44, East: 590075.75, Depth: 896.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321448.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321448.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070331.42, East: 590072.05, Depth: 896.67TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070333.41, East: 590068.36, Depth: 896.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321454.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321454.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070335.39, East: 590064.66, Depth: 897.26TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070337.38, East: 590060.96, Depth: 897.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321460.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321460.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070339.36, East: 590057.27, Depth: 897.85TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070341.35, East: 590053.57, Depth: 898.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321466.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321466.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070343.33, East: 590049.88, Depth: 898.44TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070345.31, East: 590046.18, Depth: 898.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321472.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321472.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070347.30, East: 590042.49, Depth: 899.03TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070349.28, East: 590038.79, Depth: 899.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321478.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321478.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070351.27, East: 590035.10, Depth: 899.62TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070353.25, East: 590031.40, Depth: 899.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321484.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321484.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070355.24, East: 590027.71, Depth: 900.20TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070357.22, East: 590024.01, Depth: 900.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321490.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321490.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070359.20, East: 590020.32, Depth: 900.79TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070361.19, East: 590016.62, Depth: 901.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321496.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321496.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.18, East: 590012.93, Depth: 901.38TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070365.00, East: 590009.21, Depth: 901.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321502.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321502.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070366.08, East: 590005.29, Depth: 901.88TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070366.34, East: 590001.26, Depth: 902.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321508.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321508.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070365.96, East: 589997.21, Depth: 902.13TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070365.13, East: 589993.18, Depth: 902.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321514.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321514.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070364.03, East: 589989.14, Depth: 902.14TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070362.84, East: 589985.06, Depth: 902.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321520.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321520.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070361.71, East: 589980.90, Depth: 901.92TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070360.75, East: 589976.64, Depth: 901.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321526.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321526.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070360.02, East: 589972.28, Depth: 901.46TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070359.56, East: 589967.84, Depth: 901.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321532.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321532.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070359.37, East: 589963.33, Depth: 900.83TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070359.42, East: 589958.79, Depth: 900.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321538.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321538.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070359.68, East: 589954.22, Depth: 900.10TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070360.10, East: 589949.63, Depth: 899.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321544.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321544.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070360.62, East: 589945.03, Depth: 899.35TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070361.21, East: 589940.41, Depth: 898.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321550.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321550.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070361.80, East: 589935.79, Depth: 898.62TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070362.36, East: 589931.15, Depth: 898.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321556.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321556.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070362.86, East: 589926.50, Depth: 897.93TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.27, East: 589921.84, Depth: 897.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321562.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321562.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.59, East: 589917.17, Depth: 897.28TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.82, East: 589912.49, Depth: 896.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321568.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321568.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.95, East: 589907.82, Depth: 896.66TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070364.01, East: 589903.14, Depth: 896.36
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321574.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321574.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.99, East: 589898.46, Depth: 896.06TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.93, East: 589893.79, Depth: 895.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321580.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321580.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.83, East: 589889.12, Depth: 895.48TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.71, East: 589884.45, Depth: 895.19
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321586.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321586.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.59, East: 589879.78, Depth: 894.90TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.48, East: 589875.12, Depth: 894.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321592.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321592.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.38, East: 589870.45, Depth: 894.34TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.31, East: 589865.78, Depth: 894.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321598.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321598.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.26, East: 589861.12, Depth: 893.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.24, East: 589856.45, Depth: 893.49
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321604.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321604.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.24, East: 589851.79, Depth: 893.21TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.27, East: 589847.13, Depth: 892.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321610.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321610.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.32, East: 589842.47, Depth: 892.64TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.39, East: 589837.80, Depth: 892.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321616.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321616.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.46, East: 589833.14, Depth: 892.09TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.54, East: 589828.48, Depth: 891.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321622.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321622.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.63, East: 589823.82, Depth: 891.53TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.71, East: 589819.16, Depth: 891.26
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321628.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321628.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.79, East: 589814.50, Depth: 890.98TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.86, East: 589809.85, Depth: 890.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321634.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.93, East: 589805.19, Depth: 890.43
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321637.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.92, East: 589800.56, Depth: 890.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321640.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070363.16, East: 589796.12, Depth: 889.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321643.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070361.31, East: 589792.18, Depth: 889.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321646.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070358.51, East: 589788.96, Depth: 889.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321649.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070355.14, East: 589786.35, Depth: 889.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321652.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070351.47, East: 589784.10, Depth: 889.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321655.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070347.71, East: 589781.95, Depth: 889.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321658.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070344.00, East: 589779.71, Depth: 889.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321661.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070340.40, East: 589777.28, Depth: 889.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321664.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070336.98, East: 589774.63, Depth: 889.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321667.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070333.72, East: 589771.77, Depth: 889.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321670.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070330.61, East: 589768.74, Depth: 889.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321673.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070327.62, East: 589765.59, Depth: 889.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321676.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070324.70, East: 589762.35, Depth: 889.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321679.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070321.82, East: 589759.05, Depth: 889.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321682.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070318.96, East: 589755.73, Depth: 889.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321685.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070316.10, East: 589752.38, Depth: 889.69
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321688.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070313.22, East: 589749.03, Depth: 889.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321691.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070310.34, East: 589745.68, Depth: 889.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321694.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070307.44, East: 589742.34, Depth: 889.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321697.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070304.54, East: 589738.99, Depth: 889.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321700.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070301.62, East: 589735.65, Depth: 889.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321703.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070298.69, East: 589732.30, Depth: 889.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321706.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070295.77, East: 589728.95, Depth: 889.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321709.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070292.84, East: 589725.61, Depth: 889.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321712.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070289.91, East: 589722.26, Depth: 889.75
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321715.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070286.98, East: 589718.91, Depth: 889.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321718.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070284.05, East: 589715.56, Depth: 889.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321721.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070281.12, East: 589712.21, Depth: 889.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321724.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070278.19, East: 589708.86, Depth: 889.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321727.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070275.26, East: 589705.50, Depth: 889.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321730.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070272.33, East: 589702.15, Depth: 889.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321733.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070269.40, East: 589698.80, Depth: 889.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321736.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070266.47, East: 589695.44, Depth: 889.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321739.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070263.54, East: 589692.09, Depth: 889.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321742.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070260.61, East: 589688.74, Depth: 889.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321745.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070257.68, East: 589685.38, Depth: 889.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321748.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070254.75, East: 589682.03, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321751.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070251.82, East: 589678.67, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321754.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070248.89, East: 589675.32, Depth: 889.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321757.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070245.96, East: 589671.96, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321760.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070243.02, East: 589668.61, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321763.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070240.09, East: 589665.25, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321766.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070237.15, East: 589661.91, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321769.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070234.55, East: 589658.40, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321772.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070232.87, East: 589654.51, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321775.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070232.18, East: 589650.40, Depth: 889.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321778.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070231.50, East: 589646.27, Depth: 889.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321781.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070230.14, East: 589642.37, Depth: 889.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 96.87
TerrainNav::Measurement type 5 from time = 1488321784.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070227.93, East: 589638.93, Depth: 889.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488321787.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070225.52, East: 589635.59, Depth: 889.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 95.17
TerrainNav::Measurement type 5 from time = 1488321790.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070223.65, East: 589631.96, Depth: 889.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 88.96
TerrainNav::Measurement type 5 from time = 1488321793.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070222.68, East: 589628.08, Depth: 889.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 79.40
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321796.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 75 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 33 34 35 36 
TNavParticleFilter::Modified Variance for beam 0 is 52.09 
Alpha[0]	0.123000
Alpha[0]	0.999977
TNavParticleFilter::Modified Variance for beam 1 is 51.25 
Alpha[1]	0.000000
Alpha[1]	0.999975
TNavParticleFilter::Modified Variance for beam 2 is 50.46 
Alpha[2]	0.000000
Alpha[2]	0.999973
TNavParticleFilter::Modified Variance for beam 3 is 51.83 
Alpha[3]	0.000000
Alpha[3]	0.999971
TNavParticleFilter::Modified Variance for beam 4 is 49.02 
Alpha[4]	0.000000
Alpha[4]	0.999969
TNavParticleFilter::Modified Variance for beam 5 is 50.41 
Alpha[5]	0.000000
Alpha[5]	0.999967
TNavParticleFilter::Modified Variance for beam 6 is 49.77 
Alpha[6]	0.000000
Alpha[6]	0.999965
TNavParticleFilter::Modified Variance for beam 7 is 48.31 
Alpha[7]	0.000000
Alpha[7]	0.999935
TNavParticleFilter::Modified Variance for beam 8 is 48.10 
Alpha[8]	0.000000
Alpha[8]	0.999932
TNavParticleFilter::Modified Variance for beam 9 is 46.07 
Alpha[9]	0.000000
Alpha[9]	0.999929
TNavParticleFilter::Modified Variance for beam 10 is 45.92 
Alpha[10]	0.000000
Alpha[10]	0.999926
TNavParticleFilter::Modified Variance for beam 11 is 42.23 
Alpha[11]	0.000000
Alpha[11]	0.999924
TNavParticleFilter::Modified Variance for beam 12 is 42.15 
Alpha[12]	0.000000
Alpha[12]	0.999922
TNavParticleFilter::Modified Variance for beam 13 is 42.09 
Alpha[13]	0.000000
Alpha[13]	0.999920
TNavParticleFilter::Modified Variance for beam 14 is 40.33 
Alpha[14]	0.000000
Alpha[14]	0.999918
TNavParticleFilter::Modified Variance for beam 15 is 38.64 
Alpha[15]	0.000000
Alpha[15]	0.999917
TNavParticleFilter::Modified Variance for beam 16 is 40.33 
Alpha[16]	0.000000
Alpha[16]	0.999917
TNavParticleFilter::Modified Variance for beam 17 is 40.36 
Alpha[17]	0.000000
Alpha[17]	0.999917
TNavParticleFilter::Modified Variance for beam 18 is 37.08 
Alpha[18]	0.000000
Alpha[18]	0.999917
TNavParticleFilter::Modified Variance for beam 19 is 37.15 
Alpha[19]	0.000000
Alpha[19]	0.999917
TNavParticleFilter::Modified Variance for beam 20 is 37.24 
Alpha[20]	0.000000
Alpha[20]	0.999918
TNavParticleFilter::Modified Variance for beam 21 is 35.74 
Alpha[21]	0.000000
Alpha[21]	0.999918
TNavParticleFilter::Modified Variance for beam 22 is 35.87 
Alpha[22]	0.000000
Alpha[22]	0.999919
TNavParticleFilter::Modified Variance for beam 23 is 36.01 
Alpha[23]	0.000000
Alpha[23]	0.999920
TNavParticleFilter::Modified Variance for beam 24 is 36.18 
Alpha[24]	0.000000
Alpha[24]	0.999921
TNavParticleFilter::Modified Variance for beam 25 is 36.37 
Alpha[25]	0.000000
Alpha[25]	0.999922
TNavParticleFilter::Modified Variance for beam 26 is 35.35 
Alpha[26]	0.000000
Alpha[26]	0.999922
TNavParticleFilter::Modified Variance for beam 27 is 35.19 
Alpha[27]	0.000000
Alpha[27]	0.999923
TNavParticleFilter::Modified Variance for beam 28 is 35.43 
Alpha[28]	0.000000
Alpha[28]	0.999924
TNavParticleFilter::Modified Variance for beam 29 is 35.00 
Alpha[29]	0.000000
Alpha[29]	0.999926
TNavParticleFilter::Modified Variance for beam 30 is 34.36 
Alpha[30]	0.000000
Alpha[30]	0.999927
TNavParticleFilter::Modified Variance for beam 31 is 34.66 
Alpha[31]	0.000000
Alpha[31]	0.999928
TNavParticleFilter::Modified Variance for beam 32 is 34.92 
Alpha[32]	0.000000
Alpha[32]	0.999930
TNavParticleFilter::Modified Variance for beam 33 is 33.69 
Alpha[33]	0.000000
Alpha[33]	0.999931
TNavParticleFilter::Modified Variance for beam 34 is 33.38 
Alpha[34]	0.000000
Alpha[34]	0.999933
TNavParticleFilter::Modified Variance for beam 35 is 31.20 
Alpha[35]	0.000000
Alpha[35]	0.999934
TNavParticleFilter::Modified Variance for beam 36 is 31.56 
Alpha[36]	0.000000
Alpha[36]	0.999935
TNavParticleFilter::Modified Variance for beam 37 is 29.78 
Alpha[37]	0.000000
Alpha[37]	0.999937
TNavParticleFilter::Modified Variance for beam 38 is 27.67 
Alpha[38]	0.000000
Alpha[38]	0.999938
TNavParticleFilter::Modified Variance for beam 39 is 28.03 
Alpha[39]	0.000000
Alpha[39]	0.999940
TNavParticleFilter::Modified Variance for beam 40 is 27.29 
Alpha[40]	0.000000
Alpha[40]	0.999942
TNavParticleFilter::Modified Variance for beam 41 is 25.62 
Alpha[41]	0.000000
Alpha[41]	0.999943
TNavParticleFilter::Modified Variance for beam 42 is 24.13 
Alpha[42]	0.000000
Alpha[42]	0.999945
TNavParticleFilter::Modified Variance for beam 43 is 23.66 
Alpha[43]	0.000000
Alpha[43]	0.999946
TNavParticleFilter::Modified Variance for beam 44 is 24.04 
Alpha[44]	0.000000
Alpha[44]	0.999948
TNavPF:: sumSquaredError = 1602.270040 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 33 as 36.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 36.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 36.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 39.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 37.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 39.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 39.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 46.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 46.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 44.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 44.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 40.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 41.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 41.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 39.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 37.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 39.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 39.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 35.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 36.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 36.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 34.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 34.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 34.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 35.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 35.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 33.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 33.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 33.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 33.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 32.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 32.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 32.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 30.93. Range = 99.62 
TNavPF::Calculated measDiffMean for beam 79 as 30.34. Range = 98.75 
TNavPF::Calculated measDiffMean for beam 80 as 27.27. Range = 97.93 
TNavPF::Calculated measDiffMean for beam 81 as 27.52. Range = 99.34 
TNavPF::Calculated measDiffMean for beam 82 as 24.88. Range = 96.42 
TNavPF::Calculated measDiffMean for beam 83 as 21.63. Range = 97.88 
TNavPF::Calculated measDiffMean for beam 84 as 21.87. Range = 97.21 
TNavPF::Calculated measDiffMean for beam 85 as 20.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as 17.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as 15.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as 13.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 89 as 14.23. Range = 0.00 
TNavPF::First Term of Map Covariance Matrix is 857.71 
TNavPF::Calculated NIS Value : 13.00 	numBeams normalized NIS: 0.29
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321796.82 sec.
INS : North: 4070222.77, East: 589624.15, Depth: 889.78
TerrainNav::measUpdate() - IDT[45] = 89.57, IDT[75] = 64.27
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321799.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321799.62)
ARL : North: 7.3932, East: -408.1424, Depth: -33.5648ARL : Estimation Bias  (Mean)         : (t = 1488321799.62)
ARL : North: 7.3868, East: -409.5898, Depth: -34.8180TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 70 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 40 41 42 43 
TNavParticleFilter::Modified Variance for beam 0 is 50.99 
Alpha[0]	0.123000
Alpha[0]	0.999460
TNavParticleFilter::Modified Variance for beam 1 is 46.95 
Alpha[1]	0.000000
Alpha[1]	0.999445
TNavParticleFilter::Modified Variance for beam 2 is 44.93 
Alpha[2]	0.000000
Alpha[2]	0.999498
TNavParticleFilter::Modified Variance for beam 3 is 44.79 
Alpha[3]	0.000000
Alpha[3]	0.999388
TNavParticleFilter::Modified Variance for beam 4 is 42.88 
Alpha[4]	0.000000
Alpha[4]	0.999621
TNavParticleFilter::Modified Variance for beam 5 is 42.80 
Alpha[5]	0.000000
Alpha[5]	0.999474
TNavParticleFilter::Modified Variance for beam 6 is 41.01 
Alpha[6]	0.000000
Alpha[6]	0.998936
TNavParticleFilter::Modified Variance for beam 7 is 40.99 
Alpha[7]	0.000000
Alpha[7]	0.998530
TNavParticleFilter::Modified Variance for beam 8 is 40.97 
Alpha[8]	0.000000
Alpha[8]	0.998512
TNavParticleFilter::Modified Variance for beam 9 is 41.02 
Alpha[9]	0.000000
Alpha[9]	0.997623
TNavParticleFilter::Modified Variance for beam 10 is 39.40 
Alpha[10]	0.000000
Alpha[10]	0.996336
TNavParticleFilter::Modified Variance for beam 11 is 39.41 
Alpha[11]	0.000000
Alpha[11]	0.997207
TNavParticleFilter::Modified Variance for beam 12 is 37.82 
Alpha[12]	0.000000
Alpha[12]	0.997027
TNavParticleFilter::Modified Variance for beam 13 is 37.93 
Alpha[13]	0.000000
Alpha[13]	0.996576
TNavParticleFilter::Modified Variance for beam 14 is 36.39 
Alpha[14]	0.000000
Alpha[14]	0.996875
TNavParticleFilter::Modified Variance for beam 15 is 36.53 
Alpha[15]	0.000000
Alpha[15]	0.996472
TNavParticleFilter::Modified Variance for beam 16 is 36.71 
Alpha[16]	0.000000
Alpha[16]	0.995663
TNavParticleFilter::Modified Variance for beam 17 is 36.88 
Alpha[17]	0.000000
Alpha[17]	0.995416
TNavParticleFilter::Modified Variance for beam 18 is 35.44 
Alpha[18]	0.000000
Alpha[18]	0.995392
TNavParticleFilter::Modified Variance for beam 19 is 35.63 
Alpha[19]	0.000000
Alpha[19]	0.995733
TNavParticleFilter::Modified Variance for beam 20 is 35.90 
Alpha[20]	0.000000
Alpha[20]	0.994707
TNavParticleFilter::Modified Variance for beam 21 is 34.55 
Alpha[21]	0.000000
Alpha[21]	0.993646
TNavParticleFilter::Modified Variance for beam 22 is 34.70 
Alpha[22]	0.000000
Alpha[22]	0.996738
TNavParticleFilter::Modified Variance for beam 23 is 33.33 
Alpha[23]	0.000000
Alpha[23]	0.997939
TNavParticleFilter::Modified Variance for beam 24 is 33.57 
Alpha[24]	0.000000
Alpha[24]	0.999189
TNavParticleFilter::Modified Variance for beam 25 is 33.87 
Alpha[25]	0.000000
Alpha[25]	0.999607
TNavParticleFilter::Modified Variance for beam 26 is 32.59 
Alpha[26]	0.000000
Alpha[26]	0.999589
TNavParticleFilter::Modified Variance for beam 27 is 31.34 
Alpha[27]	0.000000
Alpha[27]	0.999575
TNavParticleFilter::Modified Variance for beam 28 is 31.09 
Alpha[28]	0.000000
Alpha[28]	0.999388
TNavParticleFilter::Modified Variance for beam 29 is 28.94 
Alpha[29]	0.000000
Alpha[29]	0.999370
TNavParticleFilter::Modified Variance for beam 30 is 29.28 
Alpha[30]	0.000000
Alpha[30]	0.999463
TNavParticleFilter::Modified Variance for beam 31 is 28.06 
Alpha[31]	0.000000
Alpha[31]	0.999578
TNavParticleFilter::Modified Variance for beam 32 is 26.98 
Alpha[32]	0.000000
Alpha[32]	0.999645
TNavParticleFilter::Modified Variance for beam 33 is 24.49 
Alpha[33]	0.000000
Alpha[33]	0.999604
TNavParticleFilter::Modified Variance for beam 34 is 23.37 
Alpha[34]	0.000000
Alpha[34]	0.999372
TNavParticleFilter::Modified Variance for beam 35 is 23.73 
Alpha[35]	0.000000
Alpha[35]	0.999031
TNavParticleFilter::Modified Variance for beam 36 is 24.09 
Alpha[36]	0.000000
Alpha[36]	0.998981
TNavParticleFilter::Modified Variance for beam 37 is 24.49 
Alpha[37]	0.000000
Alpha[37]	0.998979
TNavParticleFilter::Modified Variance for beam 38 is 24.90 
Alpha[38]	0.000000
Alpha[38]	0.998877
TNavParticleFilter::Modified Variance for beam 39 is 28.51 
Alpha[39]	0.000000
Alpha[39]	0.998647
TNavParticleFilter::Modified Variance for beam 40 is 28.32 
Alpha[40]	0.000000
Alpha[40]	0.998355
TNavParticleFilter::Modified Variance for beam 41 is 27.95 
Alpha[41]	0.000000
Alpha[41]	0.998161
TNavParticleFilter::Modified Variance for beam 42 is 28.24 
Alpha[42]	0.000000
Alpha[42]	0.997839
TNavParticleFilter::Modified Variance for beam 43 is 25.80 
Alpha[43]	0.000000
Alpha[43]	0.997322
TNavParticleFilter::Modified Variance for beam 44 is 26.36 
Alpha[44]	0.000000
Alpha[44]	0.997406
TNavParticleFilter::Modified Variance for beam 45 is 26.96 
Alpha[45]	0.000000
Alpha[45]	0.996976
TNavParticleFilter::Modified Variance for beam 46 is 27.61 
Alpha[46]	0.000000
Alpha[46]	0.996465
TNavParticleFilter::Modified Variance for beam 47 is 28.29 
Alpha[47]	0.000000
Alpha[47]	0.996219
TNavParticleFilter::Modified Variance for beam 48 is 28.98 
Alpha[48]	0.000000
Alpha[48]	0.997228
TNavParticleFilter::Modified Variance for beam 49 is 29.47 
Alpha[49]	0.000000
Alpha[49]	0.997862
TNavPF:: sumSquaredError = 166.110320 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 40 as -3.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -3.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 4.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 7.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 11.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 9.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 9.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 7.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 6.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 4.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 4.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 2.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 2.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -4.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -6.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -6.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -9.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -10.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -12.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -11.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -8.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -5.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 1.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 3.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 5.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 7.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 6.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 6.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 8.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 8.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 8.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 8.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 12.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 12.05. Range = 98.45 
TNavPF::Calculated measDiffMean for beam 81 as 12.20. Range = 94.18 
TNavPF::Calculated measDiffMean for beam 82 as 13.89. Range = 91.97 
TNavPF::Calculated measDiffMean for beam 83 as 11.75. Range = 91.81 
TNavPF::Calculated measDiffMean for beam 84 as 12.52. Range = 89.67 
TNavPF::Calculated measDiffMean for beam 85 as 13.15. Range = 89.57 
TNavPF::Calculated measDiffMean for beam 86 as 13.65. Range = 87.49 
TNavPF::Calculated measDiffMean for beam 87 as 14.54. Range = 87.44 
TNavPF::Calculated measDiffMean for beam 88 as 15.90. Range = 87.42 
TNavPF::Calculated measDiffMean for beam 89 as 16.31. Range = 87.43 
TNavPF::First Term of Map Covariance Matrix is 37.03 
TNavPF::Calculated NIS Value : 101.96 	numBeams normalized NIS: 2.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321799.82 sec.
INS : North: 4070223.47, East: 589620.25, Depth: 889.80
TerrainNav::measUpdate() - IDT[45] = 90.57, IDT[75] = 62.77
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321802.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321802.62)
ARL : North: 6.5241, East: -410.0984, Depth: -40.5938ARL : Estimation Bias  (Mean)         : (t = 1488321802.62)
ARL : North: 7.5047, East: -409.4015, Depth: -38.3624TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 71 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 41 42 43 44 
TNavParticleFilter::Modified Variance for beam 0 is 52.30 
Alpha[0]	0.123000
Alpha[0]	0.998396
TNavParticleFilter::Modified Variance for beam 1 is 48.06 
Alpha[1]	0.000000
Alpha[1]	0.999105
TNavParticleFilter::Modified Variance for beam 2 is 44.09 
Alpha[2]	0.000000
Alpha[2]	0.999351
TNavParticleFilter::Modified Variance for beam 3 is 43.86 
Alpha[3]	0.000000
Alpha[3]	0.999575
TNavParticleFilter::Modified Variance for beam 4 is 43.67 
Alpha[4]	0.000000
Alpha[4]	0.999583
TNavParticleFilter::Modified Variance for beam 5 is 41.75 
Alpha[5]	0.000000
Alpha[5]	0.999477
TNavParticleFilter::Modified Variance for beam 6 is 39.92 
Alpha[6]	0.000000
Alpha[6]	0.999003
TNavParticleFilter::Modified Variance for beam 7 is 41.57 
Alpha[7]	0.000000
Alpha[7]	0.998116
TNavParticleFilter::Modified Variance for beam 8 is 41.48 
Alpha[8]	0.000000
Alpha[8]	0.998129
TNavParticleFilter::Modified Variance for beam 9 is 38.05 
Alpha[9]	0.000000
Alpha[9]	0.998011
TNavParticleFilter::Modified Variance for beam 10 is 38.10 
Alpha[10]	0.000000
Alpha[10]	0.995758
TNavParticleFilter::Modified Variance for beam 11 is 38.13 
Alpha[11]	0.000000
Alpha[11]	0.994669
TNavParticleFilter::Modified Variance for beam 12 is 38.11 
Alpha[12]	0.000000
Alpha[12]	0.995174
TNavParticleFilter::Modified Variance for beam 13 is 36.51 
Alpha[13]	0.000000
Alpha[13]	0.995059
TNavParticleFilter::Modified Variance for beam 14 is 36.53 
Alpha[14]	0.000000
Alpha[14]	0.995858
TNavParticleFilter::Modified Variance for beam 15 is 36.57 
Alpha[15]	0.000000
Alpha[15]	0.996648
TNavParticleFilter::Modified Variance for beam 16 is 36.66 
Alpha[16]	0.000000
Alpha[16]	0.996603
TNavParticleFilter::Modified Variance for beam 17 is 35.18 
Alpha[17]	0.000000
Alpha[17]	0.995966
TNavParticleFilter::Modified Variance for beam 18 is 35.29 
Alpha[18]	0.000000
Alpha[18]	0.996347
TNavParticleFilter::Modified Variance for beam 19 is 35.44 
Alpha[19]	0.000000
Alpha[19]	0.996092
TNavParticleFilter::Modified Variance for beam 20 is 34.07 
Alpha[20]	0.000000
Alpha[20]	0.994569
TNavParticleFilter::Modified Variance for beam 21 is 34.28 
Alpha[21]	0.000000
Alpha[21]	0.993607
TNavParticleFilter::Modified Variance for beam 22 is 34.49 
Alpha[22]	0.000000
Alpha[22]	0.993285
TNavParticleFilter::Modified Variance for beam 23 is 33.03 
Alpha[23]	0.000000
Alpha[23]	0.995885
TNavParticleFilter::Modified Variance for beam 24 is 33.20 
Alpha[24]	0.000000
Alpha[24]	0.997797
TNavParticleFilter::Modified Variance for beam 25 is 31.84 
Alpha[25]	0.000000
Alpha[25]	0.999222
TNavParticleFilter::Modified Variance for beam 26 is 32.06 
Alpha[26]	0.000000
Alpha[26]	0.999732
TNavParticleFilter::Modified Variance for beam 27 is 30.81 
Alpha[27]	0.000000
Alpha[27]	0.999790
TNavParticleFilter::Modified Variance for beam 28 is 30.65 
Alpha[28]	0.000000
Alpha[28]	0.999739
TNavParticleFilter::Modified Variance for beam 29 is 28.37 
Alpha[29]	0.000000
Alpha[29]	0.999560
TNavParticleFilter::Modified Variance for beam 30 is 25.78 
Alpha[30]	0.000000
Alpha[30]	0.999485
TNavParticleFilter::Modified Variance for beam 31 is 23.32 
Alpha[31]	0.000000
Alpha[31]	0.999565
TNavParticleFilter::Modified Variance for beam 32 is 22.25 
Alpha[32]	0.000000
Alpha[32]	0.999613
TNavParticleFilter::Modified Variance for beam 33 is 22.50 
Alpha[33]	0.000000
Alpha[33]	0.999637
TNavParticleFilter::Modified Variance for beam 34 is 22.78 
Alpha[34]	0.000000
Alpha[34]	0.999583
TNavParticleFilter::Modified Variance for beam 35 is 23.08 
Alpha[35]	0.000000
Alpha[35]	0.999486
TNavParticleFilter::Modified Variance for beam 36 is 23.39 
Alpha[36]	0.000000
Alpha[36]	0.999415
TNavParticleFilter::Modified Variance for beam 37 is 23.73 
Alpha[37]	0.000000
Alpha[37]	0.999206
TNavParticleFilter::Modified Variance for beam 38 is 24.09 
Alpha[38]	0.000000
Alpha[38]	0.998742
TNavParticleFilter::Modified Variance for beam 39 is 25.96 
Alpha[39]	0.000000
Alpha[39]	0.998036
TNavParticleFilter::Modified Variance for beam 40 is 24.90 
Alpha[40]	0.000000
Alpha[40]	0.997477
TNavParticleFilter::Modified Variance for beam 41 is 25.31 
Alpha[41]	0.000000
Alpha[41]	0.997831
TNavParticleFilter::Modified Variance for beam 42 is 24.62 
Alpha[42]	0.000000
Alpha[42]	0.998170
TNavParticleFilter::Modified Variance for beam 43 is 24.68 
Alpha[43]	0.000000
Alpha[43]	0.998302
TNavParticleFilter::Modified Variance for beam 44 is 25.16 
Alpha[44]	0.000000
Alpha[44]	0.998235
TNavParticleFilter::Modified Variance for beam 45 is 25.66 
Alpha[45]	0.000000
Alpha[45]	0.998144
TNavParticleFilter::Modified Variance for beam 46 is 26.20 
Alpha[46]	0.000000
Alpha[46]	0.998124
TNavParticleFilter::Modified Variance for beam 47 is 26.76 
Alpha[47]	0.000000
Alpha[47]	0.998354
TNavParticleFilter::Modified Variance for beam 48 is 27.36 
Alpha[48]	0.000000
Alpha[48]	0.998615
TNavPF:: sumSquaredError = 196.796958 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 41 as -8.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -11.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -11.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -7.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 2.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 3.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 7.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 6.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -3.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -4.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -6.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -9.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -9.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -10.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -13.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -14.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -15.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -13.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -9.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -4.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -3.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -4.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -5.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -4.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 2.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 3.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 4.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 4.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 5.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 8.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as 7.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as 8.83. Range = 99.75 
TNavPF::Calculated measDiffMean for beam 83 as 8.78. Range = 95.36 
TNavPF::Calculated measDiffMean for beam 84 as 9.24. Range = 91.02 
TNavPF::Calculated measDiffMean for beam 85 as 10.24. Range = 90.78 
TNavPF::Calculated measDiffMean for beam 86 as 11.03. Range = 90.57 
TNavPF::Calculated measDiffMean for beam 87 as 11.55. Range = 88.37 
TNavPF::Calculated measDiffMean for beam 88 as 12.17. Range = 86.21 
TNavPF::Calculated measDiffMean for beam 89 as 12.90. Range = 88.09 
TNavPF::First Term of Map Covariance Matrix is 12.46 
TNavPF::Calculated NIS Value : 85.81 	numBeams normalized NIS: 1.75
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321802.82 sec.
INS : North: 4070223.88, East: 589616.28, Depth: 889.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 73.10
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321805.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321805.62)
ARL : North: 8.0025, East: -409.2470, Depth: -31.2098ARL : Estimation Bias  (Mean)         : (t = 1488321805.62)
ARL : North: 7.2778, East: -409.9253, Depth: -39.2344TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 79 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 49 50 51 52 
TNavParticleFilter::Modified Variance for beam 0 is 51.59 
Alpha[0]	0.123000
Alpha[0]	0.998015
TNavParticleFilter::Modified Variance for beam 1 is 51.15 
Alpha[1]	0.000000
Alpha[1]	0.998224
TNavParticleFilter::Modified Variance for beam 2 is 48.76 
Alpha[2]	0.000000
Alpha[2]	0.999138
TNavParticleFilter::Modified Variance for beam 3 is 48.40 
Alpha[3]	0.000000
Alpha[3]	0.999474
TNavParticleFilter::Modified Variance for beam 4 is 44.35 
Alpha[4]	0.000000
Alpha[4]	0.999716
TNavParticleFilter::Modified Variance for beam 5 is 44.09 
Alpha[5]	0.000000
Alpha[5]	0.999685
TNavParticleFilter::Modified Variance for beam 6 is 42.09 
Alpha[6]	0.000000
Alpha[6]	0.999440
TNavParticleFilter::Modified Variance for beam 7 is 40.19 
Alpha[7]	0.000000
Alpha[7]	0.998583
TNavParticleFilter::Modified Variance for beam 8 is 40.08 
Alpha[8]	0.000000
Alpha[8]	0.997331
TNavParticleFilter::Modified Variance for beam 9 is 39.91 
Alpha[9]	0.000000
Alpha[9]	0.997964
TNavParticleFilter::Modified Variance for beam 10 is 38.15 
Alpha[10]	0.000000
Alpha[10]	0.997291
TNavParticleFilter::Modified Variance for beam 11 is 38.17 
Alpha[11]	0.000000
Alpha[11]	0.994417
TNavParticleFilter::Modified Variance for beam 12 is 36.45 
Alpha[12]	0.000000
Alpha[12]	0.994661
TNavParticleFilter::Modified Variance for beam 13 is 36.41 
Alpha[13]	0.000000
Alpha[13]	0.994511
TNavParticleFilter::Modified Variance for beam 14 is 36.35 
Alpha[14]	0.000000
Alpha[14]	0.995428
TNavParticleFilter::Modified Variance for beam 15 is 36.32 
Alpha[15]	0.000000
Alpha[15]	0.996048
TNavParticleFilter::Modified Variance for beam 16 is 36.33 
Alpha[16]	0.000000
Alpha[16]	0.996293
TNavParticleFilter::Modified Variance for beam 17 is 36.37 
Alpha[17]	0.000000
Alpha[17]	0.996044
TNavParticleFilter::Modified Variance for beam 18 is 34.86 
Alpha[18]	0.000000
Alpha[18]	0.995333
TNavParticleFilter::Modified Variance for beam 19 is 34.92 
Alpha[19]	0.000000
Alpha[19]	0.995476
TNavParticleFilter::Modified Variance for beam 20 is 35.02 
Alpha[20]	0.000000
Alpha[20]	0.995370
TNavParticleFilter::Modified Variance for beam 21 is 33.62 
Alpha[21]	0.000000
Alpha[21]	0.993543
TNavParticleFilter::Modified Variance for beam 22 is 33.77 
Alpha[22]	0.000000
Alpha[22]	0.992733
TNavParticleFilter::Modified Variance for beam 23 is 33.91 
Alpha[23]	0.000000
Alpha[23]	0.992870
TNavParticleFilter::Modified Variance for beam 24 is 30.90 
Alpha[24]	0.000000
Alpha[24]	0.996281
TNavParticleFilter::Modified Variance for beam 25 is 31.01 
Alpha[25]	0.000000
Alpha[25]	0.998113
TNavParticleFilter::Modified Variance for beam 26 is 29.67 
Alpha[26]	0.000000
Alpha[26]	0.999295
TNavParticleFilter::Modified Variance for beam 27 is 29.85 
Alpha[27]	0.000000
Alpha[27]	0.999788
TNavParticleFilter::Modified Variance for beam 28 is 26.49 
Alpha[28]	0.000000
Alpha[28]	0.999846
TNavParticleFilter::Modified Variance for beam 29 is 25.98 
Alpha[29]	0.000000
Alpha[29]	0.999779
TNavParticleFilter::Modified Variance for beam 30 is 25.71 
Alpha[30]	0.000000
Alpha[30]	0.999667
TNavParticleFilter::Modified Variance for beam 31 is 23.12 
Alpha[31]	0.000000
Alpha[31]	0.999679
TNavParticleFilter::Modified Variance for beam 32 is 21.35 
Alpha[32]	0.000000
Alpha[32]	0.999671
TNavParticleFilter::Modified Variance for beam 33 is 21.55 
Alpha[33]	0.000000
Alpha[33]	0.999664
TNavParticleFilter::Modified Variance for beam 34 is 21.77 
Alpha[34]	0.000000
Alpha[34]	0.999606
TNavParticleFilter::Modified Variance for beam 35 is 22.00 
Alpha[35]	0.000000
Alpha[35]	0.999495
TNavParticleFilter::Modified Variance for beam 36 is 22.25 
Alpha[36]	0.000000
Alpha[36]	0.999367
TNavParticleFilter::Modified Variance for beam 37 is 22.52 
Alpha[37]	0.000000
Alpha[37]	0.999199
TNavParticleFilter::Modified Variance for beam 38 is 22.81 
Alpha[38]	0.000000
Alpha[38]	0.998709
TNavParticleFilter::Modified Variance for beam 39 is 24.51 
Alpha[39]	0.000000
Alpha[39]	0.998000
TNavParticleFilter::Modified Variance for beam 40 is 24.26 
Alpha[40]	0.000000
Alpha[40]	0.997924
TNavPF:: sumSquaredError = 77.978515 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 49 as -13.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -11.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -12.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -8.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -7.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 2.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 4.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 5.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 3.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -1.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -3.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -5.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -6.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -9.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -9.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -10.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -15.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -15.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -17.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -13.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -13.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -8.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -4.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -5.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -4.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as 1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as 2.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as 3.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as 3.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as 4.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as 7.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 89 as 8.11. Range = 0.00 
TNavPF::First Term of Map Covariance Matrix is 10.07 
TNavPF::Calculated NIS Value : 48.23 	numBeams normalized NIS: 1.18
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321805.82 sec.
INS : North: 4070223.49, East: 589612.33, Depth: 889.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 78.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321808.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321808.62)
ARL : North: 8.6973, East: -409.1746, Depth: -36.6956ARL : Estimation Bias  (Mean)         : (t = 1488321808.62)
ARL : North: 7.0336, East: -410.4741, Depth: -36.8823TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 89 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 47 60 61 62 
TNavParticleFilter::Modified Variance for beam 0 is 52.01 
Alpha[0]	0.123000
Alpha[0]	0.997582
TNavParticleFilter::Modified Variance for beam 1 is 49.21 
Alpha[1]	0.000000
Alpha[1]	0.999838
TNavParticleFilter::Modified Variance for beam 2 is 48.76 
Alpha[2]	0.000000
Alpha[2]	0.999895
TNavParticleFilter::Modified Variance for beam 3 is 46.43 
Alpha[3]	0.000000
Alpha[3]	0.999840
TNavParticleFilter::Modified Variance for beam 4 is 44.22 
Alpha[4]	0.000000
Alpha[4]	0.999626
TNavParticleFilter::Modified Variance for beam 5 is 43.93 
Alpha[5]	0.000000
Alpha[5]	0.999048
TNavParticleFilter::Modified Variance for beam 6 is 41.90 
Alpha[6]	0.000000
Alpha[6]	0.997824
TNavParticleFilter::Modified Variance for beam 7 is 39.92 
Alpha[7]	0.000000
Alpha[7]	0.997284
TNavParticleFilter::Modified Variance for beam 8 is 38.00 
Alpha[8]	0.000000
Alpha[8]	0.997728
TNavParticleFilter::Modified Variance for beam 9 is 37.81 
Alpha[9]	0.000000
Alpha[9]	0.997888
TNavParticleFilter::Modified Variance for beam 10 is 37.64 
Alpha[10]	0.000000
Alpha[10]	0.998190
TNavParticleFilter::Modified Variance for beam 11 is 35.89 
Alpha[11]	0.000000
Alpha[11]	0.997773
TNavParticleFilter::Modified Variance for beam 12 is 35.78 
Alpha[12]	0.000000
Alpha[12]	0.997566
TNavParticleFilter::Modified Variance for beam 13 is 35.72 
Alpha[13]	0.000000
Alpha[13]	0.996732
TNavParticleFilter::Modified Variance for beam 14 is 35.69 
Alpha[14]	0.000000
Alpha[14]	0.995581
TNavParticleFilter::Modified Variance for beam 15 is 34.10 
Alpha[15]	0.000000
Alpha[15]	0.994332
TNavParticleFilter::Modified Variance for beam 16 is 34.21 
Alpha[16]	0.000000
Alpha[16]	0.990270
TNavParticleFilter::Modified Variance for beam 17 is 34.10 
Alpha[17]	0.000000
Alpha[17]	0.993164
TNavParticleFilter::Modified Variance for beam 18 is 34.02 
Alpha[18]	0.000000
Alpha[18]	0.995505
TNavParticleFilter::Modified Variance for beam 19 is 32.46 
Alpha[19]	0.000000
Alpha[19]	0.997147
TNavParticleFilter::Modified Variance for beam 20 is 32.49 
Alpha[20]	0.000000
Alpha[20]	0.997650
TNavParticleFilter::Modified Variance for beam 21 is 32.51 
Alpha[21]	0.000000
Alpha[21]	0.998658
TNavParticleFilter::Modified Variance for beam 22 is 31.07 
Alpha[22]	0.000000
Alpha[22]	0.999259
TNavParticleFilter::Modified Variance for beam 23 is 31.15 
Alpha[23]	0.000000
Alpha[23]	0.999661
TNavParticleFilter::Modified Variance for beam 24 is 29.78 
Alpha[24]	0.000000
Alpha[24]	0.999828
TNavParticleFilter::Modified Variance for beam 25 is 29.75 
Alpha[25]	0.000000
Alpha[25]	0.999870
TNavParticleFilter::Modified Variance for beam 26 is 28.59 
Alpha[26]	0.000000
Alpha[26]	0.999859
TNavParticleFilter::Modified Variance for beam 27 is 27.59 
Alpha[27]	0.000000
Alpha[27]	0.999835
TNavParticleFilter::Modified Variance for beam 28 is 24.77 
Alpha[28]	0.000000
Alpha[28]	0.999800
TNavParticleFilter::Modified Variance for beam 29 is 24.92 
Alpha[29]	0.000000
Alpha[29]	0.999728
TNavParticleFilter::Modified Variance for beam 30 is 23.77 
Alpha[30]	0.000000
Alpha[30]	0.999571
TNavPF:: sumSquaredError = 56.992542 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 47 as -9.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 6.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 10.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 11.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 12.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 9.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 6.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 3.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 3.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 3.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 2.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 1.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -2.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -3.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -4.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -7.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -8.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -8.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -10.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -9.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -8.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -2.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as 4.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as 7.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as 7.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as 10.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 89 as 10.85. Range = 0.00 
TNavPF::First Term of Map Covariance Matrix is 8.26 
TNavPF::Calculated NIS Value : 22.85 	numBeams normalized NIS: 0.74
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321808.82 sec.
INS : North: 4070222.47, East: 589608.47, Depth: 889.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 75.89
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321811.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321811.62)
ARL : North: 7.4088, East: -408.9119, Depth: -39.4395ARL : Estimation Bias  (Mean)         : (t = 1488321811.62)
ARL : North: 6.2193, East: -410.1126, Depth: -38.4289TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 84 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 54 55 56 57 
TNavParticleFilter::Modified Variance for beam 0 is 52.04 
Alpha[0]	0.123000
Alpha[0]	0.999451
TNavParticleFilter::Modified Variance for beam 1 is 51.45 
Alpha[1]	0.000000
Alpha[1]	0.999769
TNavParticleFilter::Modified Variance for beam 2 is 48.91 
Alpha[2]	0.000000
Alpha[2]	0.999822
TNavParticleFilter::Modified Variance for beam 3 is 44.60 
Alpha[3]	0.000000
Alpha[3]	0.999803
TNavParticleFilter::Modified Variance for beam 4 is 44.20 
Alpha[4]	0.000000
Alpha[4]	0.999468
TNavParticleFilter::Modified Variance for beam 5 is 42.06 
Alpha[5]	0.000000
Alpha[5]	0.998247
TNavParticleFilter::Modified Variance for beam 6 is 40.01 
Alpha[6]	0.000000
Alpha[6]	0.997179
TNavParticleFilter::Modified Variance for beam 7 is 39.68 
Alpha[7]	0.000000
Alpha[7]	0.997991
TNavParticleFilter::Modified Variance for beam 8 is 41.23 
Alpha[8]	0.000000
Alpha[8]	0.996017
TNavParticleFilter::Modified Variance for beam 9 is 37.60 
Alpha[9]	0.000000
Alpha[9]	0.995144
TNavParticleFilter::Modified Variance for beam 10 is 37.40 
Alpha[10]	0.000000
Alpha[10]	0.995068
TNavParticleFilter::Modified Variance for beam 11 is 35.57 
Alpha[11]	0.000000
Alpha[11]	0.995301
TNavParticleFilter::Modified Variance for beam 12 is 35.38 
Alpha[12]	0.000000
Alpha[12]	0.996462
TNavParticleFilter::Modified Variance for beam 13 is 35.25 
Alpha[13]	0.000000
Alpha[13]	0.996132
TNavParticleFilter::Modified Variance for beam 14 is 35.14 
Alpha[14]	0.000000
Alpha[14]	0.996119
TNavParticleFilter::Modified Variance for beam 15 is 35.07 
Alpha[15]	0.000000
Alpha[15]	0.995230
TNavParticleFilter::Modified Variance for beam 16 is 35.00 
Alpha[16]	0.000000
Alpha[16]	0.995286
TNavParticleFilter::Modified Variance for beam 17 is 33.39 
Alpha[17]	0.000000
Alpha[17]	0.995019
TNavParticleFilter::Modified Variance for beam 18 is 33.35 
Alpha[18]	0.000000
Alpha[18]	0.995265
TNavParticleFilter::Modified Variance for beam 19 is 33.37 
Alpha[19]	0.000000
Alpha[19]	0.994112
TNavParticleFilter::Modified Variance for beam 20 is 31.83 
Alpha[20]	0.000000
Alpha[20]	0.994926
TNavParticleFilter::Modified Variance for beam 21 is 31.79 
Alpha[21]	0.000000
Alpha[21]	0.996667
TNavParticleFilter::Modified Variance for beam 22 is 31.76 
Alpha[22]	0.000000
Alpha[22]	0.998785
TNavParticleFilter::Modified Variance for beam 23 is 30.32 
Alpha[23]	0.000000
Alpha[23]	0.999336
TNavParticleFilter::Modified Variance for beam 24 is 30.32 
Alpha[24]	0.000000
Alpha[24]	0.999752
TNavParticleFilter::Modified Variance for beam 25 is 29.01 
Alpha[25]	0.000000
Alpha[25]	0.999879
TNavParticleFilter::Modified Variance for beam 26 is 26.88 
Alpha[26]	0.000000
Alpha[26]	0.999916
TNavParticleFilter::Modified Variance for beam 27 is 23.80 
Alpha[27]	0.000000
Alpha[27]	0.999897
TNavParticleFilter::Modified Variance for beam 28 is 23.91 
Alpha[28]	0.000000
Alpha[28]	0.999842
TNavParticleFilter::Modified Variance for beam 29 is 20.92 
Alpha[29]	0.000000
Alpha[29]	0.999790
TNavParticleFilter::Modified Variance for beam 30 is 19.29 
Alpha[30]	0.000000
Alpha[30]	0.999685
TNavParticleFilter::Modified Variance for beam 31 is 19.40 
Alpha[31]	0.000000
Alpha[31]	0.999560
TNavParticleFilter::Modified Variance for beam 32 is 19.53 
Alpha[32]	0.000000
Alpha[32]	0.999415
TNavParticleFilter::Modified Variance for beam 33 is 19.66 
Alpha[33]	0.000000
Alpha[33]	0.999280
TNavParticleFilter::Modified Variance for beam 34 is 19.81 
Alpha[34]	0.000000
Alpha[34]	0.999108
TNavParticleFilter::Modified Variance for beam 35 is 19.97 
Alpha[35]	0.000000
Alpha[35]	0.998685
TNavPF:: sumSquaredError = 62.005701 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 54 as -9.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -6.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -2.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 7.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 8.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 5.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 4.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 5.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -4.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -6.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -6.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -9.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -10.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -10.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -12.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -10.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -7.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -4.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -3.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as 2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as 1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as 1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as 2.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as 3.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as 3.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as 3.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 89 as 4.91. Range = 0.00 
TNavPF::First Term of Map Covariance Matrix is 36.38 
TNavPF::Calculated NIS Value : 21.37 	numBeams normalized NIS: 0.59
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321811.82 sec.
INS : North: 4070221.60, East: 589604.50, Depth: 889.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 55.56
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321814.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321814.62)
ARL : North: 7.6337, East: -409.1443, Depth: -40.9935ARL : Estimation Bias  (Mean)         : (t = 1488321814.62)
ARL : North: 6.0055, East: -410.1463, Depth: -38.1443TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 78 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 48 49 50 51 
TNavParticleFilter::Modified Variance for beam 0 is 49.97 
Alpha[0]	0.123000
Alpha[0]	0.999838
TNavParticleFilter::Modified Variance for beam 1 is 49.38 
Alpha[1]	0.000000
Alpha[1]	0.999860
TNavParticleFilter::Modified Variance for beam 2 is 44.95 
Alpha[2]	0.000000
Alpha[2]	0.999763
TNavParticleFilter::Modified Variance for beam 3 is 44.52 
Alpha[3]	0.000000
Alpha[3]	0.998868
TNavParticleFilter::Modified Variance for beam 4 is 42.30 
Alpha[4]	0.000000
Alpha[4]	0.997352
TNavParticleFilter::Modified Variance for beam 5 is 40.11 
Alpha[5]	0.000000
Alpha[5]	0.997971
TNavParticleFilter::Modified Variance for beam 6 is 41.58 
Alpha[6]	0.000000
Alpha[6]	0.996670
TNavParticleFilter::Modified Variance for beam 7 is 37.82 
Alpha[7]	0.000000
Alpha[7]	0.995765
TNavParticleFilter::Modified Variance for beam 8 is 37.55 
Alpha[8]	0.000000
Alpha[8]	0.995557
TNavParticleFilter::Modified Variance for beam 9 is 37.29 
Alpha[9]	0.000000
Alpha[9]	0.995813
TNavParticleFilter::Modified Variance for beam 10 is 35.39 
Alpha[10]	0.000000
Alpha[10]	0.996872
TNavParticleFilter::Modified Variance for beam 11 is 35.21 
Alpha[11]	0.000000
Alpha[11]	0.996277
TNavParticleFilter::Modified Variance for beam 12 is 35.04 
Alpha[12]	0.000000
Alpha[12]	0.996109
TNavParticleFilter::Modified Variance for beam 13 is 34.92 
Alpha[13]	0.000000
Alpha[13]	0.995133
TNavParticleFilter::Modified Variance for beam 14 is 34.80 
Alpha[14]	0.000000
Alpha[14]	0.994655
TNavParticleFilter::Modified Variance for beam 15 is 33.10 
Alpha[15]	0.000000
Alpha[15]	0.995460
TNavParticleFilter::Modified Variance for beam 16 is 32.98 
Alpha[16]	0.000000
Alpha[16]	0.996447
TNavParticleFilter::Modified Variance for beam 17 is 32.88 
Alpha[17]	0.000000
Alpha[17]	0.997218
TNavParticleFilter::Modified Variance for beam 18 is 31.29 
Alpha[18]	0.000000
Alpha[18]	0.998505
TNavParticleFilter::Modified Variance for beam 19 is 31.23 
Alpha[19]	0.000000
Alpha[19]	0.999217
TNavParticleFilter::Modified Variance for beam 20 is 31.20 
Alpha[20]	0.000000
Alpha[20]	0.999587
TNavParticleFilter::Modified Variance for beam 21 is 29.74 
Alpha[21]	0.000000
Alpha[21]	0.999791
TNavParticleFilter::Modified Variance for beam 22 is 29.75 
Alpha[22]	0.000000
Alpha[22]	0.999873
TNavParticleFilter::Modified Variance for beam 23 is 28.36 
Alpha[23]	0.000000
Alpha[23]	0.999919
TNavParticleFilter::Modified Variance for beam 24 is 24.14 
Alpha[24]	0.000000
Alpha[24]	0.999932
TNavParticleFilter::Modified Variance for beam 25 is 23.16 
Alpha[25]	0.000000
Alpha[25]	0.999928
TNavParticleFilter::Modified Variance for beam 26 is 22.49 
Alpha[26]	0.000000
Alpha[26]	0.999882
TNavParticleFilter::Modified Variance for beam 27 is 18.60 
Alpha[27]	0.000000
Alpha[27]	0.999792
TNavParticleFilter::Modified Variance for beam 28 is 18.66 
Alpha[28]	0.000000
Alpha[28]	0.999626
TNavParticleFilter::Modified Variance for beam 29 is 18.74 
Alpha[29]	0.000000
Alpha[29]	0.999502
TNavParticleFilter::Modified Variance for beam 30 is 18.83 
Alpha[30]	0.000000
Alpha[30]	0.999346
TNavParticleFilter::Modified Variance for beam 31 is 18.92 
Alpha[31]	0.000000
Alpha[31]	0.999208
TNavParticleFilter::Modified Variance for beam 32 is 19.03 
Alpha[32]	0.000000
Alpha[32]	0.999040
TNavParticleFilter::Modified Variance for beam 33 is 19.15 
Alpha[33]	0.000000
Alpha[33]	0.998891
TNavParticleFilter::Modified Variance for beam 34 is 19.28 
Alpha[34]	0.000000
Alpha[34]	0.998790
TNavParticleFilter::Modified Variance for beam 35 is 20.59 
Alpha[35]	0.000000
Alpha[35]	0.998667
TNavParticleFilter::Modified Variance for beam 36 is 20.76 
Alpha[36]	0.000000
Alpha[36]	0.998484
TNavParticleFilter::Modified Variance for beam 37 is 19.74 
Alpha[37]	0.000000
Alpha[37]	0.998187
TNavParticleFilter::Modified Variance for beam 38 is 19.92 
Alpha[38]	0.000000
Alpha[38]	0.997867
TNavParticleFilter::Modified Variance for beam 39 is 19.30 
Alpha[39]	0.000000
Alpha[39]	0.998001
TNavParticleFilter::Modified Variance for beam 40 is 19.10 
Alpha[40]	0.000000
Alpha[40]	0.998412
TNavParticleFilter::Modified Variance for beam 41 is 19.29 
Alpha[41]	0.000000
Alpha[41]	0.998549
TNavPF:: sumSquaredError = 126.790043 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 48 as -6.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 1.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 6.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 10.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 8.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 4.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 5.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 1.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -3.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -5.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -6.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -8.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -8.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -8.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -10.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -8.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -4.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -4.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 4.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 2.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 3.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 3.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 4.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 5.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as 7.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as 9.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as 12.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as 12.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as 11.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as 11.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as 10.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as 10.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 89 as 10.92. Range = 0.00 
TNavPF::First Term of Map Covariance Matrix is 123.81 
TNavPF::Calculated NIS Value : 39.02 	numBeams normalized NIS: 0.93
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321814.82 sec.
INS : North: 4070221.04, East: 589600.42, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 89.43, IDT[75] = 60.15
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321817.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321817.62)
ARL : North: 6.5245, East: -410.2184, Depth: -39.3303ARL : Estimation Bias  (Mean)         : (t = 1488321817.62)
ARL : North: 6.7705, East: -410.3651, Depth: -39.4037TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 72 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 42 43 44 45 
TNavParticleFilter::Modified Variance for beam 0 is 50.12 
Alpha[0]	0.123000
Alpha[0]	0.999855
TNavParticleFilter::Modified Variance for beam 1 is 47.51 
Alpha[1]	0.000000
Alpha[1]	0.999611
TNavParticleFilter::Modified Variance for beam 2 is 45.08 
Alpha[2]	0.000000
Alpha[2]	0.998366
TNavParticleFilter::Modified Variance for beam 3 is 42.85 
Alpha[3]	0.000000
Alpha[3]	0.995378
TNavParticleFilter::Modified Variance for beam 4 is 42.57 
Alpha[4]	0.000000
Alpha[4]	0.991551
TNavParticleFilter::Modified Variance for beam 5 is 38.63 
Alpha[5]	0.000000
Alpha[5]	0.990850
TNavParticleFilter::Modified Variance for beam 6 is 38.24 
Alpha[6]	0.000000
Alpha[6]	0.992144
TNavParticleFilter::Modified Variance for beam 7 is 37.84 
Alpha[7]	0.000000
Alpha[7]	0.994138
TNavParticleFilter::Modified Variance for beam 8 is 37.52 
Alpha[8]	0.000000
Alpha[8]	0.994908
TNavParticleFilter::Modified Variance for beam 9 is 37.26 
Alpha[9]	0.000000
Alpha[9]	0.994834
TNavParticleFilter::Modified Variance for beam 10 is 35.36 
Alpha[10]	0.000000
Alpha[10]	0.995091
TNavParticleFilter::Modified Variance for beam 11 is 35.14 
Alpha[11]	0.000000
Alpha[11]	0.995380
TNavParticleFilter::Modified Variance for beam 12 is 34.96 
Alpha[12]	0.000000
Alpha[12]	0.995221
TNavParticleFilter::Modified Variance for beam 13 is 34.78 
Alpha[13]	0.000000
Alpha[13]	0.995567
TNavParticleFilter::Modified Variance for beam 14 is 33.16 
Alpha[14]	0.000000
Alpha[14]	0.992832
TNavParticleFilter::Modified Variance for beam 15 is 32.91 
Alpha[15]	0.000000
Alpha[15]	0.996621
TNavParticleFilter::Modified Variance for beam 16 is 32.75 
Alpha[16]	0.000000
Alpha[16]	0.998347
TNavParticleFilter::Modified Variance for beam 17 is 31.14 
Alpha[17]	0.000000
Alpha[17]	0.999002
TNavParticleFilter::Modified Variance for beam 18 is 29.61 
Alpha[18]	0.000000
Alpha[18]	0.999603
TNavParticleFilter::Modified Variance for beam 19 is 29.56 
Alpha[19]	0.000000
Alpha[19]	0.999743
TNavParticleFilter::Modified Variance for beam 20 is 28.11 
Alpha[20]	0.000000
Alpha[20]	0.999879
TNavParticleFilter::Modified Variance for beam 21 is 28.10 
Alpha[21]	0.000000
Alpha[21]	0.999933
TNavParticleFilter::Modified Variance for beam 22 is 26.73 
Alpha[22]	0.000000
Alpha[22]	0.999946
TNavParticleFilter::Modified Variance for beam 23 is 24.12 
Alpha[23]	0.000000
Alpha[23]	0.999943
TNavParticleFilter::Modified Variance for beam 24 is 24.15 
Alpha[24]	0.000000
Alpha[24]	0.999910
TNavParticleFilter::Modified Variance for beam 25 is 19.61 
Alpha[25]	0.000000
Alpha[25]	0.999790
TNavParticleFilter::Modified Variance for beam 26 is 18.34 
Alpha[26]	0.000000
Alpha[26]	0.999653
TNavParticleFilter::Modified Variance for beam 27 is 18.39 
Alpha[27]	0.000000
Alpha[27]	0.999576
TNavParticleFilter::Modified Variance for beam 28 is 18.44 
Alpha[28]	0.000000
Alpha[28]	0.999572
TNavParticleFilter::Modified Variance for beam 29 is 18.51 
Alpha[29]	0.000000
Alpha[29]	0.999454
TNavParticleFilter::Modified Variance for beam 30 is 18.59 
Alpha[30]	0.000000
Alpha[30]	0.999261
TNavParticleFilter::Modified Variance for beam 31 is 18.68 
Alpha[31]	0.000000
Alpha[31]	0.998986
TNavParticleFilter::Modified Variance for beam 32 is 21.10 
Alpha[32]	0.000000
Alpha[32]	0.998549
TNavParticleFilter::Modified Variance for beam 33 is 21.23 
Alpha[33]	0.000000
Alpha[33]	0.998220
TNavParticleFilter::Modified Variance for beam 34 is 21.36 
Alpha[34]	0.000000
Alpha[34]	0.998267
TNavParticleFilter::Modified Variance for beam 35 is 19.14 
Alpha[35]	0.000000
Alpha[35]	0.998537
TNavParticleFilter::Modified Variance for beam 36 is 18.14 
Alpha[36]	0.000000
Alpha[36]	0.998657
TNavParticleFilter::Modified Variance for beam 37 is 18.28 
Alpha[37]	0.000000
Alpha[37]	0.998659
TNavParticleFilter::Modified Variance for beam 38 is 18.44 
Alpha[38]	0.000000
Alpha[38]	0.998643
TNavParticleFilter::Modified Variance for beam 39 is 18.60 
Alpha[39]	0.000000
Alpha[39]	0.998614
TNavParticleFilter::Modified Variance for beam 40 is 18.77 
Alpha[40]	0.000000
Alpha[40]	0.998730
TNavParticleFilter::Modified Variance for beam 41 is 18.95 
Alpha[41]	0.000000
Alpha[41]	0.999000
TNavParticleFilter::Modified Variance for beam 42 is 19.15 
Alpha[42]	0.000000
Alpha[42]	0.999116
TNavParticleFilter::Modified Variance for beam 43 is 19.37 
Alpha[43]	0.000000
Alpha[43]	0.998992
TNavParticleFilter::Modified Variance for beam 44 is 19.60 
Alpha[44]	0.000000
Alpha[44]	0.998862
TNavParticleFilter::Modified Variance for beam 45 is 19.85 
Alpha[45]	0.000000
Alpha[45]	0.998651
TNavParticleFilter::Modified Variance for beam 46 is 19.40 
Alpha[46]	0.000000
Alpha[46]	0.998182
TNavParticleFilter::Modified Variance for beam 47 is 18.27 
Alpha[47]	0.000000
Alpha[47]	0.998091
TNavPF:: sumSquaredError = 266.795828 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 42 as 3.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 8.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 7.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 3.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 4.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -2.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -3.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -4.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -7.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -7.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -8.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -10.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -13.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -13.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -13.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -9.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -6.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -3.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 2.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -1.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -1.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 4.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 5.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 6.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 12.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 13.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 13.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 9.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 7.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 7.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 8.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as 8.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as 8.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as 8.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as 7.29. Range = 97.57 
TNavPF::Calculated measDiffMean for beam 85 as 5.96. Range = 94.79 
TNavPF::Calculated measDiffMean for beam 86 as 4.89. Range = 92.08 
TNavPF::Calculated measDiffMean for beam 87 as 3.58. Range = 89.43 
TNavPF::Calculated measDiffMean for beam 88 as 1.73. Range = 88.93 
TNavPF::Calculated measDiffMean for beam 89 as -0.48. Range = 84.29 
TNavPF::First Term of Map Covariance Matrix is 138.27 
TNavPF::Calculated NIS Value : 52.45 	numBeams normalized NIS: 1.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321817.82 sec.
INS : North: 4070220.88, East: 589596.31, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 78.08, IDT[75] = 57.24
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321820.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321820.62)
ARL : North: 7.1829, East: -409.7494, Depth: -39.4307ARL : Estimation Bias  (Mean)         : (t = 1488321820.62)
ARL : North: 8.0941, East: -411.5251, Depth: -39.4069TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 49.81 
Alpha[0]	0.123000
Alpha[0]	0.999867
TNavParticleFilter::Modified Variance for beam 1 is 49.14 
Alpha[1]	0.000000
Alpha[1]	0.999547
TNavParticleFilter::Modified Variance for beam 2 is 46.59 
Alpha[2]	0.000000
Alpha[2]	0.997881
TNavParticleFilter::Modified Variance for beam 3 is 44.24 
Alpha[3]	0.000000
Alpha[3]	0.994464
TNavParticleFilter::Modified Variance for beam 4 is 43.85 
Alpha[4]	0.000000
Alpha[4]	0.991594
TNavParticleFilter::Modified Variance for beam 5 is 43.30 
Alpha[5]	0.000000
Alpha[5]	0.993202
TNavParticleFilter::Modified Variance for beam 6 is 40.97 
Alpha[6]	0.000000
Alpha[6]	0.994622
TNavParticleFilter::Modified Variance for beam 7 is 40.56 
Alpha[7]	0.000000
Alpha[7]	0.995087
TNavParticleFilter::Modified Variance for beam 8 is 40.21 
Alpha[8]	0.000000
Alpha[8]	0.994563
TNavParticleFilter::Modified Variance for beam 9 is 36.46 
Alpha[9]	0.000000
Alpha[9]	0.994524
TNavParticleFilter::Modified Variance for beam 10 is 36.12 
Alpha[10]	0.000000
Alpha[10]	0.995998
TNavParticleFilter::Modified Variance for beam 11 is 37.50 
Alpha[11]	0.000000
Alpha[11]	0.996556
TNavParticleFilter::Modified Variance for beam 12 is 35.58 
Alpha[12]	0.000000
Alpha[12]	0.997111
TNavParticleFilter::Modified Variance for beam 13 is 33.78 
Alpha[13]	0.000000
Alpha[13]	0.997178
TNavParticleFilter::Modified Variance for beam 14 is 33.53 
Alpha[14]	0.000000
Alpha[14]	0.998961
TNavParticleFilter::Modified Variance for beam 15 is 33.36 
Alpha[15]	0.000000
Alpha[15]	0.999373
TNavParticleFilter::Modified Variance for beam 16 is 31.68 
Alpha[16]	0.000000
Alpha[16]	0.999708
TNavParticleFilter::Modified Variance for beam 17 is 30.08 
Alpha[17]	0.000000
Alpha[17]	0.999838
TNavParticleFilter::Modified Variance for beam 18 is 29.98 
Alpha[18]	0.000000
Alpha[18]	0.999887
TNavParticleFilter::Modified Variance for beam 19 is 29.90 
Alpha[19]	0.000000
Alpha[19]	0.999933
TNavParticleFilter::Modified Variance for beam 20 is 28.42 
Alpha[20]	0.000000
Alpha[20]	0.999946
TNavParticleFilter::Modified Variance for beam 21 is 28.37 
Alpha[21]	0.000000
Alpha[21]	0.999952
TNavParticleFilter::Modified Variance for beam 22 is 26.97 
Alpha[22]	0.000000
Alpha[22]	0.999945
TNavParticleFilter::Modified Variance for beam 23 is 18.41 
Alpha[23]	0.000000
Alpha[23]	0.999919
TNavParticleFilter::Modified Variance for beam 24 is 18.41 
Alpha[24]	0.000000
Alpha[24]	0.999812
TNavParticleFilter::Modified Variance for beam 25 is 18.42 
Alpha[25]	0.000000
Alpha[25]	0.999723
TNavParticleFilter::Modified Variance for beam 26 is 18.44 
Alpha[26]	0.000000
Alpha[26]	0.999640
TNavParticleFilter::Modified Variance for beam 27 is 18.48 
Alpha[27]	0.000000
Alpha[27]	0.999452
TNavParticleFilter::Modified Variance for beam 28 is 18.52 
Alpha[28]	0.000000
Alpha[28]	0.999092
TNavParticleFilter::Modified Variance for beam 29 is 18.57 
Alpha[29]	0.000000
Alpha[29]	0.998774
TNavParticleFilter::Modified Variance for beam 30 is 20.91 
Alpha[30]	0.000000
Alpha[30]	0.998641
TNavParticleFilter::Modified Variance for beam 31 is 20.98 
Alpha[31]	0.000000
Alpha[31]	0.998735
TNavParticleFilter::Modified Variance for beam 32 is 21.07 
Alpha[32]	0.000000
Alpha[32]	0.998689
TNavParticleFilter::Modified Variance for beam 33 is 20.00 
Alpha[33]	0.000000
Alpha[33]	0.998582
TNavParticleFilter::Modified Variance for beam 34 is 20.10 
Alpha[34]	0.000000
Alpha[34]	0.998520
TNavParticleFilter::Modified Variance for beam 35 is 19.72 
Alpha[35]	0.000000
Alpha[35]	0.998405
TNavParticleFilter::Modified Variance for beam 36 is 19.18 
Alpha[36]	0.000000
Alpha[36]	0.998450
TNavParticleFilter::Modified Variance for beam 37 is 19.31 
Alpha[37]	0.000000
Alpha[37]	0.998604
TNavParticleFilter::Modified Variance for beam 38 is 18.31 
Alpha[38]	0.000000
Alpha[38]	0.998431
TNavParticleFilter::Modified Variance for beam 39 is 18.45 
Alpha[39]	0.000000
Alpha[39]	0.998546
TNavParticleFilter::Modified Variance for beam 40 is 19.76 
Alpha[40]	0.000000
Alpha[40]	0.998580
TNavParticleFilter::Modified Variance for beam 41 is 19.95 
Alpha[41]	0.000000
Alpha[41]	0.998312
TNavParticleFilter::Modified Variance for beam 42 is 18.97 
Alpha[42]	0.000000
Alpha[42]	0.997219
TNavParticleFilter::Modified Variance for beam 43 is 19.17 
Alpha[43]	0.000000
Alpha[43]	0.996414
TNavParticleFilter::Modified Variance for beam 44 is 19.38 
Alpha[44]	0.000000
Alpha[44]	0.996388
TNavParticleFilter::Modified Variance for beam 45 is 19.58 
Alpha[45]	0.000000
Alpha[45]	0.997074
TNavParticleFilter::Modified Variance for beam 46 is 17.45 
Alpha[46]	0.000000
Alpha[46]	0.996882
TNavParticleFilter::Modified Variance for beam 47 is 17.65 
Alpha[47]	0.000000
Alpha[47]	0.997400
TNavParticleFilter::Modified Variance for beam 48 is 17.86 
Alpha[48]	0.000000
Alpha[48]	0.998195
TNavParticleFilter::Modified Variance for beam 49 is 18.09 
Alpha[49]	0.000000
Alpha[49]	0.998479
TNavParticleFilter::Modified Variance for beam 50 is 17.16 
Alpha[50]	0.000000
Alpha[50]	0.997912
TNavParticleFilter::Modified Variance for beam 51 is 17.42 
Alpha[51]	0.000000
Alpha[51]	0.997248
TNavParticleFilter::Modified Variance for beam 52 is 17.68 
Alpha[52]	0.000000
Alpha[52]	0.997408
TNavParticleFilter::Modified Variance for beam 53 is 17.97 
Alpha[53]	0.000000
Alpha[53]	0.996800
TNavParticleFilter::Modified Variance for beam 54 is 17.99 
Alpha[54]	0.000000
Alpha[54]	0.997123
TNavParticleFilter::Modified Variance for beam 55 is 17.32 
Alpha[55]	0.000000
Alpha[55]	0.997520
TNavParticleFilter::Modified Variance for beam 56 is 17.60 
Alpha[56]	0.000000
Alpha[56]	0.998713
TNavParticleFilter::Modified Variance for beam 57 is 17.57 
Alpha[57]	0.000000
Alpha[57]	0.999081
TNavParticleFilter::Modified Variance for beam 58 is 16.99 
Alpha[58]	0.000000
Alpha[58]	0.998798
TNavParticleFilter::Modified Variance for beam 59 is 17.32 
Alpha[59]	0.000000
Alpha[59]	0.999270
TNavPF:: sumSquaredError = 423.491037 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 6.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 4.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 2.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 2.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 2.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -3.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -4.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -3.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -6.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -9.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -9.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -9.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -11.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -12.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -12.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -9.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -8.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -5.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -9.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -3.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 3.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 5.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 7.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 11.71. Range = 97.24 
TNavPF::Calculated measDiffMean for beam 61 as 10.99. Range = 96.53 
TNavPF::Calculated measDiffMean for beam 62 as 10.95. Range = 93.71 
TNavPF::Calculated measDiffMean for beam 63 as 9.52. Range = 90.95 
TNavPF::Calculated measDiffMean for beam 64 as 9.90. Range = 90.38 
TNavPF::Calculated measDiffMean for beam 65 as 9.38. Range = 89.84 
TNavPF::Calculated measDiffMean for beam 66 as 8.24. Range = 87.23 
TNavPF::Calculated measDiffMean for beam 67 as 7.36. Range = 86.77 
TNavPF::Calculated measDiffMean for beam 68 as 4.36. Range = 86.34 
TNavPF::Calculated measDiffMean for beam 69 as 3.49. Range = 81.81 
TNavPF::Calculated measDiffMean for beam 70 as 4.64. Range = 81.46 
TNavPF::Calculated measDiffMean for beam 71 as 3.62. Range = 83.18 
TNavPF::Calculated measDiffMean for beam 72 as 1.13. Range = 80.83 
TNavPF::Calculated measDiffMean for beam 73 as 1.79. Range = 78.53 
TNavPF::Calculated measDiffMean for beam 74 as 2.05. Range = 78.29 
TNavPF::Calculated measDiffMean for beam 75 as 2.13. Range = 78.08 
TNavPF::Calculated measDiffMean for beam 76 as -2.40. Range = 75.87 
TNavPF::Calculated measDiffMean for beam 77 as -2.93. Range = 73.70 
TNavPF::Calculated measDiffMean for beam 78 as -3.62. Range = 73.56 
TNavPF::Calculated measDiffMean for beam 79 as -4.97. Range = 73.45 
TNavPF::Calculated measDiffMean for beam 80 as -8.12. Range = 71.36 
TNavPF::Calculated measDiffMean for beam 81 as -8.46. Range = 71.30 
TNavPF::Calculated measDiffMean for beam 82 as -9.84. Range = 69.25 
TNavPF::Calculated measDiffMean for beam 83 as -11.01. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 84 as -11.76. Range = 55.23 
TNavPF::Calculated measDiffMean for beam 85 as -13.41. Range = 55.25 
TNavPF::Calculated measDiffMean for beam 86 as -14.66. Range = 55.28 
TNavPF::Calculated measDiffMean for beam 87 as -17.32. Range = 55.33 
TNavPF::Calculated measDiffMean for beam 88 as -21.23. Range = 55.40 
TNavPF::Calculated measDiffMean for beam 89 as -23.78. Range = 55.49 
TNavPF::First Term of Map Covariance Matrix is 150.55 
TNavPF::Calculated NIS Value : 132.52 	numBeams normalized NIS: 2.21
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321820.82 sec.
INS : North: 4070221.40, East: 589592.22, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 56.08, IDT[75] = 52.18
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321823.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321823.62)
ARL : North: 6.5309, East: -410.1703, Depth: -38.3917ARL : Estimation Bias  (Mean)         : (t = 1488321823.62)
ARL : North: 6.6654, East: -410.2154, Depth: -38.4286TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 37.95 
Alpha[0]	0.123000
Alpha[0]	0.995718
TNavParticleFilter::Modified Variance for beam 1 is 37.59 
Alpha[1]	0.000000
Alpha[1]	0.996070
TNavParticleFilter::Modified Variance for beam 2 is 38.89 
Alpha[2]	0.000000
Alpha[2]	0.998117
TNavParticleFilter::Modified Variance for beam 3 is 36.87 
Alpha[3]	0.000000
Alpha[3]	0.998509
TNavParticleFilter::Modified Variance for beam 4 is 36.57 
Alpha[4]	0.000000
Alpha[4]	0.999009
TNavParticleFilter::Modified Variance for beam 5 is 34.68 
Alpha[5]	0.000000
Alpha[5]	0.999543
TNavParticleFilter::Modified Variance for beam 6 is 34.45 
Alpha[6]	0.000000
Alpha[6]	0.999691
TNavParticleFilter::Modified Variance for beam 7 is 32.69 
Alpha[7]	0.000000
Alpha[7]	0.999867
TNavParticleFilter::Modified Variance for beam 8 is 31.01 
Alpha[8]	0.000000
Alpha[8]	0.999900
TNavParticleFilter::Modified Variance for beam 9 is 30.87 
Alpha[9]	0.000000
Alpha[9]	0.999921
TNavParticleFilter::Modified Variance for beam 10 is 30.74 
Alpha[10]	0.000000
Alpha[10]	0.999944
TNavParticleFilter::Modified Variance for beam 11 is 29.19 
Alpha[11]	0.000000
Alpha[11]	0.999951
TNavParticleFilter::Modified Variance for beam 12 is 27.70 
Alpha[12]	0.000000
Alpha[12]	0.999954
TNavParticleFilter::Modified Variance for beam 13 is 18.93 
Alpha[13]	0.000000
Alpha[13]	0.999947
TNavParticleFilter::Modified Variance for beam 14 is 18.90 
Alpha[14]	0.000000
Alpha[14]	0.999939
TNavParticleFilter::Modified Variance for beam 15 is 18.88 
Alpha[15]	0.000000
Alpha[15]	0.999869
TNavParticleFilter::Modified Variance for beam 16 is 18.87 
Alpha[16]	0.000000
Alpha[16]	0.999794
TNavParticleFilter::Modified Variance for beam 17 is 24.86 
Alpha[17]	0.000000
Alpha[17]	0.999667
TNavParticleFilter::Modified Variance for beam 18 is 24.87 
Alpha[18]	0.000000
Alpha[18]	0.999549
TNavParticleFilter::Modified Variance for beam 19 is 22.38 
Alpha[19]	0.000000
Alpha[19]	0.999027
TNavParticleFilter::Modified Variance for beam 20 is 22.42 
Alpha[20]	0.000000
Alpha[20]	0.998715
TNavParticleFilter::Modified Variance for beam 21 is 21.25 
Alpha[21]	0.000000
Alpha[21]	0.998702
TNavParticleFilter::Modified Variance for beam 22 is 21.30 
Alpha[22]	0.000000
Alpha[22]	0.998893
TNavParticleFilter::Modified Variance for beam 23 is 20.19 
Alpha[23]	0.000000
Alpha[23]	0.998871
TNavParticleFilter::Modified Variance for beam 24 is 20.26 
Alpha[24]	0.000000
Alpha[24]	0.998715
TNavParticleFilter::Modified Variance for beam 25 is 19.19 
Alpha[25]	0.000000
Alpha[25]	0.998668
TNavParticleFilter::Modified Variance for beam 26 is 19.28 
Alpha[26]	0.000000
Alpha[26]	0.998554
TNavParticleFilter::Modified Variance for beam 27 is 18.26 
Alpha[27]	0.000000
Alpha[27]	0.998422
TNavParticleFilter::Modified Variance for beam 28 is 18.36 
Alpha[28]	0.000000
Alpha[28]	0.998259
TNavParticleFilter::Modified Variance for beam 29 is 19.60 
Alpha[29]	0.000000
Alpha[29]	0.998162
TNavParticleFilter::Modified Variance for beam 30 is 19.72 
Alpha[30]	0.000000
Alpha[30]	0.998412
TNavParticleFilter::Modified Variance for beam 31 is 18.71 
Alpha[31]	0.000000
Alpha[31]	0.998545
TNavParticleFilter::Modified Variance for beam 32 is 18.85 
Alpha[32]	0.000000
Alpha[32]	0.998473
TNavParticleFilter::Modified Variance for beam 33 is 19.01 
Alpha[33]	0.000000
Alpha[33]	0.997966
TNavParticleFilter::Modified Variance for beam 34 is 19.18 
Alpha[34]	0.000000
Alpha[34]	0.997399
TNavParticleFilter::Modified Variance for beam 35 is 19.17 
Alpha[35]	0.000000
Alpha[35]	0.997311
TNavParticleFilter::Modified Variance for beam 36 is 18.38 
Alpha[36]	0.000000
Alpha[36]	0.996818
TNavParticleFilter::Modified Variance for beam 37 is 18.59 
Alpha[37]	0.000000
Alpha[37]	0.995898
TNavParticleFilter::Modified Variance for beam 38 is 18.03 
Alpha[38]	0.000000
Alpha[38]	0.996081
TNavParticleFilter::Modified Variance for beam 39 is 17.80 
Alpha[39]	0.000000
Alpha[39]	0.997255
TNavParticleFilter::Modified Variance for beam 40 is 18.00 
Alpha[40]	0.000000
Alpha[40]	0.998203
TNavParticleFilter::Modified Variance for beam 41 is 17.19 
Alpha[41]	0.000000
Alpha[41]	0.998238
TNavParticleFilter::Modified Variance for beam 42 is 17.29 
Alpha[42]	0.000000
Alpha[42]	0.997598
TNavParticleFilter::Modified Variance for beam 43 is 17.54 
Alpha[43]	0.000000
Alpha[43]	0.996691
TNavParticleFilter::Modified Variance for beam 44 is 16.68 
Alpha[44]	0.000000
Alpha[44]	0.996544
TNavParticleFilter::Modified Variance for beam 45 is 16.89 
Alpha[45]	0.000000
Alpha[45]	0.995302
TNavParticleFilter::Modified Variance for beam 46 is 17.11 
Alpha[46]	0.000000
Alpha[46]	0.996403
TNavParticleFilter::Modified Variance for beam 47 is 16.30 
Alpha[47]	0.000000
Alpha[47]	0.996942
TNavParticleFilter::Modified Variance for beam 48 is 16.45 
Alpha[48]	0.000000
Alpha[48]	0.998196
TNavParticleFilter::Modified Variance for beam 49 is 16.72 
Alpha[49]	0.000000
Alpha[49]	0.998964
TNavParticleFilter::Modified Variance for beam 50 is 17.02 
Alpha[50]	0.000000
Alpha[50]	0.998906
TNavParticleFilter::Modified Variance for beam 51 is 17.35 
Alpha[51]	0.000000
Alpha[51]	0.998332
TNavParticleFilter::Modified Variance for beam 52 is 17.67 
Alpha[52]	0.000000
Alpha[52]	0.999323
TNavParticleFilter::Modified Variance for beam 53 is 17.60 
Alpha[53]	0.000000
Alpha[53]	0.999539
TNavParticleFilter::Modified Variance for beam 54 is 17.08 
Alpha[54]	0.000000
Alpha[54]	0.999538
TNavParticleFilter::Modified Variance for beam 55 is 17.46 
Alpha[55]	0.000000
Alpha[55]	0.998970
TNavParticleFilter::Modified Variance for beam 56 is 17.88 
Alpha[56]	0.000000
Alpha[56]	0.997214
TNavParticleFilter::Modified Variance for beam 57 is 18.33 
Alpha[57]	0.000000
Alpha[57]	0.996063
TNavParticleFilter::Modified Variance for beam 58 is 28.76 
Alpha[58]	0.000000
Alpha[58]	0.996388
TNavParticleFilter::Modified Variance for beam 59 is 29.52 
Alpha[59]	0.000000
Alpha[59]	0.997460
TNavPF:: sumSquaredError = 650.513244 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -3.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -4.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -6.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -5.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -6.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -7.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -6.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -2.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -3.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -3.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -11.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -6.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 14.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 16.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 15.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 16.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 13.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 13.10. Range = 99.33 
TNavPF::Calculated measDiffMean for beam 53 as 11.41. Range = 98.55 
TNavPF::Calculated measDiffMean for beam 54 as 12.15. Range = 95.63 
TNavPF::Calculated measDiffMean for beam 55 as 10.44. Range = 94.95 
TNavPF::Calculated measDiffMean for beam 56 as 10.70. Range = 94.30 
TNavPF::Calculated measDiffMean for beam 57 as 8.49. Range = 89.43 
TNavPF::Calculated measDiffMean for beam 58 as 7.39. Range = 88.88 
TNavPF::Calculated measDiffMean for beam 59 as 8.54. Range = 88.36 
TNavPF::Calculated measDiffMean for beam 60 as 7.92. Range = 83.70 
TNavPF::Calculated measDiffMean for beam 61 as 5.04. Range = 83.27 
TNavPF::Calculated measDiffMean for beam 62 as 3.93. Range = 84.94 
TNavPF::Calculated measDiffMean for beam 63 as 2.87. Range = 82.50 
TNavPF::Calculated measDiffMean for beam 64 as 3.61. Range = 82.15 
TNavPF::Calculated measDiffMean for beam 65 as 3.74. Range = 79.79 
TNavPF::Calculated measDiffMean for beam 66 as 2.11. Range = 79.51 
TNavPF::Calculated measDiffMean for beam 67 as 2.01. Range = 77.22 
TNavPF::Calculated measDiffMean for beam 68 as 0.29. Range = 74.97 
TNavPF::Calculated measDiffMean for beam 69 as -0.77. Range = 74.78 
TNavPF::Calculated measDiffMean for beam 70 as -1.58. Range = 74.61 
TNavPF::Calculated measDiffMean for beam 71 as -5.02. Range = 72.45 
TNavPF::Calculated measDiffMean for beam 72 as -5.91. Range = 70.32 
TNavPF::Calculated measDiffMean for beam 73 as -6.28. Range = 56.18 
TNavPF::Calculated measDiffMean for beam 74 as -9.83. Range = 56.12 
TNavPF::Calculated measDiffMean for beam 75 as -11.02. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 76 as -11.23. Range = 56.06 
TNavPF::Calculated measDiffMean for beam 77 as -12.91. Range = 66.06 
TNavPF::Calculated measDiffMean for beam 78 as -13.87. Range = 66.07 
TNavPF::Calculated measDiffMean for beam 79 as -16.02. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 80 as -17.69. Range = 62.15 
TNavPF::Calculated measDiffMean for beam 81 as -19.76. Range = 60.21 
TNavPF::Calculated measDiffMean for beam 82 as -22.24. Range = 60.29 
TNavPF::Calculated measDiffMean for beam 83 as -25.73. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 84 as -29.66. Range = 58.50 
TNavPF::Calculated measDiffMean for beam 85 as -31.82. Range = 56.61 
TNavPF::Calculated measDiffMean for beam 86 as -32.51. Range = 56.76 
TNavPF::Calculated measDiffMean for beam 87 as -31.43. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 88 as -15.18. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 89 as -14.42. Range = 57.32 
TNavPF::First Term of Map Covariance Matrix is 4.66 
TNavPF::Calculated NIS Value : 359.80 	numBeams normalized NIS: 6.00
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321823.82 sec.
INS : North: 4070222.33, East: 589588.15, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 61.09, IDT[75] = 52.26
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321826.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321826.62)
ARL : North: 5.6428, East: -408.5888, Depth: -34.8379ARL : Estimation Bias  (Mean)         : (t = 1488321826.62)
ARL : North: 5.2898, East: -409.1882, Depth: -37.0398TerrainNav:: Windowed NIS is 0.8, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 36.21 
Alpha[0]	0.123000
Alpha[0]	0.999840
TNavParticleFilter::Modified Variance for beam 1 is 34.30 
Alpha[1]	0.000000
Alpha[1]	0.999905
TNavParticleFilter::Modified Variance for beam 2 is 34.05 
Alpha[2]	0.000000
Alpha[2]	0.999928
TNavParticleFilter::Modified Variance for beam 3 is 32.26 
Alpha[3]	0.000000
Alpha[3]	0.999937
TNavParticleFilter::Modified Variance for beam 4 is 32.07 
Alpha[4]	0.000000
Alpha[4]	0.999946
TNavParticleFilter::Modified Variance for beam 5 is 30.39 
Alpha[5]	0.000000
Alpha[5]	0.999948
TNavParticleFilter::Modified Variance for beam 6 is 30.24 
Alpha[6]	0.000000
Alpha[6]	0.999953
TNavParticleFilter::Modified Variance for beam 7 is 19.71 
Alpha[7]	0.000000
Alpha[7]	0.999953
TNavParticleFilter::Modified Variance for beam 8 is 19.64 
Alpha[8]	0.000000
Alpha[8]	0.999942
TNavParticleFilter::Modified Variance for beam 9 is 19.58 
Alpha[9]	0.000000
Alpha[9]	0.999916
TNavParticleFilter::Modified Variance for beam 10 is 19.53 
Alpha[10]	0.000000
Alpha[10]	0.999841
TNavParticleFilter::Modified Variance for beam 11 is 25.61 
Alpha[11]	0.000000
Alpha[11]	0.999691
TNavParticleFilter::Modified Variance for beam 12 is 25.58 
Alpha[12]	0.000000
Alpha[12]	0.999532
TNavParticleFilter::Modified Variance for beam 13 is 23.00 
Alpha[13]	0.000000
Alpha[13]	0.999243
TNavParticleFilter::Modified Variance for beam 14 is 23.00 
Alpha[14]	0.000000
Alpha[14]	0.998644
TNavParticleFilter::Modified Variance for beam 15 is 21.77 
Alpha[15]	0.000000
Alpha[15]	0.998797
TNavParticleFilter::Modified Variance for beam 16 is 21.78 
Alpha[16]	0.000000
Alpha[16]	0.999017
TNavParticleFilter::Modified Variance for beam 17 is 21.80 
Alpha[17]	0.000000
Alpha[17]	0.999010
TNavParticleFilter::Modified Variance for beam 18 is 21.84 
Alpha[18]	0.000000
Alpha[18]	0.998822
TNavParticleFilter::Modified Variance for beam 19 is 21.88 
Alpha[19]	0.000000
Alpha[19]	0.998743
TNavParticleFilter::Modified Variance for beam 20 is 19.60 
Alpha[20]	0.000000
Alpha[20]	0.998669
TNavParticleFilter::Modified Variance for beam 21 is 18.55 
Alpha[21]	0.000000
Alpha[21]	0.998329
TNavParticleFilter::Modified Variance for beam 22 is 18.62 
Alpha[22]	0.000000
Alpha[22]	0.997914
TNavParticleFilter::Modified Variance for beam 23 is 19.82 
Alpha[23]	0.000000
Alpha[23]	0.998141
TNavParticleFilter::Modified Variance for beam 24 is 19.90 
Alpha[24]	0.000000
Alpha[24]	0.998381
TNavParticleFilter::Modified Variance for beam 25 is 18.86 
Alpha[25]	0.000000
Alpha[25]	0.998680
TNavParticleFilter::Modified Variance for beam 26 is 18.96 
Alpha[26]	0.000000
Alpha[26]	0.998692
TNavParticleFilter::Modified Variance for beam 27 is 19.07 
Alpha[27]	0.000000
Alpha[27]	0.998811
TNavParticleFilter::Modified Variance for beam 28 is 19.20 
Alpha[28]	0.000000
Alpha[28]	0.998695
TNavParticleFilter::Modified Variance for beam 29 is 18.21 
Alpha[29]	0.000000
Alpha[29]	0.998526
TNavParticleFilter::Modified Variance for beam 30 is 18.35 
Alpha[30]	0.000000
Alpha[30]	0.998075
TNavParticleFilter::Modified Variance for beam 31 is 18.27 
Alpha[31]	0.000000
Alpha[31]	0.996338
TNavParticleFilter::Modified Variance for beam 32 is 17.60 
Alpha[32]	0.000000
Alpha[32]	0.994453
TNavParticleFilter::Modified Variance for beam 33 is 17.74 
Alpha[33]	0.000000
Alpha[33]	0.995420
TNavParticleFilter::Modified Variance for beam 34 is 17.12 
Alpha[34]	0.000000
Alpha[34]	0.996851
TNavParticleFilter::Modified Variance for beam 35 is 16.93 
Alpha[35]	0.000000
Alpha[35]	0.998051
TNavParticleFilter::Modified Variance for beam 36 is 17.11 
Alpha[36]	0.000000
Alpha[36]	0.998166
TNavParticleFilter::Modified Variance for beam 37 is 16.35 
Alpha[37]	0.000000
Alpha[37]	0.997779
TNavParticleFilter::Modified Variance for beam 38 is 16.41 
Alpha[38]	0.000000
Alpha[38]	0.996468
TNavParticleFilter::Modified Variance for beam 39 is 16.64 
Alpha[39]	0.000000
Alpha[39]	0.995129
TNavParticleFilter::Modified Variance for beam 40 is 16.87 
Alpha[40]	0.000000
Alpha[40]	0.994164
TNavParticleFilter::Modified Variance for beam 41 is 17.12 
Alpha[41]	0.000000
Alpha[41]	0.993158
TNavParticleFilter::Modified Variance for beam 42 is 17.33 
Alpha[42]	0.000000
Alpha[42]	0.994930
TNavParticleFilter::Modified Variance for beam 43 is 17.57 
Alpha[43]	0.000000
Alpha[43]	0.996007
TNavParticleFilter::Modified Variance for beam 44 is 16.61 
Alpha[44]	0.000000
Alpha[44]	0.998348
TNavParticleFilter::Modified Variance for beam 45 is 16.87 
Alpha[45]	0.000000
Alpha[45]	0.998876
TNavParticleFilter::Modified Variance for beam 46 is 17.16 
Alpha[46]	0.000000
Alpha[46]	0.998509
TNavParticleFilter::Modified Variance for beam 47 is 16.45 
Alpha[47]	0.000000
Alpha[47]	0.998096
TNavParticleFilter::Modified Variance for beam 48 is 16.52 
Alpha[48]	0.000000
Alpha[48]	0.999044
TNavParticleFilter::Modified Variance for beam 49 is 16.83 
Alpha[49]	0.000000
Alpha[49]	0.999458
TNavParticleFilter::Modified Variance for beam 50 is 17.16 
Alpha[50]	0.000000
Alpha[50]	0.999521
TNavParticleFilter::Modified Variance for beam 51 is 21.71 
Alpha[51]	0.000000
Alpha[51]	0.999026
TNavParticleFilter::Modified Variance for beam 52 is 22.23 
Alpha[52]	0.000000
Alpha[52]	0.997469
TNavParticleFilter::Modified Variance for beam 53 is 27.79 
Alpha[53]	0.000000
Alpha[53]	0.996012
TNavParticleFilter::Modified Variance for beam 54 is 28.49 
Alpha[54]	0.000000
Alpha[54]	0.995717
TNavParticleFilter::Modified Variance for beam 55 is 29.22 
Alpha[55]	0.000000
Alpha[55]	0.996237
TNavParticleFilter::Modified Variance for beam 56 is 33.35 
Alpha[56]	0.000000
Alpha[56]	0.996928
TNavParticleFilter::Modified Variance for beam 57 is 32.89 
Alpha[57]	0.000000
Alpha[57]	0.995957
TNavParticleFilter::Modified Variance for beam 58 is 33.78 
Alpha[58]	0.000000
Alpha[58]	0.998182
TNavParticleFilter::Modified Variance for beam 59 is 44.29 
Alpha[59]	0.000000
Alpha[59]	0.996929
TNavPF:: sumSquaredError = 531.706761 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 4.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 5.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 6.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -7.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -2.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 5.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 18.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 19.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 17.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 18.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 16.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 15.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 16.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 16.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 17.19. Range = 98.80 
TNavPF::Calculated measDiffMean for beam 50 as 13.24. Range = 98.00 
TNavPF::Calculated measDiffMean for beam 51 as 10.73. Range = 97.24 
TNavPF::Calculated measDiffMean for beam 52 as 9.84. Range = 96.51 
TNavPF::Calculated measDiffMean for beam 53 as 11.14. Range = 93.68 
TNavPF::Calculated measDiffMean for beam 54 as 10.77. Range = 90.91 
TNavPF::Calculated measDiffMean for beam 55 as 8.00. Range = 90.34 
TNavPF::Calculated measDiffMean for beam 56 as 7.01. Range = 85.57 
TNavPF::Calculated measDiffMean for beam 57 as 5.68. Range = 87.18 
TNavPF::Calculated measDiffMean for beam 58 as 5.08. Range = 84.63 
TNavPF::Calculated measDiffMean for beam 59 as 3.74. Range = 84.20 
TNavPF::Calculated measDiffMean for beam 60 as 3.83. Range = 81.74 
TNavPF::Calculated measDiffMean for beam 61 as 3.39. Range = 79.32 
TNavPF::Calculated measDiffMean for beam 62 as 1.81. Range = 79.00 
TNavPF::Calculated measDiffMean for beam 63 as 1.69. Range = 76.66 
TNavPF::Calculated measDiffMean for beam 64 as 0.19. Range = 76.40 
TNavPF::Calculated measDiffMean for beam 65 as -1.30. Range = 74.13 
TNavPF::Calculated measDiffMean for beam 66 as -2.89. Range = 73.93 
TNavPF::Calculated measDiffMean for beam 67 as -5.40. Range = 57.58 
TNavPF::Calculated measDiffMean for beam 68 as -6.34. Range = 57.46 
TNavPF::Calculated measDiffMean for beam 69 as -7.52. Range = 57.35 
TNavPF::Calculated measDiffMean for beam 70 as -8.67. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 71 as -8.95. Range = 67.22 
TNavPF::Calculated measDiffMean for beam 72 as -8.59. Range = 67.16 
TNavPF::Calculated measDiffMean for beam 73 as -8.42. Range = 63.11 
TNavPF::Calculated measDiffMean for beam 74 as -11.91. Range = 63.09 
TNavPF::Calculated measDiffMean for beam 75 as -13.41. Range = 61.09 
TNavPF::Calculated measDiffMean for beam 76 as -15.64. Range = 61.10 
TNavPF::Calculated measDiffMean for beam 77 as -18.99. Range = 61.14 
TNavPF::Calculated measDiffMean for beam 78 as -21.27. Range = 61.19 
TNavPF::Calculated measDiffMean for beam 79 as -23.50. Range = 61.27 
TNavPF::Calculated measDiffMean for beam 80 as -25.58. Range = 57.34 
TNavPF::Calculated measDiffMean for beam 81 as -21.04. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 82 as -21.79. Range = 55.54 
TNavPF::Calculated measDiffMean for beam 83 as -13.21. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 84 as -12.64. Range = 57.86 
TNavPF::Calculated measDiffMean for beam 85 as -11.55. Range = 56.00 
TNavPF::Calculated measDiffMean for beam 86 as -7.70. Range = 56.19 
TNavPF::Calculated measDiffMean for beam 87 as -9.96. Range = 56.40 
TNavPF::Calculated measDiffMean for beam 88 as -11.84. Range = 56.62 
TNavPF::Calculated measDiffMean for beam 89 as -3.38. Range = 54.80 
TNavPF::First Term of Map Covariance Matrix is 124.71 
TNavPF::Calculated NIS Value : 294.07 	numBeams normalized NIS: 4.90
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321826.82 sec.
INS : North: 4070223.43, East: 589584.08, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 56.26, IDT[75] = 51.97
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321829.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321829.62)
ARL : North: 5.2373, East: -408.8711, Depth: -39.2190ARL : Estimation Bias  (Mean)         : (t = 1488321829.62)
ARL : North: 4.4003, East: -408.0342, Depth: -37.4246TerrainNav:: Windowed NIS is 1.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 33.55 
Alpha[0]	0.123000
Alpha[0]	0.999945
TNavParticleFilter::Modified Variance for beam 1 is 31.77 
Alpha[1]	0.000000
Alpha[1]	0.999948
TNavParticleFilter::Modified Variance for beam 2 is 20.75 
Alpha[2]	0.000000
Alpha[2]	0.999953
TNavParticleFilter::Modified Variance for beam 3 is 20.63 
Alpha[3]	0.000000
Alpha[3]	0.999958
TNavParticleFilter::Modified Variance for beam 4 is 20.53 
Alpha[4]	0.000000
Alpha[4]	0.999952
TNavParticleFilter::Modified Variance for beam 5 is 20.85 
Alpha[5]	0.000000
Alpha[5]	0.999927
TNavParticleFilter::Modified Variance for beam 6 is 26.66 
Alpha[6]	0.000000
Alpha[6]	0.999889
TNavParticleFilter::Modified Variance for beam 7 is 26.57 
Alpha[7]	0.000000
Alpha[7]	0.999765
TNavParticleFilter::Modified Variance for beam 8 is 23.87 
Alpha[8]	0.000000
Alpha[8]	0.999634
TNavParticleFilter::Modified Variance for beam 9 is 23.82 
Alpha[9]	0.000000
Alpha[9]	0.999123
TNavParticleFilter::Modified Variance for beam 10 is 22.53 
Alpha[10]	0.000000
Alpha[10]	0.998969
TNavParticleFilter::Modified Variance for beam 11 is 22.50 
Alpha[11]	0.000000
Alpha[11]	0.999087
TNavParticleFilter::Modified Variance for beam 12 is 22.48 
Alpha[12]	0.000000
Alpha[12]	0.999077
TNavParticleFilter::Modified Variance for beam 13 is 22.47 
Alpha[13]	0.000000
Alpha[13]	0.998939
TNavParticleFilter::Modified Variance for beam 14 is 22.48 
Alpha[14]	0.000000
Alpha[14]	0.998799
TNavParticleFilter::Modified Variance for beam 15 is 19.00 
Alpha[15]	0.000000
Alpha[15]	0.998638
TNavParticleFilter::Modified Variance for beam 16 is 19.04 
Alpha[16]	0.000000
Alpha[16]	0.997778
TNavParticleFilter::Modified Variance for beam 17 is 20.21 
Alpha[17]	0.000000
Alpha[17]	0.997004
TNavParticleFilter::Modified Variance for beam 18 is 20.24 
Alpha[18]	0.000000
Alpha[18]	0.997921
TNavParticleFilter::Modified Variance for beam 19 is 19.15 
Alpha[19]	0.000000
Alpha[19]	0.998135
TNavParticleFilter::Modified Variance for beam 20 is 19.20 
Alpha[20]	0.000000
Alpha[20]	0.998460
TNavParticleFilter::Modified Variance for beam 21 is 19.27 
Alpha[21]	0.000000
Alpha[21]	0.998330
TNavParticleFilter::Modified Variance for beam 22 is 19.35 
Alpha[22]	0.000000
Alpha[22]	0.998505
TNavParticleFilter::Modified Variance for beam 23 is 18.92 
Alpha[23]	0.000000
Alpha[23]	0.998399
TNavParticleFilter::Modified Variance for beam 24 is 18.43 
Alpha[24]	0.000000
Alpha[24]	0.998018
TNavParticleFilter::Modified Variance for beam 25 is 18.55 
Alpha[25]	0.000000
Alpha[25]	0.996743
TNavParticleFilter::Modified Variance for beam 26 is 17.62 
Alpha[26]	0.000000
Alpha[26]	0.993476
TNavParticleFilter::Modified Variance for beam 27 is 17.77 
Alpha[27]	0.000000
Alpha[27]	0.992042
TNavParticleFilter::Modified Variance for beam 28 is 17.39 
Alpha[28]	0.000000
Alpha[28]	0.993423
TNavParticleFilter::Modified Variance for beam 29 is 16.87 
Alpha[29]	0.000000
Alpha[29]	0.996048
TNavParticleFilter::Modified Variance for beam 30 is 16.99 
Alpha[30]	0.000000
Alpha[30]	0.997206
TNavParticleFilter::Modified Variance for beam 31 is 16.21 
Alpha[31]	0.000000
Alpha[31]	0.998052
TNavParticleFilter::Modified Variance for beam 32 is 16.20 
Alpha[32]	0.000000
Alpha[32]	0.997691
TNavParticleFilter::Modified Variance for beam 33 is 16.36 
Alpha[33]	0.000000
Alpha[33]	0.997308
TNavParticleFilter::Modified Variance for beam 34 is 16.58 
Alpha[34]	0.000000
Alpha[34]	0.994408
TNavParticleFilter::Modified Variance for beam 35 is 16.75 
Alpha[35]	0.000000
Alpha[35]	0.994675
TNavParticleFilter::Modified Variance for beam 36 is 16.95 
Alpha[36]	0.000000
Alpha[36]	0.994076
TNavParticleFilter::Modified Variance for beam 37 is 17.18 
Alpha[37]	0.000000
Alpha[37]	0.992613
TNavParticleFilter::Modified Variance for beam 38 is 17.35 
Alpha[38]	0.000000
Alpha[38]	0.995100
TNavParticleFilter::Modified Variance for beam 39 is 17.56 
Alpha[39]	0.000000
Alpha[39]	0.996302
TNavParticleFilter::Modified Variance for beam 40 is 16.91 
Alpha[40]	0.000000
Alpha[40]	0.997969
TNavParticleFilter::Modified Variance for beam 41 is 16.02 
Alpha[41]	0.000000
Alpha[41]	0.998815
TNavParticleFilter::Modified Variance for beam 42 is 15.94 
Alpha[42]	0.000000
Alpha[42]	0.998767
TNavParticleFilter::Modified Variance for beam 43 is 16.20 
Alpha[43]	0.000000
Alpha[43]	0.997450
TNavParticleFilter::Modified Variance for beam 44 is 16.46 
Alpha[44]	0.000000
Alpha[44]	0.997903
TNavParticleFilter::Modified Variance for beam 45 is 16.71 
Alpha[45]	0.000000
Alpha[45]	0.999190
TNavParticleFilter::Modified Variance for beam 46 is 20.93 
Alpha[46]	0.000000
Alpha[46]	0.999497
TNavParticleFilter::Modified Variance for beam 47 is 21.33 
Alpha[47]	0.000000
Alpha[47]	0.999480
TNavParticleFilter::Modified Variance for beam 48 is 26.42 
Alpha[48]	0.000000
Alpha[48]	0.998620
TNavParticleFilter::Modified Variance for beam 49 is 27.03 
Alpha[49]	0.000000
Alpha[49]	0.997367
TNavParticleFilter::Modified Variance for beam 50 is 27.66 
Alpha[50]	0.000000
Alpha[50]	0.996330
TNavParticleFilter::Modified Variance for beam 51 is 28.33 
Alpha[51]	0.000000
Alpha[51]	0.995623
TNavParticleFilter::Modified Variance for beam 52 is 31.90 
Alpha[52]	0.000000
Alpha[52]	0.996212
TNavParticleFilter::Modified Variance for beam 53 is 31.62 
Alpha[53]	0.000000
Alpha[53]	0.997154
TNavParticleFilter::Modified Variance for beam 54 is 32.53 
Alpha[54]	0.000000
Alpha[54]	0.995032
TNavParticleFilter::Modified Variance for beam 55 is 39.82 
Alpha[55]	0.000000
Alpha[55]	0.997589
TNavParticleFilter::Modified Variance for beam 56 is 43.45 
Alpha[56]	0.000000
Alpha[56]	0.995589
TNavParticleFilter::Modified Variance for beam 57 is 44.71 
Alpha[57]	0.000000
Alpha[57]	0.997182
TNavParticleFilter::Modified Variance for beam 58 is 43.63 
Alpha[58]	0.000000
Alpha[58]	0.996374
TNavParticleFilter::Modified Variance for beam 59 is 45.05 
Alpha[59]	0.000000
Alpha[59]	0.996885
TNavPF:: sumSquaredError = 653.841790 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 5.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 5.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -10.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -8.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -4.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 15.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 18.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 17.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 18.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 16.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 16.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 16.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 17.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 17.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 11.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 10.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 12.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 11.65. Range = 99.85 
TNavPF::Calculated measDiffMean for beam 49 as 9.27. Range = 99.05 
TNavPF::Calculated measDiffMean for beam 50 as 8.63. Range = 93.93 
TNavPF::Calculated measDiffMean for beam 51 as 7.62. Range = 93.24 
TNavPF::Calculated measDiffMean for beam 52 as 6.69. Range = 88.30 
TNavPF::Calculated measDiffMean for beam 53 as 4.41. Range = 88.54 
TNavPF::Calculated measDiffMean for beam 54 as 3.83. Range = 89.28 
TNavPF::Calculated measDiffMean for beam 55 as 4.30. Range = 86.65 
TNavPF::Calculated measDiffMean for beam 56 as 2.25. Range = 86.16 
TNavPF::Calculated measDiffMean for beam 57 as 2.51. Range = 83.62 
TNavPF::Calculated measDiffMean for beam 58 as 1.60. Range = 81.13 
TNavPF::Calculated measDiffMean for beam 59 as 0.25. Range = 78.69 
TNavPF::Calculated measDiffMean for beam 60 as 0.11. Range = 78.36 
TNavPF::Calculated measDiffMean for beam 61 as -2.93. Range = 76.00 
TNavPF::Calculated measDiffMean for beam 62 as -4.68. Range = 59.39 
TNavPF::Calculated measDiffMean for beam 63 as -5.05. Range = 59.19 
TNavPF::Calculated measDiffMean for beam 64 as -5.61. Range = 59.01 
TNavPF::Calculated measDiffMean for beam 65 as -6.30. Range = 59.57 
TNavPF::Calculated measDiffMean for beam 66 as -7.64. Range = 68.81 
TNavPF::Calculated measDiffMean for beam 67 as -7.88. Range = 68.66 
TNavPF::Calculated measDiffMean for beam 68 as -7.70. Range = 64.52 
TNavPF::Calculated measDiffMean for beam 69 as -7.33. Range = 64.42 
TNavPF::Calculated measDiffMean for beam 70 as -9.77. Range = 62.34 
TNavPF::Calculated measDiffMean for beam 71 as -13.84. Range = 62.29 
TNavPF::Calculated measDiffMean for beam 72 as -16.01. Range = 62.26 
TNavPF::Calculated measDiffMean for beam 73 as -17.80. Range = 62.24 
TNavPF::Calculated measDiffMean for beam 74 as -18.90. Range = 62.24 
TNavPF::Calculated measDiffMean for beam 75 as -20.67. Range = 56.26 
TNavPF::Calculated measDiffMean for beam 76 as -15.91. Range = 56.30 
TNavPF::Calculated measDiffMean for beam 77 as -18.19. Range = 58.36 
TNavPF::Calculated measDiffMean for beam 78 as -13.12. Range = 58.43 
TNavPF::Calculated measDiffMean for beam 79 as -13.21. Range = 56.51 
TNavPF::Calculated measDiffMean for beam 80 as -12.22. Range = 56.62 
TNavPF::Calculated measDiffMean for beam 81 as -11.51. Range = 56.75 
TNavPF::Calculated measDiffMean for beam 82 as -6.54. Range = 56.89 
TNavPF::Calculated measDiffMean for beam 83 as -8.08. Range = 56.10 
TNavPF::Calculated measDiffMean for beam 84 as -8.94. Range = 55.19 
TNavPF::Calculated measDiffMean for beam 85 as -1.31. Range = 55.38 
TNavPF::Calculated measDiffMean for beam 86 as -2.02. Range = 53.54 
TNavPF::Calculated measDiffMean for beam 87 as -2.66. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 88 as -5.01. Range = 53.09 
TNavPF::Calculated measDiffMean for beam 89 as -3.80. Range = 52.17 
TNavPF::First Term of Map Covariance Matrix is 362.06 
TNavPF::Calculated NIS Value : 228.87 	numBeams normalized NIS: 3.81
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321829.82 sec.
INS : North: 4070224.65, East: 589580.00, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 57.51, IDT[75] = 67.83
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321832.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321832.62)
ARL : North: 4.2985, East: -407.1230, Depth: -37.8197ARL : Estimation Bias  (Mean)         : (t = 1488321832.62)
ARL : North: 3.8881, East: -407.2021, Depth: -37.1717TerrainNav:: Windowed NIS is 1.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.71 
Alpha[0]	0.123000
Alpha[0]	0.999959
TNavParticleFilter::Modified Variance for beam 1 is 21.95 
Alpha[1]	0.000000
Alpha[1]	0.999954
TNavParticleFilter::Modified Variance for beam 2 is 28.00 
Alpha[2]	0.000000
Alpha[2]	0.999930
TNavParticleFilter::Modified Variance for beam 3 is 27.85 
Alpha[3]	0.000000
Alpha[3]	0.999889
TNavParticleFilter::Modified Variance for beam 4 is 25.00 
Alpha[4]	0.000000
Alpha[4]	0.999771
TNavParticleFilter::Modified Variance for beam 5 is 24.89 
Alpha[5]	0.000000
Alpha[5]	0.999499
TNavParticleFilter::Modified Variance for beam 6 is 23.52 
Alpha[6]	0.000000
Alpha[6]	0.999239
TNavParticleFilter::Modified Variance for beam 7 is 23.44 
Alpha[7]	0.000000
Alpha[7]	0.999162
TNavParticleFilter::Modified Variance for beam 8 is 23.38 
Alpha[8]	0.000000
Alpha[8]	0.999099
TNavParticleFilter::Modified Variance for beam 9 is 23.33 
Alpha[9]	0.000000
Alpha[9]	0.998941
TNavParticleFilter::Modified Variance for beam 10 is 23.29 
Alpha[10]	0.000000
Alpha[10]	0.998729
TNavParticleFilter::Modified Variance for beam 11 is 22.05 
Alpha[11]	0.000000
Alpha[11]	0.998078
TNavParticleFilter::Modified Variance for beam 12 is 22.06 
Alpha[12]	0.000000
Alpha[12]	0.996743
TNavParticleFilter::Modified Variance for beam 13 is 20.85 
Alpha[13]	0.000000
Alpha[13]	0.997264
TNavParticleFilter::Modified Variance for beam 14 is 20.84 
Alpha[14]	0.000000
Alpha[14]	0.998029
TNavParticleFilter::Modified Variance for beam 15 is 19.70 
Alpha[15]	0.000000
Alpha[15]	0.998230
TNavParticleFilter::Modified Variance for beam 16 is 19.73 
Alpha[16]	0.000000
Alpha[16]	0.998369
TNavParticleFilter::Modified Variance for beam 17 is 19.77 
Alpha[17]	0.000000
Alpha[17]	0.998243
TNavParticleFilter::Modified Variance for beam 18 is 19.81 
Alpha[18]	0.000000
Alpha[18]	0.998471
TNavParticleFilter::Modified Variance for beam 19 is 18.75 
Alpha[19]	0.000000
Alpha[19]	0.998070
TNavParticleFilter::Modified Variance for beam 20 is 18.83 
Alpha[20]	0.000000
Alpha[20]	0.996819
TNavParticleFilter::Modified Variance for beam 21 is 17.86 
Alpha[21]	0.000000
Alpha[21]	0.994114
TNavParticleFilter::Modified Variance for beam 22 is 17.99 
Alpha[22]	0.000000
Alpha[22]	0.991201
TNavParticleFilter::Modified Variance for beam 23 is 17.68 
Alpha[23]	0.000000
Alpha[23]	0.991435
TNavParticleFilter::Modified Variance for beam 24 is 17.04 
Alpha[24]	0.000000
Alpha[24]	0.993895
TNavParticleFilter::Modified Variance for beam 25 is 17.10 
Alpha[25]	0.000000
Alpha[25]	0.996181
TNavParticleFilter::Modified Variance for beam 26 is 16.14 
Alpha[26]	0.000000
Alpha[26]	0.997188
TNavParticleFilter::Modified Variance for beam 27 is 16.24 
Alpha[27]	0.000000
Alpha[27]	0.997896
TNavParticleFilter::Modified Variance for beam 28 is 16.36 
Alpha[28]	0.000000
Alpha[28]	0.997453
TNavParticleFilter::Modified Variance for beam 29 is 16.50 
Alpha[29]	0.000000
Alpha[29]	0.997104
TNavParticleFilter::Modified Variance for beam 30 is 16.68 
Alpha[30]	0.000000
Alpha[30]	0.993955
TNavParticleFilter::Modified Variance for beam 31 is 16.84 
Alpha[31]	0.000000
Alpha[31]	0.993727
TNavParticleFilter::Modified Variance for beam 32 is 16.97 
Alpha[32]	0.000000
Alpha[32]	0.995338
TNavParticleFilter::Modified Variance for beam 33 is 17.20 
Alpha[33]	0.000000
Alpha[33]	0.991575
TNavParticleFilter::Modified Variance for beam 34 is 17.34 
Alpha[34]	0.000000
Alpha[34]	0.993894
TNavParticleFilter::Modified Variance for beam 35 is 16.60 
Alpha[35]	0.000000
Alpha[35]	0.995980
TNavParticleFilter::Modified Variance for beam 36 is 16.55 
Alpha[36]	0.000000
Alpha[36]	0.997174
TNavParticleFilter::Modified Variance for beam 37 is 16.73 
Alpha[37]	0.000000
Alpha[37]	0.998388
TNavParticleFilter::Modified Variance for beam 38 is 16.00 
Alpha[38]	0.000000
Alpha[38]	0.998784
TNavParticleFilter::Modified Variance for beam 39 is 16.04 
Alpha[39]	0.000000
Alpha[39]	0.998365
TNavParticleFilter::Modified Variance for beam 40 is 16.28 
Alpha[40]	0.000000
Alpha[40]	0.997137
TNavParticleFilter::Modified Variance for beam 41 is 18.91 
Alpha[41]	0.000000
Alpha[41]	0.997598
TNavParticleFilter::Modified Variance for beam 42 is 20.48 
Alpha[42]	0.000000
Alpha[42]	0.999047
TNavParticleFilter::Modified Variance for beam 43 is 25.09 
Alpha[43]	0.000000
Alpha[43]	0.999476
TNavParticleFilter::Modified Variance for beam 44 is 25.54 
Alpha[44]	0.000000
Alpha[44]	0.999478
TNavParticleFilter::Modified Variance for beam 45 is 26.04 
Alpha[45]	0.000000
Alpha[45]	0.998741
TNavParticleFilter::Modified Variance for beam 46 is 26.58 
Alpha[46]	0.000000
Alpha[46]	0.997473
TNavParticleFilter::Modified Variance for beam 47 is 27.13 
Alpha[47]	0.000000
Alpha[47]	0.997141
TNavParticleFilter::Modified Variance for beam 48 is 31.24 
Alpha[48]	0.000000
Alpha[48]	0.995922
TNavParticleFilter::Modified Variance for beam 49 is 30.23 
Alpha[49]	0.000000
Alpha[49]	0.996132
TNavParticleFilter::Modified Variance for beam 50 is 30.79 
Alpha[50]	0.000000
Alpha[50]	0.996952
TNavParticleFilter::Modified Variance for beam 51 is 31.54 
Alpha[51]	0.000000
Alpha[51]	0.996704
TNavParticleFilter::Modified Variance for beam 52 is 38.47 
Alpha[52]	0.000000
Alpha[52]	0.996120
TNavParticleFilter::Modified Variance for beam 53 is 41.67 
Alpha[53]	0.000000
Alpha[53]	0.997715
TNavParticleFilter::Modified Variance for beam 54 is 42.89 
Alpha[54]	0.000000
Alpha[54]	0.996198
TNavParticleFilter::Modified Variance for beam 55 is 42.14 
Alpha[55]	0.000000
Alpha[55]	0.997153
TNavParticleFilter::Modified Variance for beam 56 is 43.00 
Alpha[56]	0.000000
Alpha[56]	0.996370
TNavParticleFilter::Modified Variance for beam 57 is 44.37 
Alpha[57]	0.000000
Alpha[57]	0.996979
TNavParticleFilter::Modified Variance for beam 58 is 51.11 
Alpha[58]	0.000000
Alpha[58]	0.996078
TNavPF:: sumSquaredError = 442.823719 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -6.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 14.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 18.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 17.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 19.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 17.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 16.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 17.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 17.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 17.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 15.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 14.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 12.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 11.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 9.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 8.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 7.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 6.76. Range = 98.69 
TNavPF::Calculated measDiffMean for beam 49 as 3.63. Range = 95.72 
TNavPF::Calculated measDiffMean for beam 50 as 4.09. Range = 90.65 
TNavPF::Calculated measDiffMean for beam 51 as 2.60. Range = 92.16 
TNavPF::Calculated measDiffMean for beam 52 as 2.70. Range = 89.39 
TNavPF::Calculated measDiffMean for beam 53 as 2.26. Range = 88.81 
TNavPF::Calculated measDiffMean for beam 54 as 0.92. Range = 86.15 
TNavPF::Calculated measDiffMean for beam 55 as 0.74. Range = 83.55 
TNavPF::Calculated measDiffMean for beam 56 as -1.55. Range = 81.00 
TNavPF::Calculated measDiffMean for beam 57 as -2.83. Range = 80.58 
TNavPF::Calculated measDiffMean for beam 58 as -4.12. Range = 61.55 
TNavPF::Calculated measDiffMean for beam 59 as -4.56. Range = 61.27 
TNavPF::Calculated measDiffMean for beam 60 as -5.09. Range = 61.02 
TNavPF::Calculated measDiffMean for beam 61 as -5.36. Range = 61.42 
TNavPF::Calculated measDiffMean for beam 62 as -6.60. Range = 70.76 
TNavPF::Calculated measDiffMean for beam 63 as -7.20. Range = 70.54 
TNavPF::Calculated measDiffMean for beam 64 as -7.10. Range = 66.28 
TNavPF::Calculated measDiffMean for beam 65 as -8.51. Range = 66.11 
TNavPF::Calculated measDiffMean for beam 66 as -9.05. Range = 63.94 
TNavPF::Calculated measDiffMean for beam 67 as -10.33. Range = 63.82 
TNavPF::Calculated measDiffMean for beam 68 as -13.69. Range = 63.71 
TNavPF::Calculated measDiffMean for beam 69 as -16.03. Range = 63.63 
TNavPF::Calculated measDiffMean for beam 70 as -16.96. Range = 63.56 
TNavPF::Calculated measDiffMean for beam 71 as -13.38. Range = 61.51 
TNavPF::Calculated measDiffMean for beam 72 as -12.68. Range = 61.48 
TNavPF::Calculated measDiffMean for beam 73 as -8.23. Range = 59.47 
TNavPF::Calculated measDiffMean for beam 74 as -9.97. Range = 59.48 
TNavPF::Calculated measDiffMean for beam 75 as -12.54. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 76 as -12.49. Range = 57.55 
TNavPF::Calculated measDiffMean for beam 77 as -12.26. Range = 57.62 
TNavPF::Calculated measDiffMean for beam 78 as -6.03. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 79 as -7.75. Range = 55.78 
TNavPF::Calculated measDiffMean for beam 80 as -7.02. Range = 55.89 
TNavPF::Calculated measDiffMean for beam 81 as -8.14. Range = 54.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.26. Range = 54.15 
TNavPF::Calculated measDiffMean for beam 83 as 0.78. Range = 53.58 
TNavPF::Calculated measDiffMean for beam 84 as -1.50. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 85 as -4.37. Range = 52.63 
TNavPF::Calculated measDiffMean for beam 86 as -4.27. Range = 50.78 
TNavPF::Calculated measDiffMean for beam 87 as -3.00. Range = 50.99 
TNavPF::Calculated measDiffMean for beam 88 as 4.98. Range = 51.23 
TNavPF::First Term of Map Covariance Matrix is 481.95 
TNavPF::Calculated NIS Value : 190.83 	numBeams normalized NIS: 3.23
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321832.82 sec.
INS : North: 4070225.90, East: 589575.89, Depth: 890.13
TerrainNav::measUpdate() - IDT[45] = 56.75, IDT[75] = 73.96
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321835.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321835.62)
ARL : North: 4.8197, East: -407.2037, Depth: -35.7306ARL : Estimation Bias  (Mean)         : (t = 1488321835.62)
ARL : North: 3.6691, East: -405.6897, Depth: -36.7000TerrainNav:: Windowed NIS average 1.44 exceeds the maximum allowed of 1.4.  Re-initializing the filter.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS : North: 4070227.16, East: 589571.75, Depth: 890.14
TerrainNav::measUpdate() - IDT[45] = 55.91, IDT[75] = 72.02
TerrainNav::Measurement type 5 from time = 1488321838.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070228.31, East: 589567.55, Depth: 890.13
TerrainNav::measUpdate() - IDT[45] = 54.96, IDT[75] = 71.07
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321841.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 27.53 
Alpha[0]	0.123000
Alpha[0]	0.999958
TNavParticleFilter::Modified Variance for beam 1 is 27.28 
Alpha[1]	0.000000
Alpha[1]	0.999956
TNavParticleFilter::Modified Variance for beam 2 is 27.05 
Alpha[2]	0.000000
Alpha[2]	0.999954
TNavParticleFilter::Modified Variance for beam 3 is 26.83 
Alpha[3]	0.000000
Alpha[3]	0.999952
TNavParticleFilter::Modified Variance for beam 4 is 26.63 
Alpha[4]	0.000000
Alpha[4]	0.999949
TNavParticleFilter::Modified Variance for beam 5 is 25.10 
Alpha[5]	0.000000
Alpha[5]	0.999947
TNavParticleFilter::Modified Variance for beam 6 is 23.64 
Alpha[6]	0.000000
Alpha[6]	0.999944
TNavParticleFilter::Modified Variance for beam 7 is 22.25 
Alpha[7]	0.000000
Alpha[7]	0.999942
TNavParticleFilter::Modified Variance for beam 8 is 22.13 
Alpha[8]	0.000000
Alpha[8]	0.999940
TNavParticleFilter::Modified Variance for beam 9 is 22.03 
Alpha[9]	0.000000
Alpha[9]	0.999937
TNavParticleFilter::Modified Variance for beam 10 is 21.95 
Alpha[10]	0.000000
Alpha[10]	0.999934
TNavParticleFilter::Modified Variance for beam 11 is 21.87 
Alpha[11]	0.000000
Alpha[11]	0.999932
TNavParticleFilter::Modified Variance for beam 12 is 20.62 
Alpha[12]	0.000000
Alpha[12]	0.999930
TNavParticleFilter::Modified Variance for beam 13 is 19.43 
Alpha[13]	0.000000
Alpha[13]	0.999928
TNavParticleFilter::Modified Variance for beam 14 is 19.39 
Alpha[14]	0.000000
Alpha[14]	0.999925
TNavParticleFilter::Modified Variance for beam 15 is 18.27 
Alpha[15]	0.000000
Alpha[15]	0.999923
TNavParticleFilter::Modified Variance for beam 16 is 18.25 
Alpha[16]	0.000000
Alpha[16]	0.999921
TNavParticleFilter::Modified Variance for beam 17 is 17.18 
Alpha[17]	0.000000
Alpha[17]	0.999920
TNavParticleFilter::Modified Variance for beam 18 is 17.19 
Alpha[18]	0.000000
Alpha[18]	0.999918
TNavParticleFilter::Modified Variance for beam 19 is 17.20 
Alpha[19]	0.000000
Alpha[19]	0.999918
TNavParticleFilter::Modified Variance for beam 20 is 17.22 
Alpha[20]	0.000000
Alpha[20]	0.999918
TNavParticleFilter::Modified Variance for beam 21 is 17.24 
Alpha[21]	0.000000
Alpha[21]	0.999918
TNavParticleFilter::Modified Variance for beam 22 is 17.28 
Alpha[22]	0.000000
Alpha[22]	0.999918
TNavParticleFilter::Modified Variance for beam 23 is 17.32 
Alpha[23]	0.000000
Alpha[23]	0.999919
TNavParticleFilter::Modified Variance for beam 24 is 17.37 
Alpha[24]	0.000000
Alpha[24]	0.999920
TNavParticleFilter::Modified Variance for beam 25 is 16.48 
Alpha[25]	0.000000
Alpha[25]	0.999921
TNavParticleFilter::Modified Variance for beam 26 is 16.46 
Alpha[26]	0.000000
Alpha[26]	0.999921
TNavParticleFilter::Modified Variance for beam 27 is 16.54 
Alpha[27]	0.000000
Alpha[27]	0.999922
TNavParticleFilter::Modified Variance for beam 28 is 15.61 
Alpha[28]	0.000000
Alpha[28]	0.999924
TNavParticleFilter::Modified Variance for beam 29 is 15.69 
Alpha[29]	0.000000
Alpha[29]	0.999925
TNavParticleFilter::Modified Variance for beam 30 is 17.88 
Alpha[30]	0.000000
Alpha[30]	0.999926
TNavParticleFilter::Modified Variance for beam 31 is 18.00 
Alpha[31]	0.000000
Alpha[31]	0.999927
TNavParticleFilter::Modified Variance for beam 32 is 18.13 
Alpha[32]	0.000000
Alpha[32]	0.999928
TNavParticleFilter::Modified Variance for beam 33 is 18.27 
Alpha[33]	0.000000
Alpha[33]	0.999930
TNavParticleFilter::Modified Variance for beam 34 is 19.57 
Alpha[34]	0.000000
Alpha[34]	0.999931
TNavParticleFilter::Modified Variance for beam 35 is 23.50 
Alpha[35]	0.000000
Alpha[35]	0.999933
TNavParticleFilter::Modified Variance for beam 36 is 23.74 
Alpha[36]	0.000000
Alpha[36]	0.999934
TNavParticleFilter::Modified Variance for beam 37 is 25.35 
Alpha[37]	0.000000
Alpha[37]	0.999935
TNavParticleFilter::Modified Variance for beam 38 is 25.64 
Alpha[38]	0.000000
Alpha[38]	0.999937
TNavParticleFilter::Modified Variance for beam 39 is 25.94 
Alpha[39]	0.000000
Alpha[39]	0.999938
TNavParticleFilter::Modified Variance for beam 40 is 26.26 
Alpha[40]	0.000000
Alpha[40]	0.999940
TNavParticleFilter::Modified Variance for beam 41 is 26.61 
Alpha[41]	0.000000
Alpha[41]	0.999942
TNavParticleFilter::Modified Variance for beam 42 is 28.49 
Alpha[42]	0.000000
Alpha[42]	0.999943
TNavParticleFilter::Modified Variance for beam 43 is 30.50 
Alpha[43]	0.000000
Alpha[43]	0.999945
TNavParticleFilter::Modified Variance for beam 44 is 27.78 
Alpha[44]	0.000000
Alpha[44]	0.999947
TNavParticleFilter::Modified Variance for beam 45 is 28.22 
Alpha[45]	0.000000
Alpha[45]	0.999948
TNavParticleFilter::Modified Variance for beam 46 is 28.69 
Alpha[46]	0.000000
Alpha[46]	0.999950
TNavParticleFilter::Modified Variance for beam 47 is 34.32 
Alpha[47]	0.000000
Alpha[47]	0.999952
TNavParticleFilter::Modified Variance for beam 48 is 36.81 
Alpha[48]	0.000000
Alpha[48]	0.999954
TNavParticleFilter::Modified Variance for beam 49 is 37.53 
Alpha[49]	0.000000
Alpha[49]	0.999955
TNavParticleFilter::Modified Variance for beam 50 is 38.28 
Alpha[50]	0.000000
Alpha[50]	0.999957
TNavParticleFilter::Modified Variance for beam 51 is 38.52 
Alpha[51]	0.000000
Alpha[51]	0.999959
TNavParticleFilter::Modified Variance for beam 52 is 37.92 
Alpha[52]	0.000000
Alpha[52]	0.999961
TNavParticleFilter::Modified Variance for beam 53 is 40.79 
Alpha[53]	0.000000
Alpha[53]	0.999963
TNavParticleFilter::Modified Variance for beam 54 is 39.69 
Alpha[54]	0.000000
Alpha[54]	0.999964
TNavParticleFilter::Modified Variance for beam 55 is 42.85 
Alpha[55]	0.000000
Alpha[55]	0.999966
TNavParticleFilter::Modified Variance for beam 56 is 46.27 
Alpha[56]	0.000000
Alpha[56]	0.999968
TNavParticleFilter::Modified Variance for beam 57 is 49.95 
Alpha[57]	0.000000
Alpha[57]	0.999969
TNavParticleFilter::Modified Variance for beam 58 is 46.37 
Alpha[58]	0.000000
Alpha[58]	0.999971
TNavPF:: sumSquaredError = 1497.715564 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 15.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 15.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 15.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 16.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 16.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 14.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 12.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 11.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 11.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 11.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 11.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 12.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 10.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 8.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 8.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 7.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 7.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 5.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 5.48. Range = 99.67 
TNavPF::Calculated measDiffMean for beam 49 as 5.62. Range = 99.69 
TNavPF::Calculated measDiffMean for beam 50 as 5.75. Range = 97.81 
TNavPF::Calculated measDiffMean for beam 51 as 5.87. Range = 96.96 
TNavPF::Calculated measDiffMean for beam 52 as 6.00. Range = 91.72 
TNavPF::Calculated measDiffMean for beam 53 as 6.13. Range = 69.03 
TNavPF::Calculated measDiffMean for beam 54 as 6.27. Range = 68.50 
TNavPF::Calculated measDiffMean for beam 55 as 4.52. Range = 68.00 
TNavPF::Calculated measDiffMean for beam 56 as 4.47. Range = 69.31 
TNavPF::Calculated measDiffMean for beam 57 as 4.55. Range = 77.75 
TNavPF::Calculated measDiffMean for beam 58 as 2.63. Range = 77.26 
TNavPF::Calculated measDiffMean for beam 59 as 2.70. Range = 72.59 
TNavPF::Calculated measDiffMean for beam 60 as 6.92. Range = 70.09 
TNavPF::Calculated measDiffMean for beam 61 as 7.05. Range = 69.72 
TNavPF::Calculated measDiffMean for beam 62 as 7.14. Range = 69.37 
TNavPF::Calculated measDiffMean for beam 63 as 7.22. Range = 69.06 
TNavPF::Calculated measDiffMean for beam 64 as 9.44. Range = 68.76 
TNavPF::Calculated measDiffMean for beam 65 as 15.90. Range = 66.44 
TNavPF::Calculated measDiffMean for beam 66 as 16.08. Range = 64.16 
TNavPF::Calculated measDiffMean for beam 67 as 18.37. Range = 61.91 
TNavPF::Calculated measDiffMean for beam 68 as 18.61. Range = 61.73 
TNavPF::Calculated measDiffMean for beam 69 as 18.79. Range = 61.56 
TNavPF::Calculated measDiffMean for beam 70 as 19.01. Range = 61.41 
TNavPF::Calculated measDiffMean for beam 71 as 19.24. Range = 61.29 
TNavPF::Calculated measDiffMean for beam 72 as 21.68. Range = 59.17 
TNavPF::Calculated measDiffMean for beam 73 as 24.14. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 74 as 19.97. Range = 57.01 
TNavPF::Calculated measDiffMean for beam 75 as 20.27. Range = 54.96 
TNavPF::Calculated measDiffMean for beam 76 as 20.52. Range = 54.93 
TNavPF::Calculated measDiffMean for beam 77 as 27.74. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 78 as 30.41. Range = 52.92 
TNavPF::Calculated measDiffMean for beam 79 as 30.81. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 80 as 31.23. Range = 52.97 
TNavPF::Calculated measDiffMean for beam 81 as 31.03. Range = 53.02 
TNavPF::Calculated measDiffMean for beam 82 as 29.71. Range = 53.09 
TNavPF::Calculated measDiffMean for beam 83 as 32.58. Range = 53.18 
TNavPF::Calculated measDiffMean for beam 84 as 30.66. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 85 as 33.73. Range = 51.53 
TNavPF::Calculated measDiffMean for beam 86 as 36.86. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 87 as 40.11. Range = 51.65 
TNavPF::Calculated measDiffMean for beam 88 as 35.53. Range = 49.78 
TNavPF::First Term of Map Covariance Matrix is 476.04 
TNavPF::Calculated NIS Value : 10.75 	numBeams normalized NIS: 0.18
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321841.82 sec.
INS : North: 4070229.23, East: 589563.28, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 55.97, IDT[75] = 69.70
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321844.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321844.62)
ARL : North: -12.5231, East: -16.6983, Depth: -24.5055ARL : Estimation Bias  (Mean)         : (t = 1488321844.62)
ARL : North: -12.8233, East: -17.9542, Depth: -25.1402TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 30.84 
Alpha[0]	0.123000
Alpha[0]	0.997057
TNavParticleFilter::Modified Variance for beam 1 is 28.96 
Alpha[1]	0.000000
Alpha[1]	0.996974
TNavParticleFilter::Modified Variance for beam 2 is 28.65 
Alpha[2]	0.000000
Alpha[2]	0.996894
TNavParticleFilter::Modified Variance for beam 3 is 28.34 
Alpha[3]	0.000000
Alpha[3]	0.997513
TNavParticleFilter::Modified Variance for beam 4 is 28.05 
Alpha[4]	0.000000
Alpha[4]	0.998025
TNavParticleFilter::Modified Variance for beam 5 is 26.38 
Alpha[5]	0.000000
Alpha[5]	0.998110
TNavParticleFilter::Modified Variance for beam 6 is 24.79 
Alpha[6]	0.000000
Alpha[6]	0.998204
TNavParticleFilter::Modified Variance for beam 7 is 23.29 
Alpha[7]	0.000000
Alpha[7]	0.998250
TNavParticleFilter::Modified Variance for beam 8 is 23.13 
Alpha[8]	0.000000
Alpha[8]	0.998149
TNavParticleFilter::Modified Variance for beam 9 is 22.99 
Alpha[9]	0.000000
Alpha[9]	0.997756
TNavParticleFilter::Modified Variance for beam 10 is 22.85 
Alpha[10]	0.000000
Alpha[10]	0.997777
TNavParticleFilter::Modified Variance for beam 11 is 21.50 
Alpha[11]	0.000000
Alpha[11]	0.997458
TNavParticleFilter::Modified Variance for beam 12 is 20.24 
Alpha[12]	0.000000
Alpha[12]	0.996544
TNavParticleFilter::Modified Variance for beam 13 is 20.15 
Alpha[13]	0.000000
Alpha[13]	0.996317
TNavParticleFilter::Modified Variance for beam 14 is 18.95 
Alpha[14]	0.000000
Alpha[14]	0.996275
TNavParticleFilter::Modified Variance for beam 15 is 18.86 
Alpha[15]	0.000000
Alpha[15]	0.997680
TNavParticleFilter::Modified Variance for beam 16 is 17.71 
Alpha[16]	0.000000
Alpha[16]	0.998465
TNavParticleFilter::Modified Variance for beam 17 is 17.67 
Alpha[17]	0.000000
Alpha[17]	0.998749
TNavParticleFilter::Modified Variance for beam 18 is 17.63 
Alpha[18]	0.000000
Alpha[18]	0.998866
TNavParticleFilter::Modified Variance for beam 19 is 17.61 
Alpha[19]	0.000000
Alpha[19]	0.998981
TNavParticleFilter::Modified Variance for beam 20 is 17.60 
Alpha[20]	0.000000
Alpha[20]	0.998972
TNavParticleFilter::Modified Variance for beam 21 is 17.60 
Alpha[21]	0.000000
Alpha[21]	0.998846
TNavParticleFilter::Modified Variance for beam 22 is 17.61 
Alpha[22]	0.000000
Alpha[22]	0.998088
TNavParticleFilter::Modified Variance for beam 23 is 17.63 
Alpha[23]	0.000000
Alpha[23]	0.997724
TNavParticleFilter::Modified Variance for beam 24 is 16.62 
Alpha[24]	0.000000
Alpha[24]	0.997322
TNavParticleFilter::Modified Variance for beam 25 is 16.66 
Alpha[25]	0.000000
Alpha[25]	0.996638
TNavParticleFilter::Modified Variance for beam 26 is 16.71 
Alpha[26]	0.000000
Alpha[26]	0.996288
TNavParticleFilter::Modified Variance for beam 27 is 15.74 
Alpha[27]	0.000000
Alpha[27]	0.996617
TNavParticleFilter::Modified Variance for beam 28 is 15.77 
Alpha[28]	0.000000
Alpha[28]	0.997771
TNavParticleFilter::Modified Variance for beam 29 is 17.89 
Alpha[29]	0.000000
Alpha[29]	0.998149
TNavParticleFilter::Modified Variance for beam 30 is 17.96 
Alpha[30]	0.000000
Alpha[30]	0.998117
TNavParticleFilter::Modified Variance for beam 31 is 18.06 
Alpha[31]	0.000000
Alpha[31]	0.997741
TNavParticleFilter::Modified Variance for beam 32 is 18.15 
Alpha[32]	0.000000
Alpha[32]	0.997732
TNavParticleFilter::Modified Variance for beam 33 is 19.39 
Alpha[33]	0.000000
Alpha[33]	0.997037
TNavParticleFilter::Modified Variance for beam 34 is 23.17 
Alpha[34]	0.000000
Alpha[34]	0.996624
TNavParticleFilter::Modified Variance for beam 35 is 23.35 
Alpha[35]	0.000000
Alpha[35]	0.996265
TNavParticleFilter::Modified Variance for beam 36 is 23.59 
Alpha[36]	0.000000
Alpha[36]	0.993655
TNavParticleFilter::Modified Variance for beam 37 is 25.20 
Alpha[37]	0.000000
Alpha[37]	0.990824
TNavParticleFilter::Modified Variance for beam 38 is 25.28 
Alpha[38]	0.000000
Alpha[38]	0.996415
TNavParticleFilter::Modified Variance for beam 39 is 25.48 
Alpha[39]	0.000000
Alpha[39]	0.998052
TNavParticleFilter::Modified Variance for beam 40 is 25.71 
Alpha[40]	0.000000
Alpha[40]	0.999130
TNavParticleFilter::Modified Variance for beam 41 is 25.98 
Alpha[41]	0.000000
Alpha[41]	0.999330
TNavParticleFilter::Modified Variance for beam 42 is 26.29 
Alpha[42]	0.000000
Alpha[42]	0.998825
TNavParticleFilter::Modified Variance for beam 43 is 28.12 
Alpha[43]	0.000000
Alpha[43]	0.997468
TNavParticleFilter::Modified Variance for beam 44 is 27.05 
Alpha[44]	0.000000
Alpha[44]	0.994885
TNavParticleFilter::Modified Variance for beam 45 is 27.42 
Alpha[45]	0.000000
Alpha[45]	0.994689
TNavParticleFilter::Modified Variance for beam 46 is 27.78 
Alpha[46]	0.000000
Alpha[46]	0.995492
TNavParticleFilter::Modified Variance for beam 47 is 33.07 
Alpha[47]	0.000000
Alpha[47]	0.995392
TNavParticleFilter::Modified Variance for beam 48 is 33.65 
Alpha[48]	0.000000
Alpha[48]	0.993620
TNavParticleFilter::Modified Variance for beam 49 is 36.07 
Alpha[49]	0.000000
Alpha[49]	0.991407
TNavParticleFilter::Modified Variance for beam 50 is 36.61 
Alpha[50]	0.000000
Alpha[50]	0.993702
TNavParticleFilter::Modified Variance for beam 51 is 37.21 
Alpha[51]	0.000000
Alpha[51]	0.995399
TNavParticleFilter::Modified Variance for beam 52 is 37.20 
Alpha[52]	0.000000
Alpha[52]	0.995893
TNavParticleFilter::Modified Variance for beam 53 is 36.66 
Alpha[53]	0.000000
Alpha[53]	0.997002
TNavParticleFilter::Modified Variance for beam 54 is 39.41 
Alpha[54]	0.000000
Alpha[54]	0.996338
TNavParticleFilter::Modified Variance for beam 55 is 38.35 
Alpha[55]	0.000000
Alpha[55]	0.993195
TNavParticleFilter::Modified Variance for beam 56 is 41.25 
Alpha[56]	0.000000
Alpha[56]	0.993676
TNavParticleFilter::Modified Variance for beam 57 is 44.33 
Alpha[57]	0.000000
Alpha[57]	0.995148
TNavParticleFilter::Modified Variance for beam 58 is 47.68 
Alpha[58]	0.000000
Alpha[58]	0.995678
TNavParticleFilter::Modified Variance for beam 59 is 45.18 
Alpha[59]	0.000000
Alpha[59]	0.994993
TNavPF:: sumSquaredError = 54.501458 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 7.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 4.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 4.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 4.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 4.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 3.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 2.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 2.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 3.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 4.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 2.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -2.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.38. Range = 99.28 
TNavPF::Calculated measDiffMean for beam 54 as -2.04. Range = 71.45 
TNavPF::Calculated measDiffMean for beam 55 as -2.38. Range = 70.83 
TNavPF::Calculated measDiffMean for beam 56 as -2.37. Range = 70.24 
TNavPF::Calculated measDiffMean for beam 57 as -4.47. Range = 85.01 
TNavPF::Calculated measDiffMean for beam 58 as -4.48. Range = 80.02 
TNavPF::Calculated measDiffMean for beam 59 as -0.10. Range = 79.45 
TNavPF::Calculated measDiffMean for beam 60 as -0.20. Range = 74.62 
TNavPF::Calculated measDiffMean for beam 61 as -0.98. Range = 72.00 
TNavPF::Calculated measDiffMean for beam 62 as -2.01. Range = 71.56 
TNavPF::Calculated measDiffMean for beam 63 as -1.40. Range = 71.15 
TNavPF::Calculated measDiffMean for beam 64 as 3.34. Range = 70.76 
TNavPF::Calculated measDiffMean for beam 65 as 1.98. Range = 68.31 
TNavPF::Calculated measDiffMean for beam 66 as 1.06. Range = 65.91 
TNavPF::Calculated measDiffMean for beam 67 as 2.23. Range = 63.55 
TNavPF::Calculated measDiffMean for beam 68 as 2.24. Range = 63.29 
TNavPF::Calculated measDiffMean for beam 69 as 2.26. Range = 63.04 
TNavPF::Calculated measDiffMean for beam 70 as 0.08. Range = 62.82 
TNavPF::Calculated measDiffMean for beam 71 as -3.87. Range = 60.58 
TNavPF::Calculated measDiffMean for beam 72 as -6.29. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 73 as -4.72. Range = 58.23 
TNavPF::Calculated measDiffMean for beam 74 as -6.87. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 75 as -7.17. Range = 55.97 
TNavPF::Calculated measDiffMean for beam 76 as -6.81. Range = 53.87 
TNavPF::Calculated measDiffMean for beam 77 as 0.47. Range = 53.79 
TNavPF::Calculated measDiffMean for beam 78 as 0.46. Range = 53.74 
TNavPF::Calculated measDiffMean for beam 79 as 2.50. Range = 53.70 
TNavPF::Calculated measDiffMean for beam 80 as 2.01. Range = 53.67 
TNavPF::Calculated measDiffMean for beam 81 as 2.91. Range = 53.66 
TNavPF::Calculated measDiffMean for beam 82 as 2.62. Range = 53.67 
TNavPF::Calculated measDiffMean for beam 83 as 0.13. Range = 53.70 
TNavPF::Calculated measDiffMean for beam 84 as 2.25. Range = 51.74 
TNavPF::Calculated measDiffMean for beam 85 as 0.59. Range = 51.79 
TNavPF::Calculated measDiffMean for beam 86 as 2.96. Range = 51.86 
TNavPF::Calculated measDiffMean for beam 87 as 6.36. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 88 as 9.79. Range = 50.04 
TNavPF::Calculated measDiffMean for beam 89 as 5.66. Range = 54.19 
TNavPF::First Term of Map Covariance Matrix is 6.78 
TNavPF::Calculated NIS Value : 25.38 	numBeams normalized NIS: 0.42
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321844.82 sec.
INS : North: 4070229.90, East: 589558.95, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 54.87, IDT[75] = 70.91
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321847.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321847.62)
ARL : North: -12.9543, East: -16.9164, Depth: -26.7411ARL : Estimation Bias  (Mean)         : (t = 1488321847.62)
ARL : North: -12.4966, East: -17.1060, Depth: -25.5329TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 32.46 
Alpha[0]	0.123000
Alpha[0]	0.998143
TNavParticleFilter::Modified Variance for beam 1 is 30.44 
Alpha[1]	0.000000
Alpha[1]	0.997576
TNavParticleFilter::Modified Variance for beam 2 is 30.09 
Alpha[2]	0.000000
Alpha[2]	0.996388
TNavParticleFilter::Modified Variance for beam 3 is 29.70 
Alpha[3]	0.000000
Alpha[3]	0.997098
TNavParticleFilter::Modified Variance for beam 4 is 29.34 
Alpha[4]	0.000000
Alpha[4]	0.997969
TNavParticleFilter::Modified Variance for beam 5 is 27.53 
Alpha[5]	0.000000
Alpha[5]	0.998241
TNavParticleFilter::Modified Variance for beam 6 is 25.83 
Alpha[6]	0.000000
Alpha[6]	0.998411
TNavParticleFilter::Modified Variance for beam 7 is 24.23 
Alpha[7]	0.000000
Alpha[7]	0.998329
TNavParticleFilter::Modified Variance for beam 8 is 24.03 
Alpha[8]	0.000000
Alpha[8]	0.998104
TNavParticleFilter::Modified Variance for beam 9 is 23.83 
Alpha[9]	0.000000
Alpha[9]	0.997890
TNavParticleFilter::Modified Variance for beam 10 is 23.65 
Alpha[10]	0.000000
Alpha[10]	0.997661
TNavParticleFilter::Modified Variance for beam 11 is 23.49 
Alpha[11]	0.000000
Alpha[11]	0.997431
TNavParticleFilter::Modified Variance for beam 12 is 20.87 
Alpha[12]	0.000000
Alpha[12]	0.997102
TNavParticleFilter::Modified Variance for beam 13 is 19.59 
Alpha[13]	0.000000
Alpha[13]	0.996577
TNavParticleFilter::Modified Variance for beam 14 is 18.36 
Alpha[14]	0.000000
Alpha[14]	0.997044
TNavParticleFilter::Modified Variance for beam 15 is 18.26 
Alpha[15]	0.000000
Alpha[15]	0.997957
TNavParticleFilter::Modified Variance for beam 16 is 18.17 
Alpha[16]	0.000000
Alpha[16]	0.998529
TNavParticleFilter::Modified Variance for beam 17 is 18.09 
Alpha[17]	0.000000
Alpha[17]	0.998834
TNavParticleFilter::Modified Variance for beam 18 is 18.03 
Alpha[18]	0.000000
Alpha[18]	0.999062
TNavParticleFilter::Modified Variance for beam 19 is 17.98 
Alpha[19]	0.000000
Alpha[19]	0.999092
TNavParticleFilter::Modified Variance for beam 20 is 17.94 
Alpha[20]	0.000000
Alpha[20]	0.999069
TNavParticleFilter::Modified Variance for beam 21 is 17.92 
Alpha[21]	0.000000
Alpha[21]	0.998882
TNavParticleFilter::Modified Variance for beam 22 is 17.90 
Alpha[22]	0.000000
Alpha[22]	0.998502
TNavParticleFilter::Modified Variance for beam 23 is 16.86 
Alpha[23]	0.000000
Alpha[23]	0.997689
TNavParticleFilter::Modified Variance for beam 24 is 16.86 
Alpha[24]	0.000000
Alpha[24]	0.997234
TNavParticleFilter::Modified Variance for beam 25 is 15.86 
Alpha[25]	0.000000
Alpha[25]	0.997220
TNavParticleFilter::Modified Variance for beam 26 is 15.87 
Alpha[26]	0.000000
Alpha[26]	0.997321
TNavParticleFilter::Modified Variance for beam 27 is 17.94 
Alpha[27]	0.000000
Alpha[27]	0.997660
TNavParticleFilter::Modified Variance for beam 28 is 17.96 
Alpha[28]	0.000000
Alpha[28]	0.998026
TNavParticleFilter::Modified Variance for beam 29 is 18.00 
Alpha[29]	0.000000
Alpha[29]	0.998319
TNavParticleFilter::Modified Variance for beam 30 is 18.05 
Alpha[30]	0.000000
Alpha[30]	0.998288
TNavParticleFilter::Modified Variance for beam 31 is 19.21 
Alpha[31]	0.000000
Alpha[31]	0.997834
TNavParticleFilter::Modified Variance for beam 32 is 19.31 
Alpha[32]	0.000000
Alpha[32]	0.996883
TNavParticleFilter::Modified Variance for beam 33 is 22.99 
Alpha[33]	0.000000
Alpha[33]	0.996057
TNavParticleFilter::Modified Variance for beam 34 is 23.11 
Alpha[34]	0.000000
Alpha[34]	0.995704
TNavParticleFilter::Modified Variance for beam 35 is 23.27 
Alpha[35]	0.000000
Alpha[35]	0.994246
TNavParticleFilter::Modified Variance for beam 36 is 24.74 
Alpha[36]	0.000000
Alpha[36]	0.993099
TNavParticleFilter::Modified Variance for beam 37 is 24.88 
Alpha[37]	0.000000
Alpha[37]	0.994140
TNavParticleFilter::Modified Variance for beam 38 is 25.00 
Alpha[38]	0.000000
Alpha[38]	0.996784
TNavParticleFilter::Modified Variance for beam 39 is 25.15 
Alpha[39]	0.000000
Alpha[39]	0.998499
TNavParticleFilter::Modified Variance for beam 40 is 25.34 
Alpha[40]	0.000000
Alpha[40]	0.999240
TNavParticleFilter::Modified Variance for beam 41 is 25.57 
Alpha[41]	0.000000
Alpha[41]	0.999283
TNavParticleFilter::Modified Variance for beam 42 is 27.25 
Alpha[42]	0.000000
Alpha[42]	0.998547
TNavParticleFilter::Modified Variance for beam 43 is 29.07 
Alpha[43]	0.000000
Alpha[43]	0.996090
TNavParticleFilter::Modified Variance for beam 44 is 28.34 
Alpha[44]	0.000000
Alpha[44]	0.994238
TNavParticleFilter::Modified Variance for beam 45 is 28.28 
Alpha[45]	0.000000
Alpha[45]	0.993916
TNavParticleFilter::Modified Variance for beam 46 is 27.08 
Alpha[46]	0.000000
Alpha[46]	0.995303
TNavParticleFilter::Modified Variance for beam 47 is 32.11 
Alpha[47]	0.000000
Alpha[47]	0.995377
TNavParticleFilter::Modified Variance for beam 48 is 32.58 
Alpha[48]	0.000000
Alpha[48]	0.994409
TNavParticleFilter::Modified Variance for beam 49 is 34.82 
Alpha[49]	0.000000
Alpha[49]	0.992564
TNavParticleFilter::Modified Variance for beam 50 is 35.39 
Alpha[50]	0.000000
Alpha[50]	0.991544
TNavParticleFilter::Modified Variance for beam 51 is 35.83 
Alpha[51]	0.000000
Alpha[51]	0.994838
TNavParticleFilter::Modified Variance for beam 52 is 36.23 
Alpha[52]	0.000000
Alpha[52]	0.995731
TNavParticleFilter::Modified Variance for beam 53 is 35.15 
Alpha[53]	0.000000
Alpha[53]	0.996563
TNavParticleFilter::Modified Variance for beam 54 is 37.65 
Alpha[54]	0.000000
Alpha[54]	0.996691
TNavParticleFilter::Modified Variance for beam 55 is 36.70 
Alpha[55]	0.000000
Alpha[55]	0.995538
TNavParticleFilter::Modified Variance for beam 56 is 37.32 
Alpha[56]	0.000000
Alpha[56]	0.992565
TNavParticleFilter::Modified Variance for beam 57 is 42.05 
Alpha[57]	0.000000
Alpha[57]	0.994626
TNavParticleFilter::Modified Variance for beam 58 is 42.91 
Alpha[58]	0.000000
Alpha[58]	0.995584
TNavParticleFilter::Modified Variance for beam 59 is 46.07 
Alpha[59]	0.000000
Alpha[59]	0.995740
TNavPF:: sumSquaredError = 28.714637 
TNavPF:: sumWeights = 0.000001 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 6.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 3.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 3.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 3.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 3.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 2.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 3.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 3.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -3.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -3.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -3.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -2.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -2.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -2.95. Range = 74.13 
TNavPF::Calculated measDiffMean for beam 55 as -5.04. Range = 73.40 
TNavPF::Calculated measDiffMean for beam 56 as -5.05. Range = 72.71 
TNavPF::Calculated measDiffMean for beam 57 as -0.99. Range = 90.02 
TNavPF::Calculated measDiffMean for beam 58 as -0.99. Range = 84.78 
TNavPF::Calculated measDiffMean for beam 59 as -1.17. Range = 81.87 
TNavPF::Calculated measDiffMean for beam 60 as -1.47. Range = 76.85 
TNavPF::Calculated measDiffMean for beam 61 as -0.51. Range = 74.09 
TNavPF::Calculated measDiffMean for beam 62 as -1.74. Range = 73.56 
TNavPF::Calculated measDiffMean for beam 63 as 3.12. Range = 73.05 
TNavPF::Calculated measDiffMean for beam 64 as 1.97. Range = 72.58 
TNavPF::Calculated measDiffMean for beam 65 as 0.89. Range = 70.02 
TNavPF::Calculated measDiffMean for beam 66 as 2.06. Range = 67.50 
TNavPF::Calculated measDiffMean for beam 67 as 1.68. Range = 65.04 
TNavPF::Calculated measDiffMean for beam 68 as 1.43. Range = 64.71 
TNavPF::Calculated measDiffMean for beam 69 as 1.01. Range = 64.39 
TNavPF::Calculated measDiffMean for beam 70 as -0.84. Range = 64.10 
TNavPF::Calculated measDiffMean for beam 71 as -4.43. Range = 63.84 
TNavPF::Calculated measDiffMean for beam 72 as -5.38. Range = 59.50 
TNavPF::Calculated measDiffMean for beam 73 as -3.71. Range = 57.25 
TNavPF::Calculated measDiffMean for beam 74 as -4.99. Range = 55.03 
TNavPF::Calculated measDiffMean for beam 75 as -5.49. Range = 54.87 
TNavPF::Calculated measDiffMean for beam 76 as -7.63. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 77 as -0.67. Range = 54.60 
TNavPF::Calculated measDiffMean for beam 78 as -0.32. Range = 54.50 
TNavPF::Calculated measDiffMean for beam 79 as 1.75. Range = 54.40 
TNavPF::Calculated measDiffMean for beam 80 as 1.47. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 81 as 1.54. Range = 54.27 
TNavPF::Calculated measDiffMean for beam 82 as 2.22. Range = 54.23 
TNavPF::Calculated measDiffMean for beam 83 as -0.02. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 84 as 1.34. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 85 as -0.57. Range = 50.20 
TNavPF::Calculated measDiffMean for beam 86 as -0.23. Range = 50.23 
TNavPF::Calculated measDiffMean for beam 87 as 4.76. Range = 54.27 
TNavPF::Calculated measDiffMean for beam 88 as 5.66. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 89 as 8.64. Range = 54.40 
TNavPF::First Term of Map Covariance Matrix is 10.76 
TNavPF::Calculated NIS Value : 21.46 	numBeams normalized NIS: 0.36
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321847.82 sec.
INS : North: 4070230.35, East: 589554.57, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 55.77, IDT[75] = 69.77
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321850.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321850.62)
ARL : North: -13.6815, East: -16.7040, Depth: -25.6809ARL : Estimation Bias  (Mean)         : (t = 1488321850.62)
ARL : North: -12.4890, East: -16.6276, Depth: -25.4563TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 37.99 
Alpha[0]	0.123000
Alpha[0]	0.998203
TNavParticleFilter::Modified Variance for beam 1 is 32.14 
Alpha[1]	0.000000
Alpha[1]	0.998319
TNavParticleFilter::Modified Variance for beam 2 is 31.71 
Alpha[2]	0.000000
Alpha[2]	0.996675
TNavParticleFilter::Modified Variance for beam 3 is 31.26 
Alpha[3]	0.000000
Alpha[3]	0.996632
TNavParticleFilter::Modified Variance for beam 4 is 30.79 
Alpha[4]	0.000000
Alpha[4]	0.997969
TNavParticleFilter::Modified Variance for beam 5 is 28.83 
Alpha[5]	0.000000
Alpha[5]	0.998347
TNavParticleFilter::Modified Variance for beam 6 is 26.99 
Alpha[6]	0.000000
Alpha[6]	0.998491
TNavParticleFilter::Modified Variance for beam 7 is 25.27 
Alpha[7]	0.000000
Alpha[7]	0.998443
TNavParticleFilter::Modified Variance for beam 8 is 25.00 
Alpha[8]	0.000000
Alpha[8]	0.998326
TNavParticleFilter::Modified Variance for beam 9 is 24.75 
Alpha[9]	0.000000
Alpha[9]	0.998010
TNavParticleFilter::Modified Variance for beam 10 is 24.52 
Alpha[10]	0.000000
Alpha[10]	0.997815
TNavParticleFilter::Modified Variance for beam 11 is 22.99 
Alpha[11]	0.000000
Alpha[11]	0.997697
TNavParticleFilter::Modified Variance for beam 12 is 20.33 
Alpha[12]	0.000000
Alpha[12]	0.997258
TNavParticleFilter::Modified Variance for beam 13 is 19.03 
Alpha[13]	0.000000
Alpha[13]	0.996487
TNavParticleFilter::Modified Variance for beam 14 is 18.89 
Alpha[14]	0.000000
Alpha[14]	0.996997
TNavParticleFilter::Modified Variance for beam 15 is 18.74 
Alpha[15]	0.000000
Alpha[15]	0.998201
TNavParticleFilter::Modified Variance for beam 16 is 18.62 
Alpha[16]	0.000000
Alpha[16]	0.998681
TNavParticleFilter::Modified Variance for beam 17 is 18.51 
Alpha[17]	0.000000
Alpha[17]	0.999014
TNavParticleFilter::Modified Variance for beam 18 is 18.42 
Alpha[18]	0.000000
Alpha[18]	0.999078
TNavParticleFilter::Modified Variance for beam 19 is 18.34 
Alpha[19]	0.000000
Alpha[19]	0.999169
TNavParticleFilter::Modified Variance for beam 20 is 18.27 
Alpha[20]	0.000000
Alpha[20]	0.999091
TNavParticleFilter::Modified Variance for beam 21 is 17.15 
Alpha[21]	0.000000
Alpha[21]	0.998673
TNavParticleFilter::Modified Variance for beam 22 is 17.12 
Alpha[22]	0.000000
Alpha[22]	0.997826
TNavParticleFilter::Modified Variance for beam 23 is 16.07 
Alpha[23]	0.000000
Alpha[23]	0.997142
TNavParticleFilter::Modified Variance for beam 24 is 16.04 
Alpha[24]	0.000000
Alpha[24]	0.997189
TNavParticleFilter::Modified Variance for beam 25 is 16.56 
Alpha[25]	0.000000
Alpha[25]	0.997255
TNavParticleFilter::Modified Variance for beam 26 is 18.07 
Alpha[26]	0.000000
Alpha[26]	0.997207
TNavParticleFilter::Modified Variance for beam 27 is 18.05 
Alpha[27]	0.000000
Alpha[27]	0.997777
TNavParticleFilter::Modified Variance for beam 28 is 18.04 
Alpha[28]	0.000000
Alpha[28]	0.998423
TNavParticleFilter::Modified Variance for beam 29 is 18.05 
Alpha[29]	0.000000
Alpha[29]	0.998420
TNavParticleFilter::Modified Variance for beam 30 is 19.18 
Alpha[30]	0.000000
Alpha[30]	0.997627
TNavParticleFilter::Modified Variance for beam 31 is 19.23 
Alpha[31]	0.000000
Alpha[31]	0.996562
TNavParticleFilter::Modified Variance for beam 32 is 22.83 
Alpha[32]	0.000000
Alpha[32]	0.995519
TNavParticleFilter::Modified Variance for beam 33 is 22.89 
Alpha[33]	0.000000
Alpha[33]	0.995216
TNavParticleFilter::Modified Variance for beam 34 is 23.00 
Alpha[34]	0.000000
Alpha[34]	0.993792
TNavParticleFilter::Modified Variance for beam 35 is 24.38 
Alpha[35]	0.000000
Alpha[35]	0.992977
TNavParticleFilter::Modified Variance for beam 36 is 24.52 
Alpha[36]	0.000000
Alpha[36]	0.991524
TNavParticleFilter::Modified Variance for beam 37 is 24.62 
Alpha[37]	0.000000
Alpha[37]	0.992219
TNavParticleFilter::Modified Variance for beam 38 is 24.67 
Alpha[38]	0.000000
Alpha[38]	0.995768
TNavParticleFilter::Modified Variance for beam 39 is 24.76 
Alpha[39]	0.000000
Alpha[39]	0.998074
TNavParticleFilter::Modified Variance for beam 40 is 24.89 
Alpha[40]	0.000000
Alpha[40]	0.999064
TNavParticleFilter::Modified Variance for beam 41 is 25.06 
Alpha[41]	0.000000
Alpha[41]	0.999224
TNavParticleFilter::Modified Variance for beam 42 is 26.65 
Alpha[42]	0.000000
Alpha[42]	0.998532
TNavParticleFilter::Modified Variance for beam 43 is 28.37 
Alpha[43]	0.000000
Alpha[43]	0.995927
TNavParticleFilter::Modified Variance for beam 44 is 27.25 
Alpha[44]	0.000000
Alpha[44]	0.994401
TNavParticleFilter::Modified Variance for beam 45 is 27.50 
Alpha[45]	0.000000
Alpha[45]	0.993358
TNavParticleFilter::Modified Variance for beam 46 is 26.30 
Alpha[46]	0.000000
Alpha[46]	0.994729
TNavParticleFilter::Modified Variance for beam 47 is 31.06 
Alpha[47]	0.000000
Alpha[47]	0.995455
TNavParticleFilter::Modified Variance for beam 48 is 31.43 
Alpha[48]	0.000000
Alpha[48]	0.994969
TNavParticleFilter::Modified Variance for beam 49 is 33.48 
Alpha[49]	0.000000
Alpha[49]	0.993800
TNavParticleFilter::Modified Variance for beam 50 is 33.99 
Alpha[50]	0.000000
Alpha[50]	0.991520
TNavParticleFilter::Modified Variance for beam 51 is 34.45 
Alpha[51]	0.000000
Alpha[51]	0.991500
TNavParticleFilter::Modified Variance for beam 52 is 34.80 
Alpha[52]	0.000000
Alpha[52]	0.995261
TNavParticleFilter::Modified Variance for beam 53 is 33.70 
Alpha[53]	0.000000
Alpha[53]	0.995557
TNavParticleFilter::Modified Variance for beam 54 is 34.06 
Alpha[54]	0.000000
Alpha[54]	0.996674
TNavParticleFilter::Modified Variance for beam 55 is 36.31 
Alpha[55]	0.000000
Alpha[55]	0.996464
TNavParticleFilter::Modified Variance for beam 56 is 35.26 
Alpha[56]	0.000000
Alpha[56]	0.994987
TNavParticleFilter::Modified Variance for beam 57 is 37.90 
Alpha[57]	0.000000
Alpha[57]	0.990947
TNavParticleFilter::Modified Variance for beam 58 is 40.43 
Alpha[58]	0.000000
Alpha[58]	0.994474
TNavParticleFilter::Modified Variance for beam 59 is 41.18 
Alpha[59]	0.000000
Alpha[59]	0.995345
TNavPF:: sumSquaredError = 102.994585 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 11.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 3.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 3.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 3.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 3.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 3.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -2.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -4.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -4.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -3.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -2.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -3.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -5.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -5.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -4.06. Range = 76.33 
TNavPF::Calculated measDiffMean for beam 56 as -1.07. Range = 75.51 
TNavPF::Calculated measDiffMean for beam 57 as -0.94. Range = 75.60 
TNavPF::Calculated measDiffMean for beam 58 as -0.89. Range = 90.04 
TNavPF::Calculated measDiffMean for beam 59 as -1.28. Range = 84.64 
TNavPF::Calculated measDiffMean for beam 60 as -0.42. Range = 83.86 
TNavPF::Calculated measDiffMean for beam 61 as -1.38. Range = 76.43 
TNavPF::Calculated measDiffMean for beam 62 as 3.52. Range = 75.78 
TNavPF::Calculated measDiffMean for beam 63 as 2.55. Range = 75.17 
TNavPF::Calculated measDiffMean for beam 64 as 1.37. Range = 74.59 
TNavPF::Calculated measDiffMean for beam 65 as 2.45. Range = 71.88 
TNavPF::Calculated measDiffMean for beam 66 as 1.84. Range = 69.24 
TNavPF::Calculated measDiffMean for beam 67 as 1.33. Range = 66.64 
TNavPF::Calculated measDiffMean for beam 68 as 1.34. Range = 66.23 
TNavPF::Calculated measDiffMean for beam 69 as 1.46. Range = 65.83 
TNavPF::Calculated measDiffMean for beam 70 as -0.36. Range = 65.46 
TNavPF::Calculated measDiffMean for beam 71 as -4.43. Range = 63.03 
TNavPF::Calculated measDiffMean for beam 72 as -5.49. Range = 58.57 
TNavPF::Calculated measDiffMean for beam 73 as -4.00. Range = 56.24 
TNavPF::Calculated measDiffMean for beam 74 as -5.61. Range = 56.00 
TNavPF::Calculated measDiffMean for beam 75 as -5.35. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 76 as -7.61. Range = 55.57 
TNavPF::Calculated measDiffMean for beam 77 as -1.05. Range = 55.38 
TNavPF::Calculated measDiffMean for beam 78 as -0.38. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 79 as 1.79. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 80 as 1.55. Range = 54.94 
TNavPF::Calculated measDiffMean for beam 81 as 1.30. Range = 52.81 
TNavPF::Calculated measDiffMean for beam 82 as 1.57. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 83 as 0.60. Range = 50.63 
TNavPF::Calculated measDiffMean for beam 84 as -0.22. Range = 50.57 
TNavPF::Calculated measDiffMean for beam 85 as 1.02. Range = 51.62 
TNavPF::Calculated measDiffMean for beam 86 as -0.84. Range = 54.50 
TNavPF::Calculated measDiffMean for beam 87 as 2.12. Range = 54.49 
TNavPF::Calculated measDiffMean for beam 88 as 4.56. Range = 54.49 
TNavPF::Calculated measDiffMean for beam 89 as 5.59. Range = 54.51 
TNavPF::First Term of Map Covariance Matrix is 11.12 
TNavPF::Calculated NIS Value : 23.72 	numBeams normalized NIS: 0.40
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321850.82 sec.
INS : North: 4070230.52, East: 589550.17, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 56.93, IDT[75] = 66.12
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321853.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321853.62)
ARL : North: -13.4873, East: -15.5938, Depth: -28.5050ARL : Estimation Bias  (Mean)         : (t = 1488321853.62)
ARL : North: -12.6689, East: -16.5371, Depth: -25.3445TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 47.69 
Alpha[0]	0.123000
Alpha[0]	0.997507
TNavParticleFilter::Modified Variance for beam 1 is 42.56 
Alpha[1]	0.000000
Alpha[1]	0.997454
TNavParticleFilter::Modified Variance for beam 2 is 39.75 
Alpha[2]	0.000000
Alpha[2]	0.998286
TNavParticleFilter::Modified Variance for beam 3 is 33.54 
Alpha[3]	0.000000
Alpha[3]	0.998181
TNavParticleFilter::Modified Variance for beam 4 is 33.02 
Alpha[4]	0.000000
Alpha[4]	0.996630
TNavParticleFilter::Modified Variance for beam 5 is 32.46 
Alpha[5]	0.000000
Alpha[5]	0.997624
TNavParticleFilter::Modified Variance for beam 6 is 30.29 
Alpha[6]	0.000000
Alpha[6]	0.998430
TNavParticleFilter::Modified Variance for beam 7 is 28.28 
Alpha[7]	0.000000
Alpha[7]	0.998675
TNavParticleFilter::Modified Variance for beam 8 is 26.39 
Alpha[8]	0.000000
Alpha[8]	0.998733
TNavParticleFilter::Modified Variance for beam 9 is 26.05 
Alpha[9]	0.000000
Alpha[9]	0.998626
TNavParticleFilter::Modified Variance for beam 10 is 25.74 
Alpha[10]	0.000000
Alpha[10]	0.998232
TNavParticleFilter::Modified Variance for beam 11 is 25.44 
Alpha[11]	0.000000
Alpha[11]	0.997968
TNavParticleFilter::Modified Variance for beam 12 is 23.79 
Alpha[12]	0.000000
Alpha[12]	0.997756
TNavParticleFilter::Modified Variance for beam 13 is 20.98 
Alpha[13]	0.000000
Alpha[13]	0.997324
TNavParticleFilter::Modified Variance for beam 14 is 19.59 
Alpha[14]	0.000000
Alpha[14]	0.996638
TNavParticleFilter::Modified Variance for beam 15 is 19.39 
Alpha[15]	0.000000
Alpha[15]	0.997694
TNavParticleFilter::Modified Variance for beam 16 is 19.21 
Alpha[16]	0.000000
Alpha[16]	0.998506
TNavParticleFilter::Modified Variance for beam 17 is 19.05 
Alpha[17]	0.000000
Alpha[17]	0.998892
TNavParticleFilter::Modified Variance for beam 18 is 18.91 
Alpha[18]	0.000000
Alpha[18]	0.999093
TNavParticleFilter::Modified Variance for beam 19 is 18.78 
Alpha[19]	0.000000
Alpha[19]	0.999136
TNavParticleFilter::Modified Variance for beam 20 is 18.66 
Alpha[20]	0.000000
Alpha[20]	0.999147
TNavParticleFilter::Modified Variance for beam 21 is 17.47 
Alpha[21]	0.000000
Alpha[21]	0.998862
TNavParticleFilter::Modified Variance for beam 22 is 17.39 
Alpha[22]	0.000000
Alpha[22]	0.998164
TNavParticleFilter::Modified Variance for beam 23 is 16.29 
Alpha[23]	0.000000
Alpha[23]	0.997229
TNavParticleFilter::Modified Variance for beam 24 is 16.23 
Alpha[24]	0.000000
Alpha[24]	0.996798
TNavParticleFilter::Modified Variance for beam 25 is 18.25 
Alpha[25]	0.000000
Alpha[25]	0.997137
TNavParticleFilter::Modified Variance for beam 26 is 18.19 
Alpha[26]	0.000000
Alpha[26]	0.997193
TNavParticleFilter::Modified Variance for beam 27 is 18.14 
Alpha[27]	0.000000
Alpha[27]	0.997495
TNavParticleFilter::Modified Variance for beam 28 is 18.09 
Alpha[28]	0.000000
Alpha[28]	0.998237
TNavParticleFilter::Modified Variance for beam 29 is 18.05 
Alpha[29]	0.000000
Alpha[29]	0.998401
TNavParticleFilter::Modified Variance for beam 30 is 19.13 
Alpha[30]	0.000000
Alpha[30]	0.997650
TNavParticleFilter::Modified Variance for beam 31 is 19.14 
Alpha[31]	0.000000
Alpha[31]	0.996370
TNavParticleFilter::Modified Variance for beam 32 is 22.66 
Alpha[32]	0.000000
Alpha[32]	0.995564
TNavParticleFilter::Modified Variance for beam 33 is 22.70 
Alpha[33]	0.000000
Alpha[33]	0.994317
TNavParticleFilter::Modified Variance for beam 34 is 22.72 
Alpha[34]	0.000000
Alpha[34]	0.993899
TNavParticleFilter::Modified Variance for beam 35 is 22.82 
Alpha[35]	0.000000
Alpha[35]	0.991108
TNavParticleFilter::Modified Variance for beam 36 is 24.11 
Alpha[36]	0.000000
Alpha[36]	0.991670
TNavParticleFilter::Modified Variance for beam 37 is 24.19 
Alpha[37]	0.000000
Alpha[37]	0.990362
TNavParticleFilter::Modified Variance for beam 38 is 24.26 
Alpha[38]	0.000000
Alpha[38]	0.990434
TNavParticleFilter::Modified Variance for beam 39 is 24.23 
Alpha[39]	0.000000
Alpha[39]	0.995096
TNavParticleFilter::Modified Variance for beam 40 is 24.26 
Alpha[40]	0.000000
Alpha[40]	0.997743
TNavParticleFilter::Modified Variance for beam 41 is 24.34 
Alpha[41]	0.000000
Alpha[41]	0.998963
TNavParticleFilter::Modified Variance for beam 42 is 24.46 
Alpha[42]	0.000000
Alpha[42]	0.999144
TNavParticleFilter::Modified Variance for beam 43 is 25.94 
Alpha[43]	0.000000
Alpha[43]	0.998636
TNavParticleFilter::Modified Variance for beam 44 is 27.55 
Alpha[44]	0.000000
Alpha[44]	0.996302
TNavParticleFilter::Modified Variance for beam 45 is 25.03 
Alpha[45]	0.000000
Alpha[45]	0.994418
TNavParticleFilter::Modified Variance for beam 46 is 25.23 
Alpha[46]	0.000000
Alpha[46]	0.993496
TNavParticleFilter::Modified Variance for beam 47 is 25.43 
Alpha[47]	0.000000
Alpha[47]	0.993555
TNavParticleFilter::Modified Variance for beam 48 is 29.90 
Alpha[48]	0.000000
Alpha[48]	0.995319
TNavParticleFilter::Modified Variance for beam 49 is 30.18 
Alpha[49]	0.000000
Alpha[49]	0.995331
TNavParticleFilter::Modified Variance for beam 50 is 30.50 
Alpha[50]	0.000000
Alpha[50]	0.994347
TNavParticleFilter::Modified Variance for beam 51 is 32.44 
Alpha[51]	0.000000
Alpha[51]	0.992959
TNavParticleFilter::Modified Variance for beam 52 is 32.88 
Alpha[52]	0.000000
Alpha[52]	0.990423
TNavParticleFilter::Modified Variance for beam 53 is 33.23 
Alpha[53]	0.000000
Alpha[53]	0.991465
TNavParticleFilter::Modified Variance for beam 54 is 33.50 
Alpha[54]	0.000000
Alpha[54]	0.995697
TNavParticleFilter::Modified Variance for beam 55 is 32.29 
Alpha[55]	0.000000
Alpha[55]	0.995520
TNavParticleFilter::Modified Variance for beam 56 is 32.70 
Alpha[56]	0.000000
Alpha[56]	0.996444
TNavParticleFilter::Modified Variance for beam 57 is 34.53 
Alpha[57]	0.000000
Alpha[57]	0.996168
TNavParticleFilter::Modified Variance for beam 58 is 33.73 
Alpha[58]	0.000000
Alpha[58]	0.994551
TNavParticleFilter::Modified Variance for beam 59 is 36.19 
Alpha[59]	0.000000
Alpha[59]	0.990176
TNavPF:: sumSquaredError = 35.769428 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 21.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 15.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 11.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 3.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 3.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 3.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 2.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 3.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -4.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -3.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -2.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -3.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -5.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -5.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.79. Range = 78.68 
TNavPF::Calculated measDiffMean for beam 58 as -0.62. Range = 77.74 
TNavPF::Calculated measDiffMean for beam 59 as -1.07. Range = 78.13 
TNavPF::Calculated measDiffMean for beam 60 as -0.24. Range = 94.87 
TNavPF::Calculated measDiffMean for beam 61 as -1.06. Range = 89.20 
TNavPF::Calculated measDiffMean for beam 62 as 3.93. Range = 85.97 
TNavPF::Calculated measDiffMean for beam 63 as 3.05. Range = 78.26 
TNavPF::Calculated measDiffMean for beam 64 as 1.91. Range = 77.52 
TNavPF::Calculated measDiffMean for beam 65 as 1.02. Range = 76.82 
TNavPF::Calculated measDiffMean for beam 66 as 2.21. Range = 73.93 
TNavPF::Calculated measDiffMean for beam 67 as 1.74. Range = 71.11 
TNavPF::Calculated measDiffMean for beam 68 as 1.27. Range = 68.36 
TNavPF::Calculated measDiffMean for beam 69 as 1.48. Range = 67.84 
TNavPF::Calculated measDiffMean for beam 70 as 1.57. Range = 67.35 
TNavPF::Calculated measDiffMean for beam 71 as -0.48. Range = 66.89 
TNavPF::Calculated measDiffMean for beam 72 as -3.89. Range = 64.32 
TNavPF::Calculated measDiffMean for beam 73 as -5.12. Range = 59.69 
TNavPF::Calculated measDiffMean for beam 74 as -4.07. Range = 57.24 
TNavPF::Calculated measDiffMean for beam 75 as -7.78. Range = 56.93 
TNavPF::Calculated measDiffMean for beam 76 as -7.35. Range = 56.63 
TNavPF::Calculated measDiffMean for beam 77 as -7.24. Range = 56.36 
TNavPF::Calculated measDiffMean for beam 78 as -1.18. Range = 56.10 
TNavPF::Calculated measDiffMean for beam 79 as -0.61. Range = 55.87 
TNavPF::Calculated measDiffMean for beam 80 as -0.19. Range = 55.65 
TNavPF::Calculated measDiffMean for beam 81 as 1.69. Range = 53.42 
TNavPF::Calculated measDiffMean for beam 82 as 1.54. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 83 as 1.26. Range = 51.06 
TNavPF::Calculated measDiffMean for beam 84 as 1.93. Range = 50.93 
TNavPF::Calculated measDiffMean for beam 85 as 0.58. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 86 as -0.25. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 87 as 0.75. Range = 54.64 
TNavPF::Calculated measDiffMean for beam 88 as -0.75. Range = 54.57 
TNavPF::Calculated measDiffMean for beam 89 as 2.11. Range = 54.51 
TNavPF::First Term of Map Covariance Matrix is 8.01 
TNavPF::Calculated NIS Value : 38.73 	numBeams normalized NIS: 0.65
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321853.82 sec.
INS : North: 4070230.32, East: 589545.77, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 58.32, IDT[75] = 66.62
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321856.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321856.62)
ARL : North: -12.4670, East: -17.9031, Depth: -28.0792ARL : Estimation Bias  (Mean)         : (t = 1488321856.62)
ARL : North: -12.9897, East: -17.0208, Depth: -25.5184TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 35.20 
Alpha[0]	0.123000
Alpha[0]	0.996923
TNavParticleFilter::Modified Variance for beam 1 is 34.53 
Alpha[1]	0.000000
Alpha[1]	0.997810
TNavParticleFilter::Modified Variance for beam 2 is 49.42 
Alpha[2]	0.000000
Alpha[2]	0.997445
TNavParticleFilter::Modified Variance for beam 3 is 41.85 
Alpha[3]	0.000000
Alpha[3]	0.998393
TNavParticleFilter::Modified Variance for beam 4 is 35.17 
Alpha[4]	0.000000
Alpha[4]	0.998112
TNavParticleFilter::Modified Variance for beam 5 is 34.53 
Alpha[5]	0.000000
Alpha[5]	0.996857
TNavParticleFilter::Modified Variance for beam 6 is 33.86 
Alpha[6]	0.000000
Alpha[6]	0.998051
TNavParticleFilter::Modified Variance for beam 7 is 31.51 
Alpha[7]	0.000000
Alpha[7]	0.998687
TNavParticleFilter::Modified Variance for beam 8 is 29.33 
Alpha[8]	0.000000
Alpha[8]	0.998939
TNavParticleFilter::Modified Variance for beam 9 is 27.30 
Alpha[9]	0.000000
Alpha[9]	0.998862
TNavParticleFilter::Modified Variance for beam 10 is 26.90 
Alpha[10]	0.000000
Alpha[10]	0.998405
TNavParticleFilter::Modified Variance for beam 11 is 26.52 
Alpha[11]	0.000000
Alpha[11]	0.998097
TNavParticleFilter::Modified Variance for beam 12 is 26.16 
Alpha[12]	0.000000
Alpha[12]	0.997853
TNavParticleFilter::Modified Variance for beam 13 is 21.71 
Alpha[13]	0.000000
Alpha[13]	0.997399
TNavParticleFilter::Modified Variance for beam 14 is 20.18 
Alpha[14]	0.000000
Alpha[14]	0.997328
TNavParticleFilter::Modified Variance for beam 15 is 19.93 
Alpha[15]	0.000000
Alpha[15]	0.998361
TNavParticleFilter::Modified Variance for beam 16 is 19.71 
Alpha[16]	0.000000
Alpha[16]	0.998831
TNavParticleFilter::Modified Variance for beam 17 is 19.50 
Alpha[17]	0.000000
Alpha[17]	0.999074
TNavParticleFilter::Modified Variance for beam 18 is 19.31 
Alpha[18]	0.000000
Alpha[18]	0.999216
TNavParticleFilter::Modified Variance for beam 19 is 19.13 
Alpha[19]	0.000000
Alpha[19]	0.999189
TNavParticleFilter::Modified Variance for beam 20 is 18.97 
Alpha[20]	0.000000
Alpha[20]	0.999069
TNavParticleFilter::Modified Variance for beam 21 is 17.71 
Alpha[21]	0.000000
Alpha[21]	0.998644
TNavParticleFilter::Modified Variance for beam 22 is 16.53 
Alpha[22]	0.000000
Alpha[22]	0.997967
TNavParticleFilter::Modified Variance for beam 23 is 16.43 
Alpha[23]	0.000000
Alpha[23]	0.997235
TNavParticleFilter::Modified Variance for beam 24 is 16.51 
Alpha[24]	0.000000
Alpha[24]	0.997297
TNavParticleFilter::Modified Variance for beam 25 is 18.35 
Alpha[25]	0.000000
Alpha[25]	0.997639
TNavParticleFilter::Modified Variance for beam 26 is 18.25 
Alpha[26]	0.000000
Alpha[26]	0.997851
TNavParticleFilter::Modified Variance for beam 27 is 18.16 
Alpha[27]	0.000000
Alpha[27]	0.998211
TNavParticleFilter::Modified Variance for beam 28 is 18.08 
Alpha[28]	0.000000
Alpha[28]	0.998408
TNavParticleFilter::Modified Variance for beam 29 is 18.28 
Alpha[29]	0.000000
Alpha[29]	0.997791
TNavParticleFilter::Modified Variance for beam 30 is 19.08 
Alpha[30]	0.000000
Alpha[30]	0.996390
TNavParticleFilter::Modified Variance for beam 31 is 19.04 
Alpha[31]	0.000000
Alpha[31]	0.995435
TNavParticleFilter::Modified Variance for beam 32 is 22.54 
Alpha[32]	0.000000
Alpha[32]	0.993604
TNavParticleFilter::Modified Variance for beam 33 is 22.51 
Alpha[33]	0.000000
Alpha[33]	0.993171
TNavParticleFilter::Modified Variance for beam 34 is 22.55 
Alpha[34]	0.000000
Alpha[34]	0.990075
TNavParticleFilter::Modified Variance for beam 35 is 22.52 
Alpha[35]	0.000000
Alpha[35]	0.990654
TNavParticleFilter::Modified Variance for beam 36 is 23.75 
Alpha[36]	0.000000
Alpha[36]	0.991041
TNavParticleFilter::Modified Variance for beam 37 is 23.76 
Alpha[37]	0.000000
Alpha[37]	0.990625
TNavParticleFilter::Modified Variance for beam 38 is 23.78 
Alpha[38]	0.000000
Alpha[38]	0.990678
TNavParticleFilter::Modified Variance for beam 39 is 23.69 
Alpha[39]	0.000000
Alpha[39]	0.995364
TNavParticleFilter::Modified Variance for beam 40 is 23.67 
Alpha[40]	0.000000
Alpha[40]	0.998057
TNavParticleFilter::Modified Variance for beam 41 is 23.70 
Alpha[41]	0.000000
Alpha[41]	0.998950
TNavParticleFilter::Modified Variance for beam 42 is 23.76 
Alpha[42]	0.000000
Alpha[42]	0.999069
TNavParticleFilter::Modified Variance for beam 43 is 25.15 
Alpha[43]	0.000000
Alpha[43]	0.998552
TNavParticleFilter::Modified Variance for beam 44 is 25.30 
Alpha[44]	0.000000
Alpha[44]	0.996442
TNavParticleFilter::Modified Variance for beam 45 is 24.16 
Alpha[45]	0.000000
Alpha[45]	0.994023
TNavParticleFilter::Modified Variance for beam 46 is 24.28 
Alpha[46]	0.000000
Alpha[46]	0.994031
TNavParticleFilter::Modified Variance for beam 47 is 24.44 
Alpha[47]	0.000000
Alpha[47]	0.993007
TNavParticleFilter::Modified Variance for beam 48 is 27.27 
Alpha[48]	0.000000
Alpha[48]	0.994329
TNavParticleFilter::Modified Variance for beam 49 is 28.85 
Alpha[49]	0.000000
Alpha[49]	0.995477
TNavParticleFilter::Modified Variance for beam 50 is 29.08 
Alpha[50]	0.000000
Alpha[50]	0.994810
TNavParticleFilter::Modified Variance for beam 51 is 29.34 
Alpha[51]	0.000000
Alpha[51]	0.993691
TNavParticleFilter::Modified Variance for beam 52 is 31.14 
Alpha[52]	0.000000
Alpha[52]	0.992233
TNavParticleFilter::Modified Variance for beam 53 is 31.52 
Alpha[53]	0.000000
Alpha[53]	0.989310
TNavParticleFilter::Modified Variance for beam 54 is 31.73 
Alpha[54]	0.000000
Alpha[54]	0.992332
TNavParticleFilter::Modified Variance for beam 55 is 31.94 
Alpha[55]	0.000000
Alpha[55]	0.995960
TNavParticleFilter::Modified Variance for beam 56 is 30.73 
Alpha[56]	0.000000
Alpha[56]	0.995508
TNavParticleFilter::Modified Variance for beam 57 is 31.06 
Alpha[57]	0.000000
Alpha[57]	0.996128
TNavParticleFilter::Modified Variance for beam 58 is 33.07 
Alpha[58]	0.000000
Alpha[58]	0.995774
TNavPF:: sumSquaredError = 45.663463 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 4.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 3.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 20.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 11.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 3.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 3.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 3.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 2.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 3.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 3.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -4.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -3.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -2.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -3.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -5.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -5.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -4.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -1.82. Range = 81.43 
TNavPF::Calculated measDiffMean for beam 61 as -1.01. Range = 80.34 
TNavPF::Calculated measDiffMean for beam 62 as -1.75. Range = 79.52 
TNavPF::Calculated measDiffMean for beam 63 as 3.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 2.50. Range = 96.72 
TNavPF::Calculated measDiffMean for beam 65 as 1.45. Range = 88.43 
TNavPF::Calculated measDiffMean for beam 66 as 0.75. Range = 80.35 
TNavPF::Calculated measDiffMean for beam 67 as 2.02. Range = 79.49 
TNavPF::Calculated measDiffMean for beam 68 as 1.56. Range = 78.67 
TNavPF::Calculated measDiffMean for beam 69 as 1.28. Range = 75.60 
TNavPF::Calculated measDiffMean for beam 70 as 1.67. Range = 72.61 
TNavPF::Calculated measDiffMean for beam 71 as 1.38. Range = 69.70 
TNavPF::Calculated measDiffMean for beam 72 as -1.01. Range = 69.09 
TNavPF::Calculated measDiffMean for beam 73 as -3.96. Range = 68.52 
TNavPF::Calculated measDiffMean for beam 74 as -4.94. Range = 67.97 
TNavPF::Calculated measDiffMean for beam 75 as -6.05. Range = 60.92 
TNavPF::Calculated measDiffMean for beam 76 as -7.97. Range = 58.32 
TNavPF::Calculated measDiffMean for beam 77 as -7.45. Range = 57.91 
TNavPF::Calculated measDiffMean for beam 78 as -7.10. Range = 57.53 
TNavPF::Calculated measDiffMean for beam 79 as -3.10. Range = 57.18 
TNavPF::Calculated measDiffMean for beam 80 as -0.99. Range = 56.84 
TNavPF::Calculated measDiffMean for beam 81 as -0.37. Range = 56.52 
TNavPF::Calculated measDiffMean for beam 82 as -0.22. Range = 56.23 
TNavPF::Calculated measDiffMean for beam 83 as 1.62. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 84 as 1.49. Range = 51.57 
TNavPF::Calculated measDiffMean for beam 85 as 1.33. Range = 51.35 
TNavPF::Calculated measDiffMean for beam 86 as 2.14. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 87 as 0.55. Range = 55.05 
TNavPF::Calculated measDiffMean for beam 88 as -0.27. Range = 54.86 
TNavPF::Calculated measDiffMean for beam 89 as 1.17. Range = 54.70 
TNavPF::First Term of Map Covariance Matrix is 6.49 
TNavPF::Calculated NIS Value : 34.98 	numBeams normalized NIS: 0.59
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321856.82 sec.
INS : North: 4070229.73, East: 589541.41, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 64.67, IDT[75] = 63.19
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321859.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321859.62)
ARL : North: -12.3389, East: -18.0624, Depth: -25.7835ARL : Estimation Bias  (Mean)         : (t = 1488321859.62)
ARL : North: -13.2146, East: -17.2852, Depth: -25.5088TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 32 33 34 37 
TNavParticleFilter::Modified Variance for beam 0 is 37.78 
Alpha[0]	0.123000
Alpha[0]	0.997290
TNavParticleFilter::Modified Variance for beam 1 is 36.79 
Alpha[1]	0.000000
Alpha[1]	0.996917
TNavParticleFilter::Modified Variance for beam 2 is 36.17 
Alpha[2]	0.000000
Alpha[2]	0.997725
TNavParticleFilter::Modified Variance for beam 3 is 43.49 
Alpha[3]	0.000000
Alpha[3]	0.998511
TNavParticleFilter::Modified Variance for beam 4 is 36.38 
Alpha[4]	0.000000
Alpha[4]	0.998146
TNavParticleFilter::Modified Variance for beam 5 is 35.62 
Alpha[5]	0.000000
Alpha[5]	0.997796
TNavParticleFilter::Modified Variance for beam 6 is 34.85 
Alpha[6]	0.000000
Alpha[6]	0.998774
TNavParticleFilter::Modified Variance for beam 7 is 32.35 
Alpha[7]	0.000000
Alpha[7]	0.999137
TNavParticleFilter::Modified Variance for beam 8 is 28.38 
Alpha[8]	0.000000
Alpha[8]	0.999149
TNavParticleFilter::Modified Variance for beam 9 is 27.88 
Alpha[9]	0.000000
Alpha[9]	0.998723
TNavParticleFilter::Modified Variance for beam 10 is 27.42 
Alpha[10]	0.000000
Alpha[10]	0.998289
TNavParticleFilter::Modified Variance for beam 11 is 24.00 
Alpha[11]	0.000000
Alpha[11]	0.997982
TNavParticleFilter::Modified Variance for beam 12 is 20.92 
Alpha[12]	0.000000
Alpha[12]	0.997809
TNavParticleFilter::Modified Variance for beam 13 is 20.61 
Alpha[13]	0.000000
Alpha[13]	0.998319
TNavParticleFilter::Modified Variance for beam 14 is 20.31 
Alpha[14]	0.000000
Alpha[14]	0.998782
TNavParticleFilter::Modified Variance for beam 15 is 20.04 
Alpha[15]	0.000000
Alpha[15]	0.998997
TNavParticleFilter::Modified Variance for beam 16 is 19.79 
Alpha[16]	0.000000
Alpha[16]	0.999196
TNavParticleFilter::Modified Variance for beam 17 is 19.56 
Alpha[17]	0.000000
Alpha[17]	0.999204
TNavParticleFilter::Modified Variance for beam 18 is 19.34 
Alpha[18]	0.000000
Alpha[18]	0.998998
TNavParticleFilter::Modified Variance for beam 19 is 17.99 
Alpha[19]	0.000000
Alpha[19]	0.998755
TNavParticleFilter::Modified Variance for beam 20 is 16.72 
Alpha[20]	0.000000
Alpha[20]	0.998208
TNavParticleFilter::Modified Variance for beam 21 is 16.58 
Alpha[21]	0.000000
Alpha[21]	0.997387
TNavParticleFilter::Modified Variance for beam 22 is 16.85 
Alpha[22]	0.000000
Alpha[22]	0.997000
TNavParticleFilter::Modified Variance for beam 23 is 18.47 
Alpha[23]	0.000000
Alpha[23]	0.997541
TNavParticleFilter::Modified Variance for beam 24 is 18.32 
Alpha[24]	0.000000
Alpha[24]	0.997942
TNavParticleFilter::Modified Variance for beam 25 is 18.19 
Alpha[25]	0.000000
Alpha[25]	0.998037
TNavParticleFilter::Modified Variance for beam 26 is 18.07 
Alpha[26]	0.000000
Alpha[26]	0.998140
TNavParticleFilter::Modified Variance for beam 27 is 17.96 
Alpha[27]	0.000000
Alpha[27]	0.997641
TNavParticleFilter::Modified Variance for beam 28 is 18.99 
Alpha[28]	0.000000
Alpha[28]	0.996388
TNavParticleFilter::Modified Variance for beam 29 is 18.91 
Alpha[29]	0.000000
Alpha[29]	0.995223
TNavParticleFilter::Modified Variance for beam 30 is 20.76 
Alpha[30]	0.000000
Alpha[30]	0.993595
TNavParticleFilter::Modified Variance for beam 31 is 22.31 
Alpha[31]	0.000000
Alpha[31]	0.992457
TNavParticleFilter::Modified Variance for beam 32 is 22.28 
Alpha[32]	0.000000
Alpha[32]	0.989929
TNavParticleFilter::Modified Variance for beam 33 is 22.25 
Alpha[33]	0.000000
Alpha[33]	0.988105
TNavParticleFilter::Modified Variance for beam 34 is 22.16 
Alpha[34]	0.000000
Alpha[34]	0.989244
TNavParticleFilter::Modified Variance for beam 35 is 23.34 
Alpha[35]	0.000000
Alpha[35]	0.989404
TNavParticleFilter::Modified Variance for beam 36 is 23.33 
Alpha[36]	0.000000
Alpha[36]	0.987980
TNavParticleFilter::Modified Variance for beam 37 is 23.24 
Alpha[37]	0.000000
Alpha[37]	0.990738
TNavParticleFilter::Modified Variance for beam 38 is 23.12 
Alpha[38]	0.000000
Alpha[38]	0.995131
TNavParticleFilter::Modified Variance for beam 39 is 23.04 
Alpha[39]	0.000000
Alpha[39]	0.998264
TNavParticleFilter::Modified Variance for beam 40 is 23.04 
Alpha[40]	0.000000
Alpha[40]	0.998851
TNavParticleFilter::Modified Variance for beam 41 is 23.05 
Alpha[41]	0.000000
Alpha[41]	0.998997
TNavParticleFilter::Modified Variance for beam 42 is 24.36 
Alpha[42]	0.000000
Alpha[42]	0.998342
TNavParticleFilter::Modified Variance for beam 43 is 24.45 
Alpha[43]	0.000000
Alpha[43]	0.996636
TNavParticleFilter::Modified Variance for beam 44 is 23.29 
Alpha[44]	0.000000
Alpha[44]	0.994191
TNavParticleFilter::Modified Variance for beam 45 is 23.36 
Alpha[45]	0.000000
Alpha[45]	0.994204
TNavParticleFilter::Modified Variance for beam 46 is 23.46 
Alpha[46]	0.000000
Alpha[46]	0.993383
TNavParticleFilter::Modified Variance for beam 47 is 26.17 
Alpha[47]	0.000000
Alpha[47]	0.993501
TNavParticleFilter::Modified Variance for beam 48 is 26.24 
Alpha[48]	0.000000
Alpha[48]	0.995347
TNavParticleFilter::Modified Variance for beam 49 is 27.76 
Alpha[49]	0.000000
Alpha[49]	0.995330
TNavParticleFilter::Modified Variance for beam 50 is 27.97 
Alpha[50]	0.000000
Alpha[50]	0.993641
TNavParticleFilter::Modified Variance for beam 51 is 28.17 
Alpha[51]	0.000000
Alpha[51]	0.992678
TNavParticleFilter::Modified Variance for beam 52 is 29.88 
Alpha[52]	0.000000
Alpha[52]	0.990738
TNavParticleFilter::Modified Variance for beam 53 is 30.16 
Alpha[53]	0.000000
Alpha[53]	0.989173
TNavParticleFilter::Modified Variance for beam 54 is 30.23 
Alpha[54]	0.000000
Alpha[54]	0.994549
TNavParticleFilter::Modified Variance for beam 55 is 30.45 
Alpha[55]	0.000000
Alpha[55]	0.995924
TNavPF:: sumSquaredError = 60.140267 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 32 as 5.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 4.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 3.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 11.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 4.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 3.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 3.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 2.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 2.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 3.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -5.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -3.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -2.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -3.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -5.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -5.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -4.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -2.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -1.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 2.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 1.82. Range = 83.56 
TNavPF::Calculated measDiffMean for beam 67 as 1.09. Range = 82.32 
TNavPF::Calculated measDiffMean for beam 68 as 0.41. Range = 81.60 
TNavPF::Calculated measDiffMean for beam 69 as 1.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 1.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 1.45. Range = 90.31 
TNavPF::Calculated measDiffMean for beam 72 as 1.88. Range = 81.88 
TNavPF::Calculated measDiffMean for beam 73 as 0.85. Range = 80.91 
TNavPF::Calculated measDiffMean for beam 74 as -1.69. Range = 79.98 
TNavPF::Calculated measDiffMean for beam 75 as -4.17. Range = 76.74 
TNavPF::Calculated measDiffMean for beam 76 as -4.97. Range = 71.27 
TNavPF::Calculated measDiffMean for beam 77 as -5.92. Range = 70.54 
TNavPF::Calculated measDiffMean for beam 78 as -7.99. Range = 69.85 
TNavPF::Calculated measDiffMean for beam 79 as -7.41. Range = 64.67 
TNavPF::Calculated measDiffMean for beam 80 as -7.03. Range = 59.60 
TNavPF::Calculated measDiffMean for beam 81 as -2.85. Range = 59.09 
TNavPF::Calculated measDiffMean for beam 82 as -2.92. Range = 58.60 
TNavPF::Calculated measDiffMean for beam 83 as -0.48. Range = 58.14 
TNavPF::Calculated measDiffMean for beam 84 as -0.06. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 85 as -0.22. Range = 57.28 
TNavPF::Calculated measDiffMean for beam 86 as 1.61. Range = 56.89 
TNavPF::Calculated measDiffMean for beam 87 as 1.42. Range = 54.40 
TNavPF::Calculated measDiffMean for beam 88 as 1.71. Range = 51.95 
TNavPF::Calculated measDiffMean for beam 89 as 2.63. Range = 51.65 
TNavPF::First Term of Map Covariance Matrix is 7.37 
TNavPF::Calculated NIS Value : 26.88 	numBeams normalized NIS: 0.48
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321859.82 sec.
INS : North: 4070228.70, East: 589537.15, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 81.37, IDT[75] = 60.10
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321862.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321862.62)
ARL : North: -12.4773, East: -16.7229, Depth: -21.6928ARL : Estimation Bias  (Mean)         : (t = 1488321862.62)
ARL : North: -13.4140, East: -17.4017, Depth: -25.1441TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 70 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 38 39 40 43 
TNavParticleFilter::Modified Variance for beam 0 is 38.61 
Alpha[0]	0.123000
Alpha[0]	0.997276
TNavParticleFilter::Modified Variance for beam 1 is 37.49 
Alpha[1]	0.000000
Alpha[1]	0.997436
TNavParticleFilter::Modified Variance for beam 2 is 38.34 
Alpha[2]	0.000000
Alpha[2]	0.997577
TNavParticleFilter::Modified Variance for beam 3 is 39.83 
Alpha[3]	0.000000
Alpha[3]	0.998708
TNavParticleFilter::Modified Variance for beam 4 is 36.81 
Alpha[4]	0.000000
Alpha[4]	0.998644
TNavParticleFilter::Modified Variance for beam 5 is 35.94 
Alpha[5]	0.000000
Alpha[5]	0.999219
TNavParticleFilter::Modified Variance for beam 6 is 33.23 
Alpha[6]	0.000000
Alpha[6]	0.999411
TNavParticleFilter::Modified Variance for beam 7 is 29.00 
Alpha[7]	0.000000
Alpha[7]	0.999276
TNavParticleFilter::Modified Variance for beam 8 is 28.42 
Alpha[8]	0.000000
Alpha[8]	0.998809
TNavParticleFilter::Modified Variance for beam 9 is 24.73 
Alpha[9]	0.000000
Alpha[9]	0.998396
TNavParticleFilter::Modified Variance for beam 10 is 21.40 
Alpha[10]	0.000000
Alpha[10]	0.998361
TNavParticleFilter::Modified Variance for beam 11 is 21.02 
Alpha[11]	0.000000
Alpha[11]	0.998726
TNavParticleFilter::Modified Variance for beam 12 is 20.68 
Alpha[12]	0.000000
Alpha[12]	0.998905
TNavParticleFilter::Modified Variance for beam 13 is 20.35 
Alpha[13]	0.000000
Alpha[13]	0.999026
TNavParticleFilter::Modified Variance for beam 14 is 20.04 
Alpha[14]	0.000000
Alpha[14]	0.999143
TNavParticleFilter::Modified Variance for beam 15 is 19.76 
Alpha[15]	0.000000
Alpha[15]	0.999069
TNavParticleFilter::Modified Variance for beam 16 is 18.28 
Alpha[16]	0.000000
Alpha[16]	0.998749
TNavParticleFilter::Modified Variance for beam 17 is 18.05 
Alpha[17]	0.000000
Alpha[17]	0.998476
TNavParticleFilter::Modified Variance for beam 18 is 16.70 
Alpha[18]	0.000000
Alpha[18]	0.997991
TNavParticleFilter::Modified Variance for beam 19 is 16.53 
Alpha[19]	0.000000
Alpha[19]	0.997192
TNavParticleFilter::Modified Variance for beam 20 is 18.60 
Alpha[20]	0.000000
Alpha[20]	0.997095
TNavParticleFilter::Modified Variance for beam 21 is 18.39 
Alpha[21]	0.000000
Alpha[21]	0.997814
TNavParticleFilter::Modified Variance for beam 22 is 18.20 
Alpha[22]	0.000000
Alpha[22]	0.997972
TNavParticleFilter::Modified Variance for beam 23 is 18.03 
Alpha[23]	0.000000
Alpha[23]	0.997815
TNavParticleFilter::Modified Variance for beam 24 is 17.87 
Alpha[24]	0.000000
Alpha[24]	0.997636
TNavParticleFilter::Modified Variance for beam 25 is 18.46 
Alpha[25]	0.000000
Alpha[25]	0.996904
TNavParticleFilter::Modified Variance for beam 26 is 18.73 
Alpha[26]	0.000000
Alpha[26]	0.995790
TNavParticleFilter::Modified Variance for beam 27 is 18.62 
Alpha[27]	0.000000
Alpha[27]	0.994641
TNavParticleFilter::Modified Variance for beam 28 is 20.49 
Alpha[28]	0.000000
Alpha[28]	0.993469
TNavParticleFilter::Modified Variance for beam 29 is 21.94 
Alpha[29]	0.000000
Alpha[29]	0.992136
TNavParticleFilter::Modified Variance for beam 30 is 21.87 
Alpha[30]	0.000000
Alpha[30]	0.989335
TNavParticleFilter::Modified Variance for beam 31 is 21.80 
Alpha[31]	0.000000
Alpha[31]	0.987039
TNavParticleFilter::Modified Variance for beam 32 is 21.69 
Alpha[32]	0.000000
Alpha[32]	0.987169
TNavParticleFilter::Modified Variance for beam 33 is 22.80 
Alpha[33]	0.000000
Alpha[33]	0.988091
TNavParticleFilter::Modified Variance for beam 34 is 22.72 
Alpha[34]	0.000000
Alpha[34]	0.987728
TNavParticleFilter::Modified Variance for beam 35 is 21.39 
Alpha[35]	0.000000
Alpha[35]	0.989424
TNavParticleFilter::Modified Variance for beam 36 is 21.25 
Alpha[36]	0.000000
Alpha[36]	0.992864
TNavParticleFilter::Modified Variance for beam 37 is 21.12 
Alpha[37]	0.000000
Alpha[37]	0.996782
TNavParticleFilter::Modified Variance for beam 38 is 21.60 
Alpha[38]	0.000000
Alpha[38]	0.998333
TNavParticleFilter::Modified Variance for beam 39 is 22.21 
Alpha[39]	0.000000
Alpha[39]	0.998801
TNavParticleFilter::Modified Variance for beam 40 is 23.42 
Alpha[40]	0.000000
Alpha[40]	0.998709
TNavParticleFilter::Modified Variance for beam 41 is 23.44 
Alpha[41]	0.000000
Alpha[41]	0.997821
TNavParticleFilter::Modified Variance for beam 42 is 22.25 
Alpha[42]	0.000000
Alpha[42]	0.995909
TNavParticleFilter::Modified Variance for beam 43 is 22.29 
Alpha[43]	0.000000
Alpha[43]	0.994976
TNavParticleFilter::Modified Variance for beam 44 is 22.32 
Alpha[44]	0.000000
Alpha[44]	0.994546
TNavParticleFilter::Modified Variance for beam 45 is 22.38 
Alpha[45]	0.000000
Alpha[45]	0.993757
TNavParticleFilter::Modified Variance for beam 46 is 24.95 
Alpha[46]	0.000000
Alpha[46]	0.994523
TNavParticleFilter::Modified Variance for beam 47 is 26.31 
Alpha[47]	0.000000
Alpha[47]	0.995778
TNavParticleFilter::Modified Variance for beam 48 is 26.42 
Alpha[48]	0.000000
Alpha[48]	0.995130
TNavParticleFilter::Modified Variance for beam 49 is 26.57 
Alpha[49]	0.000000
Alpha[49]	0.993354
TNavPF:: sumSquaredError = 47.260709 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 38 as 5.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 4.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 5.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 7.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 4.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 5.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 4.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 1.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 3.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -5.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -3.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -2.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -3.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -5.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -5.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -1.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 2.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 1.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -1.79. Range = 84.56 
TNavPF::Calculated measDiffMean for beam 79 as -2.83. Range = 83.22 
TNavPF::Calculated measDiffMean for beam 80 as -3.68. Range = 84.26 
TNavPF::Calculated measDiffMean for beam 81 as -5.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -7.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -7.55. Range = 86.09 
TNavPF::Calculated measDiffMean for beam 84 as -7.03. Range = 82.43 
TNavPF::Calculated measDiffMean for beam 85 as -6.71. Range = 81.37 
TNavPF::Calculated measDiffMean for beam 86 as -2.60. Range = 77.92 
TNavPF::Calculated measDiffMean for beam 87 as -0.51. Range = 72.16 
TNavPF::Calculated measDiffMean for beam 88 as -0.15. Range = 71.32 
TNavPF::Calculated measDiffMean for beam 89 as 0.05. Range = 65.81 
TNavPF::First Term of Map Covariance Matrix is 7.33 
TNavPF::Calculated NIS Value : 24.01 	numBeams normalized NIS: 0.48
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321862.82 sec.
INS : North: 4070227.07, East: 589533.12, Depth: 889.91
TerrainNav::measUpdate() - IDT[45] = 85.34, IDT[75] = 59.56
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321865.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321865.62)
ARL : North: -11.8849, East: -16.4752, Depth: -17.7252ARL : Estimation Bias  (Mean)         : (t = 1488321865.62)
ARL : North: -13.5421, East: -17.4281, Depth: -24.2605TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 75 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 43 44 45 48 
TNavParticleFilter::Modified Variance for beam 0 is 39.87 
Alpha[0]	0.123000
Alpha[0]	0.995535
TNavParticleFilter::Modified Variance for beam 1 is 38.57 
Alpha[1]	0.000000
Alpha[1]	0.996601
TNavParticleFilter::Modified Variance for beam 2 is 39.26 
Alpha[2]	0.000000
Alpha[2]	0.997229
TNavParticleFilter::Modified Variance for beam 3 is 40.68 
Alpha[3]	0.000000
Alpha[3]	0.999184
TNavParticleFilter::Modified Variance for beam 4 is 31.33 
Alpha[4]	0.000000
Alpha[4]	0.999424
TNavParticleFilter::Modified Variance for beam 5 is 31.11 
Alpha[5]	0.000000
Alpha[5]	0.999554
TNavParticleFilter::Modified Variance for beam 6 is 29.80 
Alpha[6]	0.000000
Alpha[6]	0.999477
TNavParticleFilter::Modified Variance for beam 7 is 29.12 
Alpha[7]	0.000000
Alpha[7]	0.999096
TNavParticleFilter::Modified Variance for beam 8 is 25.13 
Alpha[8]	0.000000
Alpha[8]	0.998681
TNavParticleFilter::Modified Variance for beam 9 is 21.57 
Alpha[9]	0.000000
Alpha[9]	0.998884
TNavParticleFilter::Modified Variance for beam 10 is 21.14 
Alpha[10]	0.000000
Alpha[10]	0.998944
TNavParticleFilter::Modified Variance for beam 11 is 20.74 
Alpha[11]	0.000000
Alpha[11]	0.998807
TNavParticleFilter::Modified Variance for beam 12 is 20.37 
Alpha[12]	0.000000
Alpha[12]	0.998788
TNavParticleFilter::Modified Variance for beam 13 is 20.01 
Alpha[13]	0.000000
Alpha[13]	0.998562
TNavParticleFilter::Modified Variance for beam 14 is 19.69 
Alpha[14]	0.000000
Alpha[14]	0.998058
TNavParticleFilter::Modified Variance for beam 15 is 18.13 
Alpha[15]	0.000000
Alpha[15]	0.997723
TNavParticleFilter::Modified Variance for beam 16 is 16.68 
Alpha[16]	0.000000
Alpha[16]	0.997357
TNavParticleFilter::Modified Variance for beam 17 is 16.46 
Alpha[17]	0.000000
Alpha[17]	0.996452
TNavParticleFilter::Modified Variance for beam 18 is 17.27 
Alpha[18]	0.000000
Alpha[18]	0.996269
TNavParticleFilter::Modified Variance for beam 19 is 18.30 
Alpha[19]	0.000000
Alpha[19]	0.997167
TNavParticleFilter::Modified Variance for beam 20 is 18.06 
Alpha[20]	0.000000
Alpha[20]	0.997377
TNavParticleFilter::Modified Variance for beam 21 is 17.85 
Alpha[21]	0.000000
Alpha[21]	0.996823
TNavParticleFilter::Modified Variance for beam 22 is 17.65 
Alpha[22]	0.000000
Alpha[22]	0.996375
TNavParticleFilter::Modified Variance for beam 23 is 17.61 
Alpha[23]	0.000000
Alpha[23]	0.995945
TNavParticleFilter::Modified Variance for beam 24 is 18.44 
Alpha[24]	0.000000
Alpha[24]	0.994967
TNavParticleFilter::Modified Variance for beam 25 is 18.27 
Alpha[25]	0.000000
Alpha[25]	0.993964
TNavParticleFilter::Modified Variance for beam 26 is 18.78 
Alpha[26]	0.000000
Alpha[26]	0.993648
TNavParticleFilter::Modified Variance for beam 27 is 20.59 
Alpha[27]	0.000000
Alpha[27]	0.992395
TNavParticleFilter::Modified Variance for beam 28 is 21.39 
Alpha[28]	0.000000
Alpha[28]	0.989775
TNavParticleFilter::Modified Variance for beam 29 is 21.30 
Alpha[29]	0.000000
Alpha[29]	0.986136
TNavParticleFilter::Modified Variance for beam 30 is 21.21 
Alpha[30]	0.000000
Alpha[30]	0.982920
TNavParticleFilter::Modified Variance for beam 31 is 21.07 
Alpha[31]	0.000000
Alpha[31]	0.982509
TNavParticleFilter::Modified Variance for beam 32 is 20.89 
Alpha[32]	0.000000
Alpha[32]	0.984588
TNavParticleFilter::Modified Variance for beam 33 is 20.73 
Alpha[33]	0.000000
Alpha[33]	0.986535
TNavParticleFilter::Modified Variance for beam 34 is 20.61 
Alpha[34]	0.000000
Alpha[34]	0.987074
TNavParticleFilter::Modified Variance for beam 35 is 20.46 
Alpha[35]	0.000000
Alpha[35]	0.989276
TNavParticleFilter::Modified Variance for beam 36 is 20.26 
Alpha[36]	0.000000
Alpha[36]	0.995083
TNavParticleFilter::Modified Variance for beam 37 is 20.57 
Alpha[37]	0.000000
Alpha[37]	0.997374
TNavParticleFilter::Modified Variance for beam 38 is 21.22 
Alpha[38]	0.000000
Alpha[38]	0.998318
TNavParticleFilter::Modified Variance for beam 39 is 21.15 
Alpha[39]	0.000000
Alpha[39]	0.998560
TNavParticleFilter::Modified Variance for beam 40 is 22.31 
Alpha[40]	0.000000
Alpha[40]	0.998178
TNavParticleFilter::Modified Variance for beam 41 is 21.10 
Alpha[41]	0.000000
Alpha[41]	0.996949
TNavParticleFilter::Modified Variance for beam 42 is 21.10 
Alpha[42]	0.000000
Alpha[42]	0.995888
TNavParticleFilter::Modified Variance for beam 43 is 21.10 
Alpha[43]	0.000000
Alpha[43]	0.995047
TNavParticleFilter::Modified Variance for beam 44 is 21.11 
Alpha[44]	0.000000
Alpha[44]	0.994274
TNavPF:: sumSquaredError = 24.267303 
TNavPF:: sumWeights = 0.000001 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 43 as 6.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 4.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 5.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 9.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 2.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 3.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 4.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -3.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -3.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -5.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -5.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -3.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -1.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 1.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 2.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -1.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -2.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -4.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -4.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as -7.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as -7.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as -6.60. Range = 85.99 
TNavPF::Calculated measDiffMean for beam 89 as -6.30. Range = 84.48 
TNavPF::First Term of Map Covariance Matrix is 4.47 
TNavPF::Calculated NIS Value : 22.27 	numBeams normalized NIS: 0.49
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321865.82 sec.
INS : North: 4070224.95, East: 589529.33, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 87.58, IDT[75] = 58.68
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321868.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321868.62)
ARL : North: -11.2268, East: -16.6314, Depth: -22.1398ARL : Estimation Bias  (Mean)         : (t = 1488321868.62)
ARL : North: -13.6137, East: -17.3413, Depth: -23.5379TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 78 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 45 46 47 51 
TNavParticleFilter::Modified Variance for beam 0 is 41.23 
Alpha[0]	0.123000
Alpha[0]	0.995641
TNavParticleFilter::Modified Variance for beam 1 is 39.72 
Alpha[1]	0.000000
Alpha[1]	0.996956
TNavParticleFilter::Modified Variance for beam 2 is 39.81 
Alpha[2]	0.000000
Alpha[2]	0.998099
TNavParticleFilter::Modified Variance for beam 3 is 38.09 
Alpha[3]	0.000000
Alpha[3]	0.999606
TNavParticleFilter::Modified Variance for beam 4 is 31.83 
Alpha[4]	0.000000
Alpha[4]	0.999602
TNavParticleFilter::Modified Variance for beam 5 is 29.95 
Alpha[5]	0.000000
Alpha[5]	0.999387
TNavParticleFilter::Modified Variance for beam 6 is 27.36 
Alpha[6]	0.000000
Alpha[6]	0.999078
TNavParticleFilter::Modified Variance for beam 7 is 21.77 
Alpha[7]	0.000000
Alpha[7]	0.999115
TNavParticleFilter::Modified Variance for beam 8 is 21.27 
Alpha[8]	0.000000
Alpha[8]	0.999007
TNavParticleFilter::Modified Variance for beam 9 is 20.80 
Alpha[9]	0.000000
Alpha[9]	0.998786
TNavParticleFilter::Modified Variance for beam 10 is 20.37 
Alpha[10]	0.000000
Alpha[10]	0.998401
TNavParticleFilter::Modified Variance for beam 11 is 19.96 
Alpha[11]	0.000000
Alpha[11]	0.997858
TNavParticleFilter::Modified Variance for beam 12 is 18.25 
Alpha[12]	0.000000
Alpha[12]	0.997509
TNavParticleFilter::Modified Variance for beam 13 is 16.68 
Alpha[13]	0.000000
Alpha[13]	0.997255
TNavParticleFilter::Modified Variance for beam 14 is 16.39 
Alpha[14]	0.000000
Alpha[14]	0.996852
TNavParticleFilter::Modified Variance for beam 15 is 16.85 
Alpha[15]	0.000000
Alpha[15]	0.996635
TNavParticleFilter::Modified Variance for beam 16 is 18.24 
Alpha[16]	0.000000
Alpha[16]	0.997105
TNavParticleFilter::Modified Variance for beam 17 is 17.95 
Alpha[17]	0.000000
Alpha[17]	0.997213
TNavParticleFilter::Modified Variance for beam 18 is 17.69 
Alpha[18]	0.000000
Alpha[18]	0.996639
TNavParticleFilter::Modified Variance for beam 19 is 17.45 
Alpha[19]	0.000000
Alpha[19]	0.995846
TNavParticleFilter::Modified Variance for beam 20 is 17.22 
Alpha[20]	0.000000
Alpha[20]	0.995481
TNavParticleFilter::Modified Variance for beam 21 is 17.88 
Alpha[21]	0.000000
Alpha[21]	0.994588
TNavParticleFilter::Modified Variance for beam 22 is 17.95 
Alpha[22]	0.000000
Alpha[22]	0.993699
TNavParticleFilter::Modified Variance for beam 23 is 17.74 
Alpha[23]	0.000000
Alpha[23]	0.993518
TNavParticleFilter::Modified Variance for beam 24 is 18.77 
Alpha[24]	0.000000
Alpha[24]	0.992667
TNavParticleFilter::Modified Variance for beam 25 is 20.20 
Alpha[25]	0.000000
Alpha[25]	0.991878
TNavParticleFilter::Modified Variance for beam 26 is 20.76 
Alpha[26]	0.000000
Alpha[26]	0.989834
TNavParticleFilter::Modified Variance for beam 27 is 20.64 
Alpha[27]	0.000000
Alpha[27]	0.985357
TNavParticleFilter::Modified Variance for beam 28 is 20.52 
Alpha[28]	0.000000
Alpha[28]	0.981682
TNavParticleFilter::Modified Variance for beam 29 is 20.34 
Alpha[29]	0.000000
Alpha[29]	0.981076
TNavParticleFilter::Modified Variance for beam 30 is 20.12 
Alpha[30]	0.000000
Alpha[30]	0.983680
TNavParticleFilter::Modified Variance for beam 31 is 19.92 
Alpha[31]	0.000000
Alpha[31]	0.985456
TNavParticleFilter::Modified Variance for beam 32 is 19.78 
Alpha[32]	0.000000
Alpha[32]	0.985394
TNavParticleFilter::Modified Variance for beam 33 is 19.57 
Alpha[33]	0.000000
Alpha[33]	0.988905
TNavParticleFilter::Modified Variance for beam 34 is 19.34 
Alpha[34]	0.000000
Alpha[34]	0.994280
TNavParticleFilter::Modified Variance for beam 35 is 19.28 
Alpha[35]	0.000000
Alpha[35]	0.996598
TNavParticleFilter::Modified Variance for beam 36 is 20.20 
Alpha[36]	0.000000
Alpha[36]	0.997937
TNavParticleFilter::Modified Variance for beam 37 is 20.10 
Alpha[37]	0.000000
Alpha[37]	0.998488
TNavParticleFilter::Modified Variance for beam 38 is 21.18 
Alpha[38]	0.000000
Alpha[38]	0.998387
TNavParticleFilter::Modified Variance for beam 39 is 21.11 
Alpha[39]	0.000000
Alpha[39]	0.997861
TNavParticleFilter::Modified Variance for beam 40 is 19.90 
Alpha[40]	0.000000
Alpha[40]	0.996783
TNavParticleFilter::Modified Variance for beam 41 is 19.87 
Alpha[41]	0.000000
Alpha[41]	0.995796
TNavPF:: sumSquaredError = 48.385665 
TNavPF:: sumWeights = 0.000003 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 45 as 6.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 5.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 5.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 9.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 4.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 5.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 3.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -2.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -2.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -5.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -5.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -3.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -1.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -1.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -1.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -1.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -3.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as -3.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as -4.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as -6.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 89 as -6.48. Range = 0.00 
TNavPF::First Term of Map Covariance Matrix is 4.58 
TNavPF::Calculated NIS Value : 18.76 	numBeams normalized NIS: 0.45
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321868.82 sec.
INS : North: 4070222.50, East: 589525.71, Depth: 889.87
TerrainNav::measUpdate() - IDT[45] = 89.06, IDT[75] = 57.07
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321871.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321871.62)
ARL : North: -10.6311, East: -16.5322, Depth: -19.4711ARL : Estimation Bias  (Mean)         : (t = 1488321871.62)
ARL : North: -13.3593, East: -16.6028, Depth: -23.1414TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 78 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 45 46 47 51 
TNavParticleFilter::Modified Variance for beam 0 is 42.50 
Alpha[0]	0.123000
Alpha[0]	0.996022
TNavParticleFilter::Modified Variance for beam 1 is 40.78 
Alpha[1]	0.000000
Alpha[1]	0.997295
TNavParticleFilter::Modified Variance for beam 2 is 40.49 
Alpha[2]	0.000000
Alpha[2]	0.998256
TNavParticleFilter::Modified Variance for beam 3 is 38.64 
Alpha[3]	0.000000
Alpha[3]	0.999657
TNavParticleFilter::Modified Variance for beam 4 is 37.42 
Alpha[4]	0.000000
Alpha[4]	0.999640
TNavParticleFilter::Modified Variance for beam 5 is 29.94 
Alpha[5]	0.000000
Alpha[5]	0.999513
TNavParticleFilter::Modified Variance for beam 6 is 21.93 
Alpha[6]	0.000000
Alpha[6]	0.999381
TNavParticleFilter::Modified Variance for beam 7 is 21.35 
Alpha[7]	0.000000
Alpha[7]	0.999227
TNavParticleFilter::Modified Variance for beam 8 is 20.81 
Alpha[8]	0.000000
Alpha[8]	0.999011
TNavParticleFilter::Modified Variance for beam 9 is 20.32 
Alpha[9]	0.000000
Alpha[9]	0.998462
TNavParticleFilter::Modified Variance for beam 10 is 19.85 
Alpha[10]	0.000000
Alpha[10]	0.997969
TNavParticleFilter::Modified Variance for beam 11 is 16.70 
Alpha[11]	0.000000
Alpha[11]	0.997657
TNavParticleFilter::Modified Variance for beam 12 is 16.35 
Alpha[12]	0.000000
Alpha[12]	0.997431
TNavParticleFilter::Modified Variance for beam 13 is 16.65 
Alpha[13]	0.000000
Alpha[13]	0.997442
TNavParticleFilter::Modified Variance for beam 14 is 18.23 
Alpha[14]	0.000000
Alpha[14]	0.997421
TNavParticleFilter::Modified Variance for beam 15 is 17.88 
Alpha[15]	0.000000
Alpha[15]	0.997543
TNavParticleFilter::Modified Variance for beam 16 is 17.55 
Alpha[16]	0.000000
Alpha[16]	0.997362
TNavParticleFilter::Modified Variance for beam 17 is 17.26 
Alpha[17]	0.000000
Alpha[17]	0.996761
TNavParticleFilter::Modified Variance for beam 18 is 16.98 
Alpha[18]	0.000000
Alpha[18]	0.996001
TNavParticleFilter::Modified Variance for beam 19 is 17.24 
Alpha[19]	0.000000
Alpha[19]	0.995245
TNavParticleFilter::Modified Variance for beam 20 is 17.66 
Alpha[20]	0.000000
Alpha[20]	0.994374
TNavParticleFilter::Modified Variance for beam 21 is 17.40 
Alpha[21]	0.000000
Alpha[21]	0.993726
TNavParticleFilter::Modified Variance for beam 22 is 17.78 
Alpha[22]	0.000000
Alpha[22]	0.992859
TNavParticleFilter::Modified Variance for beam 23 is 18.83 
Alpha[23]	0.000000
Alpha[23]	0.992280
TNavParticleFilter::Modified Variance for beam 24 is 19.99 
Alpha[24]	0.000000
Alpha[24]	0.992522
TNavParticleFilter::Modified Variance for beam 25 is 20.09 
Alpha[25]	0.000000
Alpha[25]	0.990712
TNavParticleFilter::Modified Variance for beam 26 is 19.92 
Alpha[26]	0.000000
Alpha[26]	0.986548
TNavParticleFilter::Modified Variance for beam 27 is 19.74 
Alpha[27]	0.000000
Alpha[27]	0.983688
TNavParticleFilter::Modified Variance for beam 28 is 19.53 
Alpha[28]	0.000000
Alpha[28]	0.983149
TNavParticleFilter::Modified Variance for beam 29 is 19.32 
Alpha[29]	0.000000
Alpha[29]	0.983670
TNavParticleFilter::Modified Variance for beam 30 is 19.09 
Alpha[30]	0.000000
Alpha[30]	0.985517
TNavParticleFilter::Modified Variance for beam 31 is 18.87 
Alpha[31]	0.000000
Alpha[31]	0.987677
TNavParticleFilter::Modified Variance for beam 32 is 18.68 
Alpha[32]	0.000000
Alpha[32]	0.988860
TNavParticleFilter::Modified Variance for beam 33 is 18.47 
Alpha[33]	0.000000
Alpha[33]	0.991962
TNavParticleFilter::Modified Variance for beam 34 is 18.74 
Alpha[34]	0.000000
Alpha[34]	0.995128
TNavParticleFilter::Modified Variance for beam 35 is 19.22 
Alpha[35]	0.000000
Alpha[35]	0.997144
TNavParticleFilter::Modified Variance for beam 36 is 19.07 
Alpha[36]	0.000000
Alpha[36]	0.998132
TNavParticleFilter::Modified Variance for beam 37 is 20.09 
Alpha[37]	0.000000
Alpha[37]	0.998396
TNavParticleFilter::Modified Variance for beam 38 is 19.98 
Alpha[38]	0.000000
Alpha[38]	0.998307
TNavParticleFilter::Modified Variance for beam 39 is 18.75 
Alpha[39]	0.000000
Alpha[39]	0.997843
TNavParticleFilter::Modified Variance for beam 40 is 18.68 
Alpha[40]	0.000000
Alpha[40]	0.996941
TNavParticleFilter::Modified Variance for beam 41 is 18.62 
Alpha[41]	0.000000
Alpha[41]	0.996160
TNavPF:: sumSquaredError = 49.958095 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 45 as 7.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 5.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 5.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 10.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 12.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 5.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -3.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -5.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -6.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -4.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 2.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 2.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as -3.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as -6.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as -6.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 89 as -6.66. Range = 0.00 
TNavPF::First Term of Map Covariance Matrix is 5.02 
TNavPF::Calculated NIS Value : 22.79 	numBeams normalized NIS: 0.54
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321871.82 sec.
INS : North: 4070219.88, East: 589522.22, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 89.43, IDT[75] = 55.11
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321874.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321874.62)
ARL : North: -12.2483, East: -16.2879, Depth: -24.3395ARL : Estimation Bias  (Mean)         : (t = 1488321874.62)
ARL : North: -13.2615, East: -15.7492, Depth: -23.4740TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 77 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 45 46 47 50 
TNavParticleFilter::Modified Variance for beam 0 is 42.80 
Alpha[0]	0.123000
Alpha[0]	0.996651
TNavParticleFilter::Modified Variance for beam 1 is 40.91 
Alpha[1]	0.000000
Alpha[1]	0.998047
TNavParticleFilter::Modified Variance for beam 2 is 41.74 
Alpha[2]	0.000000
Alpha[2]	0.998922
TNavParticleFilter::Modified Variance for beam 3 is 39.86 
Alpha[3]	0.000000
Alpha[3]	0.999689
TNavParticleFilter::Modified Variance for beam 4 is 38.44 
Alpha[4]	0.000000
Alpha[4]	0.999699
TNavParticleFilter::Modified Variance for beam 5 is 22.45 
Alpha[5]	0.000000
Alpha[5]	0.999656
TNavParticleFilter::Modified Variance for beam 6 is 21.76 
Alpha[6]	0.000000
Alpha[6]	0.999543
TNavParticleFilter::Modified Variance for beam 7 is 21.12 
Alpha[7]	0.000000
Alpha[7]	0.999362
TNavParticleFilter::Modified Variance for beam 8 is 20.53 
Alpha[8]	0.000000
Alpha[8]	0.999018
TNavParticleFilter::Modified Variance for beam 9 is 19.98 
Alpha[9]	0.000000
Alpha[9]	0.998440
TNavParticleFilter::Modified Variance for beam 10 is 16.57 
Alpha[10]	0.000000
Alpha[10]	0.997994
TNavParticleFilter::Modified Variance for beam 11 is 16.37 
Alpha[11]	0.000000
Alpha[11]	0.997826
TNavParticleFilter::Modified Variance for beam 12 is 16.90 
Alpha[12]	0.000000
Alpha[12]	0.997950
TNavParticleFilter::Modified Variance for beam 13 is 18.08 
Alpha[13]	0.000000
Alpha[13]	0.998096
TNavParticleFilter::Modified Variance for beam 14 is 17.68 
Alpha[14]	0.000000
Alpha[14]	0.998010
TNavParticleFilter::Modified Variance for beam 15 is 17.30 
Alpha[15]	0.000000
Alpha[15]	0.997731
TNavParticleFilter::Modified Variance for beam 16 is 16.96 
Alpha[16]	0.000000
Alpha[16]	0.997135
TNavParticleFilter::Modified Variance for beam 17 is 16.63 
Alpha[17]	0.000000
Alpha[17]	0.996406
TNavParticleFilter::Modified Variance for beam 18 is 17.25 
Alpha[18]	0.000000
Alpha[18]	0.995646
TNavParticleFilter::Modified Variance for beam 19 is 17.26 
Alpha[19]	0.000000
Alpha[19]	0.994971
TNavParticleFilter::Modified Variance for beam 20 is 16.97 
Alpha[20]	0.000000
Alpha[20]	0.994320
TNavParticleFilter::Modified Variance for beam 21 is 17.62 
Alpha[21]	0.000000
Alpha[21]	0.993432
TNavParticleFilter::Modified Variance for beam 22 is 18.48 
Alpha[22]	0.000000
Alpha[22]	0.992611
TNavParticleFilter::Modified Variance for beam 23 is 19.43 
Alpha[23]	0.000000
Alpha[23]	0.992128
TNavParticleFilter::Modified Variance for beam 24 is 19.59 
Alpha[24]	0.000000
Alpha[24]	0.990392
TNavParticleFilter::Modified Variance for beam 25 is 19.37 
Alpha[25]	0.000000
Alpha[25]	0.986862
TNavParticleFilter::Modified Variance for beam 26 is 19.15 
Alpha[26]	0.000000
Alpha[26]	0.983829
TNavParticleFilter::Modified Variance for beam 27 is 18.98 
Alpha[27]	0.000000
Alpha[27]	0.982553
TNavParticleFilter::Modified Variance for beam 28 is 18.66 
Alpha[28]	0.000000
Alpha[28]	0.983043
TNavParticleFilter::Modified Variance for beam 29 is 18.39 
Alpha[29]	0.000000
Alpha[29]	0.985079
TNavParticleFilter::Modified Variance for beam 30 is 18.13 
Alpha[30]	0.000000
Alpha[30]	0.987709
TNavParticleFilter::Modified Variance for beam 31 is 17.91 
Alpha[31]	0.000000
Alpha[31]	0.988661
TNavParticleFilter::Modified Variance for beam 32 is 17.71 
Alpha[32]	0.000000
Alpha[32]	0.989357
TNavParticleFilter::Modified Variance for beam 33 is 17.77 
Alpha[33]	0.000000
Alpha[33]	0.992491
TNavParticleFilter::Modified Variance for beam 34 is 18.38 
Alpha[34]	0.000000
Alpha[34]	0.995439
TNavParticleFilter::Modified Variance for beam 35 is 18.18 
Alpha[35]	0.000000
Alpha[35]	0.996961
TNavParticleFilter::Modified Variance for beam 36 is 18.97 
Alpha[36]	0.000000
Alpha[36]	0.997800
TNavParticleFilter::Modified Variance for beam 37 is 18.99 
Alpha[37]	0.000000
Alpha[37]	0.998121
TNavParticleFilter::Modified Variance for beam 38 is 17.73 
Alpha[38]	0.000000
Alpha[38]	0.998093
TNavParticleFilter::Modified Variance for beam 39 is 17.62 
Alpha[39]	0.000000
Alpha[39]	0.997684
TNavParticleFilter::Modified Variance for beam 40 is 17.52 
Alpha[40]	0.000000
Alpha[40]	0.996951
TNavParticleFilter::Modified Variance for beam 41 is 17.43 
Alpha[41]	0.000000
Alpha[41]	0.996355
TNavParticleFilter::Modified Variance for beam 42 is 18.13 
Alpha[42]	0.000000
Alpha[42]	0.995666
TNavPF:: sumSquaredError = 66.888523 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 45 as 7.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 5.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 7.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 10.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 12.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -5.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -3.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -5.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -5.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -4.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 2.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 2.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 1.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -2.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -5.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as -6.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as -7.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 88 as -7.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 89 as -5.28. Range = 0.00 
TNavPF::First Term of Map Covariance Matrix is 5.96 
TNavPF::Calculated NIS Value : 27.17 	numBeams normalized NIS: 0.63
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321874.82 sec.
INS : North: 4070217.11, East: 589518.84, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 75.41, IDT[75] = 53.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321877.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321877.62)
ARL : North: -13.4686, East: -17.8663, Depth: -20.8709ARL : Estimation Bias  (Mean)         : (t = 1488321877.62)
ARL : North: -13.2625, East: -15.1988, Depth: -23.1129TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 71 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 39 40 41 44 
TNavParticleFilter::Modified Variance for beam 0 is 43.85 
Alpha[0]	0.123000
Alpha[0]	0.998800
TNavParticleFilter::Modified Variance for beam 1 is 42.00 
Alpha[1]	0.000000
Alpha[1]	0.999014
TNavParticleFilter::Modified Variance for beam 2 is 45.11 
Alpha[2]	0.000000
Alpha[2]	0.999427
TNavParticleFilter::Modified Variance for beam 3 is 40.39 
Alpha[3]	0.000000
Alpha[3]	0.999762
TNavParticleFilter::Modified Variance for beam 4 is 31.34 
Alpha[4]	0.000000
Alpha[4]	0.999719
TNavParticleFilter::Modified Variance for beam 5 is 30.19 
Alpha[5]	0.000000
Alpha[5]	0.999612
TNavParticleFilter::Modified Variance for beam 6 is 23.07 
Alpha[6]	0.000000
Alpha[6]	0.999303
TNavParticleFilter::Modified Variance for beam 7 is 20.55 
Alpha[7]	0.000000
Alpha[7]	0.998777
TNavParticleFilter::Modified Variance for beam 8 is 16.77 
Alpha[8]	0.000000
Alpha[8]	0.998432
TNavParticleFilter::Modified Variance for beam 9 is 16.73 
Alpha[9]	0.000000
Alpha[9]	0.998353
TNavParticleFilter::Modified Variance for beam 10 is 17.19 
Alpha[10]	0.000000
Alpha[10]	0.998486
TNavParticleFilter::Modified Variance for beam 11 is 18.26 
Alpha[11]	0.000000
Alpha[11]	0.998620
TNavParticleFilter::Modified Variance for beam 12 is 17.79 
Alpha[12]	0.000000
Alpha[12]	0.998438
TNavParticleFilter::Modified Variance for beam 13 is 17.35 
Alpha[13]	0.000000
Alpha[13]	0.998112
TNavParticleFilter::Modified Variance for beam 14 is 16.93 
Alpha[14]	0.000000
Alpha[14]	0.997551
TNavParticleFilter::Modified Variance for beam 15 is 16.73 
Alpha[15]	0.000000
Alpha[15]	0.996709
TNavParticleFilter::Modified Variance for beam 16 is 17.32 
Alpha[16]	0.000000
Alpha[16]	0.996114
TNavParticleFilter::Modified Variance for beam 17 is 17.14 
Alpha[17]	0.000000
Alpha[17]	0.995397
TNavParticleFilter::Modified Variance for beam 18 is 16.87 
Alpha[18]	0.000000
Alpha[18]	0.994467
TNavParticleFilter::Modified Variance for beam 19 is 17.54 
Alpha[19]	0.000000
Alpha[19]	0.993582
TNavParticleFilter::Modified Variance for beam 20 is 18.27 
Alpha[20]	0.000000
Alpha[20]	0.992126
TNavParticleFilter::Modified Variance for beam 21 is 19.06 
Alpha[21]	0.000000
Alpha[21]	0.990989
TNavParticleFilter::Modified Variance for beam 22 is 19.39 
Alpha[22]	0.000000
Alpha[22]	0.990184
TNavParticleFilter::Modified Variance for beam 23 is 19.11 
Alpha[23]	0.000000
Alpha[23]	0.986293
TNavParticleFilter::Modified Variance for beam 24 is 18.89 
Alpha[24]	0.000000
Alpha[24]	0.980689
TNavParticleFilter::Modified Variance for beam 25 is 18.54 
Alpha[25]	0.000000
Alpha[25]	0.983075
TNavParticleFilter::Modified Variance for beam 26 is 19.37 
Alpha[26]	0.000000
Alpha[26]	0.984862
TNavParticleFilter::Modified Variance for beam 27 is 19.15 
Alpha[27]	0.000000
Alpha[27]	0.986215
TNavParticleFilter::Modified Variance for beam 28 is 18.83 
Alpha[28]	0.000000
Alpha[28]	0.988408
TNavParticleFilter::Modified Variance for beam 29 is 18.55 
Alpha[29]	0.000000
Alpha[29]	0.988927
TNavParticleFilter::Modified Variance for beam 30 is 18.30 
Alpha[30]	0.000000
Alpha[30]	0.989547
TNavParticleFilter::Modified Variance for beam 31 is 18.03 
Alpha[31]	0.000000
Alpha[31]	0.991639
TNavParticleFilter::Modified Variance for beam 32 is 17.76 
Alpha[32]	0.000000
Alpha[32]	0.994456
TNavParticleFilter::Modified Variance for beam 33 is 17.52 
Alpha[33]	0.000000
Alpha[33]	0.996376
TNavParticleFilter::Modified Variance for beam 34 is 17.79 
Alpha[34]	0.000000
Alpha[34]	0.997466
TNavParticleFilter::Modified Variance for beam 35 is 18.25 
Alpha[35]	0.000000
Alpha[35]	0.997931
TNavParticleFilter::Modified Variance for beam 36 is 16.95 
Alpha[36]	0.000000
Alpha[36]	0.998142
TNavParticleFilter::Modified Variance for beam 37 is 16.80 
Alpha[37]	0.000000
Alpha[37]	0.997915
TNavParticleFilter::Modified Variance for beam 38 is 16.67 
Alpha[38]	0.000000
Alpha[38]	0.997279
TNavParticleFilter::Modified Variance for beam 39 is 16.54 
Alpha[39]	0.000000
Alpha[39]	0.996693
TNavParticleFilter::Modified Variance for beam 40 is 16.53 
Alpha[40]	0.000000
Alpha[40]	0.996196
TNavParticleFilter::Modified Variance for beam 41 is 18.43 
Alpha[41]	0.000000
Alpha[41]	0.995542
TNavParticleFilter::Modified Variance for beam 42 is 18.36 
Alpha[42]	0.000000
Alpha[42]	0.995233
TNavParticleFilter::Modified Variance for beam 43 is 18.24 
Alpha[43]	0.000000
Alpha[43]	0.995695
TNavParticleFilter::Modified Variance for beam 44 is 19.25 
Alpha[44]	0.000000
Alpha[44]	0.995764
TNavParticleFilter::Modified Variance for beam 45 is 19.16 
Alpha[45]	0.000000
Alpha[45]	0.995040
TNavParticleFilter::Modified Variance for beam 46 is 19.09 
Alpha[46]	0.000000
Alpha[46]	0.994011
TNavParticleFilter::Modified Variance for beam 47 is 19.03 
Alpha[47]	0.000000
Alpha[47]	0.993216
TNavParticleFilter::Modified Variance for beam 48 is 20.11 
Alpha[48]	0.000000
Alpha[48]	0.992434
TNavPF:: sumSquaredError = 52.854488 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 39 as 7.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 6.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 11.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 14.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 8.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 11.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 4.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -5.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -5.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -3.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 1.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 2.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 2.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 1.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 2.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 1.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 2.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 2.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 1.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -5.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -6.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -6.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -7.16. Range = 90.73 
TNavPF::Calculated measDiffMean for beam 81 as -6.76. Range = 88.64 
TNavPF::Calculated measDiffMean for beam 82 as -2.62. Range = 92.16 
TNavPF::Calculated measDiffMean for beam 83 as -2.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -2.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as 0.11. Range = 86.79 
TNavPF::Calculated measDiffMean for beam 86 as 0.27. Range = 75.41 
TNavPF::Calculated measDiffMean for beam 87 as 0.29. Range = 73.84 
TNavPF::Calculated measDiffMean for beam 88 as 0.11. Range = 63.23 
TNavPF::Calculated measDiffMean for beam 89 as 1.92. Range = 59.01 
TNavPF::First Term of Map Covariance Matrix is 16.66 
TNavPF::Calculated NIS Value : 31.98 	numBeams normalized NIS: 0.65
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321877.82 sec.
INS : North: 4070214.72, East: 589515.25, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 56.77, IDT[75] = 56.44
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321880.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321880.62)
ARL : North: -13.5495, East: -15.0500, Depth: -26.2126ARL : Estimation Bias  (Mean)         : (t = 1488321880.62)
ARL : North: -12.4493, East: -13.6183, Depth: -23.3291TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 32 33 34 35 
TNavParticleFilter::Modified Variance for beam 0 is 26.68 
Alpha[0]	0.123000
Alpha[0]	0.999814
TNavParticleFilter::Modified Variance for beam 1 is 17.95 
Alpha[1]	0.000000
Alpha[1]	0.999752
TNavParticleFilter::Modified Variance for beam 2 is 17.36 
Alpha[2]	0.000000
Alpha[2]	0.999632
TNavParticleFilter::Modified Variance for beam 3 is 17.77 
Alpha[3]	0.000000
Alpha[3]	0.999317
TNavParticleFilter::Modified Variance for beam 4 is 19.46 
Alpha[4]	0.000000
Alpha[4]	0.998981
TNavParticleFilter::Modified Variance for beam 5 is 18.85 
Alpha[5]	0.000000
Alpha[5]	0.999053
TNavParticleFilter::Modified Variance for beam 6 is 18.27 
Alpha[6]	0.000000
Alpha[6]	0.999200
TNavParticleFilter::Modified Variance for beam 7 is 17.74 
Alpha[7]	0.000000
Alpha[7]	0.999273
TNavParticleFilter::Modified Variance for beam 8 is 17.25 
Alpha[8]	0.000000
Alpha[8]	0.999169
TNavParticleFilter::Modified Variance for beam 9 is 17.67 
Alpha[9]	0.000000
Alpha[9]	0.998866
TNavParticleFilter::Modified Variance for beam 10 is 18.22 
Alpha[10]	0.000000
Alpha[10]	0.998466
TNavParticleFilter::Modified Variance for beam 11 is 18.80 
Alpha[11]	0.000000
Alpha[11]	0.997916
TNavParticleFilter::Modified Variance for beam 12 is 19.44 
Alpha[12]	0.000000
Alpha[12]	0.997206
TNavParticleFilter::Modified Variance for beam 13 is 19.32 
Alpha[13]	0.000000
Alpha[13]	0.996834
TNavParticleFilter::Modified Variance for beam 14 is 19.04 
Alpha[14]	0.000000
Alpha[14]	0.995947
TNavParticleFilter::Modified Variance for beam 15 is 19.78 
Alpha[15]	0.000000
Alpha[15]	0.994003
TNavParticleFilter::Modified Variance for beam 16 is 19.54 
Alpha[16]	0.000000
Alpha[16]	0.990993
TNavParticleFilter::Modified Variance for beam 17 is 19.57 
Alpha[17]	0.000000
Alpha[17]	0.984994
TNavParticleFilter::Modified Variance for beam 18 is 20.26 
Alpha[18]	0.000000
Alpha[18]	0.984225
TNavParticleFilter::Modified Variance for beam 19 is 19.84 
Alpha[19]	0.000000
Alpha[19]	0.985717
TNavParticleFilter::Modified Variance for beam 20 is 19.55 
Alpha[20]	0.000000
Alpha[20]	0.981312
TNavParticleFilter::Modified Variance for beam 21 is 19.19 
Alpha[21]	0.000000
Alpha[21]	0.981904
TNavParticleFilter::Modified Variance for beam 22 is 18.75 
Alpha[22]	0.000000
Alpha[22]	0.987926
TNavParticleFilter::Modified Variance for beam 23 is 18.41 
Alpha[23]	0.000000
Alpha[23]	0.989382
TNavParticleFilter::Modified Variance for beam 24 is 18.10 
Alpha[24]	0.000000
Alpha[24]	0.990536
TNavParticleFilter::Modified Variance for beam 25 is 17.88 
Alpha[25]	0.000000
Alpha[25]	0.987704
TNavParticleFilter::Modified Variance for beam 26 is 17.58 
Alpha[26]	0.000000
Alpha[26]	0.990162
TNavParticleFilter::Modified Variance for beam 27 is 17.49 
Alpha[27]	0.000000
Alpha[27]	0.993878
TNavParticleFilter::Modified Variance for beam 28 is 18.19 
Alpha[28]	0.000000
Alpha[28]	0.994967
TNavParticleFilter::Modified Variance for beam 29 is 17.94 
Alpha[29]	0.000000
Alpha[29]	0.996241
TNavParticleFilter::Modified Variance for beam 30 is 18.16 
Alpha[30]	0.000000
Alpha[30]	0.997452
TNavParticleFilter::Modified Variance for beam 31 is 18.65 
Alpha[31]	0.000000
Alpha[31]	0.997594
TNavParticleFilter::Modified Variance for beam 32 is 17.31 
Alpha[32]	0.000000
Alpha[32]	0.997533
TNavParticleFilter::Modified Variance for beam 33 is 17.14 
Alpha[33]	0.000000
Alpha[33]	0.997229
TNavParticleFilter::Modified Variance for beam 34 is 17.45 
Alpha[34]	0.000000
Alpha[34]	0.995948
TNavParticleFilter::Modified Variance for beam 35 is 19.01 
Alpha[35]	0.000000
Alpha[35]	0.995699
TNavParticleFilter::Modified Variance for beam 36 is 18.91 
Alpha[36]	0.000000
Alpha[36]	0.995895
TNavParticleFilter::Modified Variance for beam 37 is 18.76 
Alpha[37]	0.000000
Alpha[37]	0.995457
TNavParticleFilter::Modified Variance for beam 38 is 18.63 
Alpha[38]	0.000000
Alpha[38]	0.994887
TNavParticleFilter::Modified Variance for beam 39 is 18.49 
Alpha[39]	0.000000
Alpha[39]	0.995157
TNavParticleFilter::Modified Variance for beam 40 is 19.48 
Alpha[40]	0.000000
Alpha[40]	0.995936
TNavParticleFilter::Modified Variance for beam 41 is 19.36 
Alpha[41]	0.000000
Alpha[41]	0.995868
TNavParticleFilter::Modified Variance for beam 42 is 19.28 
Alpha[42]	0.000000
Alpha[42]	0.994459
TNavParticleFilter::Modified Variance for beam 43 is 19.21 
Alpha[43]	0.000000
Alpha[43]	0.992931
TNavParticleFilter::Modified Variance for beam 44 is 19.13 
Alpha[44]	0.000000
Alpha[44]	0.992370
TNavParticleFilter::Modified Variance for beam 45 is 19.07 
Alpha[45]	0.000000
Alpha[45]	0.991359
TNavParticleFilter::Modified Variance for beam 46 is 19.02 
Alpha[46]	0.000000
Alpha[46]	0.990292
TNavParticleFilter::Modified Variance for beam 47 is 18.90 
Alpha[47]	0.000000
Alpha[47]	0.993629
TNavParticleFilter::Modified Variance for beam 48 is 17.72 
Alpha[48]	0.000000
Alpha[48]	0.995847
TNavParticleFilter::Modified Variance for beam 49 is 17.68 
Alpha[49]	0.000000
Alpha[49]	0.996093
TNavParticleFilter::Modified Variance for beam 50 is 18.75 
Alpha[50]	0.000000
Alpha[50]	0.994919
TNavParticleFilter::Modified Variance for beam 51 is 18.75 
Alpha[51]	0.000000
Alpha[51]	0.994098
TNavParticleFilter::Modified Variance for beam 52 is 17.65 
Alpha[52]	0.000000
Alpha[52]	0.994425
TNavParticleFilter::Modified Variance for beam 53 is 17.66 
Alpha[53]	0.000000
Alpha[53]	0.993971
TNavParticleFilter::Modified Variance for beam 54 is 18.75 
Alpha[54]	0.000000
Alpha[54]	0.993476
TNavParticleFilter::Modified Variance for beam 55 is 18.78 
Alpha[55]	0.000000
Alpha[55]	0.992902
TNavParticleFilter::Modified Variance for beam 56 is 19.93 
Alpha[56]	0.000000
Alpha[56]	0.992488
TNavParticleFilter::Modified Variance for beam 57 is 19.96 
Alpha[57]	0.000000
Alpha[57]	0.993090
TNavPF:: sumSquaredError = 99.832440 
TNavPF:: sumWeights = 0.000006 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 32 as -5.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -11.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -8.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -4.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -3.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -3.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -2.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 2.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 3.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 2.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 2.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 3.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 3.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 2.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 3.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 2.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 2.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 1.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 1.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 1.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -5.26. Range = 68.83 
TNavPF::Calculated measDiffMean for beam 65 as -6.60. Range = 54.36 
TNavPF::Calculated measDiffMean for beam 66 as -6.38. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 67 as -3.11. Range = 54.02 
TNavPF::Calculated measDiffMean for beam 68 as -2.46. Range = 57.11 
TNavPF::Calculated measDiffMean for beam 69 as -2.09. Range = 56.00 
TNavPF::Calculated measDiffMean for beam 70 as -1.76. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 71 as -1.51. Range = 53.95 
TNavPF::Calculated measDiffMean for beam 72 as 0.52. Range = 53.01 
TNavPF::Calculated measDiffMean for beam 73 as 0.57. Range = 53.81 
TNavPF::Calculated measDiffMean for beam 74 as 0.85. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 75 as 0.89. Range = 55.88 
TNavPF::Calculated measDiffMean for beam 76 as 0.66. Range = 57.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.48. Range = 56.77 
TNavPF::Calculated measDiffMean for beam 78 as 0.35. Range = 56.24 
TNavPF::Calculated measDiffMean for beam 79 as 0.71. Range = 57.49 
TNavPF::Calculated measDiffMean for beam 80 as -0.69. Range = 56.97 
TNavPF::Calculated measDiffMean for beam 81 as -0.61. Range = 56.81 
TNavPF::Calculated measDiffMean for beam 82 as 1.19. Range = 57.99 
TNavPF::Calculated measDiffMean for beam 83 as 0.92. Range = 57.30 
TNavPF::Calculated measDiffMean for beam 84 as -1.63. Range = 56.65 
TNavPF::Calculated measDiffMean for beam 85 as -1.92. Range = 56.03 
TNavPF::Calculated measDiffMean for beam 86 as 0.22. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 87 as 0.44. Range = 54.87 
TNavPF::Calculated measDiffMean for beam 88 as 2.76. Range = 54.34 
TNavPF::Calculated measDiffMean for beam 89 as 3.09. Range = 53.83 
TNavPF::First Term of Map Covariance Matrix is 107.78 
TNavPF::Calculated NIS Value : 19.40 	numBeams normalized NIS: 0.33
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321880.82 sec.
INS : North: 4070212.94, East: 589511.34, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 55.55, IDT[75] = 52.21
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321883.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321883.62)
ARL : North: -10.8690, East: -14.0023, Depth: -20.7985ARL : Estimation Bias  (Mean)         : (t = 1488321883.62)
ARL : North: -12.0643, East: -13.9757, Depth: -21.4055TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.28 
Alpha[0]	0.123000
Alpha[0]	0.998737
TNavParticleFilter::Modified Variance for beam 1 is 18.62 
Alpha[1]	0.000000
Alpha[1]	0.998103
TNavParticleFilter::Modified Variance for beam 2 is 19.14 
Alpha[2]	0.000000
Alpha[2]	0.997095
TNavParticleFilter::Modified Variance for beam 3 is 19.68 
Alpha[3]	0.000000
Alpha[3]	0.996243
TNavParticleFilter::Modified Variance for beam 4 is 20.26 
Alpha[4]	0.000000
Alpha[4]	0.995485
TNavParticleFilter::Modified Variance for beam 5 is 20.31 
Alpha[5]	0.000000
Alpha[5]	0.995045
TNavParticleFilter::Modified Variance for beam 6 is 19.83 
Alpha[6]	0.000000
Alpha[6]	0.994378
TNavParticleFilter::Modified Variance for beam 7 is 20.49 
Alpha[7]	0.000000
Alpha[7]	0.993443
TNavParticleFilter::Modified Variance for beam 8 is 20.34 
Alpha[8]	0.000000
Alpha[8]	0.990954
TNavParticleFilter::Modified Variance for beam 9 is 20.30 
Alpha[9]	0.000000
Alpha[9]	0.982479
TNavParticleFilter::Modified Variance for beam 10 is 21.05 
Alpha[10]	0.000000
Alpha[10]	0.981608
TNavParticleFilter::Modified Variance for beam 11 is 20.49 
Alpha[11]	0.000000
Alpha[11]	0.985803
TNavParticleFilter::Modified Variance for beam 12 is 20.18 
Alpha[12]	0.000000
Alpha[12]	0.978951
TNavParticleFilter::Modified Variance for beam 13 is 19.83 
Alpha[13]	0.000000
Alpha[13]	0.975304
TNavParticleFilter::Modified Variance for beam 14 is 19.31 
Alpha[14]	0.000000
Alpha[14]	0.981641
TNavParticleFilter::Modified Variance for beam 15 is 18.83 
Alpha[15]	0.000000
Alpha[15]	0.987292
TNavParticleFilter::Modified Variance for beam 16 is 18.47 
Alpha[16]	0.000000
Alpha[16]	0.987899
TNavParticleFilter::Modified Variance for beam 17 is 18.25 
Alpha[17]	0.000000
Alpha[17]	0.981707
TNavParticleFilter::Modified Variance for beam 18 is 17.84 
Alpha[18]	0.000000
Alpha[18]	0.987368
TNavParticleFilter::Modified Variance for beam 19 is 18.15 
Alpha[19]	0.000000
Alpha[19]	0.992784
TNavParticleFilter::Modified Variance for beam 20 is 18.37 
Alpha[20]	0.000000
Alpha[20]	0.993942
TNavParticleFilter::Modified Variance for beam 21 is 18.09 
Alpha[21]	0.000000
Alpha[21]	0.994120
TNavParticleFilter::Modified Variance for beam 22 is 18.70 
Alpha[22]	0.000000
Alpha[22]	0.995738
TNavParticleFilter::Modified Variance for beam 23 is 18.74 
Alpha[23]	0.000000
Alpha[23]	0.996266
TNavParticleFilter::Modified Variance for beam 24 is 17.30 
Alpha[24]	0.000000
Alpha[24]	0.996888
TNavParticleFilter::Modified Variance for beam 25 is 17.08 
Alpha[25]	0.000000
Alpha[25]	0.997266
TNavParticleFilter::Modified Variance for beam 26 is 17.99 
Alpha[26]	0.000000
Alpha[26]	0.996877
TNavParticleFilter::Modified Variance for beam 27 is 18.98 
Alpha[27]	0.000000
Alpha[27]	0.996874
TNavParticleFilter::Modified Variance for beam 28 is 18.77 
Alpha[28]	0.000000
Alpha[28]	0.996558
TNavParticleFilter::Modified Variance for beam 29 is 18.58 
Alpha[29]	0.000000
Alpha[29]	0.996008
TNavParticleFilter::Modified Variance for beam 30 is 18.40 
Alpha[30]	0.000000
Alpha[30]	0.995696
TNavParticleFilter::Modified Variance for beam 31 is 18.77 
Alpha[31]	0.000000
Alpha[31]	0.995829
TNavParticleFilter::Modified Variance for beam 32 is 19.21 
Alpha[32]	0.000000
Alpha[32]	0.996060
TNavParticleFilter::Modified Variance for beam 33 is 19.06 
Alpha[33]	0.000000
Alpha[33]	0.995308
TNavParticleFilter::Modified Variance for beam 34 is 18.95 
Alpha[34]	0.000000
Alpha[34]	0.992950
TNavParticleFilter::Modified Variance for beam 35 is 18.84 
Alpha[35]	0.000000
Alpha[35]	0.991688
TNavParticleFilter::Modified Variance for beam 36 is 18.70 
Alpha[36]	0.000000
Alpha[36]	0.992307
TNavParticleFilter::Modified Variance for beam 37 is 18.58 
Alpha[37]	0.000000
Alpha[37]	0.992333
TNavParticleFilter::Modified Variance for beam 38 is 18.47 
Alpha[38]	0.000000
Alpha[38]	0.992819
TNavParticleFilter::Modified Variance for beam 39 is 17.27 
Alpha[39]	0.000000
Alpha[39]	0.994033
TNavParticleFilter::Modified Variance for beam 40 is 17.19 
Alpha[40]	0.000000
Alpha[40]	0.994124
TNavParticleFilter::Modified Variance for beam 41 is 17.11 
Alpha[41]	0.000000
Alpha[41]	0.994476
TNavParticleFilter::Modified Variance for beam 42 is 18.12 
Alpha[42]	0.000000
Alpha[42]	0.994157
TNavParticleFilter::Modified Variance for beam 43 is 18.07 
Alpha[43]	0.000000
Alpha[43]	0.993753
TNavParticleFilter::Modified Variance for beam 44 is 18.02 
Alpha[44]	0.000000
Alpha[44]	0.993904
TNavParticleFilter::Modified Variance for beam 45 is 16.93 
Alpha[45]	0.000000
Alpha[45]	0.993548
TNavParticleFilter::Modified Variance for beam 46 is 17.97 
Alpha[46]	0.000000
Alpha[46]	0.992465
TNavParticleFilter::Modified Variance for beam 47 is 17.95 
Alpha[47]	0.000000
Alpha[47]	0.992357
TNavParticleFilter::Modified Variance for beam 48 is 19.00 
Alpha[48]	0.000000
Alpha[48]	0.993697
TNavParticleFilter::Modified Variance for beam 49 is 18.99 
Alpha[49]	0.000000
Alpha[49]	0.994306
TNavParticleFilter::Modified Variance for beam 50 is 19.00 
Alpha[50]	0.000000
Alpha[50]	0.993690
TNavParticleFilter::Modified Variance for beam 51 is 19.04 
Alpha[51]	0.000000
Alpha[51]	0.992515
TNavParticleFilter::Modified Variance for beam 52 is 20.13 
Alpha[52]	0.000000
Alpha[52]	0.995871
TNavParticleFilter::Modified Variance for beam 53 is 20.12 
Alpha[53]	0.000000
Alpha[53]	0.998067
TNavParticleFilter::Modified Variance for beam 54 is 18.62 
Alpha[54]	0.000000
Alpha[54]	0.998592
TNavParticleFilter::Modified Variance for beam 55 is 17.99 
Alpha[55]	0.000000
Alpha[55]	0.998434
TNavParticleFilter::Modified Variance for beam 56 is 18.06 
Alpha[56]	0.000000
Alpha[56]	0.997819
TNavParticleFilter::Modified Variance for beam 57 is 19.24 
Alpha[57]	0.000000
Alpha[57]	0.997102
TNavParticleFilter::Modified Variance for beam 58 is 20.48 
Alpha[58]	0.000000
Alpha[58]	0.997168
TNavParticleFilter::Modified Variance for beam 59 is 20.58 
Alpha[59]	0.000000
Alpha[59]	0.997189
TNavPF:: sumSquaredError = 31.555725 
TNavPF:: sumWeights = 0.000001 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 2.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 3.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 3.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 2.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 3.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 3.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 3.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 2.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 2.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 1.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 1.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.76. Range = 71.58 
TNavPF::Calculated measDiffMean for beam 54 as -4.36. Range = 55.86 
TNavPF::Calculated measDiffMean for beam 55 as -5.77. Range = 55.99 
TNavPF::Calculated measDiffMean for beam 56 as -4.47. Range = 59.88 
TNavPF::Calculated measDiffMean for beam 57 as -2.14. Range = 58.54 
TNavPF::Calculated measDiffMean for beam 58 as -1.55. Range = 57.27 
TNavPF::Calculated measDiffMean for beam 59 as -1.20. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 60 as -0.86. Range = 54.94 
TNavPF::Calculated measDiffMean for beam 61 as 0.45. Range = 55.56 
TNavPF::Calculated measDiffMean for beam 62 as 1.55. Range = 56.45 
TNavPF::Calculated measDiffMean for beam 63 as 1.48. Range = 57.40 
TNavPF::Calculated measDiffMean for beam 64 as 1.55. Range = 58.39 
TNavPF::Calculated measDiffMean for beam 65 as 1.44. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 66 as 1.23. Range = 57.60 
TNavPF::Calculated measDiffMean for beam 67 as 0.98. Range = 58.71 
TNavPF::Calculated measDiffMean for beam 68 as 0.87. Range = 58.37 
TNavPF::Calculated measDiffMean for beam 69 as -0.48. Range = 58.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.09. Range = 59.24 
TNavPF::Calculated measDiffMean for beam 71 as 0.04. Range = 58.44 
TNavPF::Calculated measDiffMean for beam 72 as 1.79. Range = 57.66 
TNavPF::Calculated measDiffMean for beam 73 as 1.48. Range = 56.93 
TNavPF::Calculated measDiffMean for beam 74 as 0.97. Range = 56.22 
TNavPF::Calculated measDiffMean for beam 75 as -1.22. Range = 55.55 
TNavPF::Calculated measDiffMean for beam 76 as 0.89. Range = 54.92 
TNavPF::Calculated measDiffMean for beam 77 as 1.06. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 78 as 3.37. Range = 53.74 
TNavPF::Calculated measDiffMean for beam 79 as 3.69. Range = 54.50 
TNavPF::Calculated measDiffMean for beam 80 as 4.20. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 81 as 4.69. Range = 54.43 
TNavPF::Calculated measDiffMean for beam 82 as 6.94. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 83 as 7.42. Range = 55.70 
TNavPF::Calculated measDiffMean for beam 84 as 5.27. Range = 53.03 
TNavPF::Calculated measDiffMean for beam 85 as 4.03. Range = 52.62 
TNavPF::Calculated measDiffMean for beam 86 as 3.55. Range = 54.35 
TNavPF::Calculated measDiffMean for beam 87 as 4.86. Range = 56.16 
TNavPF::Calculated measDiffMean for beam 88 as 6.20. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 89 as 5.33. Range = 55.41 
TNavPF::First Term of Map Covariance Matrix is 15.82 
TNavPF::Calculated NIS Value : 22.42 	numBeams normalized NIS: 0.37
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321883.82 sec.
INS : North: 4070211.52, East: 589507.27, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 55.52, IDT[75] = 54.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321886.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321886.62)
ARL : North: -11.8156, East: -13.2019, Depth: -24.0937ARL : Estimation Bias  (Mean)         : (t = 1488321886.62)
ARL : North: -11.1483, East: -14.6403, Depth: -21.3355TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.98 
Alpha[0]	0.123000
Alpha[0]	0.995681
TNavParticleFilter::Modified Variance for beam 1 is 21.46 
Alpha[1]	0.000000
Alpha[1]	0.994493
TNavParticleFilter::Modified Variance for beam 2 is 21.48 
Alpha[2]	0.000000
Alpha[2]	0.991993
TNavParticleFilter::Modified Variance for beam 3 is 21.21 
Alpha[3]	0.000000
Alpha[3]	0.986124
TNavParticleFilter::Modified Variance for beam 4 is 21.94 
Alpha[4]	0.000000
Alpha[4]	0.983107
TNavParticleFilter::Modified Variance for beam 5 is 21.46 
Alpha[5]	0.000000
Alpha[5]	0.986631
TNavParticleFilter::Modified Variance for beam 6 is 21.02 
Alpha[6]	0.000000
Alpha[6]	0.981786
TNavParticleFilter::Modified Variance for beam 7 is 20.56 
Alpha[7]	0.000000
Alpha[7]	0.979412
TNavParticleFilter::Modified Variance for beam 8 is 19.96 
Alpha[8]	0.000000
Alpha[8]	0.985361
TNavParticleFilter::Modified Variance for beam 9 is 19.41 
Alpha[9]	0.000000
Alpha[9]	0.990384
TNavParticleFilter::Modified Variance for beam 10 is 19.01 
Alpha[10]	0.000000
Alpha[10]	0.989676
TNavParticleFilter::Modified Variance for beam 11 is 18.69 
Alpha[11]	0.000000
Alpha[11]	0.985476
TNavParticleFilter::Modified Variance for beam 12 is 18.35 
Alpha[12]	0.000000
Alpha[12]	0.990343
TNavParticleFilter::Modified Variance for beam 13 is 19.07 
Alpha[13]	0.000000
Alpha[13]	0.993280
TNavParticleFilter::Modified Variance for beam 14 is 18.78 
Alpha[14]	0.000000
Alpha[14]	0.993761
TNavParticleFilter::Modified Variance for beam 15 is 18.67 
Alpha[15]	0.000000
Alpha[15]	0.994653
TNavParticleFilter::Modified Variance for beam 16 is 19.36 
Alpha[16]	0.000000
Alpha[16]	0.996025
TNavParticleFilter::Modified Variance for beam 17 is 19.03 
Alpha[17]	0.000000
Alpha[17]	0.996504
TNavParticleFilter::Modified Variance for beam 18 is 17.49 
Alpha[18]	0.000000
Alpha[18]	0.997070
TNavParticleFilter::Modified Variance for beam 19 is 17.87 
Alpha[19]	0.000000
Alpha[19]	0.997220
TNavParticleFilter::Modified Variance for beam 20 is 18.88 
Alpha[20]	0.000000
Alpha[20]	0.997108
TNavParticleFilter::Modified Variance for beam 21 is 19.12 
Alpha[21]	0.000000
Alpha[21]	0.997228
TNavParticleFilter::Modified Variance for beam 22 is 18.87 
Alpha[22]	0.000000
Alpha[22]	0.996817
TNavParticleFilter::Modified Variance for beam 23 is 18.63 
Alpha[23]	0.000000
Alpha[23]	0.996551
TNavParticleFilter::Modified Variance for beam 24 is 18.41 
Alpha[24]	0.000000
Alpha[24]	0.996319
TNavParticleFilter::Modified Variance for beam 25 is 19.38 
Alpha[25]	0.000000
Alpha[25]	0.996237
TNavParticleFilter::Modified Variance for beam 26 is 19.17 
Alpha[26]	0.000000
Alpha[26]	0.996034
TNavParticleFilter::Modified Variance for beam 27 is 18.99 
Alpha[27]	0.000000
Alpha[27]	0.994708
TNavParticleFilter::Modified Variance for beam 28 is 18.83 
Alpha[28]	0.000000
Alpha[28]	0.993110
TNavParticleFilter::Modified Variance for beam 29 is 18.65 
Alpha[29]	0.000000
Alpha[29]	0.993174
TNavParticleFilter::Modified Variance for beam 30 is 18.49 
Alpha[30]	0.000000
Alpha[30]	0.993057
TNavParticleFilter::Modified Variance for beam 31 is 18.32 
Alpha[31]	0.000000
Alpha[31]	0.994000
TNavParticleFilter::Modified Variance for beam 32 is 18.16 
Alpha[32]	0.000000
Alpha[32]	0.994809
TNavParticleFilter::Modified Variance for beam 33 is 16.95 
Alpha[33]	0.000000
Alpha[33]	0.994793
TNavParticleFilter::Modified Variance for beam 34 is 16.83 
Alpha[34]	0.000000
Alpha[34]	0.995315
TNavParticleFilter::Modified Variance for beam 35 is 17.80 
Alpha[35]	0.000000
Alpha[35]	0.994713
TNavParticleFilter::Modified Variance for beam 36 is 17.72 
Alpha[36]	0.000000
Alpha[36]	0.993732
TNavParticleFilter::Modified Variance for beam 37 is 17.63 
Alpha[37]	0.000000
Alpha[37]	0.993720
TNavParticleFilter::Modified Variance for beam 38 is 17.55 
Alpha[38]	0.000000
Alpha[38]	0.993925
TNavParticleFilter::Modified Variance for beam 39 is 17.48 
Alpha[39]	0.000000
Alpha[39]	0.993575
TNavParticleFilter::Modified Variance for beam 40 is 18.49 
Alpha[40]	0.000000
Alpha[40]	0.993936
TNavParticleFilter::Modified Variance for beam 41 is 18.42 
Alpha[41]	0.000000
Alpha[41]	0.994508
TNavParticleFilter::Modified Variance for beam 42 is 19.48 
Alpha[42]	0.000000
Alpha[42]	0.994461
TNavParticleFilter::Modified Variance for beam 43 is 19.42 
Alpha[43]	0.000000
Alpha[43]	0.995067
TNavParticleFilter::Modified Variance for beam 44 is 18.25 
Alpha[44]	0.000000
Alpha[44]	0.996879
TNavParticleFilter::Modified Variance for beam 45 is 18.21 
Alpha[45]	0.000000
Alpha[45]	0.998038
TNavParticleFilter::Modified Variance for beam 46 is 19.29 
Alpha[46]	0.000000
Alpha[46]	0.998338
TNavParticleFilter::Modified Variance for beam 47 is 19.29 
Alpha[47]	0.000000
Alpha[47]	0.998007
TNavParticleFilter::Modified Variance for beam 48 is 17.16 
Alpha[48]	0.000000
Alpha[48]	0.997079
TNavParticleFilter::Modified Variance for beam 49 is 17.19 
Alpha[49]	0.000000
Alpha[49]	0.996343
TNavParticleFilter::Modified Variance for beam 50 is 18.26 
Alpha[50]	0.000000
Alpha[50]	0.996751
TNavParticleFilter::Modified Variance for beam 51 is 18.29 
Alpha[51]	0.000000
Alpha[51]	0.997066
TNavParticleFilter::Modified Variance for beam 52 is 19.44 
Alpha[52]	0.000000
Alpha[52]	0.996806
TNavParticleFilter::Modified Variance for beam 53 is 19.53 
Alpha[53]	0.000000
Alpha[53]	0.994847
TNavParticleFilter::Modified Variance for beam 54 is 18.53 
Alpha[54]	0.000000
Alpha[54]	0.992184
TNavParticleFilter::Modified Variance for beam 55 is 18.64 
Alpha[55]	0.000000
Alpha[55]	0.990123
TNavParticleFilter::Modified Variance for beam 56 is 18.72 
Alpha[56]	0.000000
Alpha[56]	0.990210
TNavParticleFilter::Modified Variance for beam 57 is 18.79 
Alpha[57]	0.000000
Alpha[57]	0.991295
TNavParticleFilter::Modified Variance for beam 58 is 18.91 
Alpha[58]	0.000000
Alpha[58]	0.990402
TNavParticleFilter::Modified Variance for beam 59 is 20.27 
Alpha[59]	0.000000
Alpha[59]	0.985829
TNavPF:: sumSquaredError = 50.137604 
TNavPF:: sumWeights = 0.000006 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 2.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 2.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 2.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -6.28. Range = 59.53 
TNavPF::Calculated measDiffMean for beam 49 as -6.40. Range = 58.31 
TNavPF::Calculated measDiffMean for beam 50 as -4.59. Range = 58.97 
TNavPF::Calculated measDiffMean for beam 51 as -3.28. Range = 61.98 
TNavPF::Calculated measDiffMean for beam 52 as -2.72. Range = 60.43 
TNavPF::Calculated measDiffMean for beam 53 as -2.34. Range = 58.98 
TNavPF::Calculated measDiffMean for beam 54 as -1.92. Range = 57.61 
TNavPF::Calculated measDiffMean for beam 55 as 0.34. Range = 57.67 
TNavPF::Calculated measDiffMean for beam 56 as 0.23. Range = 58.48 
TNavPF::Calculated measDiffMean for beam 57 as 0.35. Range = 59.34 
TNavPF::Calculated measDiffMean for beam 58 as 0.36. Range = 60.23 
TNavPF::Calculated measDiffMean for beam 59 as 0.16. Range = 60.78 
TNavPF::Calculated measDiffMean for beam 60 as -0.06. Range = 59.64 
TNavPF::Calculated measDiffMean for beam 61 as -0.02. Range = 60.41 
TNavPF::Calculated measDiffMean for beam 62 as 0.69. Range = 60.35 
TNavPF::Calculated measDiffMean for beam 63 as -0.93. Range = 59.67 
TNavPF::Calculated measDiffMean for beam 64 as -1.09. Range = 60.78 
TNavPF::Calculated measDiffMean for beam 65 as 0.68. Range = 60.12 
TNavPF::Calculated measDiffMean for beam 66 as 0.38. Range = 59.21 
TNavPF::Calculated measDiffMean for beam 67 as -0.10. Range = 58.33 
TNavPF::Calculated measDiffMean for beam 68 as -0.28. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 69 as -0.14. Range = 56.72 
TNavPF::Calculated measDiffMean for beam 70 as 2.11. Range = 55.96 
TNavPF::Calculated measDiffMean for beam 71 as 2.40. Range = 55.25 
TNavPF::Calculated measDiffMean for beam 72 as 4.79. Range = 54.79 
TNavPF::Calculated measDiffMean for beam 73 as 5.43. Range = 56.20 
TNavPF::Calculated measDiffMean for beam 74 as 4.03. Range = 55.69 
TNavPF::Calculated measDiffMean for beam 75 as 4.45. Range = 55.52 
TNavPF::Calculated measDiffMean for beam 76 as 6.62. Range = 56.82 
TNavPF::Calculated measDiffMean for beam 77 as 6.49. Range = 56.24 
TNavPF::Calculated measDiffMean for beam 78 as 2.24. Range = 53.41 
TNavPF::Calculated measDiffMean for beam 79 as 1.91. Range = 54.13 
TNavPF::Calculated measDiffMean for beam 80 as 3.46. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 81 as 2.88. Range = 56.42 
TNavPF::Calculated measDiffMean for beam 82 as 3.96. Range = 55.96 
TNavPF::Calculated measDiffMean for beam 83 as 2.96. Range = 55.52 
TNavPF::Calculated measDiffMean for beam 84 as 0.27. Range = 55.10 
TNavPF::Calculated measDiffMean for beam 85 as -0.20. Range = 56.86 
TNavPF::Calculated measDiffMean for beam 86 as -0.61. Range = 56.47 
TNavPF::Calculated measDiffMean for beam 87 as -1.13. Range = 56.11 
TNavPF::Calculated measDiffMean for beam 88 as -1.73. Range = 55.76 
TNavPF::Calculated measDiffMean for beam 89 as 0.26. Range = 55.44 
TNavPF::First Term of Map Covariance Matrix is 4.62 
TNavPF::Calculated NIS Value : 17.83 	numBeams normalized NIS: 0.30
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321886.82 sec.
INS : North: 4070210.23, East: 589503.14, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 55.92, IDT[75] = 51.50
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321889.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321889.62)
ARL : North: -9.4937, East: -13.7336, Depth: -19.4975ARL : Estimation Bias  (Mean)         : (t = 1488321889.62)
ARL : North: -10.4139, East: -14.6887, Depth: -19.8109TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.88 
Alpha[0]	0.123000
Alpha[0]	0.982694
TNavParticleFilter::Modified Variance for beam 1 is 22.96 
Alpha[1]	0.000000
Alpha[1]	0.983815
TNavParticleFilter::Modified Variance for beam 2 is 22.28 
Alpha[2]	0.000000
Alpha[2]	0.983823
TNavParticleFilter::Modified Variance for beam 3 is 21.77 
Alpha[3]	0.000000
Alpha[3]	0.978323
TNavParticleFilter::Modified Variance for beam 4 is 21.08 
Alpha[4]	0.000000
Alpha[4]	0.983208
TNavParticleFilter::Modified Variance for beam 5 is 20.41 
Alpha[5]	0.000000
Alpha[5]	0.988580
TNavParticleFilter::Modified Variance for beam 6 is 19.86 
Alpha[6]	0.000000
Alpha[6]	0.990763
TNavParticleFilter::Modified Variance for beam 7 is 19.44 
Alpha[7]	0.000000
Alpha[7]	0.987568
TNavParticleFilter::Modified Variance for beam 8 is 19.30 
Alpha[8]	0.000000
Alpha[8]	0.988922
TNavParticleFilter::Modified Variance for beam 9 is 19.89 
Alpha[9]	0.000000
Alpha[9]	0.992289
TNavParticleFilter::Modified Variance for beam 10 is 19.44 
Alpha[10]	0.000000
Alpha[10]	0.993250
TNavParticleFilter::Modified Variance for beam 11 is 19.53 
Alpha[11]	0.000000
Alpha[11]	0.993949
TNavParticleFilter::Modified Variance for beam 12 is 19.97 
Alpha[12]	0.000000
Alpha[12]	0.995536
TNavParticleFilter::Modified Variance for beam 13 is 19.57 
Alpha[13]	0.000000
Alpha[13]	0.996181
TNavParticleFilter::Modified Variance for beam 14 is 19.19 
Alpha[14]	0.000000
Alpha[14]	0.996831
TNavParticleFilter::Modified Variance for beam 15 is 18.84 
Alpha[15]	0.000000
Alpha[15]	0.997364
TNavParticleFilter::Modified Variance for beam 16 is 19.50 
Alpha[16]	0.000000
Alpha[16]	0.997663
TNavParticleFilter::Modified Variance for beam 17 is 19.47 
Alpha[17]	0.000000
Alpha[17]	0.997728
TNavParticleFilter::Modified Variance for beam 18 is 19.16 
Alpha[18]	0.000000
Alpha[18]	0.997418
TNavParticleFilter::Modified Variance for beam 19 is 18.87 
Alpha[19]	0.000000
Alpha[19]	0.997140
TNavParticleFilter::Modified Variance for beam 20 is 19.01 
Alpha[20]	0.000000
Alpha[20]	0.996758
TNavParticleFilter::Modified Variance for beam 21 is 19.58 
Alpha[21]	0.000000
Alpha[21]	0.996350
TNavParticleFilter::Modified Variance for beam 22 is 19.32 
Alpha[22]	0.000000
Alpha[22]	0.995896
TNavParticleFilter::Modified Variance for beam 23 is 19.10 
Alpha[23]	0.000000
Alpha[23]	0.994592
TNavParticleFilter::Modified Variance for beam 24 is 18.88 
Alpha[24]	0.000000
Alpha[24]	0.993630
TNavParticleFilter::Modified Variance for beam 25 is 18.65 
Alpha[25]	0.000000
Alpha[25]	0.994075
TNavParticleFilter::Modified Variance for beam 26 is 18.44 
Alpha[26]	0.000000
Alpha[26]	0.994420
TNavParticleFilter::Modified Variance for beam 27 is 18.24 
Alpha[27]	0.000000
Alpha[27]	0.994998
TNavParticleFilter::Modified Variance for beam 28 is 16.96 
Alpha[28]	0.000000
Alpha[28]	0.994330
TNavParticleFilter::Modified Variance for beam 29 is 16.80 
Alpha[29]	0.000000
Alpha[29]	0.994267
TNavParticleFilter::Modified Variance for beam 30 is 17.31 
Alpha[30]	0.000000
Alpha[30]	0.994532
TNavParticleFilter::Modified Variance for beam 31 is 17.61 
Alpha[31]	0.000000
Alpha[31]	0.993804
TNavParticleFilter::Modified Variance for beam 32 is 17.48 
Alpha[32]	0.000000
Alpha[32]	0.993476
TNavParticleFilter::Modified Variance for beam 33 is 17.34 
Alpha[33]	0.000000
Alpha[33]	0.994193
TNavParticleFilter::Modified Variance for beam 34 is 17.22 
Alpha[34]	0.000000
Alpha[34]	0.994346
TNavParticleFilter::Modified Variance for beam 35 is 18.20 
Alpha[35]	0.000000
Alpha[35]	0.994531
TNavParticleFilter::Modified Variance for beam 36 is 18.08 
Alpha[36]	0.000000
Alpha[36]	0.994964
TNavParticleFilter::Modified Variance for beam 37 is 18.14 
Alpha[37]	0.000000
Alpha[37]	0.995463
TNavParticleFilter::Modified Variance for beam 38 is 18.97 
Alpha[38]	0.000000
Alpha[38]	0.996929
TNavParticleFilter::Modified Variance for beam 39 is 18.87 
Alpha[39]	0.000000
Alpha[39]	0.997954
TNavParticleFilter::Modified Variance for beam 40 is 17.71 
Alpha[40]	0.000000
Alpha[40]	0.998377
TNavParticleFilter::Modified Variance for beam 41 is 17.65 
Alpha[41]	0.000000
Alpha[41]	0.998295
TNavParticleFilter::Modified Variance for beam 42 is 17.62 
Alpha[42]	0.000000
Alpha[42]	0.997589
TNavParticleFilter::Modified Variance for beam 43 is 17.61 
Alpha[43]	0.000000
Alpha[43]	0.996188
TNavParticleFilter::Modified Variance for beam 44 is 16.56 
Alpha[44]	0.000000
Alpha[44]	0.995350
TNavParticleFilter::Modified Variance for beam 45 is 16.53 
Alpha[45]	0.000000
Alpha[45]	0.995934
TNavParticleFilter::Modified Variance for beam 46 is 17.54 
Alpha[46]	0.000000
Alpha[46]	0.996343
TNavParticleFilter::Modified Variance for beam 47 is 17.54 
Alpha[47]	0.000000
Alpha[47]	0.996032
TNavParticleFilter::Modified Variance for beam 48 is 18.66 
Alpha[48]	0.000000
Alpha[48]	0.994076
TNavParticleFilter::Modified Variance for beam 49 is 18.72 
Alpha[49]	0.000000
Alpha[49]	0.991564
TNavParticleFilter::Modified Variance for beam 50 is 17.69 
Alpha[50]	0.000000
Alpha[50]	0.989904
TNavParticleFilter::Modified Variance for beam 51 is 17.74 
Alpha[51]	0.000000
Alpha[51]	0.989001
TNavParticleFilter::Modified Variance for beam 52 is 17.78 
Alpha[52]	0.000000
Alpha[52]	0.989049
TNavParticleFilter::Modified Variance for beam 53 is 17.81 
Alpha[53]	0.000000
Alpha[53]	0.990032
TNavParticleFilter::Modified Variance for beam 54 is 17.89 
Alpha[54]	0.000000
Alpha[54]	0.988892
TNavParticleFilter::Modified Variance for beam 55 is 19.12 
Alpha[55]	0.000000
Alpha[55]	0.985425
TNavParticleFilter::Modified Variance for beam 56 is 18.43 
Alpha[56]	0.000000
Alpha[56]	0.987459
TNavParticleFilter::Modified Variance for beam 57 is 15.96 
Alpha[57]	0.000000
Alpha[57]	0.992485
TNavParticleFilter::Modified Variance for beam 58 is 14.08 
Alpha[58]	0.000000
Alpha[58]	0.993202
TNavParticleFilter::Modified Variance for beam 59 is 14.16 
Alpha[59]	0.000000
Alpha[59]	0.992772
TNavPF:: sumSquaredError = 70.395333 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -3.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -5.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -3.93. Range = 61.25 
TNavPF::Calculated measDiffMean for beam 47 as -3.17. Range = 61.86 
TNavPF::Calculated measDiffMean for beam 48 as -2.65. Range = 68.68 
TNavPF::Calculated measDiffMean for beam 49 as -2.20. Range = 63.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.09. Range = 61.30 
TNavPF::Calculated measDiffMean for beam 51 as 0.44. Range = 59.78 
TNavPF::Calculated measDiffMean for beam 52 as 0.29. Range = 60.51 
TNavPF::Calculated measDiffMean for beam 53 as 0.29. Range = 61.27 
TNavPF::Calculated measDiffMean for beam 54 as 0.22. Range = 62.07 
TNavPF::Calculated measDiffMean for beam 55 as 0.04. Range = 62.91 
TNavPF::Calculated measDiffMean for beam 56 as -0.13. Range = 62.59 
TNavPF::Calculated measDiffMean for beam 57 as 0.16. Range = 62.09 
TNavPF::Calculated measDiffMean for beam 58 as -1.41. Range = 63.03 
TNavPF::Calculated measDiffMean for beam 59 as -1.27. Range = 61.86 
TNavPF::Calculated measDiffMean for beam 60 as -0.24. Range = 62.30 
TNavPF::Calculated measDiffMean for beam 61 as 0.33. Range = 62.47 
TNavPF::Calculated measDiffMean for beam 62 as -0.04. Range = 61.38 
TNavPF::Calculated measDiffMean for beam 63 as -0.35. Range = 60.34 
TNavPF::Calculated measDiffMean for beam 64 as -0.32. Range = 59.35 
TNavPF::Calculated measDiffMean for beam 65 as 1.98. Range = 58.41 
TNavPF::Calculated measDiffMean for beam 66 as 2.26. Range = 57.52 
TNavPF::Calculated measDiffMean for beam 67 as 2.87. Range = 56.67 
TNavPF::Calculated measDiffMean for beam 68 as 5.33. Range = 56.47 
TNavPF::Calculated measDiffMean for beam 69 as 6.12. Range = 57.63 
TNavPF::Calculated measDiffMean for beam 70 as 4.47. Range = 56.87 
TNavPF::Calculated measDiffMean for beam 71 as 4.30. Range = 57.05 
TNavPF::Calculated measDiffMean for beam 72 as 3.98. Range = 57.88 
TNavPF::Calculated measDiffMean for beam 73 as 3.86. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 74 as 1.71. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 75 as 1.28. Range = 55.92 
TNavPF::Calculated measDiffMean for beam 76 as 2.65. Range = 57.13 
TNavPF::Calculated measDiffMean for beam 77 as 1.77. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 78 as 2.87. Range = 56.51 
TNavPF::Calculated measDiffMean for beam 79 as 2.25. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 80 as -0.27. Range = 56.21 
TNavPF::Calculated measDiffMean for beam 81 as -0.67. Range = 57.22 
TNavPF::Calculated measDiffMean for beam 82 as -1.09. Range = 56.75 
TNavPF::Calculated measDiffMean for beam 83 as -1.61. Range = 56.30 
TNavPF::Calculated measDiffMean for beam 84 as -2.19. Range = 55.88 
TNavPF::Calculated measDiffMean for beam 85 as -0.31. Range = 55.48 
TNavPF::Calculated measDiffMean for beam 86 as -1.53. Range = 55.10 
TNavPF::Calculated measDiffMean for beam 87 as -6.70. Range = 54.74 
TNavPF::Calculated measDiffMean for beam 88 as -11.61. Range = 52.29 
TNavPF::Calculated measDiffMean for beam 89 as -12.18. Range = 51.99 
TNavPF::First Term of Map Covariance Matrix is 1.15 
TNavPF::Calculated NIS Value : 31.88 	numBeams normalized NIS: 0.53
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321889.82 sec.
INS : North: 4070208.95, East: 589498.97, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 56.58, IDT[75] = 52.23
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321892.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321892.62)
ARL : North: -10.3225, East: -14.4796, Depth: -20.6439ARL : Estimation Bias  (Mean)         : (t = 1488321892.62)
ARL : North: -9.0015, East: -15.0827, Depth: -13.0482TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.40 
Alpha[0]	0.123000
Alpha[0]	0.979255
TNavParticleFilter::Modified Variance for beam 1 is 21.57 
Alpha[1]	0.000000
Alpha[1]	0.986536
TNavParticleFilter::Modified Variance for beam 2 is 20.79 
Alpha[2]	0.000000
Alpha[2]	0.994012
TNavParticleFilter::Modified Variance for beam 3 is 20.21 
Alpha[3]	0.000000
Alpha[3]	0.994221
TNavParticleFilter::Modified Variance for beam 4 is 20.55 
Alpha[4]	0.000000
Alpha[4]	0.987249
TNavParticleFilter::Modified Variance for beam 5 is 20.87 
Alpha[5]	0.000000
Alpha[5]	0.985945
TNavParticleFilter::Modified Variance for beam 6 is 20.29 
Alpha[6]	0.000000
Alpha[6]	0.988585
TNavParticleFilter::Modified Variance for beam 7 is 20.75 
Alpha[7]	0.000000
Alpha[7]	0.991385
TNavParticleFilter::Modified Variance for beam 8 is 20.70 
Alpha[8]	0.000000
Alpha[8]	0.994290
TNavParticleFilter::Modified Variance for beam 9 is 20.20 
Alpha[9]	0.000000
Alpha[9]	0.996168
TNavParticleFilter::Modified Variance for beam 10 is 19.74 
Alpha[10]	0.000000
Alpha[10]	0.996993
TNavParticleFilter::Modified Variance for beam 11 is 19.34 
Alpha[11]	0.000000
Alpha[11]	0.996982
TNavParticleFilter::Modified Variance for beam 12 is 18.96 
Alpha[12]	0.000000
Alpha[12]	0.996408
TNavParticleFilter::Modified Variance for beam 13 is 19.56 
Alpha[13]	0.000000
Alpha[13]	0.996392
TNavParticleFilter::Modified Variance for beam 14 is 19.57 
Alpha[14]	0.000000
Alpha[14]	0.996248
TNavParticleFilter::Modified Variance for beam 15 is 19.23 
Alpha[15]	0.000000
Alpha[15]	0.995676
TNavParticleFilter::Modified Variance for beam 16 is 19.99 
Alpha[16]	0.000000
Alpha[16]	0.995163
TNavParticleFilter::Modified Variance for beam 17 is 19.88 
Alpha[17]	0.000000
Alpha[17]	0.995414
TNavParticleFilter::Modified Variance for beam 18 is 19.56 
Alpha[18]	0.000000
Alpha[18]	0.995851
TNavParticleFilter::Modified Variance for beam 19 is 19.26 
Alpha[19]	0.000000
Alpha[19]	0.996219
TNavParticleFilter::Modified Variance for beam 20 is 18.99 
Alpha[20]	0.000000
Alpha[20]	0.995694
TNavParticleFilter::Modified Variance for beam 21 is 18.75 
Alpha[21]	0.000000
Alpha[21]	0.994530
TNavParticleFilter::Modified Variance for beam 22 is 18.52 
Alpha[22]	0.000000
Alpha[22]	0.993647
TNavParticleFilter::Modified Variance for beam 23 is 17.14 
Alpha[23]	0.000000
Alpha[23]	0.993109
TNavParticleFilter::Modified Variance for beam 24 is 16.96 
Alpha[24]	0.000000
Alpha[24]	0.991762
TNavParticleFilter::Modified Variance for beam 25 is 17.53 
Alpha[25]	0.000000
Alpha[25]	0.991068
TNavParticleFilter::Modified Variance for beam 26 is 17.72 
Alpha[26]	0.000000
Alpha[26]	0.990650
TNavParticleFilter::Modified Variance for beam 27 is 17.50 
Alpha[27]	0.000000
Alpha[27]	0.992682
TNavParticleFilter::Modified Variance for beam 28 is 17.31 
Alpha[28]	0.000000
Alpha[28]	0.994078
TNavParticleFilter::Modified Variance for beam 29 is 17.16 
Alpha[29]	0.000000
Alpha[29]	0.993706
TNavParticleFilter::Modified Variance for beam 30 is 18.15 
Alpha[30]	0.000000
Alpha[30]	0.991614
TNavParticleFilter::Modified Variance for beam 31 is 18.02 
Alpha[31]	0.000000
Alpha[31]	0.990990
TNavParticleFilter::Modified Variance for beam 32 is 17.84 
Alpha[32]	0.000000
Alpha[32]	0.993489
TNavParticleFilter::Modified Variance for beam 33 is 18.80 
Alpha[33]	0.000000
Alpha[33]	0.994973
TNavParticleFilter::Modified Variance for beam 34 is 18.65 
Alpha[34]	0.000000
Alpha[34]	0.995974
TNavParticleFilter::Modified Variance for beam 35 is 17.44 
Alpha[35]	0.000000
Alpha[35]	0.996363
TNavParticleFilter::Modified Variance for beam 36 is 17.35 
Alpha[36]	0.000000
Alpha[36]	0.996095
TNavParticleFilter::Modified Variance for beam 37 is 17.29 
Alpha[37]	0.000000
Alpha[37]	0.994537
TNavParticleFilter::Modified Variance for beam 38 is 17.28 
Alpha[38]	0.000000
Alpha[38]	0.990594
TNavParticleFilter::Modified Variance for beam 39 is 17.22 
Alpha[39]	0.000000
Alpha[39]	0.990174
TNavParticleFilter::Modified Variance for beam 40 is 17.21 
Alpha[40]	0.000000
Alpha[40]	0.987379
TNavParticleFilter::Modified Variance for beam 41 is 17.16 
Alpha[41]	0.000000
Alpha[41]	0.987637
TNavParticleFilter::Modified Variance for beam 42 is 17.10 
Alpha[42]	0.000000
Alpha[42]	0.988457
TNavParticleFilter::Modified Variance for beam 43 is 17.09 
Alpha[43]	0.000000
Alpha[43]	0.986989
TNavParticleFilter::Modified Variance for beam 44 is 18.18 
Alpha[44]	0.000000
Alpha[44]	0.984161
TNavParticleFilter::Modified Variance for beam 45 is 17.12 
Alpha[45]	0.000000
Alpha[45]	0.983216
TNavParticleFilter::Modified Variance for beam 46 is 17.06 
Alpha[46]	0.000000
Alpha[46]	0.986171
TNavParticleFilter::Modified Variance for beam 47 is 17.09 
Alpha[47]	0.000000
Alpha[47]	0.984352
TNavParticleFilter::Modified Variance for beam 48 is 17.07 
Alpha[48]	0.000000
Alpha[48]	0.985716
TNavParticleFilter::Modified Variance for beam 49 is 17.08 
Alpha[49]	0.000000
Alpha[49]	0.986147
TNavParticleFilter::Modified Variance for beam 50 is 18.14 
Alpha[50]	0.000000
Alpha[50]	0.987390
TNavParticleFilter::Modified Variance for beam 51 is 18.21 
Alpha[51]	0.000000
Alpha[51]	0.985784
TNavParticleFilter::Modified Variance for beam 52 is 15.05 
Alpha[52]	0.000000
Alpha[52]	0.993846
TNavParticleFilter::Modified Variance for beam 53 is 13.20 
Alpha[53]	0.000000
Alpha[53]	0.997423
TNavParticleFilter::Modified Variance for beam 54 is 13.23 
Alpha[54]	0.000000
Alpha[54]	0.998050
TNavParticleFilter::Modified Variance for beam 55 is 18.22 
Alpha[55]	0.000000
Alpha[55]	0.997630
TNavParticleFilter::Modified Variance for beam 56 is 18.35 
Alpha[56]	0.000000
Alpha[56]	0.994849
TNavParticleFilter::Modified Variance for beam 57 is 18.50 
Alpha[57]	0.000000
Alpha[57]	0.991737
TNavParticleFilter::Modified Variance for beam 58 is 17.48 
Alpha[58]	0.000000
Alpha[58]	0.993191
TNavParticleFilter::Modified Variance for beam 59 is 17.56 
Alpha[59]	0.000000
Alpha[59]	0.994695
TNavPF:: sumSquaredError = 41.860498 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -2.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -2.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.58. Range = 72.36 
TNavPF::Calculated measDiffMean for beam 44 as 0.51. Range = 71.78 
TNavPF::Calculated measDiffMean for beam 45 as 0.59. Range = 71.85 
TNavPF::Calculated measDiffMean for beam 46 as 2.35. Range = 69.62 
TNavPF::Calculated measDiffMean for beam 47 as 2.31. Range = 63.59 
TNavPF::Calculated measDiffMean for beam 48 as 1.97. Range = 62.91 
TNavPF::Calculated measDiffMean for beam 49 as 2.05. Range = 63.60 
TNavPF::Calculated measDiffMean for beam 50 as 2.23. Range = 64.32 
TNavPF::Calculated measDiffMean for beam 51 as 1.93. Range = 65.08 
TNavPF::Calculated measDiffMean for beam 52 as 1.45. Range = 65.88 
TNavPF::Calculated measDiffMean for beam 53 as -0.96. Range = 64.34 
TNavPF::Calculated measDiffMean for beam 54 as -1.20. Range = 65.07 
TNavPF::Calculated measDiffMean for beam 55 as -0.00. Range = 64.69 
TNavPF::Calculated measDiffMean for beam 56 as 0.68. Range = 64.31 
TNavPF::Calculated measDiffMean for beam 57 as 0.78. Range = 65.08 
TNavPF::Calculated measDiffMean for beam 58 as 1.16. Range = 63.79 
TNavPF::Calculated measDiffMean for beam 59 as 1.31. Range = 62.56 
TNavPF::Calculated measDiffMean for beam 60 as 3.09. Range = 61.40 
TNavPF::Calculated measDiffMean for beam 61 as 2.79. Range = 60.29 
TNavPF::Calculated measDiffMean for beam 62 as 2.84. Range = 59.25 
TNavPF::Calculated measDiffMean for beam 63 as 5.08. Range = 58.26 
TNavPF::Calculated measDiffMean for beam 64 as 5.43. Range = 58.60 
TNavPF::Calculated measDiffMean for beam 65 as 3.78. Range = 59.09 
TNavPF::Calculated measDiffMean for beam 66 as 4.00. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 67 as 4.20. Range = 59.08 
TNavPF::Calculated measDiffMean for beam 68 as 4.00. Range = 59.10 
TNavPF::Calculated measDiffMean for beam 69 as 3.05. Range = 58.30 
TNavPF::Calculated measDiffMean for beam 70 as 2.09. Range = 57.53 
TNavPF::Calculated measDiffMean for beam 71 as 1.60. Range = 56.81 
TNavPF::Calculated measDiffMean for beam 72 as 1.05. Range = 56.12 
TNavPF::Calculated measDiffMean for beam 73 as 0.67. Range = 57.18 
TNavPF::Calculated measDiffMean for beam 74 as 2.28. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 75 as -0.05. Range = 56.58 
TNavPF::Calculated measDiffMean for beam 76 as -0.67. Range = 57.91 
TNavPF::Calculated measDiffMean for beam 77 as -1.30. Range = 57.73 
TNavPF::Calculated measDiffMean for beam 78 as -1.74. Range = 57.17 
TNavPF::Calculated measDiffMean for beam 79 as -2.19. Range = 56.64 
TNavPF::Calculated measDiffMean for beam 80 as -0.71. Range = 56.14 
TNavPF::Calculated measDiffMean for beam 81 as -1.36. Range = 55.66 
TNavPF::Calculated measDiffMean for beam 82 as -7.39. Range = 55.21 
TNavPF::Calculated measDiffMean for beam 83 as -10.86. Range = 52.59 
TNavPF::Calculated measDiffMean for beam 84 as -10.72. Range = 52.21 
TNavPF::Calculated measDiffMean for beam 85 as -1.46. Range = 53.27 
TNavPF::Calculated measDiffMean for beam 86 as -1.84. Range = 53.63 
TNavPF::Calculated measDiffMean for beam 87 as -1.56. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 88 as -3.21. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 89 as -2.52. Range = 52.66 
TNavPF::First Term of Map Covariance Matrix is 0.95 
TNavPF::Calculated NIS Value : 28.46 	numBeams normalized NIS: 0.47
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321892.82 sec.
INS : North: 4070207.71, East: 589494.78, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 57.18, IDT[75] = 52.99
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321895.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321895.62)
ARL : North: -12.2106, East: -14.2452, Depth: -23.9388ARL : Estimation Bias  (Mean)         : (t = 1488321895.62)
ARL : North: -8.7500, East: -15.7677, Depth: -11.9848TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.00 
Alpha[0]	0.123000
Alpha[0]	0.983348
TNavParticleFilter::Modified Variance for beam 1 is 21.93 
Alpha[1]	0.000000
Alpha[1]	0.985237
TNavParticleFilter::Modified Variance for beam 2 is 21.46 
Alpha[2]	0.000000
Alpha[2]	0.988223
TNavParticleFilter::Modified Variance for beam 3 is 22.06 
Alpha[3]	0.000000
Alpha[3]	0.991427
TNavParticleFilter::Modified Variance for beam 4 is 21.57 
Alpha[4]	0.000000
Alpha[4]	0.994615
TNavParticleFilter::Modified Variance for beam 5 is 20.98 
Alpha[5]	0.000000
Alpha[5]	0.996267
TNavParticleFilter::Modified Variance for beam 6 is 20.46 
Alpha[6]	0.000000
Alpha[6]	0.996510
TNavParticleFilter::Modified Variance for beam 7 is 19.99 
Alpha[7]	0.000000
Alpha[7]	0.995758
TNavParticleFilter::Modified Variance for beam 8 is 20.10 
Alpha[8]	0.000000
Alpha[8]	0.995879
TNavParticleFilter::Modified Variance for beam 9 is 20.55 
Alpha[9]	0.000000
Alpha[9]	0.995348
TNavParticleFilter::Modified Variance for beam 10 is 20.12 
Alpha[10]	0.000000
Alpha[10]	0.994609
TNavParticleFilter::Modified Variance for beam 11 is 19.72 
Alpha[11]	0.000000
Alpha[11]	0.994366
TNavParticleFilter::Modified Variance for beam 12 is 19.32 
Alpha[12]	0.000000
Alpha[12]	0.995066
TNavParticleFilter::Modified Variance for beam 13 is 18.94 
Alpha[13]	0.000000
Alpha[13]	0.996118
TNavParticleFilter::Modified Variance for beam 14 is 18.99 
Alpha[14]	0.000000
Alpha[14]	0.996145
TNavParticleFilter::Modified Variance for beam 15 is 19.59 
Alpha[15]	0.000000
Alpha[15]	0.994600
TNavParticleFilter::Modified Variance for beam 16 is 19.29 
Alpha[16]	0.000000
Alpha[16]	0.993423
TNavParticleFilter::Modified Variance for beam 17 is 18.98 
Alpha[17]	0.000000
Alpha[17]	0.993343
TNavParticleFilter::Modified Variance for beam 18 is 17.50 
Alpha[18]	0.000000
Alpha[18]	0.991637
TNavParticleFilter::Modified Variance for beam 19 is 17.27 
Alpha[19]	0.000000
Alpha[19]	0.990445
TNavParticleFilter::Modified Variance for beam 20 is 18.01 
Alpha[20]	0.000000
Alpha[20]	0.990427
TNavParticleFilter::Modified Variance for beam 21 is 17.93 
Alpha[21]	0.000000
Alpha[21]	0.992502
TNavParticleFilter::Modified Variance for beam 22 is 17.67 
Alpha[22]	0.000000
Alpha[22]	0.994076
TNavParticleFilter::Modified Variance for beam 23 is 17.47 
Alpha[23]	0.000000
Alpha[23]	0.993091
TNavParticleFilter::Modified Variance for beam 24 is 17.33 
Alpha[24]	0.000000
Alpha[24]	0.989892
TNavParticleFilter::Modified Variance for beam 25 is 18.22 
Alpha[25]	0.000000
Alpha[25]	0.992859
TNavParticleFilter::Modified Variance for beam 26 is 17.98 
Alpha[26]	0.000000
Alpha[26]	0.995393
TNavParticleFilter::Modified Variance for beam 27 is 18.06 
Alpha[27]	0.000000
Alpha[27]	0.996430
TNavParticleFilter::Modified Variance for beam 28 is 18.74 
Alpha[28]	0.000000
Alpha[28]	0.996810
TNavParticleFilter::Modified Variance for beam 29 is 17.47 
Alpha[29]	0.000000
Alpha[29]	0.996229
TNavParticleFilter::Modified Variance for beam 30 is 17.35 
Alpha[30]	0.000000
Alpha[30]	0.994820
TNavParticleFilter::Modified Variance for beam 31 is 17.33 
Alpha[31]	0.000000
Alpha[31]	0.987920
TNavParticleFilter::Modified Variance for beam 32 is 17.36 
Alpha[32]	0.000000
Alpha[32]	0.979270
TNavParticleFilter::Modified Variance for beam 33 is 17.15 
Alpha[33]	0.000000
Alpha[33]	0.984735
TNavParticleFilter::Modified Variance for beam 34 is 17.06 
Alpha[34]	0.000000
Alpha[34]	0.983861
TNavParticleFilter::Modified Variance for beam 35 is 16.93 
Alpha[35]	0.000000
Alpha[35]	0.985360
TNavParticleFilter::Modified Variance for beam 36 is 16.83 
Alpha[36]	0.000000
Alpha[36]	0.986583
TNavParticleFilter::Modified Variance for beam 37 is 16.78 
Alpha[37]	0.000000
Alpha[37]	0.985012
TNavParticleFilter::Modified Variance for beam 38 is 16.77 
Alpha[38]	0.000000
Alpha[38]	0.981315
TNavParticleFilter::Modified Variance for beam 39 is 16.72 
Alpha[39]	0.000000
Alpha[39]	0.980451
TNavParticleFilter::Modified Variance for beam 40 is 16.61 
Alpha[40]	0.000000
Alpha[40]	0.983754
TNavParticleFilter::Modified Variance for beam 41 is 16.59 
Alpha[41]	0.000000
Alpha[41]	0.982622
TNavParticleFilter::Modified Variance for beam 42 is 15.55 
Alpha[42]	0.000000
Alpha[42]	0.982566
TNavParticleFilter::Modified Variance for beam 43 is 15.49 
Alpha[43]	0.000000
Alpha[43]	0.984572
TNavParticleFilter::Modified Variance for beam 44 is 15.46 
Alpha[44]	0.000000
Alpha[44]	0.985593
TNavParticleFilter::Modified Variance for beam 45 is 17.48 
Alpha[45]	0.000000
Alpha[45]	0.985289
TNavParticleFilter::Modified Variance for beam 46 is 17.40 
Alpha[46]	0.000000
Alpha[46]	0.989552
TNavParticleFilter::Modified Variance for beam 47 is 12.56 
Alpha[47]	0.000000
Alpha[47]	0.997023
TNavParticleFilter::Modified Variance for beam 48 is 12.55 
Alpha[48]	0.000000
Alpha[48]	0.997928
TNavParticleFilter::Modified Variance for beam 49 is 12.57 
Alpha[49]	0.000000
Alpha[49]	0.997703
TNavParticleFilter::Modified Variance for beam 50 is 17.37 
Alpha[50]	0.000000
Alpha[50]	0.995198
TNavParticleFilter::Modified Variance for beam 51 is 17.45 
Alpha[51]	0.000000
Alpha[51]	0.992582
TNavParticleFilter::Modified Variance for beam 52 is 17.51 
Alpha[52]	0.000000
Alpha[52]	0.992054
TNavParticleFilter::Modified Variance for beam 53 is 16.82 
Alpha[53]	0.000000
Alpha[53]	0.993658
TNavParticleFilter::Modified Variance for beam 54 is 16.53 
Alpha[54]	0.000000
Alpha[54]	0.994706
TNavParticleFilter::Modified Variance for beam 55 is 16.59 
Alpha[55]	0.000000
Alpha[55]	0.995174
TNavParticleFilter::Modified Variance for beam 56 is 18.80 
Alpha[56]	0.000000
Alpha[56]	0.996502
TNavParticleFilter::Modified Variance for beam 57 is 18.88 
Alpha[57]	0.000000
Alpha[57]	0.997089
TNavParticleFilter::Modified Variance for beam 58 is 18.99 
Alpha[58]	0.000000
Alpha[58]	0.997085
TNavParticleFilter::Modified Variance for beam 59 is 18.30 
Alpha[59]	0.000000
Alpha[59]	0.997428
TNavPF:: sumSquaredError = 62.514173 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -2.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -2.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.81. Range = 76.36 
TNavPF::Calculated measDiffMean for beam 41 as 0.53. Range = 74.90 
TNavPF::Calculated measDiffMean for beam 42 as 0.00. Range = 75.41 
TNavPF::Calculated measDiffMean for beam 43 as -0.15. Range = 72.81 
TNavPF::Calculated measDiffMean for beam 44 as 0.78. Range = 70.40 
TNavPF::Calculated measDiffMean for beam 45 as 2.32. Range = 68.44 
TNavPF::Calculated measDiffMean for beam 46 as 1.73. Range = 69.12 
TNavPF::Calculated measDiffMean for beam 47 as 1.35. Range = 68.05 
TNavPF::Calculated measDiffMean for beam 48 as -1.15. Range = 68.22 
TNavPF::Calculated measDiffMean for beam 49 as -1.49. Range = 68.02 
TNavPF::Calculated measDiffMean for beam 50 as 0.37. Range = 67.36 
TNavPF::Calculated measDiffMean for beam 51 as 0.80. Range = 68.07 
TNavPF::Calculated measDiffMean for beam 52 as 1.29. Range = 66.55 
TNavPF::Calculated measDiffMean for beam 53 as 1.50. Range = 67.41 
TNavPF::Calculated measDiffMean for beam 54 as 1.17. Range = 66.66 
TNavPF::Calculated measDiffMean for beam 55 as 3.04. Range = 65.21 
TNavPF::Calculated measDiffMean for beam 56 as 3.14. Range = 63.84 
TNavPF::Calculated measDiffMean for beam 57 as 3.73. Range = 62.55 
TNavPF::Calculated measDiffMean for beam 58 as 5.72. Range = 61.32 
TNavPF::Calculated measDiffMean for beam 59 as 3.87. Range = 60.16 
TNavPF::Calculated measDiffMean for beam 60 as 4.02. Range = 60.90 
TNavPF::Calculated measDiffMean for beam 61 as 4.17. Range = 60.85 
TNavPF::Calculated measDiffMean for beam 62 as 3.84. Range = 60.17 
TNavPF::Calculated measDiffMean for beam 63 as 2.68. Range = 61.29 
TNavPF::Calculated measDiffMean for beam 64 as 1.85. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 65 as 1.48. Range = 59.66 
TNavPF::Calculated measDiffMean for beam 66 as 0.87. Range = 58.77 
TNavPF::Calculated measDiffMean for beam 67 as 0.57. Range = 57.93 
TNavPF::Calculated measDiffMean for beam 68 as 0.20. Range = 58.12 
TNavPF::Calculated measDiffMean for beam 69 as -0.08. Range = 58.88 
TNavPF::Calculated measDiffMean for beam 70 as -0.62. Range = 58.12 
TNavPF::Calculated measDiffMean for beam 71 as -1.36. Range = 57.40 
TNavPF::Calculated measDiffMean for beam 72 as -3.70. Range = 56.71 
TNavPF::Calculated measDiffMean for beam 73 as -4.24. Range = 56.06 
TNavPF::Calculated measDiffMean for beam 74 as -4.56. Range = 56.17 
TNavPF::Calculated measDiffMean for beam 75 as -1.32. Range = 57.18 
TNavPF::Calculated measDiffMean for beam 76 as -1.57. Range = 56.60 
TNavPF::Calculated measDiffMean for beam 77 as -11.05. Range = 56.04 
TNavPF::Calculated measDiffMean for beam 78 as -10.66. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 79 as -11.37. Range = 52.76 
TNavPF::Calculated measDiffMean for beam 80 as -2.30. Range = 54.17 
TNavPF::Calculated measDiffMean for beam 81 as -1.93. Range = 54.07 
TNavPF::Calculated measDiffMean for beam 82 as -1.49. Range = 53.64 
TNavPF::Calculated measDiffMean for beam 83 as -2.37. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 84 as -2.28. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 85 as -2.02. Range = 54.63 
TNavPF::Calculated measDiffMean for beam 86 as 2.56. Range = 54.28 
TNavPF::Calculated measDiffMean for beam 87 as 3.17. Range = 54.45 
TNavPF::Calculated measDiffMean for beam 88 as 4.06. Range = 55.73 
TNavPF::Calculated measDiffMean for beam 89 as 3.57. Range = 53.33 
TNavPF::First Term of Map Covariance Matrix is 1.19 
TNavPF::Calculated NIS Value : 41.04 	numBeams normalized NIS: 0.68
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321895.82 sec.
INS : North: 4070206.49, East: 589490.57, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 55.08, IDT[75] = 51.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321898.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321898.62)
ARL : North: -8.4757, East: -15.0512, Depth: -12.3779ARL : Estimation Bias  (Mean)         : (t = 1488321898.62)
ARL : North: -8.5501, East: -15.7728, Depth: -11.2471TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.78 
Alpha[0]	0.123000
Alpha[0]	0.994197
TNavParticleFilter::Modified Variance for beam 1 is 22.08 
Alpha[1]	0.000000
Alpha[1]	0.996000
TNavParticleFilter::Modified Variance for beam 2 is 21.45 
Alpha[2]	0.000000
Alpha[2]	0.996382
TNavParticleFilter::Modified Variance for beam 3 is 20.88 
Alpha[3]	0.000000
Alpha[3]	0.995990
TNavParticleFilter::Modified Variance for beam 4 is 21.40 
Alpha[4]	0.000000
Alpha[4]	0.995951
TNavParticleFilter::Modified Variance for beam 5 is 21.38 
Alpha[5]	0.000000
Alpha[5]	0.995055
TNavParticleFilter::Modified Variance for beam 6 is 20.88 
Alpha[6]	0.000000
Alpha[6]	0.994289
TNavParticleFilter::Modified Variance for beam 7 is 20.39 
Alpha[7]	0.000000
Alpha[7]	0.994712
TNavParticleFilter::Modified Variance for beam 8 is 19.90 
Alpha[8]	0.000000
Alpha[8]	0.996122
TNavParticleFilter::Modified Variance for beam 9 is 19.52 
Alpha[9]	0.000000
Alpha[9]	0.996595
TNavParticleFilter::Modified Variance for beam 10 is 20.33 
Alpha[10]	0.000000
Alpha[10]	0.995198
TNavParticleFilter::Modified Variance for beam 11 is 20.11 
Alpha[11]	0.000000
Alpha[11]	0.993359
TNavParticleFilter::Modified Variance for beam 12 is 19.71 
Alpha[12]	0.000000
Alpha[12]	0.993802
TNavParticleFilter::Modified Variance for beam 13 is 18.07 
Alpha[13]	0.000000
Alpha[13]	0.992320
TNavParticleFilter::Modified Variance for beam 14 is 17.78 
Alpha[14]	0.000000
Alpha[14]	0.991070
TNavParticleFilter::Modified Variance for beam 15 is 18.49 
Alpha[15]	0.000000
Alpha[15]	0.991459
TNavParticleFilter::Modified Variance for beam 16 is 18.39 
Alpha[16]	0.000000
Alpha[16]	0.992898
TNavParticleFilter::Modified Variance for beam 17 is 18.09 
Alpha[17]	0.000000
Alpha[17]	0.993590
TNavParticleFilter::Modified Variance for beam 18 is 17.85 
Alpha[18]	0.000000
Alpha[18]	0.992112
TNavParticleFilter::Modified Variance for beam 19 is 17.71 
Alpha[19]	0.000000
Alpha[19]	0.992367
TNavParticleFilter::Modified Variance for beam 20 is 18.47 
Alpha[20]	0.000000
Alpha[20]	0.996266
TNavParticleFilter::Modified Variance for beam 21 is 18.20 
Alpha[21]	0.000000
Alpha[21]	0.997516
TNavParticleFilter::Modified Variance for beam 22 is 18.34 
Alpha[22]	0.000000
Alpha[22]	0.997747
TNavParticleFilter::Modified Variance for beam 23 is 18.93 
Alpha[23]	0.000000
Alpha[23]	0.997162
TNavParticleFilter::Modified Variance for beam 24 is 17.59 
Alpha[24]	0.000000
Alpha[24]	0.995526
TNavParticleFilter::Modified Variance for beam 25 is 17.53 
Alpha[25]	0.000000
Alpha[25]	0.988306
TNavParticleFilter::Modified Variance for beam 26 is 17.59 
Alpha[26]	0.000000
Alpha[26]	0.975150
TNavParticleFilter::Modified Variance for beam 27 is 17.35 
Alpha[27]	0.000000
Alpha[27]	0.979045
TNavParticleFilter::Modified Variance for beam 28 is 17.16 
Alpha[28]	0.000000
Alpha[28]	0.980780
TNavParticleFilter::Modified Variance for beam 29 is 16.93 
Alpha[29]	0.000000
Alpha[29]	0.985673
TNavParticleFilter::Modified Variance for beam 30 is 16.78 
Alpha[30]	0.000000
Alpha[30]	0.986943
TNavParticleFilter::Modified Variance for beam 31 is 16.65 
Alpha[31]	0.000000
Alpha[31]	0.987259
TNavParticleFilter::Modified Variance for beam 32 is 16.59 
Alpha[32]	0.000000
Alpha[32]	0.983539
TNavParticleFilter::Modified Variance for beam 33 is 16.56 
Alpha[33]	0.000000
Alpha[33]	0.979426
TNavParticleFilter::Modified Variance for beam 34 is 16.47 
Alpha[34]	0.000000
Alpha[34]	0.979030
TNavParticleFilter::Modified Variance for beam 35 is 16.32 
Alpha[35]	0.000000
Alpha[35]	0.982713
TNavParticleFilter::Modified Variance for beam 36 is 16.23 
Alpha[36]	0.000000
Alpha[36]	0.983250
TNavParticleFilter::Modified Variance for beam 37 is 15.19 
Alpha[37]	0.000000
Alpha[37]	0.981701
TNavParticleFilter::Modified Variance for beam 38 is 15.10 
Alpha[38]	0.000000
Alpha[38]	0.983405
TNavParticleFilter::Modified Variance for beam 39 is 17.03 
Alpha[39]	0.000000
Alpha[39]	0.985146
TNavParticleFilter::Modified Variance for beam 40 is 16.97 
Alpha[40]	0.000000
Alpha[40]	0.986185
TNavParticleFilter::Modified Variance for beam 41 is 13.88 
Alpha[41]	0.000000
Alpha[41]	0.994386
TNavParticleFilter::Modified Variance for beam 42 is 13.81 
Alpha[42]	0.000000
Alpha[42]	0.997598
TNavParticleFilter::Modified Variance for beam 43 is 13.79 
Alpha[43]	0.000000
Alpha[43]	0.997876
TNavParticleFilter::Modified Variance for beam 44 is 16.67 
Alpha[44]	0.000000
Alpha[44]	0.996975
TNavParticleFilter::Modified Variance for beam 45 is 16.70 
Alpha[45]	0.000000
Alpha[45]	0.994450
TNavParticleFilter::Modified Variance for beam 46 is 16.70 
Alpha[46]	0.000000
Alpha[46]	0.994200
TNavParticleFilter::Modified Variance for beam 47 is 16.72 
Alpha[47]	0.000000
Alpha[47]	0.993598
TNavParticleFilter::Modified Variance for beam 48 is 15.72 
Alpha[48]	0.000000
Alpha[48]	0.994547
TNavParticleFilter::Modified Variance for beam 49 is 15.73 
Alpha[49]	0.000000
Alpha[49]	0.994959
TNavParticleFilter::Modified Variance for beam 50 is 15.76 
Alpha[50]	0.000000
Alpha[50]	0.995346
TNavParticleFilter::Modified Variance for beam 51 is 17.82 
Alpha[51]	0.000000
Alpha[51]	0.996815
TNavParticleFilter::Modified Variance for beam 52 is 17.87 
Alpha[52]	0.000000
Alpha[52]	0.997386
TNavParticleFilter::Modified Variance for beam 53 is 17.93 
Alpha[53]	0.000000
Alpha[53]	0.997272
TNavParticleFilter::Modified Variance for beam 54 is 18.00 
Alpha[54]	0.000000
Alpha[54]	0.997508
TNavParticleFilter::Modified Variance for beam 55 is 17.02 
Alpha[55]	0.000000
Alpha[55]	0.996980
TNavParticleFilter::Modified Variance for beam 56 is 17.12 
Alpha[56]	0.000000
Alpha[56]	0.995917
TNavParticleFilter::Modified Variance for beam 57 is 17.22 
Alpha[57]	0.000000
Alpha[57]	0.995655
TNavParticleFilter::Modified Variance for beam 58 is 17.33 
Alpha[58]	0.000000
Alpha[58]	0.994707
TNavParticleFilter::Modified Variance for beam 59 is 16.83 
Alpha[59]	0.000000
Alpha[59]	0.994733
TNavPF:: sumSquaredError = 33.704525 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -2.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -2.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.01. Range = 78.14 
TNavPF::Calculated measDiffMean for beam 39 as 0.17. Range = 78.61 
TNavPF::Calculated measDiffMean for beam 40 as 2.28. Range = 76.92 
TNavPF::Calculated measDiffMean for beam 41 as 1.99. Range = 74.08 
TNavPF::Calculated measDiffMean for beam 42 as 1.49. Range = 71.59 
TNavPF::Calculated measDiffMean for beam 43 as -1.18. Range = 72.23 
TNavPF::Calculated measDiffMean for beam 44 as -1.65. Range = 71.02 
TNavPF::Calculated measDiffMean for beam 45 as 0.28. Range = 71.31 
TNavPF::Calculated measDiffMean for beam 46 as 0.89. Range = 70.70 
TNavPF::Calculated measDiffMean for beam 47 as 1.43. Range = 70.43 
TNavPF::Calculated measDiffMean for beam 48 as 1.53. Range = 70.51 
TNavPF::Calculated measDiffMean for beam 49 as 1.37. Range = 69.34 
TNavPF::Calculated measDiffMean for beam 50 as 3.30. Range = 70.10 
TNavPF::Calculated measDiffMean for beam 51 as 3.44. Range = 68.67 
TNavPF::Calculated measDiffMean for beam 52 as 4.26. Range = 67.03 
TNavPF::Calculated measDiffMean for beam 53 as 6.13. Range = 65.49 
TNavPF::Calculated measDiffMean for beam 54 as 3.96. Range = 64.04 
TNavPF::Calculated measDiffMean for beam 55 as 4.00. Range = 62.67 
TNavPF::Calculated measDiffMean for beam 56 as 3.97. Range = 63.15 
TNavPF::Calculated measDiffMean for beam 57 as 3.25. Range = 63.18 
TNavPF::Calculated measDiffMean for beam 58 as 1.99. Range = 62.41 
TNavPF::Calculated measDiffMean for beam 59 as 1.58. Range = 63.43 
TNavPF::Calculated measDiffMean for beam 60 as 1.12. Range = 62.57 
TNavPF::Calculated measDiffMean for beam 61 as 0.58. Range = 61.49 
TNavPF::Calculated measDiffMean for beam 62 as 0.32. Range = 60.46 
TNavPF::Calculated measDiffMean for beam 63 as -0.07. Range = 59.48 
TNavPF::Calculated measDiffMean for beam 64 as -0.26. Range = 60.35 
TNavPF::Calculated measDiffMean for beam 65 as -0.96. Range = 60.30 
TNavPF::Calculated measDiffMean for beam 66 as -1.54. Range = 59.42 
TNavPF::Calculated measDiffMean for beam 67 as -3.88. Range = 58.58 
TNavPF::Calculated measDiffMean for beam 68 as -4.42. Range = 57.78 
TNavPF::Calculated measDiffMean for beam 69 as -0.64. Range = 57.12 
TNavPF::Calculated measDiffMean for beam 70 as -1.49. Range = 58.50 
TNavPF::Calculated measDiffMean for beam 71 as -7.40. Range = 58.05 
TNavPF::Calculated measDiffMean for beam 72 as -6.61. Range = 57.37 
TNavPF::Calculated measDiffMean for beam 73 as -6.62. Range = 54.35 
TNavPF::Calculated measDiffMean for beam 74 as -1.69. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 75 as -2.44. Range = 55.08 
TNavPF::Calculated measDiffMean for beam 76 as -2.05. Range = 54.96 
TNavPF::Calculated measDiffMean for beam 77 as -1.52. Range = 54.42 
TNavPF::Calculated measDiffMean for beam 78 as -3.07. Range = 53.92 
TNavPF::Calculated measDiffMean for beam 79 as -2.18. Range = 53.66 
TNavPF::Calculated measDiffMean for beam 80 as -1.90. Range = 55.20 
TNavPF::Calculated measDiffMean for beam 81 as 2.74. Range = 54.75 
TNavPF::Calculated measDiffMean for beam 82 as 3.25. Range = 55.01 
TNavPF::Calculated measDiffMean for beam 83 as 4.15. Range = 56.09 
TNavPF::Calculated measDiffMean for beam 84 as 5.18. Range = 53.54 
TNavPF::Calculated measDiffMean for beam 85 as 3.72. Range = 53.19 
TNavPF::Calculated measDiffMean for beam 86 as 4.29. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 87 as 4.61. Range = 52.53 
TNavPF::Calculated measDiffMean for beam 88 as 5.11. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 89 as 4.48. Range = 51.95 
TNavPF::First Term of Map Covariance Matrix is 3.44 
TNavPF::Calculated NIS Value : 32.95 	numBeams normalized NIS: 0.55
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321898.82 sec.
INS : North: 4070205.30, East: 589486.33, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 56.24, IDT[75] = 52.62
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321901.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321901.62)
ARL : North: -7.8272, East: -15.3907, Depth: -15.1220ARL : Estimation Bias  (Mean)         : (t = 1488321901.62)
ARL : North: -8.2566, East: -15.9807, Depth: -11.4805TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.67 
Alpha[0]	0.123000
Alpha[0]	0.996524
TNavParticleFilter::Modified Variance for beam 1 is 22.53 
Alpha[1]	0.000000
Alpha[1]	0.995801
TNavParticleFilter::Modified Variance for beam 2 is 21.92 
Alpha[2]	0.000000
Alpha[2]	0.995091
TNavParticleFilter::Modified Variance for beam 3 is 21.32 
Alpha[3]	0.000000
Alpha[3]	0.995568
TNavParticleFilter::Modified Variance for beam 4 is 20.75 
Alpha[4]	0.000000
Alpha[4]	0.996652
TNavParticleFilter::Modified Variance for beam 5 is 20.80 
Alpha[5]	0.000000
Alpha[5]	0.996393
TNavParticleFilter::Modified Variance for beam 6 is 21.31 
Alpha[6]	0.000000
Alpha[6]	0.994438
TNavParticleFilter::Modified Variance for beam 7 is 20.82 
Alpha[7]	0.000000
Alpha[7]	0.993961
TNavParticleFilter::Modified Variance for beam 8 is 20.37 
Alpha[8]	0.000000
Alpha[8]	0.993456
TNavParticleFilter::Modified Variance for beam 9 is 19.97 
Alpha[9]	0.000000
Alpha[9]	0.992043
TNavParticleFilter::Modified Variance for beam 10 is 19.55 
Alpha[10]	0.000000
Alpha[10]	0.992415
TNavParticleFilter::Modified Variance for beam 11 is 19.16 
Alpha[11]	0.000000
Alpha[11]	0.993026
TNavParticleFilter::Modified Variance for beam 12 is 18.79 
Alpha[12]	0.000000
Alpha[12]	0.993601
TNavParticleFilter::Modified Variance for beam 13 is 18.45 
Alpha[13]	0.000000
Alpha[13]	0.993535
TNavParticleFilter::Modified Variance for beam 14 is 18.14 
Alpha[14]	0.000000
Alpha[14]	0.996453
TNavParticleFilter::Modified Variance for beam 15 is 19.01 
Alpha[15]	0.000000
Alpha[15]	0.997796
TNavParticleFilter::Modified Variance for beam 16 is 18.70 
Alpha[16]	0.000000
Alpha[16]	0.997872
TNavParticleFilter::Modified Variance for beam 17 is 18.68 
Alpha[17]	0.000000
Alpha[17]	0.997188
TNavParticleFilter::Modified Variance for beam 18 is 19.43 
Alpha[18]	0.000000
Alpha[18]	0.994636
TNavParticleFilter::Modified Variance for beam 19 is 18.03 
Alpha[19]	0.000000
Alpha[19]	0.989604
TNavParticleFilter::Modified Variance for beam 20 is 17.93 
Alpha[20]	0.000000
Alpha[20]	0.982003
TNavParticleFilter::Modified Variance for beam 21 is 17.71 
Alpha[21]	0.000000
Alpha[21]	0.981379
TNavParticleFilter::Modified Variance for beam 22 is 17.42 
Alpha[22]	0.000000
Alpha[22]	0.985721
TNavParticleFilter::Modified Variance for beam 23 is 17.18 
Alpha[23]	0.000000
Alpha[23]	0.987604
TNavParticleFilter::Modified Variance for beam 24 is 16.98 
Alpha[24]	0.000000
Alpha[24]	0.988695
TNavParticleFilter::Modified Variance for beam 25 is 16.79 
Alpha[25]	0.000000
Alpha[25]	0.989171
TNavParticleFilter::Modified Variance for beam 26 is 16.66 
Alpha[26]	0.000000
Alpha[26]	0.987294
TNavParticleFilter::Modified Variance for beam 27 is 16.57 
Alpha[27]	0.000000
Alpha[27]	0.983363
TNavParticleFilter::Modified Variance for beam 28 is 16.45 
Alpha[28]	0.000000
Alpha[28]	0.981809
TNavParticleFilter::Modified Variance for beam 29 is 16.29 
Alpha[29]	0.000000
Alpha[29]	0.983775
TNavParticleFilter::Modified Variance for beam 30 is 16.11 
Alpha[30]	0.000000
Alpha[30]	0.986994
TNavParticleFilter::Modified Variance for beam 31 is 15.01 
Alpha[31]	0.000000
Alpha[31]	0.985627
TNavParticleFilter::Modified Variance for beam 32 is 14.92 
Alpha[32]	0.000000
Alpha[32]	0.985317
TNavParticleFilter::Modified Variance for beam 33 is 15.19 
Alpha[33]	0.000000
Alpha[33]	0.986662
TNavParticleFilter::Modified Variance for beam 34 is 16.68 
Alpha[34]	0.000000
Alpha[34]	0.989590
TNavParticleFilter::Modified Variance for beam 35 is 13.60 
Alpha[35]	0.000000
Alpha[35]	0.995072
TNavParticleFilter::Modified Variance for beam 36 is 13.51 
Alpha[36]	0.000000
Alpha[36]	0.997262
TNavParticleFilter::Modified Variance for beam 37 is 13.45 
Alpha[37]	0.000000
Alpha[37]	0.997760
TNavParticleFilter::Modified Variance for beam 38 is 17.30 
Alpha[38]	0.000000
Alpha[38]	0.997152
TNavParticleFilter::Modified Variance for beam 39 is 16.24 
Alpha[39]	0.000000
Alpha[39]	0.995470
TNavParticleFilter::Modified Variance for beam 40 is 16.21 
Alpha[40]	0.000000
Alpha[40]	0.994848
TNavParticleFilter::Modified Variance for beam 41 is 17.20 
Alpha[41]	0.000000
Alpha[41]	0.994291
TNavParticleFilter::Modified Variance for beam 42 is 17.18 
Alpha[42]	0.000000
Alpha[42]	0.993980
TNavParticleFilter::Modified Variance for beam 43 is 18.20 
Alpha[43]	0.000000
Alpha[43]	0.994883
TNavParticleFilter::Modified Variance for beam 44 is 15.12 
Alpha[44]	0.000000
Alpha[44]	0.995179
TNavParticleFilter::Modified Variance for beam 45 is 17.09 
Alpha[45]	0.000000
Alpha[45]	0.996651
TNavParticleFilter::Modified Variance for beam 46 is 17.08 
Alpha[46]	0.000000
Alpha[46]	0.997301
TNavParticleFilter::Modified Variance for beam 47 is 17.08 
Alpha[47]	0.000000
Alpha[47]	0.997649
TNavParticleFilter::Modified Variance for beam 48 is 17.10 
Alpha[48]	0.000000
Alpha[48]	0.997789
TNavParticleFilter::Modified Variance for beam 49 is 17.13 
Alpha[49]	0.000000
Alpha[49]	0.997617
TNavParticleFilter::Modified Variance for beam 50 is 16.16 
Alpha[50]	0.000000
Alpha[50]	0.997042
TNavParticleFilter::Modified Variance for beam 51 is 16.21 
Alpha[51]	0.000000
Alpha[51]	0.996562
TNavParticleFilter::Modified Variance for beam 52 is 16.26 
Alpha[52]	0.000000
Alpha[52]	0.996123
TNavParticleFilter::Modified Variance for beam 53 is 16.32 
Alpha[53]	0.000000
Alpha[53]	0.995832
TNavParticleFilter::Modified Variance for beam 54 is 16.26 
Alpha[54]	0.000000
Alpha[54]	0.995475
TNavParticleFilter::Modified Variance for beam 55 is 13.82 
Alpha[55]	0.000000
Alpha[55]	0.994826
TNavParticleFilter::Modified Variance for beam 56 is 13.66 
Alpha[56]	0.000000
Alpha[56]	0.993449
TNavParticleFilter::Modified Variance for beam 57 is 13.77 
Alpha[57]	0.000000
Alpha[57]	0.991088
TNavParticleFilter::Modified Variance for beam 58 is 16.87 
Alpha[58]	0.000000
Alpha[58]	0.988125
TNavParticleFilter::Modified Variance for beam 59 is 15.70 
Alpha[59]	0.000000
Alpha[59]	0.985484
TNavPF:: sumSquaredError = 47.386843 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.81. Range = 81.72 
TNavPF::Calculated measDiffMean for beam 37 as 1.24. Range = 82.28 
TNavPF::Calculated measDiffMean for beam 38 as 0.85. Range = 78.95 
TNavPF::Calculated measDiffMean for beam 39 as 0.37. Range = 75.82 
TNavPF::Calculated measDiffMean for beam 40 as 0.25. Range = 75.33 
TNavPF::Calculated measDiffMean for beam 41 as 0.49. Range = 74.89 
TNavPF::Calculated measDiffMean for beam 42 as 0.99. Range = 74.36 
TNavPF::Calculated measDiffMean for beam 43 as 1.15. Range = 74.18 
TNavPF::Calculated measDiffMean for beam 44 as 1.16. Range = 73.46 
TNavPF::Calculated measDiffMean for beam 45 as 3.27. Range = 73.64 
TNavPF::Calculated measDiffMean for beam 46 as 3.16. Range = 71.47 
TNavPF::Calculated measDiffMean for beam 47 as 3.73. Range = 71.02 
TNavPF::Calculated measDiffMean for beam 48 as 5.62. Range = 71.81 
TNavPF::Calculated measDiffMean for beam 49 as 3.50. Range = 69.39 
TNavPF::Calculated measDiffMean for beam 50 as 3.66. Range = 67.63 
TNavPF::Calculated measDiffMean for beam 51 as 3.29. Range = 65.99 
TNavPF::Calculated measDiffMean for beam 52 as 2.18. Range = 65.37 
TNavPF::Calculated measDiffMean for beam 53 as 1.42. Range = 66.24 
TNavPF::Calculated measDiffMean for beam 54 as 1.02. Range = 64.80 
TNavPF::Calculated measDiffMean for beam 55 as 0.42. Range = 65.52 
TNavPF::Calculated measDiffMean for beam 56 as 0.07. Range = 65.20 
TNavPF::Calculated measDiffMean for beam 57 as -0.30. Range = 63.92 
TNavPF::Calculated measDiffMean for beam 58 as -0.58. Range = 62.70 
TNavPF::Calculated measDiffMean for beam 59 as -0.99. Range = 61.55 
TNavPF::Calculated measDiffMean for beam 60 as -1.72. Range = 62.47 
TNavPF::Calculated measDiffMean for beam 61 as -4.15. Range = 62.22 
TNavPF::Calculated measDiffMean for beam 62 as -4.60. Range = 61.19 
TNavPF::Calculated measDiffMean for beam 63 as -4.14. Range = 60.21 
TNavPF::Calculated measDiffMean for beam 64 as -1.36. Range = 59.28 
TNavPF::Calculated measDiffMean for beam 65 as -7.66. Range = 59.36 
TNavPF::Calculated measDiffMean for beam 66 as -7.03. Range = 60.14 
TNavPF::Calculated measDiffMean for beam 67 as -7.01. Range = 59.31 
TNavPF::Calculated measDiffMean for beam 68 as 0.28. Range = 58.51 
TNavPF::Calculated measDiffMean for beam 69 as -2.63. Range = 57.76 
TNavPF::Calculated measDiffMean for beam 70 as -2.76. Range = 57.04 
TNavPF::Calculated measDiffMean for beam 71 as -0.26. Range = 56.35 
TNavPF::Calculated measDiffMean for beam 72 as 0.18. Range = 55.70 
TNavPF::Calculated measDiffMean for beam 73 as 2.93. Range = 55.08 
TNavPF::Calculated measDiffMean for beam 74 as -2.58. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 75 as 1.95. Range = 56.24 
TNavPF::Calculated measDiffMean for beam 76 as 2.42. Range = 55.69 
TNavPF::Calculated measDiffMean for beam 77 as 3.08. Range = 55.63 
TNavPF::Calculated measDiffMean for beam 78 as 4.13. Range = 56.90 
TNavPF::Calculated measDiffMean for beam 79 as 4.70. Range = 54.18 
TNavPF::Calculated measDiffMean for beam 80 as 3.30. Range = 53.72 
TNavPF::Calculated measDiffMean for beam 81 as 3.71. Range = 53.29 
TNavPF::Calculated measDiffMean for beam 82 as 4.12. Range = 52.89 
TNavPF::Calculated measDiffMean for beam 83 as 4.69. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 84 as 4.71. Range = 52.14 
TNavPF::Calculated measDiffMean for beam 85 as -0.55. Range = 51.80 
TNavPF::Calculated measDiffMean for beam 86 as -1.21. Range = 51.48 
TNavPF::Calculated measDiffMean for beam 87 as -1.13. Range = 51.17 
TNavPF::Calculated measDiffMean for beam 88 as 5.22. Range = 50.89 
TNavPF::Calculated measDiffMean for beam 89 as 2.69. Range = 50.62 
TNavPF::First Term of Map Covariance Matrix is 5.74 
TNavPF::Calculated NIS Value : 29.16 	numBeams normalized NIS: 0.49
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321901.82 sec.
INS : North: 4070204.15, East: 589482.07, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 54.42, IDT[75] = 49.52
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321904.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321904.62)
ARL : North: -8.2179, East: -16.5078, Depth: -12.6609ARL : Estimation Bias  (Mean)         : (t = 1488321904.62)
ARL : North: -12.6581, East: -14.7894, Depth: -22.3887TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.81 
Alpha[0]	0.123000
Alpha[0]	0.997785
TNavParticleFilter::Modified Variance for beam 1 is 22.49 
Alpha[1]	0.000000
Alpha[1]	0.997783
TNavParticleFilter::Modified Variance for beam 2 is 22.01 
Alpha[2]	0.000000
Alpha[2]	0.997030
TNavParticleFilter::Modified Variance for beam 3 is 21.47 
Alpha[3]	0.000000
Alpha[3]	0.995719
TNavParticleFilter::Modified Variance for beam 4 is 20.95 
Alpha[4]	0.000000
Alpha[4]	0.995241
TNavParticleFilter::Modified Variance for beam 5 is 20.47 
Alpha[5]	0.000000
Alpha[5]	0.994326
TNavParticleFilter::Modified Variance for beam 6 is 20.03 
Alpha[6]	0.000000
Alpha[6]	0.993230
TNavParticleFilter::Modified Variance for beam 7 is 19.58 
Alpha[7]	0.000000
Alpha[7]	0.995398
TNavParticleFilter::Modified Variance for beam 8 is 20.32 
Alpha[8]	0.000000
Alpha[8]	0.997069
TNavParticleFilter::Modified Variance for beam 9 is 20.07 
Alpha[9]	0.000000
Alpha[9]	0.997595
TNavParticleFilter::Modified Variance for beam 10 is 19.99 
Alpha[10]	0.000000
Alpha[10]	0.996898
TNavParticleFilter::Modified Variance for beam 11 is 20.69 
Alpha[11]	0.000000
Alpha[11]	0.996038
TNavParticleFilter::Modified Variance for beam 12 is 20.31 
Alpha[12]	0.000000
Alpha[12]	0.996021
TNavParticleFilter::Modified Variance for beam 13 is 19.95 
Alpha[13]	0.000000
Alpha[13]	0.996340
TNavParticleFilter::Modified Variance for beam 14 is 18.33 
Alpha[14]	0.000000
Alpha[14]	0.996491
TNavParticleFilter::Modified Variance for beam 15 is 18.04 
Alpha[15]	0.000000
Alpha[15]	0.996146
TNavParticleFilter::Modified Variance for beam 16 is 17.79 
Alpha[16]	0.000000
Alpha[16]	0.995006
TNavParticleFilter::Modified Variance for beam 17 is 17.56 
Alpha[17]	0.000000
Alpha[17]	0.993469
TNavParticleFilter::Modified Variance for beam 18 is 17.33 
Alpha[18]	0.000000
Alpha[18]	0.992683
TNavParticleFilter::Modified Variance for beam 19 is 17.09 
Alpha[19]	0.000000
Alpha[19]	0.992942
TNavParticleFilter::Modified Variance for beam 20 is 16.89 
Alpha[20]	0.000000
Alpha[20]	0.991765
TNavParticleFilter::Modified Variance for beam 21 is 16.71 
Alpha[21]	0.000000
Alpha[21]	0.990790
TNavParticleFilter::Modified Variance for beam 22 is 16.53 
Alpha[22]	0.000000
Alpha[22]	0.990188
TNavParticleFilter::Modified Variance for beam 23 is 16.32 
Alpha[23]	0.000000
Alpha[23]	0.991750
TNavParticleFilter::Modified Variance for beam 24 is 16.13 
Alpha[24]	0.000000
Alpha[24]	0.993151
TNavParticleFilter::Modified Variance for beam 25 is 14.94 
Alpha[25]	0.000000
Alpha[25]	0.993143
TNavParticleFilter::Modified Variance for beam 26 is 14.81 
Alpha[26]	0.000000
Alpha[26]	0.993426
TNavParticleFilter::Modified Variance for beam 27 is 15.40 
Alpha[27]	0.000000
Alpha[27]	0.993713
TNavParticleFilter::Modified Variance for beam 28 is 16.54 
Alpha[28]	0.000000
Alpha[28]	0.996743
TNavParticleFilter::Modified Variance for beam 29 is 13.46 
Alpha[29]	0.000000
Alpha[29]	0.997595
TNavParticleFilter::Modified Variance for beam 30 is 13.37 
Alpha[30]	0.000000
Alpha[30]	0.997503
TNavParticleFilter::Modified Variance for beam 31 is 13.91 
Alpha[31]	0.000000
Alpha[31]	0.997169
TNavParticleFilter::Modified Variance for beam 32 is 17.13 
Alpha[32]	0.000000
Alpha[32]	0.996511
TNavParticleFilter::Modified Variance for beam 33 is 16.01 
Alpha[33]	0.000000
Alpha[33]	0.996042
TNavParticleFilter::Modified Variance for beam 34 is 15.95 
Alpha[34]	0.000000
Alpha[34]	0.994845
TNavParticleFilter::Modified Variance for beam 35 is 16.93 
Alpha[35]	0.000000
Alpha[35]	0.992474
TNavParticleFilter::Modified Variance for beam 36 is 16.88 
Alpha[36]	0.000000
Alpha[36]	0.991437
TNavParticleFilter::Modified Variance for beam 37 is 16.87 
Alpha[37]	0.000000
Alpha[37]	0.991243
TNavParticleFilter::Modified Variance for beam 38 is 17.79 
Alpha[38]	0.000000
Alpha[38]	0.992458
TNavParticleFilter::Modified Variance for beam 39 is 17.73 
Alpha[39]	0.000000
Alpha[39]	0.993429
TNavParticleFilter::Modified Variance for beam 40 is 17.67 
Alpha[40]	0.000000
Alpha[40]	0.994469
TNavParticleFilter::Modified Variance for beam 41 is 17.61 
Alpha[41]	0.000000
Alpha[41]	0.995718
TNavParticleFilter::Modified Variance for beam 42 is 17.58 
Alpha[42]	0.000000
Alpha[42]	0.996313
TNavParticleFilter::Modified Variance for beam 43 is 17.56 
Alpha[43]	0.000000
Alpha[43]	0.996503
TNavParticleFilter::Modified Variance for beam 44 is 17.56 
Alpha[44]	0.000000
Alpha[44]	0.996348
TNavParticleFilter::Modified Variance for beam 45 is 15.53 
Alpha[45]	0.000000
Alpha[45]	0.996452
TNavParticleFilter::Modified Variance for beam 46 is 15.54 
Alpha[46]	0.000000
Alpha[46]	0.996816
TNavParticleFilter::Modified Variance for beam 47 is 15.55 
Alpha[47]	0.000000
Alpha[47]	0.996971
TNavParticleFilter::Modified Variance for beam 48 is 15.58 
Alpha[48]	0.000000
Alpha[48]	0.996680
TNavParticleFilter::Modified Variance for beam 49 is 12.86 
Alpha[49]	0.000000
Alpha[49]	0.996144
TNavParticleFilter::Modified Variance for beam 50 is 12.89 
Alpha[50]	0.000000
Alpha[50]	0.995637
TNavParticleFilter::Modified Variance for beam 51 is 12.94 
Alpha[51]	0.000000
Alpha[51]	0.995076
TNavParticleFilter::Modified Variance for beam 52 is 15.78 
Alpha[52]	0.000000
Alpha[52]	0.994955
TNavParticleFilter::Modified Variance for beam 53 is 15.37 
Alpha[53]	0.000000
Alpha[53]	0.994901
TNavParticleFilter::Modified Variance for beam 54 is 13.99 
Alpha[54]	0.000000
Alpha[54]	0.994770
TNavParticleFilter::Modified Variance for beam 55 is 14.06 
Alpha[55]	0.000000
Alpha[55]	0.994729
TNavParticleFilter::Modified Variance for beam 56 is 14.12 
Alpha[56]	0.000000
Alpha[56]	0.995656
TNavParticleFilter::Modified Variance for beam 57 is 14.18 
Alpha[57]	0.000000
Alpha[57]	0.996922
TNavParticleFilter::Modified Variance for beam 58 is 14.26 
Alpha[58]	0.000000
Alpha[58]	0.997711
TNavParticleFilter::Modified Variance for beam 59 is 15.33 
Alpha[59]	0.000000
Alpha[59]	0.997986
TNavPF:: sumSquaredError = 50.438627 
TNavPF:: sumWeights = 0.000001 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 2.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 2.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.95. Range = 85.29 
TNavPF::Calculated measDiffMean for beam 34 as 1.12. Range = 85.75 
TNavPF::Calculated measDiffMean for beam 35 as 1.45. Range = 83.04 
TNavPF::Calculated measDiffMean for beam 36 as 1.36. Range = 79.40 
TNavPF::Calculated measDiffMean for beam 37 as 0.91. Range = 78.82 
TNavPF::Calculated measDiffMean for beam 38 as 3.00. Range = 78.03 
TNavPF::Calculated measDiffMean for beam 39 as 3.89. Range = 77.84 
TNavPF::Calculated measDiffMean for beam 40 as 5.05. Range = 76.95 
TNavPF::Calculated measDiffMean for beam 41 as 6.88. Range = 76.92 
TNavPF::Calculated measDiffMean for beam 42 as 6.61. Range = 76.10 
TNavPF::Calculated measDiffMean for beam 43 as 6.61. Range = 73.77 
TNavPF::Calculated measDiffMean for beam 44 as 4.35. Range = 74.50 
TNavPF::Calculated measDiffMean for beam 45 as 4.25. Range = 75.26 
TNavPF::Calculated measDiffMean for beam 46 as 3.89. Range = 71.35 
TNavPF::Calculated measDiffMean for beam 47 as 3.45. Range = 69.21 
TNavPF::Calculated measDiffMean for beam 48 as 3.16. Range = 68.15 
TNavPF::Calculated measDiffMean for beam 49 as 2.61. Range = 68.96 
TNavPF::Calculated measDiffMean for beam 50 as 1.79. Range = 67.52 
TNavPF::Calculated measDiffMean for beam 51 as 1.34. Range = 68.22 
TNavPF::Calculated measDiffMean for beam 52 as 1.07. Range = 67.70 
TNavPF::Calculated measDiffMean for beam 53 as 0.78. Range = 66.22 
TNavPF::Calculated measDiffMean for beam 54 as 0.41. Range = 64.83 
TNavPF::Calculated measDiffMean for beam 55 as -2.22. Range = 64.22 
TNavPF::Calculated measDiffMean for beam 56 as -2.59. Range = 65.21 
TNavPF::Calculated measDiffMean for beam 57 as -1.36. Range = 64.02 
TNavPF::Calculated measDiffMean for beam 58 as 1.58. Range = 62.84 
TNavPF::Calculated measDiffMean for beam 59 as -3.90. Range = 61.73 
TNavPF::Calculated measDiffMean for beam 60 as -3.74. Range = 61.10 
TNavPF::Calculated measDiffMean for beam 61 as -3.04. Range = 62.23 
TNavPF::Calculated measDiffMean for beam 62 as 2.55. Range = 61.42 
TNavPF::Calculated measDiffMean for beam 63 as -0.18. Range = 60.47 
TNavPF::Calculated measDiffMean for beam 64 as -0.71. Range = 59.57 
TNavPF::Calculated measDiffMean for beam 65 as 0.86. Range = 58.71 
TNavPF::Calculated measDiffMean for beam 66 as 0.86. Range = 57.90 
TNavPF::Calculated measDiffMean for beam 67 as 1.10. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 68 as 3.14. Range = 58.55 
TNavPF::Calculated measDiffMean for beam 69 as 3.27. Range = 58.13 
TNavPF::Calculated measDiffMean for beam 70 as 3.37. Range = 57.96 
TNavPF::Calculated measDiffMean for beam 71 as 3.43. Range = 59.16 
TNavPF::Calculated measDiffMean for beam 72 as 3.40. Range = 58.50 
TNavPF::Calculated measDiffMean for beam 73 as 3.60. Range = 57.87 
TNavPF::Calculated measDiffMean for beam 74 as 3.91. Range = 54.96 
TNavPF::Calculated measDiffMean for beam 75 as 0.12. Range = 54.42 
TNavPF::Calculated measDiffMean for beam 76 as 0.43. Range = 53.90 
TNavPF::Calculated measDiffMean for beam 77 as 0.67. Range = 53.41 
TNavPF::Calculated measDiffMean for beam 78 as 1.10. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 79 as -4.57. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 80 as -4.33. Range = 52.08 
TNavPF::Calculated measDiffMean for beam 81 as -4.03. Range = 51.68 
TNavPF::Calculated measDiffMean for beam 82 as 2.20. Range = 51.31 
TNavPF::Calculated measDiffMean for beam 83 as 1.60. Range = 50.95 
TNavPF::Calculated measDiffMean for beam 84 as -1.12. Range = 50.62 
TNavPF::Calculated measDiffMean for beam 85 as -0.81. Range = 48.19 
TNavPF::Calculated measDiffMean for beam 86 as -0.21. Range = 47.90 
TNavPF::Calculated measDiffMean for beam 87 as 0.13. Range = 49.15 
TNavPF::Calculated measDiffMean for beam 88 as -0.09. Range = 51.55 
TNavPF::Calculated measDiffMean for beam 89 as 1.50. Range = 45.09 
TNavPF::First Term of Map Covariance Matrix is 9.02 
TNavPF::Calculated NIS Value : 25.72 	numBeams normalized NIS: 0.43
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321904.82 sec.
INS : North: 4070203.08, East: 589477.78, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 52.65, IDT[75] = 50.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321907.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321907.62)
ARL : North: -12.7099, East: -12.8278, Depth: -27.9776ARL : Estimation Bias  (Mean)         : (t = 1488321907.62)
ARL : North: -13.3511, East: -14.3974, Depth: -25.2159TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.69 
Alpha[0]	0.123000
Alpha[0]	0.995506
TNavParticleFilter::Modified Variance for beam 1 is 21.19 
Alpha[1]	0.000000
Alpha[1]	0.991818
TNavParticleFilter::Modified Variance for beam 2 is 20.81 
Alpha[2]	0.000000
Alpha[2]	0.994173
TNavParticleFilter::Modified Variance for beam 3 is 21.48 
Alpha[3]	0.000000
Alpha[3]	0.996799
TNavParticleFilter::Modified Variance for beam 4 is 21.05 
Alpha[4]	0.000000
Alpha[4]	0.997526
TNavParticleFilter::Modified Variance for beam 5 is 21.15 
Alpha[5]	0.000000
Alpha[5]	0.995763
TNavParticleFilter::Modified Variance for beam 6 is 21.63 
Alpha[6]	0.000000
Alpha[6]	0.994994
TNavParticleFilter::Modified Variance for beam 7 is 21.14 
Alpha[7]	0.000000
Alpha[7]	0.996484
TNavParticleFilter::Modified Variance for beam 8 is 20.69 
Alpha[8]	0.000000
Alpha[8]	0.997013
TNavParticleFilter::Modified Variance for beam 9 is 20.29 
Alpha[9]	0.000000
Alpha[9]	0.996914
TNavParticleFilter::Modified Variance for beam 10 is 18.60 
Alpha[10]	0.000000
Alpha[10]	0.995372
TNavParticleFilter::Modified Variance for beam 11 is 18.37 
Alpha[11]	0.000000
Alpha[11]	0.990119
TNavParticleFilter::Modified Variance for beam 12 is 18.24 
Alpha[12]	0.000000
Alpha[12]	0.979781
TNavParticleFilter::Modified Variance for beam 13 is 18.09 
Alpha[13]	0.000000
Alpha[13]	0.971902
TNavParticleFilter::Modified Variance for beam 14 is 17.65 
Alpha[14]	0.000000
Alpha[14]	0.980504
TNavParticleFilter::Modified Variance for beam 15 is 17.39 
Alpha[15]	0.000000
Alpha[15]	0.980053
TNavParticleFilter::Modified Variance for beam 16 is 17.23 
Alpha[16]	0.000000
Alpha[16]	0.975411
TNavParticleFilter::Modified Variance for beam 17 is 16.92 
Alpha[17]	0.000000
Alpha[17]	0.979438
TNavParticleFilter::Modified Variance for beam 18 is 15.54 
Alpha[18]	0.000000
Alpha[18]	0.982395
TNavParticleFilter::Modified Variance for beam 19 is 15.32 
Alpha[19]	0.000000
Alpha[19]	0.984759
TNavParticleFilter::Modified Variance for beam 20 is 15.12 
Alpha[20]	0.000000
Alpha[20]	0.986030
TNavParticleFilter::Modified Variance for beam 21 is 17.05 
Alpha[21]	0.000000
Alpha[21]	0.989265
TNavParticleFilter::Modified Variance for beam 22 is 13.68 
Alpha[22]	0.000000
Alpha[22]	0.995270
TNavParticleFilter::Modified Variance for beam 23 is 13.54 
Alpha[23]	0.000000
Alpha[23]	0.995402
TNavParticleFilter::Modified Variance for beam 24 is 13.72 
Alpha[24]	0.000000
Alpha[24]	0.994183
TNavParticleFilter::Modified Variance for beam 25 is 17.41 
Alpha[25]	0.000000
Alpha[25]	0.991999
TNavParticleFilter::Modified Variance for beam 26 is 16.20 
Alpha[26]	0.000000
Alpha[26]	0.991329
TNavParticleFilter::Modified Variance for beam 27 is 16.08 
Alpha[27]	0.000000
Alpha[27]	0.991039
TNavParticleFilter::Modified Variance for beam 28 is 16.01 
Alpha[28]	0.000000
Alpha[28]	0.987573
TNavParticleFilter::Modified Variance for beam 29 is 16.96 
Alpha[29]	0.000000
Alpha[29]	0.986782
TNavParticleFilter::Modified Variance for beam 30 is 16.82 
Alpha[30]	0.000000
Alpha[30]	0.988249
TNavParticleFilter::Modified Variance for beam 31 is 16.98 
Alpha[31]	0.000000
Alpha[31]	0.988317
TNavParticleFilter::Modified Variance for beam 32 is 17.68 
Alpha[32]	0.000000
Alpha[32]	0.988231
TNavParticleFilter::Modified Variance for beam 33 is 17.59 
Alpha[33]	0.000000
Alpha[33]	0.988154
TNavParticleFilter::Modified Variance for beam 34 is 17.51 
Alpha[34]	0.000000
Alpha[34]	0.988190
TNavParticleFilter::Modified Variance for beam 35 is 17.42 
Alpha[35]	0.000000
Alpha[35]	0.989211
TNavParticleFilter::Modified Variance for beam 36 is 17.34 
Alpha[36]	0.000000
Alpha[36]	0.990401
TNavParticleFilter::Modified Variance for beam 37 is 17.29 
Alpha[37]	0.000000
Alpha[37]	0.990151
TNavParticleFilter::Modified Variance for beam 38 is 17.26 
Alpha[38]	0.000000
Alpha[38]	0.988691
TNavParticleFilter::Modified Variance for beam 39 is 17.22 
Alpha[39]	0.000000
Alpha[39]	0.989355
TNavParticleFilter::Modified Variance for beam 40 is 17.15 
Alpha[40]	0.000000
Alpha[40]	0.991426
TNavParticleFilter::Modified Variance for beam 41 is 17.11 
Alpha[41]	0.000000
Alpha[41]	0.992567
TNavParticleFilter::Modified Variance for beam 42 is 17.09 
Alpha[42]	0.000000
Alpha[42]	0.993257
TNavParticleFilter::Modified Variance for beam 43 is 16.07 
Alpha[43]	0.000000
Alpha[43]	0.992768
TNavParticleFilter::Modified Variance for beam 44 is 16.09 
Alpha[44]	0.000000
Alpha[44]	0.992262
TNavParticleFilter::Modified Variance for beam 45 is 16.12 
Alpha[45]	0.000000
Alpha[45]	0.991132
TNavParticleFilter::Modified Variance for beam 46 is 15.15 
Alpha[46]	0.000000
Alpha[46]	0.991665
TNavParticleFilter::Modified Variance for beam 47 is 13.86 
Alpha[47]	0.000000
Alpha[47]	0.993304
TNavParticleFilter::Modified Variance for beam 48 is 13.32 
Alpha[48]	0.000000
Alpha[48]	0.994076
TNavParticleFilter::Modified Variance for beam 49 is 13.34 
Alpha[49]	0.000000
Alpha[49]	0.995181
TNavParticleFilter::Modified Variance for beam 50 is 13.36 
Alpha[50]	0.000000
Alpha[50]	0.996543
TNavParticleFilter::Modified Variance for beam 51 is 13.39 
Alpha[51]	0.000000
Alpha[51]	0.997507
TNavParticleFilter::Modified Variance for beam 52 is 13.43 
Alpha[52]	0.000000
Alpha[52]	0.998157
TNavParticleFilter::Modified Variance for beam 53 is 14.41 
Alpha[53]	0.000000
Alpha[53]	0.998246
TNavParticleFilter::Modified Variance for beam 54 is 14.48 
Alpha[54]	0.000000
Alpha[54]	0.998375
TNavParticleFilter::Modified Variance for beam 55 is 13.63 
Alpha[55]	0.000000
Alpha[55]	0.998193
TNavParticleFilter::Modified Variance for beam 56 is 13.72 
Alpha[56]	0.000000
Alpha[56]	0.997439
TNavParticleFilter::Modified Variance for beam 57 is 13.81 
Alpha[57]	0.000000
Alpha[57]	0.996736
TNavParticleFilter::Modified Variance for beam 58 is 13.92 
Alpha[58]	0.000000
Alpha[58]	0.995711
TNavParticleFilter::Modified Variance for beam 59 is 14.04 
Alpha[59]	0.000000
Alpha[59]	0.994755
TNavPF:: sumSquaredError = 88.320704 
TNavPF:: sumWeights = 0.000001 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.88. Range = 90.53 
TNavPF::Calculated measDiffMean for beam 31 as 1.13. Range = 89.36 
TNavPF::Calculated measDiffMean for beam 32 as 0.66. Range = 87.45 
TNavPF::Calculated measDiffMean for beam 33 as 2.36. Range = 83.25 
TNavPF::Calculated measDiffMean for beam 34 as 3.32. Range = 82.45 
TNavPF::Calculated measDiffMean for beam 35 as 5.29. Range = 81.35 
TNavPF::Calculated measDiffMean for beam 36 as 6.85. Range = 81.44 
TNavPF::Calculated measDiffMean for beam 37 as 6.49. Range = 79.87 
TNavPF::Calculated measDiffMean for beam 38 as 6.48. Range = 80.51 
TNavPF::Calculated measDiffMean for beam 39 as 6.37. Range = 78.64 
TNavPF::Calculated measDiffMean for beam 40 as 3.88. Range = 77.39 
TNavPF::Calculated measDiffMean for beam 41 as 3.58. Range = 78.10 
TNavPF::Calculated measDiffMean for beam 42 as 3.33. Range = 75.24 
TNavPF::Calculated measDiffMean for beam 43 as 3.01. Range = 75.00 
TNavPF::Calculated measDiffMean for beam 44 as 2.05. Range = 74.71 
TNavPF::Calculated measDiffMean for beam 45 as 1.33. Range = 72.61 
TNavPF::Calculated measDiffMean for beam 46 as 1.07. Range = 72.67 
TNavPF::Calculated measDiffMean for beam 47 as 0.79. Range = 72.39 
TNavPF::Calculated measDiffMean for beam 48 as -1.68. Range = 70.57 
TNavPF::Calculated measDiffMean for beam 49 as -2.21. Range = 68.87 
TNavPF::Calculated measDiffMean for beam 50 as -2.62. Range = 67.26 
TNavPF::Calculated measDiffMean for beam 51 as 1.55. Range = 67.17 
TNavPF::Calculated measDiffMean for beam 52 as -4.27. Range = 67.50 
TNavPF::Calculated measDiffMean for beam 53 as -3.46. Range = 66.09 
TNavPF::Calculated measDiffMean for beam 54 as -2.85. Range = 64.75 
TNavPF::Calculated measDiffMean for beam 55 as 4.05. Range = 63.49 
TNavPF::Calculated measDiffMean for beam 56 as 0.64. Range = 64.15 
TNavPF::Calculated measDiffMean for beam 57 as -0.08. Range = 64.03 
TNavPF::Calculated measDiffMean for beam 58 as -0.66. Range = 62.91 
TNavPF::Calculated measDiffMean for beam 59 as 0.65. Range = 61.84 
TNavPF::Calculated measDiffMean for beam 60 as 0.44. Range = 60.82 
TNavPF::Calculated measDiffMean for beam 61 as 0.95. Range = 59.86 
TNavPF::Calculated measDiffMean for beam 62 as 2.50. Range = 59.29 
TNavPF::Calculated measDiffMean for beam 63 as 2.52. Range = 60.52 
TNavPF::Calculated measDiffMean for beam 64 as 2.52. Range = 59.81 
TNavPF::Calculated measDiffMean for beam 65 as 2.36. Range = 59.93 
TNavPF::Calculated measDiffMean for beam 66 as 2.13. Range = 60.71 
TNavPF::Calculated measDiffMean for beam 67 as 2.22. Range = 59.93 
TNavPF::Calculated measDiffMean for beam 68 as 2.52. Range = 59.19 
TNavPF::Calculated measDiffMean for beam 69 as 2.70. Range = 58.48 
TNavPF::Calculated measDiffMean for beam 70 as 2.92. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 71 as 3.13. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 72 as 3.63. Range = 54.23 
TNavPF::Calculated measDiffMean for beam 73 as 2.09. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 74 as 2.37. Range = 53.15 
TNavPF::Calculated measDiffMean for beam 75 as 2.71. Range = 52.65 
TNavPF::Calculated measDiffMean for beam 76 as 0.95. Range = 52.17 
TNavPF::Calculated measDiffMean for beam 77 as -1.33. Range = 51.72 
TNavPF::Calculated measDiffMean for beam 78 as -2.19. Range = 49.09 
TNavPF::Calculated measDiffMean for beam 79 as -1.73. Range = 48.70 
TNavPF::Calculated measDiffMean for beam 80 as -0.93. Range = 48.33 
TNavPF::Calculated measDiffMean for beam 81 as -0.71. Range = 52.30 
TNavPF::Calculated measDiffMean for beam 82 as -1.20. Range = 45.51 
TNavPF::Calculated measDiffMean for beam 83 as 0.27. Range = 45.22 
TNavPF::Calculated measDiffMean for beam 84 as -0.33. Range = 45.58 
TNavPF::Calculated measDiffMean for beam 85 as -3.06. Range = 53.09 
TNavPF::Calculated measDiffMean for beam 86 as -3.11. Range = 50.71 
TNavPF::Calculated measDiffMean for beam 87 as -2.83. Range = 50.44 
TNavPF::Calculated measDiffMean for beam 88 as -2.69. Range = 50.20 
TNavPF::Calculated measDiffMean for beam 89 as -2.46. Range = 52.04 
TNavPF::First Term of Map Covariance Matrix is 4.44 
TNavPF::Calculated NIS Value : 27.79 	numBeams normalized NIS: 0.46
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321907.82 sec.
INS : North: 4070202.06, East: 589473.47, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 49.41, IDT[75] = 43.47
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321910.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321910.62)
ARL : North: -13.7999, East: -14.4891, Depth: -23.1489ARL : Estimation Bias  (Mean)         : (t = 1488321910.62)
ARL : North: -12.8058, East: -14.6818, Depth: -24.5270TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.70 
Alpha[0]	0.123000
Alpha[0]	0.998039
TNavParticleFilter::Modified Variance for beam 1 is 22.10 
Alpha[1]	0.000000
Alpha[1]	0.997569
TNavParticleFilter::Modified Variance for beam 2 is 22.54 
Alpha[2]	0.000000
Alpha[2]	0.996280
TNavParticleFilter::Modified Variance for beam 3 is 22.57 
Alpha[3]	0.000000
Alpha[3]	0.997106
TNavParticleFilter::Modified Variance for beam 4 is 22.01 
Alpha[4]	0.000000
Alpha[4]	0.997440
TNavParticleFilter::Modified Variance for beam 5 is 21.51 
Alpha[5]	0.000000
Alpha[5]	0.996979
TNavParticleFilter::Modified Variance for beam 6 is 19.61 
Alpha[6]	0.000000
Alpha[6]	0.995081
TNavParticleFilter::Modified Variance for beam 7 is 19.30 
Alpha[7]	0.000000
Alpha[7]	0.989842
TNavParticleFilter::Modified Variance for beam 8 is 19.09 
Alpha[8]	0.000000
Alpha[8]	0.979847
TNavParticleFilter::Modified Variance for beam 9 is 18.76 
Alpha[9]	0.000000
Alpha[9]	0.978637
TNavParticleFilter::Modified Variance for beam 10 is 18.29 
Alpha[10]	0.000000
Alpha[10]	0.983974
TNavParticleFilter::Modified Variance for beam 11 is 17.99 
Alpha[11]	0.000000
Alpha[11]	0.982344
TNavParticleFilter::Modified Variance for beam 12 is 17.72 
Alpha[12]	0.000000
Alpha[12]	0.979876
TNavParticleFilter::Modified Variance for beam 13 is 17.40 
Alpha[13]	0.000000
Alpha[13]	0.981506
TNavParticleFilter::Modified Variance for beam 14 is 15.92 
Alpha[14]	0.000000
Alpha[14]	0.983836
TNavParticleFilter::Modified Variance for beam 15 is 15.63 
Alpha[15]	0.000000
Alpha[15]	0.986904
TNavParticleFilter::Modified Variance for beam 16 is 15.98 
Alpha[16]	0.000000
Alpha[16]	0.991421
TNavParticleFilter::Modified Variance for beam 17 is 14.03 
Alpha[17]	0.000000
Alpha[17]	0.995283
TNavParticleFilter::Modified Variance for beam 18 is 13.85 
Alpha[18]	0.000000
Alpha[18]	0.995339
TNavParticleFilter::Modified Variance for beam 19 is 14.05 
Alpha[19]	0.000000
Alpha[19]	0.993464
TNavParticleFilter::Modified Variance for beam 20 is 17.48 
Alpha[20]	0.000000
Alpha[20]	0.991098
TNavParticleFilter::Modified Variance for beam 21 is 17.65 
Alpha[21]	0.000000
Alpha[21]	0.990937
TNavParticleFilter::Modified Variance for beam 22 is 16.35 
Alpha[22]	0.000000
Alpha[22]	0.990951
TNavParticleFilter::Modified Variance for beam 23 is 16.22 
Alpha[23]	0.000000
Alpha[23]	0.988249
TNavParticleFilter::Modified Variance for beam 24 is 16.69 
Alpha[24]	0.000000
Alpha[24]	0.986777
TNavParticleFilter::Modified Variance for beam 25 is 16.97 
Alpha[25]	0.000000
Alpha[25]	0.988567
TNavParticleFilter::Modified Variance for beam 26 is 16.81 
Alpha[26]	0.000000
Alpha[26]	0.989093
TNavParticleFilter::Modified Variance for beam 27 is 17.69 
Alpha[27]	0.000000
Alpha[27]	0.989021
TNavParticleFilter::Modified Variance for beam 28 is 17.62 
Alpha[28]	0.000000
Alpha[28]	0.988880
TNavParticleFilter::Modified Variance for beam 29 is 17.49 
Alpha[29]	0.000000
Alpha[29]	0.988855
TNavParticleFilter::Modified Variance for beam 30 is 17.35 
Alpha[30]	0.000000
Alpha[30]	0.989824
TNavParticleFilter::Modified Variance for beam 31 is 17.22 
Alpha[31]	0.000000
Alpha[31]	0.990996
TNavParticleFilter::Modified Variance for beam 32 is 17.12 
Alpha[32]	0.000000
Alpha[32]	0.990863
TNavParticleFilter::Modified Variance for beam 33 is 17.05 
Alpha[33]	0.000000
Alpha[33]	0.990024
TNavParticleFilter::Modified Variance for beam 34 is 16.95 
Alpha[34]	0.000000
Alpha[34]	0.991013
TNavParticleFilter::Modified Variance for beam 35 is 16.85 
Alpha[35]	0.000000
Alpha[35]	0.992346
TNavParticleFilter::Modified Variance for beam 36 is 16.76 
Alpha[36]	0.000000
Alpha[36]	0.993650
TNavParticleFilter::Modified Variance for beam 37 is 16.70 
Alpha[37]	0.000000
Alpha[37]	0.993975
TNavParticleFilter::Modified Variance for beam 38 is 15.66 
Alpha[38]	0.000000
Alpha[38]	0.993495
TNavParticleFilter::Modified Variance for beam 39 is 15.63 
Alpha[39]	0.000000
Alpha[39]	0.993141
TNavParticleFilter::Modified Variance for beam 40 is 15.61 
Alpha[40]	0.000000
Alpha[40]	0.992706
TNavParticleFilter::Modified Variance for beam 41 is 15.57 
Alpha[41]	0.000000
Alpha[41]	0.993374
TNavParticleFilter::Modified Variance for beam 42 is 15.55 
Alpha[42]	0.000000
Alpha[42]	0.994061
TNavParticleFilter::Modified Variance for beam 43 is 12.78 
Alpha[43]	0.000000
Alpha[43]	0.995230
TNavParticleFilter::Modified Variance for beam 44 is 12.76 
Alpha[44]	0.000000
Alpha[44]	0.996389
TNavParticleFilter::Modified Variance for beam 45 is 12.76 
Alpha[45]	0.000000
Alpha[45]	0.996874
TNavParticleFilter::Modified Variance for beam 46 is 12.77 
Alpha[46]	0.000000
Alpha[46]	0.997600
TNavParticleFilter::Modified Variance for beam 47 is 12.78 
Alpha[47]	0.000000
Alpha[47]	0.998130
TNavParticleFilter::Modified Variance for beam 48 is 13.68 
Alpha[48]	0.000000
Alpha[48]	0.998329
TNavParticleFilter::Modified Variance for beam 49 is 13.71 
Alpha[49]	0.000000
Alpha[49]	0.998346
TNavParticleFilter::Modified Variance for beam 50 is 12.87 
Alpha[50]	0.000000
Alpha[50]	0.998033
TNavParticleFilter::Modified Variance for beam 51 is 12.91 
Alpha[51]	0.000000
Alpha[51]	0.997431
TNavParticleFilter::Modified Variance for beam 52 is 12.97 
Alpha[52]	0.000000
Alpha[52]	0.996677
TNavParticleFilter::Modified Variance for beam 53 is 13.04 
Alpha[53]	0.000000
Alpha[53]	0.995749
TNavParticleFilter::Modified Variance for beam 54 is 13.10 
Alpha[54]	0.000000
Alpha[54]	0.995136
TNavParticleFilter::Modified Variance for beam 55 is 13.17 
Alpha[55]	0.000000
Alpha[55]	0.994912
TNavParticleFilter::Modified Variance for beam 56 is 14.18 
Alpha[56]	0.000000
Alpha[56]	0.994203
TNavParticleFilter::Modified Variance for beam 57 is 14.28 
Alpha[57]	0.000000
Alpha[57]	0.993139
TNavParticleFilter::Modified Variance for beam 58 is 14.38 
Alpha[58]	0.000000
Alpha[58]	0.992759
TNavParticleFilter::Modified Variance for beam 59 is 14.49 
Alpha[59]	0.000000
Alpha[59]	0.992092
TNavPF:: sumSquaredError = 39.856926 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.86. Range = 93.15 
TNavPF::Calculated measDiffMean for beam 31 as 3.93. Range = 90.90 
TNavPF::Calculated measDiffMean for beam 32 as 5.99. Range = 86.16 
TNavPF::Calculated measDiffMean for beam 33 as 6.80. Range = 86.25 
TNavPF::Calculated measDiffMean for beam 34 as 6.71. Range = 84.66 
TNavPF::Calculated measDiffMean for beam 35 as 6.55. Range = 85.24 
TNavPF::Calculated measDiffMean for beam 36 as 3.70. Range = 83.67 
TNavPF::Calculated measDiffMean for beam 37 as 3.25. Range = 83.63 
TNavPF::Calculated measDiffMean for beam 38 as 2.93. Range = 80.55 
TNavPF::Calculated measDiffMean for beam 39 as 2.36. Range = 81.21 
TNavPF::Calculated measDiffMean for beam 40 as 1.37. Range = 79.24 
TNavPF::Calculated measDiffMean for beam 41 as 0.81. Range = 78.12 
TNavPF::Calculated measDiffMean for beam 42 as 0.53. Range = 78.29 
TNavPF::Calculated measDiffMean for beam 43 as 0.26. Range = 75.88 
TNavPF::Calculated measDiffMean for beam 44 as -2.46. Range = 75.77 
TNavPF::Calculated measDiffMean for beam 45 as -2.95. Range = 75.34 
TNavPF::Calculated measDiffMean for beam 46 as -1.80. Range = 73.27 
TNavPF::Calculated measDiffMean for beam 47 as -4.81. Range = 71.33 
TNavPF::Calculated measDiffMean for beam 48 as -4.12. Range = 69.52 
TNavPF::Calculated measDiffMean for beam 49 as -3.38. Range = 70.35 
TNavPF::Calculated measDiffMean for beam 50 as 3.10. Range = 69.56 
TNavPF::Calculated measDiffMean for beam 51 as 2.67. Range = 67.97 
TNavPF::Calculated measDiffMean for beam 52 as -0.33. Range = 66.48 
TNavPF::Calculated measDiffMean for beam 53 as -0.99. Range = 66.43 
TNavPF::Calculated measDiffMean for beam 54 as -0.45. Range = 66.80 
TNavPF::Calculated measDiffMean for beam 55 as 0.13. Range = 65.48 
TNavPF::Calculated measDiffMean for beam 56 as 0.10. Range = 64.22 
TNavPF::Calculated measDiffMean for beam 57 as 2.07. Range = 63.04 
TNavPF::Calculated measDiffMean for beam 58 as 2.20. Range = 61.91 
TNavPF::Calculated measDiffMean for beam 59 as 2.19. Range = 61.70 
TNavPF::Calculated measDiffMean for beam 60 as 2.07. Range = 62.58 
TNavPF::Calculated measDiffMean for beam 61 as 1.88. Range = 61.57 
TNavPF::Calculated measDiffMean for beam 62 as 1.94. Range = 62.25 
TNavPF::Calculated measDiffMean for beam 63 as 2.19. Range = 62.33 
TNavPF::Calculated measDiffMean for beam 64 as 2.44. Range = 61.43 
TNavPF::Calculated measDiffMean for beam 65 as 2.67. Range = 60.57 
TNavPF::Calculated measDiffMean for beam 66 as 2.99. Range = 57.23 
TNavPF::Calculated measDiffMean for beam 67 as 3.48. Range = 56.49 
TNavPF::Calculated measDiffMean for beam 68 as 1.85. Range = 55.78 
TNavPF::Calculated measDiffMean for beam 69 as 2.15. Range = 55.13 
TNavPF::Calculated measDiffMean for beam 70 as 2.45. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 71 as 2.83. Range = 53.85 
TNavPF::Calculated measDiffMean for beam 72 as 3.29. Range = 53.27 
TNavPF::Calculated measDiffMean for beam 73 as -2.23. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 74 as -1.51. Range = 49.89 
TNavPF::Calculated measDiffMean for beam 75 as -0.94. Range = 49.41 
TNavPF::Calculated measDiffMean for beam 76 as -1.07. Range = 50.25 
TNavPF::Calculated measDiffMean for beam 77 as -1.58. Range = 46.29 
TNavPF::Calculated measDiffMean for beam 78 as -0.09. Range = 45.90 
TNavPF::Calculated measDiffMean for beam 79 as -0.78. Range = 46.28 
TNavPF::Calculated measDiffMean for beam 80 as -3.40. Range = 53.18 
TNavPF::Calculated measDiffMean for beam 81 as -3.36. Range = 53.50 
TNavPF::Calculated measDiffMean for beam 82 as -3.12. Range = 50.98 
TNavPF::Calculated measDiffMean for beam 83 as -2.97. Range = 50.64 
TNavPF::Calculated measDiffMean for beam 84 as -2.73. Range = 51.52 
TNavPF::Calculated measDiffMean for beam 85 as -2.40. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 86 as 0.23. Range = 51.83 
TNavPF::Calculated measDiffMean for beam 87 as 0.93. Range = 53.51 
TNavPF::Calculated measDiffMean for beam 88 as 1.38. Range = 53.38 
TNavPF::Calculated measDiffMean for beam 89 as 1.73. Range = 53.13 
TNavPF::First Term of Map Covariance Matrix is 10.19 
TNavPF::Calculated NIS Value : 29.16 	numBeams normalized NIS: 0.49
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321910.82 sec.
INS : North: 4070201.05, East: 589469.15, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 51.97, IDT[75] = 44.61
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321913.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321913.62)
ARL : North: -12.9996, East: -14.6048, Depth: -19.6544ARL : Estimation Bias  (Mean)         : (t = 1488321913.62)
ARL : North: -12.3831, East: -14.7317, Depth: -24.0357TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.88 
Alpha[0]	0.123000
Alpha[0]	0.994475
TNavParticleFilter::Modified Variance for beam 1 is 20.49 
Alpha[1]	0.000000
Alpha[1]	0.988230
TNavParticleFilter::Modified Variance for beam 2 is 20.17 
Alpha[2]	0.000000
Alpha[2]	0.979878
TNavParticleFilter::Modified Variance for beam 3 is 19.78 
Alpha[3]	0.000000
Alpha[3]	0.983226
TNavParticleFilter::Modified Variance for beam 4 is 20.52 
Alpha[4]	0.000000
Alpha[4]	0.983827
TNavParticleFilter::Modified Variance for beam 5 is 18.84 
Alpha[5]	0.000000
Alpha[5]	0.981180
TNavParticleFilter::Modified Variance for beam 6 is 18.45 
Alpha[6]	0.000000
Alpha[6]	0.981293
TNavParticleFilter::Modified Variance for beam 7 is 18.97 
Alpha[7]	0.000000
Alpha[7]	0.983869
TNavParticleFilter::Modified Variance for beam 8 is 18.93 
Alpha[8]	0.000000
Alpha[8]	0.987896
TNavParticleFilter::Modified Variance for beam 9 is 18.49 
Alpha[9]	0.000000
Alpha[9]	0.993037
TNavParticleFilter::Modified Variance for beam 10 is 14.59 
Alpha[10]	0.000000
Alpha[10]	0.995636
TNavParticleFilter::Modified Variance for beam 11 is 14.36 
Alpha[11]	0.000000
Alpha[11]	0.995558
TNavParticleFilter::Modified Variance for beam 12 is 14.74 
Alpha[12]	0.000000
Alpha[12]	0.993868
TNavParticleFilter::Modified Variance for beam 13 is 17.64 
Alpha[13]	0.000000
Alpha[13]	0.991886
TNavParticleFilter::Modified Variance for beam 14 is 18.27 
Alpha[14]	0.000000
Alpha[14]	0.991568
TNavParticleFilter::Modified Variance for beam 15 is 16.85 
Alpha[15]	0.000000
Alpha[15]	0.991004
TNavParticleFilter::Modified Variance for beam 16 is 16.67 
Alpha[16]	0.000000
Alpha[16]	0.988536
TNavParticleFilter::Modified Variance for beam 17 is 16.89 
Alpha[17]	0.000000
Alpha[17]	0.987352
TNavParticleFilter::Modified Variance for beam 18 is 17.37 
Alpha[18]	0.000000
Alpha[18]	0.988633
TNavParticleFilter::Modified Variance for beam 19 is 17.16 
Alpha[19]	0.000000
Alpha[19]	0.989332
TNavParticleFilter::Modified Variance for beam 20 is 17.56 
Alpha[20]	0.000000
Alpha[20]	0.989399
TNavParticleFilter::Modified Variance for beam 21 is 17.91 
Alpha[21]	0.000000
Alpha[21]	0.989287
TNavParticleFilter::Modified Variance for beam 22 is 17.72 
Alpha[22]	0.000000
Alpha[22]	0.989417
TNavParticleFilter::Modified Variance for beam 23 is 17.54 
Alpha[23]	0.000000
Alpha[23]	0.990199
TNavParticleFilter::Modified Variance for beam 24 is 17.37 
Alpha[24]	0.000000
Alpha[24]	0.990899
TNavParticleFilter::Modified Variance for beam 25 is 17.22 
Alpha[25]	0.000000
Alpha[25]	0.991169
TNavParticleFilter::Modified Variance for beam 26 is 17.08 
Alpha[26]	0.000000
Alpha[26]	0.991390
TNavParticleFilter::Modified Variance for beam 27 is 16.93 
Alpha[27]	0.000000
Alpha[27]	0.992526
TNavParticleFilter::Modified Variance for beam 28 is 16.80 
Alpha[28]	0.000000
Alpha[28]	0.993818
TNavParticleFilter::Modified Variance for beam 29 is 16.68 
Alpha[29]	0.000000
Alpha[29]	0.994513
TNavParticleFilter::Modified Variance for beam 30 is 16.58 
Alpha[30]	0.000000
Alpha[30]	0.994330
TNavParticleFilter::Modified Variance for beam 31 is 15.49 
Alpha[31]	0.000000
Alpha[31]	0.993842
TNavParticleFilter::Modified Variance for beam 32 is 15.42 
Alpha[32]	0.000000
Alpha[32]	0.993542
TNavParticleFilter::Modified Variance for beam 33 is 15.35 
Alpha[33]	0.000000
Alpha[33]	0.993908
TNavParticleFilter::Modified Variance for beam 34 is 15.28 
Alpha[34]	0.000000
Alpha[34]	0.994999
TNavParticleFilter::Modified Variance for beam 35 is 15.21 
Alpha[35]	0.000000
Alpha[35]	0.996176
TNavParticleFilter::Modified Variance for beam 36 is 15.16 
Alpha[36]	0.000000
Alpha[36]	0.996814
TNavParticleFilter::Modified Variance for beam 37 is 15.12 
Alpha[37]	0.000000
Alpha[37]	0.997017
TNavParticleFilter::Modified Variance for beam 38 is 14.15 
Alpha[38]	0.000000
Alpha[38]	0.997508
TNavParticleFilter::Modified Variance for beam 39 is 14.12 
Alpha[39]	0.000000
Alpha[39]	0.997993
TNavParticleFilter::Modified Variance for beam 40 is 13.21 
Alpha[40]	0.000000
Alpha[40]	0.998184
TNavParticleFilter::Modified Variance for beam 41 is 13.21 
Alpha[41]	0.000000
Alpha[41]	0.998148
TNavParticleFilter::Modified Variance for beam 42 is 13.21 
Alpha[42]	0.000000
Alpha[42]	0.997852
TNavParticleFilter::Modified Variance for beam 43 is 13.22 
Alpha[43]	0.000000
Alpha[43]	0.997335
TNavParticleFilter::Modified Variance for beam 44 is 13.24 
Alpha[44]	0.000000
Alpha[44]	0.996577
TNavParticleFilter::Modified Variance for beam 45 is 13.27 
Alpha[45]	0.000000
Alpha[45]	0.995817
TNavParticleFilter::Modified Variance for beam 46 is 13.30 
Alpha[46]	0.000000
Alpha[46]	0.995289
TNavParticleFilter::Modified Variance for beam 47 is 12.47 
Alpha[47]	0.000000
Alpha[47]	0.995090
TNavParticleFilter::Modified Variance for beam 48 is 13.38 
Alpha[48]	0.000000
Alpha[48]	0.994946
TNavParticleFilter::Modified Variance for beam 49 is 13.43 
Alpha[49]	0.000000
Alpha[49]	0.994339
TNavParticleFilter::Modified Variance for beam 50 is 13.49 
Alpha[50]	0.000000
Alpha[50]	0.993437
TNavParticleFilter::Modified Variance for beam 51 is 13.56 
Alpha[51]	0.000000
Alpha[51]	0.992571
TNavParticleFilter::Modified Variance for beam 52 is 13.63 
Alpha[52]	0.000000
Alpha[52]	0.991887
TNavParticleFilter::Modified Variance for beam 53 is 13.70 
Alpha[53]	0.000000
Alpha[53]	0.991558
TNavParticleFilter::Modified Variance for beam 54 is 13.78 
Alpha[54]	0.000000
Alpha[54]	0.991607
TNavParticleFilter::Modified Variance for beam 55 is 13.85 
Alpha[55]	0.000000
Alpha[55]	0.992080
TNavParticleFilter::Modified Variance for beam 56 is 13.94 
Alpha[56]	0.000000
Alpha[56]	0.992450
TNavParticleFilter::Modified Variance for beam 57 is 14.04 
Alpha[57]	0.000000
Alpha[57]	0.992573
TNavParticleFilter::Modified Variance for beam 58 is 14.13 
Alpha[58]	0.000000
Alpha[58]	0.993448
TNavParticleFilter::Modified Variance for beam 59 is 14.22 
Alpha[59]	0.000000
Alpha[59]	0.995030
TNavPF:: sumSquaredError = 43.388923 
TNavPF:: sumWeights = 0.000008 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 3.51. Range = 89.72 
TNavPF::Calculated measDiffMean for beam 31 as 3.11. Range = 88.73 
TNavPF::Calculated measDiffMean for beam 32 as 2.69. Range = 87.16 
TNavPF::Calculated measDiffMean for beam 33 as 2.08. Range = 87.75 
TNavPF::Calculated measDiffMean for beam 34 as 3.26. Range = 84.85 
TNavPF::Calculated measDiffMean for beam 35 as 0.49. Range = 84.66 
TNavPF::Calculated measDiffMean for beam 36 as 0.17. Range = 85.32 
TNavPF::Calculated measDiffMean for beam 37 as 1.48. Range = 81.58 
TNavPF::Calculated measDiffMean for beam 38 as 1.67. Range = 81.75 
TNavPF::Calculated measDiffMean for beam 39 as 1.52. Range = 79.00 
TNavPF::Calculated measDiffMean for beam 40 as -5.07. Range = 79.23 
TNavPF::Calculated measDiffMean for beam 41 as -4.59. Range = 78.14 
TNavPF::Calculated measDiffMean for beam 42 as -3.47. Range = 76.15 
TNavPF::Calculated measDiffMean for beam 43 as 1.96. Range = 76.96 
TNavPF::Calculated measDiffMean for beam 44 as 2.56. Range = 75.43 
TNavPF::Calculated measDiffMean for beam 45 as -0.58. Range = 73.35 
TNavPF::Calculated measDiffMean for beam 46 as -1.29. Range = 71.48 
TNavPF::Calculated measDiffMean for beam 47 as -1.12. Range = 69.72 
TNavPF::Calculated measDiffMean for beam 48 as -0.08. Range = 69.16 
TNavPF::Calculated measDiffMean for beam 49 as -0.17. Range = 69.80 
TNavPF::Calculated measDiffMean for beam 50 as 0.98. Range = 68.26 
TNavPF::Calculated measDiffMean for beam 51 as 1.98. Range = 66.80 
TNavPF::Calculated measDiffMean for beam 52 as 1.94. Range = 65.43 
TNavPF::Calculated measDiffMean for beam 53 as 1.78. Range = 64.13 
TNavPF::Calculated measDiffMean for beam 54 as 1.66. Range = 64.54 
TNavPF::Calculated measDiffMean for beam 55 as 1.79. Range = 64.64 
TNavPF::Calculated measDiffMean for beam 56 as 2.05. Range = 63.91 
TNavPF::Calculated measDiffMean for beam 57 as 2.31. Range = 65.03 
TNavPF::Calculated measDiffMean for beam 58 as 2.60. Range = 64.10 
TNavPF::Calculated measDiffMean for beam 59 as 3.03. Range = 63.07 
TNavPF::Calculated measDiffMean for beam 60 as 3.45. Range = 59.42 
TNavPF::Calculated measDiffMean for beam 61 as 1.75. Range = 58.52 
TNavPF::Calculated measDiffMean for beam 62 as 2.09. Range = 57.67 
TNavPF::Calculated measDiffMean for beam 63 as 2.49. Range = 57.12 
TNavPF::Calculated measDiffMean for beam 64 as 2.99. Range = 58.42 
TNavPF::Calculated measDiffMean for beam 65 as 3.59. Range = 55.37 
TNavPF::Calculated measDiffMean for beam 66 as 4.25. Range = 54.67 
TNavPF::Calculated measDiffMean for beam 67 as 4.66. Range = 55.70 
TNavPF::Calculated measDiffMean for beam 68 as 2.57. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 69 as 2.11. Range = 55.14 
TNavPF::Calculated measDiffMean for beam 70 as -0.47. Range = 47.51 
TNavPF::Calculated measDiffMean for beam 71 as -1.19. Range = 47.02 
TNavPF::Calculated measDiffMean for beam 72 as -1.77. Range = 47.78 
TNavPF::Calculated measDiffMean for beam 73 as -1.90. Range = 53.52 
TNavPF::Calculated measDiffMean for beam 74 as -1.72. Range = 54.69 
TNavPF::Calculated measDiffMean for beam 75 as -1.49. Range = 51.97 
TNavPF::Calculated measDiffMean for beam 76 as -1.23. Range = 51.53 
TNavPF::Calculated measDiffMean for beam 77 as -2.93. Range = 51.92 
TNavPF::Calculated measDiffMean for beam 78 as -0.44. Range = 52.90 
TNavPF::Calculated measDiffMean for beam 79 as 0.20. Range = 52.51 
TNavPF::Calculated measDiffMean for beam 80 as 0.73. Range = 53.29 
TNavPF::Calculated measDiffMean for beam 81 as 1.11. Range = 53.93 
TNavPF::Calculated measDiffMean for beam 82 as 1.42. Range = 53.59 
TNavPF::Calculated measDiffMean for beam 83 as 1.68. Range = 53.27 
TNavPF::Calculated measDiffMean for beam 84 as 1.96. Range = 52.97 
TNavPF::Calculated measDiffMean for beam 85 as 2.28. Range = 52.69 
TNavPF::Calculated measDiffMean for beam 86 as 2.58. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 87 as 2.90. Range = 52.18 
TNavPF::Calculated measDiffMean for beam 88 as 3.29. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 89 as 3.84. Range = 51.75 
TNavPF::First Term of Map Covariance Matrix is 3.61 
TNavPF::Calculated NIS Value : 20.78 	numBeams normalized NIS: 0.35
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321913.82 sec.
INS : North: 4070200.24, East: 589464.80, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 55.38, IDT[75] = 46.71
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321916.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321916.62)
ARL : North: -12.2725, East: -14.1047, Depth: -26.3982ARL : Estimation Bias  (Mean)         : (t = 1488321916.62)
ARL : North: -12.1171, East: -14.6983, Depth: -25.1537TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.24 
Alpha[0]	0.123000
Alpha[0]	0.996072
TNavParticleFilter::Modified Variance for beam 1 is 15.71 
Alpha[1]	0.000000
Alpha[1]	0.995350
TNavParticleFilter::Modified Variance for beam 2 is 19.69 
Alpha[2]	0.000000
Alpha[2]	0.993237
TNavParticleFilter::Modified Variance for beam 3 is 19.36 
Alpha[3]	0.000000
Alpha[3]	0.991846
TNavParticleFilter::Modified Variance for beam 4 is 20.13 
Alpha[4]	0.000000
Alpha[4]	0.991068
TNavParticleFilter::Modified Variance for beam 5 is 20.09 
Alpha[5]	0.000000
Alpha[5]	0.987222
TNavParticleFilter::Modified Variance for beam 6 is 19.78 
Alpha[6]	0.000000
Alpha[6]	0.986583
TNavParticleFilter::Modified Variance for beam 7 is 19.42 
Alpha[7]	0.000000
Alpha[7]	0.989281
TNavParticleFilter::Modified Variance for beam 8 is 19.58 
Alpha[8]	0.000000
Alpha[8]	0.989224
TNavParticleFilter::Modified Variance for beam 9 is 17.66 
Alpha[9]	0.000000
Alpha[9]	0.989126
TNavParticleFilter::Modified Variance for beam 10 is 17.42 
Alpha[10]	0.000000
Alpha[10]	0.989206
TNavParticleFilter::Modified Variance for beam 11 is 17.81 
Alpha[11]	0.000000
Alpha[11]	0.988718
TNavParticleFilter::Modified Variance for beam 12 is 19.36 
Alpha[12]	0.000000
Alpha[12]	0.988191
TNavParticleFilter::Modified Variance for beam 13 is 19.11 
Alpha[13]	0.000000
Alpha[13]	0.989105
TNavParticleFilter::Modified Variance for beam 14 is 18.88 
Alpha[14]	0.000000
Alpha[14]	0.989890
TNavParticleFilter::Modified Variance for beam 15 is 18.66 
Alpha[15]	0.000000
Alpha[15]	0.991020
TNavParticleFilter::Modified Variance for beam 16 is 17.32 
Alpha[16]	0.000000
Alpha[16]	0.992421
TNavParticleFilter::Modified Variance for beam 17 is 17.14 
Alpha[17]	0.000000
Alpha[17]	0.993716
TNavParticleFilter::Modified Variance for beam 18 is 16.98 
Alpha[18]	0.000000
Alpha[18]	0.993971
TNavParticleFilter::Modified Variance for beam 19 is 15.80 
Alpha[19]	0.000000
Alpha[19]	0.993611
TNavParticleFilter::Modified Variance for beam 20 is 15.69 
Alpha[20]	0.000000
Alpha[20]	0.993346
TNavParticleFilter::Modified Variance for beam 21 is 15.57 
Alpha[21]	0.000000
Alpha[21]	0.993573
TNavParticleFilter::Modified Variance for beam 22 is 15.45 
Alpha[22]	0.000000
Alpha[22]	0.995107
TNavParticleFilter::Modified Variance for beam 23 is 15.33 
Alpha[23]	0.000000
Alpha[23]	0.996428
TNavParticleFilter::Modified Variance for beam 24 is 15.24 
Alpha[24]	0.000000
Alpha[24]	0.997043
TNavParticleFilter::Modified Variance for beam 25 is 15.16 
Alpha[25]	0.000000
Alpha[25]	0.997057
TNavParticleFilter::Modified Variance for beam 26 is 14.14 
Alpha[26]	0.000000
Alpha[26]	0.997230
TNavParticleFilter::Modified Variance for beam 27 is 14.08 
Alpha[27]	0.000000
Alpha[27]	0.997722
TNavParticleFilter::Modified Variance for beam 28 is 13.13 
Alpha[28]	0.000000
Alpha[28]	0.997907
TNavParticleFilter::Modified Variance for beam 29 is 13.10 
Alpha[29]	0.000000
Alpha[29]	0.997563
TNavParticleFilter::Modified Variance for beam 30 is 13.07 
Alpha[30]	0.000000
Alpha[30]	0.996835
TNavParticleFilter::Modified Variance for beam 31 is 13.05 
Alpha[31]	0.000000
Alpha[31]	0.996281
TNavParticleFilter::Modified Variance for beam 32 is 13.04 
Alpha[32]	0.000000
Alpha[32]	0.995616
TNavParticleFilter::Modified Variance for beam 33 is 13.03 
Alpha[33]	0.000000
Alpha[33]	0.995082
TNavParticleFilter::Modified Variance for beam 34 is 13.03 
Alpha[34]	0.000000
Alpha[34]	0.994825
TNavParticleFilter::Modified Variance for beam 35 is 13.03 
Alpha[35]	0.000000
Alpha[35]	0.994697
TNavParticleFilter::Modified Variance for beam 36 is 13.03 
Alpha[36]	0.000000
Alpha[36]	0.994915
TNavParticleFilter::Modified Variance for beam 37 is 13.04 
Alpha[37]	0.000000
Alpha[37]	0.994550
TNavParticleFilter::Modified Variance for beam 38 is 13.06 
Alpha[38]	0.000000
Alpha[38]	0.993843
TNavParticleFilter::Modified Variance for beam 39 is 13.09 
Alpha[39]	0.000000
Alpha[39]	0.993165
TNavParticleFilter::Modified Variance for beam 40 is 13.13 
Alpha[40]	0.000000
Alpha[40]	0.992127
TNavParticleFilter::Modified Variance for beam 41 is 14.07 
Alpha[41]	0.000000
Alpha[41]	0.991545
TNavParticleFilter::Modified Variance for beam 42 is 14.12 
Alpha[42]	0.000000
Alpha[42]	0.990837
TNavParticleFilter::Modified Variance for beam 43 is 14.18 
Alpha[43]	0.000000
Alpha[43]	0.990408
TNavParticleFilter::Modified Variance for beam 44 is 14.23 
Alpha[44]	0.000000
Alpha[44]	0.990682
TNavParticleFilter::Modified Variance for beam 45 is 14.25 
Alpha[45]	0.000000
Alpha[45]	0.993358
TNavParticleFilter::Modified Variance for beam 46 is 14.28 
Alpha[46]	0.000000
Alpha[46]	0.996356
TNavParticleFilter::Modified Variance for beam 47 is 14.34 
Alpha[47]	0.000000
Alpha[47]	0.997606
TNavParticleFilter::Modified Variance for beam 48 is 13.48 
Alpha[48]	0.000000
Alpha[48]	0.997947
TNavParticleFilter::Modified Variance for beam 49 is 14.51 
Alpha[49]	0.000000
Alpha[49]	0.998033
TNavParticleFilter::Modified Variance for beam 50 is 14.60 
Alpha[50]	0.000000
Alpha[50]	0.998225
TNavParticleFilter::Modified Variance for beam 51 is 14.71 
Alpha[51]	0.000000
Alpha[51]	0.998332
TNavParticleFilter::Modified Variance for beam 52 is 14.82 
Alpha[52]	0.000000
Alpha[52]	0.998424
TNavParticleFilter::Modified Variance for beam 53 is 14.95 
Alpha[53]	0.000000
Alpha[53]	0.998638
TNavParticleFilter::Modified Variance for beam 54 is 15.08 
Alpha[54]	0.000000
Alpha[54]	0.998894
TNavParticleFilter::Modified Variance for beam 55 is 15.22 
Alpha[55]	0.000000
Alpha[55]	0.999129
TNavParticleFilter::Modified Variance for beam 56 is 15.37 
Alpha[56]	0.000000
Alpha[56]	0.999319
TNavParticleFilter::Modified Variance for beam 57 is 15.09 
Alpha[57]	0.000000
Alpha[57]	0.999381
TNavParticleFilter::Modified Variance for beam 58 is 14.67 
Alpha[58]	0.000000
Alpha[58]	0.999272
TNavParticleFilter::Modified Variance for beam 59 is 14.84 
Alpha[59]	0.000000
Alpha[59]	0.999044
TNavPF:: sumSquaredError = 94.775548 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -5.68. Range = 85.47 
TNavPF::Calculated measDiffMean for beam 31 as -4.25. Range = 82.39 
TNavPF::Calculated measDiffMean for beam 32 as 3.35. Range = 83.02 
TNavPF::Calculated measDiffMean for beam 33 as 2.42. Range = 81.19 
TNavPF::Calculated measDiffMean for beam 34 as 3.36. Range = 79.99 
TNavPF::Calculated measDiffMean for beam 35 as 3.09. Range = 80.22 
TNavPF::Calculated measDiffMean for beam 36 as 2.32. Range = 79.28 
TNavPF::Calculated measDiffMean for beam 37 as 1.65. Range = 75.68 
TNavPF::Calculated measDiffMean for beam 38 as 2.23. Range = 73.86 
TNavPF::Calculated measDiffMean for beam 39 as -0.85. Range = 74.72 
TNavPF::Calculated measDiffMean for beam 40 as -0.85. Range = 73.40 
TNavPF::Calculated measDiffMean for beam 41 as 0.27. Range = 71.62 
TNavPF::Calculated measDiffMean for beam 42 as 3.33. Range = 70.03 
TNavPF::Calculated measDiffMean for beam 43 as 3.23. Range = 68.37 
TNavPF::Calculated measDiffMean for beam 44 as 3.41. Range = 66.88 
TNavPF::Calculated measDiffMean for beam 45 as 3.56. Range = 67.78 
TNavPF::Calculated measDiffMean for beam 46 as 1.57. Range = 67.20 
TNavPF::Calculated measDiffMean for beam 47 as 1.86. Range = 67.17 
TNavPF::Calculated measDiffMean for beam 48 as 2.37. Range = 67.57 
TNavPF::Calculated measDiffMean for beam 49 as 0.73. Range = 66.34 
TNavPF::Calculated measDiffMean for beam 50 as 1.18. Range = 65.17 
TNavPF::Calculated measDiffMean for beam 51 as 1.60. Range = 61.27 
TNavPF::Calculated measDiffMean for beam 52 as 2.00. Range = 60.26 
TNavPF::Calculated measDiffMean for beam 53 as 2.44. Range = 59.62 
TNavPF::Calculated measDiffMean for beam 54 as 2.97. Range = 60.81 
TNavPF::Calculated measDiffMean for beam 55 as 3.28. Range = 57.53 
TNavPF::Calculated measDiffMean for beam 56 as 1.07. Range = 57.02 
TNavPF::Calculated measDiffMean for beam 57 as 0.48. Range = 58.29 
TNavPF::Calculated measDiffMean for beam 58 as -2.12. Range = 57.68 
TNavPF::Calculated measDiffMean for beam 59 as -2.63. Range = 49.51 
TNavPF::Calculated measDiffMean for beam 60 as -3.03. Range = 48.90 
TNavPF::Calculated measDiffMean for beam 61 as -3.07. Range = 49.83 
TNavPF::Calculated measDiffMean for beam 62 as -2.85. Range = 57.31 
TNavPF::Calculated measDiffMean for beam 63 as -2.66. Range = 56.67 
TNavPF::Calculated measDiffMean for beam 64 as -2.38. Range = 58.00 
TNavPF::Calculated measDiffMean for beam 65 as -2.06. Range = 57.80 
TNavPF::Calculated measDiffMean for beam 66 as -1.58. Range = 57.23 
TNavPF::Calculated measDiffMean for beam 67 as -0.80. Range = 56.69 
TNavPF::Calculated measDiffMean for beam 68 as -0.26. Range = 56.96 
TNavPF::Calculated measDiffMean for beam 69 as 0.15. Range = 53.46 
TNavPF::Calculated measDiffMean for beam 70 as 0.59. Range = 53.02 
TNavPF::Calculated measDiffMean for beam 71 as 2.91. Range = 53.73 
TNavPF::Calculated measDiffMean for beam 72 as 3.24. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 73 as 3.57. Range = 56.13 
TNavPF::Calculated measDiffMean for beam 74 as 3.83. Range = 55.75 
TNavPF::Calculated measDiffMean for beam 75 as 4.28. Range = 55.38 
TNavPF::Calculated measDiffMean for beam 76 as 4.97. Range = 52.92 
TNavPF::Calculated measDiffMean for beam 77 as 5.84. Range = 52.62 
TNavPF::Calculated measDiffMean for beam 78 as 4.61. Range = 52.32 
TNavPF::Calculated measDiffMean for beam 79 as 7.14. Range = 49.97 
TNavPF::Calculated measDiffMean for beam 80 as 7.02. Range = 49.73 
TNavPF::Calculated measDiffMean for beam 81 as 6.45. Range = 49.50 
TNavPF::Calculated measDiffMean for beam 82 as 5.80. Range = 49.30 
TNavPF::Calculated measDiffMean for beam 83 as 5.21. Range = 49.10 
TNavPF::Calculated measDiffMean for beam 84 as 4.71. Range = 48.93 
TNavPF::Calculated measDiffMean for beam 85 as 3.96. Range = 48.77 
TNavPF::Calculated measDiffMean for beam 86 as 2.23. Range = 46.60 
TNavPF::Calculated measDiffMean for beam 87 as -1.35. Range = 46.48 
TNavPF::Calculated measDiffMean for beam 88 as -5.10. Range = 44.35 
TNavPF::Calculated measDiffMean for beam 89 as -6.85. Range = 44.26 
TNavPF::First Term of Map Covariance Matrix is 5.08 
TNavPF::Calculated NIS Value : 31.30 	numBeams normalized NIS: 0.52
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321916.82 sec.
INS : North: 4070199.90, East: 589460.40, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 47.52, IDT[75] = 47.56
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321919.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321919.62)
ARL : North: -11.4671, East: -12.6419, Depth: -20.9312ARL : Estimation Bias  (Mean)         : (t = 1488321919.62)
ARL : North: -11.0898, East: -12.6651, Depth: -24.6070TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.74 
Alpha[0]	0.123000
Alpha[0]	0.984354
TNavParticleFilter::Modified Variance for beam 1 is 18.40 
Alpha[1]	0.000000
Alpha[1]	0.986683
TNavParticleFilter::Modified Variance for beam 2 is 19.17 
Alpha[2]	0.000000
Alpha[2]	0.990195
TNavParticleFilter::Modified Variance for beam 3 is 20.27 
Alpha[3]	0.000000
Alpha[3]	0.990576
TNavParticleFilter::Modified Variance for beam 4 is 19.99 
Alpha[4]	0.000000
Alpha[4]	0.990390
TNavParticleFilter::Modified Variance for beam 5 is 19.72 
Alpha[5]	0.000000
Alpha[5]	0.990174
TNavParticleFilter::Modified Variance for beam 6 is 18.25 
Alpha[6]	0.000000
Alpha[6]	0.990531
TNavParticleFilter::Modified Variance for beam 7 is 18.00 
Alpha[7]	0.000000
Alpha[7]	0.992436
TNavParticleFilter::Modified Variance for beam 8 is 17.76 
Alpha[8]	0.000000
Alpha[8]	0.993909
TNavParticleFilter::Modified Variance for beam 9 is 17.56 
Alpha[9]	0.000000
Alpha[9]	0.994297
TNavParticleFilter::Modified Variance for beam 10 is 17.37 
Alpha[10]	0.000000
Alpha[10]	0.995046
TNavParticleFilter::Modified Variance for beam 11 is 17.19 
Alpha[11]	0.000000
Alpha[11]	0.995580
TNavParticleFilter::Modified Variance for beam 12 is 15.97 
Alpha[12]	0.000000
Alpha[12]	0.995504
TNavParticleFilter::Modified Variance for beam 13 is 15.83 
Alpha[13]	0.000000
Alpha[13]	0.995259
TNavParticleFilter::Modified Variance for beam 14 is 15.70 
Alpha[14]	0.000000
Alpha[14]	0.995416
TNavParticleFilter::Modified Variance for beam 15 is 14.59 
Alpha[15]	0.000000
Alpha[15]	0.995856
TNavParticleFilter::Modified Variance for beam 16 is 14.48 
Alpha[16]	0.000000
Alpha[16]	0.996501
TNavParticleFilter::Modified Variance for beam 17 is 13.45 
Alpha[17]	0.000000
Alpha[17]	0.997236
TNavParticleFilter::Modified Variance for beam 18 is 13.37 
Alpha[18]	0.000000
Alpha[18]	0.997674
TNavParticleFilter::Modified Variance for beam 19 is 13.30 
Alpha[19]	0.000000
Alpha[19]	0.997737
TNavParticleFilter::Modified Variance for beam 20 is 13.24 
Alpha[20]	0.000000
Alpha[20]	0.997709
TNavParticleFilter::Modified Variance for beam 21 is 13.18 
Alpha[21]	0.000000
Alpha[21]	0.997657
TNavParticleFilter::Modified Variance for beam 22 is 13.13 
Alpha[22]	0.000000
Alpha[22]	0.997493
TNavParticleFilter::Modified Variance for beam 23 is 13.10 
Alpha[23]	0.000000
Alpha[23]	0.996898
TNavParticleFilter::Modified Variance for beam 24 is 13.06 
Alpha[24]	0.000000
Alpha[24]	0.996652
TNavParticleFilter::Modified Variance for beam 25 is 13.03 
Alpha[25]	0.000000
Alpha[25]	0.996383
TNavParticleFilter::Modified Variance for beam 26 is 13.02 
Alpha[26]	0.000000
Alpha[26]	0.995741
TNavParticleFilter::Modified Variance for beam 27 is 13.00 
Alpha[27]	0.000000
Alpha[27]	0.995861
TNavParticleFilter::Modified Variance for beam 28 is 12.98 
Alpha[28]	0.000000
Alpha[28]	0.995999
TNavParticleFilter::Modified Variance for beam 29 is 12.97 
Alpha[29]	0.000000
Alpha[29]	0.995893
TNavParticleFilter::Modified Variance for beam 30 is 13.86 
Alpha[30]	0.000000
Alpha[30]	0.995639
TNavParticleFilter::Modified Variance for beam 31 is 13.88 
Alpha[31]	0.000000
Alpha[31]	0.994149
TNavParticleFilter::Modified Variance for beam 32 is 13.90 
Alpha[32]	0.000000
Alpha[32]	0.993776
TNavParticleFilter::Modified Variance for beam 33 is 13.92 
Alpha[33]	0.000000
Alpha[33]	0.993707
TNavParticleFilter::Modified Variance for beam 34 is 13.93 
Alpha[34]	0.000000
Alpha[34]	0.994452
TNavParticleFilter::Modified Variance for beam 35 is 13.94 
Alpha[35]	0.000000
Alpha[35]	0.995668
TNavParticleFilter::Modified Variance for beam 36 is 13.97 
Alpha[36]	0.000000
Alpha[36]	0.996423
TNavParticleFilter::Modified Variance for beam 37 is 14.00 
Alpha[37]	0.000000
Alpha[37]	0.997161
TNavParticleFilter::Modified Variance for beam 38 is 14.04 
Alpha[38]	0.000000
Alpha[38]	0.997321
TNavParticleFilter::Modified Variance for beam 39 is 14.10 
Alpha[39]	0.000000
Alpha[39]	0.997320
TNavParticleFilter::Modified Variance for beam 40 is 14.16 
Alpha[40]	0.000000
Alpha[40]	0.997449
TNavParticleFilter::Modified Variance for beam 41 is 14.23 
Alpha[41]	0.000000
Alpha[41]	0.997391
TNavParticleFilter::Modified Variance for beam 42 is 14.31 
Alpha[42]	0.000000
Alpha[42]	0.997512
TNavParticleFilter::Modified Variance for beam 43 is 14.39 
Alpha[43]	0.000000
Alpha[43]	0.997840
TNavParticleFilter::Modified Variance for beam 44 is 14.47 
Alpha[44]	0.000000
Alpha[44]	0.998158
TNavParticleFilter::Modified Variance for beam 45 is 14.57 
Alpha[45]	0.000000
Alpha[45]	0.998548
TNavParticleFilter::Modified Variance for beam 46 is 14.67 
Alpha[46]	0.000000
Alpha[46]	0.998782
TNavParticleFilter::Modified Variance for beam 47 is 14.79 
Alpha[47]	0.000000
Alpha[47]	0.999014
TNavParticleFilter::Modified Variance for beam 48 is 13.94 
Alpha[48]	0.000000
Alpha[48]	0.999223
TNavParticleFilter::Modified Variance for beam 49 is 14.06 
Alpha[49]	0.000000
Alpha[49]	0.999303
TNavParticleFilter::Modified Variance for beam 50 is 13.78 
Alpha[50]	0.000000
Alpha[50]	0.999185
TNavParticleFilter::Modified Variance for beam 51 is 13.37 
Alpha[51]	0.000000
Alpha[51]	0.998853
TNavParticleFilter::Modified Variance for beam 52 is 13.51 
Alpha[52]	0.000000
Alpha[52]	0.998697
TNavParticleFilter::Modified Variance for beam 53 is 13.53 
Alpha[53]	0.000000
Alpha[53]	0.998799
TNavParticleFilter::Modified Variance for beam 54 is 12.85 
Alpha[54]	0.000000
Alpha[54]	0.998832
TNavParticleFilter::Modified Variance for beam 55 is 13.00 
Alpha[55]	0.000000
Alpha[55]	0.999009
TNavParticleFilter::Modified Variance for beam 56 is 13.16 
Alpha[56]	0.000000
Alpha[56]	0.999115
TNavParticleFilter::Modified Variance for beam 57 is 13.32 
Alpha[57]	0.000000
Alpha[57]	0.999359
TNavParticleFilter::Modified Variance for beam 58 is 13.50 
Alpha[58]	0.000000
Alpha[58]	0.999475
TNavParticleFilter::Modified Variance for beam 59 is 13.70 
Alpha[59]	0.000000
Alpha[59]	0.999550
TNavPF:: sumSquaredError = 178.064146 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.13. Range = 79.64 
TNavPF::Calculated measDiffMean for beam 31 as -1.53. Range = 77.55 
TNavPF::Calculated measDiffMean for beam 32 as 0.40. Range = 78.39 
TNavPF::Calculated measDiffMean for beam 33 as 2.89. Range = 76.80 
TNavPF::Calculated measDiffMean for beam 34 as 2.87. Range = 74.80 
TNavPF::Calculated measDiffMean for beam 35 as 2.83. Range = 73.82 
TNavPF::Calculated measDiffMean for beam 36 as 0.58. Range = 71.18 
TNavPF::Calculated measDiffMean for beam 37 as 0.51. Range = 70.70 
TNavPF::Calculated measDiffMean for beam 38 as 0.73. Range = 71.21 
TNavPF::Calculated measDiffMean for beam 39 as 1.18. Range = 70.08 
TNavPF::Calculated measDiffMean for beam 40 as 1.61. Range = 71.11 
TNavPF::Calculated measDiffMean for beam 41 as 1.97. Range = 69.88 
TNavPF::Calculated measDiffMean for beam 42 as 0.31. Range = 70.61 
TNavPF::Calculated measDiffMean for beam 43 as 0.65. Range = 64.30 
TNavPF::Calculated measDiffMean for beam 44 as 1.00. Range = 63.13 
TNavPF::Calculated measDiffMean for beam 45 as -0.70. Range = 62.85 
TNavPF::Calculated measDiffMean for beam 46 as -0.24. Range = 60.97 
TNavPF::Calculated measDiffMean for beam 47 as -1.96. Range = 59.97 
TNavPF::Calculated measDiffMean for beam 48 as -1.67. Range = 60.43 
TNavPF::Calculated measDiffMean for beam 49 as -1.72. Range = 60.77 
TNavPF::Calculated measDiffMean for beam 50 as -1.97. Range = 52.05 
TNavPF::Calculated measDiffMean for beam 51 as -2.42. Range = 51.49 
TNavPF::Calculated measDiffMean for beam 52 as -2.74. Range = 52.64 
TNavPF::Calculated measDiffMean for beam 53 as -3.19. Range = 59.94 
TNavPF::Calculated measDiffMean for beam 54 as -3.45. Range = 59.17 
TNavPF::Calculated measDiffMean for beam 55 as -3.29. Range = 60.04 
TNavPF::Calculated measDiffMean for beam 56 as -2.88. Range = 60.16 
TNavPF::Calculated measDiffMean for beam 57 as -2.50. Range = 59.47 
TNavPF::Calculated measDiffMean for beam 58 as -2.01. Range = 58.81 
TNavPF::Calculated measDiffMean for beam 59 as -1.57. Range = 59.09 
TNavPF::Calculated measDiffMean for beam 60 as 0.96. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 61 as 1.64. Range = 54.75 
TNavPF::Calculated measDiffMean for beam 62 as 1.94. Range = 56.28 
TNavPF::Calculated measDiffMean for beam 63 as 2.30. Range = 58.23 
TNavPF::Calculated measDiffMean for beam 64 as 2.64. Range = 57.73 
TNavPF::Calculated measDiffMean for beam 65 as 2.99. Range = 57.25 
TNavPF::Calculated measDiffMean for beam 66 as 3.49. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 67 as 3.93. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 68 as 4.29. Range = 53.81 
TNavPF::Calculated measDiffMean for beam 69 as 4.68. Range = 53.45 
TNavPF::Calculated measDiffMean for beam 70 as 4.93. Range = 53.10 
TNavPF::Calculated measDiffMean for beam 71 as 4.99. Range = 52.77 
TNavPF::Calculated measDiffMean for beam 72 as 5.02. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 73 as 4.84. Range = 50.09 
TNavPF::Calculated measDiffMean for beam 74 as 4.45. Range = 49.83 
TNavPF::Calculated measDiffMean for beam 75 as 4.16. Range = 47.52 
TNavPF::Calculated measDiffMean for beam 76 as 3.65. Range = 47.31 
TNavPF::Calculated measDiffMean for beam 77 as 3.01. Range = 45.06 
TNavPF::Calculated measDiffMean for beam 78 as -0.53. Range = 44.89 
TNavPF::Calculated measDiffMean for beam 79 as -2.79. Range = 44.73 
TNavPF::Calculated measDiffMean for beam 80 as -6.08. Range = 44.59 
TNavPF::Calculated measDiffMean for beam 81 as -8.96. Range = 44.46 
TNavPF::Calculated measDiffMean for beam 82 as -9.94. Range = 44.34 
TNavPF::Calculated measDiffMean for beam 83 as -11.31. Range = 44.24 
TNavPF::Calculated measDiffMean for beam 84 as -14.37. Range = 44.16 
TNavPF::Calculated measDiffMean for beam 85 as -15.26. Range = 44.08 
TNavPF::Calculated measDiffMean for beam 86 as -15.98. Range = 44.02 
TNavPF::Calculated measDiffMean for beam 87 as -16.62. Range = 43.98 
TNavPF::Calculated measDiffMean for beam 88 as -17.64. Range = 43.95 
TNavPF::Calculated measDiffMean for beam 89 as -18.57. Range = 43.93 
TNavPF::First Term of Map Covariance Matrix is 1.27 
TNavPF::Calculated NIS Value : 38.14 	numBeams normalized NIS: 0.64
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321919.82 sec.
INS : North: 4070199.92, East: 589455.99, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 45.01, IDT[75] = 44.38
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321922.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321922.62)
ARL : North: -10.7783, East: -10.4738, Depth: -20.9764ARL : Estimation Bias  (Mean)         : (t = 1488321922.62)
ARL : North: -9.7241, East: -10.4090, Depth: -17.6804TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.89 
Alpha[0]	0.123000
Alpha[0]	0.996864
TNavParticleFilter::Modified Variance for beam 1 is 18.62 
Alpha[1]	0.000000
Alpha[1]	0.997649
TNavParticleFilter::Modified Variance for beam 2 is 18.36 
Alpha[2]	0.000000
Alpha[2]	0.998189
TNavParticleFilter::Modified Variance for beam 3 is 18.13 
Alpha[3]	0.000000
Alpha[3]	0.998056
TNavParticleFilter::Modified Variance for beam 4 is 16.79 
Alpha[4]	0.000000
Alpha[4]	0.997919
TNavParticleFilter::Modified Variance for beam 5 is 16.60 
Alpha[5]	0.000000
Alpha[5]	0.997871
TNavParticleFilter::Modified Variance for beam 6 is 16.43 
Alpha[6]	0.000000
Alpha[6]	0.998003
TNavParticleFilter::Modified Variance for beam 7 is 16.26 
Alpha[7]	0.000000
Alpha[7]	0.998183
TNavParticleFilter::Modified Variance for beam 8 is 16.11 
Alpha[8]	0.000000
Alpha[8]	0.998117
TNavParticleFilter::Modified Variance for beam 9 is 13.98 
Alpha[9]	0.000000
Alpha[9]	0.997736
TNavParticleFilter::Modified Variance for beam 10 is 13.88 
Alpha[10]	0.000000
Alpha[10]	0.996747
TNavParticleFilter::Modified Variance for beam 11 is 13.80 
Alpha[11]	0.000000
Alpha[11]	0.994801
TNavParticleFilter::Modified Variance for beam 12 is 13.71 
Alpha[12]	0.000000
Alpha[12]	0.994737
TNavParticleFilter::Modified Variance for beam 13 is 13.61 
Alpha[13]	0.000000
Alpha[13]	0.995300
TNavParticleFilter::Modified Variance for beam 14 is 13.52 
Alpha[14]	0.000000
Alpha[14]	0.995969
TNavParticleFilter::Modified Variance for beam 15 is 13.44 
Alpha[15]	0.000000
Alpha[15]	0.996489
TNavParticleFilter::Modified Variance for beam 16 is 13.36 
Alpha[16]	0.000000
Alpha[16]	0.997492
TNavParticleFilter::Modified Variance for beam 17 is 13.29 
Alpha[17]	0.000000
Alpha[17]	0.997723
TNavParticleFilter::Modified Variance for beam 18 is 13.24 
Alpha[18]	0.000000
Alpha[18]	0.997213
TNavParticleFilter::Modified Variance for beam 19 is 13.20 
Alpha[19]	0.000000
Alpha[19]	0.996718
TNavParticleFilter::Modified Variance for beam 20 is 13.16 
Alpha[20]	0.000000
Alpha[20]	0.996548
TNavParticleFilter::Modified Variance for beam 21 is 14.03 
Alpha[21]	0.000000
Alpha[21]	0.996142
TNavParticleFilter::Modified Variance for beam 22 is 13.99 
Alpha[22]	0.000000
Alpha[22]	0.996236
TNavParticleFilter::Modified Variance for beam 23 is 13.97 
Alpha[23]	0.000000
Alpha[23]	0.996078
TNavParticleFilter::Modified Variance for beam 24 is 13.96 
Alpha[24]	0.000000
Alpha[24]	0.995597
TNavParticleFilter::Modified Variance for beam 25 is 13.93 
Alpha[25]	0.000000
Alpha[25]	0.996390
TNavParticleFilter::Modified Variance for beam 26 is 13.92 
Alpha[26]	0.000000
Alpha[26]	0.997101
TNavParticleFilter::Modified Variance for beam 27 is 13.92 
Alpha[27]	0.000000
Alpha[27]	0.997156
TNavParticleFilter::Modified Variance for beam 28 is 13.93 
Alpha[28]	0.000000
Alpha[28]	0.996460
TNavParticleFilter::Modified Variance for beam 29 is 13.97 
Alpha[29]	0.000000
Alpha[29]	0.994921
TNavParticleFilter::Modified Variance for beam 30 is 14.00 
Alpha[30]	0.000000
Alpha[30]	0.994121
TNavParticleFilter::Modified Variance for beam 31 is 14.04 
Alpha[31]	0.000000
Alpha[31]	0.993037
TNavParticleFilter::Modified Variance for beam 32 is 14.08 
Alpha[32]	0.000000
Alpha[32]	0.992199
TNavParticleFilter::Modified Variance for beam 33 is 14.12 
Alpha[33]	0.000000
Alpha[33]	0.992079
TNavParticleFilter::Modified Variance for beam 34 is 14.16 
Alpha[34]	0.000000
Alpha[34]	0.992615
TNavParticleFilter::Modified Variance for beam 35 is 14.20 
Alpha[35]	0.000000
Alpha[35]	0.993306
TNavParticleFilter::Modified Variance for beam 36 is 14.27 
Alpha[36]	0.000000
Alpha[36]	0.992666
TNavParticleFilter::Modified Variance for beam 37 is 14.36 
Alpha[37]	0.000000
Alpha[37]	0.991098
TNavParticleFilter::Modified Variance for beam 38 is 14.44 
Alpha[38]	0.000000
Alpha[38]	0.990861
TNavParticleFilter::Modified Variance for beam 39 is 14.49 
Alpha[39]	0.000000
Alpha[39]	0.992705
TNavParticleFilter::Modified Variance for beam 40 is 14.53 
Alpha[40]	0.000000
Alpha[40]	0.996278
TNavParticleFilter::Modified Variance for beam 41 is 13.65 
Alpha[41]	0.000000
Alpha[41]	0.998246
TNavParticleFilter::Modified Variance for beam 42 is 13.73 
Alpha[42]	0.000000
Alpha[42]	0.998966
TNavParticleFilter::Modified Variance for beam 43 is 13.83 
Alpha[43]	0.000000
Alpha[43]	0.999241
TNavParticleFilter::Modified Variance for beam 44 is 13.16 
Alpha[44]	0.000000
Alpha[44]	0.999327
TNavParticleFilter::Modified Variance for beam 45 is 13.12 
Alpha[45]	0.000000
Alpha[45]	0.999403
TNavParticleFilter::Modified Variance for beam 46 is 13.24 
Alpha[46]	0.000000
Alpha[46]	0.999504
TNavParticleFilter::Modified Variance for beam 47 is 12.44 
Alpha[47]	0.000000
Alpha[47]	0.999591
TNavParticleFilter::Modified Variance for beam 48 is 12.56 
Alpha[48]	0.000000
Alpha[48]	0.999588
TNavParticleFilter::Modified Variance for beam 49 is 12.69 
Alpha[49]	0.000000
Alpha[49]	0.999503
TNavParticleFilter::Modified Variance for beam 50 is 12.83 
Alpha[50]	0.000000
Alpha[50]	0.999423
TNavParticleFilter::Modified Variance for beam 51 is 12.98 
Alpha[51]	0.000000
Alpha[51]	0.999182
TNavParticleFilter::Modified Variance for beam 52 is 13.14 
Alpha[52]	0.000000
Alpha[52]	0.998735
TNavParticleFilter::Modified Variance for beam 53 is 14.32 
Alpha[53]	0.000000
Alpha[53]	0.998358
TNavParticleFilter::Modified Variance for beam 54 is 14.52 
Alpha[54]	0.000000
Alpha[54]	0.997966
TNavParticleFilter::Modified Variance for beam 55 is 14.73 
Alpha[55]	0.000000
Alpha[55]	0.997474
TNavParticleFilter::Modified Variance for beam 56 is 16.07 
Alpha[56]	0.000000
Alpha[56]	0.997532
TNavParticleFilter::Modified Variance for beam 57 is 21.43 
Alpha[57]	0.000000
Alpha[57]	0.996994
TNavParticleFilter::Modified Variance for beam 58 is 23.28 
Alpha[58]	0.000000
Alpha[58]	0.995323
TNavParticleFilter::Modified Variance for beam 59 is 23.73 
Alpha[59]	0.000000
Alpha[59]	0.994684
TNavPF:: sumSquaredError = 168.738677 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.14. Range = 77.69 
TNavPF::Calculated measDiffMean for beam 31 as 2.28. Range = 74.41 
TNavPF::Calculated measDiffMean for beam 32 as 2.76. Range = 74.66 
TNavPF::Calculated measDiffMean for beam 33 as 3.07. Range = 74.22 
TNavPF::Calculated measDiffMean for beam 34 as 1.54. Range = 74.09 
TNavPF::Calculated measDiffMean for beam 35 as 2.59. Range = 74.13 
TNavPF::Calculated measDiffMean for beam 36 as 3.35. Range = 73.58 
TNavPF::Calculated measDiffMean for beam 37 as 3.73. Range = 67.97 
TNavPF::Calculated measDiffMean for beam 38 as 3.91. Range = 66.61 
TNavPF::Calculated measDiffMean for beam 39 as 0.37. Range = 66.13 
TNavPF::Calculated measDiffMean for beam 40 as 1.55. Range = 64.12 
TNavPF::Calculated measDiffMean for beam 41 as 2.29. Range = 62.97 
TNavPF::Calculated measDiffMean for beam 42 as 2.64. Range = 63.84 
TNavPF::Calculated measDiffMean for beam 43 as 2.65. Range = 55.32 
TNavPF::Calculated measDiffMean for beam 44 as 2.33. Range = 54.43 
TNavPF::Calculated measDiffMean for beam 45 as 1.69. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 46 as 1.08. Range = 62.74 
TNavPF::Calculated measDiffMean for beam 47 as 0.54. Range = 62.38 
TNavPF::Calculated measDiffMean for beam 48 as -0.01. Range = 62.23 
TNavPF::Calculated measDiffMean for beam 49 as -0.07. Range = 63.19 
TNavPF::Calculated measDiffMean for beam 50 as 0.15. Range = 62.36 
TNavPF::Calculated measDiffMean for beam 51 as 2.48. Range = 61.58 
TNavPF::Calculated measDiffMean for beam 52 as 2.82. Range = 61.32 
TNavPF::Calculated measDiffMean for beam 53 as 3.50. Range = 57.71 
TNavPF::Calculated measDiffMean for beam 54 as 3.92. Range = 57.18 
TNavPF::Calculated measDiffMean for beam 55 as 4.22. Range = 61.14 
TNavPF::Calculated measDiffMean for beam 56 as 4.61. Range = 60.50 
TNavPF::Calculated measDiffMean for beam 57 as 4.80. Range = 59.89 
TNavPF::Calculated measDiffMean for beam 58 as 5.07. Range = 59.31 
TNavPF::Calculated measDiffMean for beam 59 as 5.31. Range = 56.51 
TNavPF::Calculated measDiffMean for beam 60 as 5.38. Range = 56.00 
TNavPF::Calculated measDiffMean for beam 61 as 5.51. Range = 55.53 
TNavPF::Calculated measDiffMean for beam 62 as 5.60. Range = 55.08 
TNavPF::Calculated measDiffMean for beam 63 as 5.71. Range = 54.65 
TNavPF::Calculated measDiffMean for beam 64 as 6.00. Range = 52.08 
TNavPF::Calculated measDiffMean for beam 65 as 6.29. Range = 51.71 
TNavPF::Calculated measDiffMean for beam 66 as 6.54. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 67 as 6.94. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 68 as 7.13. Range = 50.73 
TNavPF::Calculated measDiffMean for beam 69 as 7.15. Range = 46.25 
TNavPF::Calculated measDiffMean for beam 70 as 6.95. Range = 46.00 
TNavPF::Calculated measDiffMean for beam 71 as 4.26. Range = 45.77 
TNavPF::Calculated measDiffMean for beam 72 as 3.40. Range = 45.56 
TNavPF::Calculated measDiffMean for beam 73 as 2.13. Range = 45.36 
TNavPF::Calculated measDiffMean for beam 74 as -0.63. Range = 45.18 
TNavPF::Calculated measDiffMean for beam 75 as -1.37. Range = 45.01 
TNavPF::Calculated measDiffMean for beam 76 as -1.88. Range = 44.85 
TNavPF::Calculated measDiffMean for beam 77 as -4.87. Range = 44.72 
TNavPF::Calculated measDiffMean for beam 78 as -6.12. Range = 44.59 
TNavPF::Calculated measDiffMean for beam 79 as -7.92. Range = 44.48 
TNavPF::Calculated measDiffMean for beam 80 as -9.33. Range = 44.39 
TNavPF::Calculated measDiffMean for beam 81 as -10.60. Range = 46.31 
TNavPF::Calculated measDiffMean for beam 82 as -11.99. Range = 46.24 
TNavPF::Calculated measDiffMean for beam 83 as -10.61. Range = 46.19 
TNavPF::Calculated measDiffMean for beam 84 as -11.04. Range = 46.14 
TNavPF::Calculated measDiffMean for beam 85 as -11.08. Range = 46.11 
TNavPF::Calculated measDiffMean for beam 86 as -8.41. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 87 as 1.10. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 88 as 3.15. Range = 46.11 
TNavPF::Calculated measDiffMean for beam 89 as 3.09. Range = 46.14 
TNavPF::First Term of Map Covariance Matrix is 6.37 
TNavPF::Calculated NIS Value : 93.15 	numBeams normalized NIS: 1.55
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321922.82 sec.
INS : North: 4070200.19, East: 589451.59, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 47.08, IDT[75] = 47.59
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321925.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321925.62)
ARL : North: -9.9948, East: -8.7271, Depth: -18.0560ARL : Estimation Bias  (Mean)         : (t = 1488321925.62)
ARL : North: -9.0850, East: -8.9630, Depth: -17.5528TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.33 
Alpha[0]	0.123000
Alpha[0]	0.998179
TNavParticleFilter::Modified Variance for beam 1 is 14.96 
Alpha[1]	0.000000
Alpha[1]	0.998285
TNavParticleFilter::Modified Variance for beam 2 is 14.79 
Alpha[2]	0.000000
Alpha[2]	0.998318
TNavParticleFilter::Modified Variance for beam 3 is 14.64 
Alpha[3]	0.000000
Alpha[3]	0.998218
TNavParticleFilter::Modified Variance for beam 4 is 15.51 
Alpha[4]	0.000000
Alpha[4]	0.997783
TNavParticleFilter::Modified Variance for beam 5 is 15.38 
Alpha[5]	0.000000
Alpha[5]	0.996356
TNavParticleFilter::Modified Variance for beam 6 is 15.26 
Alpha[6]	0.000000
Alpha[6]	0.995306
TNavParticleFilter::Modified Variance for beam 7 is 14.15 
Alpha[7]	0.000000
Alpha[7]	0.995182
TNavParticleFilter::Modified Variance for beam 8 is 14.03 
Alpha[8]	0.000000
Alpha[8]	0.995627
TNavParticleFilter::Modified Variance for beam 9 is 13.92 
Alpha[9]	0.000000
Alpha[9]	0.996189
TNavParticleFilter::Modified Variance for beam 10 is 13.81 
Alpha[10]	0.000000
Alpha[10]	0.997072
TNavParticleFilter::Modified Variance for beam 11 is 13.72 
Alpha[11]	0.000000
Alpha[11]	0.997614
TNavParticleFilter::Modified Variance for beam 12 is 13.64 
Alpha[12]	0.000000
Alpha[12]	0.997486
TNavParticleFilter::Modified Variance for beam 13 is 14.38 
Alpha[13]	0.000000
Alpha[13]	0.997150
TNavParticleFilter::Modified Variance for beam 14 is 14.43 
Alpha[14]	0.000000
Alpha[14]	0.996857
TNavParticleFilter::Modified Variance for beam 15 is 14.37 
Alpha[15]	0.000000
Alpha[15]	0.996515
TNavParticleFilter::Modified Variance for beam 16 is 14.31 
Alpha[16]	0.000000
Alpha[16]	0.996731
TNavParticleFilter::Modified Variance for beam 17 is 14.27 
Alpha[17]	0.000000
Alpha[17]	0.996503
TNavParticleFilter::Modified Variance for beam 18 is 14.22 
Alpha[18]	0.000000
Alpha[18]	0.996352
TNavParticleFilter::Modified Variance for beam 19 is 14.18 
Alpha[19]	0.000000
Alpha[19]	0.997156
TNavParticleFilter::Modified Variance for beam 20 is 14.14 
Alpha[20]	0.000000
Alpha[20]	0.997327
TNavParticleFilter::Modified Variance for beam 21 is 14.12 
Alpha[21]	0.000000
Alpha[21]	0.997090
TNavParticleFilter::Modified Variance for beam 22 is 14.12 
Alpha[22]	0.000000
Alpha[22]	0.995986
TNavParticleFilter::Modified Variance for beam 23 is 14.13 
Alpha[23]	0.000000
Alpha[23]	0.994755
TNavParticleFilter::Modified Variance for beam 24 is 14.13 
Alpha[24]	0.000000
Alpha[24]	0.994129
TNavParticleFilter::Modified Variance for beam 25 is 14.15 
Alpha[25]	0.000000
Alpha[25]	0.992948
TNavParticleFilter::Modified Variance for beam 26 is 14.17 
Alpha[26]	0.000000
Alpha[26]	0.992437
TNavParticleFilter::Modified Variance for beam 27 is 14.17 
Alpha[27]	0.000000
Alpha[27]	0.993009
TNavParticleFilter::Modified Variance for beam 28 is 14.19 
Alpha[28]	0.000000
Alpha[28]	0.993517
TNavParticleFilter::Modified Variance for beam 29 is 14.22 
Alpha[29]	0.000000
Alpha[29]	0.993530
TNavParticleFilter::Modified Variance for beam 30 is 14.27 
Alpha[30]	0.000000
Alpha[30]	0.992290
TNavParticleFilter::Modified Variance for beam 31 is 14.33 
Alpha[31]	0.000000
Alpha[31]	0.990957
TNavParticleFilter::Modified Variance for beam 32 is 14.37 
Alpha[32]	0.000000
Alpha[32]	0.991671
TNavParticleFilter::Modified Variance for beam 33 is 13.46 
Alpha[33]	0.000000
Alpha[33]	0.994965
TNavParticleFilter::Modified Variance for beam 34 is 13.49 
Alpha[34]	0.000000
Alpha[34]	0.997224
TNavParticleFilter::Modified Variance for beam 35 is 13.53 
Alpha[35]	0.000000
Alpha[35]	0.998462
TNavParticleFilter::Modified Variance for beam 36 is 12.75 
Alpha[36]	0.000000
Alpha[36]	0.998978
TNavParticleFilter::Modified Variance for beam 37 is 12.78 
Alpha[37]	0.000000
Alpha[37]	0.999183
TNavParticleFilter::Modified Variance for beam 38 is 12.85 
Alpha[38]	0.000000
Alpha[38]	0.999292
TNavParticleFilter::Modified Variance for beam 39 is 12.93 
Alpha[39]	0.000000
Alpha[39]	0.999375
TNavParticleFilter::Modified Variance for beam 40 is 13.02 
Alpha[40]	0.000000
Alpha[40]	0.999454
TNavParticleFilter::Modified Variance for beam 41 is 13.12 
Alpha[41]	0.000000
Alpha[41]	0.999529
TNavParticleFilter::Modified Variance for beam 42 is 14.17 
Alpha[42]	0.000000
Alpha[42]	0.999469
TNavParticleFilter::Modified Variance for beam 43 is 14.30 
Alpha[43]	0.000000
Alpha[43]	0.999379
TNavParticleFilter::Modified Variance for beam 44 is 14.43 
Alpha[44]	0.000000
Alpha[44]	0.999268
TNavParticleFilter::Modified Variance for beam 45 is 14.58 
Alpha[45]	0.000000
Alpha[45]	0.998765
TNavParticleFilter::Modified Variance for beam 46 is 13.75 
Alpha[46]	0.000000
Alpha[46]	0.998461
TNavParticleFilter::Modified Variance for beam 47 is 13.90 
Alpha[47]	0.000000
Alpha[47]	0.998338
TNavParticleFilter::Modified Variance for beam 48 is 14.06 
Alpha[48]	0.000000
Alpha[48]	0.998118
TNavParticleFilter::Modified Variance for beam 49 is 15.27 
Alpha[49]	0.000000
Alpha[49]	0.997668
TNavParticleFilter::Modified Variance for beam 50 is 20.19 
Alpha[50]	0.000000
Alpha[50]	0.996972
TNavParticleFilter::Modified Variance for beam 51 is 20.47 
Alpha[51]	0.000000
Alpha[51]	0.997621
TNavParticleFilter::Modified Variance for beam 52 is 22.15 
Alpha[52]	0.000000
Alpha[52]	0.996330
TNavParticleFilter::Modified Variance for beam 53 is 22.55 
Alpha[53]	0.000000
Alpha[53]	0.994244
TNavParticleFilter::Modified Variance for beam 54 is 24.33 
Alpha[54]	0.000000
Alpha[54]	0.996476
TNavParticleFilter::Modified Variance for beam 55 is 26.27 
Alpha[55]	0.000000
Alpha[55]	0.997496
TNavParticleFilter::Modified Variance for beam 56 is 26.75 
Alpha[56]	0.000000
Alpha[56]	0.997663
TNavParticleFilter::Modified Variance for beam 57 is 27.27 
Alpha[57]	0.000000
Alpha[57]	0.997599
TNavParticleFilter::Modified Variance for beam 58 is 31.29 
Alpha[58]	0.000000
Alpha[58]	0.997131
TNavParticleFilter::Modified Variance for beam 59 is 31.92 
Alpha[59]	0.000000
Alpha[59]	0.998550
TNavPF:: sumSquaredError = 133.598524 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.10. Range = 77.99 
TNavPF::Calculated measDiffMean for beam 31 as -1.44. Range = 77.51 
TNavPF::Calculated measDiffMean for beam 32 as -1.13. Range = 77.52 
TNavPF::Calculated measDiffMean for beam 33 as -0.79. Range = 70.91 
TNavPF::Calculated measDiffMean for beam 34 as 2.47. Range = 69.42 
TNavPF::Calculated measDiffMean for beam 35 as 3.57. Range = 70.33 
TNavPF::Calculated measDiffMean for beam 36 as 4.12. Range = 66.67 
TNavPF::Calculated measDiffMean for beam 37 as 2.14. Range = 67.09 
TNavPF::Calculated measDiffMean for beam 38 as 1.89. Range = 58.43 
TNavPF::Calculated measDiffMean for beam 39 as 1.30. Range = 58.06 
TNavPF::Calculated measDiffMean for beam 40 as 0.69. Range = 59.10 
TNavPF::Calculated measDiffMean for beam 41 as 0.08. Range = 66.45 
TNavPF::Calculated measDiffMean for beam 42 as -0.55. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 43 as 1.09. Range = 65.62 
TNavPF::Calculated measDiffMean for beam 44 as 1.59. Range = 66.05 
TNavPF::Calculated measDiffMean for beam 45 as 1.91. Range = 65.10 
TNavPF::Calculated measDiffMean for beam 46 as 2.35. Range = 64.20 
TNavPF::Calculated measDiffMean for beam 47 as 3.03. Range = 60.83 
TNavPF::Calculated measDiffMean for beam 48 as 3.48. Range = 60.04 
TNavPF::Calculated measDiffMean for beam 49 as 3.88. Range = 61.08 
TNavPF::Calculated measDiffMean for beam 50 as 4.13. Range = 63.42 
TNavPF::Calculated measDiffMean for beam 51 as 4.24. Range = 62.69 
TNavPF::Calculated measDiffMean for beam 52 as 4.55. Range = 61.99 
TNavPF::Calculated measDiffMean for beam 53 as 4.75. Range = 58.99 
TNavPF::Calculated measDiffMean for beam 54 as 4.84. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 55 as 4.98. Range = 57.80 
TNavPF::Calculated measDiffMean for beam 56 as 5.07. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 57 as 5.29. Range = 54.49 
TNavPF::Calculated measDiffMean for beam 58 as 5.60. Range = 54.01 
TNavPF::Calculated measDiffMean for beam 59 as 5.78. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 60 as 6.17. Range = 53.13 
TNavPF::Calculated measDiffMean for beam 61 as 6.47. Range = 48.37 
TNavPF::Calculated measDiffMean for beam 62 as 6.51. Range = 48.02 
TNavPF::Calculated measDiffMean for beam 63 as 4.35. Range = 47.69 
TNavPF::Calculated measDiffMean for beam 64 as 3.98. Range = 49.51 
TNavPF::Calculated measDiffMean for beam 65 as 3.33. Range = 49.20 
TNavPF::Calculated measDiffMean for beam 66 as 0.19. Range = 48.91 
TNavPF::Calculated measDiffMean for beam 67 as -1.14. Range = 46.55 
TNavPF::Calculated measDiffMean for beam 68 as -1.63. Range = 46.31 
TNavPF::Calculated measDiffMean for beam 69 as -1.96. Range = 46.08 
TNavPF::Calculated measDiffMean for beam 70 as -2.38. Range = 45.87 
TNavPF::Calculated measDiffMean for beam 71 as -3.49. Range = 45.68 
TNavPF::Calculated measDiffMean for beam 72 as -3.21. Range = 45.50 
TNavPF::Calculated measDiffMean for beam 73 as -4.28. Range = 47.11 
TNavPF::Calculated measDiffMean for beam 74 as -5.72. Range = 47.22 
TNavPF::Calculated measDiffMean for beam 75 as -6.92. Range = 47.08 
TNavPF::Calculated measDiffMean for beam 76 as -9.81. Range = 46.95 
TNavPF::Calculated measDiffMean for beam 77 as -10.75. Range = 46.84 
TNavPF::Calculated measDiffMean for beam 78 as -11.19. Range = 46.75 
TNavPF::Calculated measDiffMean for beam 79 as -9.29. Range = 46.67 
TNavPF::Calculated measDiffMean for beam 80 as 0.20. Range = 46.60 
TNavPF::Calculated measDiffMean for beam 81 as 0.25. Range = 46.55 
TNavPF::Calculated measDiffMean for beam 82 as 2.61. Range = 46.51 
TNavPF::Calculated measDiffMean for beam 83 as 2.24. Range = 46.49 
TNavPF::Calculated measDiffMean for beam 84 as 4.62. Range = 46.48 
TNavPF::Calculated measDiffMean for beam 85 as 7.37. Range = 46.48 
TNavPF::Calculated measDiffMean for beam 86 as 7.86. Range = 46.50 
TNavPF::Calculated measDiffMean for beam 87 as 7.76. Range = 46.54 
TNavPF::Calculated measDiffMean for beam 88 as 12.03. Range = 46.58 
TNavPF::Calculated measDiffMean for beam 89 as 12.10. Range = 46.65 
TNavPF::First Term of Map Covariance Matrix is 10.97 
TNavPF::Calculated NIS Value : 75.78 	numBeams normalized NIS: 1.26
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321925.82 sec.
INS : North: 4070200.64, East: 589447.19, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 47.43, IDT[75] = 57.27
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321928.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321928.62)
ARL : North: -9.0363, East: -8.9821, Depth: -16.0027ARL : Estimation Bias  (Mean)         : (t = 1488321928.62)
ARL : North: -8.2638, East: -8.1636, Depth: -17.1366TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.24 
Alpha[0]	0.123000
Alpha[0]	0.996933
TNavParticleFilter::Modified Variance for beam 1 is 16.08 
Alpha[1]	0.000000
Alpha[1]	0.995525
TNavParticleFilter::Modified Variance for beam 2 is 15.91 
Alpha[2]	0.000000
Alpha[2]	0.995160
TNavParticleFilter::Modified Variance for beam 3 is 15.75 
Alpha[3]	0.000000
Alpha[3]	0.995532
TNavParticleFilter::Modified Variance for beam 4 is 15.59 
Alpha[4]	0.000000
Alpha[4]	0.996265
TNavParticleFilter::Modified Variance for beam 5 is 15.44 
Alpha[5]	0.000000
Alpha[5]	0.997027
TNavParticleFilter::Modified Variance for beam 6 is 15.30 
Alpha[6]	0.000000
Alpha[6]	0.997485
TNavParticleFilter::Modified Variance for beam 7 is 15.69 
Alpha[7]	0.000000
Alpha[7]	0.997509
TNavParticleFilter::Modified Variance for beam 8 is 16.09 
Alpha[8]	0.000000
Alpha[8]	0.997227
TNavParticleFilter::Modified Variance for beam 9 is 14.98 
Alpha[9]	0.000000
Alpha[9]	0.996905
TNavParticleFilter::Modified Variance for beam 10 is 14.89 
Alpha[10]	0.000000
Alpha[10]	0.996878
TNavParticleFilter::Modified Variance for beam 11 is 14.80 
Alpha[11]	0.000000
Alpha[11]	0.996971
TNavParticleFilter::Modified Variance for beam 12 is 14.72 
Alpha[12]	0.000000
Alpha[12]	0.996938
TNavParticleFilter::Modified Variance for beam 13 is 14.64 
Alpha[13]	0.000000
Alpha[13]	0.997325
TNavParticleFilter::Modified Variance for beam 14 is 14.58 
Alpha[14]	0.000000
Alpha[14]	0.997378
TNavParticleFilter::Modified Variance for beam 15 is 14.53 
Alpha[15]	0.000000
Alpha[15]	0.997014
TNavParticleFilter::Modified Variance for beam 16 is 14.50 
Alpha[16]	0.000000
Alpha[16]	0.996010
TNavParticleFilter::Modified Variance for beam 17 is 14.47 
Alpha[17]	0.000000
Alpha[17]	0.994794
TNavParticleFilter::Modified Variance for beam 18 is 14.45 
Alpha[18]	0.000000
Alpha[18]	0.994016
TNavParticleFilter::Modified Variance for beam 19 is 14.43 
Alpha[19]	0.000000
Alpha[19]	0.992943
TNavParticleFilter::Modified Variance for beam 20 is 14.41 
Alpha[20]	0.000000
Alpha[20]	0.992806
TNavParticleFilter::Modified Variance for beam 21 is 14.39 
Alpha[21]	0.000000
Alpha[21]	0.993294
TNavParticleFilter::Modified Variance for beam 22 is 14.38 
Alpha[22]	0.000000
Alpha[22]	0.993528
TNavParticleFilter::Modified Variance for beam 23 is 14.38 
Alpha[23]	0.000000
Alpha[23]	0.993225
TNavParticleFilter::Modified Variance for beam 24 is 14.41 
Alpha[24]	0.000000
Alpha[24]	0.992072
TNavParticleFilter::Modified Variance for beam 25 is 14.42 
Alpha[25]	0.000000
Alpha[25]	0.991592
TNavParticleFilter::Modified Variance for beam 26 is 13.50 
Alpha[26]	0.000000
Alpha[26]	0.994038
TNavParticleFilter::Modified Variance for beam 27 is 13.49 
Alpha[27]	0.000000
Alpha[27]	0.996128
TNavParticleFilter::Modified Variance for beam 28 is 13.50 
Alpha[28]	0.000000
Alpha[28]	0.997660
TNavParticleFilter::Modified Variance for beam 29 is 12.65 
Alpha[29]	0.000000
Alpha[29]	0.998566
TNavParticleFilter::Modified Variance for beam 30 is 12.68 
Alpha[30]	0.000000
Alpha[30]	0.998908
TNavParticleFilter::Modified Variance for beam 31 is 12.72 
Alpha[31]	0.000000
Alpha[31]	0.999114
TNavParticleFilter::Modified Variance for beam 32 is 12.77 
Alpha[32]	0.000000
Alpha[32]	0.999238
TNavParticleFilter::Modified Variance for beam 33 is 12.83 
Alpha[33]	0.000000
Alpha[33]	0.999323
TNavParticleFilter::Modified Variance for beam 34 is 13.79 
Alpha[34]	0.000000
Alpha[34]	0.999373
TNavParticleFilter::Modified Variance for beam 35 is 13.86 
Alpha[35]	0.000000
Alpha[35]	0.999371
TNavParticleFilter::Modified Variance for beam 36 is 13.95 
Alpha[36]	0.000000
Alpha[36]	0.999328
TNavParticleFilter::Modified Variance for beam 37 is 14.04 
Alpha[37]	0.000000
Alpha[37]	0.999241
TNavParticleFilter::Modified Variance for beam 38 is 14.14 
Alpha[38]	0.000000
Alpha[38]	0.998880
TNavParticleFilter::Modified Variance for beam 39 is 14.25 
Alpha[39]	0.000000
Alpha[39]	0.998517
TNavParticleFilter::Modified Variance for beam 40 is 14.37 
Alpha[40]	0.000000
Alpha[40]	0.998343
TNavParticleFilter::Modified Variance for beam 41 is 14.49 
Alpha[41]	0.000000
Alpha[41]	0.998178
TNavParticleFilter::Modified Variance for beam 42 is 14.63 
Alpha[42]	0.000000
Alpha[42]	0.997968
TNavParticleFilter::Modified Variance for beam 43 is 19.15 
Alpha[43]	0.000000
Alpha[43]	0.997806
TNavParticleFilter::Modified Variance for beam 44 is 19.37 
Alpha[44]	0.000000
Alpha[44]	0.997230
TNavParticleFilter::Modified Variance for beam 45 is 19.59 
Alpha[45]	0.000000
Alpha[45]	0.997038
TNavParticleFilter::Modified Variance for beam 46 is 21.08 
Alpha[46]	0.000000
Alpha[46]	0.997348
TNavParticleFilter::Modified Variance for beam 47 is 21.39 
Alpha[47]	0.000000
Alpha[47]	0.995796
TNavParticleFilter::Modified Variance for beam 48 is 21.72 
Alpha[48]	0.000000
Alpha[48]	0.994192
TNavParticleFilter::Modified Variance for beam 49 is 23.34 
Alpha[49]	0.000000
Alpha[49]	0.996864
TNavParticleFilter::Modified Variance for beam 50 is 25.12 
Alpha[50]	0.000000
Alpha[50]	0.997596
TNavParticleFilter::Modified Variance for beam 51 is 25.51 
Alpha[51]	0.000000
Alpha[51]	0.997734
TNavParticleFilter::Modified Variance for beam 52 is 25.94 
Alpha[52]	0.000000
Alpha[52]	0.997632
TNavParticleFilter::Modified Variance for beam 53 is 26.41 
Alpha[53]	0.000000
Alpha[53]	0.996996
TNavParticleFilter::Modified Variance for beam 54 is 30.14 
Alpha[54]	0.000000
Alpha[54]	0.998110
TNavParticleFilter::Modified Variance for beam 55 is 30.71 
Alpha[55]	0.000000
Alpha[55]	0.998693
TNavParticleFilter::Modified Variance for beam 56 is 33.00 
Alpha[56]	0.000000
Alpha[56]	0.998566
TNavParticleFilter::Modified Variance for beam 57 is 31.48 
Alpha[57]	0.000000
Alpha[57]	0.999168
TNavParticleFilter::Modified Variance for beam 58 is 30.11 
Alpha[58]	0.000000
Alpha[58]	0.999400
TNavParticleFilter::Modified Variance for beam 59 is 28.85 
Alpha[59]	0.000000
Alpha[59]	0.999514
TNavPF:: sumSquaredError = 90.526548 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.76. Range = 74.30 
TNavPF::Calculated measDiffMean for beam 31 as 3.42. Range = 73.36 
TNavPF::Calculated measDiffMean for beam 32 as 3.49. Range = 71.09 
TNavPF::Calculated measDiffMean for beam 33 as 3.15. Range = 70.23 
TNavPF::Calculated measDiffMean for beam 34 as 2.56. Range = 62.15 
TNavPF::Calculated measDiffMean for beam 35 as 1.94. Range = 61.58 
TNavPF::Calculated measDiffMean for beam 36 as 1.23. Range = 62.58 
TNavPF::Calculated measDiffMean for beam 37 as 1.74. Range = 70.19 
TNavPF::Calculated measDiffMean for beam 38 as 2.76. Range = 70.46 
TNavPF::Calculated measDiffMean for beam 39 as 0.99. Range = 70.58 
TNavPF::Calculated measDiffMean for beam 40 as 1.46. Range = 69.43 
TNavPF::Calculated measDiffMean for beam 41 as 2.12. Range = 65.10 
TNavPF::Calculated measDiffMean for beam 42 as 2.75. Range = 67.30 
TNavPF::Calculated measDiffMean for beam 43 as 3.22. Range = 63.71 
TNavPF::Calculated measDiffMean for beam 44 as 3.44. Range = 63.25 
TNavPF::Calculated measDiffMean for beam 45 as 3.56. Range = 67.01 
TNavPF::Calculated measDiffMean for beam 46 as 3.82. Range = 66.13 
TNavPF::Calculated measDiffMean for beam 47 as 4.04. Range = 65.29 
TNavPF::Calculated measDiffMean for beam 48 as 4.15. Range = 62.05 
TNavPF::Calculated measDiffMean for beam 49 as 4.27. Range = 61.32 
TNavPF::Calculated measDiffMean for beam 50 as 4.41. Range = 60.62 
TNavPF::Calculated measDiffMean for beam 51 as 4.68. Range = 59.96 
TNavPF::Calculated measDiffMean for beam 52 as 4.92. Range = 57.00 
TNavPF::Calculated measDiffMean for beam 53 as 5.15. Range = 56.43 
TNavPF::Calculated measDiffMean for beam 54 as 5.47. Range = 55.88 
TNavPF::Calculated measDiffMean for beam 55 as 5.64. Range = 55.36 
TNavPF::Calculated measDiffMean for beam 56 as 3.55. Range = 50.38 
TNavPF::Calculated measDiffMean for beam 57 as 3.36. Range = 49.95 
TNavPF::Calculated measDiffMean for beam 58 as 2.94. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 59 as 0.03. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 60 as -1.05. Range = 50.95 
TNavPF::Calculated measDiffMean for beam 61 as -1.80. Range = 50.59 
TNavPF::Calculated measDiffMean for beam 62 as -2.21. Range = 50.25 
TNavPF::Calculated measDiffMean for beam 63 as -2.54. Range = 49.93 
TNavPF::Calculated measDiffMean for beam 64 as -1.15. Range = 49.62 
TNavPF::Calculated measDiffMean for beam 65 as -2.55. Range = 49.34 
TNavPF::Calculated measDiffMean for beam 66 as -4.04. Range = 49.07 
TNavPF::Calculated measDiffMean for beam 67 as -5.09. Range = 49.86 
TNavPF::Calculated measDiffMean for beam 68 as -6.38. Range = 50.66 
TNavPF::Calculated measDiffMean for beam 69 as -7.41. Range = 48.38 
TNavPF::Calculated measDiffMean for beam 70 as -7.95. Range = 48.18 
TNavPF::Calculated measDiffMean for beam 71 as -8.65. Range = 48.00 
TNavPF::Calculated measDiffMean for beam 72 as -9.34. Range = 47.83 
TNavPF::Calculated measDiffMean for beam 73 as -1.17. Range = 47.68 
TNavPF::Calculated measDiffMean for beam 74 as -1.11. Range = 47.55 
TNavPF::Calculated measDiffMean for beam 75 as -0.61. Range = 47.43 
TNavPF::Calculated measDiffMean for beam 76 as 1.55. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 77 as 1.38. Range = 47.23 
TNavPF::Calculated measDiffMean for beam 78 as 1.30. Range = 47.16 
TNavPF::Calculated measDiffMean for beam 79 as 3.55. Range = 47.10 
TNavPF::Calculated measDiffMean for beam 80 as 6.21. Range = 47.05 
TNavPF::Calculated measDiffMean for beam 81 as 6.69. Range = 47.02 
TNavPF::Calculated measDiffMean for beam 82 as 6.53. Range = 47.00 
TNavPF::Calculated measDiffMean for beam 83 as 6.12. Range = 47.00 
TNavPF::Calculated measDiffMean for beam 84 as 10.83. Range = 47.01 
TNavPF::Calculated measDiffMean for beam 85 as 10.93. Range = 47.03 
TNavPF::Calculated measDiffMean for beam 86 as 13.69. Range = 45.07 
TNavPF::Calculated measDiffMean for beam 87 as 10.47. Range = 45.12 
TNavPF::Calculated measDiffMean for beam 88 as 6.64. Range = 45.19 
TNavPF::Calculated measDiffMean for beam 89 as 1.09. Range = 43.25 
TNavPF::First Term of Map Covariance Matrix is 6.51 
TNavPF::Calculated NIS Value : 57.69 	numBeams normalized NIS: 0.96
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321928.82 sec.
INS : North: 4070201.20, East: 589442.80, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 47.94, IDT[75] = 64.76
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321931.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321931.62)
ARL : North: -8.5369, East: -7.1405, Depth: -19.1461ARL : Estimation Bias  (Mean)         : (t = 1488321931.62)
ARL : North: -7.2642, East: -6.8696, Depth: -16.9628TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.43 
Alpha[0]	0.123000
Alpha[0]	0.995898
TNavParticleFilter::Modified Variance for beam 1 is 16.24 
Alpha[1]	0.000000
Alpha[1]	0.996739
TNavParticleFilter::Modified Variance for beam 2 is 17.00 
Alpha[2]	0.000000
Alpha[2]	0.997383
TNavParticleFilter::Modified Variance for beam 3 is 16.98 
Alpha[3]	0.000000
Alpha[3]	0.997640
TNavParticleFilter::Modified Variance for beam 4 is 15.76 
Alpha[4]	0.000000
Alpha[4]	0.997570
TNavParticleFilter::Modified Variance for beam 5 is 15.64 
Alpha[5]	0.000000
Alpha[5]	0.997241
TNavParticleFilter::Modified Variance for beam 6 is 15.51 
Alpha[6]	0.000000
Alpha[6]	0.997192
TNavParticleFilter::Modified Variance for beam 7 is 15.39 
Alpha[7]	0.000000
Alpha[7]	0.997350
TNavParticleFilter::Modified Variance for beam 8 is 15.29 
Alpha[8]	0.000000
Alpha[8]	0.997418
TNavParticleFilter::Modified Variance for beam 9 is 15.19 
Alpha[9]	0.000000
Alpha[9]	0.997527
TNavParticleFilter::Modified Variance for beam 10 is 15.10 
Alpha[10]	0.000000
Alpha[10]	0.997362
TNavParticleFilter::Modified Variance for beam 11 is 15.02 
Alpha[11]	0.000000
Alpha[11]	0.996783
TNavParticleFilter::Modified Variance for beam 12 is 14.97 
Alpha[12]	0.000000
Alpha[12]	0.995659
TNavParticleFilter::Modified Variance for beam 13 is 14.92 
Alpha[13]	0.000000
Alpha[13]	0.994666
TNavParticleFilter::Modified Variance for beam 14 is 14.87 
Alpha[14]	0.000000
Alpha[14]	0.993895
TNavParticleFilter::Modified Variance for beam 15 is 14.82 
Alpha[15]	0.000000
Alpha[15]	0.993322
TNavParticleFilter::Modified Variance for beam 16 is 14.78 
Alpha[16]	0.000000
Alpha[16]	0.993547
TNavParticleFilter::Modified Variance for beam 17 is 14.74 
Alpha[17]	0.000000
Alpha[17]	0.993714
TNavParticleFilter::Modified Variance for beam 18 is 14.71 
Alpha[18]	0.000000
Alpha[18]	0.993322
TNavParticleFilter::Modified Variance for beam 19 is 14.70 
Alpha[19]	0.000000
Alpha[19]	0.992193
TNavParticleFilter::Modified Variance for beam 20 is 13.77 
Alpha[20]	0.000000
Alpha[20]	0.992017
TNavParticleFilter::Modified Variance for beam 21 is 13.73 
Alpha[21]	0.000000
Alpha[21]	0.994488
TNavParticleFilter::Modified Variance for beam 22 is 13.70 
Alpha[22]	0.000000
Alpha[22]	0.996426
TNavParticleFilter::Modified Variance for beam 23 is 12.81 
Alpha[23]	0.000000
Alpha[23]	0.997709
TNavParticleFilter::Modified Variance for beam 24 is 12.80 
Alpha[24]	0.000000
Alpha[24]	0.998500
TNavParticleFilter::Modified Variance for beam 25 is 12.81 
Alpha[25]	0.000000
Alpha[25]	0.998825
TNavParticleFilter::Modified Variance for beam 26 is 12.83 
Alpha[26]	0.000000
Alpha[26]	0.999025
TNavParticleFilter::Modified Variance for beam 27 is 12.86 
Alpha[27]	0.000000
Alpha[27]	0.999177
TNavParticleFilter::Modified Variance for beam 28 is 13.77 
Alpha[28]	0.000000
Alpha[28]	0.999256
TNavParticleFilter::Modified Variance for beam 29 is 13.81 
Alpha[29]	0.000000
Alpha[29]	0.999280
TNavParticleFilter::Modified Variance for beam 30 is 13.86 
Alpha[30]	0.000000
Alpha[30]	0.999245
TNavParticleFilter::Modified Variance for beam 31 is 13.92 
Alpha[31]	0.000000
Alpha[31]	0.999178
TNavParticleFilter::Modified Variance for beam 32 is 13.98 
Alpha[32]	0.000000
Alpha[32]	0.999086
TNavParticleFilter::Modified Variance for beam 33 is 14.05 
Alpha[33]	0.000000
Alpha[33]	0.998741
TNavParticleFilter::Modified Variance for beam 34 is 14.13 
Alpha[34]	0.000000
Alpha[34]	0.998309
TNavParticleFilter::Modified Variance for beam 35 is 14.22 
Alpha[35]	0.000000
Alpha[35]	0.998309
TNavParticleFilter::Modified Variance for beam 36 is 14.31 
Alpha[36]	0.000000
Alpha[36]	0.998242
TNavParticleFilter::Modified Variance for beam 37 is 17.48 
Alpha[37]	0.000000
Alpha[37]	0.997959
TNavParticleFilter::Modified Variance for beam 38 is 18.74 
Alpha[38]	0.000000
Alpha[38]	0.997716
TNavParticleFilter::Modified Variance for beam 39 is 18.90 
Alpha[39]	0.000000
Alpha[39]	0.997632
TNavParticleFilter::Modified Variance for beam 40 is 19.08 
Alpha[40]	0.000000
Alpha[40]	0.997156
TNavParticleFilter::Modified Variance for beam 41 is 20.47 
Alpha[41]	0.000000
Alpha[41]	0.997121
TNavParticleFilter::Modified Variance for beam 42 is 21.94 
Alpha[42]	0.000000
Alpha[42]	0.997141
TNavParticleFilter::Modified Variance for beam 43 is 22.23 
Alpha[43]	0.000000
Alpha[43]	0.995271
TNavParticleFilter::Modified Variance for beam 44 is 22.51 
Alpha[44]	0.000000
Alpha[44]	0.994324
TNavParticleFilter::Modified Variance for beam 45 is 24.10 
Alpha[45]	0.000000
Alpha[45]	0.996320
TNavParticleFilter::Modified Variance for beam 46 is 24.39 
Alpha[46]	0.000000
Alpha[46]	0.997285
TNavParticleFilter::Modified Variance for beam 47 is 24.73 
Alpha[47]	0.000000
Alpha[47]	0.997309
TNavParticleFilter::Modified Variance for beam 48 is 25.09 
Alpha[48]	0.000000
Alpha[48]	0.997115
TNavParticleFilter::Modified Variance for beam 49 is 28.54 
Alpha[49]	0.000000
Alpha[49]	0.996744
TNavParticleFilter::Modified Variance for beam 50 is 28.97 
Alpha[50]	0.000000
Alpha[50]	0.997694
TNavParticleFilter::Modified Variance for beam 51 is 29.43 
Alpha[51]	0.000000
Alpha[51]	0.998625
TNavParticleFilter::Modified Variance for beam 52 is 31.64 
Alpha[52]	0.000000
Alpha[52]	0.998750
TNavParticleFilter::Modified Variance for beam 53 is 30.33 
Alpha[53]	0.000000
Alpha[53]	0.999181
TNavParticleFilter::Modified Variance for beam 54 is 28.85 
Alpha[54]	0.000000
Alpha[54]	0.999363
TNavParticleFilter::Modified Variance for beam 55 is 27.50 
Alpha[55]	0.000000
Alpha[55]	0.999511
TNavParticleFilter::Modified Variance for beam 56 is 26.28 
Alpha[56]	0.000000
Alpha[56]	0.999211
TNavParticleFilter::Modified Variance for beam 57 is 25.17 
Alpha[57]	0.000000
Alpha[57]	0.998640
TNavParticleFilter::Modified Variance for beam 58 is 24.15 
Alpha[58]	0.000000
Alpha[58]	0.998185
TNavParticleFilter::Modified Variance for beam 59 is 23.98 
Alpha[59]	0.000000
Alpha[59]	0.998167
TNavPF:: sumSquaredError = 146.412148 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.82. Range = 73.98 
TNavPF::Calculated measDiffMean for beam 31 as 1.16. Range = 66.02 
TNavPF::Calculated measDiffMean for beam 32 as 2.33. Range = 65.26 
TNavPF::Calculated measDiffMean for beam 33 as 1.95. Range = 66.24 
TNavPF::Calculated measDiffMean for beam 34 as -0.37. Range = 74.05 
TNavPF::Calculated measDiffMean for beam 35 as -0.06. Range = 73.86 
TNavPF::Calculated measDiffMean for beam 36 as 0.51. Range = 74.21 
TNavPF::Calculated measDiffMean for beam 37 as 1.22. Range = 67.25 
TNavPF::Calculated measDiffMean for beam 38 as 1.91. Range = 66.22 
TNavPF::Calculated measDiffMean for beam 39 as 2.33. Range = 67.45 
TNavPF::Calculated measDiffMean for beam 40 as 2.46. Range = 66.68 
TNavPF::Calculated measDiffMean for beam 41 as 2.65. Range = 67.07 
TNavPF::Calculated measDiffMean for beam 42 as 2.94. Range = 69.91 
TNavPF::Calculated measDiffMean for beam 43 as 3.13. Range = 68.92 
TNavPF::Calculated measDiffMean for beam 44 as 3.25. Range = 67.97 
TNavPF::Calculated measDiffMean for beam 45 as 3.44. Range = 64.56 
TNavPF::Calculated measDiffMean for beam 46 as 3.67. Range = 63.73 
TNavPF::Calculated measDiffMean for beam 47 as 3.94. Range = 62.95 
TNavPF::Calculated measDiffMean for beam 48 as 4.19. Range = 59.79 
TNavPF::Calculated measDiffMean for beam 49 as 4.51. Range = 59.10 
TNavPF::Calculated measDiffMean for beam 50 as 2.66. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 51 as 2.54. Range = 53.16 
TNavPF::Calculated measDiffMean for beam 52 as 2.27. Range = 52.62 
TNavPF::Calculated measDiffMean for beam 53 as -0.19. Range = 53.54 
TNavPF::Calculated measDiffMean for beam 54 as -1.07. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 55 as -2.07. Range = 53.39 
TNavPF::Calculated measDiffMean for beam 56 as -2.71. Range = 52.93 
TNavPF::Calculated measDiffMean for beam 57 as -3.17. Range = 52.49 
TNavPF::Calculated measDiffMean for beam 58 as -1.58. Range = 52.07 
TNavPF::Calculated measDiffMean for beam 59 as -2.37. Range = 51.68 
TNavPF::Calculated measDiffMean for beam 60 as -3.54. Range = 51.31 
TNavPF::Calculated measDiffMean for beam 61 as -4.88. Range = 50.96 
TNavPF::Calculated measDiffMean for beam 62 as -6.03. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 63 as -7.14. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 64 as -7.99. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 65 as -8.61. Range = 49.75 
TNavPF::Calculated measDiffMean for beam 66 as -9.19. Range = 49.49 
TNavPF::Calculated measDiffMean for beam 67 as -3.65. Range = 49.26 
TNavPF::Calculated measDiffMean for beam 68 as -2.05. Range = 49.04 
TNavPF::Calculated measDiffMean for beam 69 as -2.24. Range = 48.83 
TNavPF::Calculated measDiffMean for beam 70 as -1.91. Range = 48.64 
TNavPF::Calculated measDiffMean for beam 71 as 0.57. Range = 48.47 
TNavPF::Calculated measDiffMean for beam 72 as 2.41. Range = 48.32 
TNavPF::Calculated measDiffMean for beam 73 as 2.18. Range = 48.18 
TNavPF::Calculated measDiffMean for beam 74 as 2.28. Range = 48.05 
TNavPF::Calculated measDiffMean for beam 75 as 4.62. Range = 47.94 
TNavPF::Calculated measDiffMean for beam 76 as 5.06. Range = 47.85 
TNavPF::Calculated measDiffMean for beam 77 as 5.40. Range = 47.77 
TNavPF::Calculated measDiffMean for beam 78 as 5.13. Range = 47.70 
TNavPF::Calculated measDiffMean for beam 79 as 9.34. Range = 47.65 
TNavPF::Calculated measDiffMean for beam 80 as 9.43. Range = 45.61 
TNavPF::Calculated measDiffMean for beam 81 as 9.41. Range = 45.59 
TNavPF::Calculated measDiffMean for beam 82 as 12.03. Range = 45.59 
TNavPF::Calculated measDiffMean for beam 83 as 9.26. Range = 43.59 
TNavPF::Calculated measDiffMean for beam 84 as 5.49. Range = 43.61 
TNavPF::Calculated measDiffMean for beam 85 as 0.36. Range = 43.65 
TNavPF::Calculated measDiffMean for beam 86 as -4.99. Range = 43.69 
TNavPF::Calculated measDiffMean for beam 87 as -8.00. Range = 43.75 
TNavPF::Calculated measDiffMean for beam 88 as -10.89. Range = 45.84 
TNavPF::Calculated measDiffMean for beam 89 as -11.90. Range = 45.93 
TNavPF::First Term of Map Covariance Matrix is 4.86 
TNavPF::Calculated NIS Value : 57.21 	numBeams normalized NIS: 0.95
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321931.82 sec.
INS : North: 4070201.82, East: 589438.41, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 46.50, IDT[75] = 70.55
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321934.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321934.62)
ARL : North: -6.9227, East: -7.0526, Depth: -16.1482ARL : Estimation Bias  (Mean)         : (t = 1488321934.62)
ARL : North: -6.7647, East: -5.8866, Depth: -16.3479TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.55 
Alpha[0]	0.123000
Alpha[0]	0.997805
TNavParticleFilter::Modified Variance for beam 1 is 16.38 
Alpha[1]	0.000000
Alpha[1]	0.997583
TNavParticleFilter::Modified Variance for beam 2 is 16.23 
Alpha[2]	0.000000
Alpha[2]	0.997581
TNavParticleFilter::Modified Variance for beam 3 is 16.08 
Alpha[3]	0.000000
Alpha[3]	0.997803
TNavParticleFilter::Modified Variance for beam 4 is 15.94 
Alpha[4]	0.000000
Alpha[4]	0.997814
TNavParticleFilter::Modified Variance for beam 5 is 15.82 
Alpha[5]	0.000000
Alpha[5]	0.997604
TNavParticleFilter::Modified Variance for beam 6 is 15.71 
Alpha[6]	0.000000
Alpha[6]	0.997179
TNavParticleFilter::Modified Variance for beam 7 is 15.62 
Alpha[7]	0.000000
Alpha[7]	0.996245
TNavParticleFilter::Modified Variance for beam 8 is 15.54 
Alpha[8]	0.000000
Alpha[8]	0.995068
TNavParticleFilter::Modified Variance for beam 9 is 15.46 
Alpha[9]	0.000000
Alpha[9]	0.994307
TNavParticleFilter::Modified Variance for beam 10 is 15.39 
Alpha[10]	0.000000
Alpha[10]	0.993615
TNavParticleFilter::Modified Variance for beam 11 is 15.31 
Alpha[11]	0.000000
Alpha[11]	0.993682
TNavParticleFilter::Modified Variance for beam 12 is 15.25 
Alpha[12]	0.000000
Alpha[12]	0.993724
TNavParticleFilter::Modified Variance for beam 13 is 14.24 
Alpha[13]	0.000000
Alpha[13]	0.993202
TNavParticleFilter::Modified Variance for beam 14 is 14.22 
Alpha[14]	0.000000
Alpha[14]	0.991722
TNavParticleFilter::Modified Variance for beam 15 is 14.19 
Alpha[15]	0.000000
Alpha[15]	0.991000
TNavParticleFilter::Modified Variance for beam 16 is 13.22 
Alpha[16]	0.000000
Alpha[16]	0.993444
TNavParticleFilter::Modified Variance for beam 17 is 13.16 
Alpha[17]	0.000000
Alpha[17]	0.995741
TNavParticleFilter::Modified Variance for beam 18 is 13.13 
Alpha[18]	0.000000
Alpha[18]	0.997220
TNavParticleFilter::Modified Variance for beam 19 is 13.10 
Alpha[19]	0.000000
Alpha[19]	0.998283
TNavParticleFilter::Modified Variance for beam 20 is 13.09 
Alpha[20]	0.000000
Alpha[20]	0.998696
TNavParticleFilter::Modified Variance for beam 21 is 13.97 
Alpha[21]	0.000000
Alpha[21]	0.998913
TNavParticleFilter::Modified Variance for beam 22 is 13.97 
Alpha[22]	0.000000
Alpha[22]	0.999099
TNavParticleFilter::Modified Variance for beam 23 is 13.99 
Alpha[23]	0.000000
Alpha[23]	0.999175
TNavParticleFilter::Modified Variance for beam 24 is 14.00 
Alpha[24]	0.000000
Alpha[24]	0.999169
TNavParticleFilter::Modified Variance for beam 25 is 14.03 
Alpha[25]	0.000000
Alpha[25]	0.999079
TNavParticleFilter::Modified Variance for beam 26 is 14.06 
Alpha[26]	0.000000
Alpha[26]	0.999004
TNavParticleFilter::Modified Variance for beam 27 is 14.10 
Alpha[27]	0.000000
Alpha[27]	0.998776
TNavParticleFilter::Modified Variance for beam 28 is 14.15 
Alpha[28]	0.000000
Alpha[28]	0.998442
TNavParticleFilter::Modified Variance for beam 29 is 14.21 
Alpha[29]	0.000000
Alpha[29]	0.998073
TNavParticleFilter::Modified Variance for beam 30 is 14.27 
Alpha[30]	0.000000
Alpha[30]	0.997992
TNavParticleFilter::Modified Variance for beam 31 is 17.33 
Alpha[31]	0.000000
Alpha[31]	0.998149
TNavParticleFilter::Modified Variance for beam 32 is 18.52 
Alpha[32]	0.000000
Alpha[32]	0.998006
TNavParticleFilter::Modified Variance for beam 33 is 18.64 
Alpha[33]	0.000000
Alpha[33]	0.997476
TNavParticleFilter::Modified Variance for beam 34 is 18.76 
Alpha[34]	0.000000
Alpha[34]	0.997359
TNavParticleFilter::Modified Variance for beam 35 is 20.05 
Alpha[35]	0.000000
Alpha[35]	0.997268
TNavParticleFilter::Modified Variance for beam 36 is 20.21 
Alpha[36]	0.000000
Alpha[36]	0.996882
TNavParticleFilter::Modified Variance for beam 37 is 21.60 
Alpha[37]	0.000000
Alpha[37]	0.997107
TNavParticleFilter::Modified Variance for beam 38 is 21.80 
Alpha[38]	0.000000
Alpha[38]	0.996557
TNavParticleFilter::Modified Variance for beam 39 is 22.08 
Alpha[39]	0.000000
Alpha[39]	0.993413
TNavParticleFilter::Modified Variance for beam 40 is 23.60 
Alpha[40]	0.000000
Alpha[40]	0.994074
TNavParticleFilter::Modified Variance for beam 41 is 23.81 
Alpha[41]	0.000000
Alpha[41]	0.996034
TNavParticleFilter::Modified Variance for beam 42 is 24.05 
Alpha[42]	0.000000
Alpha[42]	0.997038
TNavParticleFilter::Modified Variance for beam 43 is 25.75 
Alpha[43]	0.000000
Alpha[43]	0.996995
TNavParticleFilter::Modified Variance for beam 44 is 27.57 
Alpha[44]	0.000000
Alpha[44]	0.996672
TNavParticleFilter::Modified Variance for beam 45 is 27.95 
Alpha[45]	0.000000
Alpha[45]	0.996547
TNavParticleFilter::Modified Variance for beam 46 is 28.32 
Alpha[46]	0.000000
Alpha[46]	0.997490
TNavParticleFilter::Modified Variance for beam 47 is 30.31 
Alpha[47]	0.000000
Alpha[47]	0.998414
TNavParticleFilter::Modified Variance for beam 48 is 30.02 
Alpha[48]	0.000000
Alpha[48]	0.998552
TNavParticleFilter::Modified Variance for beam 49 is 28.31 
Alpha[49]	0.000000
Alpha[49]	0.999045
TNavParticleFilter::Modified Variance for beam 50 is 26.79 
Alpha[50]	0.000000
Alpha[50]	0.999282
TNavParticleFilter::Modified Variance for beam 51 is 25.41 
Alpha[51]	0.000000
Alpha[51]	0.999399
TNavParticleFilter::Modified Variance for beam 52 is 24.17 
Alpha[52]	0.000000
Alpha[52]	0.999278
TNavParticleFilter::Modified Variance for beam 53 is 23.06 
Alpha[53]	0.000000
Alpha[53]	0.998709
TNavParticleFilter::Modified Variance for beam 54 is 22.68 
Alpha[54]	0.000000
Alpha[54]	0.998249
TNavParticleFilter::Modified Variance for beam 55 is 23.15 
Alpha[55]	0.000000
Alpha[55]	0.997905
TNavParticleFilter::Modified Variance for beam 56 is 22.29 
Alpha[56]	0.000000
Alpha[56]	0.998056
TNavParticleFilter::Modified Variance for beam 57 is 21.40 
Alpha[57]	0.000000
Alpha[57]	0.998040
TNavParticleFilter::Modified Variance for beam 58 is 20.58 
Alpha[58]	0.000000
Alpha[58]	0.998399
TNavParticleFilter::Modified Variance for beam 59 is 20.54 
Alpha[59]	0.000000
Alpha[59]	0.998798
TNavPF:: sumSquaredError = 116.899547 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.72. Range = 78.05 
TNavPF::Calculated measDiffMean for beam 31 as -0.36. Range = 77.69 
TNavPF::Calculated measDiffMean for beam 32 as 0.37. Range = 77.73 
TNavPF::Calculated measDiffMean for beam 33 as 1.22. Range = 77.64 
TNavPF::Calculated measDiffMean for beam 34 as 1.92. Range = 70.36 
TNavPF::Calculated measDiffMean for beam 35 as 2.15. Range = 70.39 
TNavPF::Calculated measDiffMean for beam 36 as 2.24. Range = 70.70 
TNavPF::Calculated measDiffMean for beam 37 as 2.49. Range = 70.02 
TNavPF::Calculated measDiffMean for beam 38 as 2.74. Range = 73.83 
TNavPF::Calculated measDiffMean for beam 39 as 2.87. Range = 72.67 
TNavPF::Calculated measDiffMean for beam 40 as 3.08. Range = 71.57 
TNavPF::Calculated measDiffMean for beam 41 as 3.38. Range = 70.52 
TNavPF::Calculated measDiffMean for beam 42 as 3.65. Range = 66.96 
TNavPF::Calculated measDiffMean for beam 43 as 1.88. Range = 66.05 
TNavPF::Calculated measDiffMean for beam 44 as 2.16. Range = 62.69 
TNavPF::Calculated measDiffMean for beam 45 as 2.29. Range = 61.89 
TNavPF::Calculated measDiffMean for beam 46 as 0.22. Range = 56.27 
TNavPF::Calculated measDiffMean for beam 47 as 0.02. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 48 as -0.40. Range = 56.15 
TNavPF::Calculated measDiffMean for beam 49 as -1.30. Range = 56.73 
TNavPF::Calculated measDiffMean for beam 50 as -2.17. Range = 56.13 
TNavPF::Calculated measDiffMean for beam 51 as -0.58. Range = 55.56 
TNavPF::Calculated measDiffMean for beam 52 as -1.03. Range = 55.02 
TNavPF::Calculated measDiffMean for beam 53 as -1.55. Range = 54.51 
TNavPF::Calculated measDiffMean for beam 54 as -2.53. Range = 54.03 
TNavPF::Calculated measDiffMean for beam 55 as -3.63. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 56 as -4.78. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 57 as -5.99. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 58 as -7.06. Range = 52.32 
TNavPF::Calculated measDiffMean for beam 59 as -7.79. Range = 51.95 
TNavPF::Calculated measDiffMean for beam 60 as -8.33. Range = 51.60 
TNavPF::Calculated measDiffMean for beam 61 as -2.76. Range = 51.27 
TNavPF::Calculated measDiffMean for beam 62 as -1.36. Range = 50.96 
TNavPF::Calculated measDiffMean for beam 63 as -1.92. Range = 50.67 
TNavPF::Calculated measDiffMean for beam 64 as -2.22. Range = 50.39 
TNavPF::Calculated measDiffMean for beam 65 as -0.24. Range = 50.14 
TNavPF::Calculated measDiffMean for beam 66 as 0.10. Range = 49.90 
TNavPF::Calculated measDiffMean for beam 67 as 2.23. Range = 49.68 
TNavPF::Calculated measDiffMean for beam 68 as 1.70. Range = 49.48 
TNavPF::Calculated measDiffMean for beam 69 as 1.68. Range = 49.30 
TNavPF::Calculated measDiffMean for beam 70 as 4.17. Range = 49.13 
TNavPF::Calculated measDiffMean for beam 71 as 4.39. Range = 48.97 
TNavPF::Calculated measDiffMean for beam 72 as 4.86. Range = 48.83 
TNavPF::Calculated measDiffMean for beam 73 as 7.24. Range = 46.69 
TNavPF::Calculated measDiffMean for beam 74 as 9.10. Range = 46.59 
TNavPF::Calculated measDiffMean for beam 75 as 8.98. Range = 46.50 
TNavPF::Calculated measDiffMean for beam 76 as 9.16. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 77 as 11.31. Range = 44.36 
TNavPF::Calculated measDiffMean for beam 78 as 10.56. Range = 44.32 
TNavPF::Calculated measDiffMean for beam 79 as 7.44. Range = 44.29 
TNavPF::Calculated measDiffMean for beam 80 as 3.72. Range = 44.28 
TNavPF::Calculated measDiffMean for beam 81 as -0.69. Range = 46.27 
TNavPF::Calculated measDiffMean for beam 82 as -6.56. Range = 46.29 
TNavPF::Calculated measDiffMean for beam 83 as -9.75. Range = 46.31 
TNavPF::Calculated measDiffMean for beam 84 as -11.36. Range = 46.35 
TNavPF::Calculated measDiffMean for beam 85 as -11.61. Range = 46.41 
TNavPF::Calculated measDiffMean for beam 86 as -13.44. Range = 46.47 
TNavPF::Calculated measDiffMean for beam 87 as -15.03. Range = 46.56 
TNavPF::Calculated measDiffMean for beam 88 as -16.87. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 89 as -17.43. Range = 46.77 
TNavPF::First Term of Map Covariance Matrix is 9.10 
TNavPF::Calculated NIS Value : 87.34 	numBeams normalized NIS: 1.46
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321934.82 sec.
INS : North: 4070202.50, East: 589434.05, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 47.70, IDT[75] = 63.73
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321937.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321937.62)
ARL : North: -5.0206, East: -7.0639, Depth: -11.8849ARL : Estimation Bias  (Mean)         : (t = 1488321937.62)
ARL : North: -5.0447, East: -6.9581, Depth: -6.3848TerrainNav:: Windowed NIS is 0.7, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.46 
Alpha[0]	0.123000
Alpha[0]	0.992522
TNavParticleFilter::Modified Variance for beam 1 is 18.00 
Alpha[1]	0.000000
Alpha[1]	0.991111
TNavParticleFilter::Modified Variance for beam 2 is 17.78 
Alpha[2]	0.000000
Alpha[2]	0.989622
TNavParticleFilter::Modified Variance for beam 3 is 17.56 
Alpha[3]	0.000000
Alpha[3]	0.989393
TNavParticleFilter::Modified Variance for beam 4 is 17.35 
Alpha[4]	0.000000
Alpha[4]	0.989344
TNavParticleFilter::Modified Variance for beam 5 is 17.17 
Alpha[5]	0.000000
Alpha[5]	0.988449
TNavParticleFilter::Modified Variance for beam 6 is 16.98 
Alpha[6]	0.000000
Alpha[6]	0.988593
TNavParticleFilter::Modified Variance for beam 7 is 16.78 
Alpha[7]	0.000000
Alpha[7]	0.989866
TNavParticleFilter::Modified Variance for beam 8 is 16.58 
Alpha[8]	0.000000
Alpha[8]	0.992036
TNavParticleFilter::Modified Variance for beam 9 is 16.43 
Alpha[9]	0.000000
Alpha[9]	0.991995
TNavParticleFilter::Modified Variance for beam 10 is 16.27 
Alpha[10]	0.000000
Alpha[10]	0.992608
TNavParticleFilter::Modified Variance for beam 11 is 16.14 
Alpha[11]	0.000000
Alpha[11]	0.992722
TNavParticleFilter::Modified Variance for beam 12 is 16.02 
Alpha[12]	0.000000
Alpha[12]	0.992627
TNavParticleFilter::Modified Variance for beam 13 is 15.91 
Alpha[13]	0.000000
Alpha[13]	0.992585
TNavParticleFilter::Modified Variance for beam 14 is 15.80 
Alpha[14]	0.000000
Alpha[14]	0.992428
TNavParticleFilter::Modified Variance for beam 15 is 14.74 
Alpha[15]	0.000000
Alpha[15]	0.991554
TNavParticleFilter::Modified Variance for beam 16 is 14.70 
Alpha[16]	0.000000
Alpha[16]	0.988986
TNavParticleFilter::Modified Variance for beam 17 is 13.71 
Alpha[17]	0.000000
Alpha[17]	0.987227
TNavParticleFilter::Modified Variance for beam 18 is 13.67 
Alpha[18]	0.000000
Alpha[18]	0.985810
TNavParticleFilter::Modified Variance for beam 19 is 13.68 
Alpha[19]	0.000000
Alpha[19]	0.981544
TNavParticleFilter::Modified Variance for beam 20 is 13.67 
Alpha[20]	0.000000
Alpha[20]	0.978452
TNavParticleFilter::Modified Variance for beam 21 is 13.63 
Alpha[21]	0.000000
Alpha[21]	0.978913
TNavParticleFilter::Modified Variance for beam 22 is 14.48 
Alpha[22]	0.000000
Alpha[22]	0.981119
TNavParticleFilter::Modified Variance for beam 23 is 14.39 
Alpha[23]	0.000000
Alpha[23]	0.985324
TNavParticleFilter::Modified Variance for beam 24 is 14.28 
Alpha[24]	0.000000
Alpha[24]	0.991099
TNavParticleFilter::Modified Variance for beam 25 is 14.28 
Alpha[25]	0.000000
Alpha[25]	0.989908
TNavParticleFilter::Modified Variance for beam 26 is 14.24 
Alpha[26]	0.000000
Alpha[26]	0.991888
TNavParticleFilter::Modified Variance for beam 27 is 14.26 
Alpha[27]	0.000000
Alpha[27]	0.990595
TNavParticleFilter::Modified Variance for beam 28 is 14.29 
Alpha[28]	0.000000
Alpha[28]	0.988893
TNavParticleFilter::Modified Variance for beam 29 is 14.25 
Alpha[29]	0.000000
Alpha[29]	0.992049
TNavParticleFilter::Modified Variance for beam 30 is 14.33 
Alpha[30]	0.000000
Alpha[30]	0.987230
TNavParticleFilter::Modified Variance for beam 31 is 14.33 
Alpha[31]	0.000000
Alpha[31]	0.988774
TNavParticleFilter::Modified Variance for beam 32 is 17.41 
Alpha[32]	0.000000
Alpha[32]	0.984449
TNavParticleFilter::Modified Variance for beam 33 is 18.41 
Alpha[33]	0.000000
Alpha[33]	0.991259
TNavParticleFilter::Modified Variance for beam 34 is 18.60 
Alpha[34]	0.000000
Alpha[34]	0.984683
TNavParticleFilter::Modified Variance for beam 35 is 18.65 
Alpha[35]	0.000000
Alpha[35]	0.985520
TNavParticleFilter::Modified Variance for beam 36 is 18.67 
Alpha[36]	0.000000
Alpha[36]	0.988575
TNavParticleFilter::Modified Variance for beam 37 is 19.82 
Alpha[37]	0.000000
Alpha[37]	0.992279
TNavParticleFilter::Modified Variance for beam 38 is 20.00 
Alpha[38]	0.000000
Alpha[38]	0.988360
TNavParticleFilter::Modified Variance for beam 39 is 21.32 
Alpha[39]	0.000000
Alpha[39]	0.988156
TNavParticleFilter::Modified Variance for beam 40 is 21.48 
Alpha[40]	0.000000
Alpha[40]	0.986930
TNavParticleFilter::Modified Variance for beam 41 is 21.68 
Alpha[41]	0.000000
Alpha[41]	0.984670
TNavParticleFilter::Modified Variance for beam 42 is 23.65 
Alpha[42]	0.000000
Alpha[42]	0.962422
TNavParticleFilter::Modified Variance for beam 43 is 24.20 
Alpha[43]	0.000000
Alpha[43]	0.948255
TNavParticleFilter::Modified Variance for beam 44 is 24.18 
Alpha[44]	0.000000
Alpha[44]	0.957565
TNavParticleFilter::Modified Variance for beam 45 is 23.79 
Alpha[45]	0.000000
Alpha[45]	0.982254
TNavParticleFilter::Modified Variance for beam 46 is 23.89 
Alpha[46]	0.000000
Alpha[46]	0.988096
TNavParticleFilter::Modified Variance for beam 47 is 26.92 
Alpha[47]	0.000000
Alpha[47]	0.989187
TNavParticleFilter::Modified Variance for beam 48 is 27.16 
Alpha[48]	0.000000
Alpha[48]	0.991545
TNavParticleFilter::Modified Variance for beam 49 is 27.50 
Alpha[49]	0.000000
Alpha[49]	0.990949
TNavParticleFilter::Modified Variance for beam 50 is 27.76 
Alpha[50]	0.000000
Alpha[50]	0.994304
TNavParticleFilter::Modified Variance for beam 51 is 29.41 
Alpha[51]	0.000000
Alpha[51]	0.994608
TNavParticleFilter::Modified Variance for beam 52 is 27.54 
Alpha[52]	0.000000
Alpha[52]	0.993213
TNavParticleFilter::Modified Variance for beam 53 is 25.84 
Alpha[53]	0.000000
Alpha[53]	0.993188
TNavParticleFilter::Modified Variance for beam 54 is 24.27 
Alpha[54]	0.000000
Alpha[54]	0.995476
TNavParticleFilter::Modified Variance for beam 55 is 22.86 
Alpha[55]	0.000000
Alpha[55]	0.998140
TNavParticleFilter::Modified Variance for beam 56 is 21.64 
Alpha[56]	0.000000
Alpha[56]	0.998804
TNavParticleFilter::Modified Variance for beam 57 is 21.56 
Alpha[57]	0.000000
Alpha[57]	0.998907
TNavParticleFilter::Modified Variance for beam 58 is 21.82 
Alpha[58]	0.000000
Alpha[58]	0.999054
TNavParticleFilter::Modified Variance for beam 59 is 20.80 
Alpha[59]	0.000000
Alpha[59]	0.999155
TNavPF:: sumSquaredError = 84.136692 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 6.07. Range = 85.84 
TNavPF::Calculated measDiffMean for beam 31 as 3.95. Range = 85.25 
TNavPF::Calculated measDiffMean for beam 32 as 4.02. Range = 81.50 
TNavPF::Calculated measDiffMean for beam 33 as 4.05. Range = 72.70 
TNavPF::Calculated measDiffMean for beam 34 as 4.25. Range = 73.44 
TNavPF::Calculated measDiffMean for beam 35 as 4.51. Range = 82.06 
TNavPF::Calculated measDiffMean for beam 36 as 4.61. Range = 80.63 
TNavPF::Calculated measDiffMean for beam 37 as 4.68. Range = 81.80 
TNavPF::Calculated measDiffMean for beam 38 as 4.94. Range = 74.28 
TNavPF::Calculated measDiffMean for beam 39 as 5.20. Range = 73.54 
TNavPF::Calculated measDiffMean for beam 40 as 5.19. Range = 74.38 
TNavPF::Calculated measDiffMean for beam 41 as 5.20. Range = 73.18 
TNavPF::Calculated measDiffMean for beam 42 as 5.22. Range = 74.45 
TNavPF::Calculated measDiffMean for beam 43 as 5.23. Range = 76.08 
TNavPF::Calculated measDiffMean for beam 44 as 5.24. Range = 74.82 
TNavPF::Calculated measDiffMean for beam 45 as 3.12. Range = 70.94 
TNavPF::Calculated measDiffMean for beam 46 as 2.94. Range = 69.85 
TNavPF::Calculated measDiffMean for beam 47 as 0.83. Range = 66.20 
TNavPF::Calculated measDiffMean for beam 48 as 0.92. Range = 65.25 
TNavPF::Calculated measDiffMean for beam 49 as 1.10. Range = 59.26 
TNavPF::Calculated measDiffMean for beam 50 as 1.15. Range = 58.47 
TNavPF::Calculated measDiffMean for beam 51 as 1.00. Range = 58.88 
TNavPF::Calculated measDiffMean for beam 52 as 2.82. Range = 59.45 
TNavPF::Calculated measDiffMean for beam 53 as 2.58. Range = 58.73 
TNavPF::Calculated measDiffMean for beam 54 as 1.54. Range = 58.06 
TNavPF::Calculated measDiffMean for beam 55 as 0.85. Range = 57.41 
TNavPF::Calculated measDiffMean for beam 56 as 0.26. Range = 56.80 
TNavPF::Calculated measDiffMean for beam 57 as -0.96. Range = 56.22 
TNavPF::Calculated measDiffMean for beam 58 as -1.43. Range = 55.66 
TNavPF::Calculated measDiffMean for beam 59 as -2.50. Range = 56.65 
TNavPF::Calculated measDiffMean for beam 60 as -3.23. Range = 56.88 
TNavPF::Calculated measDiffMean for beam 61 as -3.85. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 62 as 1.45. Range = 53.71 
TNavPF::Calculated measDiffMean for beam 63 as 2.67. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 64 as 1.43. Range = 52.88 
TNavPF::Calculated measDiffMean for beam 65 as 0.93. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 66 as 0.52. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 67 as 1.97. Range = 51.79 
TNavPF::Calculated measDiffMean for beam 68 as 1.17. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 69 as 2.88. Range = 51.17 
TNavPF::Calculated measDiffMean for beam 70 as 2.66. Range = 50.89 
TNavPF::Calculated measDiffMean for beam 71 as 2.02. Range = 50.63 
TNavPF::Calculated measDiffMean for beam 72 as 3.63. Range = 50.38 
TNavPF::Calculated measDiffMean for beam 73 as 3.60. Range = 50.15 
TNavPF::Calculated measDiffMean for beam 74 as 3.64. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 75 as 3.86. Range = 47.70 
TNavPF::Calculated measDiffMean for beam 76 as 3.82. Range = 47.53 
TNavPF::Calculated measDiffMean for beam 77 as 7.75. Range = 45.34 
TNavPF::Calculated measDiffMean for beam 78 as 6.70. Range = 45.21 
TNavPF::Calculated measDiffMean for beam 79 as 5.62. Range = 45.09 
TNavPF::Calculated measDiffMean for beam 80 as 5.48. Range = 44.99 
TNavPF::Calculated measDiffMean for beam 81 as 6.89. Range = 44.89 
TNavPF::Calculated measDiffMean for beam 82 as 3.35. Range = 46.83 
TNavPF::Calculated measDiffMean for beam 83 as 0.43. Range = 46.76 
TNavPF::Calculated measDiffMean for beam 84 as -1.59. Range = 46.71 
TNavPF::Calculated measDiffMean for beam 85 as -3.42. Range = 46.67 
TNavPF::Calculated measDiffMean for beam 86 as -5.28. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 87 as -4.95. Range = 46.64 
TNavPF::Calculated measDiffMean for beam 88 as -3.82. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 89 as -4.83. Range = 46.67 
TNavPF::First Term of Map Covariance Matrix is 2.66 
TNavPF::Calculated NIS Value : 39.24 	numBeams normalized NIS: 0.65
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321937.82 sec.
INS : North: 4070202.58, East: 589429.70, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 52.59, IDT[75] = 56.55
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321940.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321940.62)
ARL : North: -4.4460, East: -6.9543, Depth: -7.6976ARL : Estimation Bias  (Mean)         : (t = 1488321940.62)
ARL : North: -4.1075, East: -7.2330, Depth: -6.2448TerrainNav:: Windowed NIS is 0.7, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.23 
Alpha[0]	0.123000
Alpha[0]	0.993563
TNavParticleFilter::Modified Variance for beam 1 is 21.80 
Alpha[1]	0.000000
Alpha[1]	0.990194
TNavParticleFilter::Modified Variance for beam 2 is 21.39 
Alpha[2]	0.000000
Alpha[2]	0.987455
TNavParticleFilter::Modified Variance for beam 3 is 19.53 
Alpha[3]	0.000000
Alpha[3]	0.986871
TNavParticleFilter::Modified Variance for beam 4 is 19.09 
Alpha[4]	0.000000
Alpha[4]	0.989367
TNavParticleFilter::Modified Variance for beam 5 is 18.96 
Alpha[5]	0.000000
Alpha[5]	0.991666
TNavParticleFilter::Modified Variance for beam 6 is 19.63 
Alpha[6]	0.000000
Alpha[6]	0.992906
TNavParticleFilter::Modified Variance for beam 7 is 19.29 
Alpha[7]	0.000000
Alpha[7]	0.992809
TNavParticleFilter::Modified Variance for beam 8 is 18.98 
Alpha[8]	0.000000
Alpha[8]	0.991916
TNavParticleFilter::Modified Variance for beam 9 is 18.69 
Alpha[9]	0.000000
Alpha[9]	0.990618
TNavParticleFilter::Modified Variance for beam 10 is 18.40 
Alpha[10]	0.000000
Alpha[10]	0.990435
TNavParticleFilter::Modified Variance for beam 11 is 18.13 
Alpha[11]	0.000000
Alpha[11]	0.990391
TNavParticleFilter::Modified Variance for beam 12 is 17.86 
Alpha[12]	0.000000
Alpha[12]	0.990653
TNavParticleFilter::Modified Variance for beam 13 is 17.60 
Alpha[13]	0.000000
Alpha[13]	0.991697
TNavParticleFilter::Modified Variance for beam 14 is 17.34 
Alpha[14]	0.000000
Alpha[14]	0.993350
TNavParticleFilter::Modified Variance for beam 15 is 17.12 
Alpha[15]	0.000000
Alpha[15]	0.993713
TNavParticleFilter::Modified Variance for beam 16 is 16.92 
Alpha[16]	0.000000
Alpha[16]	0.993669
TNavParticleFilter::Modified Variance for beam 17 is 16.73 
Alpha[17]	0.000000
Alpha[17]	0.993846
TNavParticleFilter::Modified Variance for beam 18 is 16.55 
Alpha[18]	0.000000
Alpha[18]	0.993800
TNavParticleFilter::Modified Variance for beam 19 is 16.39 
Alpha[19]	0.000000
Alpha[19]	0.993667
TNavParticleFilter::Modified Variance for beam 20 is 16.24 
Alpha[20]	0.000000
Alpha[20]	0.993303
TNavParticleFilter::Modified Variance for beam 21 is 15.09 
Alpha[21]	0.000000
Alpha[21]	0.992157
TNavParticleFilter::Modified Variance for beam 22 is 14.99 
Alpha[22]	0.000000
Alpha[22]	0.990452
TNavParticleFilter::Modified Variance for beam 23 is 13.93 
Alpha[23]	0.000000
Alpha[23]	0.989064
TNavParticleFilter::Modified Variance for beam 24 is 13.86 
Alpha[24]	0.000000
Alpha[24]	0.987425
TNavParticleFilter::Modified Variance for beam 25 is 13.80 
Alpha[25]	0.000000
Alpha[25]	0.984700
TNavParticleFilter::Modified Variance for beam 26 is 13.75 
Alpha[26]	0.000000
Alpha[26]	0.982358
TNavParticleFilter::Modified Variance for beam 27 is 13.67 
Alpha[27]	0.000000
Alpha[27]	0.982582
TNavParticleFilter::Modified Variance for beam 28 is 14.51 
Alpha[28]	0.000000
Alpha[28]	0.984347
TNavParticleFilter::Modified Variance for beam 29 is 14.38 
Alpha[29]	0.000000
Alpha[29]	0.988952
TNavParticleFilter::Modified Variance for beam 30 is 14.29 
Alpha[30]	0.000000
Alpha[30]	0.990529
TNavParticleFilter::Modified Variance for beam 31 is 14.24 
Alpha[31]	0.000000
Alpha[31]	0.990344
TNavParticleFilter::Modified Variance for beam 32 is 14.19 
Alpha[32]	0.000000
Alpha[32]	0.990758
TNavParticleFilter::Modified Variance for beam 33 is 14.20 
Alpha[33]	0.000000
Alpha[33]	0.987605
TNavParticleFilter::Modified Variance for beam 34 is 14.15 
Alpha[34]	0.000000
Alpha[34]	0.988358
TNavParticleFilter::Modified Variance for beam 35 is 14.11 
Alpha[35]	0.000000
Alpha[35]	0.989291
TNavParticleFilter::Modified Variance for beam 36 is 14.14 
Alpha[36]	0.000000
Alpha[36]	0.985756
TNavParticleFilter::Modified Variance for beam 37 is 14.10 
Alpha[37]	0.000000
Alpha[37]	0.987663
TNavParticleFilter::Modified Variance for beam 38 is 17.03 
Alpha[38]	0.000000
Alpha[38]	0.987029
TNavParticleFilter::Modified Variance for beam 39 is 16.96 
Alpha[39]	0.000000
Alpha[39]	0.991180
TNavParticleFilter::Modified Variance for beam 40 is 18.10 
Alpha[40]	0.000000
Alpha[40]	0.987167
TNavParticleFilter::Modified Variance for beam 41 is 18.18 
Alpha[41]	0.000000
Alpha[41]	0.983545
TNavParticleFilter::Modified Variance for beam 42 is 18.14 
Alpha[42]	0.000000
Alpha[42]	0.987124
TNavParticleFilter::Modified Variance for beam 43 is 18.11 
Alpha[43]	0.000000
Alpha[43]	0.990368
TNavParticleFilter::Modified Variance for beam 44 is 19.28 
Alpha[44]	0.000000
Alpha[44]	0.989394
TNavParticleFilter::Modified Variance for beam 45 is 19.39 
Alpha[45]	0.000000
Alpha[45]	0.986832
TNavParticleFilter::Modified Variance for beam 46 is 19.47 
Alpha[46]	0.000000
Alpha[46]	0.986225
TNavParticleFilter::Modified Variance for beam 47 is 19.53 
Alpha[47]	0.000000
Alpha[47]	0.987008
TNavParticleFilter::Modified Variance for beam 48 is 20.91 
Alpha[48]	0.000000
Alpha[48]	0.981240
TNavParticleFilter::Modified Variance for beam 49 is 21.24 
Alpha[49]	0.000000
Alpha[49]	0.970761
TNavParticleFilter::Modified Variance for beam 50 is 22.75 
Alpha[50]	0.000000
Alpha[50]	0.964549
TNavParticleFilter::Modified Variance for beam 51 is 22.55 
Alpha[51]	0.000000
Alpha[51]	0.979245
TNavParticleFilter::Modified Variance for beam 52 is 22.52 
Alpha[52]	0.000000
Alpha[52]	0.986782
TNavParticleFilter::Modified Variance for beam 53 is 22.63 
Alpha[53]	0.000000
Alpha[53]	0.989499
TNavParticleFilter::Modified Variance for beam 54 is 22.78 
Alpha[54]	0.000000
Alpha[54]	0.990469
TNavParticleFilter::Modified Variance for beam 55 is 25.68 
Alpha[55]	0.000000
Alpha[55]	0.989384
TNavParticleFilter::Modified Variance for beam 56 is 25.86 
Alpha[56]	0.000000
Alpha[56]	0.991443
TNavParticleFilter::Modified Variance for beam 57 is 26.05 
Alpha[57]	0.000000
Alpha[57]	0.993969
TNavParticleFilter::Modified Variance for beam 58 is 26.31 
Alpha[58]	0.000000
Alpha[58]	0.994383
TNavParticleFilter::Modified Variance for beam 59 is 28.04 
Alpha[59]	0.000000
Alpha[59]	0.995094
TNavPF:: sumSquaredError = 33.113286 
TNavPF:: sumWeights = 0.000086 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 2.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.58. Range = 99.35 
TNavPF::Calculated measDiffMean for beam 36 as 2.71. Range = 98.05 
TNavPF::Calculated measDiffMean for beam 37 as 2.77. Range = 97.09 
TNavPF::Calculated measDiffMean for beam 38 as 2.85. Range = 97.62 
TNavPF::Calculated measDiffMean for beam 39 as 2.92. Range = 91.26 
TNavPF::Calculated measDiffMean for beam 40 as 2.98. Range = 88.63 
TNavPF::Calculated measDiffMean for beam 41 as 3.17. Range = 86.18 
TNavPF::Calculated measDiffMean for beam 42 as 3.39. Range = 76.63 
TNavPF::Calculated measDiffMean for beam 43 as 3.53. Range = 76.36 
TNavPF::Calculated measDiffMean for beam 44 as 3.79. Range = 83.17 
TNavPF::Calculated measDiffMean for beam 45 as 4.12. Range = 83.26 
TNavPF::Calculated measDiffMean for beam 46 as 4.26. Range = 82.62 
TNavPF::Calculated measDiffMean for beam 47 as 4.26. Range = 82.96 
TNavPF::Calculated measDiffMean for beam 48 as 4.26. Range = 82.21 
TNavPF::Calculated measDiffMean for beam 49 as 4.26. Range = 77.43 
TNavPF::Calculated measDiffMean for beam 50 as 4.24. Range = 75.99 
TNavPF::Calculated measDiffMean for beam 51 as 1.99. Range = 77.19 
TNavPF::Calculated measDiffMean for beam 52 as 1.79. Range = 78.86 
TNavPF::Calculated measDiffMean for beam 53 as -0.34. Range = 77.44 
TNavPF::Calculated measDiffMean for beam 54 as -0.24. Range = 73.29 
TNavPF::Calculated measDiffMean for beam 55 as -0.15. Range = 72.06 
TNavPF::Calculated measDiffMean for beam 56 as -0.20. Range = 68.18 
TNavPF::Calculated measDiffMean for beam 57 as -0.38. Range = 67.11 
TNavPF::Calculated measDiffMean for beam 58 as 1.46. Range = 60.83 
TNavPF::Calculated measDiffMean for beam 59 as 0.85. Range = 61.14 
TNavPF::Calculated measDiffMean for beam 60 as -0.02. Range = 61.66 
TNavPF::Calculated measDiffMean for beam 61 as -0.59. Range = 60.82 
TNavPF::Calculated measDiffMean for beam 62 as -1.49. Range = 60.02 
TNavPF::Calculated measDiffMean for beam 63 as -2.37. Range = 56.80 
TNavPF::Calculated measDiffMean for beam 64 as -2.97. Range = 56.11 
TNavPF::Calculated measDiffMean for beam 65 as -3.96. Range = 55.94 
TNavPF::Calculated measDiffMean for beam 66 as -4.62. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 67 as -5.25. Range = 56.58 
TNavPF::Calculated measDiffMean for beam 68 as 0.11. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 69 as -0.76. Range = 55.42 
TNavPF::Calculated measDiffMean for beam 70 as 0.16. Range = 54.88 
TNavPF::Calculated measDiffMean for beam 71 as -0.34. Range = 54.38 
TNavPF::Calculated measDiffMean for beam 72 as -0.71. Range = 53.89 
TNavPF::Calculated measDiffMean for beam 73 as -1.18. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 74 as 0.02. Range = 53.00 
TNavPF::Calculated measDiffMean for beam 75 as -0.39. Range = 52.59 
TNavPF::Calculated measDiffMean for beam 76 as -0.68. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 77 as -1.13. Range = 51.83 
TNavPF::Calculated measDiffMean for beam 78 as 0.21. Range = 51.48 
TNavPF::Calculated measDiffMean for beam 79 as -0.00. Range = 51.15 
TNavPF::Calculated measDiffMean for beam 80 as 1.96. Range = 50.85 
TNavPF::Calculated measDiffMean for beam 81 as 1.98. Range = 48.46 
TNavPF::Calculated measDiffMean for beam 82 as 1.97. Range = 48.20 
TNavPF::Calculated measDiffMean for beam 83 as 1.71. Range = 45.88 
TNavPF::Calculated measDiffMean for beam 84 as 1.25. Range = 45.67 
TNavPF::Calculated measDiffMean for beam 85 as 4.43. Range = 45.47 
TNavPF::Calculated measDiffMean for beam 86 as 3.58. Range = 45.28 
TNavPF::Calculated measDiffMean for beam 87 as 3.25. Range = 45.11 
TNavPF::Calculated measDiffMean for beam 88 as 2.98. Range = 46.99 
TNavPF::Calculated measDiffMean for beam 89 as 5.02. Range = 46.85 
TNavPF::First Term of Map Covariance Matrix is 3.10 
TNavPF::Calculated NIS Value : 19.22 	numBeams normalized NIS: 0.32
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321940.82 sec.
INS : North: 4070201.86, East: 589425.45, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 54.18, IDT[75] = 53.22
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321943.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321943.62)
ARL : North: -4.9301, East: -6.4451, Depth: -5.4217ARL : Estimation Bias  (Mean)         : (t = 1488321943.62)
ARL : North: -3.6274, East: -6.7653, Depth: -7.1961TerrainNav:: Windowed NIS is 0.7, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.12 
Alpha[0]	0.123000
Alpha[0]	0.997948
TNavParticleFilter::Modified Variance for beam 1 is 22.90 
Alpha[1]	0.000000
Alpha[1]	0.996196
TNavParticleFilter::Modified Variance for beam 2 is 23.60 
Alpha[2]	0.000000
Alpha[2]	0.994725
TNavParticleFilter::Modified Variance for beam 3 is 23.05 
Alpha[3]	0.000000
Alpha[3]	0.991872
TNavParticleFilter::Modified Variance for beam 4 is 22.55 
Alpha[4]	0.000000
Alpha[4]	0.988266
TNavParticleFilter::Modified Variance for beam 5 is 20.46 
Alpha[5]	0.000000
Alpha[5]	0.988777
TNavParticleFilter::Modified Variance for beam 6 is 19.94 
Alpha[6]	0.000000
Alpha[6]	0.991063
TNavParticleFilter::Modified Variance for beam 7 is 20.02 
Alpha[7]	0.000000
Alpha[7]	0.993518
TNavParticleFilter::Modified Variance for beam 8 is 20.43 
Alpha[8]	0.000000
Alpha[8]	0.994240
TNavParticleFilter::Modified Variance for beam 9 is 20.01 
Alpha[9]	0.000000
Alpha[9]	0.993914
TNavParticleFilter::Modified Variance for beam 10 is 19.64 
Alpha[10]	0.000000
Alpha[10]	0.992612
TNavParticleFilter::Modified Variance for beam 11 is 19.27 
Alpha[11]	0.000000
Alpha[11]	0.992398
TNavParticleFilter::Modified Variance for beam 12 is 18.91 
Alpha[12]	0.000000
Alpha[12]	0.992680
TNavParticleFilter::Modified Variance for beam 13 is 18.60 
Alpha[13]	0.000000
Alpha[13]	0.992058
TNavParticleFilter::Modified Variance for beam 14 is 18.28 
Alpha[14]	0.000000
Alpha[14]	0.992473
TNavParticleFilter::Modified Variance for beam 15 is 17.96 
Alpha[15]	0.000000
Alpha[15]	0.993577
TNavParticleFilter::Modified Variance for beam 16 is 17.69 
Alpha[16]	0.000000
Alpha[16]	0.993341
TNavParticleFilter::Modified Variance for beam 17 is 17.43 
Alpha[17]	0.000000
Alpha[17]	0.993404
TNavParticleFilter::Modified Variance for beam 18 is 17.18 
Alpha[18]	0.000000
Alpha[18]	0.993588
TNavParticleFilter::Modified Variance for beam 19 is 16.95 
Alpha[19]	0.000000
Alpha[19]	0.993480
TNavParticleFilter::Modified Variance for beam 20 is 16.74 
Alpha[20]	0.000000
Alpha[20]	0.993136
TNavParticleFilter::Modified Variance for beam 21 is 16.56 
Alpha[21]	0.000000
Alpha[21]	0.992229
TNavParticleFilter::Modified Variance for beam 22 is 15.32 
Alpha[22]	0.000000
Alpha[22]	0.990599
TNavParticleFilter::Modified Variance for beam 23 is 14.17 
Alpha[23]	0.000000
Alpha[23]	0.989438
TNavParticleFilter::Modified Variance for beam 24 is 14.04 
Alpha[24]	0.000000
Alpha[24]	0.988146
TNavParticleFilter::Modified Variance for beam 25 is 13.95 
Alpha[25]	0.000000
Alpha[25]	0.985169
TNavParticleFilter::Modified Variance for beam 26 is 13.88 
Alpha[26]	0.000000
Alpha[26]	0.981573
TNavParticleFilter::Modified Variance for beam 27 is 13.76 
Alpha[27]	0.000000
Alpha[27]	0.982056
TNavParticleFilter::Modified Variance for beam 28 is 14.28 
Alpha[28]	0.000000
Alpha[28]	0.984014
TNavParticleFilter::Modified Variance for beam 29 is 14.43 
Alpha[29]	0.000000
Alpha[29]	0.986432
TNavParticleFilter::Modified Variance for beam 30 is 14.30 
Alpha[30]	0.000000
Alpha[30]	0.988473
TNavParticleFilter::Modified Variance for beam 31 is 14.20 
Alpha[31]	0.000000
Alpha[31]	0.989554
TNavParticleFilter::Modified Variance for beam 32 is 14.10 
Alpha[32]	0.000000
Alpha[32]	0.990266
TNavParticleFilter::Modified Variance for beam 33 is 14.04 
Alpha[33]	0.000000
Alpha[33]	0.989264
TNavParticleFilter::Modified Variance for beam 34 is 13.97 
Alpha[34]	0.000000
Alpha[34]	0.989254
TNavParticleFilter::Modified Variance for beam 35 is 13.89 
Alpha[35]	0.000000
Alpha[35]	0.990320
TNavParticleFilter::Modified Variance for beam 36 is 13.85 
Alpha[36]	0.000000
Alpha[36]	0.989126
TNavParticleFilter::Modified Variance for beam 37 is 13.80 
Alpha[37]	0.000000
Alpha[37]	0.988959
TNavParticleFilter::Modified Variance for beam 38 is 13.94 
Alpha[38]	0.000000
Alpha[38]	0.987200
TNavParticleFilter::Modified Variance for beam 39 is 16.65 
Alpha[39]	0.000000
Alpha[39]	0.986507
TNavParticleFilter::Modified Variance for beam 40 is 15.57 
Alpha[40]	0.000000
Alpha[40]	0.989030
TNavParticleFilter::Modified Variance for beam 41 is 17.22 
Alpha[41]	0.000000
Alpha[41]	0.982690
TNavParticleFilter::Modified Variance for beam 42 is 17.62 
Alpha[42]	0.000000
Alpha[42]	0.985613
TNavParticleFilter::Modified Variance for beam 43 is 17.54 
Alpha[43]	0.000000
Alpha[43]	0.989010
TNavParticleFilter::Modified Variance for beam 44 is 17.50 
Alpha[44]	0.000000
Alpha[44]	0.991002
TNavParticleFilter::Modified Variance for beam 45 is 17.53 
Alpha[45]	0.000000
Alpha[45]	0.989368
TNavParticleFilter::Modified Variance for beam 46 is 18.63 
Alpha[46]	0.000000
Alpha[46]	0.988370
TNavParticleFilter::Modified Variance for beam 47 is 18.65 
Alpha[47]	0.000000
Alpha[47]	0.988383
TNavParticleFilter::Modified Variance for beam 48 is 18.70 
Alpha[48]	0.000000
Alpha[48]	0.987065
TNavParticleFilter::Modified Variance for beam 49 is 18.95 
Alpha[49]	0.000000
Alpha[49]	0.976052
TNavParticleFilter::Modified Variance for beam 50 is 20.43 
Alpha[50]	0.000000
Alpha[50]	0.962414
TNavParticleFilter::Modified Variance for beam 51 is 20.57 
Alpha[51]	0.000000
Alpha[51]	0.958583
TNavParticleFilter::Modified Variance for beam 52 is 21.49 
Alpha[52]	0.000000
Alpha[52]	0.975061
TNavParticleFilter::Modified Variance for beam 53 is 21.38 
Alpha[53]	0.000000
Alpha[53]	0.984324
TNavParticleFilter::Modified Variance for beam 54 is 21.39 
Alpha[54]	0.000000
Alpha[54]	0.988079
TNavParticleFilter::Modified Variance for beam 55 is 21.47 
Alpha[55]	0.000000
Alpha[55]	0.989848
TNavParticleFilter::Modified Variance for beam 56 is 21.57 
Alpha[56]	0.000000
Alpha[56]	0.990967
TNavParticleFilter::Modified Variance for beam 57 is 24.29 
Alpha[57]	0.000000
Alpha[57]	0.989095
TNavParticleFilter::Modified Variance for beam 58 is 24.35 
Alpha[58]	0.000000
Alpha[58]	0.993584
TNavParticleFilter::Modified Variance for beam 59 is 24.51 
Alpha[59]	0.000000
Alpha[59]	0.994629
TNavPF:: sumSquaredError = 31.983928 
TNavPF:: sumWeights = 0.000029 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 2.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 2.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 2.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 2.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 2.96. Range = 94.37 
TNavPF::Calculated measDiffMean for beam 44 as 3.10. Range = 91.46 
TNavPF::Calculated measDiffMean for beam 45 as 3.31. Range = 88.75 
TNavPF::Calculated measDiffMean for beam 46 as 3.51. Range = 78.92 
TNavPF::Calculated measDiffMean for beam 47 as 3.49. Range = 79.79 
TNavPF::Calculated measDiffMean for beam 48 as 3.44. Range = 85.51 
TNavPF::Calculated measDiffMean for beam 49 as 3.42. Range = 86.53 
TNavPF::Calculated measDiffMean for beam 50 as 3.40. Range = 85.13 
TNavPF::Calculated measDiffMean for beam 51 as 3.31. Range = 85.84 
TNavPF::Calculated measDiffMean for beam 52 as 0.99. Range = 83.88 
TNavPF::Calculated measDiffMean for beam 53 as -1.22. Range = 78.84 
TNavPF::Calculated measDiffMean for beam 54 as -1.10. Range = 79.44 
TNavPF::Calculated measDiffMean for beam 55 as -0.96. Range = 81.72 
TNavPF::Calculated measDiffMean for beam 56 as -0.97. Range = 80.11 
TNavPF::Calculated measDiffMean for beam 57 as -1.15. Range = 75.62 
TNavPF::Calculated measDiffMean for beam 58 as 0.06. Range = 74.23 
TNavPF::Calculated measDiffMean for beam 59 as 0.16. Range = 70.06 
TNavPF::Calculated measDiffMean for beam 60 as -0.75. Range = 63.25 
TNavPF::Calculated measDiffMean for beam 61 as -1.39. Range = 62.84 
TNavPF::Calculated measDiffMean for beam 62 as -2.11. Range = 63.91 
TNavPF::Calculated measDiffMean for beam 63 as -3.06. Range = 62.92 
TNavPF::Calculated measDiffMean for beam 64 as -3.64. Range = 61.97 
TNavPF::Calculated measDiffMean for beam 65 as -4.47. Range = 58.49 
TNavPF::Calculated measDiffMean for beam 66 as -5.29. Range = 57.67 
TNavPF::Calculated measDiffMean for beam 67 as -5.81. Range = 57.89 
TNavPF::Calculated measDiffMean for beam 68 as -6.18. Range = 58.64 
TNavPF::Calculated measDiffMean for beam 69 as -1.05. Range = 57.90 
TNavPF::Calculated measDiffMean for beam 70 as -4.10. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 71 as -1.81. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 72 as -1.38. Range = 55.90 
TNavPF::Calculated measDiffMean for beam 73 as -1.82. Range = 55.30 
TNavPF::Calculated measDiffMean for beam 74 as -2.44. Range = 54.72 
TNavPF::Calculated measDiffMean for beam 75 as -3.16. Range = 54.18 
TNavPF::Calculated measDiffMean for beam 76 as -1.50. Range = 53.66 
TNavPF::Calculated measDiffMean for beam 77 as -1.78. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 78 as -2.21. Range = 52.70 
TNavPF::Calculated measDiffMean for beam 79 as -2.80. Range = 52.25 
TNavPF::Calculated measDiffMean for beam 80 as -0.96. Range = 51.83 
TNavPF::Calculated measDiffMean for beam 81 as -1.00. Range = 51.43 
TNavPF::Calculated measDiffMean for beam 82 as 1.09. Range = 48.89 
TNavPF::Calculated measDiffMean for beam 83 as 1.19. Range = 46.40 
TNavPF::Calculated measDiffMean for beam 84 as 1.05. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 85 as 0.69. Range = 45.81 
TNavPF::Calculated measDiffMean for beam 86 as -0.27. Range = 45.53 
TNavPF::Calculated measDiffMean for beam 87 as 2.93. Range = 45.28 
TNavPF::Calculated measDiffMean for beam 88 as 2.59. Range = 46.48 
TNavPF::Calculated measDiffMean for beam 89 as 2.30. Range = 46.89 
TNavPF::First Term of Map Covariance Matrix is 9.74 
TNavPF::Calculated NIS Value : 22.02 	numBeams normalized NIS: 0.37
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321943.82 sec.
INS : North: 4070200.94, East: 589421.25, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 47.72, IDT[75] = 63.58
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321946.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321946.62)
ARL : North: -4.4080, East: -6.9159, Depth: -7.4459ARL : Estimation Bias  (Mean)         : (t = 1488321946.62)
ARL : North: -3.5298, East: -5.8468, Depth: -7.3157TerrainNav:: Windowed NIS is 0.7, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.68 
Alpha[0]	0.123000
Alpha[0]	0.995027
TNavParticleFilter::Modified Variance for beam 1 is 19.33 
Alpha[1]	0.000000
Alpha[1]	0.993294
TNavParticleFilter::Modified Variance for beam 2 is 18.96 
Alpha[2]	0.000000
Alpha[2]	0.993078
TNavParticleFilter::Modified Variance for beam 3 is 18.62 
Alpha[3]	0.000000
Alpha[3]	0.993097
TNavParticleFilter::Modified Variance for beam 4 is 18.29 
Alpha[4]	0.000000
Alpha[4]	0.993117
TNavParticleFilter::Modified Variance for beam 5 is 17.98 
Alpha[5]	0.000000
Alpha[5]	0.993327
TNavParticleFilter::Modified Variance for beam 6 is 16.50 
Alpha[6]	0.000000
Alpha[6]	0.992979
TNavParticleFilter::Modified Variance for beam 7 is 16.26 
Alpha[7]	0.000000
Alpha[7]	0.992441
TNavParticleFilter::Modified Variance for beam 8 is 16.04 
Alpha[8]	0.000000
Alpha[8]	0.991597
TNavParticleFilter::Modified Variance for beam 9 is 15.84 
Alpha[9]	0.000000
Alpha[9]	0.990696
TNavParticleFilter::Modified Variance for beam 10 is 15.64 
Alpha[10]	0.000000
Alpha[10]	0.990103
TNavParticleFilter::Modified Variance for beam 11 is 15.45 
Alpha[11]	0.000000
Alpha[11]	0.989317
TNavParticleFilter::Modified Variance for beam 12 is 15.31 
Alpha[12]	0.000000
Alpha[12]	0.986913
TNavParticleFilter::Modified Variance for beam 13 is 15.16 
Alpha[13]	0.000000
Alpha[13]	0.985222
TNavParticleFilter::Modified Variance for beam 14 is 14.98 
Alpha[14]	0.000000
Alpha[14]	0.986103
TNavParticleFilter::Modified Variance for beam 15 is 14.82 
Alpha[15]	0.000000
Alpha[15]	0.986826
TNavParticleFilter::Modified Variance for beam 16 is 14.68 
Alpha[16]	0.000000
Alpha[16]	0.986693
TNavParticleFilter::Modified Variance for beam 17 is 14.51 
Alpha[17]	0.000000
Alpha[17]	0.989275
TNavParticleFilter::Modified Variance for beam 18 is 14.34 
Alpha[18]	0.000000
Alpha[18]	0.992110
TNavParticleFilter::Modified Variance for beam 19 is 14.23 
Alpha[19]	0.000000
Alpha[19]	0.992214
TNavParticleFilter::Modified Variance for beam 20 is 14.12 
Alpha[20]	0.000000
Alpha[20]	0.991992
TNavParticleFilter::Modified Variance for beam 21 is 14.01 
Alpha[21]	0.000000
Alpha[21]	0.993040
TNavParticleFilter::Modified Variance for beam 22 is 13.92 
Alpha[22]	0.000000
Alpha[22]	0.992624
TNavParticleFilter::Modified Variance for beam 23 is 13.84 
Alpha[23]	0.000000
Alpha[23]	0.992571
TNavParticleFilter::Modified Variance for beam 24 is 14.62 
Alpha[24]	0.000000
Alpha[24]	0.992757
TNavParticleFilter::Modified Variance for beam 25 is 16.65 
Alpha[25]	0.000000
Alpha[25]	0.990595
TNavParticleFilter::Modified Variance for beam 26 is 16.59 
Alpha[26]	0.000000
Alpha[26]	0.989334
TNavParticleFilter::Modified Variance for beam 27 is 16.50 
Alpha[27]	0.000000
Alpha[27]	0.990653
TNavParticleFilter::Modified Variance for beam 28 is 17.51 
Alpha[28]	0.000000
Alpha[28]	0.988785
TNavParticleFilter::Modified Variance for beam 29 is 17.44 
Alpha[29]	0.000000
Alpha[29]	0.989325
TNavParticleFilter::Modified Variance for beam 30 is 17.35 
Alpha[30]	0.000000
Alpha[30]	0.991358
TNavParticleFilter::Modified Variance for beam 31 is 17.30 
Alpha[31]	0.000000
Alpha[31]	0.991929
TNavParticleFilter::Modified Variance for beam 32 is 18.32 
Alpha[32]	0.000000
Alpha[32]	0.992828
TNavParticleFilter::Modified Variance for beam 33 is 18.30 
Alpha[33]	0.000000
Alpha[33]	0.992458
TNavParticleFilter::Modified Variance for beam 34 is 18.95 
Alpha[34]	0.000000
Alpha[34]	0.992038
TNavParticleFilter::Modified Variance for beam 35 is 19.40 
Alpha[35]	0.000000
Alpha[35]	0.990684
TNavParticleFilter::Modified Variance for beam 36 is 19.55 
Alpha[36]	0.000000
Alpha[36]	0.983439
TNavParticleFilter::Modified Variance for beam 37 is 19.91 
Alpha[37]	0.000000
Alpha[37]	0.966126
TNavParticleFilter::Modified Variance for beam 38 is 20.12 
Alpha[38]	0.000000
Alpha[38]	0.956905
TNavParticleFilter::Modified Variance for beam 39 is 21.19 
Alpha[39]	0.000000
Alpha[39]	0.963586
TNavParticleFilter::Modified Variance for beam 40 is 20.88 
Alpha[40]	0.000000
Alpha[40]	0.979978
TNavParticleFilter::Modified Variance for beam 41 is 20.83 
Alpha[41]	0.000000
Alpha[41]	0.984601
TNavParticleFilter::Modified Variance for beam 42 is 22.04 
Alpha[42]	0.000000
Alpha[42]	0.987355
TNavParticleFilter::Modified Variance for beam 43 is 22.04 
Alpha[43]	0.000000
Alpha[43]	0.990945
TNavParticleFilter::Modified Variance for beam 44 is 23.35 
Alpha[44]	0.000000
Alpha[44]	0.992111
TNavParticleFilter::Modified Variance for beam 45 is 23.54 
Alpha[45]	0.000000
Alpha[45]	0.988666
TNavParticleFilter::Modified Variance for beam 46 is 23.56 
Alpha[46]	0.000000
Alpha[46]	0.993201
TNavParticleFilter::Modified Variance for beam 47 is 23.65 
Alpha[47]	0.000000
Alpha[47]	0.994878
TNavParticleFilter::Modified Variance for beam 48 is 23.81 
Alpha[48]	0.000000
Alpha[48]	0.994732
TNavParticleFilter::Modified Variance for beam 49 is 25.32 
Alpha[49]	0.000000
Alpha[49]	0.994067
TNavParticleFilter::Modified Variance for beam 50 is 25.54 
Alpha[50]	0.000000
Alpha[50]	0.992982
TNavParticleFilter::Modified Variance for beam 51 is 25.68 
Alpha[51]	0.000000
Alpha[51]	0.995481
TNavParticleFilter::Modified Variance for beam 52 is 25.86 
Alpha[52]	0.000000
Alpha[52]	0.997256
TNavParticleFilter::Modified Variance for beam 53 is 26.08 
Alpha[53]	0.000000
Alpha[53]	0.998050
TNavParticleFilter::Modified Variance for beam 54 is 20.30 
Alpha[54]	0.000000
Alpha[54]	0.998599
TNavParticleFilter::Modified Variance for beam 55 is 17.66 
Alpha[55]	0.000000
Alpha[55]	0.998892
TNavParticleFilter::Modified Variance for beam 56 is 17.29 
Alpha[56]	0.000000
Alpha[56]	0.999056
TNavParticleFilter::Modified Variance for beam 57 is 16.10 
Alpha[57]	0.000000
Alpha[57]	0.999102
TNavParticleFilter::Modified Variance for beam 58 is 15.06 
Alpha[58]	0.000000
Alpha[58]	0.998990
TNavParticleFilter::Modified Variance for beam 59 is 15.12 
Alpha[59]	0.000000
Alpha[59]	0.999047
TNavPF:: sumSquaredError = 83.936983 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 3.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 3.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 3.39. Range = 96.78 
TNavPF::Calculated measDiffMean for beam 34 as 3.26. Range = 95.17 
TNavPF::Calculated measDiffMean for beam 35 as 3.17. Range = 82.63 
TNavPF::Calculated measDiffMean for beam 36 as 0.87. Range = 83.10 
TNavPF::Calculated measDiffMean for beam 37 as 0.87. Range = 89.36 
TNavPF::Calculated measDiffMean for beam 38 as 0.83. Range = 89.67 
TNavPF::Calculated measDiffMean for beam 39 as 0.77. Range = 88.29 
TNavPF::Calculated measDiffMean for beam 40 as 0.80. Range = 82.43 
TNavPF::Calculated measDiffMean for beam 41 as 1.00. Range = 83.04 
TNavPF::Calculated measDiffMean for beam 42 as 1.19. Range = 81.86 
TNavPF::Calculated measDiffMean for beam 43 as 1.13. Range = 82.69 
TNavPF::Calculated measDiffMean for beam 44 as 0.88. Range = 84.65 
TNavPF::Calculated measDiffMean for beam 45 as 0.56. Range = 82.84 
TNavPF::Calculated measDiffMean for beam 46 as -0.06. Range = 78.06 
TNavPF::Calculated measDiffMean for beam 47 as -0.96. Range = 76.51 
TNavPF::Calculated measDiffMean for beam 48 as -1.67. Range = 75.04 
TNavPF::Calculated measDiffMean for beam 49 as -2.43. Range = 64.93 
TNavPF::Calculated measDiffMean for beam 50 as -3.36. Range = 63.86 
TNavPF::Calculated measDiffMean for beam 51 as -4.01. Range = 64.99 
TNavPF::Calculated measDiffMean for beam 52 as -4.76. Range = 64.38 
TNavPF::Calculated measDiffMean for beam 53 as -5.61. Range = 63.34 
TNavPF::Calculated measDiffMean for beam 54 as -4.27. Range = 62.35 
TNavPF::Calculated measDiffMean for beam 55 as -0.63. Range = 61.41 
TNavPF::Calculated measDiffMean for beam 56 as -1.09. Range = 62.16 
TNavPF::Calculated measDiffMean for beam 57 as -1.89. Range = 59.67 
TNavPF::Calculated measDiffMean for beam 58 as -0.84. Range = 58.86 
TNavPF::Calculated measDiffMean for beam 59 as -1.35. Range = 58.09 
TNavPF::Calculated measDiffMean for beam 60 as -2.01. Range = 57.36 
TNavPF::Calculated measDiffMean for beam 61 as -2.50. Range = 56.66 
TNavPF::Calculated measDiffMean for beam 62 as -1.27. Range = 56.00 
TNavPF::Calculated measDiffMean for beam 63 as -1.74. Range = 55.37 
TNavPF::Calculated measDiffMean for beam 64 as -0.84. Range = 54.77 
TNavPF::Calculated measDiffMean for beam 65 as -0.27. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 66 as -0.56. Range = 51.36 
TNavPF::Calculated measDiffMean for beam 67 as -0.75. Range = 50.86 
TNavPF::Calculated measDiffMean for beam 68 as -0.76. Range = 50.39 
TNavPF::Calculated measDiffMean for beam 69 as 1.30. Range = 49.95 
TNavPF::Calculated measDiffMean for beam 70 as 1.54. Range = 49.52 
TNavPF::Calculated measDiffMean for beam 71 as 1.70. Range = 49.12 
TNavPF::Calculated measDiffMean for beam 72 as 3.65. Range = 48.74 
TNavPF::Calculated measDiffMean for beam 73 as 3.27. Range = 48.38 
TNavPF::Calculated measDiffMean for beam 74 as 4.16. Range = 48.04 
TNavPF::Calculated measDiffMean for beam 75 as 3.51. Range = 47.72 
TNavPF::Calculated measDiffMean for beam 76 as 3.64. Range = 47.42 
TNavPF::Calculated measDiffMean for beam 77 as 3.35. Range = 47.14 
TNavPF::Calculated measDiffMean for beam 78 as 2.78. Range = 46.87 
TNavPF::Calculated measDiffMean for beam 79 as 4.53. Range = 46.62 
TNavPF::Calculated measDiffMean for beam 80 as 4.34. Range = 46.39 
TNavPF::Calculated measDiffMean for beam 81 as 4.73. Range = 46.17 
TNavPF::Calculated measDiffMean for beam 82 as 4.91. Range = 45.97 
TNavPF::Calculated measDiffMean for beam 83 as 4.86. Range = 45.79 
TNavPF::Calculated measDiffMean for beam 84 as -4.38. Range = 47.48 
TNavPF::Calculated measDiffMean for beam 85 as -8.43. Range = 51.57 
TNavPF::Calculated measDiffMean for beam 86 as -8.57. Range = 51.41 
TNavPF::Calculated measDiffMean for beam 87 as -10.36. Range = 51.27 
TNavPF::Calculated measDiffMean for beam 88 as -11.71. Range = 53.16 
TNavPF::Calculated measDiffMean for beam 89 as -11.14. Range = 53.05 
TNavPF::First Term of Map Covariance Matrix is 4.01 
TNavPF::Calculated NIS Value : 28.15 	numBeams normalized NIS: 0.47
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321946.82 sec.
INS : North: 4070200.71, East: 589417.02, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 53.72, IDT[75] = 50.21
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321949.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321949.62)
ARL : North: -3.7348, East: -6.1117, Depth: -2.2817ARL : Estimation Bias  (Mean)         : (t = 1488321949.62)
ARL : North: -3.0740, East: -5.7085, Depth: -3.6749TerrainNav:: Windowed NIS is 0.7, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.67 
Alpha[0]	0.123000
Alpha[0]	0.984322
TNavParticleFilter::Modified Variance for beam 1 is 15.45 
Alpha[1]	0.000000
Alpha[1]	0.986804
TNavParticleFilter::Modified Variance for beam 2 is 15.25 
Alpha[2]	0.000000
Alpha[2]	0.988019
TNavParticleFilter::Modified Variance for beam 3 is 15.27 
Alpha[3]	0.000000
Alpha[3]	0.987149
TNavParticleFilter::Modified Variance for beam 4 is 15.99 
Alpha[4]	0.000000
Alpha[4]	0.987344
TNavParticleFilter::Modified Variance for beam 5 is 15.86 
Alpha[5]	0.000000
Alpha[5]	0.985652
TNavParticleFilter::Modified Variance for beam 6 is 15.94 
Alpha[6]	0.000000
Alpha[6]	0.983816
TNavParticleFilter::Modified Variance for beam 7 is 16.61 
Alpha[7]	0.000000
Alpha[7]	0.986065
TNavParticleFilter::Modified Variance for beam 8 is 16.49 
Alpha[8]	0.000000
Alpha[8]	0.985256
TNavParticleFilter::Modified Variance for beam 9 is 16.89 
Alpha[9]	0.000000
Alpha[9]	0.984061
TNavParticleFilter::Modified Variance for beam 10 is 17.29 
Alpha[10]	0.000000
Alpha[10]	0.986131
TNavParticleFilter::Modified Variance for beam 11 is 17.19 
Alpha[11]	0.000000
Alpha[11]	0.985248
TNavParticleFilter::Modified Variance for beam 12 is 18.14 
Alpha[12]	0.000000
Alpha[12]	0.986711
TNavParticleFilter::Modified Variance for beam 13 is 18.02 
Alpha[13]	0.000000
Alpha[13]	0.987258
TNavParticleFilter::Modified Variance for beam 14 is 18.05 
Alpha[14]	0.000000
Alpha[14]	0.980314
TNavParticleFilter::Modified Variance for beam 15 is 17.91 
Alpha[15]	0.000000
Alpha[15]	0.983053
TNavParticleFilter::Modified Variance for beam 16 is 17.77 
Alpha[16]	0.000000
Alpha[16]	0.986576
TNavParticleFilter::Modified Variance for beam 17 is 19.89 
Alpha[17]	0.000000
Alpha[17]	0.988421
TNavParticleFilter::Modified Variance for beam 18 is 19.84 
Alpha[18]	0.000000
Alpha[18]	0.987519
TNavParticleFilter::Modified Variance for beam 19 is 19.81 
Alpha[19]	0.000000
Alpha[19]	0.986102
TNavParticleFilter::Modified Variance for beam 20 is 19.75 
Alpha[20]	0.000000
Alpha[20]	0.986287
TNavParticleFilter::Modified Variance for beam 21 is 20.87 
Alpha[21]	0.000000
Alpha[21]	0.986298
TNavParticleFilter::Modified Variance for beam 22 is 20.92 
Alpha[22]	0.000000
Alpha[22]	0.982447
TNavParticleFilter::Modified Variance for beam 23 is 21.11 
Alpha[23]	0.000000
Alpha[23]	0.972767
TNavParticleFilter::Modified Variance for beam 24 is 21.23 
Alpha[24]	0.000000
Alpha[24]	0.966957
TNavParticleFilter::Modified Variance for beam 25 is 22.29 
Alpha[25]	0.000000
Alpha[25]	0.973723
TNavParticleFilter::Modified Variance for beam 26 is 22.09 
Alpha[26]	0.000000
Alpha[26]	0.982934
TNavParticleFilter::Modified Variance for beam 27 is 22.03 
Alpha[27]	0.000000
Alpha[27]	0.986724
TNavParticleFilter::Modified Variance for beam 28 is 22.04 
Alpha[28]	0.000000
Alpha[28]	0.988071
TNavParticleFilter::Modified Variance for beam 29 is 22.97 
Alpha[29]	0.000000
Alpha[29]	0.989360
TNavParticleFilter::Modified Variance for beam 30 is 23.44 
Alpha[30]	0.000000
Alpha[30]	0.985944
TNavParticleFilter::Modified Variance for beam 31 is 23.46 
Alpha[31]	0.000000
Alpha[31]	0.987916
TNavParticleFilter::Modified Variance for beam 32 is 23.42 
Alpha[32]	0.000000
Alpha[32]	0.993289
TNavParticleFilter::Modified Variance for beam 33 is 23.49 
Alpha[33]	0.000000
Alpha[33]	0.994692
TNavParticleFilter::Modified Variance for beam 34 is 24.87 
Alpha[34]	0.000000
Alpha[34]	0.995924
TNavParticleFilter::Modified Variance for beam 35 is 24.97 
Alpha[35]	0.000000
Alpha[35]	0.997430
TNavParticleFilter::Modified Variance for beam 36 is 25.09 
Alpha[36]	0.000000
Alpha[36]	0.998514
TNavParticleFilter::Modified Variance for beam 37 is 25.24 
Alpha[37]	0.000000
Alpha[37]	0.999043
TNavParticleFilter::Modified Variance for beam 38 is 25.41 
Alpha[38]	0.000000
Alpha[38]	0.999257
TNavParticleFilter::Modified Variance for beam 39 is 19.22 
Alpha[39]	0.000000
Alpha[39]	0.999375
TNavParticleFilter::Modified Variance for beam 40 is 17.33 
Alpha[40]	0.000000
Alpha[40]	0.999455
TNavParticleFilter::Modified Variance for beam 41 is 17.35 
Alpha[41]	0.000000
Alpha[41]	0.999486
TNavParticleFilter::Modified Variance for beam 42 is 17.50 
Alpha[42]	0.000000
Alpha[42]	0.999472
TNavParticleFilter::Modified Variance for beam 43 is 16.29 
Alpha[43]	0.000000
Alpha[43]	0.999445
TNavParticleFilter::Modified Variance for beam 44 is 15.67 
Alpha[44]	0.000000
Alpha[44]	0.999391
TNavParticleFilter::Modified Variance for beam 45 is 15.83 
Alpha[45]	0.000000
Alpha[45]	0.999409
TNavParticleFilter::Modified Variance for beam 46 is 16.00 
Alpha[46]	0.000000
Alpha[46]	0.999478
TNavParticleFilter::Modified Variance for beam 47 is 16.17 
Alpha[47]	0.000000
Alpha[47]	0.999497
TNavParticleFilter::Modified Variance for beam 48 is 16.11 
Alpha[48]	0.000000
Alpha[48]	0.999442
TNavParticleFilter::Modified Variance for beam 49 is 15.17 
Alpha[49]	0.000000
Alpha[49]	0.999331
TNavParticleFilter::Modified Variance for beam 50 is 14.62 
Alpha[50]	0.000000
Alpha[50]	0.999215
TNavParticleFilter::Modified Variance for beam 51 is 14.81 
Alpha[51]	0.000000
Alpha[51]	0.999176
TNavParticleFilter::Modified Variance for beam 52 is 15.01 
Alpha[52]	0.000000
Alpha[52]	0.999146
TNavParticleFilter::Modified Variance for beam 53 is 15.23 
Alpha[53]	0.000000
Alpha[53]	0.999046
TNavParticleFilter::Modified Variance for beam 54 is 15.47 
Alpha[54]	0.000000
Alpha[54]	0.998789
TNavParticleFilter::Modified Variance for beam 55 is 15.72 
Alpha[55]	0.000000
Alpha[55]	0.998408
TNavParticleFilter::Modified Variance for beam 56 is 15.99 
Alpha[56]	0.000000
Alpha[56]	0.998129
TNavParticleFilter::Modified Variance for beam 57 is 16.27 
Alpha[57]	0.000000
Alpha[57]	0.997897
TNavParticleFilter::Modified Variance for beam 58 is 16.37 
Alpha[58]	0.000000
Alpha[58]	0.997471
TNavParticleFilter::Modified Variance for beam 59 is 15.74 
Alpha[59]	0.000000
Alpha[59]	0.996819
TNavPF:: sumSquaredError = 35.952698 
TNavPF:: sumWeights = 0.000035 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.12. Range = 90.90 
TNavPF::Calculated measDiffMean for beam 31 as 0.58. Range = 88.87 
TNavPF::Calculated measDiffMean for beam 32 as -0.23. Range = 86.84 
TNavPF::Calculated measDiffMean for beam 33 as -0.58. Range = 86.88 
TNavPF::Calculated measDiffMean for beam 34 as 0.49. Range = 86.27 
TNavPF::Calculated measDiffMean for beam 35 as -0.40. Range = 78.35 
TNavPF::Calculated measDiffMean for beam 36 as -0.66. Range = 67.76 
TNavPF::Calculated measDiffMean for beam 37 as 0.33. Range = 67.70 
TNavPF::Calculated measDiffMean for beam 38 as -0.51. Range = 68.14 
TNavPF::Calculated measDiffMean for beam 39 as -0.13. Range = 66.92 
TNavPF::Calculated measDiffMean for beam 40 as 0.33. Range = 65.77 
TNavPF::Calculated measDiffMean for beam 41 as -0.27. Range = 66.71 
TNavPF::Calculated measDiffMean for beam 42 as 1.11. Range = 63.63 
TNavPF::Calculated measDiffMean for beam 43 as 0.11. Range = 63.24 
TNavPF::Calculated measDiffMean for beam 44 as -0.60. Range = 64.33 
TNavPF::Calculated measDiffMean for beam 45 as -0.99. Range = 60.81 
TNavPF::Calculated measDiffMean for beam 46 as -1.33. Range = 59.96 
TNavPF::Calculated measDiffMean for beam 47 as 2.12. Range = 59.15 
TNavPF::Calculated measDiffMean for beam 48 as 1.46. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 49 as 1.06. Range = 57.65 
TNavPF::Calculated measDiffMean for beam 50 as 0.80. Range = 56.95 
TNavPF::Calculated measDiffMean for beam 51 as 2.40. Range = 53.89 
TNavPF::Calculated measDiffMean for beam 52 as 1.81. Range = 53.29 
TNavPF::Calculated measDiffMean for beam 53 as 1.48. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 54 as 1.40. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 55 as 3.41. Range = 51.64 
TNavPF::Calculated measDiffMean for beam 56 as 3.45. Range = 51.15 
TNavPF::Calculated measDiffMean for beam 57 as 3.34. Range = 50.68 
TNavPF::Calculated measDiffMean for beam 58 as 3.06. Range = 50.23 
TNavPF::Calculated measDiffMean for beam 59 as 4.02. Range = 49.81 
TNavPF::Calculated measDiffMean for beam 60 as 3.77. Range = 49.41 
TNavPF::Calculated measDiffMean for beam 61 as 3.17. Range = 49.03 
TNavPF::Calculated measDiffMean for beam 62 as 2.78. Range = 48.67 
TNavPF::Calculated measDiffMean for beam 63 as 2.46. Range = 48.67 
TNavPF::Calculated measDiffMean for beam 64 as 4.31. Range = 50.14 
TNavPF::Calculated measDiffMean for beam 65 as 4.44. Range = 49.82 
TNavPF::Calculated measDiffMean for beam 66 as 5.10. Range = 49.92 
TNavPF::Calculated measDiffMean for beam 67 as 6.48. Range = 51.35 
TNavPF::Calculated measDiffMean for beam 68 as 7.64. Range = 51.08 
TNavPF::Calculated measDiffMean for beam 69 as -2.08. Range = 51.82 
TNavPF::Calculated measDiffMean for beam 70 as -4.82. Range = 52.65 
TNavPF::Calculated measDiffMean for beam 71 as -3.61. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 72 as -2.40. Range = 54.27 
TNavPF::Calculated measDiffMean for beam 73 as -4.18. Range = 54.07 
TNavPF::Calculated measDiffMean for beam 74 as -4.74. Range = 53.89 
TNavPF::Calculated measDiffMean for beam 75 as -3.54. Range = 53.72 
TNavPF::Calculated measDiffMean for beam 76 as -2.37. Range = 53.58 
TNavPF::Calculated measDiffMean for beam 77 as -0.97. Range = 57.48 
TNavPF::Calculated measDiffMean for beam 78 as 0.30. Range = 57.36 
TNavPF::Calculated measDiffMean for beam 79 as -0.55. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 80 as -1.38. Range = 57.17 
TNavPF::Calculated measDiffMean for beam 81 as -1.65. Range = 59.11 
TNavPF::Calculated measDiffMean for beam 82 as -2.14. Range = 59.06 
TNavPF::Calculated measDiffMean for beam 83 as -1.94. Range = 59.03 
TNavPF::Calculated measDiffMean for beam 84 as -1.20. Range = 59.01 
TNavPF::Calculated measDiffMean for beam 85 as -0.55. Range = 61.01 
TNavPF::Calculated measDiffMean for beam 86 as 0.12. Range = 61.03 
TNavPF::Calculated measDiffMean for beam 87 as 1.02. Range = 61.07 
TNavPF::Calculated measDiffMean for beam 88 as 1.66. Range = 61.13 
TNavPF::Calculated measDiffMean for beam 89 as 0.75. Range = 62.70 
TNavPF::First Term of Map Covariance Matrix is 1.27 
TNavPF::Calculated NIS Value : 13.09 	numBeams normalized NIS: 0.22
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321949.82 sec.
INS : North: 4070201.02, East: 589412.80, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 54.61, IDT[75] = 47.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321952.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321952.62)
ARL : North: -2.2017, East: -5.7807, Depth: -3.6852ARL : Estimation Bias  (Mean)         : (t = 1488321952.62)
ARL : North: -2.4151, East: -5.7143, Depth: -2.5980TerrainNav:: Windowed NIS is 0.7, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.60 
Alpha[0]	0.123000
Alpha[0]	0.986663
TNavParticleFilter::Modified Variance for beam 1 is 16.32 
Alpha[1]	0.000000
Alpha[1]	0.989020
TNavParticleFilter::Modified Variance for beam 2 is 16.07 
Alpha[2]	0.000000
Alpha[2]	0.990508
TNavParticleFilter::Modified Variance for beam 3 is 16.34 
Alpha[3]	0.000000
Alpha[3]	0.987864
TNavParticleFilter::Modified Variance for beam 4 is 16.85 
Alpha[4]	0.000000
Alpha[4]	0.985126
TNavParticleFilter::Modified Variance for beam 5 is 16.68 
Alpha[5]	0.000000
Alpha[5]	0.982690
TNavParticleFilter::Modified Variance for beam 6 is 17.07 
Alpha[6]	0.000000
Alpha[6]	0.978669
TNavParticleFilter::Modified Variance for beam 7 is 15.42 
Alpha[7]	0.000000
Alpha[7]	0.981560
TNavParticleFilter::Modified Variance for beam 8 is 17.29 
Alpha[8]	0.000000
Alpha[8]	0.979252
TNavParticleFilter::Modified Variance for beam 9 is 17.97 
Alpha[9]	0.000000
Alpha[9]	0.976085
TNavParticleFilter::Modified Variance for beam 10 is 18.00 
Alpha[10]	0.000000
Alpha[10]	0.982966
TNavParticleFilter::Modified Variance for beam 11 is 17.79 
Alpha[11]	0.000000
Alpha[11]	0.985717
TNavParticleFilter::Modified Variance for beam 12 is 18.72 
Alpha[12]	0.000000
Alpha[12]	0.987883
TNavParticleFilter::Modified Variance for beam 13 is 18.57 
Alpha[13]	0.000000
Alpha[13]	0.988029
TNavParticleFilter::Modified Variance for beam 14 is 18.51 
Alpha[14]	0.000000
Alpha[14]	0.983628
TNavParticleFilter::Modified Variance for beam 15 is 18.39 
Alpha[15]	0.000000
Alpha[15]	0.982859
TNavParticleFilter::Modified Variance for beam 16 is 18.52 
Alpha[16]	0.000000
Alpha[16]	0.984009
TNavParticleFilter::Modified Variance for beam 17 is 19.22 
Alpha[17]	0.000000
Alpha[17]	0.986605
TNavParticleFilter::Modified Variance for beam 18 is 19.12 
Alpha[18]	0.000000
Alpha[18]	0.986032
TNavParticleFilter::Modified Variance for beam 19 is 20.24 
Alpha[19]	0.000000
Alpha[19]	0.982533
TNavParticleFilter::Modified Variance for beam 20 is 20.20 
Alpha[20]	0.000000
Alpha[20]	0.980012
TNavParticleFilter::Modified Variance for beam 21 is 20.05 
Alpha[21]	0.000000
Alpha[21]	0.983681
TNavParticleFilter::Modified Variance for beam 22 is 19.94 
Alpha[22]	0.000000
Alpha[22]	0.985224
TNavParticleFilter::Modified Variance for beam 23 is 21.11 
Alpha[23]	0.000000
Alpha[23]	0.982428
TNavParticleFilter::Modified Variance for beam 24 is 21.17 
Alpha[24]	0.000000
Alpha[24]	0.977268
TNavParticleFilter::Modified Variance for beam 25 is 21.08 
Alpha[25]	0.000000
Alpha[25]	0.979143
TNavParticleFilter::Modified Variance for beam 26 is 20.93 
Alpha[26]	0.000000
Alpha[26]	0.984972
TNavParticleFilter::Modified Variance for beam 27 is 22.05 
Alpha[27]	0.000000
Alpha[27]	0.987107
TNavParticleFilter::Modified Variance for beam 28 is 22.03 
Alpha[28]	0.000000
Alpha[28]	0.987469
TNavParticleFilter::Modified Variance for beam 29 is 23.31 
Alpha[29]	0.000000
Alpha[29]	0.985734
TNavParticleFilter::Modified Variance for beam 30 is 23.41 
Alpha[30]	0.000000
Alpha[30]	0.981695
TNavParticleFilter::Modified Variance for beam 31 is 23.21 
Alpha[31]	0.000000
Alpha[31]	0.991501
TNavParticleFilter::Modified Variance for beam 32 is 23.13 
Alpha[32]	0.000000
Alpha[32]	0.996165
TNavParticleFilter::Modified Variance for beam 33 is 23.14 
Alpha[33]	0.000000
Alpha[33]	0.997847
TNavParticleFilter::Modified Variance for beam 34 is 23.18 
Alpha[34]	0.000000
Alpha[34]	0.998869
TNavParticleFilter::Modified Variance for beam 35 is 24.51 
Alpha[35]	0.000000
Alpha[35]	0.999281
TNavParticleFilter::Modified Variance for beam 36 is 24.60 
Alpha[36]	0.000000
Alpha[36]	0.999506
TNavParticleFilter::Modified Variance for beam 37 is 24.70 
Alpha[37]	0.000000
Alpha[37]	0.999581
TNavParticleFilter::Modified Variance for beam 38 is 24.82 
Alpha[38]	0.000000
Alpha[38]	0.999600
TNavParticleFilter::Modified Variance for beam 39 is 18.75 
Alpha[39]	0.000000
Alpha[39]	0.999612
TNavParticleFilter::Modified Variance for beam 40 is 16.79 
Alpha[40]	0.000000
Alpha[40]	0.999607
TNavParticleFilter::Modified Variance for beam 41 is 14.32 
Alpha[41]	0.000000
Alpha[41]	0.999550
TNavParticleFilter::Modified Variance for beam 42 is 14.01 
Alpha[42]	0.000000
Alpha[42]	0.999474
TNavParticleFilter::Modified Variance for beam 43 is 14.10 
Alpha[43]	0.000000
Alpha[43]	0.999418
TNavParticleFilter::Modified Variance for beam 44 is 14.20 
Alpha[44]	0.000000
Alpha[44]	0.999376
TNavParticleFilter::Modified Variance for beam 45 is 14.31 
Alpha[45]	0.000000
Alpha[45]	0.999360
TNavParticleFilter::Modified Variance for beam 46 is 14.42 
Alpha[46]	0.000000
Alpha[46]	0.999373
TNavParticleFilter::Modified Variance for beam 47 is 14.55 
Alpha[47]	0.000000
Alpha[47]	0.999303
TNavParticleFilter::Modified Variance for beam 48 is 14.69 
Alpha[48]	0.000000
Alpha[48]	0.999158
TNavParticleFilter::Modified Variance for beam 49 is 13.96 
Alpha[49]	0.000000
Alpha[49]	0.999007
TNavParticleFilter::Modified Variance for beam 50 is 13.99 
Alpha[50]	0.000000
Alpha[50]	0.998927
TNavParticleFilter::Modified Variance for beam 51 is 14.14 
Alpha[51]	0.000000
Alpha[51]	0.998856
TNavParticleFilter::Modified Variance for beam 52 is 14.30 
Alpha[52]	0.000000
Alpha[52]	0.998691
TNavParticleFilter::Modified Variance for beam 53 is 14.47 
Alpha[53]	0.000000
Alpha[53]	0.998298
TNavParticleFilter::Modified Variance for beam 54 is 14.66 
Alpha[54]	0.000000
Alpha[54]	0.997582
TNavParticleFilter::Modified Variance for beam 55 is 14.86 
Alpha[55]	0.000000
Alpha[55]	0.997075
TNavParticleFilter::Modified Variance for beam 56 is 15.07 
Alpha[56]	0.000000
Alpha[56]	0.996890
TNavParticleFilter::Modified Variance for beam 57 is 15.29 
Alpha[57]	0.000000
Alpha[57]	0.996507
TNavParticleFilter::Modified Variance for beam 58 is 15.38 
Alpha[58]	0.000000
Alpha[58]	0.995914
TNavParticleFilter::Modified Variance for beam 59 is 14.69 
Alpha[59]	0.000000
Alpha[59]	0.995844
TNavPF:: sumSquaredError = 201.297308 
TNavPF:: sumWeights = 0.000025 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.70. Range = 96.24 
TNavPF::Calculated measDiffMean for beam 31 as 0.18. Range = 95.19 
TNavPF::Calculated measDiffMean for beam 32 as -0.66. Range = 93.60 
TNavPF::Calculated measDiffMean for beam 33 as -0.55. Range = 93.83 
TNavPF::Calculated measDiffMean for beam 34 as -0.07. Range = 91.51 
TNavPF::Calculated measDiffMean for beam 35 as -1.02. Range = 89.34 
TNavPF::Calculated measDiffMean for beam 36 as -0.67. Range = 84.00 
TNavPF::Calculated measDiffMean for beam 37 as -4.25. Range = 82.14 
TNavPF::Calculated measDiffMean for beam 38 as -1.18. Range = 70.95 
TNavPF::Calculated measDiffMean for beam 39 as -0.24. Range = 70.99 
TNavPF::Calculated measDiffMean for beam 40 as -0.17. Range = 71.13 
TNavPF::Calculated measDiffMean for beam 41 as -0.70. Range = 69.76 
TNavPF::Calculated measDiffMean for beam 42 as 0.62. Range = 68.89 
TNavPF::Calculated measDiffMean for beam 43 as -0.48. Range = 67.24 
TNavPF::Calculated measDiffMean for beam 44 as -1.15. Range = 66.07 
TNavPF::Calculated measDiffMean for beam 45 as -1.46. Range = 64.96 
TNavPF::Calculated measDiffMean for beam 46 as -1.25. Range = 63.91 
TNavPF::Calculated measDiffMean for beam 47 as -0.31. Range = 62.92 
TNavPF::Calculated measDiffMean for beam 48 as -0.97. Range = 61.97 
TNavPF::Calculated measDiffMean for beam 49 as 0.66. Range = 61.07 
TNavPF::Calculated measDiffMean for beam 50 as 0.38. Range = 60.21 
TNavPF::Calculated measDiffMean for beam 51 as -0.10. Range = 59.39 
TNavPF::Calculated measDiffMean for beam 52 as -0.74. Range = 56.13 
TNavPF::Calculated measDiffMean for beam 53 as 0.90. Range = 55.42 
TNavPF::Calculated measDiffMean for beam 54 as 0.71. Range = 54.74 
TNavPF::Calculated measDiffMean for beam 55 as 0.54. Range = 54.10 
TNavPF::Calculated measDiffMean for beam 56 as 0.27. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 57 as 1.96. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 58 as 1.61. Range = 52.36 
TNavPF::Calculated measDiffMean for beam 59 as 3.16. Range = 51.83 
TNavPF::Calculated measDiffMean for beam 60 as 2.65. Range = 51.33 
TNavPF::Calculated measDiffMean for beam 61 as 2.04. Range = 50.86 
TNavPF::Calculated measDiffMean for beam 62 as 1.52. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 63 as 1.57. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 64 as 2.11. Range = 51.77 
TNavPF::Calculated measDiffMean for beam 65 as 4.92. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 66 as 6.63. Range = 51.99 
TNavPF::Calculated measDiffMean for beam 67 as 8.83. Range = 48.81 
TNavPF::Calculated measDiffMean for beam 68 as 10.37. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 69 as 1.24. Range = 53.60 
TNavPF::Calculated measDiffMean for beam 70 as -1.27. Range = 53.89 
TNavPF::Calculated measDiffMean for beam 71 as -5.35. Range = 53.59 
TNavPF::Calculated measDiffMean for beam 72 as -5.32. Range = 55.39 
TNavPF::Calculated measDiffMean for beam 73 as -4.47. Range = 55.11 
TNavPF::Calculated measDiffMean for beam 74 as -3.18. Range = 54.85 
TNavPF::Calculated measDiffMean for beam 75 as -1.81. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 76 as -0.67. Range = 54.88 
TNavPF::Calculated measDiffMean for beam 77 as 0.39. Range = 56.23 
TNavPF::Calculated measDiffMean for beam 78 as 1.14. Range = 56.04 
TNavPF::Calculated measDiffMean for beam 79 as -0.41. Range = 57.90 
TNavPF::Calculated measDiffMean for beam 80 as -0.84. Range = 57.74 
TNavPF::Calculated measDiffMean for beam 81 as -0.96. Range = 57.60 
TNavPF::Calculated measDiffMean for beam 82 as -0.71. Range = 57.47 
TNavPF::Calculated measDiffMean for beam 83 as -0.35. Range = 59.38 
TNavPF::Calculated measDiffMean for beam 84 as 0.05. Range = 59.28 
TNavPF::Calculated measDiffMean for beam 85 as 0.56. Range = 59.21 
TNavPF::Calculated measDiffMean for beam 86 as 1.28. Range = 59.16 
TNavPF::Calculated measDiffMean for beam 87 as 2.12. Range = 61.12 
TNavPF::Calculated measDiffMean for beam 88 as 2.61. Range = 61.10 
TNavPF::Calculated measDiffMean for beam 89 as 1.52. Range = 63.10 
TNavPF::First Term of Map Covariance Matrix is 1.49 
TNavPF::Calculated NIS Value : 15.68 	numBeams normalized NIS: 0.26
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321952.82 sec.
INS : North: 4070201.07, East: 589408.54, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 59.06, IDT[75] = 45.35
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321955.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321955.62)
ARL : North: -1.4511, East: -5.6208, Depth: -0.6313ARL : Estimation Bias  (Mean)         : (t = 1488321955.62)
ARL : North: -1.6426, East: -4.4112, Depth: -1.6503TerrainNav:: Windowed NIS is 0.7, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.25 
Alpha[0]	0.123000
Alpha[0]	0.991594
TNavParticleFilter::Modified Variance for beam 1 is 17.77 
Alpha[1]	0.000000
Alpha[1]	0.991426
TNavParticleFilter::Modified Variance for beam 2 is 17.55 
Alpha[2]	0.000000
Alpha[2]	0.988940
TNavParticleFilter::Modified Variance for beam 3 is 17.84 
Alpha[3]	0.000000
Alpha[3]	0.986555
TNavParticleFilter::Modified Variance for beam 4 is 18.35 
Alpha[4]	0.000000
Alpha[4]	0.983099
TNavParticleFilter::Modified Variance for beam 5 is 18.11 
Alpha[5]	0.000000
Alpha[5]	0.982971
TNavParticleFilter::Modified Variance for beam 6 is 18.63 
Alpha[6]	0.000000
Alpha[6]	0.982905
TNavParticleFilter::Modified Variance for beam 7 is 18.93 
Alpha[7]	0.000000
Alpha[7]	0.978292
TNavParticleFilter::Modified Variance for beam 8 is 18.65 
Alpha[8]	0.000000
Alpha[8]	0.981355
TNavParticleFilter::Modified Variance for beam 9 is 19.53 
Alpha[9]	0.000000
Alpha[9]	0.986749
TNavParticleFilter::Modified Variance for beam 10 is 19.30 
Alpha[10]	0.000000
Alpha[10]	0.988062
TNavParticleFilter::Modified Variance for beam 11 is 19.09 
Alpha[11]	0.000000
Alpha[11]	0.988891
TNavParticleFilter::Modified Variance for beam 12 is 18.96 
Alpha[12]	0.000000
Alpha[12]	0.986552
TNavParticleFilter::Modified Variance for beam 13 is 19.14 
Alpha[13]	0.000000
Alpha[13]	0.985185
TNavParticleFilter::Modified Variance for beam 14 is 21.02 
Alpha[14]	0.000000
Alpha[14]	0.985730
TNavParticleFilter::Modified Variance for beam 15 is 20.83 
Alpha[15]	0.000000
Alpha[15]	0.986765
TNavParticleFilter::Modified Variance for beam 16 is 20.67 
Alpha[16]	0.000000
Alpha[16]	0.987206
TNavParticleFilter::Modified Variance for beam 17 is 20.57 
Alpha[17]	0.000000
Alpha[17]	0.985233
TNavParticleFilter::Modified Variance for beam 18 is 21.29 
Alpha[18]	0.000000
Alpha[18]	0.981757
TNavParticleFilter::Modified Variance for beam 19 is 21.58 
Alpha[19]	0.000000
Alpha[19]	0.982321
TNavParticleFilter::Modified Variance for beam 20 is 21.41 
Alpha[20]	0.000000
Alpha[20]	0.984973
TNavParticleFilter::Modified Variance for beam 21 is 21.32 
Alpha[21]	0.000000
Alpha[21]	0.984438
TNavParticleFilter::Modified Variance for beam 22 is 21.28 
Alpha[22]	0.000000
Alpha[22]	0.982212
TNavParticleFilter::Modified Variance for beam 23 is 21.20 
Alpha[23]	0.000000
Alpha[23]	0.982156
TNavParticleFilter::Modified Variance for beam 24 is 22.14 
Alpha[24]	0.000000
Alpha[24]	0.985561
TNavParticleFilter::Modified Variance for beam 25 is 22.16 
Alpha[25]	0.000000
Alpha[25]	0.987707
TNavParticleFilter::Modified Variance for beam 26 is 23.27 
Alpha[26]	0.000000
Alpha[26]	0.987467
TNavParticleFilter::Modified Variance for beam 27 is 23.32 
Alpha[27]	0.000000
Alpha[27]	0.987117
TNavParticleFilter::Modified Variance for beam 28 is 23.25 
Alpha[28]	0.000000
Alpha[28]	0.988782
TNavParticleFilter::Modified Variance for beam 29 is 23.10 
Alpha[29]	0.000000
Alpha[29]	0.994514
TNavParticleFilter::Modified Variance for beam 30 is 23.03 
Alpha[30]	0.000000
Alpha[30]	0.997376
TNavParticleFilter::Modified Variance for beam 31 is 23.01 
Alpha[31]	0.000000
Alpha[31]	0.998710
TNavParticleFilter::Modified Variance for beam 32 is 24.28 
Alpha[32]	0.000000
Alpha[32]	0.999272
TNavParticleFilter::Modified Variance for beam 33 is 24.30 
Alpha[33]	0.000000
Alpha[33]	0.999511
TNavParticleFilter::Modified Variance for beam 34 is 24.35 
Alpha[34]	0.000000
Alpha[34]	0.999634
TNavParticleFilter::Modified Variance for beam 35 is 24.41 
Alpha[35]	0.000000
Alpha[35]	0.999660
TNavParticleFilter::Modified Variance for beam 36 is 17.89 
Alpha[36]	0.000000
Alpha[36]	0.999661
TNavParticleFilter::Modified Variance for beam 37 is 16.46 
Alpha[37]	0.000000
Alpha[37]	0.999653
TNavParticleFilter::Modified Variance for beam 38 is 16.53 
Alpha[38]	0.000000
Alpha[38]	0.999617
TNavParticleFilter::Modified Variance for beam 39 is 15.35 
Alpha[39]	0.000000
Alpha[39]	0.999549
TNavParticleFilter::Modified Variance for beam 40 is 14.69 
Alpha[40]	0.000000
Alpha[40]	0.999473
TNavParticleFilter::Modified Variance for beam 41 is 14.76 
Alpha[41]	0.000000
Alpha[41]	0.999417
TNavParticleFilter::Modified Variance for beam 42 is 14.85 
Alpha[42]	0.000000
Alpha[42]	0.999372
TNavParticleFilter::Modified Variance for beam 43 is 14.94 
Alpha[43]	0.000000
Alpha[43]	0.999330
TNavParticleFilter::Modified Variance for beam 44 is 14.98 
Alpha[44]	0.000000
Alpha[44]	0.999285
TNavParticleFilter::Modified Variance for beam 45 is 13.55 
Alpha[45]	0.000000
Alpha[45]	0.999172
TNavParticleFilter::Modified Variance for beam 46 is 13.34 
Alpha[46]	0.000000
Alpha[46]	0.999011
TNavParticleFilter::Modified Variance for beam 47 is 13.45 
Alpha[47]	0.000000
Alpha[47]	0.998884
TNavParticleFilter::Modified Variance for beam 48 is 13.56 
Alpha[48]	0.000000
Alpha[48]	0.998761
TNavParticleFilter::Modified Variance for beam 49 is 13.68 
Alpha[49]	0.000000
Alpha[49]	0.998597
TNavParticleFilter::Modified Variance for beam 50 is 13.82 
Alpha[50]	0.000000
Alpha[50]	0.998256
TNavParticleFilter::Modified Variance for beam 51 is 13.96 
Alpha[51]	0.000000
Alpha[51]	0.997654
TNavParticleFilter::Modified Variance for beam 52 is 14.12 
Alpha[52]	0.000000
Alpha[52]	0.997067
TNavParticleFilter::Modified Variance for beam 53 is 14.28 
Alpha[53]	0.000000
Alpha[53]	0.996897
TNavParticleFilter::Modified Variance for beam 54 is 14.45 
Alpha[54]	0.000000
Alpha[54]	0.996697
TNavParticleFilter::Modified Variance for beam 55 is 14.24 
Alpha[55]	0.000000
Alpha[55]	0.996285
TNavParticleFilter::Modified Variance for beam 56 is 13.79 
Alpha[56]	0.000000
Alpha[56]	0.996212
TNavParticleFilter::Modified Variance for beam 57 is 13.97 
Alpha[57]	0.000000
Alpha[57]	0.996598
TNavParticleFilter::Modified Variance for beam 58 is 14.06 
Alpha[58]	0.000000
Alpha[58]	0.996820
TNavParticleFilter::Modified Variance for beam 59 is 13.41 
Alpha[59]	0.000000
Alpha[59]	0.996600
TNavPF:: sumSquaredError = 155.264364 
TNavPF:: sumWeights = 0.001085 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.16. Range = 99.96 
TNavPF::Calculated measDiffMean for beam 31 as 0.46. Range = 98.67 
TNavPF::Calculated measDiffMean for beam 32 as -0.38. Range = 97.36 
TNavPF::Calculated measDiffMean for beam 33 as -0.45. Range = 97.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.02. Range = 94.50 
TNavPF::Calculated measDiffMean for beam 35 as -0.72. Range = 93.46 
TNavPF::Calculated measDiffMean for beam 36 as -0.28. Range = 93.32 
TNavPF::Calculated measDiffMean for beam 37 as -0.20. Range = 74.61 
TNavPF::Calculated measDiffMean for beam 38 as -0.75. Range = 74.20 
TNavPF::Calculated measDiffMean for beam 39 as 0.80. Range = 74.53 
TNavPF::Calculated measDiffMean for beam 40 as 0.16. Range = 72.98 
TNavPF::Calculated measDiffMean for beam 41 as -0.86. Range = 72.17 
TNavPF::Calculated measDiffMean for beam 42 as -1.68. Range = 70.13 
TNavPF::Calculated measDiffMean for beam 43 as -1.54. Range = 68.98 
TNavPF::Calculated measDiffMean for beam 44 as 1.71. Range = 70.15 
TNavPF::Calculated measDiffMean for beam 45 as 1.20. Range = 66.39 
TNavPF::Calculated measDiffMean for beam 46 as 0.53. Range = 65.26 
TNavPF::Calculated measDiffMean for beam 47 as 0.04. Range = 64.20 
TNavPF::Calculated measDiffMean for beam 48 as 0.97. Range = 63.19 
TNavPF::Calculated measDiffMean for beam 49 as 1.28. Range = 62.22 
TNavPF::Calculated measDiffMean for beam 50 as 0.67. Range = 58.70 
TNavPF::Calculated measDiffMean for beam 51 as 0.27. Range = 57.87 
TNavPF::Calculated measDiffMean for beam 52 as 0.05. Range = 57.08 
TNavPF::Calculated measDiffMean for beam 53 as -0.16. Range = 56.32 
TNavPF::Calculated measDiffMean for beam 54 as 1.31. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 55 as 1.11. Range = 54.92 
TNavPF::Calculated measDiffMean for beam 56 as 2.56. Range = 54.27 
TNavPF::Calculated measDiffMean for beam 57 as 2.29. Range = 53.65 
TNavPF::Calculated measDiffMean for beam 58 as 1.84. Range = 53.06 
TNavPF::Calculated measDiffMean for beam 59 as 1.37. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 60 as 0.91. Range = 52.76 
TNavPF::Calculated measDiffMean for beam 61 as 1.10. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 62 as 3.95. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 63 as 5.29. Range = 53.71 
TNavPF::Calculated measDiffMean for beam 64 as 7.27. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 65 as 9.35. Range = 54.09 
TNavPF::Calculated measDiffMean for beam 66 as -0.33. Range = 55.05 
TNavPF::Calculated measDiffMean for beam 67 as -1.93. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 68 as -0.71. Range = 55.03 
TNavPF::Calculated measDiffMean for beam 69 as -2.22. Range = 56.80 
TNavPF::Calculated measDiffMean for beam 70 as -2.75. Range = 56.44 
TNavPF::Calculated measDiffMean for beam 71 as -1.56. Range = 56.09 
TNavPF::Calculated measDiffMean for beam 72 as -0.15. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 73 as 1.04. Range = 56.06 
TNavPF::Calculated measDiffMean for beam 74 as 1.74. Range = 59.34 
TNavPF::Calculated measDiffMean for beam 75 as -1.02. Range = 59.06 
TNavPF::Calculated measDiffMean for beam 76 as -1.45. Range = 58.80 
TNavPF::Calculated measDiffMean for beam 77 as -1.47. Range = 58.55 
TNavPF::Calculated measDiffMean for beam 78 as -1.51. Range = 59.65 
TNavPF::Calculated measDiffMean for beam 79 as -1.34. Range = 60.16 
TNavPF::Calculated measDiffMean for beam 80 as -1.07. Range = 59.97 
TNavPF::Calculated measDiffMean for beam 81 as -0.75. Range = 59.80 
TNavPF::Calculated measDiffMean for beam 82 as -0.27. Range = 59.65 
TNavPF::Calculated measDiffMean for beam 83 as 0.40. Range = 59.52 
TNavPF::Calculated measDiffMean for beam 84 as 1.19. Range = 61.20 
TNavPF::Calculated measDiffMean for beam 85 as 1.14. Range = 61.31 
TNavPF::Calculated measDiffMean for beam 86 as 0.59. Range = 63.11 
TNavPF::Calculated measDiffMean for beam 87 as 1.59. Range = 63.17 
TNavPF::Calculated measDiffMean for beam 88 as 2.47. Range = 63.13 
TNavPF::Calculated measDiffMean for beam 89 as 1.58. Range = 63.10 
TNavPF::First Term of Map Covariance Matrix is 2.37 
TNavPF::Calculated NIS Value : 7.82 	numBeams normalized NIS: 0.13
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321955.82 sec.
INS : North: 4070201.14, East: 589404.25, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 62.49, IDT[75] = 45.84
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321958.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321958.62)
ARL : North: -1.6027, East: -5.5495, Depth: -5.1820ARL : Estimation Bias  (Mean)         : (t = 1488321958.62)
ARL : North: -0.6057, East: -2.6421, Depth: -0.3636TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.85 
Alpha[0]	0.123000
Alpha[0]	0.979432
TNavParticleFilter::Modified Variance for beam 1 is 20.58 
Alpha[1]	0.000000
Alpha[1]	0.972215
TNavParticleFilter::Modified Variance for beam 2 is 20.60 
Alpha[2]	0.000000
Alpha[2]	0.978635
TNavParticleFilter::Modified Variance for beam 3 is 20.18 
Alpha[3]	0.000000
Alpha[3]	0.986936
TNavParticleFilter::Modified Variance for beam 4 is 19.94 
Alpha[4]	0.000000
Alpha[4]	0.986854
TNavParticleFilter::Modified Variance for beam 5 is 19.82 
Alpha[5]	0.000000
Alpha[5]	0.987294
TNavParticleFilter::Modified Variance for beam 6 is 21.41 
Alpha[6]	0.000000
Alpha[6]	0.987932
TNavParticleFilter::Modified Variance for beam 7 is 21.77 
Alpha[7]	0.000000
Alpha[7]	0.986518
TNavParticleFilter::Modified Variance for beam 8 is 21.58 
Alpha[8]	0.000000
Alpha[8]	0.985531
TNavParticleFilter::Modified Variance for beam 9 is 21.38 
Alpha[9]	0.000000
Alpha[9]	0.986012
TNavParticleFilter::Modified Variance for beam 10 is 21.36 
Alpha[10]	0.000000
Alpha[10]	0.988373
TNavParticleFilter::Modified Variance for beam 11 is 22.30 
Alpha[11]	0.000000
Alpha[11]	0.984383
TNavParticleFilter::Modified Variance for beam 12 is 22.31 
Alpha[12]	0.000000
Alpha[12]	0.976424
TNavParticleFilter::Modified Variance for beam 13 is 22.05 
Alpha[13]	0.000000
Alpha[13]	0.981420
TNavParticleFilter::Modified Variance for beam 14 is 21.76 
Alpha[14]	0.000000
Alpha[14]	0.987820
TNavParticleFilter::Modified Variance for beam 15 is 22.92 
Alpha[15]	0.000000
Alpha[15]	0.985861
TNavParticleFilter::Modified Variance for beam 16 is 22.92 
Alpha[16]	0.000000
Alpha[16]	0.980450
TNavParticleFilter::Modified Variance for beam 17 is 22.78 
Alpha[17]	0.000000
Alpha[17]	0.981831
TNavParticleFilter::Modified Variance for beam 18 is 22.56 
Alpha[18]	0.000000
Alpha[18]	0.986702
TNavParticleFilter::Modified Variance for beam 19 is 22.48 
Alpha[19]	0.000000
Alpha[19]	0.986591
TNavParticleFilter::Modified Variance for beam 20 is 22.90 
Alpha[20]	0.000000
Alpha[20]	0.986436
TNavParticleFilter::Modified Variance for beam 21 is 23.55 
Alpha[21]	0.000000
Alpha[21]	0.988208
TNavParticleFilter::Modified Variance for beam 22 is 23.33 
Alpha[22]	0.000000
Alpha[22]	0.995484
TNavParticleFilter::Modified Variance for beam 23 is 23.22 
Alpha[23]	0.000000
Alpha[23]	0.998375
TNavParticleFilter::Modified Variance for beam 24 is 24.43 
Alpha[24]	0.000000
Alpha[24]	0.999079
TNavParticleFilter::Modified Variance for beam 25 is 24.40 
Alpha[25]	0.000000
Alpha[25]	0.999514
TNavParticleFilter::Modified Variance for beam 26 is 24.40 
Alpha[26]	0.000000
Alpha[26]	0.999629
TNavParticleFilter::Modified Variance for beam 27 is 24.40 
Alpha[27]	0.000000
Alpha[27]	0.999706
TNavParticleFilter::Modified Variance for beam 28 is 16.40 
Alpha[28]	0.000000
Alpha[28]	0.999729
TNavParticleFilter::Modified Variance for beam 29 is 16.42 
Alpha[29]	0.000000
Alpha[29]	0.999688
TNavParticleFilter::Modified Variance for beam 30 is 16.04 
Alpha[30]	0.000000
Alpha[30]	0.999672
TNavParticleFilter::Modified Variance for beam 31 is 14.54 
Alpha[31]	0.000000
Alpha[31]	0.999607
TNavParticleFilter::Modified Variance for beam 32 is 14.57 
Alpha[32]	0.000000
Alpha[32]	0.999534
TNavParticleFilter::Modified Variance for beam 33 is 14.62 
Alpha[33]	0.000000
Alpha[33]	0.999420
TNavParticleFilter::Modified Variance for beam 34 is 14.67 
Alpha[34]	0.000000
Alpha[34]	0.999307
TNavParticleFilter::Modified Variance for beam 35 is 14.73 
Alpha[35]	0.000000
Alpha[35]	0.999189
TNavParticleFilter::Modified Variance for beam 36 is 12.97 
Alpha[36]	0.000000
Alpha[36]	0.999091
TNavParticleFilter::Modified Variance for beam 37 is 13.03 
Alpha[37]	0.000000
Alpha[37]	0.998999
TNavParticleFilter::Modified Variance for beam 38 is 13.10 
Alpha[38]	0.000000
Alpha[38]	0.998826
TNavParticleFilter::Modified Variance for beam 39 is 13.18 
Alpha[39]	0.000000
Alpha[39]	0.998665
TNavParticleFilter::Modified Variance for beam 40 is 13.26 
Alpha[40]	0.000000
Alpha[40]	0.998537
TNavParticleFilter::Modified Variance for beam 41 is 13.35 
Alpha[41]	0.000000
Alpha[41]	0.998331
TNavParticleFilter::Modified Variance for beam 42 is 13.45 
Alpha[42]	0.000000
Alpha[42]	0.997998
TNavParticleFilter::Modified Variance for beam 43 is 13.56 
Alpha[43]	0.000000
Alpha[43]	0.997419
TNavParticleFilter::Modified Variance for beam 44 is 13.69 
Alpha[44]	0.000000
Alpha[44]	0.996487
TNavParticleFilter::Modified Variance for beam 45 is 13.82 
Alpha[45]	0.000000
Alpha[45]	0.995869
TNavParticleFilter::Modified Variance for beam 46 is 13.69 
Alpha[46]	0.000000
Alpha[46]	0.996119
TNavParticleFilter::Modified Variance for beam 47 is 13.13 
Alpha[47]	0.000000
Alpha[47]	0.995886
TNavParticleFilter::Modified Variance for beam 48 is 13.27 
Alpha[48]	0.000000
Alpha[48]	0.995335
TNavParticleFilter::Modified Variance for beam 49 is 13.41 
Alpha[49]	0.000000
Alpha[49]	0.995697
TNavParticleFilter::Modified Variance for beam 50 is 12.69 
Alpha[50]	0.000000
Alpha[50]	0.996188
TNavParticleFilter::Modified Variance for beam 51 is 12.02 
Alpha[51]	0.000000
Alpha[51]	0.996022
TNavParticleFilter::Modified Variance for beam 52 is 11.98 
Alpha[52]	0.000000
Alpha[52]	0.995080
TNavParticleFilter::Modified Variance for beam 53 is 12.15 
Alpha[53]	0.000000
Alpha[53]	0.993788
TNavParticleFilter::Modified Variance for beam 54 is 12.09 
Alpha[54]	0.000000
Alpha[54]	0.993971
TNavParticleFilter::Modified Variance for beam 55 is 11.55 
Alpha[55]	0.000000
Alpha[55]	0.994861
TNavParticleFilter::Modified Variance for beam 56 is 11.68 
Alpha[56]	0.000000
Alpha[56]	0.995020
TNavParticleFilter::Modified Variance for beam 57 is 11.86 
Alpha[57]	0.000000
Alpha[57]	0.994626
TNavParticleFilter::Modified Variance for beam 58 is 11.69 
Alpha[58]	0.000000
Alpha[58]	0.994054
TNavParticleFilter::Modified Variance for beam 59 is 11.29 
Alpha[59]	0.000000
Alpha[59]	0.993223
TNavPF:: sumSquaredError = 123.297706 
TNavPF:: sumWeights = 0.018529 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.25. Range = 97.37 
TNavPF::Calculated measDiffMean for beam 31 as 0.37. Range = 96.43 
TNavPF::Calculated measDiffMean for beam 32 as 0.83. Range = 77.44 
TNavPF::Calculated measDiffMean for beam 33 as 0.23. Range = 78.45 
TNavPF::Calculated measDiffMean for beam 34 as -0.35. Range = 76.85 
TNavPF::Calculated measDiffMean for beam 35 as -1.49. Range = 75.46 
TNavPF::Calculated measDiffMean for beam 36 as 0.81. Range = 73.61 
TNavPF::Calculated measDiffMean for beam 37 as 1.42. Range = 72.38 
TNavPF::Calculated measDiffMean for beam 38 as 1.11. Range = 70.71 
TNavPF::Calculated measDiffMean for beam 39 as 0.56. Range = 69.38 
TNavPF::Calculated measDiffMean for beam 40 as 0.08. Range = 68.12 
TNavPF::Calculated measDiffMean for beam 41 as 1.37. Range = 66.92 
TNavPF::Calculated measDiffMean for beam 42 as 0.92. Range = 65.78 
TNavPF::Calculated measDiffMean for beam 43 as 0.59. Range = 64.70 
TNavPF::Calculated measDiffMean for beam 44 as -0.16. Range = 63.68 
TNavPF::Calculated measDiffMean for beam 45 as 1.57. Range = 60.05 
TNavPF::Calculated measDiffMean for beam 46 as 1.23. Range = 59.16 
TNavPF::Calculated measDiffMean for beam 47 as 0.95. Range = 58.32 
TNavPF::Calculated measDiffMean for beam 48 as 0.28. Range = 57.52 
TNavPF::Calculated measDiffMean for beam 49 as -0.04. Range = 56.75 
TNavPF::Calculated measDiffMean for beam 50 as 0.35. Range = 56.02 
TNavPF::Calculated measDiffMean for beam 51 as 1.25. Range = 55.33 
TNavPF::Calculated measDiffMean for beam 52 as 1.05. Range = 54.67 
TNavPF::Calculated measDiffMean for beam 53 as 0.85. Range = 56.11 
TNavPF::Calculated measDiffMean for beam 54 as 2.61. Range = 55.81 
TNavPF::Calculated measDiffMean for beam 55 as 4.13. Range = 55.44 
TNavPF::Calculated measDiffMean for beam 56 as 5.49. Range = 56.96 
TNavPF::Calculated measDiffMean for beam 57 as 8.05. Range = 56.40 
TNavPF::Calculated measDiffMean for beam 58 as -3.58. Range = 56.56 
TNavPF::Calculated measDiffMean for beam 59 as -2.03. Range = 57.61 
TNavPF::Calculated measDiffMean for beam 60 as -1.58. Range = 57.11 
TNavPF::Calculated measDiffMean for beam 61 as -3.65. Range = 58.10 
TNavPF::Calculated measDiffMean for beam 62 as -2.88. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 63 as -1.96. Range = 57.94 
TNavPF::Calculated measDiffMean for beam 64 as -0.71. Range = 57.52 
TNavPF::Calculated measDiffMean for beam 65 as 0.89. Range = 57.33 
TNavPF::Calculated measDiffMean for beam 66 as -2.16. Range = 60.09 
TNavPF::Calculated measDiffMean for beam 67 as -1.74. Range = 60.64 
TNavPF::Calculated measDiffMean for beam 68 as -1.41. Range = 60.28 
TNavPF::Calculated measDiffMean for beam 69 as -1.36. Range = 59.95 
TNavPF::Calculated measDiffMean for beam 70 as -1.55. Range = 60.01 
TNavPF::Calculated measDiffMean for beam 71 as -1.51. Range = 61.43 
TNavPF::Calculated measDiffMean for beam 72 as -1.29. Range = 61.15 
TNavPF::Calculated measDiffMean for beam 73 as -1.21. Range = 60.90 
TNavPF::Calculated measDiffMean for beam 74 as -0.93. Range = 60.66 
TNavPF::Calculated measDiffMean for beam 75 as -0.30. Range = 62.49 
TNavPF::Calculated measDiffMean for beam 76 as -0.06. Range = 62.28 
TNavPF::Calculated measDiffMean for beam 77 as -0.93. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 78 as -0.24. Range = 61.94 
TNavPF::Calculated measDiffMean for beam 79 as 0.74. Range = 61.80 
TNavPF::Calculated measDiffMean for beam 80 as 0.00. Range = 62.48 
TNavPF::Calculated measDiffMean for beam 81 as -0.93. Range = 63.58 
TNavPF::Calculated measDiffMean for beam 82 as -0.72. Range = 63.50 
TNavPF::Calculated measDiffMean for beam 83 as -0.10. Range = 63.43 
TNavPF::Calculated measDiffMean for beam 84 as 0.19. Range = 65.38 
TNavPF::Calculated measDiffMean for beam 85 as -0.62. Range = 65.35 
TNavPF::Calculated measDiffMean for beam 86 as 0.23. Range = 65.34 
TNavPF::Calculated measDiffMean for beam 87 as 1.01. Range = 65.35 
TNavPF::Calculated measDiffMean for beam 88 as 0.75. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 89 as -0.22. Range = 51.41 
TNavPF::First Term of Map Covariance Matrix is 0.96 
TNavPF::Calculated NIS Value : 4.50 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321958.82 sec.
INS : North: 4070201.50, East: 589399.97, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 66.24, IDT[75] = 40.17
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321961.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321961.62)
ARL : North: -1.2040, East: -1.8318, Depth: -3.8419ARL : Estimation Bias  (Mean)         : (t = 1488321961.62)
ARL : North: -0.2699, East: -2.0161, Depth: 0.1736TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.98 
Alpha[0]	0.123000
Alpha[0]	0.987158
TNavParticleFilter::Modified Variance for beam 1 is 23.51 
Alpha[1]	0.000000
Alpha[1]	0.981977
TNavParticleFilter::Modified Variance for beam 2 is 23.42 
Alpha[2]	0.000000
Alpha[2]	0.976405
TNavParticleFilter::Modified Variance for beam 3 is 23.09 
Alpha[3]	0.000000
Alpha[3]	0.981397
TNavParticleFilter::Modified Variance for beam 4 is 23.38 
Alpha[4]	0.000000
Alpha[4]	0.986665
TNavParticleFilter::Modified Variance for beam 5 is 23.98 
Alpha[5]	0.000000
Alpha[5]	0.982932
TNavParticleFilter::Modified Variance for beam 6 is 23.94 
Alpha[6]	0.000000
Alpha[6]	0.977261
TNavParticleFilter::Modified Variance for beam 7 is 23.73 
Alpha[7]	0.000000
Alpha[7]	0.979475
TNavParticleFilter::Modified Variance for beam 8 is 23.41 
Alpha[8]	0.000000
Alpha[8]	0.986433
TNavParticleFilter::Modified Variance for beam 9 is 23.27 
Alpha[9]	0.000000
Alpha[9]	0.986734
TNavParticleFilter::Modified Variance for beam 10 is 24.37 
Alpha[10]	0.000000
Alpha[10]	0.989383
TNavParticleFilter::Modified Variance for beam 11 is 24.14 
Alpha[11]	0.000000
Alpha[11]	0.994131
TNavParticleFilter::Modified Variance for beam 12 is 23.97 
Alpha[12]	0.000000
Alpha[12]	0.997214
TNavParticleFilter::Modified Variance for beam 13 is 23.84 
Alpha[13]	0.000000
Alpha[13]	0.998797
TNavParticleFilter::Modified Variance for beam 14 is 25.04 
Alpha[14]	0.000000
Alpha[14]	0.999435
TNavParticleFilter::Modified Variance for beam 15 is 24.97 
Alpha[15]	0.000000
Alpha[15]	0.999600
TNavParticleFilter::Modified Variance for beam 16 is 24.92 
Alpha[16]	0.000000
Alpha[16]	0.999724
TNavParticleFilter::Modified Variance for beam 17 is 24.88 
Alpha[17]	0.000000
Alpha[17]	0.999746
TNavParticleFilter::Modified Variance for beam 18 is 24.86 
Alpha[18]	0.000000
Alpha[18]	0.999745
TNavParticleFilter::Modified Variance for beam 19 is 14.77 
Alpha[19]	0.000000
Alpha[19]	0.999718
TNavParticleFilter::Modified Variance for beam 20 is 14.77 
Alpha[20]	0.000000
Alpha[20]	0.999688
TNavParticleFilter::Modified Variance for beam 21 is 14.78 
Alpha[21]	0.000000
Alpha[21]	0.999634
TNavParticleFilter::Modified Variance for beam 22 is 14.80 
Alpha[22]	0.000000
Alpha[22]	0.999567
TNavParticleFilter::Modified Variance for beam 23 is 14.82 
Alpha[23]	0.000000
Alpha[23]	0.999475
TNavParticleFilter::Modified Variance for beam 24 is 13.03 
Alpha[24]	0.000000
Alpha[24]	0.999401
TNavParticleFilter::Modified Variance for beam 25 is 13.06 
Alpha[25]	0.000000
Alpha[25]	0.999293
TNavParticleFilter::Modified Variance for beam 26 is 13.10 
Alpha[26]	0.000000
Alpha[26]	0.999237
TNavParticleFilter::Modified Variance for beam 27 is 13.14 
Alpha[27]	0.000000
Alpha[27]	0.999159
TNavParticleFilter::Modified Variance for beam 28 is 13.19 
Alpha[28]	0.000000
Alpha[28]	0.999059
TNavParticleFilter::Modified Variance for beam 29 is 13.25 
Alpha[29]	0.000000
Alpha[29]	0.998847
TNavParticleFilter::Modified Variance for beam 30 is 13.31 
Alpha[30]	0.000000
Alpha[30]	0.998579
TNavParticleFilter::Modified Variance for beam 31 is 13.38 
Alpha[31]	0.000000
Alpha[31]	0.998338
TNavParticleFilter::Modified Variance for beam 32 is 14.39 
Alpha[32]	0.000000
Alpha[32]	0.997784
TNavParticleFilter::Modified Variance for beam 33 is 14.49 
Alpha[33]	0.000000
Alpha[33]	0.997171
TNavParticleFilter::Modified Variance for beam 34 is 13.64 
Alpha[34]	0.000000
Alpha[34]	0.997138
TNavParticleFilter::Modified Variance for beam 35 is 13.74 
Alpha[35]	0.000000
Alpha[35]	0.997126
TNavParticleFilter::Modified Variance for beam 36 is 13.85 
Alpha[36]	0.000000
Alpha[36]	0.996475
TNavParticleFilter::Modified Variance for beam 37 is 13.03 
Alpha[37]	0.000000
Alpha[37]	0.996543
TNavParticleFilter::Modified Variance for beam 38 is 12.23 
Alpha[38]	0.000000
Alpha[38]	0.997136
TNavParticleFilter::Modified Variance for beam 39 is 12.34 
Alpha[39]	0.000000
Alpha[39]	0.996965
TNavParticleFilter::Modified Variance for beam 40 is 12.46 
Alpha[40]	0.000000
Alpha[40]	0.996218
TNavParticleFilter::Modified Variance for beam 41 is 12.03 
Alpha[41]	0.000000
Alpha[41]	0.995405
TNavParticleFilter::Modified Variance for beam 42 is 11.83 
Alpha[42]	0.000000
Alpha[42]	0.995276
TNavParticleFilter::Modified Variance for beam 43 is 11.95 
Alpha[43]	0.000000
Alpha[43]	0.995700
TNavParticleFilter::Modified Variance for beam 44 is 12.03 
Alpha[44]	0.000000
Alpha[44]	0.995544
TNavParticleFilter::Modified Variance for beam 45 is 11.43 
Alpha[45]	0.000000
Alpha[45]	0.994895
TNavParticleFilter::Modified Variance for beam 46 is 11.47 
Alpha[46]	0.000000
Alpha[46]	0.994582
TNavParticleFilter::Modified Variance for beam 47 is 10.74 
Alpha[47]	0.000000
Alpha[47]	0.993960
TNavParticleFilter::Modified Variance for beam 48 is 10.90 
Alpha[48]	0.000000
Alpha[48]	0.992465
TNavParticleFilter::Modified Variance for beam 49 is 11.06 
Alpha[49]	0.000000
Alpha[49]	0.990460
TNavParticleFilter::Modified Variance for beam 50 is 10.68 
Alpha[50]	0.000000
Alpha[50]	0.988583
TNavParticleFilter::Modified Variance for beam 51 is 10.52 
Alpha[51]	0.000000
Alpha[51]	0.987119
TNavParticleFilter::Modified Variance for beam 52 is 10.66 
Alpha[52]	0.000000
Alpha[52]	0.988595
TNavParticleFilter::Modified Variance for beam 53 is 10.82 
Alpha[53]	0.000000
Alpha[53]	0.988736
TNavParticleFilter::Modified Variance for beam 54 is 10.59 
Alpha[54]	0.000000
Alpha[54]	0.982984
TNavParticleFilter::Modified Variance for beam 55 is 10.34 
Alpha[55]	0.000000
Alpha[55]	0.974028
TNavParticleFilter::Modified Variance for beam 56 is 9.98 
Alpha[56]	0.000000
Alpha[56]	0.979097
TNavParticleFilter::Modified Variance for beam 57 is 9.72 
Alpha[57]	0.000000
Alpha[57]	0.985489
TNavParticleFilter::Modified Variance for beam 58 is 9.91 
Alpha[58]	0.000000
Alpha[58]	0.984302
TNavParticleFilter::Modified Variance for beam 59 is 10.19 
Alpha[59]	0.000000
Alpha[59]	0.974635
TNavPF:: sumSquaredError = 51.914621 
TNavPF:: sumWeights = 0.005901 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.70. Range = 73.84 
TNavPF::Calculated measDiffMean for beam 31 as 1.31. Range = 72.38 
TNavPF::Calculated measDiffMean for beam 32 as 0.93. Range = 70.99 
TNavPF::Calculated measDiffMean for beam 33 as 0.54. Range = 69.68 
TNavPF::Calculated measDiffMean for beam 34 as 0.64. Range = 68.43 
TNavPF::Calculated measDiffMean for beam 35 as 1.42. Range = 67.25 
TNavPF::Calculated measDiffMean for beam 36 as 1.17. Range = 63.37 
TNavPF::Calculated measDiffMean for beam 37 as 0.92. Range = 62.35 
TNavPF::Calculated measDiffMean for beam 38 as 0.42. Range = 61.38 
TNavPF::Calculated measDiffMean for beam 39 as 0.07. Range = 60.46 
TNavPF::Calculated measDiffMean for beam 40 as 1.74. Range = 61.16 
TNavPF::Calculated measDiffMean for beam 41 as 1.36. Range = 61.31 
TNavPF::Calculated measDiffMean for beam 42 as 1.30. Range = 60.48 
TNavPF::Calculated measDiffMean for beam 43 as 0.97. Range = 59.69 
TNavPF::Calculated measDiffMean for beam 44 as 3.78. Range = 58.94 
TNavPF::Calculated measDiffMean for beam 45 as 4.73. Range = 58.23 
TNavPF::Calculated measDiffMean for beam 46 as 7.16. Range = 59.60 
TNavPF::Calculated measDiffMean for beam 47 as 8.97. Range = 59.27 
TNavPF::Calculated measDiffMean for beam 48 as 10.23. Range = 59.13 
TNavPF::Calculated measDiffMean for beam 49 as -6.16. Range = 60.34 
TNavPF::Calculated measDiffMean for beam 50 as -5.29. Range = 59.74 
TNavPF::Calculated measDiffMean for beam 51 as -4.26. Range = 60.57 
TNavPF::Calculated measDiffMean for beam 52 as -3.27. Range = 60.87 
TNavPF::Calculated measDiffMean for beam 53 as -1.02. Range = 60.34 
TNavPF::Calculated measDiffMean for beam 54 as -3.29. Range = 59.83 
TNavPF::Calculated measDiffMean for beam 55 as -2.66. Range = 60.04 
TNavPF::Calculated measDiffMean for beam 56 as -2.28. Range = 62.46 
TNavPF::Calculated measDiffMean for beam 57 as -2.08. Range = 62.78 
TNavPF::Calculated measDiffMean for beam 58 as -2.24. Range = 62.34 
TNavPF::Calculated measDiffMean for beam 59 as -2.34. Range = 61.93 
TNavPF::Calculated measDiffMean for beam 60 as -2.03. Range = 62.63 
TNavPF::Calculated measDiffMean for beam 61 as -1.96. Range = 63.28 
TNavPF::Calculated measDiffMean for beam 62 as 0.25. Range = 62.93 
TNavPF::Calculated measDiffMean for beam 63 as 0.93. Range = 62.59 
TNavPF::Calculated measDiffMean for beam 64 as -0.28. Range = 63.25 
TNavPF::Calculated measDiffMean for beam 65 as 0.39. Range = 64.06 
TNavPF::Calculated measDiffMean for beam 66 as 1.09. Range = 63.78 
TNavPF::Calculated measDiffMean for beam 67 as 0.05. Range = 63.53 
TNavPF::Calculated measDiffMean for beam 68 as -0.82. Range = 63.29 
TNavPF::Calculated measDiffMean for beam 69 as 0.20. Range = 63.08 
TNavPF::Calculated measDiffMean for beam 70 as 0.89. Range = 64.92 
TNavPF::Calculated measDiffMean for beam 71 as 0.24. Range = 64.74 
TNavPF::Calculated measDiffMean for beam 72 as 0.30. Range = 64.58 
TNavPF::Calculated measDiffMean for beam 73 as 1.20. Range = 64.45 
TNavPF::Calculated measDiffMean for beam 74 as 2.02. Range = 66.34 
TNavPF::Calculated measDiffMean for beam 75 as 0.99. Range = 66.24 
TNavPF::Calculated measDiffMean for beam 76 as 1.31. Range = 66.16 
TNavPF::Calculated measDiffMean for beam 77 as -0.48. Range = 66.10 
TNavPF::Calculated measDiffMean for beam 78 as -0.07. Range = 66.06 
TNavPF::Calculated measDiffMean for beam 79 as 0.56. Range = 48.03 
TNavPF::Calculated measDiffMean for beam 80 as 0.13. Range = 48.03 
TNavPF::Calculated measDiffMean for beam 81 as 0.16. Range = 48.04 
TNavPF::Calculated measDiffMean for beam 82 as 0.72. Range = 48.07 
TNavPF::Calculated measDiffMean for beam 83 as 1.17. Range = 48.12 
TNavPF::Calculated measDiffMean for beam 84 as 0.67. Range = 44.16 
TNavPF::Calculated measDiffMean for beam 85 as 0.16. Range = 44.23 
TNavPF::Calculated measDiffMean for beam 86 as -0.39. Range = 44.31 
TNavPF::Calculated measDiffMean for beam 87 as -0.80. Range = 44.41 
TNavPF::Calculated measDiffMean for beam 88 as -0.31. Range = 44.52 
TNavPF::Calculated measDiffMean for beam 89 as 0.27. Range = 44.64 
TNavPF::First Term of Map Covariance Matrix is 1.55 
TNavPF::Calculated NIS Value : 11.13 	numBeams normalized NIS: 0.19
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321961.82 sec.
INS : North: 4070202.36, East: 589395.79, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 45.59, IDT[75] = 33.71
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321964.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321964.62)
ARL : North: -0.5781, East: -3.0537, Depth: 0.2694ARL : Estimation Bias  (Mean)         : (t = 1488321964.62)
ARL : North: 0.0352, East: -1.7873, Depth: 0.2259TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 26.31 
Alpha[0]	0.123000
Alpha[0]	0.999495
TNavParticleFilter::Modified Variance for beam 1 is 26.18 
Alpha[1]	0.000000
Alpha[1]	0.999682
TNavParticleFilter::Modified Variance for beam 2 is 26.07 
Alpha[2]	0.000000
Alpha[2]	0.999724
TNavParticleFilter::Modified Variance for beam 3 is 25.98 
Alpha[3]	0.000000
Alpha[3]	0.999753
TNavParticleFilter::Modified Variance for beam 4 is 25.90 
Alpha[4]	0.000000
Alpha[4]	0.999749
TNavParticleFilter::Modified Variance for beam 5 is 22.03 
Alpha[5]	0.000000
Alpha[5]	0.999723
TNavParticleFilter::Modified Variance for beam 6 is 21.99 
Alpha[6]	0.000000
Alpha[6]	0.999692
TNavParticleFilter::Modified Variance for beam 7 is 19.62 
Alpha[7]	0.000000
Alpha[7]	0.999691
TNavParticleFilter::Modified Variance for beam 8 is 19.61 
Alpha[8]	0.000000
Alpha[8]	0.999646
TNavParticleFilter::Modified Variance for beam 9 is 15.41 
Alpha[9]	0.000000
Alpha[9]	0.999577
TNavParticleFilter::Modified Variance for beam 10 is 15.41 
Alpha[10]	0.000000
Alpha[10]	0.999509
TNavParticleFilter::Modified Variance for beam 11 is 14.47 
Alpha[11]	0.000000
Alpha[11]	0.999483
TNavParticleFilter::Modified Variance for beam 12 is 13.58 
Alpha[12]	0.000000
Alpha[12]	0.999402
TNavParticleFilter::Modified Variance for beam 13 is 13.60 
Alpha[13]	0.000000
Alpha[13]	0.999339
TNavParticleFilter::Modified Variance for beam 14 is 13.63 
Alpha[14]	0.000000
Alpha[14]	0.999091
TNavParticleFilter::Modified Variance for beam 15 is 13.67 
Alpha[15]	0.000000
Alpha[15]	0.998789
TNavParticleFilter::Modified Variance for beam 16 is 14.63 
Alpha[16]	0.000000
Alpha[16]	0.998573
TNavParticleFilter::Modified Variance for beam 17 is 14.69 
Alpha[17]	0.000000
Alpha[17]	0.998238
TNavParticleFilter::Modified Variance for beam 18 is 14.31 
Alpha[18]	0.000000
Alpha[18]	0.998113
TNavParticleFilter::Modified Variance for beam 19 is 13.87 
Alpha[19]	0.000000
Alpha[19]	0.998092
TNavParticleFilter::Modified Variance for beam 20 is 13.94 
Alpha[20]	0.000000
Alpha[20]	0.997781
TNavParticleFilter::Modified Variance for beam 21 is 13.41 
Alpha[21]	0.000000
Alpha[21]	0.997840
TNavParticleFilter::Modified Variance for beam 22 is 12.30 
Alpha[22]	0.000000
Alpha[22]	0.998034
TNavParticleFilter::Modified Variance for beam 23 is 12.38 
Alpha[23]	0.000000
Alpha[23]	0.997732
TNavParticleFilter::Modified Variance for beam 24 is 12.47 
Alpha[24]	0.000000
Alpha[24]	0.997165
TNavParticleFilter::Modified Variance for beam 25 is 11.82 
Alpha[25]	0.000000
Alpha[25]	0.996960
TNavParticleFilter::Modified Variance for beam 26 is 11.78 
Alpha[26]	0.000000
Alpha[26]	0.996981
TNavParticleFilter::Modified Variance for beam 27 is 11.87 
Alpha[27]	0.000000
Alpha[27]	0.996873
TNavParticleFilter::Modified Variance for beam 28 is 11.77 
Alpha[28]	0.000000
Alpha[28]	0.996170
TNavParticleFilter::Modified Variance for beam 29 is 11.24 
Alpha[29]	0.000000
Alpha[29]	0.995583
TNavParticleFilter::Modified Variance for beam 30 is 11.34 
Alpha[30]	0.000000
Alpha[30]	0.995304
TNavParticleFilter::Modified Variance for beam 31 is 11.46 
Alpha[31]	0.000000
Alpha[31]	0.993992
TNavParticleFilter::Modified Variance for beam 32 is 11.13 
Alpha[32]	0.000000
Alpha[32]	0.992073
TNavParticleFilter::Modified Variance for beam 33 is 10.55 
Alpha[33]	0.000000
Alpha[33]	0.991814
TNavParticleFilter::Modified Variance for beam 34 is 10.03 
Alpha[34]	0.000000
Alpha[34]	0.991280
TNavParticleFilter::Modified Variance for beam 35 is 9.57 
Alpha[35]	0.000000
Alpha[35]	0.991688
TNavParticleFilter::Modified Variance for beam 36 is 9.59 
Alpha[36]	0.000000
Alpha[36]	0.991208
TNavParticleFilter::Modified Variance for beam 37 is 9.74 
Alpha[37]	0.000000
Alpha[37]	0.987605
TNavParticleFilter::Modified Variance for beam 38 is 9.93 
Alpha[38]	0.000000
Alpha[38]	0.980313
TNavParticleFilter::Modified Variance for beam 39 is 10.05 
Alpha[39]	0.000000
Alpha[39]	0.981317
TNavParticleFilter::Modified Variance for beam 40 is 10.13 
Alpha[40]	0.000000
Alpha[40]	0.986116
TNavParticleFilter::Modified Variance for beam 41 is 10.17 
Alpha[41]	0.000000
Alpha[41]	0.985433
TNavParticleFilter::Modified Variance for beam 42 is 9.88 
Alpha[42]	0.000000
Alpha[42]	0.978683
TNavParticleFilter::Modified Variance for beam 43 is 9.59 
Alpha[43]	0.000000
Alpha[43]	0.974675
TNavParticleFilter::Modified Variance for beam 44 is 9.24 
Alpha[44]	0.000000
Alpha[44]	0.979959
TNavParticleFilter::Modified Variance for beam 45 is 9.19 
Alpha[45]	0.000000
Alpha[45]	0.983286
TNavParticleFilter::Modified Variance for beam 46 is 9.36 
Alpha[46]	0.000000
Alpha[46]	0.980539
TNavParticleFilter::Modified Variance for beam 47 is 9.59 
Alpha[47]	0.000000
Alpha[47]	0.973052
TNavParticleFilter::Modified Variance for beam 48 is 9.73 
Alpha[48]	0.000000
Alpha[48]	0.975715
TNavParticleFilter::Modified Variance for beam 49 is 9.83 
Alpha[49]	0.000000
Alpha[49]	0.983616
TNavParticleFilter::Modified Variance for beam 50 is 9.83 
Alpha[50]	0.000000
Alpha[50]	0.985954
TNavParticleFilter::Modified Variance for beam 51 is 9.60 
Alpha[51]	0.000000
Alpha[51]	0.984159
TNavParticleFilter::Modified Variance for beam 52 is 9.48 
Alpha[52]	0.000000
Alpha[52]	0.982233
TNavParticleFilter::Modified Variance for beam 53 is 9.67 
Alpha[53]	0.000000
Alpha[53]	0.982886
TNavParticleFilter::Modified Variance for beam 54 is 9.88 
Alpha[54]	0.000000
Alpha[54]	0.982802
TNavParticleFilter::Modified Variance for beam 55 is 10.14 
Alpha[55]	0.000000
Alpha[55]	0.980319
TNavParticleFilter::Modified Variance for beam 56 is 10.42 
Alpha[56]	0.000000
Alpha[56]	0.977344
TNavParticleFilter::Modified Variance for beam 57 is 10.68 
Alpha[57]	0.000000
Alpha[57]	0.977620
TNavParticleFilter::Modified Variance for beam 58 is 10.92 
Alpha[58]	0.000000
Alpha[58]	0.981339
TNavParticleFilter::Modified Variance for beam 59 is 11.18 
Alpha[59]	0.000000
Alpha[59]	0.985269
TNavPF:: sumSquaredError = 178.506657 
TNavPF:: sumWeights = 0.002759 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 4.29. Range = 63.67 
TNavPF::Calculated measDiffMean for beam 31 as 5.80. Range = 62.79 
TNavPF::Calculated measDiffMean for beam 32 as 7.47. Range = 61.95 
TNavPF::Calculated measDiffMean for beam 33 as 8.41. Range = 62.51 
TNavPF::Calculated measDiffMean for beam 34 as 9.73. Range = 62.84 
TNavPF::Calculated measDiffMean for beam 35 as 4.65. Range = 62.12 
TNavPF::Calculated measDiffMean for beam 36 as 5.76. Range = 63.76 
TNavPF::Calculated measDiffMean for beam 37 as 2.97. Range = 63.05 
TNavPF::Calculated measDiffMean for beam 38 as 6.17. Range = 63.56 
TNavPF::Calculated measDiffMean for beam 39 as -0.33. Range = 64.05 
TNavPF::Calculated measDiffMean for beam 40 as 0.31. Range = 63.41 
TNavPF::Calculated measDiffMean for beam 41 as -1.38. Range = 65.08 
TNavPF::Calculated measDiffMean for beam 42 as -3.25. Range = 64.49 
TNavPF::Calculated measDiffMean for beam 43 as -3.62. Range = 65.54 
TNavPF::Calculated measDiffMean for beam 44 as -3.24. Range = 65.60 
TNavPF::Calculated measDiffMean for beam 45 as -2.80. Range = 65.08 
TNavPF::Calculated measDiffMean for beam 46 as -0.77. Range = 64.58 
TNavPF::Calculated measDiffMean for beam 47 as -0.09. Range = 65.99 
TNavPF::Calculated measDiffMean for beam 48 as 0.02. Range = 65.82 
TNavPF::Calculated measDiffMean for beam 49 as -0.37. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 50 as 0.35. Range = 64.98 
TNavPF::Calculated measDiffMean for beam 51 as 0.25. Range = 66.71 
TNavPF::Calculated measDiffMean for beam 52 as -1.20. Range = 66.34 
TNavPF::Calculated measDiffMean for beam 53 as -0.28. Range = 65.99 
TNavPF::Calculated measDiffMean for beam 54 as 0.50. Range = 65.67 
TNavPF::Calculated measDiffMean for beam 55 as -0.38. Range = 65.37 
TNavPF::Calculated measDiffMean for beam 56 as 0.36. Range = 65.09 
TNavPF::Calculated measDiffMean for beam 57 as 1.47. Range = 65.65 
TNavPF::Calculated measDiffMean for beam 58 as 1.93. Range = 66.61 
TNavPF::Calculated measDiffMean for beam 59 as 0.98. Range = 66.43 
TNavPF::Calculated measDiffMean for beam 60 as 1.39. Range = 68.26 
TNavPF::Calculated measDiffMean for beam 61 as 1.70. Range = 68.08 
TNavPF::Calculated measDiffMean for beam 62 as 1.13. Range = 67.92 
TNavPF::Calculated measDiffMean for beam 63 as 0.32. Range = 67.78 
TNavPF::Calculated measDiffMean for beam 64 as -0.38. Range = 67.66 
TNavPF::Calculated measDiffMean for beam 65 as -1.39. Range = 61.54 
TNavPF::Calculated measDiffMean for beam 66 as -1.25. Range = 61.47 
TNavPF::Calculated measDiffMean for beam 67 as -0.61. Range = 57.41 
TNavPF::Calculated measDiffMean for beam 68 as 0.24. Range = 57.38 
TNavPF::Calculated measDiffMean for beam 69 as 0.96. Range = 49.36 
TNavPF::Calculated measDiffMean for beam 70 as 1.46. Range = 49.37 
TNavPF::Calculated measDiffMean for beam 71 as 1.58. Range = 47.38 
TNavPF::Calculated measDiffMean for beam 72 as 0.77. Range = 45.41 
TNavPF::Calculated measDiffMean for beam 73 as 0.18. Range = 45.46 
TNavPF::Calculated measDiffMean for beam 74 as -0.34. Range = 45.52 
TNavPF::Calculated measDiffMean for beam 75 as -0.28. Range = 45.59 
TNavPF::Calculated measDiffMean for beam 76 as 0.09. Range = 47.70 
TNavPF::Calculated measDiffMean for beam 77 as 0.47. Range = 47.80 
TNavPF::Calculated measDiffMean for beam 78 as 1.00. Range = 46.98 
TNavPF::Calculated measDiffMean for beam 79 as 1.63. Range = 46.03 
TNavPF::Calculated measDiffMean for beam 80 as 1.70. Range = 46.18 
TNavPF::Calculated measDiffMean for beam 81 as 0.86. Range = 44.99 
TNavPF::Calculated measDiffMean for beam 82 as 0.15. Range = 42.41 
TNavPF::Calculated measDiffMean for beam 83 as 0.27. Range = 42.58 
TNavPF::Calculated measDiffMean for beam 84 as 0.30. Range = 42.78 
TNavPF::Calculated measDiffMean for beam 85 as 0.34. Range = 41.21 
TNavPF::Calculated measDiffMean for beam 86 as 0.40. Range = 41.11 
TNavPF::Calculated measDiffMean for beam 87 as 0.50. Range = 41.33 
TNavPF::Calculated measDiffMean for beam 88 as 0.70. Range = 41.05 
TNavPF::Calculated measDiffMean for beam 89 as 1.09. Range = 39.70 
TNavPF::First Term of Map Covariance Matrix is 39.62 
TNavPF::Calculated NIS Value : 6.80 	numBeams normalized NIS: 0.11
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321964.82 sec.
INS : North: 4070203.97, East: 589391.93, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 35.78, IDT[75] = 39.95
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321967.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321967.62)
ARL : North: 0.8750, East: -0.9702, Depth: 3.1011ARL : Estimation Bias  (Mean)         : (t = 1488321967.62)
ARL : North: 0.2845, East: -1.2887, Depth: 0.1712TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.64 
Alpha[0]	0.123000
Alpha[0]	0.998951
TNavParticleFilter::Modified Variance for beam 1 is 15.68 
Alpha[1]	0.000000
Alpha[1]	0.998853
TNavParticleFilter::Modified Variance for beam 2 is 14.76 
Alpha[2]	0.000000
Alpha[2]	0.998920
TNavParticleFilter::Modified Variance for beam 3 is 14.82 
Alpha[3]	0.000000
Alpha[3]	0.998826
TNavParticleFilter::Modified Variance for beam 4 is 14.60 
Alpha[4]	0.000000
Alpha[4]	0.998544
TNavParticleFilter::Modified Variance for beam 5 is 13.10 
Alpha[5]	0.000000
Alpha[5]	0.998390
TNavParticleFilter::Modified Variance for beam 6 is 13.16 
Alpha[6]	0.000000
Alpha[6]	0.998435
TNavParticleFilter::Modified Variance for beam 7 is 13.23 
Alpha[7]	0.000000
Alpha[7]	0.998392
TNavParticleFilter::Modified Variance for beam 8 is 12.43 
Alpha[8]	0.000000
Alpha[8]	0.998053
TNavParticleFilter::Modified Variance for beam 9 is 12.52 
Alpha[9]	0.000000
Alpha[9]	0.997437
TNavParticleFilter::Modified Variance for beam 10 is 12.61 
Alpha[10]	0.000000
Alpha[10]	0.996989
TNavParticleFilter::Modified Variance for beam 11 is 12.05 
Alpha[11]	0.000000
Alpha[11]	0.996123
TNavParticleFilter::Modified Variance for beam 12 is 11.13 
Alpha[12]	0.000000
Alpha[12]	0.994969
TNavParticleFilter::Modified Variance for beam 13 is 10.34 
Alpha[13]	0.000000
Alpha[13]	0.995570
TNavParticleFilter::Modified Variance for beam 14 is 9.70 
Alpha[14]	0.000000
Alpha[14]	0.995970
TNavParticleFilter::Modified Variance for beam 15 is 9.78 
Alpha[15]	0.000000
Alpha[15]	0.995778
TNavParticleFilter::Modified Variance for beam 16 is 9.87 
Alpha[16]	0.000000
Alpha[16]	0.994498
TNavParticleFilter::Modified Variance for beam 17 is 9.99 
Alpha[17]	0.000000
Alpha[17]	0.991787
TNavParticleFilter::Modified Variance for beam 18 is 10.13 
Alpha[18]	0.000000
Alpha[18]	0.987885
TNavParticleFilter::Modified Variance for beam 19 is 10.23 
Alpha[19]	0.000000
Alpha[19]	0.988132
TNavParticleFilter::Modified Variance for beam 20 is 10.23 
Alpha[20]	0.000000
Alpha[20]	0.988279
TNavParticleFilter::Modified Variance for beam 21 is 9.78 
Alpha[21]	0.000000
Alpha[21]	0.986241
TNavParticleFilter::Modified Variance for beam 22 is 9.39 
Alpha[22]	0.000000
Alpha[22]	0.983796
TNavParticleFilter::Modified Variance for beam 23 is 9.12 
Alpha[23]	0.000000
Alpha[23]	0.984713
TNavParticleFilter::Modified Variance for beam 24 is 9.21 
Alpha[24]	0.000000
Alpha[24]	0.986567
TNavParticleFilter::Modified Variance for beam 25 is 9.34 
Alpha[25]	0.000000
Alpha[25]	0.984849
TNavParticleFilter::Modified Variance for beam 26 is 9.37 
Alpha[26]	0.000000
Alpha[26]	0.979666
TNavParticleFilter::Modified Variance for beam 27 is 9.05 
Alpha[27]	0.000000
Alpha[27]	0.979728
TNavParticleFilter::Modified Variance for beam 28 is 8.92 
Alpha[28]	0.000000
Alpha[28]	0.985076
TNavParticleFilter::Modified Variance for beam 29 is 9.02 
Alpha[29]	0.000000
Alpha[29]	0.987506
TNavParticleFilter::Modified Variance for beam 30 is 9.16 
Alpha[30]	0.000000
Alpha[30]	0.986663
TNavParticleFilter::Modified Variance for beam 31 is 9.33 
Alpha[31]	0.000000
Alpha[31]	0.984782
TNavParticleFilter::Modified Variance for beam 32 is 9.48 
Alpha[32]	0.000000
Alpha[32]	0.984668
TNavParticleFilter::Modified Variance for beam 33 is 9.64 
Alpha[33]	0.000000
Alpha[33]	0.984987
TNavParticleFilter::Modified Variance for beam 34 is 9.83 
Alpha[34]	0.000000
Alpha[34]	0.983851
TNavParticleFilter::Modified Variance for beam 35 is 10.06 
Alpha[35]	0.000000
Alpha[35]	0.979374
TNavParticleFilter::Modified Variance for beam 36 is 10.32 
Alpha[36]	0.000000
Alpha[36]	0.972930
TNavParticleFilter::Modified Variance for beam 37 is 10.55 
Alpha[37]	0.000000
Alpha[37]	0.972006
TNavParticleFilter::Modified Variance for beam 38 is 10.64 
Alpha[38]	0.000000
Alpha[38]	0.975303
TNavParticleFilter::Modified Variance for beam 39 is 10.35 
Alpha[39]	0.000000
Alpha[39]	0.979214
TNavParticleFilter::Modified Variance for beam 40 is 10.07 
Alpha[40]	0.000000
Alpha[40]	0.985161
TNavParticleFilter::Modified Variance for beam 41 is 10.28 
Alpha[41]	0.000000
Alpha[41]	0.988030
TNavParticleFilter::Modified Variance for beam 42 is 10.55 
Alpha[42]	0.000000
Alpha[42]	0.986719
TNavParticleFilter::Modified Variance for beam 43 is 10.85 
Alpha[43]	0.000000
Alpha[43]	0.983835
TNavParticleFilter::Modified Variance for beam 44 is 11.16 
Alpha[44]	0.000000
Alpha[44]	0.982909
TNavParticleFilter::Modified Variance for beam 45 is 11.47 
Alpha[45]	0.000000
Alpha[45]	0.984166
TNavParticleFilter::Modified Variance for beam 46 is 11.74 
Alpha[46]	0.000000
Alpha[46]	0.986643
TNavParticleFilter::Modified Variance for beam 47 is 11.50 
Alpha[47]	0.000000
Alpha[47]	0.988158
TNavParticleFilter::Modified Variance for beam 48 is 11.27 
Alpha[48]	0.000000
Alpha[48]	0.989822
TNavParticleFilter::Modified Variance for beam 49 is 11.51 
Alpha[49]	0.000000
Alpha[49]	0.992062
TNavParticleFilter::Modified Variance for beam 50 is 11.91 
Alpha[50]	0.000000
Alpha[50]	0.992727
TNavParticleFilter::Modified Variance for beam 51 is 12.37 
Alpha[51]	0.000000
Alpha[51]	0.991171
TNavParticleFilter::Modified Variance for beam 52 is 12.44 
Alpha[52]	0.000000
Alpha[52]	0.990179
TNavParticleFilter::Modified Variance for beam 53 is 12.24 
Alpha[53]	0.000000
Alpha[53]	0.991062
TNavParticleFilter::Modified Variance for beam 54 is 12.24 
Alpha[54]	0.000000
Alpha[54]	0.993111
TNavParticleFilter::Modified Variance for beam 55 is 12.76 
Alpha[55]	0.000000
Alpha[55]	0.994721
TNavParticleFilter::Modified Variance for beam 56 is 13.36 
Alpha[56]	0.000000
Alpha[56]	0.994642
TNavParticleFilter::Modified Variance for beam 57 is 14.04 
Alpha[57]	0.000000
Alpha[57]	0.993895
TNavParticleFilter::Modified Variance for beam 58 is 14.27 
Alpha[58]	0.000000
Alpha[58]	0.994122
TNavParticleFilter::Modified Variance for beam 59 is 14.10 
Alpha[59]	0.000000
Alpha[59]	0.993244
TNavPF:: sumSquaredError = 41.069569 
TNavPF:: sumWeights = 0.023281 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.10. Range = 67.89 
TNavPF::Calculated measDiffMean for beam 31 as 0.82. Range = 69.52 
TNavPF::Calculated measDiffMean for beam 32 as 0.23. Range = 69.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.63. Range = 68.51 
TNavPF::Calculated measDiffMean for beam 34 as 2.06. Range = 68.95 
TNavPF::Calculated measDiffMean for beam 35 as -0.24. Range = 69.74 
TNavPF::Calculated measDiffMean for beam 36 as 1.08. Range = 69.32 
TNavPF::Calculated measDiffMean for beam 37 as 2.69. Range = 68.92 
TNavPF::Calculated measDiffMean for beam 38 as 2.01. Range = 68.55 
TNavPF::Calculated measDiffMean for beam 39 as 2.94. Range = 68.20 
TNavPF::Calculated measDiffMean for beam 40 as 3.32. Range = 67.88 
TNavPF::Calculated measDiffMean for beam 41 as 1.89. Range = 69.13 
TNavPF::Calculated measDiffMean for beam 42 as 0.07. Range = 69.36 
TNavPF::Calculated measDiffMean for beam 43 as -1.06. Range = 70.89 
TNavPF::Calculated measDiffMean for beam 44 as -2.04. Range = 70.89 
TNavPF::Calculated measDiffMean for beam 45 as -1.44. Range = 70.67 
TNavPF::Calculated measDiffMean for beam 46 as -0.91. Range = 70.47 
TNavPF::Calculated measDiffMean for beam 47 as -0.05. Range = 70.29 
TNavPF::Calculated measDiffMean for beam 48 as 0.82. Range = 70.14 
TNavPF::Calculated measDiffMean for beam 49 as 1.33. Range = 70.00 
TNavPF::Calculated measDiffMean for beam 50 as 1.35. Range = 51.78 
TNavPF::Calculated measDiffMean for beam 51 as 0.27. Range = 51.72 
TNavPF::Calculated measDiffMean for beam 52 as -0.42. Range = 51.67 
TNavPF::Calculated measDiffMean for beam 53 as -0.70. Range = 49.63 
TNavPF::Calculated measDiffMean for beam 54 as -0.15. Range = 49.61 
TNavPF::Calculated measDiffMean for beam 55 as 0.20. Range = 53.61 
TNavPF::Calculated measDiffMean for beam 56 as 0.19. Range = 53.63 
TNavPF::Calculated measDiffMean for beam 57 as -0.56. Range = 51.65 
TNavPF::Calculated measDiffMean for beam 58 as -0.57. Range = 51.69 
TNavPF::Calculated measDiffMean for beam 59 as -0.08. Range = 49.74 
TNavPF::Calculated measDiffMean for beam 60 as 0.22. Range = 49.81 
TNavPF::Calculated measDiffMean for beam 61 as 0.44. Range = 49.90 
TNavPF::Calculated measDiffMean for beam 62 as 0.56. Range = 47.98 
TNavPF::Calculated measDiffMean for beam 63 as 0.61. Range = 48.10 
TNavPF::Calculated measDiffMean for beam 64 as 0.64. Range = 47.62 
TNavPF::Calculated measDiffMean for beam 65 as 0.72. Range = 44.30 
TNavPF::Calculated measDiffMean for beam 66 as 0.84. Range = 44.44 
TNavPF::Calculated measDiffMean for beam 67 as 0.95. Range = 44.61 
TNavPF::Calculated measDiffMean for beam 68 as 0.79. Range = 42.72 
TNavPF::Calculated measDiffMean for beam 69 as -0.27. Range = 42.90 
TNavPF::Calculated measDiffMean for beam 70 as -1.08. Range = 43.10 
TNavPF::Calculated measDiffMean for beam 71 as -0.55. Range = 41.74 
TNavPF::Calculated measDiffMean for beam 72 as 0.02. Range = 39.42 
TNavPF::Calculated measDiffMean for beam 73 as 0.50. Range = 37.35 
TNavPF::Calculated measDiffMean for beam 74 as 0.84. Range = 35.55 
TNavPF::Calculated measDiffMean for beam 75 as 1.08. Range = 35.78 
TNavPF::Calculated measDiffMean for beam 76 as 1.26. Range = 36.01 
TNavPF::Calculated measDiffMean for beam 77 as 0.29. Range = 36.27 
TNavPF::Calculated measDiffMean for beam 78 as -0.47. Range = 36.53 
TNavPF::Calculated measDiffMean for beam 79 as -0.13. Range = 36.81 
TNavPF::Calculated measDiffMean for beam 80 as 0.34. Range = 36.82 
TNavPF::Calculated measDiffMean for beam 81 as 0.88. Range = 35.52 
TNavPF::Calculated measDiffMean for beam 82 as 0.62. Range = 34.32 
TNavPF::Calculated measDiffMean for beam 83 as -0.13. Range = 33.55 
TNavPF::Calculated measDiffMean for beam 84 as -0.44. Range = 33.87 
TNavPF::Calculated measDiffMean for beam 85 as 0.07. Range = 34.21 
TNavPF::Calculated measDiffMean for beam 86 as 0.44. Range = 34.16 
TNavPF::Calculated measDiffMean for beam 87 as 1.15. Range = 33.22 
TNavPF::Calculated measDiffMean for beam 88 as 1.07. Range = 32.94 
TNavPF::Calculated measDiffMean for beam 89 as 0.15. Range = 33.33 
TNavPF::First Term of Map Covariance Matrix is 19.05 
TNavPF::Calculated NIS Value : 3.57 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321967.82 sec.
INS : North: 4070206.40, East: 589388.61, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 35.78, IDT[75] = 46.27
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321970.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321970.62)
ARL : North: -0.4396, East: -0.5850, Depth: 1.3647ARL : Estimation Bias  (Mean)         : (t = 1488321970.62)
ARL : North: 0.7332, East: -1.2937, Depth: 0.0457TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 63 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 10.62 
Alpha[0]	0.123000
Alpha[0]	0.994047
TNavParticleFilter::Modified Variance for beam 1 is 10.71 
Alpha[1]	0.000000
Alpha[1]	0.992988
TNavParticleFilter::Modified Variance for beam 2 is 10.80 
Alpha[2]	0.000000
Alpha[2]	0.992330
TNavParticleFilter::Modified Variance for beam 3 is 10.46 
Alpha[3]	0.000000
Alpha[3]	0.991317
TNavParticleFilter::Modified Variance for beam 4 is 9.85 
Alpha[4]	0.000000
Alpha[4]	0.990923
TNavParticleFilter::Modified Variance for beam 5 is 9.53 
Alpha[5]	0.000000
Alpha[5]	0.990435
TNavParticleFilter::Modified Variance for beam 6 is 9.62 
Alpha[6]	0.000000
Alpha[6]	0.989207
TNavParticleFilter::Modified Variance for beam 7 is 9.75 
Alpha[7]	0.000000
Alpha[7]	0.986281
TNavParticleFilter::Modified Variance for beam 8 is 9.66 
Alpha[8]	0.000000
Alpha[8]	0.984531
TNavParticleFilter::Modified Variance for beam 9 is 9.20 
Alpha[9]	0.000000
Alpha[9]	0.987472
TNavParticleFilter::Modified Variance for beam 10 is 9.25 
Alpha[10]	0.000000
Alpha[10]	0.989306
TNavParticleFilter::Modified Variance for beam 11 is 9.36 
Alpha[11]	0.000000
Alpha[11]	0.988750
TNavParticleFilter::Modified Variance for beam 12 is 9.49 
Alpha[12]	0.000000
Alpha[12]	0.987013
TNavParticleFilter::Modified Variance for beam 13 is 9.62 
Alpha[13]	0.000000
Alpha[13]	0.985719
TNavParticleFilter::Modified Variance for beam 14 is 9.75 
Alpha[14]	0.000000
Alpha[14]	0.985564
TNavParticleFilter::Modified Variance for beam 15 is 9.88 
Alpha[15]	0.000000
Alpha[15]	0.985432
TNavParticleFilter::Modified Variance for beam 16 is 10.04 
Alpha[16]	0.000000
Alpha[16]	0.983875
TNavParticleFilter::Modified Variance for beam 17 is 10.25 
Alpha[17]	0.000000
Alpha[17]	0.977771
TNavParticleFilter::Modified Variance for beam 18 is 10.52 
Alpha[18]	0.000000
Alpha[18]	0.968201
TNavParticleFilter::Modified Variance for beam 19 is 10.70 
Alpha[19]	0.000000
Alpha[19]	0.967239
TNavParticleFilter::Modified Variance for beam 20 is 10.84 
Alpha[20]	0.000000
Alpha[20]	0.971069
TNavParticleFilter::Modified Variance for beam 21 is 10.46 
Alpha[21]	0.000000
Alpha[21]	0.976640
TNavParticleFilter::Modified Variance for beam 22 is 10.13 
Alpha[22]	0.000000
Alpha[22]	0.984521
TNavParticleFilter::Modified Variance for beam 23 is 10.29 
Alpha[23]	0.000000
Alpha[23]	0.987669
TNavParticleFilter::Modified Variance for beam 24 is 10.50 
Alpha[24]	0.000000
Alpha[24]	0.987045
TNavParticleFilter::Modified Variance for beam 25 is 10.73 
Alpha[25]	0.000000
Alpha[25]	0.986034
TNavParticleFilter::Modified Variance for beam 26 is 10.98 
Alpha[26]	0.000000
Alpha[26]	0.984603
TNavParticleFilter::Modified Variance for beam 27 is 11.25 
Alpha[27]	0.000000
Alpha[27]	0.983261
TNavParticleFilter::Modified Variance for beam 28 is 11.51 
Alpha[28]	0.000000
Alpha[28]	0.983325
TNavParticleFilter::Modified Variance for beam 29 is 11.52 
Alpha[29]	0.000000
Alpha[29]	0.984465
TNavParticleFilter::Modified Variance for beam 30 is 11.24 
Alpha[30]	0.000000
Alpha[30]	0.986498
TNavParticleFilter::Modified Variance for beam 31 is 11.15 
Alpha[31]	0.000000
Alpha[31]	0.990026
TNavParticleFilter::Modified Variance for beam 32 is 11.43 
Alpha[32]	0.000000
Alpha[32]	0.992413
TNavParticleFilter::Modified Variance for beam 33 is 11.76 
Alpha[33]	0.000000
Alpha[33]	0.992315
TNavParticleFilter::Modified Variance for beam 34 is 12.14 
Alpha[34]	0.000000
Alpha[34]	0.989918
TNavParticleFilter::Modified Variance for beam 35 is 12.13 
Alpha[35]	0.000000
Alpha[35]	0.987842
TNavParticleFilter::Modified Variance for beam 36 is 11.88 
Alpha[36]	0.000000
Alpha[36]	0.989511
TNavParticleFilter::Modified Variance for beam 37 is 11.92 
Alpha[37]	0.000000
Alpha[37]	0.992581
TNavParticleFilter::Modified Variance for beam 38 is 12.32 
Alpha[38]	0.000000
Alpha[38]	0.994350
TNavParticleFilter::Modified Variance for beam 39 is 12.18 
Alpha[39]	0.000000
Alpha[39]	0.994939
TNavParticleFilter::Modified Variance for beam 40 is 11.98 
Alpha[40]	0.000000
Alpha[40]	0.995020
TNavParticleFilter::Modified Variance for beam 41 is 12.19 
Alpha[41]	0.000000
Alpha[41]	0.994842
TNavParticleFilter::Modified Variance for beam 42 is 13.61 
Alpha[42]	0.000000
Alpha[42]	0.994072
TNavParticleFilter::Modified Variance for beam 43 is 13.44 
Alpha[43]	0.000000
Alpha[43]	0.991633
TNavParticleFilter::Modified Variance for beam 44 is 13.94 
Alpha[44]	0.000000
Alpha[44]	0.989957
TNavParticleFilter::Modified Variance for beam 45 is 14.08 
Alpha[45]	0.000000
Alpha[45]	0.991178
TNavParticleFilter::Modified Variance for beam 46 is 13.87 
Alpha[46]	0.000000
Alpha[46]	0.992136
TNavParticleFilter::Modified Variance for beam 47 is 14.04 
Alpha[47]	0.000000
Alpha[47]	0.992192
TNavParticleFilter::Modified Variance for beam 48 is 14.51 
Alpha[48]	0.000000
Alpha[48]	0.993368
TNavParticleFilter::Modified Variance for beam 49 is 14.33 
Alpha[49]	0.000000
Alpha[49]	0.994402
TNavParticleFilter::Modified Variance for beam 50 is 14.21 
Alpha[50]	0.000000
Alpha[50]	0.995928
TNavParticleFilter::Modified Variance for beam 51 is 14.97 
Alpha[51]	0.000000
Alpha[51]	0.997592
TNavParticleFilter::Modified Variance for beam 52 is 14.80 
Alpha[52]	0.000000
Alpha[52]	0.998537
TNavParticleFilter::Modified Variance for beam 53 is 14.64 
Alpha[53]	0.000000
Alpha[53]	0.999085
TNavParticleFilter::Modified Variance for beam 54 is 16.55 
Alpha[54]	0.000000
Alpha[54]	0.999411
TNavParticleFilter::Modified Variance for beam 55 is 16.98 
Alpha[55]	0.000000
Alpha[55]	0.999730
TNavParticleFilter::Modified Variance for beam 56 is 22.47 
Alpha[56]	0.000000
Alpha[56]	0.999914
TNavPF:: sumSquaredError = 13.042021 
TNavPF:: sumWeights = 0.023934 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.36. Range = 74.45 
TNavPF::Calculated measDiffMean for beam 31 as 1.01. Range = 74.16 
TNavPF::Calculated measDiffMean for beam 32 as 1.33. Range = 73.90 
TNavPF::Calculated measDiffMean for beam 33 as 0.74. Range = 73.65 
TNavPF::Calculated measDiffMean for beam 34 as -0.28. Range = 73.44 
TNavPF::Calculated measDiffMean for beam 35 as -0.67. Range = 73.24 
TNavPF::Calculated measDiffMean for beam 36 as -0.24. Range = 54.88 
TNavPF::Calculated measDiffMean for beam 37 as 0.13. Range = 54.77 
TNavPF::Calculated measDiffMean for beam 38 as 0.13. Range = 52.66 
TNavPF::Calculated measDiffMean for beam 39 as -0.74. Range = 52.59 
TNavPF::Calculated measDiffMean for beam 40 as -0.30. Range = 62.57 
TNavPF::Calculated measDiffMean for beam 41 as 0.00. Range = 56.50 
TNavPF::Calculated measDiffMean for beam 42 as 0.22. Range = 54.47 
TNavPF::Calculated measDiffMean for beam 43 as 0.37. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 44 as 0.44. Range = 52.46 
TNavPF::Calculated measDiffMean for beam 45 as 0.46. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 46 as 0.51. Range = 52.52 
TNavPF::Calculated measDiffMean for beam 47 as 0.64. Range = 50.56 
TNavPF::Calculated measDiffMean for beam 48 as 0.82. Range = 50.63 
TNavPF::Calculated measDiffMean for beam 49 as 0.93. Range = 46.68 
TNavPF::Calculated measDiffMean for beam 50 as 1.01. Range = 46.77 
TNavPF::Calculated measDiffMean for beam 51 as -0.13. Range = 46.87 
TNavPF::Calculated measDiffMean for beam 52 as -0.96. Range = 44.96 
TNavPF::Calculated measDiffMean for beam 53 as -0.56. Range = 45.09 
TNavPF::Calculated measDiffMean for beam 54 as -0.10. Range = 45.24 
TNavPF::Calculated measDiffMean for beam 55 as 0.34. Range = 43.35 
TNavPF::Calculated measDiffMean for beam 56 as 0.66. Range = 39.40 
TNavPF::Calculated measDiffMean for beam 57 as 0.90. Range = 39.56 
TNavPF::Calculated measDiffMean for beam 58 as 1.12. Range = 39.74 
TNavPF::Calculated measDiffMean for beam 59 as 0.77. Range = 39.34 
TNavPF::Calculated measDiffMean for beam 60 as -0.13. Range = 38.04 
TNavPF::Calculated measDiffMean for beam 61 as -0.45. Range = 38.25 
TNavPF::Calculated measDiffMean for beam 62 as -0.08. Range = 38.47 
TNavPF::Calculated measDiffMean for beam 63 as 0.23. Range = 37.55 
TNavPF::Calculated measDiffMean for beam 64 as 0.77. Range = 35.84 
TNavPF::Calculated measDiffMean for beam 65 as 0.47. Range = 34.91 
TNavPF::Calculated measDiffMean for beam 66 as -0.27. Range = 35.16 
TNavPF::Calculated measDiffMean for beam 67 as -0.42. Range = 35.42 
TNavPF::Calculated measDiffMean for beam 68 as -0.08. Range = 35.12 
TNavPF::Calculated measDiffMean for beam 69 as -1.22. Range = 33.86 
TNavPF::Calculated measDiffMean for beam 70 as -2.27. Range = 34.07 
TNavPF::Calculated measDiffMean for beam 71 as -2.15. Range = 34.37 
TNavPF::Calculated measDiffMean for beam 72 as 0.63. Range = 34.70 
TNavPF::Calculated measDiffMean for beam 73 as -0.34. Range = 35.04 
TNavPF::Calculated measDiffMean for beam 74 as 0.60. Range = 35.40 
TNavPF::Calculated measDiffMean for beam 75 as 1.02. Range = 35.78 
TNavPF::Calculated measDiffMean for beam 76 as 0.74. Range = 36.18 
TNavPF::Calculated measDiffMean for beam 77 as 0.81. Range = 36.60 
TNavPF::Calculated measDiffMean for beam 78 as 0.98. Range = 37.04 
TNavPF::Calculated measDiffMean for beam 79 as -0.28. Range = 37.50 
TNavPF::Calculated measDiffMean for beam 80 as -1.03. Range = 37.96 
TNavPF::Calculated measDiffMean for beam 81 as -0.11. Range = 37.11 
TNavPF::Calculated measDiffMean for beam 82 as -1.50. Range = 36.45 
TNavPF::Calculated measDiffMean for beam 83 as -3.08. Range = 36.98 
TNavPF::Calculated measDiffMean for beam 84 as -1.13. Range = 37.53 
TNavPF::Calculated measDiffMean for beam 85 as -3.09. Range = 38.11 
TNavPF::Calculated measDiffMean for beam 86 as 2.09. Range = 38.72 
TNavPF::First Term of Map Covariance Matrix is 3.35 
TNavPF::Calculated NIS Value : 3.34 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321970.82 sec.
INS : North: 4070209.42, East: 589385.81, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 40.91, IDT[75] = 55.85
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321973.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321973.62)
ARL : North: 0.4131, East: -2.1065, Depth: 0.8601ARL : Estimation Bias  (Mean)         : (t = 1488321973.62)
ARL : North: 1.1382, East: -1.2821, Depth: 0.5311TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 73 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 10.31 
Alpha[0]	0.123000
Alpha[0]	0.984231
TNavParticleFilter::Modified Variance for beam 1 is 10.43 
Alpha[1]	0.000000
Alpha[1]	0.983439
TNavParticleFilter::Modified Variance for beam 2 is 10.55 
Alpha[2]	0.000000
Alpha[2]	0.983111
TNavParticleFilter::Modified Variance for beam 3 is 10.70 
Alpha[3]	0.000000
Alpha[3]	0.980516
TNavParticleFilter::Modified Variance for beam 4 is 10.93 
Alpha[4]	0.000000
Alpha[4]	0.971739
TNavParticleFilter::Modified Variance for beam 5 is 11.20 
Alpha[5]	0.000000
Alpha[5]	0.960826
TNavParticleFilter::Modified Variance for beam 6 is 11.34 
Alpha[6]	0.000000
Alpha[6]	0.961895
TNavParticleFilter::Modified Variance for beam 7 is 11.23 
Alpha[7]	0.000000
Alpha[7]	0.968465
TNavParticleFilter::Modified Variance for beam 8 is 10.69 
Alpha[8]	0.000000
Alpha[8]	0.979642
TNavParticleFilter::Modified Variance for beam 9 is 10.64 
Alpha[9]	0.000000
Alpha[9]	0.985804
TNavParticleFilter::Modified Variance for beam 10 is 10.80 
Alpha[10]	0.000000
Alpha[10]	0.986653
TNavParticleFilter::Modified Variance for beam 11 is 11.00 
Alpha[11]	0.000000
Alpha[11]	0.985535
TNavParticleFilter::Modified Variance for beam 12 is 11.19 
Alpha[12]	0.000000
Alpha[12]	0.984868
TNavParticleFilter::Modified Variance for beam 13 is 11.42 
Alpha[13]	0.000000
Alpha[13]	0.982904
TNavParticleFilter::Modified Variance for beam 14 is 11.65 
Alpha[14]	0.000000
Alpha[14]	0.981813
TNavParticleFilter::Modified Variance for beam 15 is 11.88 
Alpha[15]	0.000000
Alpha[15]	0.982374
TNavParticleFilter::Modified Variance for beam 16 is 11.71 
Alpha[16]	0.000000
Alpha[16]	0.983328
TNavParticleFilter::Modified Variance for beam 17 is 11.36 
Alpha[17]	0.000000
Alpha[17]	0.985799
TNavParticleFilter::Modified Variance for beam 18 is 11.46 
Alpha[18]	0.000000
Alpha[18]	0.989591
TNavParticleFilter::Modified Variance for beam 19 is 11.70 
Alpha[19]	0.000000
Alpha[19]	0.991763
TNavParticleFilter::Modified Variance for beam 20 is 11.98 
Alpha[20]	0.000000
Alpha[20]	0.991778
TNavParticleFilter::Modified Variance for beam 21 is 12.31 
Alpha[21]	0.000000
Alpha[21]	0.989360
TNavParticleFilter::Modified Variance for beam 22 is 12.19 
Alpha[22]	0.000000
Alpha[22]	0.986819
TNavParticleFilter::Modified Variance for beam 23 is 11.89 
Alpha[23]	0.000000
Alpha[23]	0.988300
TNavParticleFilter::Modified Variance for beam 24 is 12.03 
Alpha[24]	0.000000
Alpha[24]	0.991406
TNavParticleFilter::Modified Variance for beam 25 is 12.36 
Alpha[25]	0.000000
Alpha[25]	0.993153
TNavParticleFilter::Modified Variance for beam 26 is 12.13 
Alpha[26]	0.000000
Alpha[26]	0.994108
TNavParticleFilter::Modified Variance for beam 27 is 11.88 
Alpha[27]	0.000000
Alpha[27]	0.995065
TNavParticleFilter::Modified Variance for beam 28 is 12.14 
Alpha[28]	0.000000
Alpha[28]	0.995115
TNavParticleFilter::Modified Variance for beam 29 is 13.55 
Alpha[29]	0.000000
Alpha[29]	0.993893
TNavParticleFilter::Modified Variance for beam 30 is 13.33 
Alpha[30]	0.000000
Alpha[30]	0.991237
TNavParticleFilter::Modified Variance for beam 31 is 13.55 
Alpha[31]	0.000000
Alpha[31]	0.990139
TNavParticleFilter::Modified Variance for beam 32 is 13.92 
Alpha[32]	0.000000
Alpha[32]	0.992001
TNavParticleFilter::Modified Variance for beam 33 is 13.68 
Alpha[33]	0.000000
Alpha[33]	0.992346
TNavParticleFilter::Modified Variance for beam 34 is 13.50 
Alpha[34]	0.000000
Alpha[34]	0.991488
TNavParticleFilter::Modified Variance for beam 35 is 14.12 
Alpha[35]	0.000000
Alpha[35]	0.989864
TNavParticleFilter::Modified Variance for beam 36 is 14.12 
Alpha[36]	0.000000
Alpha[36]	0.990143
TNavParticleFilter::Modified Variance for beam 37 is 13.87 
Alpha[37]	0.000000
Alpha[37]	0.992955
TNavParticleFilter::Modified Variance for beam 38 is 14.15 
Alpha[38]	0.000000
Alpha[38]	0.995621
TNavParticleFilter::Modified Variance for beam 39 is 14.88 
Alpha[39]	0.000000
Alpha[39]	0.997206
TNavParticleFilter::Modified Variance for beam 40 is 15.70 
Alpha[40]	0.000000
Alpha[40]	0.998195
TNavParticleFilter::Modified Variance for beam 41 is 16.64 
Alpha[41]	0.000000
Alpha[41]	0.998814
TNavParticleFilter::Modified Variance for beam 42 is 17.70 
Alpha[42]	0.000000
Alpha[42]	0.999097
TNavParticleFilter::Modified Variance for beam 43 is 18.90 
Alpha[43]	0.000000
Alpha[43]	0.999283
TNavParticleFilter::Modified Variance for beam 44 is 18.97 
Alpha[44]	0.000000
Alpha[44]	0.999481
TNavParticleFilter::Modified Variance for beam 45 is 18.75 
Alpha[45]	0.000000
Alpha[45]	0.999790
TNavParticleFilter::Modified Variance for beam 46 is 27.63 
Alpha[46]	0.000000
Alpha[46]	0.999957
TNavPF:: sumSquaredError = 19.437606 
TNavPF:: sumWeights = 0.006175 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.31. Range = 66.06 
TNavPF::Calculated measDiffMean for beam 31 as 0.36. Range = 63.94 
TNavPF::Calculated measDiffMean for beam 32 as 0.38. Range = 63.86 
TNavPF::Calculated measDiffMean for beam 33 as 0.45. Range = 61.79 
TNavPF::Calculated measDiffMean for beam 34 as 0.61. Range = 57.74 
TNavPF::Calculated measDiffMean for beam 35 as 0.79. Range = 57.72 
TNavPF::Calculated measDiffMean for beam 36 as 0.90. Range = 53.70 
TNavPF::Calculated measDiffMean for beam 37 as 0.52. Range = 53.72 
TNavPF::Calculated measDiffMean for beam 38 as -0.69. Range = 53.63 
TNavPF::Calculated measDiffMean for beam 39 as -0.72. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 40 as -0.35. Range = 49.83 
TNavPF::Calculated measDiffMean for beam 41 as 0.09. Range = 47.89 
TNavPF::Calculated measDiffMean for beam 42 as 0.45. Range = 47.98 
TNavPF::Calculated measDiffMean for beam 43 as 0.71. Range = 48.08 
TNavPF::Calculated measDiffMean for beam 44 as 0.92. Range = 42.82 
TNavPF::Calculated measDiffMean for beam 45 as 1.14. Range = 42.23 
TNavPF::Calculated measDiffMean for beam 46 as 0.47. Range = 42.36 
TNavPF::Calculated measDiffMean for beam 47 as -0.45. Range = 41.77 
TNavPF::Calculated measDiffMean for beam 48 as -0.23. Range = 40.60 
TNavPF::Calculated measDiffMean for beam 49 as 0.02. Range = 40.76 
TNavPF::Calculated measDiffMean for beam 50 as 0.26. Range = 40.94 
TNavPF::Calculated measDiffMean for beam 51 as 0.79. Range = 39.05 
TNavPF::Calculated measDiffMean for beam 52 as 0.35. Range = 39.24 
TNavPF::Calculated measDiffMean for beam 53 as -0.41. Range = 39.45 
TNavPF::Calculated measDiffMean for beam 54 as -0.23. Range = 38.84 
TNavPF::Calculated measDiffMean for beam 55 as 0.01. Range = 36.92 
TNavPF::Calculated measDiffMean for beam 56 as -1.21. Range = 35.88 
TNavPF::Calculated measDiffMean for beam 57 as -2.30. Range = 36.12 
TNavPF::Calculated measDiffMean for beam 58 as -1.94. Range = 36.38 
TNavPF::Calculated measDiffMean for beam 59 as 0.91. Range = 36.64 
TNavPF::Calculated measDiffMean for beam 60 as -0.18. Range = 36.93 
TNavPF::Calculated measDiffMean for beam 61 as 0.15. Range = 37.23 
TNavPF::Calculated measDiffMean for beam 62 as 1.23. Range = 37.54 
TNavPF::Calculated measDiffMean for beam 63 as 0.95. Range = 37.88 
TNavPF::Calculated measDiffMean for beam 64 as 0.52. Range = 38.23 
TNavPF::Calculated measDiffMean for beam 65 as 1.34. Range = 38.60 
TNavPF::Calculated measDiffMean for beam 66 as 0.48. Range = 38.99 
TNavPF::Calculated measDiffMean for beam 67 as -0.56. Range = 38.90 
TNavPF::Calculated measDiffMean for beam 68 as -0.23. Range = 37.82 
TNavPF::Calculated measDiffMean for beam 69 as 0.70. Range = 37.87 
TNavPF::Calculated measDiffMean for beam 70 as 1.54. Range = 38.32 
TNavPF::Calculated measDiffMean for beam 71 as 2.38. Range = 38.79 
TNavPF::Calculated measDiffMean for beam 72 as 2.84. Range = 39.28 
TNavPF::Calculated measDiffMean for beam 73 as 3.00. Range = 39.80 
TNavPF::Calculated measDiffMean for beam 74 as 0.80. Range = 40.34 
TNavPF::Calculated measDiffMean for beam 75 as -2.78. Range = 40.91 
TNavPF::Calculated measDiffMean for beam 76 as 3.89. Range = 40.53 
TNavPF::First Term of Map Covariance Matrix is 1.26 
TNavPF::Calculated NIS Value : 2.92 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321973.82 sec.
INS : North: 4070212.78, East: 589383.37, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 42.64, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321976.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321976.62)
ARL : North: 1.6015, East: -1.8642, Depth: 4.5015ARL : Estimation Bias  (Mean)         : (t = 1488321976.62)
ARL : North: 1.6154, East: -1.3980, Depth: 0.0426TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 77 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 11.99 
Alpha[0]	0.123000
Alpha[0]	0.962819
TNavParticleFilter::Modified Variance for beam 1 is 12.03 
Alpha[1]	0.000000
Alpha[1]	0.970622
TNavParticleFilter::Modified Variance for beam 2 is 12.04 
Alpha[2]	0.000000
Alpha[2]	0.980878
TNavParticleFilter::Modified Variance for beam 3 is 11.22 
Alpha[3]	0.000000
Alpha[3]	0.986394
TNavParticleFilter::Modified Variance for beam 4 is 11.35 
Alpha[4]	0.000000
Alpha[4]	0.987008
TNavParticleFilter::Modified Variance for beam 5 is 11.51 
Alpha[5]	0.000000
Alpha[5]	0.986573
TNavParticleFilter::Modified Variance for beam 6 is 11.68 
Alpha[6]	0.000000
Alpha[6]	0.986107
TNavParticleFilter::Modified Variance for beam 7 is 11.87 
Alpha[7]	0.000000
Alpha[7]	0.984095
TNavParticleFilter::Modified Variance for beam 8 is 12.08 
Alpha[8]	0.000000
Alpha[8]	0.981988
TNavParticleFilter::Modified Variance for beam 9 is 12.28 
Alpha[9]	0.000000
Alpha[9]	0.981886
TNavParticleFilter::Modified Variance for beam 10 is 12.40 
Alpha[10]	0.000000
Alpha[10]	0.983172
TNavParticleFilter::Modified Variance for beam 11 is 11.93 
Alpha[11]	0.000000
Alpha[11]	0.986534
TNavParticleFilter::Modified Variance for beam 12 is 11.80 
Alpha[12]	0.000000
Alpha[12]	0.989193
TNavParticleFilter::Modified Variance for beam 13 is 12.01 
Alpha[13]	0.000000
Alpha[13]	0.990606
TNavParticleFilter::Modified Variance for beam 14 is 12.24 
Alpha[14]	0.000000
Alpha[14]	0.990743
TNavParticleFilter::Modified Variance for beam 15 is 12.52 
Alpha[15]	0.000000
Alpha[15]	0.988480
TNavParticleFilter::Modified Variance for beam 16 is 12.69 
Alpha[16]	0.000000
Alpha[16]	0.985844
TNavParticleFilter::Modified Variance for beam 17 is 12.30 
Alpha[17]	0.000000
Alpha[17]	0.988297
TNavParticleFilter::Modified Variance for beam 18 is 12.17 
Alpha[18]	0.000000
Alpha[18]	0.991127
TNavParticleFilter::Modified Variance for beam 19 is 12.44 
Alpha[19]	0.000000
Alpha[19]	0.992398
TNavParticleFilter::Modified Variance for beam 20 is 12.46 
Alpha[20]	0.000000
Alpha[20]	0.993979
TNavParticleFilter::Modified Variance for beam 21 is 12.13 
Alpha[21]	0.000000
Alpha[21]	0.995512
TNavParticleFilter::Modified Variance for beam 22 is 12.14 
Alpha[22]	0.000000
Alpha[22]	0.995412
TNavParticleFilter::Modified Variance for beam 23 is 12.50 
Alpha[23]	0.000000
Alpha[23]	0.993485
TNavParticleFilter::Modified Variance for beam 24 is 13.64 
Alpha[24]	0.000000
Alpha[24]	0.990284
TNavParticleFilter::Modified Variance for beam 25 is 13.32 
Alpha[25]	0.000000
Alpha[25]	0.991355
TNavParticleFilter::Modified Variance for beam 26 is 13.65 
Alpha[26]	0.000000
Alpha[26]	0.992810
TNavParticleFilter::Modified Variance for beam 27 is 13.87 
Alpha[27]	0.000000
Alpha[27]	0.993008
TNavParticleFilter::Modified Variance for beam 28 is 13.61 
Alpha[28]	0.000000
Alpha[28]	0.991666
TNavParticleFilter::Modified Variance for beam 29 is 13.60 
Alpha[29]	0.000000
Alpha[29]	0.988654
TNavParticleFilter::Modified Variance for beam 30 is 14.10 
Alpha[30]	0.000000
Alpha[30]	0.988590
TNavParticleFilter::Modified Variance for beam 31 is 13.93 
Alpha[31]	0.000000
Alpha[31]	0.992179
TNavParticleFilter::Modified Variance for beam 32 is 13.65 
Alpha[32]	0.000000
Alpha[32]	0.995340
TNavParticleFilter::Modified Variance for beam 33 is 13.98 
Alpha[33]	0.000000
Alpha[33]	0.996593
TNavParticleFilter::Modified Variance for beam 34 is 14.57 
Alpha[34]	0.000000
Alpha[34]	0.997534
TNavParticleFilter::Modified Variance for beam 35 is 15.21 
Alpha[35]	0.000000
Alpha[35]	0.998273
TNavParticleFilter::Modified Variance for beam 36 is 15.93 
Alpha[36]	0.000000
Alpha[36]	0.998611
TNavParticleFilter::Modified Variance for beam 37 is 16.74 
Alpha[37]	0.000000
Alpha[37]	0.998775
TNavParticleFilter::Modified Variance for beam 38 is 17.63 
Alpha[38]	0.000000
Alpha[38]	0.998930
TNavParticleFilter::Modified Variance for beam 39 is 18.62 
Alpha[39]	0.000000
Alpha[39]	0.999089
TNavParticleFilter::Modified Variance for beam 40 is 18.45 
Alpha[40]	0.000000
Alpha[40]	0.999318
TNavParticleFilter::Modified Variance for beam 41 is 18.27 
Alpha[41]	0.000000
Alpha[41]	0.999704
TNavParticleFilter::Modified Variance for beam 42 is 22.38 
Alpha[42]	0.000000
Alpha[42]	0.999931
TNavPF:: sumSquaredError = 27.976209 
TNavPF:: sumWeights = 0.041074 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.21. Range = 67.42 
TNavPF::Calculated measDiffMean for beam 31 as 0.33. Range = 65.30 
TNavPF::Calculated measDiffMean for beam 32 as 0.60. Range = 61.20 
TNavPF::Calculated measDiffMean for beam 33 as -1.36. Range = 61.14 
TNavPF::Calculated measDiffMean for beam 34 as -1.03. Range = 59.09 
TNavPF::Calculated measDiffMean for beam 35 as -0.61. Range = 59.07 
TNavPF::Calculated measDiffMean for beam 36 as -0.32. Range = 53.05 
TNavPF::Calculated measDiffMean for beam 37 as -0.10. Range = 53.06 
TNavPF::Calculated measDiffMean for beam 38 as 0.11. Range = 51.09 
TNavPF::Calculated measDiffMean for beam 39 as 0.30. Range = 51.13 
TNavPF::Calculated measDiffMean for beam 40 as 0.47. Range = 50.08 
TNavPF::Calculated measDiffMean for beam 41 as -0.59. Range = 45.22 
TNavPF::Calculated measDiffMean for beam 42 as -0.99. Range = 45.30 
TNavPF::Calculated measDiffMean for beam 43 as -0.86. Range = 45.37 
TNavPF::Calculated measDiffMean for beam 44 as -0.65. Range = 43.48 
TNavPF::Calculated measDiffMean for beam 45 as -0.12. Range = 43.60 
TNavPF::Calculated measDiffMean for beam 46 as 0.29. Range = 43.45 
TNavPF::Calculated measDiffMean for beam 47 as -0.58. Range = 41.83 
TNavPF::Calculated measDiffMean for beam 48 as -1.07. Range = 41.98 
TNavPF::Calculated measDiffMean for beam 49 as -0.93. Range = 42.15 
TNavPF::Calculated measDiffMean for beam 50 as -1.37. Range = 39.58 
TNavPF::Calculated measDiffMean for beam 51 as -2.48. Range = 38.37 
TNavPF::Calculated measDiffMean for beam 52 as -2.71. Range = 38.56 
TNavPF::Calculated measDiffMean for beam 53 as -2.30. Range = 38.76 
TNavPF::Calculated measDiffMean for beam 54 as -0.18. Range = 38.98 
TNavPF::Calculated measDiffMean for beam 55 as -0.85. Range = 39.21 
TNavPF::Calculated measDiffMean for beam 56 as 0.18. Range = 39.46 
TNavPF::Calculated measDiffMean for beam 57 as 0.94. Range = 39.72 
TNavPF::Calculated measDiffMean for beam 58 as 0.39. Range = 40.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.02. Range = 40.29 
TNavPF::Calculated measDiffMean for beam 60 as 0.41. Range = 40.60 
TNavPF::Calculated measDiffMean for beam 61 as -0.34. Range = 40.93 
TNavPF::Calculated measDiffMean for beam 62 as -1.19. Range = 41.28 
TNavPF::Calculated measDiffMean for beam 63 as -0.93. Range = 39.39 
TNavPF::Calculated measDiffMean for beam 64 as -0.39. Range = 39.75 
TNavPF::Calculated measDiffMean for beam 65 as 0.15. Range = 40.14 
TNavPF::Calculated measDiffMean for beam 66 as 0.49. Range = 40.54 
TNavPF::Calculated measDiffMean for beam 67 as 0.47. Range = 40.96 
TNavPF::Calculated measDiffMean for beam 68 as 0.60. Range = 41.41 
TNavPF::Calculated measDiffMean for beam 69 as 0.46. Range = 41.88 
TNavPF::Calculated measDiffMean for beam 70 as -2.27. Range = 42.21 
TNavPF::Calculated measDiffMean for beam 71 as -4.63. Range = 41.17 
TNavPF::Calculated measDiffMean for beam 72 as -3.81. Range = 40.94 
TNavPF::First Term of Map Covariance Matrix is 0.53 
TNavPF::Calculated NIS Value : 2.39 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321976.82 sec.
INS : North: 4070216.19, East: 589380.93, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 43.41, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321979.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321979.62)
ARL : North: 2.1214, East: -0.4923, Depth: -0.8854ARL : Estimation Bias  (Mean)         : (t = 1488321979.62)
ARL : North: 1.7099, East: -1.3619, Depth: 0.2369TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 82 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.72 
Alpha[0]	0.123000
Alpha[0]	0.985645
TNavParticleFilter::Modified Variance for beam 1 is 12.91 
Alpha[1]	0.000000
Alpha[1]	0.983873
TNavParticleFilter::Modified Variance for beam 2 is 13.10 
Alpha[2]	0.000000
Alpha[2]	0.982766
TNavParticleFilter::Modified Variance for beam 3 is 13.27 
Alpha[3]	0.000000
Alpha[3]	0.984023
TNavParticleFilter::Modified Variance for beam 4 is 13.43 
Alpha[4]	0.000000
Alpha[4]	0.987290
TNavParticleFilter::Modified Variance for beam 5 is 13.61 
Alpha[5]	0.000000
Alpha[5]	0.989164
TNavParticleFilter::Modified Variance for beam 6 is 13.82 
Alpha[6]	0.000000
Alpha[6]	0.990130
TNavParticleFilter::Modified Variance for beam 7 is 13.96 
Alpha[7]	0.000000
Alpha[7]	0.990257
TNavParticleFilter::Modified Variance for beam 8 is 13.46 
Alpha[8]	0.000000
Alpha[8]	0.988476
TNavParticleFilter::Modified Variance for beam 9 is 13.50 
Alpha[9]	0.000000
Alpha[9]	0.986757
TNavParticleFilter::Modified Variance for beam 10 is 12.63 
Alpha[10]	0.000000
Alpha[10]	0.989294
TNavParticleFilter::Modified Variance for beam 11 is 12.85 
Alpha[11]	0.000000
Alpha[11]	0.991263
TNavParticleFilter::Modified Variance for beam 12 is 13.05 
Alpha[12]	0.000000
Alpha[12]	0.992535
TNavParticleFilter::Modified Variance for beam 13 is 12.62 
Alpha[13]	0.000000
Alpha[13]	0.994520
TNavParticleFilter::Modified Variance for beam 14 is 12.47 
Alpha[14]	0.000000
Alpha[14]	0.995717
TNavParticleFilter::Modified Variance for beam 15 is 12.76 
Alpha[15]	0.000000
Alpha[15]	0.995177
TNavParticleFilter::Modified Variance for beam 16 is 14.15 
Alpha[16]	0.000000
Alpha[16]	0.992373
TNavParticleFilter::Modified Variance for beam 17 is 13.79 
Alpha[17]	0.000000
Alpha[17]	0.990399
TNavParticleFilter::Modified Variance for beam 18 is 13.75 
Alpha[18]	0.000000
Alpha[18]	0.992727
TNavParticleFilter::Modified Variance for beam 19 is 14.10 
Alpha[19]	0.000000
Alpha[19]	0.993535
TNavParticleFilter::Modified Variance for beam 20 is 13.96 
Alpha[20]	0.000000
Alpha[20]	0.992475
TNavParticleFilter::Modified Variance for beam 21 is 13.65 
Alpha[21]	0.000000
Alpha[21]	0.990725
TNavParticleFilter::Modified Variance for beam 22 is 14.00 
Alpha[22]	0.000000
Alpha[22]	0.989190
TNavParticleFilter::Modified Variance for beam 23 is 14.25 
Alpha[23]	0.000000
Alpha[23]	0.988186
TNavParticleFilter::Modified Variance for beam 24 is 13.88 
Alpha[24]	0.000000
Alpha[24]	0.992874
TNavParticleFilter::Modified Variance for beam 25 is 13.80 
Alpha[25]	0.000000
Alpha[25]	0.995803
TNavParticleFilter::Modified Variance for beam 26 is 14.26 
Alpha[26]	0.000000
Alpha[26]	0.996577
TNavParticleFilter::Modified Variance for beam 27 is 14.76 
Alpha[27]	0.000000
Alpha[27]	0.997360
TNavParticleFilter::Modified Variance for beam 28 is 15.31 
Alpha[28]	0.000000
Alpha[28]	0.997987
TNavParticleFilter::Modified Variance for beam 29 is 15.91 
Alpha[29]	0.000000
Alpha[29]	0.998277
TNavParticleFilter::Modified Variance for beam 30 is 16.57 
Alpha[30]	0.000000
Alpha[30]	0.998385
TNavParticleFilter::Modified Variance for beam 31 is 17.29 
Alpha[31]	0.000000
Alpha[31]	0.998795
TNavParticleFilter::Modified Variance for beam 32 is 18.08 
Alpha[32]	0.000000
Alpha[32]	0.999026
TNavParticleFilter::Modified Variance for beam 33 is 18.32 
Alpha[33]	0.000000
Alpha[33]	0.998965
TNavParticleFilter::Modified Variance for beam 34 is 18.02 
Alpha[34]	0.000000
Alpha[34]	0.999130
TNavParticleFilter::Modified Variance for beam 35 is 18.61 
Alpha[35]	0.000000
Alpha[35]	0.999510
TNavParticleFilter::Modified Variance for beam 36 is 22.18 
Alpha[36]	0.000000
Alpha[36]	0.999864
TNavParticleFilter::Modified Variance for beam 37 is 26.44 
Alpha[37]	0.000000
Alpha[37]	0.999960
TNavPF:: sumSquaredError = 1.912814 
TNavPF:: sumWeights = 0.027474 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.05. Range = 62.67 
TNavPF::Calculated measDiffMean for beam 31 as 0.17. Range = 60.61 
TNavPF::Calculated measDiffMean for beam 32 as 0.38. Range = 60.57 
TNavPF::Calculated measDiffMean for beam 33 as 0.73. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 34 as 1.19. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 35 as 1.49. Range = 52.55 
TNavPF::Calculated measDiffMean for beam 36 as 1.63. Range = 48.56 
TNavPF::Calculated measDiffMean for beam 37 as 1.68. Range = 48.61 
TNavPF::Calculated measDiffMean for beam 38 as 0.58. Range = 46.66 
TNavPF::Calculated measDiffMean for beam 39 as 0.80. Range = 46.73 
TNavPF::Calculated measDiffMean for beam 40 as -1.13. Range = 46.82 
TNavPF::Calculated measDiffMean for beam 41 as -0.89. Range = 44.90 
TNavPF::Calculated measDiffMean for beam 42 as -0.87. Range = 45.01 
TNavPF::Calculated measDiffMean for beam 43 as -2.18. Range = 44.58 
TNavPF::Calculated measDiffMean for beam 44 as -2.80. Range = 41.19 
TNavPF::Calculated measDiffMean for beam 45 as -2.42. Range = 41.33 
TNavPF::Calculated measDiffMean for beam 46 as 0.32. Range = 41.49 
TNavPF::Calculated measDiffMean for beam 47 as -0.70. Range = 41.66 
TNavPF::Calculated measDiffMean for beam 48 as -0.56. Range = 41.84 
TNavPF::Calculated measDiffMean for beam 49 as 0.56. Range = 42.04 
TNavPF::Calculated measDiffMean for beam 50 as 0.52. Range = 42.25 
TNavPF::Calculated measDiffMean for beam 51 as -0.14. Range = 42.48 
TNavPF::Calculated measDiffMean for beam 52 as 0.31. Range = 42.72 
TNavPF::Calculated measDiffMean for beam 53 as 0.30. Range = 42.98 
TNavPF::Calculated measDiffMean for beam 54 as -0.74. Range = 43.25 
TNavPF::Calculated measDiffMean for beam 55 as -1.14. Range = 43.54 
TNavPF::Calculated measDiffMean for beam 56 as -0.58. Range = 43.85 
TNavPF::Calculated measDiffMean for beam 57 as -0.13. Range = 43.57 
TNavPF::Calculated measDiffMean for beam 58 as 0.26. Range = 42.32 
TNavPF::Calculated measDiffMean for beam 59 as 0.47. Range = 42.67 
TNavPF::Calculated measDiffMean for beam 60 as 0.41. Range = 43.03 
TNavPF::Calculated measDiffMean for beam 61 as 0.48. Range = 43.42 
TNavPF::Calculated measDiffMean for beam 62 as 0.46. Range = 43.83 
TNavPF::Calculated measDiffMean for beam 63 as -1.12. Range = 44.25 
TNavPF::Calculated measDiffMean for beam 64 as -3.38. Range = 44.70 
TNavPF::Calculated measDiffMean for beam 65 as -3.61. Range = 45.18 
TNavPF::Calculated measDiffMean for beam 66 as -1.69. Range = 45.67 
TNavPF::Calculated measDiffMean for beam 67 as -7.64. Range = 45.98 
TNavPF::First Term of Map Covariance Matrix is 1.38 
TNavPF::Calculated NIS Value : 3.49 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321979.82 sec.
INS : North: 4070219.70, East: 589378.57, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 46.59, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321982.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321982.62)
ARL : North: 0.2577, East: -3.0708, Depth: -2.0324ARL : Estimation Bias  (Mean)         : (t = 1488321982.62)
ARL : North: 1.8553, East: -1.2577, Depth: 0.4746TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 83 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.92 
Alpha[0]	0.123000
Alpha[0]	0.982349
TNavParticleFilter::Modified Variance for beam 1 is 14.09 
Alpha[1]	0.000000
Alpha[1]	0.981985
TNavParticleFilter::Modified Variance for beam 2 is 13.23 
Alpha[2]	0.000000
Alpha[2]	0.984656
TNavParticleFilter::Modified Variance for beam 3 is 13.35 
Alpha[3]	0.000000
Alpha[3]	0.987681
TNavParticleFilter::Modified Variance for beam 4 is 13.51 
Alpha[4]	0.000000
Alpha[4]	0.989083
TNavParticleFilter::Modified Variance for beam 5 is 13.68 
Alpha[5]	0.000000
Alpha[5]	0.990020
TNavParticleFilter::Modified Variance for beam 6 is 13.88 
Alpha[6]	0.000000
Alpha[6]	0.990099
TNavParticleFilter::Modified Variance for beam 7 is 13.69 
Alpha[7]	0.000000
Alpha[7]	0.987747
TNavParticleFilter::Modified Variance for beam 8 is 13.30 
Alpha[8]	0.000000
Alpha[8]	0.986735
TNavParticleFilter::Modified Variance for beam 9 is 13.49 
Alpha[9]	0.000000
Alpha[9]	0.988660
TNavParticleFilter::Modified Variance for beam 10 is 13.65 
Alpha[10]	0.000000
Alpha[10]	0.990038
TNavParticleFilter::Modified Variance for beam 11 is 13.11 
Alpha[11]	0.000000
Alpha[11]	0.992504
TNavParticleFilter::Modified Variance for beam 12 is 13.03 
Alpha[12]	0.000000
Alpha[12]	0.994727
TNavParticleFilter::Modified Variance for beam 13 is 13.27 
Alpha[13]	0.000000
Alpha[13]	0.995047
TNavParticleFilter::Modified Variance for beam 14 is 14.69 
Alpha[14]	0.000000
Alpha[14]	0.992584
TNavParticleFilter::Modified Variance for beam 15 is 14.26 
Alpha[15]	0.000000
Alpha[15]	0.988730
TNavParticleFilter::Modified Variance for beam 16 is 14.15 
Alpha[16]	0.000000
Alpha[16]	0.992117
TNavParticleFilter::Modified Variance for beam 17 is 14.44 
Alpha[17]	0.000000
Alpha[17]	0.993757
TNavParticleFilter::Modified Variance for beam 18 is 14.30 
Alpha[18]	0.000000
Alpha[18]	0.992565
TNavParticleFilter::Modified Variance for beam 19 is 13.94 
Alpha[19]	0.000000
Alpha[19]	0.988800
TNavParticleFilter::Modified Variance for beam 20 is 14.34 
Alpha[20]	0.000000
Alpha[20]	0.984610
TNavParticleFilter::Modified Variance for beam 21 is 14.62 
Alpha[21]	0.000000
Alpha[21]	0.980413
TNavParticleFilter::Modified Variance for beam 22 is 14.16 
Alpha[22]	0.000000
Alpha[22]	0.985827
TNavParticleFilter::Modified Variance for beam 23 is 14.03 
Alpha[23]	0.000000
Alpha[23]	0.993616
TNavParticleFilter::Modified Variance for beam 24 is 14.40 
Alpha[24]	0.000000
Alpha[24]	0.995610
TNavParticleFilter::Modified Variance for beam 25 is 14.82 
Alpha[25]	0.000000
Alpha[25]	0.996274
TNavParticleFilter::Modified Variance for beam 26 is 15.27 
Alpha[26]	0.000000
Alpha[26]	0.997054
TNavParticleFilter::Modified Variance for beam 27 is 15.76 
Alpha[27]	0.000000
Alpha[27]	0.997538
TNavParticleFilter::Modified Variance for beam 28 is 16.30 
Alpha[28]	0.000000
Alpha[28]	0.997641
TNavParticleFilter::Modified Variance for beam 29 is 16.88 
Alpha[29]	0.000000
Alpha[29]	0.997681
TNavParticleFilter::Modified Variance for beam 30 is 17.51 
Alpha[30]	0.000000
Alpha[30]	0.998068
TNavParticleFilter::Modified Variance for beam 31 is 18.20 
Alpha[31]	0.000000
Alpha[31]	0.998181
TNavParticleFilter::Modified Variance for beam 32 is 18.12 
Alpha[32]	0.000000
Alpha[32]	0.997645
TNavParticleFilter::Modified Variance for beam 33 is 17.80 
Alpha[33]	0.000000
Alpha[33]	0.997290
TNavParticleFilter::Modified Variance for beam 34 is 18.57 
Alpha[34]	0.000000
Alpha[34]	0.998003
TNavParticleFilter::Modified Variance for beam 35 is 21.63 
Alpha[35]	0.000000
Alpha[35]	0.999302
TNavParticleFilter::Modified Variance for beam 36 is 25.19 
Alpha[36]	0.000000
Alpha[36]	0.999815
TNavPF:: sumSquaredError = 4.700686 
TNavPF:: sumWeights = 0.042526 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.17. Range = 68.41 
TNavPF::Calculated measDiffMean for beam 31 as 0.41. Range = 66.27 
TNavPF::Calculated measDiffMean for beam 32 as -1.37. Range = 66.17 
TNavPF::Calculated measDiffMean for beam 33 as -0.91. Range = 64.08 
TNavPF::Calculated measDiffMean for beam 34 as -0.72. Range = 57.99 
TNavPF::Calculated measDiffMean for beam 35 as -0.61. Range = 57.96 
TNavPF::Calculated measDiffMean for beam 36 as -0.27. Range = 51.92 
TNavPF::Calculated measDiffMean for beam 37 as -0.54. Range = 51.92 
TNavPF::Calculated measDiffMean for beam 38 as -1.21. Range = 49.93 
TNavPF::Calculated measDiffMean for beam 39 as -0.80. Range = 49.96 
TNavPF::Calculated measDiffMean for beam 40 as -0.76. Range = 48.86 
TNavPF::Calculated measDiffMean for beam 41 as -2.23. Range = 48.05 
TNavPF::Calculated measDiffMean for beam 42 as -2.57. Range = 48.13 
TNavPF::Calculated measDiffMean for beam 43 as -2.35. Range = 44.18 
TNavPF::Calculated measDiffMean for beam 44 as 0.34. Range = 44.27 
TNavPF::Calculated measDiffMean for beam 45 as -0.86. Range = 44.38 
TNavPF::Calculated measDiffMean for beam 46 as -0.73. Range = 44.50 
TNavPF::Calculated measDiffMean for beam 47 as 0.33. Range = 44.64 
TNavPF::Calculated measDiffMean for beam 48 as 0.35. Range = 44.79 
TNavPF::Calculated measDiffMean for beam 49 as -0.37. Range = 44.95 
TNavPF::Calculated measDiffMean for beam 50 as 0.20. Range = 45.13 
TNavPF::Calculated measDiffMean for beam 51 as 0.20. Range = 45.33 
TNavPF::Calculated measDiffMean for beam 52 as -0.84. Range = 45.54 
TNavPF::Calculated measDiffMean for beam 53 as -0.96. Range = 45.77 
TNavPF::Calculated measDiffMean for beam 54 as -0.39. Range = 46.01 
TNavPF::Calculated measDiffMean for beam 55 as 0.13. Range = 46.27 
TNavPF::Calculated measDiffMean for beam 56 as 0.57. Range = 44.91 
TNavPF::Calculated measDiffMean for beam 57 as 0.84. Range = 44.71 
TNavPF::Calculated measDiffMean for beam 58 as 0.84. Range = 45.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.90. Range = 45.32 
TNavPF::Calculated measDiffMean for beam 60 as 1.20. Range = 45.66 
TNavPF::Calculated measDiffMean for beam 61 as 0.93. Range = 46.01 
TNavPF::Calculated measDiffMean for beam 62 as -1.06. Range = 44.17 
TNavPF::Calculated measDiffMean for beam 63 as -3.04. Range = 44.54 
TNavPF::Calculated measDiffMean for beam 64 as -2.49. Range = 44.94 
TNavPF::Calculated measDiffMean for beam 65 as 1.07. Range = 45.36 
TNavPF::Calculated measDiffMean for beam 66 as 2.33. Range = 45.80 
TNavPF::First Term of Map Covariance Matrix is 1.12 
TNavPF::Calculated NIS Value : 2.83 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321982.82 sec.
INS : North: 4070223.00, East: 589375.94, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 45.63, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321985.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321985.62)
ARL : North: 0.7507, East: -2.3456, Depth: 4.6423ARL : Estimation Bias  (Mean)         : (t = 1488321985.62)
ARL : North: 2.0286, East: -1.4789, Depth: 0.5058TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 79 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.46 
Alpha[0]	0.123000
Alpha[0]	0.984207
TNavParticleFilter::Modified Variance for beam 1 is 14.60 
Alpha[1]	0.000000
Alpha[1]	0.982533
TNavParticleFilter::Modified Variance for beam 2 is 14.73 
Alpha[2]	0.000000
Alpha[2]	0.982225
TNavParticleFilter::Modified Variance for beam 3 is 14.85 
Alpha[3]	0.000000
Alpha[3]	0.982769
TNavParticleFilter::Modified Variance for beam 4 is 14.09 
Alpha[4]	0.000000
Alpha[4]	0.985798
TNavParticleFilter::Modified Variance for beam 5 is 14.07 
Alpha[5]	0.000000
Alpha[5]	0.987932
TNavParticleFilter::Modified Variance for beam 6 is 14.20 
Alpha[6]	0.000000
Alpha[6]	0.988923
TNavParticleFilter::Modified Variance for beam 7 is 14.34 
Alpha[7]	0.000000
Alpha[7]	0.990097
TNavParticleFilter::Modified Variance for beam 8 is 14.51 
Alpha[8]	0.000000
Alpha[8]	0.989810
TNavParticleFilter::Modified Variance for beam 9 is 14.38 
Alpha[9]	0.000000
Alpha[9]	0.987807
TNavParticleFilter::Modified Variance for beam 10 is 13.88 
Alpha[10]	0.000000
Alpha[10]	0.987263
TNavParticleFilter::Modified Variance for beam 11 is 14.06 
Alpha[11]	0.000000
Alpha[11]	0.988121
TNavParticleFilter::Modified Variance for beam 12 is 14.17 
Alpha[12]	0.000000
Alpha[12]	0.990296
TNavParticleFilter::Modified Variance for beam 13 is 13.47 
Alpha[13]	0.000000
Alpha[13]	0.993263
TNavParticleFilter::Modified Variance for beam 14 is 13.53 
Alpha[14]	0.000000
Alpha[14]	0.994392
TNavParticleFilter::Modified Variance for beam 15 is 13.76 
Alpha[15]	0.000000
Alpha[15]	0.993444
TNavParticleFilter::Modified Variance for beam 16 is 15.15 
Alpha[16]	0.000000
Alpha[16]	0.989696
TNavParticleFilter::Modified Variance for beam 17 is 14.59 
Alpha[17]	0.000000
Alpha[17]	0.991538
TNavParticleFilter::Modified Variance for beam 18 is 14.47 
Alpha[18]	0.000000
Alpha[18]	0.993923
TNavParticleFilter::Modified Variance for beam 19 is 14.74 
Alpha[19]	0.000000
Alpha[19]	0.993716
TNavParticleFilter::Modified Variance for beam 20 is 14.58 
Alpha[20]	0.000000
Alpha[20]	0.990603
TNavParticleFilter::Modified Variance for beam 21 is 14.26 
Alpha[21]	0.000000
Alpha[21]	0.985963
TNavParticleFilter::Modified Variance for beam 22 is 14.62 
Alpha[22]	0.000000
Alpha[22]	0.981648
TNavParticleFilter::Modified Variance for beam 23 is 14.74 
Alpha[23]	0.000000
Alpha[23]	0.982173
TNavParticleFilter::Modified Variance for beam 24 is 14.16 
Alpha[24]	0.000000
Alpha[24]	0.990802
TNavParticleFilter::Modified Variance for beam 25 is 14.17 
Alpha[25]	0.000000
Alpha[25]	0.994744
TNavParticleFilter::Modified Variance for beam 26 is 14.49 
Alpha[26]	0.000000
Alpha[26]	0.995749
TNavParticleFilter::Modified Variance for beam 27 is 14.85 
Alpha[27]	0.000000
Alpha[27]	0.996320
TNavParticleFilter::Modified Variance for beam 28 is 15.23 
Alpha[28]	0.000000
Alpha[28]	0.996887
TNavParticleFilter::Modified Variance for beam 29 is 15.64 
Alpha[29]	0.000000
Alpha[29]	0.997082
TNavParticleFilter::Modified Variance for beam 30 is 16.09 
Alpha[30]	0.000000
Alpha[30]	0.997014
TNavParticleFilter::Modified Variance for beam 31 is 16.56 
Alpha[31]	0.000000
Alpha[31]	0.997357
TNavParticleFilter::Modified Variance for beam 32 is 17.07 
Alpha[32]	0.000000
Alpha[32]	0.997769
TNavParticleFilter::Modified Variance for beam 33 is 17.62 
Alpha[33]	0.000000
Alpha[33]	0.997623
TNavParticleFilter::Modified Variance for beam 34 is 18.16 
Alpha[34]	0.000000
Alpha[34]	0.996622
TNavParticleFilter::Modified Variance for beam 35 is 17.75 
Alpha[35]	0.000000
Alpha[35]	0.996589
TNavParticleFilter::Modified Variance for beam 36 is 17.78 
Alpha[36]	0.000000
Alpha[36]	0.997156
TNavParticleFilter::Modified Variance for beam 37 is 20.33 
Alpha[37]	0.000000
Alpha[37]	0.997540
TNavParticleFilter::Modified Variance for beam 38 is 21.12 
Alpha[38]	0.000000
Alpha[38]	0.999415
TNavParticleFilter::Modified Variance for beam 39 is 24.19 
Alpha[39]	0.000000
Alpha[39]	0.999801
TNavParticleFilter::Modified Variance for beam 40 is 25.28 
Alpha[40]	0.000000
Alpha[40]	0.999935
TNavPF:: sumSquaredError = 11.730756 
TNavPF:: sumWeights = 0.045428 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.71. Range = 83.38 
TNavPF::Calculated measDiffMean for beam 31 as -0.48. Range = 80.99 
TNavPF::Calculated measDiffMean for beam 32 as -0.28. Range = 78.64 
TNavPF::Calculated measDiffMean for beam 33 as -0.01. Range = 78.37 
TNavPF::Calculated measDiffMean for beam 34 as -1.37. Range = 76.10 
TNavPF::Calculated measDiffMean for beam 35 as -1.27. Range = 71.83 
TNavPF::Calculated measDiffMean for beam 36 as -1.12. Range = 69.63 
TNavPF::Calculated measDiffMean for beam 37 as -0.96. Range = 63.43 
TNavPF::Calculated measDiffMean for beam 38 as -0.55. Range = 63.31 
TNavPF::Calculated measDiffMean for beam 39 as -0.56. Range = 61.20 
TNavPF::Calculated measDiffMean for beam 40 as -1.43. Range = 55.10 
TNavPF::Calculated measDiffMean for beam 41 as -1.19. Range = 55.05 
TNavPF::Calculated measDiffMean for beam 42 as -1.15. Range = 53.01 
TNavPF::Calculated measDiffMean for beam 43 as -2.75. Range = 52.99 
TNavPF::Calculated measDiffMean for beam 44 as -2.87. Range = 50.98 
TNavPF::Calculated measDiffMean for beam 45 as -2.79. Range = 51.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.13. Range = 49.08 
TNavPF::Calculated measDiffMean for beam 47 as -0.89. Range = 47.06 
TNavPF::Calculated measDiffMean for beam 48 as -0.60. Range = 47.11 
TNavPF::Calculated measDiffMean for beam 49 as 0.37. Range = 47.18 
TNavPF::Calculated measDiffMean for beam 50 as 0.21. Range = 47.27 
TNavPF::Calculated measDiffMean for beam 51 as -0.61. Range = 47.37 
TNavPF::Calculated measDiffMean for beam 52 as -0.30. Range = 47.48 
TNavPF::Calculated measDiffMean for beam 53 as -0.24. Range = 47.61 
TNavPF::Calculated measDiffMean for beam 54 as -1.13. Range = 47.75 
TNavPF::Calculated measDiffMean for beam 55 as -1.10. Range = 47.91 
TNavPF::Calculated measDiffMean for beam 56 as -0.64. Range = 48.09 
TNavPF::Calculated measDiffMean for beam 57 as -0.20. Range = 46.22 
TNavPF::Calculated measDiffMean for beam 58 as 0.09. Range = 46.42 
TNavPF::Calculated measDiffMean for beam 59 as 0.12. Range = 46.64 
TNavPF::Calculated measDiffMean for beam 60 as 0.06. Range = 46.87 
TNavPF::Calculated measDiffMean for beam 61 as 0.32. Range = 47.12 
TNavPF::Calculated measDiffMean for beam 62 as 0.38. Range = 47.39 
TNavPF::Calculated measDiffMean for beam 63 as -0.20. Range = 47.67 
TNavPF::Calculated measDiffMean for beam 64 as -0.68. Range = 46.12 
TNavPF::Calculated measDiffMean for beam 65 as -2.55. Range = 46.14 
TNavPF::Calculated measDiffMean for beam 66 as -3.23. Range = 46.46 
TNavPF::Calculated measDiffMean for beam 67 as 0.25. Range = 46.81 
TNavPF::Calculated measDiffMean for beam 68 as -0.55. Range = 47.17 
TNavPF::Calculated measDiffMean for beam 69 as -0.06. Range = 46.81 
TNavPF::Calculated measDiffMean for beam 70 as -9.80. Range = 45.72 
TNavPF::First Term of Map Covariance Matrix is 1.26 
TNavPF::Calculated NIS Value : 2.96 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321985.82 sec.
INS : North: 4070226.10, East: 589373.02, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 48.30, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321988.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321988.62)
ARL : North: 1.6597, East: -0.2133, Depth: 1.5785ARL : Estimation Bias  (Mean)         : (t = 1488321988.62)
ARL : North: 1.8634, East: -1.5746, Depth: 0.5877TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 80 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.64 
Alpha[0]	0.123000
Alpha[0]	0.985110
TNavParticleFilter::Modified Variance for beam 1 is 15.75 
Alpha[1]	0.000000
Alpha[1]	0.984622
TNavParticleFilter::Modified Variance for beam 2 is 15.85 
Alpha[2]	0.000000
Alpha[2]	0.985500
TNavParticleFilter::Modified Variance for beam 3 is 15.94 
Alpha[3]	0.000000
Alpha[3]	0.987815
TNavParticleFilter::Modified Variance for beam 4 is 16.07 
Alpha[4]	0.000000
Alpha[4]	0.988167
TNavParticleFilter::Modified Variance for beam 5 is 16.19 
Alpha[5]	0.000000
Alpha[5]	0.989209
TNavParticleFilter::Modified Variance for beam 6 is 16.33 
Alpha[6]	0.000000
Alpha[6]	0.990112
TNavParticleFilter::Modified Variance for beam 7 is 15.45 
Alpha[7]	0.000000
Alpha[7]	0.989190
TNavParticleFilter::Modified Variance for beam 8 is 15.62 
Alpha[8]	0.000000
Alpha[8]	0.988103
TNavParticleFilter::Modified Variance for beam 9 is 15.79 
Alpha[9]	0.000000
Alpha[9]	0.988230
TNavParticleFilter::Modified Variance for beam 10 is 14.78 
Alpha[10]	0.000000
Alpha[10]	0.990505
TNavParticleFilter::Modified Variance for beam 11 is 13.99 
Alpha[11]	0.000000
Alpha[11]	0.993547
TNavParticleFilter::Modified Variance for beam 12 is 14.14 
Alpha[12]	0.000000
Alpha[12]	0.994614
TNavParticleFilter::Modified Variance for beam 13 is 14.34 
Alpha[13]	0.000000
Alpha[13]	0.993770
TNavParticleFilter::Modified Variance for beam 14 is 15.66 
Alpha[14]	0.000000
Alpha[14]	0.990647
TNavParticleFilter::Modified Variance for beam 15 is 15.00 
Alpha[15]	0.000000
Alpha[15]	0.992628
TNavParticleFilter::Modified Variance for beam 16 is 14.95 
Alpha[16]	0.000000
Alpha[16]	0.994445
TNavParticleFilter::Modified Variance for beam 17 is 15.19 
Alpha[17]	0.000000
Alpha[17]	0.993861
TNavParticleFilter::Modified Variance for beam 18 is 14.88 
Alpha[18]	0.000000
Alpha[18]	0.989978
TNavParticleFilter::Modified Variance for beam 19 is 14.70 
Alpha[19]	0.000000
Alpha[19]	0.985004
TNavParticleFilter::Modified Variance for beam 20 is 15.03 
Alpha[20]	0.000000
Alpha[20]	0.980195
TNavParticleFilter::Modified Variance for beam 21 is 14.87 
Alpha[21]	0.000000
Alpha[21]	0.984561
TNavParticleFilter::Modified Variance for beam 22 is 14.24 
Alpha[22]	0.000000
Alpha[22]	0.992176
TNavParticleFilter::Modified Variance for beam 23 is 14.46 
Alpha[23]	0.000000
Alpha[23]	0.995642
TNavParticleFilter::Modified Variance for beam 24 is 14.75 
Alpha[24]	0.000000
Alpha[24]	0.996256
TNavParticleFilter::Modified Variance for beam 25 is 15.06 
Alpha[25]	0.000000
Alpha[25]	0.996446
TNavParticleFilter::Modified Variance for beam 26 is 15.38 
Alpha[26]	0.000000
Alpha[26]	0.996787
TNavParticleFilter::Modified Variance for beam 27 is 15.74 
Alpha[27]	0.000000
Alpha[27]	0.996879
TNavParticleFilter::Modified Variance for beam 28 is 16.12 
Alpha[28]	0.000000
Alpha[28]	0.996681
TNavParticleFilter::Modified Variance for beam 29 is 16.51 
Alpha[29]	0.000000
Alpha[29]	0.997144
TNavParticleFilter::Modified Variance for beam 30 is 16.94 
Alpha[30]	0.000000
Alpha[30]	0.997451
TNavParticleFilter::Modified Variance for beam 31 is 17.41 
Alpha[31]	0.000000
Alpha[31]	0.997197
TNavParticleFilter::Modified Variance for beam 32 is 17.92 
Alpha[32]	0.000000
Alpha[32]	0.996196
TNavParticleFilter::Modified Variance for beam 33 is 17.75 
Alpha[33]	0.000000
Alpha[33]	0.995837
TNavParticleFilter::Modified Variance for beam 34 is 17.41 
Alpha[34]	0.000000
Alpha[34]	0.996985
TNavParticleFilter::Modified Variance for beam 35 is 17.95 
Alpha[35]	0.000000
Alpha[35]	0.997631
TNavParticleFilter::Modified Variance for beam 36 is 20.29 
Alpha[36]	0.000000
Alpha[36]	0.996918
TNavParticleFilter::Modified Variance for beam 37 is 20.95 
Alpha[37]	0.000000
Alpha[37]	0.999376
TNavParticleFilter::Modified Variance for beam 38 is 23.68 
Alpha[38]	0.000000
Alpha[38]	0.999814
TNavParticleFilter::Modified Variance for beam 39 is 24.61 
Alpha[39]	0.000000
Alpha[39]	0.999921
TNavPF:: sumSquaredError = 11.683708 
TNavPF:: sumWeights = 0.050041 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.42. Range = 93.95 
TNavPF::Calculated measDiffMean for beam 31 as -0.20. Range = 93.88 
TNavPF::Calculated measDiffMean for beam 32 as 0.21. Range = 86.84 
TNavPF::Calculated measDiffMean for beam 33 as 0.70. Range = 84.40 
TNavPF::Calculated measDiffMean for beam 34 as 0.90. Range = 82.01 
TNavPF::Calculated measDiffMean for beam 35 as 1.02. Range = 79.66 
TNavPF::Calculated measDiffMean for beam 36 as 1.32. Range = 75.31 
TNavPF::Calculated measDiffMean for beam 37 as -0.08. Range = 73.05 
TNavPF::Calculated measDiffMean for beam 38 as 0.65. Range = 70.82 
TNavPF::Calculated measDiffMean for beam 39 as 0.92. Range = 66.60 
TNavPF::Calculated measDiffMean for beam 40 as -1.31. Range = 58.39 
TNavPF::Calculated measDiffMean for beam 41 as -2.99. Range = 58.29 
TNavPF::Calculated measDiffMean for beam 42 as -2.85. Range = 56.19 
TNavPF::Calculated measDiffMean for beam 43 as -2.87. Range = 56.12 
TNavPF::Calculated measDiffMean for beam 44 as -0.32. Range = 54.06 
TNavPF::Calculated measDiffMean for beam 45 as -1.15. Range = 54.03 
TNavPF::Calculated measDiffMean for beam 46 as -0.70. Range = 50.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.22. Range = 50.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.14. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 49 as -0.54. Range = 50.05 
TNavPF::Calculated measDiffMean for beam 50 as -0.23. Range = 50.10 
TNavPF::Calculated measDiffMean for beam 51 as -0.48. Range = 50.16 
TNavPF::Calculated measDiffMean for beam 52 as -1.45. Range = 50.23 
TNavPF::Calculated measDiffMean for beam 53 as -1.08. Range = 50.33 
TNavPF::Calculated measDiffMean for beam 54 as -0.76. Range = 50.43 
TNavPF::Calculated measDiffMean for beam 55 as -0.39. Range = 50.56 
TNavPF::Calculated measDiffMean for beam 56 as -0.19. Range = 50.70 
TNavPF::Calculated measDiffMean for beam 57 as -0.25. Range = 49.51 
TNavPF::Calculated measDiffMean for beam 58 as -0.29. Range = 48.98 
TNavPF::Calculated measDiffMean for beam 59 as -0.03. Range = 49.16 
TNavPF::Calculated measDiffMean for beam 60 as -0.01. Range = 49.36 
TNavPF::Calculated measDiffMean for beam 61 as -0.59. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 62 as -0.85. Range = 49.81 
TNavPF::Calculated measDiffMean for beam 63 as -2.08. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 64 as -3.33. Range = 50.33 
TNavPF::Calculated measDiffMean for beam 65 as -3.13. Range = 50.61 
TNavPF::Calculated measDiffMean for beam 66 as -0.12. Range = 50.92 
TNavPF::Calculated measDiffMean for beam 67 as -0.78. Range = 49.10 
TNavPF::Calculated measDiffMean for beam 68 as -0.83. Range = 49.43 
TNavPF::Calculated measDiffMean for beam 69 as -7.77. Range = 49.78 
TNavPF::First Term of Map Covariance Matrix is 1.33 
TNavPF::Calculated NIS Value : 3.22 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321988.82 sec.
INS : North: 4070229.03, East: 589369.90, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 49.72, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321991.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321991.62)
ARL : North: 1.8693, East: 0.2082, Depth: 1.1997ARL : Estimation Bias  (Mean)         : (t = 1488321991.62)
ARL : North: 1.8092, East: -1.5918, Depth: 0.7656TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 80 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.85 
Alpha[0]	0.123000
Alpha[0]	0.985866
TNavParticleFilter::Modified Variance for beam 1 is 16.91 
Alpha[1]	0.000000
Alpha[1]	0.987865
TNavParticleFilter::Modified Variance for beam 2 is 17.00 
Alpha[2]	0.000000
Alpha[2]	0.988510
TNavParticleFilter::Modified Variance for beam 3 is 17.10 
Alpha[3]	0.000000
Alpha[3]	0.989524
TNavParticleFilter::Modified Variance for beam 4 is 17.20 
Alpha[4]	0.000000
Alpha[4]	0.990661
TNavParticleFilter::Modified Variance for beam 5 is 16.27 
Alpha[5]	0.000000
Alpha[5]	0.990193
TNavParticleFilter::Modified Variance for beam 6 is 15.40 
Alpha[6]	0.000000
Alpha[6]	0.988254
TNavParticleFilter::Modified Variance for beam 7 is 15.53 
Alpha[7]	0.000000
Alpha[7]	0.988112
TNavParticleFilter::Modified Variance for beam 8 is 15.12 
Alpha[8]	0.000000
Alpha[8]	0.991072
TNavParticleFilter::Modified Variance for beam 9 is 14.71 
Alpha[9]	0.000000
Alpha[9]	0.993610
TNavParticleFilter::Modified Variance for beam 10 is 14.86 
Alpha[10]	0.000000
Alpha[10]	0.994048
TNavParticleFilter::Modified Variance for beam 11 is 16.09 
Alpha[11]	0.000000
Alpha[11]	0.992843
TNavParticleFilter::Modified Variance for beam 12 is 16.15 
Alpha[12]	0.000000
Alpha[12]	0.992297
TNavParticleFilter::Modified Variance for beam 13 is 15.36 
Alpha[13]	0.000000
Alpha[13]	0.994079
TNavParticleFilter::Modified Variance for beam 14 is 15.54 
Alpha[14]	0.000000
Alpha[14]	0.994759
TNavParticleFilter::Modified Variance for beam 15 is 15.69 
Alpha[15]	0.000000
Alpha[15]	0.992898
TNavParticleFilter::Modified Variance for beam 16 is 14.98 
Alpha[16]	0.000000
Alpha[16]	0.987487
TNavParticleFilter::Modified Variance for beam 17 is 15.28 
Alpha[17]	0.000000
Alpha[17]	0.981968
TNavParticleFilter::Modified Variance for beam 18 is 15.50 
Alpha[18]	0.000000
Alpha[18]	0.982345
TNavParticleFilter::Modified Variance for beam 19 is 14.74 
Alpha[19]	0.000000
Alpha[19]	0.989079
TNavParticleFilter::Modified Variance for beam 20 is 14.68 
Alpha[20]	0.000000
Alpha[20]	0.993757
TNavParticleFilter::Modified Variance for beam 21 is 14.89 
Alpha[21]	0.000000
Alpha[21]	0.995752
TNavParticleFilter::Modified Variance for beam 22 is 15.15 
Alpha[22]	0.000000
Alpha[22]	0.995931
TNavParticleFilter::Modified Variance for beam 23 is 15.42 
Alpha[23]	0.000000
Alpha[23]	0.996064
TNavParticleFilter::Modified Variance for beam 24 is 15.71 
Alpha[24]	0.000000
Alpha[24]	0.996303
TNavParticleFilter::Modified Variance for beam 25 is 16.02 
Alpha[25]	0.000000
Alpha[25]	0.996152
TNavParticleFilter::Modified Variance for beam 26 is 16.34 
Alpha[26]	0.000000
Alpha[26]	0.996344
TNavParticleFilter::Modified Variance for beam 27 is 16.68 
Alpha[27]	0.000000
Alpha[27]	0.996830
TNavParticleFilter::Modified Variance for beam 28 is 17.06 
Alpha[28]	0.000000
Alpha[28]	0.996911
TNavParticleFilter::Modified Variance for beam 29 is 17.46 
Alpha[29]	0.000000
Alpha[29]	0.996410
TNavParticleFilter::Modified Variance for beam 30 is 17.91 
Alpha[30]	0.000000
Alpha[30]	0.994872
TNavParticleFilter::Modified Variance for beam 31 is 17.61 
Alpha[31]	0.000000
Alpha[31]	0.994359
TNavParticleFilter::Modified Variance for beam 32 is 17.36 
Alpha[32]	0.000000
Alpha[32]	0.995781
TNavParticleFilter::Modified Variance for beam 33 is 17.82 
Alpha[33]	0.000000
Alpha[33]	0.996399
TNavParticleFilter::Modified Variance for beam 34 is 19.91 
Alpha[34]	0.000000
Alpha[34]	0.995708
TNavParticleFilter::Modified Variance for beam 35 is 20.49 
Alpha[35]	0.000000
Alpha[35]	0.996549
TNavParticleFilter::Modified Variance for beam 36 is 21.06 
Alpha[36]	0.000000
Alpha[36]	0.999621
TNavParticleFilter::Modified Variance for beam 37 is 23.58 
Alpha[37]	0.000000
Alpha[37]	0.999843
TNavParticleFilter::Modified Variance for beam 38 is 24.39 
Alpha[38]	0.000000
Alpha[38]	0.999922
TNavParticleFilter::Modified Variance for beam 39 is 51.41 
Alpha[39]	0.000000
Alpha[39]	0.999917
TNavPF:: sumSquaredError = 27.068807 
TNavPF:: sumWeights = 0.045657 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.67. Range = 97.65 
TNavPF::Calculated measDiffMean for beam 32 as 0.91. Range = 97.17 
TNavPF::Calculated measDiffMean for beam 33 as 1.05. Range = 88.28 
TNavPF::Calculated measDiffMean for beam 34 as 1.30. Range = 85.78 
TNavPF::Calculated measDiffMean for beam 35 as -0.05. Range = 83.34 
TNavPF::Calculated measDiffMean for beam 36 as -1.40. Range = 78.88 
TNavPF::Calculated measDiffMean for beam 37 as -1.16. Range = 76.53 
TNavPF::Calculated measDiffMean for beam 38 as -2.00. Range = 74.22 
TNavPF::Calculated measDiffMean for beam 39 as -2.79. Range = 69.91 
TNavPF::Calculated measDiffMean for beam 40 as -2.73. Range = 61.60 
TNavPF::Calculated measDiffMean for beam 41 as -0.62. Range = 59.41 
TNavPF::Calculated measDiffMean for beam 42 as -0.34. Range = 59.28 
TNavPF::Calculated measDiffMean for beam 43 as -1.21. Range = 57.15 
TNavPF::Calculated measDiffMean for beam 44 as -0.29. Range = 57.05 
TNavPF::Calculated measDiffMean for beam 45 as 0.42. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 46 as -0.79. Range = 52.90 
TNavPF::Calculated measDiffMean for beam 47 as -0.38. Range = 52.86 
TNavPF::Calculated measDiffMean for beam 48 as -0.05. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 49 as -1.17. Range = 52.83 
TNavPF::Calculated measDiffMean for beam 50 as -1.01. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 51 as -0.79. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 52 as -0.44. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 53 as -0.12. Range = 52.97 
TNavPF::Calculated measDiffMean for beam 54 as -0.07. Range = 53.04 
TNavPF::Calculated measDiffMean for beam 55 as -0.21. Range = 53.13 
TNavPF::Calculated measDiffMean for beam 56 as -0.06. Range = 51.22 
TNavPF::Calculated measDiffMean for beam 57 as 0.18. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 58 as 0.00. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 59 as -0.63. Range = 51.63 
TNavPF::Calculated measDiffMean for beam 60 as -0.83. Range = 51.79 
TNavPF::Calculated measDiffMean for beam 61 as -2.08. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 62 as -3.01. Range = 52.18 
TNavPF::Calculated measDiffMean for beam 63 as -2.84. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 64 as -0.09. Range = 52.64 
TNavPF::Calculated measDiffMean for beam 65 as -0.05. Range = 50.81 
TNavPF::Calculated measDiffMean for beam 66 as -1.88. Range = 48.98 
TNavPF::Calculated measDiffMean for beam 67 as -2.40. Range = 49.25 
TNavPF::Calculated measDiffMean for beam 68 as -9.65. Range = 48.49 
TNavPF::Calculated measDiffMean for beam 69 as 9.81. Range = 47.72 
TNavPF::First Term of Map Covariance Matrix is 1.40 
TNavPF::Calculated NIS Value : 3.35 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321991.82 sec.
INS : North: 4070231.88, East: 589366.66, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 49.63, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321994.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321994.62)
ARL : North: 2.3276, East: -1.5968, Depth: -2.1375ARL : Estimation Bias  (Mean)         : (t = 1488321994.62)
ARL : North: 1.6771, East: -1.6358, Depth: 0.6472TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 78 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.05 
Alpha[0]	0.123000
Alpha[0]	0.988039
TNavParticleFilter::Modified Variance for beam 1 is 18.13 
Alpha[1]	0.000000
Alpha[1]	0.988479
TNavParticleFilter::Modified Variance for beam 2 is 18.20 
Alpha[2]	0.000000
Alpha[2]	0.988990
TNavParticleFilter::Modified Variance for beam 3 is 17.68 
Alpha[3]	0.000000
Alpha[3]	0.990241
TNavParticleFilter::Modified Variance for beam 4 is 17.28 
Alpha[4]	0.000000
Alpha[4]	0.990905
TNavParticleFilter::Modified Variance for beam 5 is 17.43 
Alpha[5]	0.000000
Alpha[5]	0.989098
TNavParticleFilter::Modified Variance for beam 6 is 17.55 
Alpha[6]	0.000000
Alpha[6]	0.988724
TNavParticleFilter::Modified Variance for beam 7 is 17.63 
Alpha[7]	0.000000
Alpha[7]	0.991905
TNavParticleFilter::Modified Variance for beam 8 is 17.73 
Alpha[8]	0.000000
Alpha[8]	0.993942
TNavParticleFilter::Modified Variance for beam 9 is 17.88 
Alpha[9]	0.000000
Alpha[9]	0.993923
TNavParticleFilter::Modified Variance for beam 10 is 17.13 
Alpha[10]	0.000000
Alpha[10]	0.992470
TNavParticleFilter::Modified Variance for beam 11 is 17.11 
Alpha[11]	0.000000
Alpha[11]	0.993003
TNavParticleFilter::Modified Variance for beam 12 is 16.16 
Alpha[12]	0.000000
Alpha[12]	0.994583
TNavParticleFilter::Modified Variance for beam 13 is 16.27 
Alpha[13]	0.000000
Alpha[13]	0.994633
TNavParticleFilter::Modified Variance for beam 14 is 15.48 
Alpha[14]	0.000000
Alpha[14]	0.991882
TNavParticleFilter::Modified Variance for beam 15 is 15.77 
Alpha[15]	0.000000
Alpha[15]	0.984775
TNavParticleFilter::Modified Variance for beam 16 is 15.94 
Alpha[16]	0.000000
Alpha[16]	0.981424
TNavParticleFilter::Modified Variance for beam 17 is 15.03 
Alpha[17]	0.000000
Alpha[17]	0.987788
TNavParticleFilter::Modified Variance for beam 18 is 15.16 
Alpha[18]	0.000000
Alpha[18]	0.992259
TNavParticleFilter::Modified Variance for beam 19 is 15.32 
Alpha[19]	0.000000
Alpha[19]	0.995066
TNavParticleFilter::Modified Variance for beam 20 is 15.53 
Alpha[20]	0.000000
Alpha[20]	0.996133
TNavParticleFilter::Modified Variance for beam 21 is 15.76 
Alpha[21]	0.000000
Alpha[21]	0.996181
TNavParticleFilter::Modified Variance for beam 22 is 16.01 
Alpha[22]	0.000000
Alpha[22]	0.996033
TNavParticleFilter::Modified Variance for beam 23 is 16.28 
Alpha[23]	0.000000
Alpha[23]	0.995877
TNavParticleFilter::Modified Variance for beam 24 is 16.56 
Alpha[24]	0.000000
Alpha[24]	0.995801
TNavParticleFilter::Modified Variance for beam 25 is 16.85 
Alpha[25]	0.000000
Alpha[25]	0.996385
TNavParticleFilter::Modified Variance for beam 26 is 17.16 
Alpha[26]	0.000000
Alpha[26]	0.996601
TNavParticleFilter::Modified Variance for beam 27 is 17.50 
Alpha[27]	0.000000
Alpha[27]	0.996247
TNavParticleFilter::Modified Variance for beam 28 is 17.87 
Alpha[28]	0.000000
Alpha[28]	0.995372
TNavParticleFilter::Modified Variance for beam 29 is 17.70 
Alpha[29]	0.000000
Alpha[29]	0.993742
TNavParticleFilter::Modified Variance for beam 30 is 17.31 
Alpha[30]	0.000000
Alpha[30]	0.994378
TNavParticleFilter::Modified Variance for beam 31 is 17.68 
Alpha[31]	0.000000
Alpha[31]	0.995910
TNavParticleFilter::Modified Variance for beam 32 is 19.53 
Alpha[32]	0.000000
Alpha[32]	0.996334
TNavParticleFilter::Modified Variance for beam 33 is 20.04 
Alpha[33]	0.000000
Alpha[33]	0.995535
TNavParticleFilter::Modified Variance for beam 34 is 20.59 
Alpha[34]	0.000000
Alpha[34]	0.994244
TNavParticleFilter::Modified Variance for beam 35 is 22.72 
Alpha[35]	0.000000
Alpha[35]	0.998340
TNavParticleFilter::Modified Variance for beam 36 is 23.35 
Alpha[36]	0.000000
Alpha[36]	0.999724
TNavParticleFilter::Modified Variance for beam 37 is 24.05 
Alpha[37]	0.000000
Alpha[37]	0.999891
TNavParticleFilter::Modified Variance for beam 38 is 50.42 
Alpha[38]	0.000000
Alpha[38]	0.999932
TNavParticleFilter::Modified Variance for beam 39 is 51.16 
Alpha[39]	0.000000
Alpha[39]	0.999880
TNavParticleFilter::Modified Variance for beam 40 is 51.16 
Alpha[40]	0.000000
Alpha[40]	0.999722
TNavParticleFilter::Modified Variance for beam 41 is 52.40 
Alpha[41]	0.000000
Alpha[41]	0.993753
TNavPF:: sumSquaredError = 77.916311 
TNavPF:: sumWeights = 0.031082 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.73. Range = 95.70 
TNavPF::Calculated measDiffMean for beam 36 as 1.03. Range = 86.89 
TNavPF::Calculated measDiffMean for beam 37 as 1.31. Range = 65.76 
TNavPF::Calculated measDiffMean for beam 38 as 1.60. Range = 65.69 
TNavPF::Calculated measDiffMean for beam 39 as 1.60. Range = 77.53 
TNavPF::Calculated measDiffMean for beam 40 as -0.23. Range = 73.15 
TNavPF::Calculated measDiffMean for beam 41 as 0.13. Range = 68.81 
TNavPF::Calculated measDiffMean for beam 42 as -0.86. Range = 62.50 
TNavPF::Calculated measDiffMean for beam 43 as -0.12. Range = 60.30 
TNavPF::Calculated measDiffMean for beam 44 as -1.17. Range = 56.10 
TNavPF::Calculated measDiffMean for beam 45 as -0.35. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 46 as -0.19. Range = 55.87 
TNavPF::Calculated measDiffMean for beam 47 as -1.73. Range = 55.78 
TNavPF::Calculated measDiffMean for beam 48 as -0.94. Range = 55.71 
TNavPF::Calculated measDiffMean for beam 49 as -0.64. Range = 55.66 
TNavPF::Calculated measDiffMean for beam 50 as -0.50. Range = 55.62 
TNavPF::Calculated measDiffMean for beam 51 as -0.12. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 52 as 0.08. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 53 as -0.02. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 54 as -0.06. Range = 55.64 
TNavPF::Calculated measDiffMean for beam 55 as 0.23. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 56 as 0.34. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 57 as 0.01. Range = 53.82 
TNavPF::Calculated measDiffMean for beam 58 as -0.50. Range = 53.92 
TNavPF::Calculated measDiffMean for beam 59 as -1.60. Range = 54.03 
TNavPF::Calculated measDiffMean for beam 60 as -2.70. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 61 as -2.33. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 62 as 0.35. Range = 54.47 
TNavPF::Calculated measDiffMean for beam 63 as 0.25. Range = 53.54 
TNavPF::Calculated measDiffMean for beam 64 as 0.43. Range = 52.80 
TNavPF::Calculated measDiffMean for beam 65 as 2.69. Range = 53.01 
TNavPF::Calculated measDiffMean for beam 66 as -0.21. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 67 as -4.90. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 68 as 17.15. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 69 as 7.28. Range = 54.04 
TNavPF::Calculated measDiffMean for beam 70 as 2.77. Range = 52.56 
TNavPF::Calculated measDiffMean for beam 72 as -0.85. Range = 52.54 
TNavPF::First Term of Map Covariance Matrix is 1.66 
TNavPF::Calculated NIS Value : 3.82 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321994.82 sec.
INS : North: 4070234.43, East: 589363.23, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 50.83, IDT[75] = 83.37
TerrainNav::Delayed incorporating measurement type 5 from time = 1488321997.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488321997.62)
ARL : North: 1.6736, East: -2.0982, Depth: -0.6523ARL : Estimation Bias  (Mean)         : (t = 1488321997.62)
ARL : North: 1.8917, East: -2.1040, Depth: 0.2761TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 68 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.16 
Alpha[0]	0.123000
Alpha[0]	0.982056
TNavParticleFilter::Modified Variance for beam 1 is 20.05 
Alpha[1]	0.000000
Alpha[1]	0.986262
TNavParticleFilter::Modified Variance for beam 2 is 18.88 
Alpha[2]	0.000000
Alpha[2]	0.988022
TNavParticleFilter::Modified Variance for beam 3 is 18.91 
Alpha[3]	0.000000
Alpha[3]	0.986443
TNavParticleFilter::Modified Variance for beam 4 is 18.93 
Alpha[4]	0.000000
Alpha[4]	0.985489
TNavParticleFilter::Modified Variance for beam 5 is 18.96 
Alpha[5]	0.000000
Alpha[5]	0.985061
TNavParticleFilter::Modified Variance for beam 6 is 17.84 
Alpha[6]	0.000000
Alpha[6]	0.988026
TNavParticleFilter::Modified Variance for beam 7 is 17.86 
Alpha[7]	0.000000
Alpha[7]	0.988423
TNavParticleFilter::Modified Variance for beam 8 is 17.90 
Alpha[8]	0.000000
Alpha[8]	0.988860
TNavParticleFilter::Modified Variance for beam 9 is 17.92 
Alpha[9]	0.000000
Alpha[9]	0.990314
TNavParticleFilter::Modified Variance for beam 10 is 17.73 
Alpha[10]	0.000000
Alpha[10]	0.991385
TNavParticleFilter::Modified Variance for beam 11 is 17.00 
Alpha[11]	0.000000
Alpha[11]	0.989745
TNavParticleFilter::Modified Variance for beam 12 is 17.10 
Alpha[12]	0.000000
Alpha[12]	0.987992
TNavParticleFilter::Modified Variance for beam 13 is 16.09 
Alpha[13]	0.000000
Alpha[13]	0.991277
TNavParticleFilter::Modified Variance for beam 14 is 16.14 
Alpha[14]	0.000000
Alpha[14]	0.993236
TNavParticleFilter::Modified Variance for beam 15 is 16.24 
Alpha[15]	0.000000
Alpha[15]	0.993034
TNavParticleFilter::Modified Variance for beam 16 is 17.41 
Alpha[16]	0.000000
Alpha[16]	0.992477
TNavParticleFilter::Modified Variance for beam 17 is 16.79 
Alpha[17]	0.000000
Alpha[17]	0.994215
TNavParticleFilter::Modified Variance for beam 18 is 16.54 
Alpha[18]	0.000000
Alpha[18]	0.995081
TNavParticleFilter::Modified Variance for beam 19 is 16.68 
Alpha[19]	0.000000
Alpha[19]	0.994488
TNavParticleFilter::Modified Variance for beam 20 is 15.82 
Alpha[20]	0.000000
Alpha[20]	0.990622
TNavParticleFilter::Modified Variance for beam 21 is 16.11 
Alpha[21]	0.000000
Alpha[21]	0.981766
TNavParticleFilter::Modified Variance for beam 22 is 16.23 
Alpha[22]	0.000000
Alpha[22]	0.983487
TNavParticleFilter::Modified Variance for beam 23 is 15.22 
Alpha[23]	0.000000
Alpha[23]	0.990700
TNavParticleFilter::Modified Variance for beam 24 is 15.34 
Alpha[24]	0.000000
Alpha[24]	0.993239
TNavParticleFilter::Modified Variance for beam 25 is 15.48 
Alpha[25]	0.000000
Alpha[25]	0.995027
TNavParticleFilter::Modified Variance for beam 26 is 15.64 
Alpha[26]	0.000000
Alpha[26]	0.995795
TNavParticleFilter::Modified Variance for beam 27 is 15.83 
Alpha[27]	0.000000
Alpha[27]	0.995710
TNavParticleFilter::Modified Variance for beam 28 is 16.04 
Alpha[28]	0.000000
Alpha[28]	0.995252
TNavParticleFilter::Modified Variance for beam 29 is 16.26 
Alpha[29]	0.000000
Alpha[29]	0.994900
TNavParticleFilter::Modified Variance for beam 30 is 16.48 
Alpha[30]	0.000000
Alpha[30]	0.995471
TNavParticleFilter::Modified Variance for beam 31 is 16.71 
Alpha[31]	0.000000
Alpha[31]	0.995910
TNavParticleFilter::Modified Variance for beam 32 is 16.97 
Alpha[32]	0.000000
Alpha[32]	0.995623
TNavParticleFilter::Modified Variance for beam 33 is 17.25 
Alpha[33]	0.000000
Alpha[33]	0.995168
TNavParticleFilter::Modified Variance for beam 34 is 17.56 
Alpha[34]	0.000000
Alpha[34]	0.994339
TNavParticleFilter::Modified Variance for beam 35 is 17.92 
Alpha[35]	0.000000
Alpha[35]	0.991225
TNavParticleFilter::Modified Variance for beam 36 is 17.13 
Alpha[36]	0.000000
Alpha[36]	0.992987
TNavParticleFilter::Modified Variance for beam 37 is 18.06 
Alpha[37]	0.000000
Alpha[37]	0.994549
TNavParticleFilter::Modified Variance for beam 38 is 18.89 
Alpha[38]	0.000000
Alpha[38]	0.995005
TNavParticleFilter::Modified Variance for beam 39 is 19.30 
Alpha[39]	0.000000
Alpha[39]	0.994106
TNavParticleFilter::Modified Variance for beam 40 is 19.75 
Alpha[40]	0.000000
Alpha[40]	0.992523
TNavParticleFilter::Modified Variance for beam 41 is 20.20 
Alpha[41]	0.000000
Alpha[41]	0.992597
TNavParticleFilter::Modified Variance for beam 42 is 22.09 
Alpha[42]	0.000000
Alpha[42]	0.997963
TNavParticleFilter::Modified Variance for beam 43 is 22.61 
Alpha[43]	0.000000
Alpha[43]	0.999537
TNavParticleFilter::Modified Variance for beam 44 is 23.19 
Alpha[44]	0.000000
Alpha[44]	0.999820
TNavParticleFilter::Modified Variance for beam 45 is 37.53 
Alpha[45]	0.000000
Alpha[45]	0.999893
TNavParticleFilter::Modified Variance for beam 46 is 47.30 
Alpha[46]	0.000000
Alpha[46]	0.999884
TNavParticleFilter::Modified Variance for beam 47 is 47.28 
Alpha[47]	0.000000
Alpha[47]	0.999771
TNavParticleFilter::Modified Variance for beam 48 is 48.85 
Alpha[48]	0.000000
Alpha[48]	0.999285
TNavParticleFilter::Modified Variance for beam 49 is 50.64 
Alpha[49]	0.000000
Alpha[49]	0.996550
TNavParticleFilter::Modified Variance for beam 50 is 52.12 
Alpha[50]	0.000000
Alpha[50]	0.990964
TNavParticleFilter::Modified Variance for beam 51 is 52.04 
Alpha[51]	0.000000
Alpha[51]	0.983983
TNavPF:: sumSquaredError = 73.367317 
TNavPF:: sumWeights = 0.026184 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -2.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -3.34. Range = 97.41 
TNavPF::Calculated measDiffMean for beam 44 as -3.09. Range = 94.70 
TNavPF::Calculated measDiffMean for beam 45 as -3.14. Range = 92.06 
TNavPF::Calculated measDiffMean for beam 46 as -1.14. Range = 85.29 
TNavPF::Calculated measDiffMean for beam 47 as -1.68. Range = 76.54 
TNavPF::Calculated measDiffMean for beam 48 as -1.15. Range = 67.90 
TNavPF::Calculated measDiffMean for beam 49 as -0.34. Range = 67.61 
TNavPF::Calculated measDiffMean for beam 50 as -1.48. Range = 65.28 
TNavPF::Calculated measDiffMean for beam 51 as -0.89. Range = 62.99 
TNavPF::Calculated measDiffMean for beam 52 as -0.58. Range = 58.70 
TNavPF::Calculated measDiffMean for beam 53 as -1.92. Range = 58.51 
TNavPF::Calculated measDiffMean for beam 54 as -1.24. Range = 58.35 
TNavPF::Calculated measDiffMean for beam 55 as -1.07. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 56 as -0.81. Range = 58.07 
TNavPF::Calculated measDiffMean for beam 57 as -0.53. Range = 57.96 
TNavPF::Calculated measDiffMean for beam 58 as -0.53. Range = 57.87 
TNavPF::Calculated measDiffMean for beam 59 as -0.67. Range = 57.79 
TNavPF::Calculated measDiffMean for beam 60 as -0.46. Range = 57.74 
TNavPF::Calculated measDiffMean for beam 61 as -0.23. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 62 as -0.34. Range = 55.68 
TNavPF::Calculated measDiffMean for beam 63 as -0.81. Range = 55.67 
TNavPF::Calculated measDiffMean for beam 64 as -1.26. Range = 55.69 
TNavPF::Calculated measDiffMean for beam 65 as -1.22. Range = 55.72 
TNavPF::Calculated measDiffMean for beam 66 as -2.87. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 67 as -1.39. Range = 53.82 
TNavPF::Calculated measDiffMean for beam 68 as -0.46. Range = 53.90 
TNavPF::Calculated measDiffMean for beam 69 as -0.52. Range = 54.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.39. Range = 53.67 
TNavPF::Calculated measDiffMean for beam 71 as -0.55. Range = 52.21 
TNavPF::Calculated measDiffMean for beam 72 as 0.78. Range = 52.36 
TNavPF::Calculated measDiffMean for beam 73 as -1.03. Range = 50.48 
TNavPF::Calculated measDiffMean for beam 74 as -4.59. Range = 50.65 
TNavPF::Calculated measDiffMean for beam 75 as 6.18. Range = 50.83 
TNavPF::Calculated measDiffMean for beam 76 as 6.68. Range = 53.09 
TNavPF::Calculated measDiffMean for beam 77 as 2.38. Range = 51.95 
TNavPF::Calculated measDiffMean for beam 78 as 1.44. Range = 51.49 
TNavPF::Calculated measDiffMean for beam 79 as 0.19. Range = 51.74 
TNavPF::Calculated measDiffMean for beam 80 as 0.40. Range = 49.92 
TNavPF::Calculated measDiffMean for beam 81 as -0.47. Range = 50.20 
TNavPF::First Term of Map Covariance Matrix is 1.10 
TNavPF::Calculated NIS Value : 4.08 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488321997.82 sec.
INS : North: 4070236.33, East: 589359.41, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 53.36, IDT[75] = 57.02
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322000.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322000.62)
ARL : North: 2.3656, East: -2.2384, Depth: 1.6618ARL : Estimation Bias  (Mean)         : (t = 1488322000.62)
ARL : North: 1.6786, East: -2.5313, Depth: 0.3769TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.44 
Alpha[0]	0.123000
Alpha[0]	0.992821
TNavParticleFilter::Modified Variance for beam 1 is 21.44 
Alpha[1]	0.000000
Alpha[1]	0.987715
TNavParticleFilter::Modified Variance for beam 2 is 21.43 
Alpha[2]	0.000000
Alpha[2]	0.983584
TNavParticleFilter::Modified Variance for beam 3 is 21.52 
Alpha[3]	0.000000
Alpha[3]	0.975151
TNavParticleFilter::Modified Variance for beam 4 is 21.27 
Alpha[4]	0.000000
Alpha[4]	0.982590
TNavParticleFilter::Modified Variance for beam 5 is 21.12 
Alpha[5]	0.000000
Alpha[5]	0.986702
TNavParticleFilter::Modified Variance for beam 6 is 19.85 
Alpha[6]	0.000000
Alpha[6]	0.988733
TNavParticleFilter::Modified Variance for beam 7 is 19.84 
Alpha[7]	0.000000
Alpha[7]	0.986963
TNavParticleFilter::Modified Variance for beam 8 is 19.82 
Alpha[8]	0.000000
Alpha[8]	0.986608
TNavParticleFilter::Modified Variance for beam 9 is 19.80 
Alpha[9]	0.000000
Alpha[9]	0.986483
TNavParticleFilter::Modified Variance for beam 10 is 18.60 
Alpha[10]	0.000000
Alpha[10]	0.989907
TNavParticleFilter::Modified Variance for beam 11 is 18.61 
Alpha[11]	0.000000
Alpha[11]	0.989018
TNavParticleFilter::Modified Variance for beam 12 is 18.60 
Alpha[12]	0.000000
Alpha[12]	0.989751
TNavParticleFilter::Modified Variance for beam 13 is 18.59 
Alpha[13]	0.000000
Alpha[13]	0.991126
TNavParticleFilter::Modified Variance for beam 14 is 17.52 
Alpha[14]	0.000000
Alpha[14]	0.992411
TNavParticleFilter::Modified Variance for beam 15 is 17.60 
Alpha[15]	0.000000
Alpha[15]	0.989247
TNavParticleFilter::Modified Variance for beam 16 is 17.61 
Alpha[16]	0.000000
Alpha[16]	0.990982
TNavParticleFilter::Modified Variance for beam 17 is 16.58 
Alpha[17]	0.000000
Alpha[17]	0.993272
TNavParticleFilter::Modified Variance for beam 18 is 16.63 
Alpha[18]	0.000000
Alpha[18]	0.993226
TNavParticleFilter::Modified Variance for beam 19 is 17.75 
Alpha[19]	0.000000
Alpha[19]	0.992751
TNavParticleFilter::Modified Variance for beam 20 is 17.80 
Alpha[20]	0.000000
Alpha[20]	0.994321
TNavParticleFilter::Modified Variance for beam 21 is 16.81 
Alpha[21]	0.000000
Alpha[21]	0.995353
TNavParticleFilter::Modified Variance for beam 22 is 16.90 
Alpha[22]	0.000000
Alpha[22]	0.995072
TNavParticleFilter::Modified Variance for beam 23 is 16.76 
Alpha[23]	0.000000
Alpha[23]	0.991851
TNavParticleFilter::Modified Variance for beam 24 is 16.28 
Alpha[24]	0.000000
Alpha[24]	0.981345
TNavParticleFilter::Modified Variance for beam 25 is 16.33 
Alpha[25]	0.000000
Alpha[25]	0.985137
TNavParticleFilter::Modified Variance for beam 26 is 15.55 
Alpha[26]	0.000000
Alpha[26]	0.992116
TNavParticleFilter::Modified Variance for beam 27 is 15.39 
Alpha[27]	0.000000
Alpha[27]	0.993788
TNavParticleFilter::Modified Variance for beam 28 is 15.50 
Alpha[28]	0.000000
Alpha[28]	0.995145
TNavParticleFilter::Modified Variance for beam 29 is 15.62 
Alpha[29]	0.000000
Alpha[29]	0.995897
TNavParticleFilter::Modified Variance for beam 30 is 15.76 
Alpha[30]	0.000000
Alpha[30]	0.995812
TNavParticleFilter::Modified Variance for beam 31 is 15.93 
Alpha[31]	0.000000
Alpha[31]	0.995135
TNavParticleFilter::Modified Variance for beam 32 is 16.10 
Alpha[32]	0.000000
Alpha[32]	0.994736
TNavParticleFilter::Modified Variance for beam 33 is 16.26 
Alpha[33]	0.000000
Alpha[33]	0.995381
TNavParticleFilter::Modified Variance for beam 34 is 16.45 
Alpha[34]	0.000000
Alpha[34]	0.995638
TNavParticleFilter::Modified Variance for beam 35 is 16.65 
Alpha[35]	0.000000
Alpha[35]	0.995207
TNavParticleFilter::Modified Variance for beam 36 is 16.88 
Alpha[36]	0.000000
Alpha[36]	0.994577
TNavParticleFilter::Modified Variance for beam 37 is 17.11 
Alpha[37]	0.000000
Alpha[37]	0.994187
TNavParticleFilter::Modified Variance for beam 38 is 17.40 
Alpha[38]	0.000000
Alpha[38]	0.991090
TNavParticleFilter::Modified Variance for beam 39 is 17.28 
Alpha[39]	0.000000
Alpha[39]	0.992148
TNavParticleFilter::Modified Variance for beam 40 is 16.68 
Alpha[40]	0.000000
Alpha[40]	0.994085
TNavParticleFilter::Modified Variance for beam 41 is 16.94 
Alpha[41]	0.000000
Alpha[41]	0.994820
TNavParticleFilter::Modified Variance for beam 42 is 18.90 
Alpha[42]	0.000000
Alpha[42]	0.994456
TNavParticleFilter::Modified Variance for beam 43 is 18.81 
Alpha[43]	0.000000
Alpha[43]	0.993338
TNavParticleFilter::Modified Variance for beam 44 is 19.19 
Alpha[44]	0.000000
Alpha[44]	0.991663
TNavParticleFilter::Modified Variance for beam 45 is 19.55 
Alpha[45]	0.000000
Alpha[45]	0.992157
TNavParticleFilter::Modified Variance for beam 46 is 21.29 
Alpha[46]	0.000000
Alpha[46]	0.995637
TNavParticleFilter::Modified Variance for beam 47 is 21.66 
Alpha[47]	0.000000
Alpha[47]	0.999230
TNavParticleFilter::Modified Variance for beam 48 is 22.13 
Alpha[48]	0.000000
Alpha[48]	0.999689
TNavParticleFilter::Modified Variance for beam 49 is 22.63 
Alpha[49]	0.000000
Alpha[49]	0.999845
TNavParticleFilter::Modified Variance for beam 50 is 35.99 
Alpha[50]	0.000000
Alpha[50]	0.999849
TNavParticleFilter::Modified Variance for beam 51 is 43.61 
Alpha[51]	0.000000
Alpha[51]	0.999798
TNavParticleFilter::Modified Variance for beam 52 is 45.53 
Alpha[52]	0.000000
Alpha[52]	0.999533
TNavParticleFilter::Modified Variance for beam 53 is 46.17 
Alpha[53]	0.000000
Alpha[53]	0.998961
TNavParticleFilter::Modified Variance for beam 54 is 47.65 
Alpha[54]	0.000000
Alpha[54]	0.997183
TNavParticleFilter::Modified Variance for beam 55 is 49.38 
Alpha[55]	0.000000
Alpha[55]	0.992377
TNavParticleFilter::Modified Variance for beam 56 is 50.38 
Alpha[56]	0.000000
Alpha[56]	0.989156
TNavParticleFilter::Modified Variance for beam 57 is 50.51 
Alpha[57]	0.000000
Alpha[57]	0.980536
TNavParticleFilter::Modified Variance for beam 58 is 51.49 
Alpha[58]	0.000000
Alpha[58]	0.995396
TNavPF:: sumSquaredError = 34.604709 
TNavPF:: sumWeights = 0.017574 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -2.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -3.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -3.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.87. Range = 97.68 
TNavPF::Calculated measDiffMean for beam 51 as -1.51. Range = 94.92 
TNavPF::Calculated measDiffMean for beam 52 as -0.69. Range = 87.99 
TNavPF::Calculated measDiffMean for beam 53 as -0.26. Range = 79.07 
TNavPF::Calculated measDiffMean for beam 54 as -1.04. Range = 70.27 
TNavPF::Calculated measDiffMean for beam 55 as -0.71. Range = 67.83 
TNavPF::Calculated measDiffMean for beam 56 as -1.43. Range = 65.43 
TNavPF::Calculated measDiffMean for beam 57 as -1.33. Range = 61.01 
TNavPF::Calculated measDiffMean for beam 58 as -1.23. Range = 60.76 
TNavPF::Calculated measDiffMean for beam 59 as -0.95. Range = 60.53 
TNavPF::Calculated measDiffMean for beam 60 as -0.74. Range = 60.32 
TNavPF::Calculated measDiffMean for beam 61 as -0.82. Range = 60.12 
TNavPF::Calculated measDiffMean for beam 62 as -0.91. Range = 59.95 
TNavPF::Calculated measDiffMean for beam 63 as -0.67. Range = 59.79 
TNavPF::Calculated measDiffMean for beam 64 as -0.48. Range = 59.66 
TNavPF::Calculated measDiffMean for beam 65 as -0.61. Range = 59.54 
TNavPF::Calculated measDiffMean for beam 66 as -1.02. Range = 57.44 
TNavPF::Calculated measDiffMean for beam 67 as -1.48. Range = 57.36 
TNavPF::Calculated measDiffMean for beam 68 as -1.55. Range = 57.30 
TNavPF::Calculated measDiffMean for beam 69 as -1.80. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 70 as -3.09. Range = 55.23 
TNavPF::Calculated measDiffMean for beam 71 as -3.05. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 72 as -0.07. Range = 55.23 
TNavPF::Calculated measDiffMean for beam 73 as -0.74. Range = 55.26 
TNavPF::Calculated measDiffMean for beam 74 as -0.62. Range = 53.30 
TNavPF::Calculated measDiffMean for beam 75 as -1.00. Range = 53.36 
TNavPF::Calculated measDiffMean for beam 76 as 0.34. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 77 as -0.95. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 78 as -3.24. Range = 51.62 
TNavPF::Calculated measDiffMean for beam 79 as -9.22. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 80 as 1.16. Range = 53.90 
TNavPF::Calculated measDiffMean for beam 81 as 2.51. Range = 52.03 
TNavPF::Calculated measDiffMean for beam 82 as 0.77. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 83 as 0.47. Range = 51.82 
TNavPF::Calculated measDiffMean for beam 84 as -0.02. Range = 50.53 
TNavPF::Calculated measDiffMean for beam 85 as -0.16. Range = 50.75 
TNavPF::Calculated measDiffMean for beam 86 as 0.32. Range = 49.41 
TNavPF::Calculated measDiffMean for beam 87 as -0.65. Range = 49.15 
TNavPF::Calculated measDiffMean for beam 88 as -1.03. Range = 49.40 
TNavPF::First Term of Map Covariance Matrix is 2.78 
TNavPF::Calculated NIS Value : 4.12 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322000.82 sec.
INS : North: 4070237.71, East: 589355.37, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 56.36, IDT[75] = 54.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322003.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322003.62)
ARL : North: 1.8135, East: -2.7496, Depth: -0.3076ARL : Estimation Bias  (Mean)         : (t = 1488322003.62)
ARL : North: 1.2046, East: -2.5829, Depth: 0.5708TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.05 
Alpha[0]	0.123000
Alpha[0]	0.999291
TNavParticleFilter::Modified Variance for beam 1 is 22.85 
Alpha[1]	0.000000
Alpha[1]	0.998848
TNavParticleFilter::Modified Variance for beam 2 is 22.69 
Alpha[2]	0.000000
Alpha[2]	0.997349
TNavParticleFilter::Modified Variance for beam 3 is 22.57 
Alpha[3]	0.000000
Alpha[3]	0.994929
TNavParticleFilter::Modified Variance for beam 4 is 22.55 
Alpha[4]	0.000000
Alpha[4]	0.988841
TNavParticleFilter::Modified Variance for beam 5 is 22.52 
Alpha[5]	0.000000
Alpha[5]	0.983454
TNavParticleFilter::Modified Variance for beam 6 is 22.51 
Alpha[6]	0.000000
Alpha[6]	0.977770
TNavParticleFilter::Modified Variance for beam 7 is 22.21 
Alpha[7]	0.000000
Alpha[7]	0.985243
TNavParticleFilter::Modified Variance for beam 8 is 22.04 
Alpha[8]	0.000000
Alpha[8]	0.987906
TNavParticleFilter::Modified Variance for beam 9 is 20.74 
Alpha[9]	0.000000
Alpha[9]	0.987781
TNavParticleFilter::Modified Variance for beam 10 is 20.68 
Alpha[10]	0.000000
Alpha[10]	0.986509
TNavParticleFilter::Modified Variance for beam 11 is 20.61 
Alpha[11]	0.000000
Alpha[11]	0.986398
TNavParticleFilter::Modified Variance for beam 12 is 19.34 
Alpha[12]	0.000000
Alpha[12]	0.989757
TNavParticleFilter::Modified Variance for beam 13 is 19.29 
Alpha[13]	0.000000
Alpha[13]	0.989552
TNavParticleFilter::Modified Variance for beam 14 is 19.25 
Alpha[14]	0.000000
Alpha[14]	0.989682
TNavParticleFilter::Modified Variance for beam 15 is 19.20 
Alpha[15]	0.000000
Alpha[15]	0.990991
TNavParticleFilter::Modified Variance for beam 16 is 19.15 
Alpha[16]	0.000000
Alpha[16]	0.992935
TNavParticleFilter::Modified Variance for beam 17 is 18.10 
Alpha[17]	0.000000
Alpha[17]	0.989958
TNavParticleFilter::Modified Variance for beam 18 is 18.09 
Alpha[18]	0.000000
Alpha[18]	0.990746
TNavParticleFilter::Modified Variance for beam 19 is 17.00 
Alpha[19]	0.000000
Alpha[19]	0.992969
TNavParticleFilter::Modified Variance for beam 20 is 17.01 
Alpha[20]	0.000000
Alpha[20]	0.993293
TNavParticleFilter::Modified Variance for beam 21 is 18.09 
Alpha[21]	0.000000
Alpha[21]	0.993547
TNavParticleFilter::Modified Variance for beam 22 is 18.10 
Alpha[22]	0.000000
Alpha[22]	0.995260
TNavParticleFilter::Modified Variance for beam 23 is 17.07 
Alpha[23]	0.000000
Alpha[23]	0.995837
TNavParticleFilter::Modified Variance for beam 24 is 17.14 
Alpha[24]	0.000000
Alpha[24]	0.995141
TNavParticleFilter::Modified Variance for beam 25 is 16.22 
Alpha[25]	0.000000
Alpha[25]	0.991822
TNavParticleFilter::Modified Variance for beam 26 is 16.43 
Alpha[26]	0.000000
Alpha[26]	0.983151
TNavParticleFilter::Modified Variance for beam 27 is 16.40 
Alpha[27]	0.000000
Alpha[27]	0.989404
TNavParticleFilter::Modified Variance for beam 28 is 15.41 
Alpha[28]	0.000000
Alpha[28]	0.993078
TNavParticleFilter::Modified Variance for beam 29 is 15.48 
Alpha[29]	0.000000
Alpha[29]	0.993773
TNavParticleFilter::Modified Variance for beam 30 is 15.55 
Alpha[30]	0.000000
Alpha[30]	0.995148
TNavParticleFilter::Modified Variance for beam 31 is 15.64 
Alpha[31]	0.000000
Alpha[31]	0.995704
TNavParticleFilter::Modified Variance for beam 32 is 15.75 
Alpha[32]	0.000000
Alpha[32]	0.995301
TNavParticleFilter::Modified Variance for beam 33 is 15.88 
Alpha[33]	0.000000
Alpha[33]	0.994604
TNavParticleFilter::Modified Variance for beam 34 is 16.01 
Alpha[34]	0.000000
Alpha[34]	0.994537
TNavParticleFilter::Modified Variance for beam 35 is 16.13 
Alpha[35]	0.000000
Alpha[35]	0.995032
TNavParticleFilter::Modified Variance for beam 36 is 16.28 
Alpha[36]	0.000000
Alpha[36]	0.994923
TNavParticleFilter::Modified Variance for beam 37 is 16.45 
Alpha[37]	0.000000
Alpha[37]	0.994310
TNavParticleFilter::Modified Variance for beam 38 is 16.62 
Alpha[38]	0.000000
Alpha[38]	0.993810
TNavParticleFilter::Modified Variance for beam 39 is 16.81 
Alpha[39]	0.000000
Alpha[39]	0.993316
TNavParticleFilter::Modified Variance for beam 40 is 17.07 
Alpha[40]	0.000000
Alpha[40]	0.989335
TNavParticleFilter::Modified Variance for beam 41 is 16.77 
Alpha[41]	0.000000
Alpha[41]	0.990609
TNavParticleFilter::Modified Variance for beam 42 is 16.30 
Alpha[42]	0.000000
Alpha[42]	0.992865
TNavParticleFilter::Modified Variance for beam 43 is 17.64 
Alpha[43]	0.000000
Alpha[43]	0.993920
TNavParticleFilter::Modified Variance for beam 44 is 17.88 
Alpha[44]	0.000000
Alpha[44]	0.993920
TNavParticleFilter::Modified Variance for beam 45 is 18.16 
Alpha[45]	0.000000
Alpha[45]	0.993017
TNavParticleFilter::Modified Variance for beam 46 is 18.47 
Alpha[46]	0.000000
Alpha[46]	0.991030
TNavParticleFilter::Modified Variance for beam 47 is 18.79 
Alpha[47]	0.000000
Alpha[47]	0.990065
TNavParticleFilter::Modified Variance for beam 48 is 19.08 
Alpha[48]	0.000000
Alpha[48]	0.991223
TNavParticleFilter::Modified Variance for beam 49 is 20.71 
Alpha[49]	0.000000
Alpha[49]	0.993592
TNavParticleFilter::Modified Variance for beam 50 is 20.98 
Alpha[50]	0.000000
Alpha[50]	0.998769
TNavParticleFilter::Modified Variance for beam 51 is 21.37 
Alpha[51]	0.000000
Alpha[51]	0.999481
TNavParticleFilter::Modified Variance for beam 52 is 21.79 
Alpha[52]	0.000000
Alpha[52]	0.999774
TNavParticleFilter::Modified Variance for beam 53 is 35.06 
Alpha[53]	0.000000
Alpha[53]	0.999823
TNavParticleFilter::Modified Variance for beam 54 is 34.95 
Alpha[54]	0.000000
Alpha[54]	0.999764
TNavParticleFilter::Modified Variance for beam 55 is 42.11 
Alpha[55]	0.000000
Alpha[55]	0.999653
TNavParticleFilter::Modified Variance for beam 56 is 44.03 
Alpha[56]	0.000000
Alpha[56]	0.999199
TNavParticleFilter::Modified Variance for beam 57 is 44.37 
Alpha[57]	0.000000
Alpha[57]	0.998926
TNavParticleFilter::Modified Variance for beam 58 is 45.67 
Alpha[58]	0.000000
Alpha[58]	0.997198
TNavParticleFilter::Modified Variance for beam 59 is 47.20 
Alpha[59]	0.000000
Alpha[59]	0.992307
TNavPF:: sumSquaredError = 26.254083 
TNavPF:: sumWeights = 0.015265 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -4.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -2.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -2.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -2.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.37. Range = 97.67 
TNavPF::Calculated measDiffMean for beam 56 as -0.75. Range = 90.54 
TNavPF::Calculated measDiffMean for beam 57 as -0.25. Range = 81.41 
TNavPF::Calculated measDiffMean for beam 58 as -1.32. Range = 70.29 
TNavPF::Calculated measDiffMean for beam 59 as -0.90. Range = 69.87 
TNavPF::Calculated measDiffMean for beam 60 as -0.74. Range = 63.19 
TNavPF::Calculated measDiffMean for beam 61 as -0.48. Range = 62.86 
TNavPF::Calculated measDiffMean for beam 62 as -0.40. Range = 62.55 
TNavPF::Calculated measDiffMean for beam 63 as -0.52. Range = 62.26 
TNavPF::Calculated measDiffMean for beam 64 as -0.45. Range = 61.99 
TNavPF::Calculated measDiffMean for beam 65 as -0.18. Range = 61.74 
TNavPF::Calculated measDiffMean for beam 66 as -0.12. Range = 61.52 
TNavPF::Calculated measDiffMean for beam 67 as -0.34. Range = 61.31 
TNavPF::Calculated measDiffMean for beam 68 as -0.71. Range = 61.13 
TNavPF::Calculated measDiffMean for beam 69 as -1.18. Range = 58.94 
TNavPF::Calculated measDiffMean for beam 70 as -1.29. Range = 58.80 
TNavPF::Calculated measDiffMean for beam 71 as -1.77. Range = 58.67 
TNavPF::Calculated measDiffMean for beam 72 as -2.73. Range = 56.56 
TNavPF::Calculated measDiffMean for beam 73 as -0.43. Range = 56.47 
TNavPF::Calculated measDiffMean for beam 74 as -0.54. Range = 56.41 
TNavPF::Calculated measDiffMean for beam 75 as -0.45. Range = 56.36 
TNavPF::Calculated measDiffMean for beam 76 as -0.37. Range = 56.33 
TNavPF::Calculated measDiffMean for beam 77 as -0.49. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 78 as -1.22. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 79 as 0.38. Range = 52.33 
TNavPF::Calculated measDiffMean for beam 80 as -0.61. Range = 52.36 
TNavPF::Calculated measDiffMean for beam 81 as -2.22. Range = 54.42 
TNavPF::Calculated measDiffMean for beam 82 as -6.84. Range = 54.49 
TNavPF::Calculated measDiffMean for beam 83 as 5.06. Range = 52.56 
TNavPF::Calculated measDiffMean for beam 84 as -0.42. Range = 52.66 
TNavPF::Calculated measDiffMean for beam 85 as 2.31. Range = 50.76 
TNavPF::Calculated measDiffMean for beam 86 as 1.40. Range = 50.88 
TNavPF::Calculated measDiffMean for beam 87 as 1.35. Range = 51.03 
TNavPF::Calculated measDiffMean for beam 88 as 0.61. Range = 49.15 
TNavPF::Calculated measDiffMean for beam 89 as 0.24. Range = 49.32 
TNavPF::First Term of Map Covariance Matrix is 28.18 
TNavPF::Calculated NIS Value : 3.85 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322003.82 sec.
INS : North: 4070238.62, East: 589351.18, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 57.56, IDT[75] = 52.64
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322006.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322006.62)
ARL : North: 0.8400, East: -2.1694, Depth: 3.6750ARL : Estimation Bias  (Mean)         : (t = 1488322006.62)
ARL : North: 0.7630, East: -2.5964, Depth: 0.4706TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 37.91 
Alpha[0]	0.123000
Alpha[0]	0.999847
TNavParticleFilter::Modified Variance for beam 1 is 30.72 
Alpha[1]	0.000000
Alpha[1]	0.999827
TNavParticleFilter::Modified Variance for beam 2 is 27.31 
Alpha[2]	0.000000
Alpha[2]	0.999712
TNavParticleFilter::Modified Variance for beam 3 is 24.19 
Alpha[3]	0.000000
Alpha[3]	0.999517
TNavParticleFilter::Modified Variance for beam 4 is 23.95 
Alpha[4]	0.000000
Alpha[4]	0.998736
TNavParticleFilter::Modified Variance for beam 5 is 23.74 
Alpha[5]	0.000000
Alpha[5]	0.997348
TNavParticleFilter::Modified Variance for beam 6 is 23.59 
Alpha[6]	0.000000
Alpha[6]	0.994077
TNavParticleFilter::Modified Variance for beam 7 is 23.57 
Alpha[7]	0.000000
Alpha[7]	0.986022
TNavParticleFilter::Modified Variance for beam 8 is 23.50 
Alpha[8]	0.000000
Alpha[8]	0.980572
TNavParticleFilter::Modified Variance for beam 9 is 23.21 
Alpha[9]	0.000000
Alpha[9]	0.985080
TNavParticleFilter::Modified Variance for beam 10 is 22.97 
Alpha[10]	0.000000
Alpha[10]	0.988007
TNavParticleFilter::Modified Variance for beam 11 is 21.55 
Alpha[11]	0.000000
Alpha[11]	0.988812
TNavParticleFilter::Modified Variance for beam 12 is 21.44 
Alpha[12]	0.000000
Alpha[12]	0.987634
TNavParticleFilter::Modified Variance for beam 13 is 21.33 
Alpha[13]	0.000000
Alpha[13]	0.987472
TNavParticleFilter::Modified Variance for beam 14 is 19.98 
Alpha[14]	0.000000
Alpha[14]	0.990473
TNavParticleFilter::Modified Variance for beam 15 is 19.90 
Alpha[15]	0.000000
Alpha[15]	0.990043
TNavParticleFilter::Modified Variance for beam 16 is 19.81 
Alpha[16]	0.000000
Alpha[16]	0.990381
TNavParticleFilter::Modified Variance for beam 17 is 19.71 
Alpha[17]	0.000000
Alpha[17]	0.991907
TNavParticleFilter::Modified Variance for beam 18 is 18.51 
Alpha[18]	0.000000
Alpha[18]	0.993232
TNavParticleFilter::Modified Variance for beam 19 is 18.52 
Alpha[19]	0.000000
Alpha[19]	0.990258
TNavParticleFilter::Modified Variance for beam 20 is 17.37 
Alpha[20]	0.000000
Alpha[20]	0.992656
TNavParticleFilter::Modified Variance for beam 21 is 17.33 
Alpha[21]	0.000000
Alpha[21]	0.993720
TNavParticleFilter::Modified Variance for beam 22 is 18.38 
Alpha[22]	0.000000
Alpha[22]	0.993843
TNavParticleFilter::Modified Variance for beam 23 is 18.36 
Alpha[23]	0.000000
Alpha[23]	0.994535
TNavParticleFilter::Modified Variance for beam 24 is 17.26 
Alpha[24]	0.000000
Alpha[24]	0.996265
TNavParticleFilter::Modified Variance for beam 25 is 17.28 
Alpha[25]	0.000000
Alpha[25]	0.995669
TNavParticleFilter::Modified Variance for beam 26 is 17.32 
Alpha[26]	0.000000
Alpha[26]	0.994605
TNavParticleFilter::Modified Variance for beam 27 is 16.44 
Alpha[27]	0.000000
Alpha[27]	0.987387
TNavParticleFilter::Modified Variance for beam 28 is 16.45 
Alpha[28]	0.000000
Alpha[28]	0.988788
TNavParticleFilter::Modified Variance for beam 29 is 15.41 
Alpha[29]	0.000000
Alpha[29]	0.993458
TNavParticleFilter::Modified Variance for beam 30 is 15.45 
Alpha[30]	0.000000
Alpha[30]	0.993937
TNavParticleFilter::Modified Variance for beam 31 is 15.49 
Alpha[31]	0.000000
Alpha[31]	0.994794
TNavParticleFilter::Modified Variance for beam 32 is 15.54 
Alpha[32]	0.000000
Alpha[32]	0.995589
TNavParticleFilter::Modified Variance for beam 33 is 15.61 
Alpha[33]	0.000000
Alpha[33]	0.995345
TNavParticleFilter::Modified Variance for beam 34 is 15.69 
Alpha[34]	0.000000
Alpha[34]	0.994727
TNavParticleFilter::Modified Variance for beam 35 is 15.79 
Alpha[35]	0.000000
Alpha[35]	0.994281
TNavParticleFilter::Modified Variance for beam 36 is 15.87 
Alpha[36]	0.000000
Alpha[36]	0.994579
TNavParticleFilter::Modified Variance for beam 37 is 15.97 
Alpha[37]	0.000000
Alpha[37]	0.994613
TNavParticleFilter::Modified Variance for beam 38 is 16.09 
Alpha[38]	0.000000
Alpha[38]	0.994152
TNavParticleFilter::Modified Variance for beam 39 is 16.23 
Alpha[39]	0.000000
Alpha[39]	0.993192
TNavParticleFilter::Modified Variance for beam 40 is 16.36 
Alpha[40]	0.000000
Alpha[40]	0.993031
TNavParticleFilter::Modified Variance for beam 41 is 16.54 
Alpha[41]	0.000000
Alpha[41]	0.990321
TNavParticleFilter::Modified Variance for beam 42 is 16.72 
Alpha[42]	0.000000
Alpha[42]	0.988692
TNavParticleFilter::Modified Variance for beam 43 is 15.76 
Alpha[43]	0.000000
Alpha[43]	0.991792
TNavParticleFilter::Modified Variance for beam 44 is 16.98 
Alpha[44]	0.000000
Alpha[44]	0.993067
TNavParticleFilter::Modified Variance for beam 45 is 17.15 
Alpha[45]	0.000000
Alpha[45]	0.993938
TNavParticleFilter::Modified Variance for beam 46 is 17.35 
Alpha[46]	0.000000
Alpha[46]	0.993141
TNavParticleFilter::Modified Variance for beam 47 is 17.58 
Alpha[47]	0.000000
Alpha[47]	0.991899
TNavParticleFilter::Modified Variance for beam 48 is 17.85 
Alpha[48]	0.000000
Alpha[48]	0.989465
TNavParticleFilter::Modified Variance for beam 49 is 18.10 
Alpha[49]	0.000000
Alpha[49]	0.988567
TNavParticleFilter::Modified Variance for beam 50 is 18.33 
Alpha[50]	0.000000
Alpha[50]	0.990055
TNavParticleFilter::Modified Variance for beam 51 is 19.82 
Alpha[51]	0.000000
Alpha[51]	0.991687
TNavParticleFilter::Modified Variance for beam 52 is 20.02 
Alpha[52]	0.000000
Alpha[52]	0.996866
TNavParticleFilter::Modified Variance for beam 53 is 20.30 
Alpha[53]	0.000000
Alpha[53]	0.999020
TNavParticleFilter::Modified Variance for beam 54 is 20.64 
Alpha[54]	0.000000
Alpha[54]	0.999564
TNavParticleFilter::Modified Variance for beam 55 is 26.94 
Alpha[55]	0.000000
Alpha[55]	0.999758
TNavParticleFilter::Modified Variance for beam 56 is 34.04 
Alpha[56]	0.000000
Alpha[56]	0.999773
TNavParticleFilter::Modified Variance for beam 57 is 33.27 
Alpha[57]	0.000000
Alpha[57]	0.999675
TNavParticleFilter::Modified Variance for beam 58 is 39.89 
Alpha[58]	0.000000
Alpha[58]	0.999433
TNavParticleFilter::Modified Variance for beam 59 is 42.95 
Alpha[59]	0.000000
Alpha[59]	0.999039
TNavPF:: sumSquaredError = 8.953190 
TNavPF:: sumWeights = 0.009564 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -4.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -2.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -3.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -2.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -1.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -2.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.33. Range = 99.87 
TNavPF::Calculated measDiffMean for beam 60 as -0.82. Range = 83.84 
TNavPF::Calculated measDiffMean for beam 61 as -0.65. Range = 74.57 
TNavPF::Calculated measDiffMean for beam 62 as -0.43. Range = 69.75 
TNavPF::Calculated measDiffMean for beam 63 as -0.34. Range = 65.02 
TNavPF::Calculated measDiffMean for beam 64 as -0.43. Range = 64.61 
TNavPF::Calculated measDiffMean for beam 65 as -0.40. Range = 64.22 
TNavPF::Calculated measDiffMean for beam 66 as -0.15. Range = 63.86 
TNavPF::Calculated measDiffMean for beam 67 as -0.04. Range = 63.53 
TNavPF::Calculated measDiffMean for beam 68 as -0.18. Range = 63.21 
TNavPF::Calculated measDiffMean for beam 69 as -0.51. Range = 62.92 
TNavPF::Calculated measDiffMean for beam 70 as -0.90. Range = 62.65 
TNavPF::Calculated measDiffMean for beam 71 as -1.23. Range = 60.35 
TNavPF::Calculated measDiffMean for beam 72 as -0.93. Range = 60.13 
TNavPF::Calculated measDiffMean for beam 73 as -2.59. Range = 59.93 
TNavPF::Calculated measDiffMean for beam 74 as -0.33. Range = 57.72 
TNavPF::Calculated measDiffMean for beam 75 as -0.44. Range = 57.56 
TNavPF::Calculated measDiffMean for beam 76 as -0.46. Range = 57.42 
TNavPF::Calculated measDiffMean for beam 77 as -0.33. Range = 57.30 
TNavPF::Calculated measDiffMean for beam 78 as -0.25. Range = 55.19 
TNavPF::Calculated measDiffMean for beam 79 as -0.40. Range = 55.10 
TNavPF::Calculated measDiffMean for beam 80 as -1.07. Range = 53.03 
TNavPF::Calculated measDiffMean for beam 81 as 0.55. Range = 52.99 
TNavPF::Calculated measDiffMean for beam 82 as -0.04. Range = 54.96 
TNavPF::Calculated measDiffMean for beam 83 as -1.20. Range = 54.94 
TNavPF::Calculated measDiffMean for beam 84 as -3.46. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 85 as 1.02. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 86 as 4.02. Range = 53.00 
TNavPF::Calculated measDiffMean for beam 87 as -0.46. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 88 as 3.25. Range = 51.11 
TNavPF::Calculated measDiffMean for beam 89 as 3.27. Range = 49.17 
TNavPF::First Term of Map Covariance Matrix is 131.03 
TNavPF::Calculated NIS Value : 3.30 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322006.82 sec.
INS : North: 4070239.10, East: 589346.91, Depth: 889.91
TerrainNav::measUpdate() - IDT[45] = 60.88, IDT[75] = 51.25
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322009.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322009.62)
ARL : North: 1.1896, East: -3.1287, Depth: 5.3124ARL : Estimation Bias  (Mean)         : (t = 1488322009.62)
ARL : North: 0.4250, East: -2.7319, Depth: 0.4749TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 63 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 33 34 35 36 
TNavParticleFilter::Modified Variance for beam 0 is 32.30 
Alpha[0]	0.123000
Alpha[0]	0.999877
TNavParticleFilter::Modified Variance for beam 1 is 28.65 
Alpha[1]	0.000000
Alpha[1]	0.999786
TNavParticleFilter::Modified Variance for beam 2 is 25.31 
Alpha[2]	0.000000
Alpha[2]	0.999686
TNavParticleFilter::Modified Variance for beam 3 is 25.01 
Alpha[3]	0.000000
Alpha[3]	0.998927
TNavParticleFilter::Modified Variance for beam 4 is 24.73 
Alpha[4]	0.000000
Alpha[4]	0.998021
TNavParticleFilter::Modified Variance for beam 5 is 24.56 
Alpha[5]	0.000000
Alpha[5]	0.993392
TNavParticleFilter::Modified Variance for beam 6 is 24.53 
Alpha[6]	0.000000
Alpha[6]	0.983686
TNavParticleFilter::Modified Variance for beam 7 is 24.30 
Alpha[7]	0.000000
Alpha[7]	0.982865
TNavParticleFilter::Modified Variance for beam 8 is 23.94 
Alpha[8]	0.000000
Alpha[8]	0.987695
TNavParticleFilter::Modified Variance for beam 9 is 22.38 
Alpha[9]	0.000000
Alpha[9]	0.989425
TNavParticleFilter::Modified Variance for beam 10 is 22.24 
Alpha[10]	0.000000
Alpha[10]	0.987545
TNavParticleFilter::Modified Variance for beam 11 is 22.06 
Alpha[11]	0.000000
Alpha[11]	0.987485
TNavParticleFilter::Modified Variance for beam 12 is 21.82 
Alpha[12]	0.000000
Alpha[12]	0.990933
TNavParticleFilter::Modified Variance for beam 13 is 20.48 
Alpha[13]	0.000000
Alpha[13]	0.990299
TNavParticleFilter::Modified Variance for beam 14 is 20.34 
Alpha[14]	0.000000
Alpha[14]	0.991011
TNavParticleFilter::Modified Variance for beam 15 is 20.19 
Alpha[15]	0.000000
Alpha[15]	0.992608
TNavParticleFilter::Modified Variance for beam 16 is 18.93 
Alpha[16]	0.000000
Alpha[16]	0.993379
TNavParticleFilter::Modified Variance for beam 17 is 18.88 
Alpha[17]	0.000000
Alpha[17]	0.991686
TNavParticleFilter::Modified Variance for beam 18 is 17.67 
Alpha[18]	0.000000
Alpha[18]	0.993882
TNavParticleFilter::Modified Variance for beam 19 is 17.60 
Alpha[19]	0.000000
Alpha[19]	0.994284
TNavParticleFilter::Modified Variance for beam 20 is 18.64 
Alpha[20]	0.000000
Alpha[20]	0.993868
TNavParticleFilter::Modified Variance for beam 21 is 18.55 
Alpha[21]	0.000000
Alpha[21]	0.995977
TNavParticleFilter::Modified Variance for beam 22 is 17.44 
Alpha[22]	0.000000
Alpha[22]	0.996361
TNavParticleFilter::Modified Variance for beam 23 is 17.43 
Alpha[23]	0.000000
Alpha[23]	0.995420
TNavParticleFilter::Modified Variance for beam 24 is 16.45 
Alpha[24]	0.000000
Alpha[24]	0.991259
TNavParticleFilter::Modified Variance for beam 25 is 16.50 
Alpha[25]	0.000000
Alpha[25]	0.987440
TNavParticleFilter::Modified Variance for beam 26 is 15.41 
Alpha[26]	0.000000
Alpha[26]	0.993774
TNavParticleFilter::Modified Variance for beam 27 is 15.41 
Alpha[27]	0.000000
Alpha[27]	0.994116
TNavParticleFilter::Modified Variance for beam 28 is 15.41 
Alpha[28]	0.000000
Alpha[28]	0.994771
TNavParticleFilter::Modified Variance for beam 29 is 15.42 
Alpha[29]	0.000000
Alpha[29]	0.995513
TNavParticleFilter::Modified Variance for beam 30 is 15.45 
Alpha[30]	0.000000
Alpha[30]	0.995343
TNavParticleFilter::Modified Variance for beam 31 is 15.50 
Alpha[31]	0.000000
Alpha[31]	0.994718
TNavParticleFilter::Modified Variance for beam 32 is 15.55 
Alpha[32]	0.000000
Alpha[32]	0.994320
TNavParticleFilter::Modified Variance for beam 33 is 15.60 
Alpha[33]	0.000000
Alpha[33]	0.994358
TNavParticleFilter::Modified Variance for beam 34 is 15.66 
Alpha[34]	0.000000
Alpha[34]	0.994250
TNavParticleFilter::Modified Variance for beam 35 is 15.73 
Alpha[35]	0.000000
Alpha[35]	0.993838
TNavParticleFilter::Modified Variance for beam 36 is 15.83 
Alpha[36]	0.000000
Alpha[36]	0.992602
TNavParticleFilter::Modified Variance for beam 37 is 15.91 
Alpha[37]	0.000000
Alpha[37]	0.992564
TNavParticleFilter::Modified Variance for beam 38 is 16.03 
Alpha[38]	0.000000
Alpha[38]	0.990542
TNavParticleFilter::Modified Variance for beam 39 is 16.18 
Alpha[39]	0.000000
Alpha[39]	0.987472
TNavParticleFilter::Modified Variance for beam 40 is 15.55 
Alpha[40]	0.000000
Alpha[40]	0.990461
TNavParticleFilter::Modified Variance for beam 41 is 16.34 
Alpha[41]	0.000000
Alpha[41]	0.991951
TNavParticleFilter::Modified Variance for beam 42 is 16.45 
Alpha[42]	0.000000
Alpha[42]	0.993320
TNavParticleFilter::Modified Variance for beam 43 is 16.58 
Alpha[43]	0.000000
Alpha[43]	0.993581
TNavParticleFilter::Modified Variance for beam 44 is 16.75 
Alpha[44]	0.000000
Alpha[44]	0.992169
TNavParticleFilter::Modified Variance for beam 45 is 16.94 
Alpha[45]	0.000000
Alpha[45]	0.990595
TNavParticleFilter::Modified Variance for beam 46 is 17.16 
Alpha[46]	0.000000
Alpha[46]	0.987509
TNavParticleFilter::Modified Variance for beam 47 is 17.40 
Alpha[47]	0.000000
Alpha[47]	0.984123
TNavParticleFilter::Modified Variance for beam 48 is 17.52 
Alpha[48]	0.000000
Alpha[48]	0.988783
TNavParticleFilter::Modified Variance for beam 49 is 18.90 
Alpha[49]	0.000000
Alpha[49]	0.989267
TNavParticleFilter::Modified Variance for beam 50 is 19.09 
Alpha[50]	0.000000
Alpha[50]	0.991520
TNavParticleFilter::Modified Variance for beam 51 is 19.22 
Alpha[51]	0.000000
Alpha[51]	0.998124
TNavParticleFilter::Modified Variance for beam 52 is 19.47 
Alpha[52]	0.000000
Alpha[52]	0.999069
TNavParticleFilter::Modified Variance for beam 53 is 23.79 
Alpha[53]	0.000000
Alpha[53]	0.999548
TNavParticleFilter::Modified Variance for beam 54 is 25.64 
Alpha[54]	0.000000
Alpha[54]	0.999753
TNavParticleFilter::Modified Variance for beam 55 is 34.36 
Alpha[55]	0.000000
Alpha[55]	0.999707
TNavParticleFilter::Modified Variance for beam 56 is 31.57 
Alpha[56]	0.000000
Alpha[56]	0.999545
TNavPF:: sumSquaredError = 16.368895 
TNavPF:: sumWeights = 0.020943 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 33 as -6.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -2.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -3.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -2.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -2.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.07. Range = 76.71 
TNavPF::Calculated measDiffMean for beam 67 as 0.07. Range = 71.68 
TNavPF::Calculated measDiffMean for beam 68 as -0.04. Range = 66.76 
TNavPF::Calculated measDiffMean for beam 69 as -0.33. Range = 66.26 
TNavPF::Calculated measDiffMean for beam 70 as -0.62. Range = 65.80 
TNavPF::Calculated measDiffMean for beam 71 as -1.13. Range = 65.35 
TNavPF::Calculated measDiffMean for beam 72 as -1.04. Range = 64.94 
TNavPF::Calculated measDiffMean for beam 73 as -1.87. Range = 64.55 
TNavPF::Calculated measDiffMean for beam 74 as -0.24. Range = 64.18 
TNavPF::Calculated measDiffMean for beam 75 as -0.28. Range = 61.75 
TNavPF::Calculated measDiffMean for beam 76 as -0.49. Range = 61.44 
TNavPF::Calculated measDiffMean for beam 77 as -0.27. Range = 61.15 
TNavPF::Calculated measDiffMean for beam 78 as -0.20. Range = 60.88 
TNavPF::Calculated measDiffMean for beam 79 as -0.12. Range = 58.58 
TNavPF::Calculated measDiffMean for beam 80 as -0.37. Range = 58.37 
TNavPF::Calculated measDiffMean for beam 81 as -1.06. Range = 58.17 
TNavPF::Calculated measDiffMean for beam 82 as 0.65. Range = 55.96 
TNavPF::Calculated measDiffMean for beam 83 as 0.25. Range = 55.80 
TNavPF::Calculated measDiffMean for beam 84 as -0.56. Range = 53.64 
TNavPF::Calculated measDiffMean for beam 85 as -1.76. Range = 53.53 
TNavPF::Calculated measDiffMean for beam 86 as 1.92. Range = 55.44 
TNavPF::Calculated measDiffMean for beam 87 as -0.24. Range = 55.35 
TNavPF::Calculated measDiffMean for beam 88 as 5.31. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 89 as -0.23. Range = 53.23 
TNavPF::First Term of Map Covariance Matrix is 162.16 
TNavPF::Calculated NIS Value : 2.66 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322009.82 sec.
INS : North: 4070239.18, East: 589342.60, Depth: 889.91
TerrainNav::measUpdate() - IDT[45] = 62.18, IDT[75] = 50.07
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322012.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322012.62)
ARL : North: 1.4505, East: -2.5774, Depth: 0.7342ARL : Estimation Bias  (Mean)         : (t = 1488322012.62)
ARL : North: 0.1725, East: -2.7259, Depth: 0.4488TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 65 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 35 36 37 38 
TNavParticleFilter::Modified Variance for beam 0 is 31.88 
Alpha[0]	0.123000
Alpha[0]	0.999887
TNavParticleFilter::Modified Variance for beam 1 is 26.59 
Alpha[1]	0.000000
Alpha[1]	0.999789
TNavParticleFilter::Modified Variance for beam 2 is 26.19 
Alpha[2]	0.000000
Alpha[2]	0.999537
TNavParticleFilter::Modified Variance for beam 3 is 25.84 
Alpha[3]	0.000000
Alpha[3]	0.998408
TNavParticleFilter::Modified Variance for beam 4 is 25.53 
Alpha[4]	0.000000
Alpha[4]	0.996774
TNavParticleFilter::Modified Variance for beam 5 is 25.45 
Alpha[5]	0.000000
Alpha[5]	0.986383
TNavParticleFilter::Modified Variance for beam 6 is 25.16 
Alpha[6]	0.000000
Alpha[6]	0.985413
TNavParticleFilter::Modified Variance for beam 7 is 24.77 
Alpha[7]	0.000000
Alpha[7]	0.988820
TNavParticleFilter::Modified Variance for beam 8 is 23.12 
Alpha[8]	0.000000
Alpha[8]	0.989634
TNavParticleFilter::Modified Variance for beam 9 is 22.89 
Alpha[9]	0.000000
Alpha[9]	0.988820
TNavParticleFilter::Modified Variance for beam 10 is 22.64 
Alpha[10]	0.000000
Alpha[10]	0.989691
TNavParticleFilter::Modified Variance for beam 11 is 21.12 
Alpha[11]	0.000000
Alpha[11]	0.991879
TNavParticleFilter::Modified Variance for beam 12 is 20.95 
Alpha[12]	0.000000
Alpha[12]	0.991177
TNavParticleFilter::Modified Variance for beam 13 is 20.76 
Alpha[13]	0.000000
Alpha[13]	0.992191
TNavParticleFilter::Modified Variance for beam 14 is 19.38 
Alpha[14]	0.000000
Alpha[14]	0.994380
TNavParticleFilter::Modified Variance for beam 15 is 19.28 
Alpha[15]	0.000000
Alpha[15]	0.992360
TNavParticleFilter::Modified Variance for beam 16 is 18.00 
Alpha[16]	0.000000
Alpha[16]	0.994351
TNavParticleFilter::Modified Variance for beam 17 is 17.89 
Alpha[17]	0.000000
Alpha[17]	0.994875
TNavParticleFilter::Modified Variance for beam 18 is 18.91 
Alpha[18]	0.000000
Alpha[18]	0.994115
TNavParticleFilter::Modified Variance for beam 19 is 18.77 
Alpha[19]	0.000000
Alpha[19]	0.996625
TNavParticleFilter::Modified Variance for beam 20 is 17.60 
Alpha[20]	0.000000
Alpha[20]	0.996619
TNavParticleFilter::Modified Variance for beam 21 is 17.55 
Alpha[21]	0.000000
Alpha[21]	0.995274
TNavParticleFilter::Modified Variance for beam 22 is 16.56 
Alpha[22]	0.000000
Alpha[22]	0.989426
TNavParticleFilter::Modified Variance for beam 23 is 16.46 
Alpha[23]	0.000000
Alpha[23]	0.992247
TNavParticleFilter::Modified Variance for beam 24 is 15.40 
Alpha[24]	0.000000
Alpha[24]	0.994014
TNavParticleFilter::Modified Variance for beam 25 is 15.37 
Alpha[25]	0.000000
Alpha[25]	0.994464
TNavParticleFilter::Modified Variance for beam 26 is 15.33 
Alpha[26]	0.000000
Alpha[26]	0.995359
TNavParticleFilter::Modified Variance for beam 27 is 15.32 
Alpha[27]	0.000000
Alpha[27]	0.995532
TNavParticleFilter::Modified Variance for beam 28 is 15.32 
Alpha[28]	0.000000
Alpha[28]	0.995067
TNavParticleFilter::Modified Variance for beam 29 is 15.33 
Alpha[29]	0.000000
Alpha[29]	0.994536
TNavParticleFilter::Modified Variance for beam 30 is 15.34 
Alpha[30]	0.000000
Alpha[30]	0.994416
TNavParticleFilter::Modified Variance for beam 31 is 15.36 
Alpha[31]	0.000000
Alpha[31]	0.994150
TNavParticleFilter::Modified Variance for beam 32 is 15.38 
Alpha[32]	0.000000
Alpha[32]	0.993964
TNavParticleFilter::Modified Variance for beam 33 is 15.43 
Alpha[33]	0.000000
Alpha[33]	0.993059
TNavParticleFilter::Modified Variance for beam 34 is 15.48 
Alpha[34]	0.000000
Alpha[34]	0.992139
TNavParticleFilter::Modified Variance for beam 35 is 15.53 
Alpha[35]	0.000000
Alpha[35]	0.991843
TNavParticleFilter::Modified Variance for beam 36 is 15.65 
Alpha[36]	0.000000
Alpha[36]	0.987954
TNavParticleFilter::Modified Variance for beam 37 is 15.70 
Alpha[37]	0.000000
Alpha[37]	0.988640
TNavParticleFilter::Modified Variance for beam 38 is 15.72 
Alpha[38]	0.000000
Alpha[38]	0.991262
TNavParticleFilter::Modified Variance for beam 39 is 15.79 
Alpha[39]	0.000000
Alpha[39]	0.992066
TNavParticleFilter::Modified Variance for beam 40 is 15.85 
Alpha[40]	0.000000
Alpha[40]	0.993462
TNavParticleFilter::Modified Variance for beam 41 is 15.94 
Alpha[41]	0.000000
Alpha[41]	0.993392
TNavParticleFilter::Modified Variance for beam 42 is 16.08 
Alpha[42]	0.000000
Alpha[42]	0.991618
TNavParticleFilter::Modified Variance for beam 43 is 16.21 
Alpha[43]	0.000000
Alpha[43]	0.990031
TNavParticleFilter::Modified Variance for beam 44 is 16.39 
Alpha[44]	0.000000
Alpha[44]	0.986675
TNavParticleFilter::Modified Variance for beam 45 is 16.62 
Alpha[45]	0.000000
Alpha[45]	0.980479
TNavParticleFilter::Modified Variance for beam 46 is 16.66 
Alpha[46]	0.000000
Alpha[46]	0.986757
TNavParticleFilter::Modified Variance for beam 47 is 17.90 
Alpha[47]	0.000000
Alpha[47]	0.987815
TNavParticleFilter::Modified Variance for beam 48 is 18.05 
Alpha[48]	0.000000
Alpha[48]	0.989008
TNavParticleFilter::Modified Variance for beam 49 is 18.19 
Alpha[49]	0.000000
Alpha[49]	0.992016
TNavParticleFilter::Modified Variance for beam 50 is 18.28 
Alpha[50]	0.000000
Alpha[50]	0.997835
TNavParticleFilter::Modified Variance for beam 51 is 18.47 
Alpha[51]	0.000000
Alpha[51]	0.999066
TNavParticleFilter::Modified Variance for beam 52 is 22.48 
Alpha[52]	0.000000
Alpha[52]	0.999492
TNavParticleFilter::Modified Variance for beam 53 is 24.15 
Alpha[53]	0.000000
Alpha[53]	0.999685
TNavParticleFilter::Modified Variance for beam 54 is 33.66 
Alpha[54]	0.000000
Alpha[54]	0.999703
TNavPF:: sumSquaredError = 15.603771 
TNavPF:: sumWeights = 0.034702 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 35 as -4.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -4.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -2.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -2.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -2.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.80. Range = 76.15 
TNavPF::Calculated measDiffMean for beam 71 as -1.22. Range = 68.69 
TNavPF::Calculated measDiffMean for beam 72 as -0.89. Range = 68.09 
TNavPF::Calculated measDiffMean for beam 73 as -0.34. Range = 67.52 
TNavPF::Calculated measDiffMean for beam 74 as -0.23. Range = 66.97 
TNavPF::Calculated measDiffMean for beam 75 as -0.43. Range = 66.46 
TNavPF::Calculated measDiffMean for beam 76 as -0.52. Range = 65.97 
TNavPF::Calculated measDiffMean for beam 77 as -0.24. Range = 65.51 
TNavPF::Calculated measDiffMean for beam 78 as -0.20. Range = 62.95 
TNavPF::Calculated measDiffMean for beam 79 as -0.14. Range = 62.55 
TNavPF::Calculated measDiffMean for beam 80 as -0.37. Range = 62.18 
TNavPF::Calculated measDiffMean for beam 81 as -0.93. Range = 59.74 
TNavPF::Calculated measDiffMean for beam 82 as 0.68. Range = 59.42 
TNavPF::Calculated measDiffMean for beam 83 as 0.40. Range = 59.13 
TNavPF::Calculated measDiffMean for beam 84 as -0.03. Range = 56.79 
TNavPF::Calculated measDiffMean for beam 85 as -0.85. Range = 56.55 
TNavPF::Calculated measDiffMean for beam 86 as -2.30. Range = 54.28 
TNavPF::Calculated measDiffMean for beam 87 as 1.58. Range = 54.08 
TNavPF::Calculated measDiffMean for beam 88 as 0.58. Range = 55.93 
TNavPF::Calculated measDiffMean for beam 89 as 6.67. Range = 55.77 
TNavPF::First Term of Map Covariance Matrix is 176.86 
TNavPF::Calculated NIS Value : 2.53 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322012.82 sec.
INS : North: 4070238.93, East: 589338.28, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 62.49, IDT[75] = 49.46
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322015.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322015.62)
ARL : North: 0.7413, East: -2.3676, Depth: 2.0125ARL : Estimation Bias  (Mean)         : (t = 1488322015.62)
ARL : North: -0.0270, East: -2.7121, Depth: 0.3287TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 34 35 
TNavParticleFilter::Modified Variance for beam 0 is 37.15 
Alpha[0]	0.123000
Alpha[0]	0.999914
TNavParticleFilter::Modified Variance for beam 1 is 36.38 
Alpha[1]	0.000000
Alpha[1]	0.999932
TNavParticleFilter::Modified Variance for beam 2 is 33.16 
Alpha[2]	0.000000
Alpha[2]	0.999866
TNavParticleFilter::Modified Variance for beam 3 is 27.56 
Alpha[3]	0.000000
Alpha[3]	0.999750
TNavParticleFilter::Modified Variance for beam 4 is 27.11 
Alpha[4]	0.000000
Alpha[4]	0.999198
TNavParticleFilter::Modified Variance for beam 5 is 26.69 
Alpha[5]	0.000000
Alpha[5]	0.998302
TNavParticleFilter::Modified Variance for beam 6 is 26.48 
Alpha[6]	0.000000
Alpha[6]	0.990244
TNavParticleFilter::Modified Variance for beam 7 is 26.14 
Alpha[7]	0.000000
Alpha[7]	0.988164
TNavParticleFilter::Modified Variance for beam 8 is 25.70 
Alpha[8]	0.000000
Alpha[8]	0.990743
TNavParticleFilter::Modified Variance for beam 9 is 23.91 
Alpha[9]	0.000000
Alpha[9]	0.991470
TNavParticleFilter::Modified Variance for beam 10 is 23.62 
Alpha[10]	0.000000
Alpha[10]	0.990742
TNavParticleFilter::Modified Variance for beam 11 is 23.28 
Alpha[11]	0.000000
Alpha[11]	0.993184
TNavParticleFilter::Modified Variance for beam 12 is 23.03 
Alpha[12]	0.000000
Alpha[12]	0.992278
TNavParticleFilter::Modified Variance for beam 13 is 22.77 
Alpha[13]	0.000000
Alpha[13]	0.992527
TNavParticleFilter::Modified Variance for beam 14 is 22.47 
Alpha[14]	0.000000
Alpha[14]	0.995145
TNavParticleFilter::Modified Variance for beam 15 is 22.27 
Alpha[15]	0.000000
Alpha[15]	0.994333
TNavParticleFilter::Modified Variance for beam 16 is 18.44 
Alpha[16]	0.000000
Alpha[16]	0.995350
TNavParticleFilter::Modified Variance for beam 17 is 18.29 
Alpha[17]	0.000000
Alpha[17]	0.995097
TNavParticleFilter::Modified Variance for beam 18 is 18.72 
Alpha[18]	0.000000
Alpha[18]	0.995212
TNavParticleFilter::Modified Variance for beam 19 is 19.10 
Alpha[19]	0.000000
Alpha[19]	0.997345
TNavParticleFilter::Modified Variance for beam 20 is 17.86 
Alpha[20]	0.000000
Alpha[20]	0.996741
TNavParticleFilter::Modified Variance for beam 21 is 17.79 
Alpha[21]	0.000000
Alpha[21]	0.994909
TNavParticleFilter::Modified Variance for beam 22 is 16.66 
Alpha[22]	0.000000
Alpha[22]	0.992867
TNavParticleFilter::Modified Variance for beam 23 is 16.55 
Alpha[23]	0.000000
Alpha[23]	0.994378
TNavParticleFilter::Modified Variance for beam 24 is 15.46 
Alpha[24]	0.000000
Alpha[24]	0.994970
TNavParticleFilter::Modified Variance for beam 25 is 15.38 
Alpha[25]	0.000000
Alpha[25]	0.995859
TNavParticleFilter::Modified Variance for beam 26 is 15.33 
Alpha[26]	0.000000
Alpha[26]	0.996123
TNavParticleFilter::Modified Variance for beam 27 is 15.29 
Alpha[27]	0.000000
Alpha[27]	0.995688
TNavParticleFilter::Modified Variance for beam 28 is 15.26 
Alpha[28]	0.000000
Alpha[28]	0.994917
TNavParticleFilter::Modified Variance for beam 29 is 15.23 
Alpha[29]	0.000000
Alpha[29]	0.994839
TNavParticleFilter::Modified Variance for beam 30 is 15.20 
Alpha[30]	0.000000
Alpha[30]	0.994635
TNavParticleFilter::Modified Variance for beam 31 is 15.19 
Alpha[31]	0.000000
Alpha[31]	0.994324
TNavParticleFilter::Modified Variance for beam 32 is 15.19 
Alpha[32]	0.000000
Alpha[32]	0.993398
TNavParticleFilter::Modified Variance for beam 33 is 15.21 
Alpha[33]	0.000000
Alpha[33]	0.992363
TNavParticleFilter::Modified Variance for beam 34 is 15.22 
Alpha[34]	0.000000
Alpha[34]	0.991472
TNavParticleFilter::Modified Variance for beam 35 is 15.28 
Alpha[35]	0.000000
Alpha[35]	0.988440
TNavParticleFilter::Modified Variance for beam 36 is 15.29 
Alpha[36]	0.000000
Alpha[36]	0.989127
TNavParticleFilter::Modified Variance for beam 37 is 15.27 
Alpha[37]	0.000000
Alpha[37]	0.991948
TNavParticleFilter::Modified Variance for beam 38 is 14.34 
Alpha[38]	0.000000
Alpha[38]	0.992645
TNavParticleFilter::Modified Variance for beam 39 is 14.37 
Alpha[39]	0.000000
Alpha[39]	0.993381
TNavParticleFilter::Modified Variance for beam 40 is 16.36 
Alpha[40]	0.000000
Alpha[40]	0.993633
TNavParticleFilter::Modified Variance for beam 41 is 16.43 
Alpha[41]	0.000000
Alpha[41]	0.992741
TNavParticleFilter::Modified Variance for beam 42 is 15.52 
Alpha[42]	0.000000
Alpha[42]	0.991269
TNavParticleFilter::Modified Variance for beam 43 is 15.61 
Alpha[43]	0.000000
Alpha[43]	0.989578
TNavParticleFilter::Modified Variance for beam 44 is 15.78 
Alpha[44]	0.000000
Alpha[44]	0.984159
TNavParticleFilter::Modified Variance for beam 45 is 15.91 
Alpha[45]	0.000000
Alpha[45]	0.981337
TNavParticleFilter::Modified Variance for beam 46 is 15.91 
Alpha[46]	0.000000
Alpha[46]	0.987260
TNavParticleFilter::Modified Variance for beam 47 is 17.05 
Alpha[47]	0.000000
Alpha[47]	0.987989
TNavParticleFilter::Modified Variance for beam 48 is 17.16 
Alpha[48]	0.000000
Alpha[48]	0.988484
TNavParticleFilter::Modified Variance for beam 49 is 17.26 
Alpha[49]	0.000000
Alpha[49]	0.990786
TNavParticleFilter::Modified Variance for beam 50 is 17.31 
Alpha[50]	0.000000
Alpha[50]	0.996080
TNavParticleFilter::Modified Variance for beam 51 is 17.41 
Alpha[51]	0.000000
Alpha[51]	0.998664
TNavParticleFilter::Modified Variance for beam 52 is 17.56 
Alpha[52]	0.000000
Alpha[52]	0.999417
TNavParticleFilter::Modified Variance for beam 53 is 21.31 
Alpha[53]	0.000000
Alpha[53]	0.999580
TNavParticleFilter::Modified Variance for beam 54 is 22.84 
Alpha[54]	0.000000
Alpha[54]	0.999677
TNavParticleFilter::Modified Variance for beam 55 is 31.97 
Alpha[55]	0.000000
Alpha[55]	0.999621
TNavParticleFilter::Modified Variance for beam 56 is 31.83 
Alpha[56]	0.000000
Alpha[56]	0.998894
TNavParticleFilter::Modified Variance for beam 57 is 31.24 
Alpha[57]	0.000000
Alpha[57]	0.997882
TNavPF:: sumSquaredError = 100.812023 
TNavPF:: sumWeights = 0.005635 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 31 as -19.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -15.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -3.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 3.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -2.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -2.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.09. Range = 82.91 
TNavPF::Calculated measDiffMean for beam 64 as -0.31. Range = 81.95 
TNavPF::Calculated measDiffMean for beam 65 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.78. Range = 77.85 
TNavPF::Calculated measDiffMean for beam 67 as -1.20. Range = 70.12 
TNavPF::Calculated measDiffMean for beam 68 as -1.08. Range = 69.43 
TNavPF::Calculated measDiffMean for beam 69 as -0.51. Range = 68.78 
TNavPF::Calculated measDiffMean for beam 70 as -2.31. Range = 68.15 
TNavPF::Calculated measDiffMean for beam 71 as -2.50. Range = 67.56 
TNavPF::Calculated measDiffMean for beam 72 as 1.29. Range = 67.00 
TNavPF::Calculated measDiffMean for beam 73 as 1.46. Range = 64.28 
TNavPF::Calculated measDiffMean for beam 74 as -0.40. Range = 63.79 
TNavPF::Calculated measDiffMean for beam 75 as -0.30. Range = 63.33 
TNavPF::Calculated measDiffMean for beam 76 as -0.29. Range = 62.90 
TNavPF::Calculated measDiffMean for beam 77 as -0.51. Range = 62.49 
TNavPF::Calculated measDiffMean for beam 78 as -1.09. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 79 as 0.61. Range = 61.74 
TNavPF::Calculated measDiffMean for beam 80 as 0.28. Range = 55.13 
TNavPF::Calculated measDiffMean for beam 81 as -0.12. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 82 as -0.80. Range = 55.63 
TNavPF::Calculated measDiffMean for beam 83 as -2.01. Range = 56.39 
TNavPF::Calculated measDiffMean for beam 84 as -4.51. Range = 54.10 
TNavPF::Calculated measDiffMean for beam 85 as -0.33. Range = 53.89 
TNavPF::Calculated measDiffMean for beam 86 as -2.24. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 87 as 4.85. Range = 51.50 
TNavPF::Calculated measDiffMean for beam 88 as 3.13. Range = 49.32 
TNavPF::Calculated measDiffMean for beam 89 as 2.13. Range = 49.19 
TNavPF::First Term of Map Covariance Matrix is 233.27 
TNavPF::Calculated NIS Value : 6.37 	numBeams normalized NIS: 0.11
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322015.82 sec.
INS : North: 4070238.63, East: 589333.95, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 52.54, IDT[75] = 52.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322018.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322018.62)
ARL : North: 0.5339, East: -2.4393, Depth: -0.8181ARL : Estimation Bias  (Mean)         : (t = 1488322018.62)
ARL : North: -0.1345, East: -2.3014, Depth: -0.0739TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 29.40 
Alpha[0]	0.123000
Alpha[0]	0.998881
TNavParticleFilter::Modified Variance for beam 1 is 27.41 
Alpha[1]	0.000000
Alpha[1]	0.994184
TNavParticleFilter::Modified Variance for beam 2 is 26.93 
Alpha[2]	0.000000
Alpha[2]	0.994968
TNavParticleFilter::Modified Variance for beam 3 is 24.98 
Alpha[3]	0.000000
Alpha[3]	0.995733
TNavParticleFilter::Modified Variance for beam 4 is 24.61 
Alpha[4]	0.000000
Alpha[4]	0.995572
TNavParticleFilter::Modified Variance for beam 5 is 24.25 
Alpha[5]	0.000000
Alpha[5]	0.995843
TNavParticleFilter::Modified Variance for beam 6 is 23.93 
Alpha[6]	0.000000
Alpha[6]	0.995152
TNavParticleFilter::Modified Variance for beam 7 is 23.65 
Alpha[7]	0.000000
Alpha[7]	0.993465
TNavParticleFilter::Modified Variance for beam 8 is 23.30 
Alpha[8]	0.000000
Alpha[8]	0.995853
TNavParticleFilter::Modified Variance for beam 9 is 21.71 
Alpha[9]	0.000000
Alpha[9]	0.995737
TNavParticleFilter::Modified Variance for beam 10 is 21.46 
Alpha[10]	0.000000
Alpha[10]	0.996036
TNavParticleFilter::Modified Variance for beam 11 is 21.25 
Alpha[11]	0.000000
Alpha[11]	0.995155
TNavParticleFilter::Modified Variance for beam 12 is 21.00 
Alpha[12]	0.000000
Alpha[12]	0.997137
TNavParticleFilter::Modified Variance for beam 13 is 20.79 
Alpha[13]	0.000000
Alpha[13]	0.997843
TNavParticleFilter::Modified Variance for beam 14 is 19.43 
Alpha[14]	0.000000
Alpha[14]	0.997181
TNavParticleFilter::Modified Variance for beam 15 is 17.08 
Alpha[15]	0.000000
Alpha[15]	0.994870
TNavParticleFilter::Modified Variance for beam 16 is 16.95 
Alpha[16]	0.000000
Alpha[16]	0.994970
TNavParticleFilter::Modified Variance for beam 17 is 15.78 
Alpha[17]	0.000000
Alpha[17]	0.996211
TNavParticleFilter::Modified Variance for beam 18 is 15.67 
Alpha[18]	0.000000
Alpha[18]	0.996888
TNavParticleFilter::Modified Variance for beam 19 is 15.58 
Alpha[19]	0.000000
Alpha[19]	0.996843
TNavParticleFilter::Modified Variance for beam 20 is 15.51 
Alpha[20]	0.000000
Alpha[20]	0.996156
TNavParticleFilter::Modified Variance for beam 21 is 15.44 
Alpha[21]	0.000000
Alpha[21]	0.995475
TNavParticleFilter::Modified Variance for beam 22 is 15.37 
Alpha[22]	0.000000
Alpha[22]	0.995843
TNavParticleFilter::Modified Variance for beam 23 is 15.32 
Alpha[23]	0.000000
Alpha[23]	0.995658
TNavParticleFilter::Modified Variance for beam 24 is 15.28 
Alpha[24]	0.000000
Alpha[24]	0.994870
TNavParticleFilter::Modified Variance for beam 25 is 15.25 
Alpha[25]	0.000000
Alpha[25]	0.993872
TNavParticleFilter::Modified Variance for beam 26 is 15.22 
Alpha[26]	0.000000
Alpha[26]	0.993204
TNavParticleFilter::Modified Variance for beam 27 is 15.22 
Alpha[27]	0.000000
Alpha[27]	0.991802
TNavParticleFilter::Modified Variance for beam 28 is 15.23 
Alpha[28]	0.000000
Alpha[28]	0.989655
TNavParticleFilter::Modified Variance for beam 29 is 15.17 
Alpha[29]	0.000000
Alpha[29]	0.992158
TNavParticleFilter::Modified Variance for beam 30 is 14.19 
Alpha[30]	0.000000
Alpha[30]	0.994337
TNavParticleFilter::Modified Variance for beam 31 is 14.19 
Alpha[31]	0.000000
Alpha[31]	0.994495
TNavParticleFilter::Modified Variance for beam 32 is 14.21 
Alpha[32]	0.000000
Alpha[32]	0.994027
TNavParticleFilter::Modified Variance for beam 33 is 16.16 
Alpha[33]	0.000000
Alpha[33]	0.993012
TNavParticleFilter::Modified Variance for beam 34 is 16.18 
Alpha[34]	0.000000
Alpha[34]	0.992764
TNavParticleFilter::Modified Variance for beam 35 is 15.23 
Alpha[35]	0.000000
Alpha[35]	0.992513
TNavParticleFilter::Modified Variance for beam 36 is 15.27 
Alpha[36]	0.000000
Alpha[36]	0.992065
TNavParticleFilter::Modified Variance for beam 37 is 15.35 
Alpha[37]	0.000000
Alpha[37]	0.989848
TNavParticleFilter::Modified Variance for beam 38 is 15.42 
Alpha[38]	0.000000
Alpha[38]	0.988480
TNavParticleFilter::Modified Variance for beam 39 is 15.47 
Alpha[39]	0.000000
Alpha[39]	0.989304
TNavParticleFilter::Modified Variance for beam 40 is 16.55 
Alpha[40]	0.000000
Alpha[40]	0.989320
TNavParticleFilter::Modified Variance for beam 41 is 16.62 
Alpha[41]	0.000000
Alpha[41]	0.989632
TNavParticleFilter::Modified Variance for beam 42 is 16.70 
Alpha[42]	0.000000
Alpha[42]	0.990339
TNavParticleFilter::Modified Variance for beam 43 is 16.73 
Alpha[43]	0.000000
Alpha[43]	0.994191
TNavParticleFilter::Modified Variance for beam 44 is 16.78 
Alpha[44]	0.000000
Alpha[44]	0.997799
TNavParticleFilter::Modified Variance for beam 45 is 16.87 
Alpha[45]	0.000000
Alpha[45]	0.999113
TNavParticleFilter::Modified Variance for beam 46 is 19.21 
Alpha[46]	0.000000
Alpha[46]	0.999494
TNavParticleFilter::Modified Variance for beam 47 is 20.56 
Alpha[47]	0.000000
Alpha[47]	0.999642
TNavParticleFilter::Modified Variance for beam 48 is 21.98 
Alpha[48]	0.000000
Alpha[48]	0.999621
TNavParticleFilter::Modified Variance for beam 49 is 30.65 
Alpha[49]	0.000000
Alpha[49]	0.999452
TNavParticleFilter::Modified Variance for beam 50 is 31.02 
Alpha[50]	0.000000
Alpha[50]	0.998229
TNavParticleFilter::Modified Variance for beam 51 is 29.83 
Alpha[51]	0.000000
Alpha[51]	0.997626
TNavParticleFilter::Modified Variance for beam 52 is 27.14 
Alpha[52]	0.000000
Alpha[52]	0.998297
TNavParticleFilter::Modified Variance for beam 53 is 27.47 
Alpha[53]	0.000000
Alpha[53]	0.998633
TNavParticleFilter::Modified Variance for beam 54 is 32.58 
Alpha[54]	0.000000
Alpha[54]	0.997982
TNavParticleFilter::Modified Variance for beam 55 is 33.02 
Alpha[55]	0.000000
Alpha[55]	0.998316
TNavParticleFilter::Modified Variance for beam 56 is 35.22 
Alpha[56]	0.000000
Alpha[56]	0.998753
TNavParticleFilter::Modified Variance for beam 57 is 34.27 
Alpha[57]	0.000000
Alpha[57]	0.998197
TNavParticleFilter::Modified Variance for beam 58 is 34.65 
Alpha[58]	0.000000
Alpha[58]	0.996182
TNavParticleFilter::Modified Variance for beam 59 is 35.34 
Alpha[59]	0.000000
Alpha[59]	0.993096
TNavPF:: sumSquaredError = 18.511126 
TNavPF:: sumWeights = 0.022507 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 2.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 2.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 2.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.47. Range = 85.40 
TNavPF::Calculated measDiffMean for beam 55 as -0.64. Range = 84.32 
TNavPF::Calculated measDiffMean for beam 56 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.95. Range = 77.52 
TNavPF::Calculated measDiffMean for beam 58 as -1.18. Range = 74.28 
TNavPF::Calculated measDiffMean for beam 59 as -0.97. Range = 73.47 
TNavPF::Calculated measDiffMean for beam 60 as -2.43. Range = 72.70 
TNavPF::Calculated measDiffMean for beam 61 as -2.33. Range = 69.67 
TNavPF::Calculated measDiffMean for beam 62 as -2.72. Range = 69.00 
TNavPF::Calculated measDiffMean for beam 63 as 1.01. Range = 66.11 
TNavPF::Calculated measDiffMean for beam 64 as 1.21. Range = 65.52 
TNavPF::Calculated measDiffMean for beam 65 as -0.54. Range = 64.97 
TNavPF::Calculated measDiffMean for beam 66 as -0.42. Range = 64.44 
TNavPF::Calculated measDiffMean for beam 67 as -0.29. Range = 63.94 
TNavPF::Calculated measDiffMean for beam 68 as -0.37. Range = 63.47 
TNavPF::Calculated measDiffMean for beam 69 as -0.82. Range = 60.87 
TNavPF::Calculated measDiffMean for beam 70 as 0.83. Range = 60.46 
TNavPF::Calculated measDiffMean for beam 71 as 0.51. Range = 60.08 
TNavPF::Calculated measDiffMean for beam 72 as 0.13. Range = 59.72 
TNavPF::Calculated measDiffMean for beam 73 as -0.40. Range = 59.38 
TNavPF::Calculated measDiffMean for beam 74 as -1.37. Range = 56.98 
TNavPF::Calculated measDiffMean for beam 75 as -3.28. Range = 52.54 
TNavPF::Calculated measDiffMean for beam 76 as -1.78. Range = 52.29 
TNavPF::Calculated measDiffMean for beam 77 as -2.28. Range = 50.01 
TNavPF::Calculated measDiffMean for beam 78 as -3.07. Range = 49.81 
TNavPF::Calculated measDiffMean for beam 79 as 3.55. Range = 49.62 
TNavPF::Calculated measDiffMean for beam 80 as 1.94. Range = 49.45 
TNavPF::Calculated measDiffMean for beam 81 as 0.75. Range = 49.30 
TNavPF::Calculated measDiffMean for beam 82 as -3.02. Range = 49.16 
TNavPF::Calculated measDiffMean for beam 83 as -4.00. Range = 49.04 
TNavPF::Calculated measDiffMean for beam 84 as 0.70. Range = 48.94 
TNavPF::Calculated measDiffMean for beam 85 as -0.03. Range = 48.85 
TNavPF::Calculated measDiffMean for beam 86 as 1.48. Range = 48.77 
TNavPF::Calculated measDiffMean for beam 87 as -0.56. Range = 48.71 
TNavPF::Calculated measDiffMean for beam 88 as -0.18. Range = 48.67 
TNavPF::Calculated measDiffMean for beam 89 as -0.16. Range = 48.64 
TNavPF::First Term of Map Covariance Matrix is 17.87 
TNavPF::Calculated NIS Value : 3.79 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322018.82 sec.
INS : North: 4070238.64, East: 589329.61, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 49.88, IDT[75] = 72.37
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322021.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322021.62)
ARL : North: -0.6526, East: -2.2852, Depth: -2.4550ARL : Estimation Bias  (Mean)         : (t = 1488322021.62)
ARL : North: -0.0280, East: -2.0504, Depth: 0.3271TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.94 
Alpha[0]	0.123000
Alpha[0]	0.994105
TNavParticleFilter::Modified Variance for beam 1 is 24.52 
Alpha[1]	0.000000
Alpha[1]	0.996173
TNavParticleFilter::Modified Variance for beam 2 is 22.78 
Alpha[2]	0.000000
Alpha[2]	0.996211
TNavParticleFilter::Modified Variance for beam 3 is 22.48 
Alpha[3]	0.000000
Alpha[3]	0.996210
TNavParticleFilter::Modified Variance for beam 4 is 22.18 
Alpha[4]	0.000000
Alpha[4]	0.996797
TNavParticleFilter::Modified Variance for beam 5 is 21.89 
Alpha[5]	0.000000
Alpha[5]	0.997937
TNavParticleFilter::Modified Variance for beam 6 is 20.38 
Alpha[6]	0.000000
Alpha[6]	0.998086
TNavParticleFilter::Modified Variance for beam 7 is 17.83 
Alpha[7]	0.000000
Alpha[7]	0.996769
TNavParticleFilter::Modified Variance for beam 8 is 17.68 
Alpha[8]	0.000000
Alpha[8]	0.995245
TNavParticleFilter::Modified Variance for beam 9 is 17.51 
Alpha[9]	0.000000
Alpha[9]	0.995979
TNavParticleFilter::Modified Variance for beam 10 is 17.34 
Alpha[10]	0.000000
Alpha[10]	0.997041
TNavParticleFilter::Modified Variance for beam 11 is 17.19 
Alpha[11]	0.000000
Alpha[11]	0.997126
TNavParticleFilter::Modified Variance for beam 12 is 17.07 
Alpha[12]	0.000000
Alpha[12]	0.996427
TNavParticleFilter::Modified Variance for beam 13 is 16.97 
Alpha[13]	0.000000
Alpha[13]	0.995494
TNavParticleFilter::Modified Variance for beam 14 is 16.85 
Alpha[14]	0.000000
Alpha[14]	0.996008
TNavParticleFilter::Modified Variance for beam 15 is 15.72 
Alpha[15]	0.000000
Alpha[15]	0.995977
TNavParticleFilter::Modified Variance for beam 16 is 15.65 
Alpha[16]	0.000000
Alpha[16]	0.994883
TNavParticleFilter::Modified Variance for beam 17 is 15.59 
Alpha[17]	0.000000
Alpha[17]	0.993585
TNavParticleFilter::Modified Variance for beam 18 is 15.53 
Alpha[18]	0.000000
Alpha[18]	0.993185
TNavParticleFilter::Modified Variance for beam 19 is 15.49 
Alpha[19]	0.000000
Alpha[19]	0.991587
TNavParticleFilter::Modified Variance for beam 20 is 15.46 
Alpha[20]	0.000000
Alpha[20]	0.990089
TNavParticleFilter::Modified Variance for beam 21 is 14.41 
Alpha[21]	0.000000
Alpha[21]	0.993439
TNavParticleFilter::Modified Variance for beam 22 is 14.36 
Alpha[22]	0.000000
Alpha[22]	0.994450
TNavParticleFilter::Modified Variance for beam 23 is 14.33 
Alpha[23]	0.000000
Alpha[23]	0.994238
TNavParticleFilter::Modified Variance for beam 24 is 16.25 
Alpha[24]	0.000000
Alpha[24]	0.993436
TNavParticleFilter::Modified Variance for beam 25 is 16.24 
Alpha[25]	0.000000
Alpha[25]	0.992924
TNavParticleFilter::Modified Variance for beam 26 is 15.25 
Alpha[26]	0.000000
Alpha[26]	0.992670
TNavParticleFilter::Modified Variance for beam 27 is 15.26 
Alpha[27]	0.000000
Alpha[27]	0.991943
TNavParticleFilter::Modified Variance for beam 28 is 15.27 
Alpha[28]	0.000000
Alpha[28]	0.991175
TNavParticleFilter::Modified Variance for beam 29 is 15.32 
Alpha[29]	0.000000
Alpha[29]	0.989054
TNavParticleFilter::Modified Variance for beam 30 is 15.34 
Alpha[30]	0.000000
Alpha[30]	0.988396
TNavParticleFilter::Modified Variance for beam 31 is 16.35 
Alpha[31]	0.000000
Alpha[31]	0.989321
TNavParticleFilter::Modified Variance for beam 32 is 16.38 
Alpha[32]	0.000000
Alpha[32]	0.989565
TNavParticleFilter::Modified Variance for beam 33 is 16.42 
Alpha[33]	0.000000
Alpha[33]	0.989430
TNavParticleFilter::Modified Variance for beam 34 is 16.50 
Alpha[34]	0.000000
Alpha[34]	0.988224
TNavParticleFilter::Modified Variance for beam 35 is 16.49 
Alpha[35]	0.000000
Alpha[35]	0.992217
TNavParticleFilter::Modified Variance for beam 36 is 16.51 
Alpha[36]	0.000000
Alpha[36]	0.995194
TNavParticleFilter::Modified Variance for beam 37 is 18.68 
Alpha[37]	0.000000
Alpha[37]	0.998195
TNavParticleFilter::Modified Variance for beam 38 is 18.76 
Alpha[38]	0.000000
Alpha[38]	0.999004
TNavParticleFilter::Modified Variance for beam 39 is 18.86 
Alpha[39]	0.000000
Alpha[39]	0.999421
TNavParticleFilter::Modified Variance for beam 40 is 18.98 
Alpha[40]	0.000000
Alpha[40]	0.999580
TNavParticleFilter::Modified Variance for beam 41 is 21.48 
Alpha[41]	0.000000
Alpha[41]	0.999557
TNavParticleFilter::Modified Variance for beam 42 is 29.83 
Alpha[42]	0.000000
Alpha[42]	0.999191
TNavParticleFilter::Modified Variance for beam 43 is 30.13 
Alpha[43]	0.000000
Alpha[43]	0.997772
TNavParticleFilter::Modified Variance for beam 44 is 28.92 
Alpha[44]	0.000000
Alpha[44]	0.997383
TNavParticleFilter::Modified Variance for beam 45 is 29.19 
Alpha[45]	0.000000
Alpha[45]	0.997863
TNavParticleFilter::Modified Variance for beam 46 is 26.54 
Alpha[46]	0.000000
Alpha[46]	0.998439
TNavParticleFilter::Modified Variance for beam 47 is 31.36 
Alpha[47]	0.000000
Alpha[47]	0.998195
TNavParticleFilter::Modified Variance for beam 48 is 31.74 
Alpha[48]	0.000000
Alpha[48]	0.997747
TNavParticleFilter::Modified Variance for beam 49 is 32.11 
Alpha[49]	0.000000
Alpha[49]	0.998454
TNavParticleFilter::Modified Variance for beam 50 is 34.11 
Alpha[50]	0.000000
Alpha[50]	0.998620
TNavParticleFilter::Modified Variance for beam 51 is 33.00 
Alpha[51]	0.000000
Alpha[51]	0.997727
TNavParticleFilter::Modified Variance for beam 52 is 33.53 
Alpha[52]	0.000000
Alpha[52]	0.996068
TNavParticleFilter::Modified Variance for beam 53 is 34.16 
Alpha[53]	0.000000
Alpha[53]	0.992341
TNavParticleFilter::Modified Variance for beam 54 is 34.80 
Alpha[54]	0.000000
Alpha[54]	0.989360
TNavParticleFilter::Modified Variance for beam 55 is 35.35 
Alpha[55]	0.000000
Alpha[55]	0.990237
TNavParticleFilter::Modified Variance for beam 56 is 35.46 
Alpha[56]	0.000000
Alpha[56]	0.987616
TNavParticleFilter::Modified Variance for beam 57 is 35.09 
Alpha[57]	0.000000
Alpha[57]	0.981111
TNavParticleFilter::Modified Variance for beam 58 is 35.49 
Alpha[58]	0.000000
Alpha[58]	0.988112
TNavParticleFilter::Modified Variance for beam 59 is 35.89 
Alpha[59]	0.000000
Alpha[59]	0.996240
TNavPF:: sumSquaredError = 16.384563 
TNavPF:: sumWeights = 0.018520 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.97. Range = 87.26 
TNavPF::Calculated measDiffMean for beam 50 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.78. Range = 80.06 
TNavPF::Calculated measDiffMean for beam 52 as -2.30. Range = 76.63 
TNavPF::Calculated measDiffMean for beam 53 as -2.36. Range = 75.72 
TNavPF::Calculated measDiffMean for beam 54 as 1.19. Range = 74.85 
TNavPF::Calculated measDiffMean for beam 55 as 1.06. Range = 71.66 
TNavPF::Calculated measDiffMean for beam 56 as -0.69. Range = 70.90 
TNavPF::Calculated measDiffMean for beam 57 as -0.46. Range = 67.87 
TNavPF::Calculated measDiffMean for beam 58 as -0.34. Range = 67.20 
TNavPF::Calculated measDiffMean for beam 59 as -0.24. Range = 66.57 
TNavPF::Calculated measDiffMean for beam 60 as -0.33. Range = 65.97 
TNavPF::Calculated measDiffMean for beam 61 as 1.19. Range = 65.40 
TNavPF::Calculated measDiffMean for beam 62 as 0.89. Range = 62.65 
TNavPF::Calculated measDiffMean for beam 63 as 0.57. Range = 62.16 
TNavPF::Calculated measDiffMean for beam 64 as 0.27. Range = 61.69 
TNavPF::Calculated measDiffMean for beam 65 as -0.19. Range = 61.24 
TNavPF::Calculated measDiffMean for beam 66 as -0.86. Range = 58.68 
TNavPF::Calculated measDiffMean for beam 67 as 1.82. Range = 54.04 
TNavPF::Calculated measDiffMean for beam 68 as -0.23. Range = 53.71 
TNavPF::Calculated measDiffMean for beam 69 as -2.31. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 70 as -4.83. Range = 53.11 
TNavPF::Calculated measDiffMean for beam 71 as -3.54. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 72 as 3.11. Range = 52.58 
TNavPF::Calculated measDiffMean for beam 73 as 1.68. Range = 52.34 
TNavPF::Calculated measDiffMean for beam 74 as 0.25. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 75 as 1.36. Range = 49.88 
TNavPF::Calculated measDiffMean for beam 76 as -3.13. Range = 49.70 
TNavPF::Calculated measDiffMean for beam 77 as 1.60. Range = 49.55 
TNavPF::Calculated measDiffMean for beam 78 as 0.45. Range = 49.40 
TNavPF::Calculated measDiffMean for beam 79 as 0.04. Range = 49.27 
TNavPF::Calculated measDiffMean for beam 80 as 1.22. Range = 49.16 
TNavPF::Calculated measDiffMean for beam 81 as -0.83. Range = 47.05 
TNavPF::Calculated measDiffMean for beam 82 as -0.07. Range = 46.97 
TNavPF::Calculated measDiffMean for beam 83 as -0.05. Range = 46.91 
TNavPF::Calculated measDiffMean for beam 84 as 0.17. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 85 as 0.46. Range = 50.83 
TNavPF::Calculated measDiffMean for beam 86 as 0.50. Range = 48.81 
TNavPF::Calculated measDiffMean for beam 87 as -0.13. Range = 48.80 
TNavPF::Calculated measDiffMean for beam 88 as 0.13. Range = 48.81 
TNavPF::Calculated measDiffMean for beam 89 as -0.28. Range = 48.83 
TNavPF::First Term of Map Covariance Matrix is 3.38 
TNavPF::Calculated NIS Value : 4.08 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322021.82 sec.
INS : North: 4070238.86, East: 589325.25, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 50.03, IDT[75] = 77.05
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322024.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322024.62)
ARL : North: -0.9093, East: -2.1004, Depth: 2.0348ARL : Estimation Bias  (Mean)         : (t = 1488322024.62)
ARL : North: 0.0649, East: -2.1033, Depth: 0.3747TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.41 
Alpha[0]	0.123000
Alpha[0]	0.997790
TNavParticleFilter::Modified Variance for beam 1 is 23.06 
Alpha[1]	0.000000
Alpha[1]	0.998274
TNavParticleFilter::Modified Variance for beam 2 is 18.90 
Alpha[2]	0.000000
Alpha[2]	0.998253
TNavParticleFilter::Modified Variance for beam 3 is 18.70 
Alpha[3]	0.000000
Alpha[3]	0.996412
TNavParticleFilter::Modified Variance for beam 4 is 18.48 
Alpha[4]	0.000000
Alpha[4]	0.996084
TNavParticleFilter::Modified Variance for beam 5 is 18.25 
Alpha[5]	0.000000
Alpha[5]	0.997199
TNavParticleFilter::Modified Variance for beam 6 is 18.05 
Alpha[6]	0.000000
Alpha[6]	0.997412
TNavParticleFilter::Modified Variance for beam 7 is 17.88 
Alpha[7]	0.000000
Alpha[7]	0.996830
TNavParticleFilter::Modified Variance for beam 8 is 17.72 
Alpha[8]	0.000000
Alpha[8]	0.995853
TNavParticleFilter::Modified Variance for beam 9 is 17.56 
Alpha[9]	0.000000
Alpha[9]	0.996279
TNavParticleFilter::Modified Variance for beam 10 is 17.41 
Alpha[10]	0.000000
Alpha[10]	0.996313
TNavParticleFilter::Modified Variance for beam 11 is 17.29 
Alpha[11]	0.000000
Alpha[11]	0.994863
TNavParticleFilter::Modified Variance for beam 12 is 17.19 
Alpha[12]	0.000000
Alpha[12]	0.993633
TNavParticleFilter::Modified Variance for beam 13 is 16.03 
Alpha[13]	0.000000
Alpha[13]	0.993032
TNavParticleFilter::Modified Variance for beam 14 is 15.96 
Alpha[14]	0.000000
Alpha[14]	0.991523
TNavParticleFilter::Modified Variance for beam 15 is 15.85 
Alpha[15]	0.000000
Alpha[15]	0.992692
TNavParticleFilter::Modified Variance for beam 16 is 14.75 
Alpha[16]	0.000000
Alpha[16]	0.994723
TNavParticleFilter::Modified Variance for beam 17 is 14.68 
Alpha[17]	0.000000
Alpha[17]	0.994697
TNavParticleFilter::Modified Variance for beam 18 is 16.61 
Alpha[18]	0.000000
Alpha[18]	0.993980
TNavParticleFilter::Modified Variance for beam 19 is 16.56 
Alpha[19]	0.000000
Alpha[19]	0.992995
TNavParticleFilter::Modified Variance for beam 20 is 16.51 
Alpha[20]	0.000000
Alpha[20]	0.992865
TNavParticleFilter::Modified Variance for beam 21 is 15.47 
Alpha[21]	0.000000
Alpha[21]	0.992454
TNavParticleFilter::Modified Variance for beam 22 is 15.45 
Alpha[22]	0.000000
Alpha[22]	0.991666
TNavParticleFilter::Modified Variance for beam 23 is 15.44 
Alpha[23]	0.000000
Alpha[23]	0.990094
TNavParticleFilter::Modified Variance for beam 24 is 15.43 
Alpha[24]	0.000000
Alpha[24]	0.989413
TNavParticleFilter::Modified Variance for beam 25 is 16.40 
Alpha[25]	0.000000
Alpha[25]	0.990026
TNavParticleFilter::Modified Variance for beam 26 is 16.41 
Alpha[26]	0.000000
Alpha[26]	0.989279
TNavParticleFilter::Modified Variance for beam 27 is 16.40 
Alpha[27]	0.000000
Alpha[27]	0.989389
TNavParticleFilter::Modified Variance for beam 28 is 16.42 
Alpha[28]	0.000000
Alpha[28]	0.988690
TNavParticleFilter::Modified Variance for beam 29 is 16.42 
Alpha[29]	0.000000
Alpha[29]	0.989679
TNavParticleFilter::Modified Variance for beam 30 is 16.40 
Alpha[30]	0.000000
Alpha[30]	0.992457
TNavParticleFilter::Modified Variance for beam 31 is 16.38 
Alpha[31]	0.000000
Alpha[31]	0.995638
TNavParticleFilter::Modified Variance for beam 32 is 18.49 
Alpha[32]	0.000000
Alpha[32]	0.997897
TNavParticleFilter::Modified Variance for beam 33 is 18.53 
Alpha[33]	0.000000
Alpha[33]	0.998822
TNavParticleFilter::Modified Variance for beam 34 is 18.58 
Alpha[34]	0.000000
Alpha[34]	0.999196
TNavParticleFilter::Modified Variance for beam 35 is 18.65 
Alpha[35]	0.000000
Alpha[35]	0.999454
TNavParticleFilter::Modified Variance for beam 36 is 21.04 
Alpha[36]	0.000000
Alpha[36]	0.999503
TNavParticleFilter::Modified Variance for beam 37 is 29.07 
Alpha[37]	0.000000
Alpha[37]	0.999357
TNavParticleFilter::Modified Variance for beam 38 is 29.29 
Alpha[38]	0.000000
Alpha[38]	0.997927
TNavParticleFilter::Modified Variance for beam 39 is 29.51 
Alpha[39]	0.000000
Alpha[39]	0.997141
TNavParticleFilter::Modified Variance for beam 40 is 28.26 
Alpha[40]	0.000000
Alpha[40]	0.997294
TNavParticleFilter::Modified Variance for beam 41 is 28.46 
Alpha[41]	0.000000
Alpha[41]	0.997809
TNavParticleFilter::Modified Variance for beam 42 is 30.16 
Alpha[42]	0.000000
Alpha[42]	0.998267
TNavParticleFilter::Modified Variance for beam 43 is 30.44 
Alpha[43]	0.000000
Alpha[43]	0.998048
TNavParticleFilter::Modified Variance for beam 44 is 30.75 
Alpha[44]	0.000000
Alpha[44]	0.997461
TNavParticleFilter::Modified Variance for beam 45 is 32.62 
Alpha[45]	0.000000
Alpha[45]	0.998096
TNavParticleFilter::Modified Variance for beam 46 is 32.96 
Alpha[46]	0.000000
Alpha[46]	0.998416
TNavParticleFilter::Modified Variance for beam 47 is 31.74 
Alpha[47]	0.000000
Alpha[47]	0.997769
TNavParticleFilter::Modified Variance for beam 48 is 32.15 
Alpha[48]	0.000000
Alpha[48]	0.996894
TNavParticleFilter::Modified Variance for beam 49 is 32.63 
Alpha[49]	0.000000
Alpha[49]	0.994811
TNavParticleFilter::Modified Variance for beam 50 is 33.23 
Alpha[50]	0.000000
Alpha[50]	0.989821
TNavParticleFilter::Modified Variance for beam 51 is 33.72 
Alpha[51]	0.000000
Alpha[51]	0.989311
TNavParticleFilter::Modified Variance for beam 52 is 34.17 
Alpha[52]	0.000000
Alpha[52]	0.990692
TNavParticleFilter::Modified Variance for beam 53 is 33.32 
Alpha[53]	0.000000
Alpha[53]	0.985390
TNavParticleFilter::Modified Variance for beam 54 is 33.63 
Alpha[54]	0.000000
Alpha[54]	0.986533
TNavParticleFilter::Modified Variance for beam 55 is 34.02 
Alpha[55]	0.000000
Alpha[55]	0.991635
TNavParticleFilter::Modified Variance for beam 56 is 34.45 
Alpha[56]	0.000000
Alpha[56]	0.996459
TNavParticleFilter::Modified Variance for beam 57 is 35.09 
Alpha[57]	0.000000
Alpha[57]	0.996242
TNavParticleFilter::Modified Variance for beam 58 is 35.75 
Alpha[58]	0.000000
Alpha[58]	0.996467
TNavParticleFilter::Modified Variance for beam 59 is 40.41 
Alpha[59]	0.000000
Alpha[59]	0.996192
TNavPF:: sumSquaredError = 40.380394 
TNavPF:: sumWeights = 0.023010 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 2.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -2.67. Range = 90.74 
TNavPF::Calculated measDiffMean for beam 47 as -2.46. Range = 90.71 
TNavPF::Calculated measDiffMean for beam 48 as 1.27. Range = 85.61 
TNavPF::Calculated measDiffMean for beam 49 as 0.89. Range = 79.42 
TNavPF::Calculated measDiffMean for beam 50 as 0.97. Range = 78.38 
TNavPF::Calculated measDiffMean for beam 51 as -0.73. Range = 74.94 
TNavPF::Calculated measDiffMean for beam 52 as -0.59. Range = 74.03 
TNavPF::Calculated measDiffMean for beam 53 as -0.45. Range = 73.16 
TNavPF::Calculated measDiffMean for beam 54 as -0.40. Range = 69.97 
TNavPF::Calculated measDiffMean for beam 55 as 1.29. Range = 69.21 
TNavPF::Calculated measDiffMean for beam 56 as 0.90. Range = 68.49 
TNavPF::Calculated measDiffMean for beam 57 as 0.67. Range = 67.81 
TNavPF::Calculated measDiffMean for beam 58 as 0.29. Range = 64.88 
TNavPF::Calculated measDiffMean for beam 59 as 0.02. Range = 64.28 
TNavPF::Calculated measDiffMean for beam 60 as -0.62. Range = 63.71 
TNavPF::Calculated measDiffMean for beam 61 as -1.23. Range = 63.17 
TNavPF::Calculated measDiffMean for beam 62 as 1.12. Range = 56.07 
TNavPF::Calculated measDiffMean for beam 63 as -0.46. Range = 55.64 
TNavPF::Calculated measDiffMean for beam 64 as -2.24. Range = 55.23 
TNavPF::Calculated measDiffMean for beam 65 as -4.50. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 66 as -3.02. Range = 54.47 
TNavPF::Calculated measDiffMean for beam 67 as 5.09. Range = 54.13 
TNavPF::Calculated measDiffMean for beam 68 as 1.72. Range = 53.81 
TNavPF::Calculated measDiffMean for beam 69 as 1.38. Range = 53.50 
TNavPF::Calculated measDiffMean for beam 70 as -0.13. Range = 53.22 
TNavPF::Calculated measDiffMean for beam 71 as 1.02. Range = 52.95 
TNavPF::Calculated measDiffMean for beam 72 as 2.92. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 73 as 1.42. Range = 50.42 
TNavPF::Calculated measDiffMean for beam 74 as 0.38. Range = 50.22 
TNavPF::Calculated measDiffMean for beam 75 as 2.05. Range = 50.03 
TNavPF::Calculated measDiffMean for beam 76 as 1.35. Range = 47.83 
TNavPF::Calculated measDiffMean for beam 77 as -1.54. Range = 47.69 
TNavPF::Calculated measDiffMean for beam 78 as -0.65. Range = 51.60 
TNavPF::Calculated measDiffMean for beam 79 as -0.32. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 80 as -0.10. Range = 51.36 
TNavPF::Calculated measDiffMean for beam 81 as 0.08. Range = 49.26 
TNavPF::Calculated measDiffMean for beam 82 as 0.52. Range = 49.19 
TNavPF::Calculated measDiffMean for beam 83 as -0.50. Range = 49.13 
TNavPF::Calculated measDiffMean for beam 84 as -0.06. Range = 49.08 
TNavPF::Calculated measDiffMean for beam 85 as 0.10. Range = 51.06 
TNavPF::Calculated measDiffMean for beam 86 as -0.70. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 87 as -1.29. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 88 as -1.47. Range = 51.06 
TNavPF::Calculated measDiffMean for beam 89 as 2.53. Range = 51.09 
TNavPF::First Term of Map Covariance Matrix is 9.04 
TNavPF::Calculated NIS Value : 4.27 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322024.82 sec.
INS : North: 4070239.11, East: 589320.89, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 52.46, IDT[75] = 74.78
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322027.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322027.62)
ARL : North: -0.7791, East: -2.6675, Depth: -0.2509ARL : Estimation Bias  (Mean)         : (t = 1488322027.62)
ARL : North: 0.0810, East: -2.3623, Depth: 0.1974TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.82 
Alpha[0]	0.123000
Alpha[0]	0.997102
TNavParticleFilter::Modified Variance for beam 1 is 19.55 
Alpha[1]	0.000000
Alpha[1]	0.996584
TNavParticleFilter::Modified Variance for beam 2 is 19.26 
Alpha[2]	0.000000
Alpha[2]	0.997592
TNavParticleFilter::Modified Variance for beam 3 is 19.01 
Alpha[3]	0.000000
Alpha[3]	0.997539
TNavParticleFilter::Modified Variance for beam 4 is 18.78 
Alpha[4]	0.000000
Alpha[4]	0.996790
TNavParticleFilter::Modified Variance for beam 5 is 18.57 
Alpha[5]	0.000000
Alpha[5]	0.996346
TNavParticleFilter::Modified Variance for beam 6 is 18.35 
Alpha[6]	0.000000
Alpha[6]	0.996697
TNavParticleFilter::Modified Variance for beam 7 is 18.17 
Alpha[7]	0.000000
Alpha[7]	0.995970
TNavParticleFilter::Modified Variance for beam 8 is 18.02 
Alpha[8]	0.000000
Alpha[8]	0.994126
TNavParticleFilter::Modified Variance for beam 9 is 17.86 
Alpha[9]	0.000000
Alpha[9]	0.993376
TNavParticleFilter::Modified Variance for beam 10 is 17.72 
Alpha[10]	0.000000
Alpha[10]	0.992582
TNavParticleFilter::Modified Variance for beam 11 is 15.43 
Alpha[11]	0.000000
Alpha[11]	0.994362
TNavParticleFilter::Modified Variance for beam 12 is 15.29 
Alpha[12]	0.000000
Alpha[12]	0.995440
TNavParticleFilter::Modified Variance for beam 13 is 15.19 
Alpha[13]	0.000000
Alpha[13]	0.995091
TNavParticleFilter::Modified Variance for beam 14 is 17.16 
Alpha[14]	0.000000
Alpha[14]	0.993869
TNavParticleFilter::Modified Variance for beam 15 is 17.07 
Alpha[15]	0.000000
Alpha[15]	0.992660
TNavParticleFilter::Modified Variance for beam 16 is 16.97 
Alpha[16]	0.000000
Alpha[16]	0.992929
TNavParticleFilter::Modified Variance for beam 17 is 15.86 
Alpha[17]	0.000000
Alpha[17]	0.992606
TNavParticleFilter::Modified Variance for beam 18 is 15.80 
Alpha[18]	0.000000
Alpha[18]	0.991726
TNavParticleFilter::Modified Variance for beam 19 is 15.76 
Alpha[19]	0.000000
Alpha[19]	0.989798
TNavParticleFilter::Modified Variance for beam 20 is 15.69 
Alpha[20]	0.000000
Alpha[20]	0.990983
TNavParticleFilter::Modified Variance for beam 21 is 16.64 
Alpha[21]	0.000000
Alpha[21]	0.990878
TNavParticleFilter::Modified Variance for beam 22 is 16.60 
Alpha[22]	0.000000
Alpha[22]	0.990334
TNavParticleFilter::Modified Variance for beam 23 is 16.58 
Alpha[23]	0.000000
Alpha[23]	0.989786
TNavParticleFilter::Modified Variance for beam 24 is 16.56 
Alpha[24]	0.000000
Alpha[24]	0.988990
TNavParticleFilter::Modified Variance for beam 25 is 16.50 
Alpha[25]	0.000000
Alpha[25]	0.991299
TNavParticleFilter::Modified Variance for beam 26 is 16.46 
Alpha[26]	0.000000
Alpha[26]	0.992965
TNavParticleFilter::Modified Variance for beam 27 is 16.41 
Alpha[27]	0.000000
Alpha[27]	0.995223
TNavParticleFilter::Modified Variance for beam 28 is 18.47 
Alpha[28]	0.000000
Alpha[28]	0.997656
TNavParticleFilter::Modified Variance for beam 29 is 18.47 
Alpha[29]	0.000000
Alpha[29]	0.998093
TNavParticleFilter::Modified Variance for beam 30 is 18.47 
Alpha[30]	0.000000
Alpha[30]	0.999061
TNavParticleFilter::Modified Variance for beam 31 is 18.50 
Alpha[31]	0.000000
Alpha[31]	0.999221
TNavParticleFilter::Modified Variance for beam 32 is 20.79 
Alpha[32]	0.000000
Alpha[32]	0.999371
TNavParticleFilter::Modified Variance for beam 33 is 20.85 
Alpha[33]	0.000000
Alpha[33]	0.999397
TNavParticleFilter::Modified Variance for beam 34 is 28.72 
Alpha[34]	0.000000
Alpha[34]	0.998852
TNavParticleFilter::Modified Variance for beam 35 is 28.87 
Alpha[35]	0.000000
Alpha[35]	0.997202
TNavParticleFilter::Modified Variance for beam 36 is 29.02 
Alpha[36]	0.000000
Alpha[36]	0.996628
TNavParticleFilter::Modified Variance for beam 37 is 29.15 
Alpha[37]	0.000000
Alpha[37]	0.996923
TNavParticleFilter::Modified Variance for beam 38 is 27.87 
Alpha[38]	0.000000
Alpha[38]	0.997637
TNavParticleFilter::Modified Variance for beam 39 is 29.46 
Alpha[39]	0.000000
Alpha[39]	0.998130
TNavParticleFilter::Modified Variance for beam 40 is 29.66 
Alpha[40]	0.000000
Alpha[40]	0.997827
TNavParticleFilter::Modified Variance for beam 41 is 29.90 
Alpha[41]	0.000000
Alpha[41]	0.997258
TNavParticleFilter::Modified Variance for beam 42 is 31.64 
Alpha[42]	0.000000
Alpha[42]	0.997537
TNavParticleFilter::Modified Variance for beam 43 is 31.89 
Alpha[43]	0.000000
Alpha[43]	0.998053
TNavParticleFilter::Modified Variance for beam 44 is 32.20 
Alpha[44]	0.000000
Alpha[44]	0.997468
TNavParticleFilter::Modified Variance for beam 45 is 30.95 
Alpha[45]	0.000000
Alpha[45]	0.997363
TNavParticleFilter::Modified Variance for beam 46 is 31.29 
Alpha[46]	0.000000
Alpha[46]	0.996485
TNavParticleFilter::Modified Variance for beam 47 is 31.74 
Alpha[47]	0.000000
Alpha[47]	0.993244
TNavParticleFilter::Modified Variance for beam 48 is 32.25 
Alpha[48]	0.000000
Alpha[48]	0.988628
TNavParticleFilter::Modified Variance for beam 49 is 32.63 
Alpha[49]	0.000000
Alpha[49]	0.989128
TNavParticleFilter::Modified Variance for beam 50 is 32.99 
Alpha[50]	0.000000
Alpha[50]	0.990737
TNavParticleFilter::Modified Variance for beam 51 is 31.93 
Alpha[51]	0.000000
Alpha[51]	0.986057
TNavParticleFilter::Modified Variance for beam 52 is 32.32 
Alpha[52]	0.000000
Alpha[52]	0.987679
TNavParticleFilter::Modified Variance for beam 53 is 32.73 
Alpha[53]	0.000000
Alpha[53]	0.989831
TNavParticleFilter::Modified Variance for beam 54 is 33.03 
Alpha[54]	0.000000
Alpha[54]	0.995847
TNavParticleFilter::Modified Variance for beam 55 is 33.56 
Alpha[55]	0.000000
Alpha[55]	0.996003
TNavParticleFilter::Modified Variance for beam 56 is 34.12 
Alpha[56]	0.000000
Alpha[56]	0.996322
TNavParticleFilter::Modified Variance for beam 57 is 38.45 
Alpha[57]	0.000000
Alpha[57]	0.996085
TNavParticleFilter::Modified Variance for beam 58 is 37.24 
Alpha[58]	0.000000
Alpha[58]	0.996163
TNavParticleFilter::Modified Variance for beam 59 is 37.92 
Alpha[59]	0.000000
Alpha[59]	0.997252
TNavPF:: sumSquaredError = 4.041220 
TNavPF:: sumWeights = 0.024592 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -3.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -2.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.64. Range = 93.66 
TNavPF::Calculated measDiffMean for beam 46 as 0.82. Range = 93.90 
TNavPF::Calculated measDiffMean for beam 47 as -0.92. Range = 82.96 
TNavPF::Calculated measDiffMean for beam 48 as -0.78. Range = 81.76 
TNavPF::Calculated measDiffMean for beam 49 as -0.58. Range = 80.62 
TNavPF::Calculated measDiffMean for beam 50 as -0.59. Range = 77.02 
TNavPF::Calculated measDiffMean for beam 51 as 1.06. Range = 76.02 
TNavPF::Calculated measDiffMean for beam 52 as 0.75. Range = 75.07 
TNavPF::Calculated measDiffMean for beam 53 as 0.49. Range = 71.74 
TNavPF::Calculated measDiffMean for beam 54 as 0.10. Range = 70.91 
TNavPF::Calculated measDiffMean for beam 55 as -0.20. Range = 70.11 
TNavPF::Calculated measDiffMean for beam 56 as -0.91. Range = 67.02 
TNavPF::Calculated measDiffMean for beam 57 as -1.45. Range = 66.32 
TNavPF::Calculated measDiffMean for beam 58 as 0.71. Range = 65.66 
TNavPF::Calculated measDiffMean for beam 59 as -0.41. Range = 58.22 
TNavPF::Calculated measDiffMean for beam 60 as -2.26. Range = 57.68 
TNavPF::Calculated measDiffMean for beam 61 as -3.68. Range = 57.17 
TNavPF::Calculated measDiffMean for beam 62 as -2.24. Range = 56.69 
TNavPF::Calculated measDiffMean for beam 63 as -4.84. Range = 56.24 
TNavPF::Calculated measDiffMean for beam 64 as 3.11. Range = 55.81 
TNavPF::Calculated measDiffMean for beam 65 as 1.34. Range = 55.40 
TNavPF::Calculated measDiffMean for beam 66 as 1.09. Range = 55.01 
TNavPF::Calculated measDiffMean for beam 67 as 1.37. Range = 54.65 
TNavPF::Calculated measDiffMean for beam 68 as 0.57. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 69 as 2.77. Range = 53.98 
TNavPF::Calculated measDiffMean for beam 70 as 1.51. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 71 as 0.33. Range = 49.23 
TNavPF::Calculated measDiffMean for beam 72 as 1.91. Range = 48.99 
TNavPF::Calculated measDiffMean for beam 73 as 1.47. Range = 48.76 
TNavPF::Calculated measDiffMean for beam 74 as 0.45. Range = 52.66 
TNavPF::Calculated measDiffMean for beam 75 as -1.67. Range = 52.46 
TNavPF::Calculated measDiffMean for beam 76 as -0.70. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 77 as -0.53. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 78 as -0.13. Range = 49.91 
TNavPF::Calculated measDiffMean for beam 79 as 0.05. Range = 49.77 
TNavPF::Calculated measDiffMean for beam 80 as 0.53. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 81 as -0.57. Range = 51.56 
TNavPF::Calculated measDiffMean for beam 82 as -0.05. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 83 as 0.04. Range = 51.39 
TNavPF::Calculated measDiffMean for beam 84 as -0.93. Range = 51.33 
TNavPF::Calculated measDiffMean for beam 85 as -1.40. Range = 51.29 
TNavPF::Calculated measDiffMean for beam 86 as -1.54. Range = 51.26 
TNavPF::Calculated measDiffMean for beam 87 as 2.26. Range = 51.25 
TNavPF::Calculated measDiffMean for beam 88 as 0.36. Range = 55.25 
TNavPF::Calculated measDiffMean for beam 89 as 1.12. Range = 55.27 
TNavPF::First Term of Map Covariance Matrix is 6.89 
TNavPF::Calculated NIS Value : 4.16 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322027.82 sec.
INS : North: 4070239.28, East: 589316.51, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 51.07, IDT[75] = 73.74
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322030.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322030.62)
ARL : North: -0.8201, East: -2.0572, Depth: -4.2895ARL : Estimation Bias  (Mean)         : (t = 1488322030.62)
ARL : North: 0.1548, East: -2.4527, Depth: 0.3593TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.77 
Alpha[0]	0.123000
Alpha[0]	0.996991
TNavParticleFilter::Modified Variance for beam 1 is 20.42 
Alpha[1]	0.000000
Alpha[1]	0.997430
TNavParticleFilter::Modified Variance for beam 2 is 20.10 
Alpha[2]	0.000000
Alpha[2]	0.997583
TNavParticleFilter::Modified Variance for beam 3 is 19.81 
Alpha[3]	0.000000
Alpha[3]	0.997254
TNavParticleFilter::Modified Variance for beam 4 is 19.53 
Alpha[4]	0.000000
Alpha[4]	0.996741
TNavParticleFilter::Modified Variance for beam 5 is 19.26 
Alpha[5]	0.000000
Alpha[5]	0.996709
TNavParticleFilter::Modified Variance for beam 6 is 19.03 
Alpha[6]	0.000000
Alpha[6]	0.995771
TNavParticleFilter::Modified Variance for beam 7 is 18.83 
Alpha[7]	0.000000
Alpha[7]	0.994105
TNavParticleFilter::Modified Variance for beam 8 is 18.62 
Alpha[8]	0.000000
Alpha[8]	0.993021
TNavParticleFilter::Modified Variance for beam 9 is 18.40 
Alpha[9]	0.000000
Alpha[9]	0.993927
TNavParticleFilter::Modified Variance for beam 10 is 15.97 
Alpha[10]	0.000000
Alpha[10]	0.995665
TNavParticleFilter::Modified Variance for beam 11 is 15.82 
Alpha[11]	0.000000
Alpha[11]	0.995482
TNavParticleFilter::Modified Variance for beam 12 is 17.84 
Alpha[12]	0.000000
Alpha[12]	0.994549
TNavParticleFilter::Modified Variance for beam 13 is 17.70 
Alpha[13]	0.000000
Alpha[13]	0.993311
TNavParticleFilter::Modified Variance for beam 14 is 17.55 
Alpha[14]	0.000000
Alpha[14]	0.993333
TNavParticleFilter::Modified Variance for beam 15 is 16.35 
Alpha[15]	0.000000
Alpha[15]	0.993105
TNavParticleFilter::Modified Variance for beam 16 is 16.26 
Alpha[16]	0.000000
Alpha[16]	0.992003
TNavParticleFilter::Modified Variance for beam 17 is 16.19 
Alpha[17]	0.000000
Alpha[17]	0.989529
TNavParticleFilter::Modified Variance for beam 18 is 16.11 
Alpha[18]	0.000000
Alpha[18]	0.988206
TNavParticleFilter::Modified Variance for beam 19 is 17.04 
Alpha[19]	0.000000
Alpha[19]	0.988863
TNavParticleFilter::Modified Variance for beam 20 is 16.95 
Alpha[20]	0.000000
Alpha[20]	0.989314
TNavParticleFilter::Modified Variance for beam 21 is 16.89 
Alpha[21]	0.000000
Alpha[21]	0.988286
TNavParticleFilter::Modified Variance for beam 22 is 16.82 
Alpha[22]	0.000000
Alpha[22]	0.987711
TNavParticleFilter::Modified Variance for beam 23 is 16.74 
Alpha[23]	0.000000
Alpha[23]	0.988979
TNavParticleFilter::Modified Variance for beam 24 is 16.64 
Alpha[24]	0.000000
Alpha[24]	0.991834
TNavParticleFilter::Modified Variance for beam 25 is 16.57 
Alpha[25]	0.000000
Alpha[25]	0.993031
TNavParticleFilter::Modified Variance for beam 26 is 18.59 
Alpha[26]	0.000000
Alpha[26]	0.996158
TNavParticleFilter::Modified Variance for beam 27 is 18.54 
Alpha[27]	0.000000
Alpha[27]	0.997116
TNavParticleFilter::Modified Variance for beam 28 is 18.50 
Alpha[28]	0.000000
Alpha[28]	0.997940
TNavParticleFilter::Modified Variance for beam 29 is 18.47 
Alpha[29]	0.000000
Alpha[29]	0.998950
TNavParticleFilter::Modified Variance for beam 30 is 18.74 
Alpha[30]	0.000000
Alpha[30]	0.999153
TNavParticleFilter::Modified Variance for beam 31 is 20.71 
Alpha[31]	0.000000
Alpha[31]	0.999185
TNavParticleFilter::Modified Variance for beam 32 is 28.41 
Alpha[32]	0.000000
Alpha[32]	0.999304
TNavParticleFilter::Modified Variance for beam 33 is 28.47 
Alpha[33]	0.000000
Alpha[33]	0.998426
TNavParticleFilter::Modified Variance for beam 34 is 28.55 
Alpha[34]	0.000000
Alpha[34]	0.997390
TNavParticleFilter::Modified Variance for beam 35 is 28.63 
Alpha[35]	0.000000
Alpha[35]	0.996772
TNavParticleFilter::Modified Variance for beam 36 is 28.71 
Alpha[36]	0.000000
Alpha[36]	0.996943
TNavParticleFilter::Modified Variance for beam 37 is 27.39 
Alpha[37]	0.000000
Alpha[37]	0.997526
TNavParticleFilter::Modified Variance for beam 38 is 27.49 
Alpha[38]	0.000000
Alpha[38]	0.997868
TNavParticleFilter::Modified Variance for beam 39 is 29.03 
Alpha[39]	0.000000
Alpha[39]	0.997750
TNavParticleFilter::Modified Variance for beam 40 is 29.19 
Alpha[40]	0.000000
Alpha[40]	0.997290
TNavParticleFilter::Modified Variance for beam 41 is 29.35 
Alpha[41]	0.000000
Alpha[41]	0.997355
TNavParticleFilter::Modified Variance for beam 42 is 31.00 
Alpha[42]	0.000000
Alpha[42]	0.997832
TNavParticleFilter::Modified Variance for beam 43 is 31.21 
Alpha[43]	0.000000
Alpha[43]	0.997712
TNavParticleFilter::Modified Variance for beam 44 is 30.91 
Alpha[44]	0.000000
Alpha[44]	0.996857
TNavParticleFilter::Modified Variance for beam 45 is 30.18 
Alpha[45]	0.000000
Alpha[45]	0.997386
TNavParticleFilter::Modified Variance for beam 46 is 30.48 
Alpha[46]	0.000000
Alpha[46]	0.995959
TNavParticleFilter::Modified Variance for beam 47 is 30.88 
Alpha[47]	0.000000
Alpha[47]	0.991995
TNavParticleFilter::Modified Variance for beam 48 is 31.30 
Alpha[48]	0.000000
Alpha[48]	0.988456
TNavParticleFilter::Modified Variance for beam 49 is 31.59 
Alpha[49]	0.000000
Alpha[49]	0.989376
TNavParticleFilter::Modified Variance for beam 50 is 31.90 
Alpha[50]	0.000000
Alpha[50]	0.990322
TNavParticleFilter::Modified Variance for beam 51 is 30.72 
Alpha[51]	0.000000
Alpha[51]	0.989076
TNavParticleFilter::Modified Variance for beam 52 is 31.08 
Alpha[52]	0.000000
Alpha[52]	0.989556
TNavParticleFilter::Modified Variance for beam 53 is 31.48 
Alpha[53]	0.000000
Alpha[53]	0.989478
TNavParticleFilter::Modified Variance for beam 54 is 31.71 
Alpha[54]	0.000000
Alpha[54]	0.995471
TNavParticleFilter::Modified Variance for beam 55 is 32.15 
Alpha[55]	0.000000
Alpha[55]	0.995728
TNavParticleFilter::Modified Variance for beam 56 is 32.62 
Alpha[56]	0.000000
Alpha[56]	0.995977
TNavParticleFilter::Modified Variance for beam 57 is 36.64 
Alpha[57]	0.000000
Alpha[57]	0.996181
TNavParticleFilter::Modified Variance for beam 58 is 35.90 
Alpha[58]	0.000000
Alpha[58]	0.996409
TNavParticleFilter::Modified Variance for beam 59 is 35.99 
Alpha[59]	0.000000
Alpha[59]	0.997342
TNavPF:: sumSquaredError = 13.952807 
TNavPF:: sumWeights = 0.014179 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -3.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -3.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.04. Range = 96.63 
TNavPF::Calculated measDiffMean for beam 47 as -0.82. Range = 96.96 
TNavPF::Calculated measDiffMean for beam 48 as -0.75. Range = 85.41 
TNavPF::Calculated measDiffMean for beam 49 as 0.95. Range = 84.09 
TNavPF::Calculated measDiffMean for beam 50 as 0.57. Range = 80.22 
TNavPF::Calculated measDiffMean for beam 51 as 0.33. Range = 79.07 
TNavPF::Calculated measDiffMean for beam 52 as -0.07. Range = 77.97 
TNavPF::Calculated measDiffMean for beam 53 as -0.33. Range = 74.42 
TNavPF::Calculated measDiffMean for beam 54 as -0.99. Range = 73.46 
TNavPF::Calculated measDiffMean for beam 55 as -1.38. Range = 72.54 
TNavPF::Calculated measDiffMean for beam 56 as 1.34. Range = 69.25 
TNavPF::Calculated measDiffMean for beam 57 as -0.12. Range = 68.45 
TNavPF::Calculated measDiffMean for beam 58 as -1.08. Range = 67.69 
TNavPF::Calculated measDiffMean for beam 59 as -3.01. Range = 59.95 
TNavPF::Calculated measDiffMean for beam 60 as -3.94. Range = 59.33 
TNavPF::Calculated measDiffMean for beam 61 as -3.05. Range = 58.74 
TNavPF::Calculated measDiffMean for beam 62 as 6.35. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 63 as 2.65. Range = 57.65 
TNavPF::Calculated measDiffMean for beam 64 as 1.40. Range = 57.15 
TNavPF::Calculated measDiffMean for beam 65 as 0.97. Range = 56.67 
TNavPF::Calculated measDiffMean for beam 66 as 1.08. Range = 56.22 
TNavPF::Calculated measDiffMean for beam 67 as 0.07. Range = 55.79 
TNavPF::Calculated measDiffMean for beam 68 as 0.89. Range = 55.38 
TNavPF::Calculated measDiffMean for beam 69 as 1.92. Range = 55.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.73. Range = 50.38 
TNavPF::Calculated measDiffMean for beam 71 as 0.11. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 72 as 1.80. Range = 53.98 
TNavPF::Calculated measDiffMean for beam 73 as 1.01. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 74 as -0.55. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 75 as -1.46. Range = 51.07 
TNavPF::Calculated measDiffMean for beam 76 as -0.72. Range = 50.83 
TNavPF::Calculated measDiffMean for beam 77 as -0.59. Range = 50.62 
TNavPF::Calculated measDiffMean for beam 78 as -0.17. Range = 50.42 
TNavPF::Calculated measDiffMean for beam 79 as 0.03. Range = 52.28 
TNavPF::Calculated measDiffMean for beam 80 as 0.53. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 81 as -0.49. Range = 51.95 
TNavPF::Calculated measDiffMean for beam 82 as -0.10. Range = 51.81 
TNavPF::Calculated measDiffMean for beam 83 as -0.08. Range = 51.69 
TNavPF::Calculated measDiffMean for beam 84 as -1.07. Range = 51.58 
TNavPF::Calculated measDiffMean for beam 85 as -1.42. Range = 51.49 
TNavPF::Calculated measDiffMean for beam 86 as -1.51. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 87 as 2.20. Range = 55.37 
TNavPF::Calculated measDiffMean for beam 88 as 0.80. Range = 55.32 
TNavPF::Calculated measDiffMean for beam 89 as 0.90. Range = 55.29 
TNavPF::First Term of Map Covariance Matrix is 6.64 
TNavPF::Calculated NIS Value : 4.77 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322030.82 sec.
INS : North: 4070239.22, East: 589312.12, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 52.31, IDT[75] = 73.97
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322033.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322033.62)
ARL : North: 1.3938, East: -1.6693, Depth: 0.6520ARL : Estimation Bias  (Mean)         : (t = 1488322033.62)
ARL : North: 0.1620, East: -2.8387, Depth: 0.3095TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.74 
Alpha[0]	0.123000
Alpha[0]	0.998815
TNavParticleFilter::Modified Variance for beam 1 is 22.28 
Alpha[1]	0.000000
Alpha[1]	0.998896
TNavParticleFilter::Modified Variance for beam 2 is 21.86 
Alpha[2]	0.000000
Alpha[2]	0.997709
TNavParticleFilter::Modified Variance for beam 3 is 21.46 
Alpha[3]	0.000000
Alpha[3]	0.997390
TNavParticleFilter::Modified Variance for beam 4 is 21.06 
Alpha[4]	0.000000
Alpha[4]	0.997670
TNavParticleFilter::Modified Variance for beam 5 is 20.70 
Alpha[5]	0.000000
Alpha[5]	0.997507
TNavParticleFilter::Modified Variance for beam 6 is 20.37 
Alpha[6]	0.000000
Alpha[6]	0.996853
TNavParticleFilter::Modified Variance for beam 7 is 20.05 
Alpha[7]	0.000000
Alpha[7]	0.996485
TNavParticleFilter::Modified Variance for beam 8 is 19.76 
Alpha[8]	0.000000
Alpha[8]	0.995326
TNavParticleFilter::Modified Variance for beam 9 is 19.51 
Alpha[9]	0.000000
Alpha[9]	0.993488
TNavParticleFilter::Modified Variance for beam 10 is 16.86 
Alpha[10]	0.000000
Alpha[10]	0.993991
TNavParticleFilter::Modified Variance for beam 11 is 16.61 
Alpha[11]	0.000000
Alpha[11]	0.995948
TNavParticleFilter::Modified Variance for beam 12 is 16.47 
Alpha[12]	0.000000
Alpha[12]	0.995833
TNavParticleFilter::Modified Variance for beam 13 is 18.50 
Alpha[13]	0.000000
Alpha[13]	0.994746
TNavParticleFilter::Modified Variance for beam 14 is 18.31 
Alpha[14]	0.000000
Alpha[14]	0.993597
TNavParticleFilter::Modified Variance for beam 15 is 16.98 
Alpha[15]	0.000000
Alpha[15]	0.993549
TNavParticleFilter::Modified Variance for beam 16 is 16.82 
Alpha[16]	0.000000
Alpha[16]	0.993102
TNavParticleFilter::Modified Variance for beam 17 is 16.68 
Alpha[17]	0.000000
Alpha[17]	0.991717
TNavParticleFilter::Modified Variance for beam 18 is 16.57 
Alpha[18]	0.000000
Alpha[18]	0.989443
TNavParticleFilter::Modified Variance for beam 19 is 16.46 
Alpha[19]	0.000000
Alpha[19]	0.987973
TNavParticleFilter::Modified Variance for beam 20 is 17.39 
Alpha[20]	0.000000
Alpha[20]	0.988238
TNavParticleFilter::Modified Variance for beam 21 is 17.26 
Alpha[21]	0.000000
Alpha[21]	0.988487
TNavParticleFilter::Modified Variance for beam 22 is 17.18 
Alpha[22]	0.000000
Alpha[22]	0.985735
TNavParticleFilter::Modified Variance for beam 23 is 17.06 
Alpha[23]	0.000000
Alpha[23]	0.986671
TNavParticleFilter::Modified Variance for beam 24 is 16.93 
Alpha[24]	0.000000
Alpha[24]	0.988350
TNavParticleFilter::Modified Variance for beam 25 is 16.78 
Alpha[25]	0.000000
Alpha[25]	0.991514
TNavParticleFilter::Modified Variance for beam 26 is 16.68 
Alpha[26]	0.000000
Alpha[26]	0.992541
TNavParticleFilter::Modified Variance for beam 27 is 18.71 
Alpha[27]	0.000000
Alpha[27]	0.994750
TNavParticleFilter::Modified Variance for beam 28 is 18.60 
Alpha[28]	0.000000
Alpha[28]	0.996489
TNavParticleFilter::Modified Variance for beam 29 is 18.53 
Alpha[29]	0.000000
Alpha[29]	0.996731
TNavParticleFilter::Modified Variance for beam 30 is 18.45 
Alpha[30]	0.000000
Alpha[30]	0.998097
TNavParticleFilter::Modified Variance for beam 31 is 19.22 
Alpha[31]	0.000000
Alpha[31]	0.998829
TNavParticleFilter::Modified Variance for beam 32 is 20.60 
Alpha[32]	0.000000
Alpha[32]	0.998879
TNavParticleFilter::Modified Variance for beam 33 is 20.56 
Alpha[33]	0.000000
Alpha[33]	0.999092
TNavParticleFilter::Modified Variance for beam 34 is 28.20 
Alpha[34]	0.000000
Alpha[34]	0.998851
TNavParticleFilter::Modified Variance for beam 35 is 28.21 
Alpha[35]	0.000000
Alpha[35]	0.997857
TNavParticleFilter::Modified Variance for beam 36 is 28.23 
Alpha[36]	0.000000
Alpha[36]	0.997172
TNavParticleFilter::Modified Variance for beam 37 is 28.25 
Alpha[37]	0.000000
Alpha[37]	0.996887
TNavParticleFilter::Modified Variance for beam 38 is 28.27 
Alpha[38]	0.000000
Alpha[38]	0.997064
TNavParticleFilter::Modified Variance for beam 39 is 26.92 
Alpha[39]	0.000000
Alpha[39]	0.997646
TNavParticleFilter::Modified Variance for beam 40 is 26.97 
Alpha[40]	0.000000
Alpha[40]	0.997749
TNavParticleFilter::Modified Variance for beam 41 is 28.44 
Alpha[41]	0.000000
Alpha[41]	0.997403
TNavParticleFilter::Modified Variance for beam 42 is 28.54 
Alpha[42]	0.000000
Alpha[42]	0.997032
TNavParticleFilter::Modified Variance for beam 43 is 28.64 
Alpha[43]	0.000000
Alpha[43]	0.997394
TNavParticleFilter::Modified Variance for beam 44 is 28.75 
Alpha[44]	0.000000
Alpha[44]	0.997651
TNavParticleFilter::Modified Variance for beam 45 is 30.36 
Alpha[45]	0.000000
Alpha[45]	0.997269
TNavParticleFilter::Modified Variance for beam 46 is 30.55 
Alpha[46]	0.000000
Alpha[46]	0.996328
TNavParticleFilter::Modified Variance for beam 47 is 29.23 
Alpha[47]	0.000000
Alpha[47]	0.997266
TNavParticleFilter::Modified Variance for beam 48 is 29.44 
Alpha[48]	0.000000
Alpha[48]	0.996633
TNavParticleFilter::Modified Variance for beam 49 is 29.73 
Alpha[49]	0.000000
Alpha[49]	0.993871
TNavParticleFilter::Modified Variance for beam 50 is 30.11 
Alpha[50]	0.000000
Alpha[50]	0.988777
TNavParticleFilter::Modified Variance for beam 51 is 30.38 
Alpha[51]	0.000000
Alpha[51]	0.988035
TNavParticleFilter::Modified Variance for beam 52 is 30.56 
Alpha[52]	0.000000
Alpha[52]	0.991029
TNavParticleFilter::Modified Variance for beam 53 is 29.32 
Alpha[53]	0.000000
Alpha[53]	0.991492
TNavParticleFilter::Modified Variance for beam 54 is 29.66 
Alpha[54]	0.000000
Alpha[54]	0.989785
TNavParticleFilter::Modified Variance for beam 55 is 30.15 
Alpha[55]	0.000000
Alpha[55]	0.984063
TNavParticleFilter::Modified Variance for beam 56 is 30.25 
Alpha[56]	0.000000
Alpha[56]	0.991827
TNavParticleFilter::Modified Variance for beam 57 is 30.50 
Alpha[57]	0.000000
Alpha[57]	0.995376
TNavParticleFilter::Modified Variance for beam 58 is 30.88 
Alpha[58]	0.000000
Alpha[58]	0.995483
TNavParticleFilter::Modified Variance for beam 59 is 32.91 
Alpha[59]	0.000000
Alpha[59]	0.995823
TNavPF:: sumSquaredError = 9.855118 
TNavPF:: sumWeights = 0.007205 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -5.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -4.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -3.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -3.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.49. Range = 98.96 
TNavPF::Calculated measDiffMean for beam 51 as 0.15. Range = 88.43 
TNavPF::Calculated measDiffMean for beam 52 as -0.14. Range = 86.95 
TNavPF::Calculated measDiffMean for beam 53 as -0.47. Range = 82.82 
TNavPF::Calculated measDiffMean for beam 54 as -0.79. Range = 78.85 
TNavPF::Calculated measDiffMean for beam 55 as -1.41. Range = 77.66 
TNavPF::Calculated measDiffMean for beam 56 as -1.76. Range = 76.53 
TNavPF::Calculated measDiffMean for beam 57 as 1.00. Range = 75.45 
TNavPF::Calculated measDiffMean for beam 58 as -0.29. Range = 71.90 
TNavPF::Calculated measDiffMean for beam 59 as -1.05. Range = 70.96 
TNavPF::Calculated measDiffMean for beam 60 as -2.60. Range = 62.68 
TNavPF::Calculated measDiffMean for beam 61 as -2.51. Range = 61.92 
TNavPF::Calculated measDiffMean for beam 62 as -2.33. Range = 61.19 
TNavPF::Calculated measDiffMean for beam 63 as -3.89. Range = 60.50 
TNavPF::Calculated measDiffMean for beam 64 as 4.06. Range = 59.84 
TNavPF::Calculated measDiffMean for beam 65 as 2.15. Range = 59.21 
TNavPF::Calculated measDiffMean for beam 66 as 1.03. Range = 58.62 
TNavPF::Calculated measDiffMean for beam 67 as 0.83. Range = 58.05 
TNavPF::Calculated measDiffMean for beam 68 as 0.94. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 69 as 0.01. Range = 57.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.79. Range = 52.08 
TNavPF::Calculated measDiffMean for beam 71 as 1.69. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 72 as 0.77. Range = 51.38 
TNavPF::Calculated measDiffMean for beam 73 as 0.11. Range = 55.21 
TNavPF::Calculated measDiffMean for beam 74 as -0.24. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 75 as 1.17. Range = 52.31 
TNavPF::Calculated measDiffMean for beam 76 as 0.27. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 77 as -1.64. Range = 51.67 
TNavPF::Calculated measDiffMean for beam 78 as -0.93. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 79 as -0.77. Range = 51.10 
TNavPF::Calculated measDiffMean for beam 80 as -0.35. Range = 52.92 
TNavPF::Calculated measDiffMean for beam 81 as -0.14. Range = 52.67 
TNavPF::Calculated measDiffMean for beam 82 as 0.26. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 83 as -1.00. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 84 as -0.27. Range = 52.03 
TNavPF::Calculated measDiffMean for beam 85 as -0.12. Range = 51.86 
TNavPF::Calculated measDiffMean for beam 86 as -0.43. Range = 51.69 
TNavPF::Calculated measDiffMean for beam 87 as -1.28. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 88 as -1.37. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 89 as 0.58. Range = 55.34 
TNavPF::First Term of Map Covariance Matrix is 16.86 
TNavPF::Calculated NIS Value : 5.93 	numBeams normalized NIS: 0.10
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322033.82 sec.
INS : North: 4070238.68, East: 589307.82, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 57.14, IDT[75] = 69.97
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322036.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322036.62)
ARL : North: -0.2473, East: -3.9721, Depth: -2.7253ARL : Estimation Bias  (Mean)         : (t = 1488322036.62)
ARL : North: -0.2608, East: -3.1511, Depth: 0.4647TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 42.83 
Alpha[0]	0.123000
Alpha[0]	0.999751
TNavParticleFilter::Modified Variance for beam 1 is 41.35 
Alpha[1]	0.000000
Alpha[1]	0.999965
TNavParticleFilter::Modified Variance for beam 2 is 39.98 
Alpha[2]	0.000000
Alpha[2]	0.999837
TNavParticleFilter::Modified Variance for beam 3 is 38.73 
Alpha[3]	0.000000
Alpha[3]	0.999237
TNavParticleFilter::Modified Variance for beam 4 is 35.40 
Alpha[4]	0.000000
Alpha[4]	0.996388
TNavParticleFilter::Modified Variance for beam 5 is 34.34 
Alpha[5]	0.000000
Alpha[5]	0.996721
TNavParticleFilter::Modified Variance for beam 6 is 33.32 
Alpha[6]	0.000000
Alpha[6]	0.998250
TNavParticleFilter::Modified Variance for beam 7 is 30.42 
Alpha[7]	0.000000
Alpha[7]	0.998834
TNavParticleFilter::Modified Variance for beam 8 is 29.63 
Alpha[8]	0.000000
Alpha[8]	0.998737
TNavParticleFilter::Modified Variance for beam 9 is 23.71 
Alpha[9]	0.000000
Alpha[9]	0.999089
TNavParticleFilter::Modified Variance for beam 10 is 21.61 
Alpha[10]	0.000000
Alpha[10]	0.999050
TNavParticleFilter::Modified Variance for beam 11 is 21.16 
Alpha[11]	0.000000
Alpha[11]	0.997784
TNavParticleFilter::Modified Variance for beam 12 is 20.72 
Alpha[12]	0.000000
Alpha[12]	0.997135
TNavParticleFilter::Modified Variance for beam 13 is 20.28 
Alpha[13]	0.000000
Alpha[13]	0.997497
TNavParticleFilter::Modified Variance for beam 14 is 19.89 
Alpha[14]	0.000000
Alpha[14]	0.997244
TNavParticleFilter::Modified Variance for beam 15 is 19.53 
Alpha[15]	0.000000
Alpha[15]	0.996356
TNavParticleFilter::Modified Variance for beam 16 is 19.19 
Alpha[16]	0.000000
Alpha[16]	0.995505
TNavParticleFilter::Modified Variance for beam 17 is 18.90 
Alpha[17]	0.000000
Alpha[17]	0.993527
TNavParticleFilter::Modified Variance for beam 18 is 17.34 
Alpha[18]	0.000000
Alpha[18]	0.993693
TNavParticleFilter::Modified Variance for beam 19 is 17.04 
Alpha[19]	0.000000
Alpha[19]	0.995747
TNavParticleFilter::Modified Variance for beam 20 is 17.02 
Alpha[20]	0.000000
Alpha[20]	0.995514
TNavParticleFilter::Modified Variance for beam 21 is 18.94 
Alpha[21]	0.000000
Alpha[21]	0.994602
TNavParticleFilter::Modified Variance for beam 22 is 18.68 
Alpha[22]	0.000000
Alpha[22]	0.994406
TNavParticleFilter::Modified Variance for beam 23 is 17.26 
Alpha[23]	0.000000
Alpha[23]	0.994128
TNavParticleFilter::Modified Variance for beam 24 is 17.06 
Alpha[24]	0.000000
Alpha[24]	0.992523
TNavParticleFilter::Modified Variance for beam 25 is 16.92 
Alpha[25]	0.000000
Alpha[25]	0.989244
TNavParticleFilter::Modified Variance for beam 26 is 16.80 
Alpha[26]	0.000000
Alpha[26]	0.984891
TNavParticleFilter::Modified Variance for beam 27 is 16.97 
Alpha[27]	0.000000
Alpha[27]	0.982533
TNavParticleFilter::Modified Variance for beam 28 is 17.53 
Alpha[28]	0.000000
Alpha[28]	0.985952
TNavParticleFilter::Modified Variance for beam 29 is 17.35 
Alpha[29]	0.000000
Alpha[29]	0.985909
TNavParticleFilter::Modified Variance for beam 30 is 17.22 
Alpha[30]	0.000000
Alpha[30]	0.984192
TNavParticleFilter::Modified Variance for beam 31 is 17.06 
Alpha[31]	0.000000
Alpha[31]	0.984634
TNavParticleFilter::Modified Variance for beam 32 is 16.92 
Alpha[32]	0.000000
Alpha[32]	0.984767
TNavParticleFilter::Modified Variance for beam 33 is 16.71 
Alpha[33]	0.000000
Alpha[33]	0.989580
TNavParticleFilter::Modified Variance for beam 34 is 16.89 
Alpha[34]	0.000000
Alpha[34]	0.991099
TNavParticleFilter::Modified Variance for beam 35 is 18.56 
Alpha[35]	0.000000
Alpha[35]	0.994293
TNavParticleFilter::Modified Variance for beam 36 is 18.41 
Alpha[36]	0.000000
Alpha[36]	0.995768
TNavParticleFilter::Modified Variance for beam 37 is 18.30 
Alpha[37]	0.000000
Alpha[37]	0.995953
TNavParticleFilter::Modified Variance for beam 38 is 18.19 
Alpha[38]	0.000000
Alpha[38]	0.997023
TNavParticleFilter::Modified Variance for beam 39 is 19.19 
Alpha[39]	0.000000
Alpha[39]	0.997848
TNavParticleFilter::Modified Variance for beam 40 is 20.25 
Alpha[40]	0.000000
Alpha[40]	0.997942
TNavParticleFilter::Modified Variance for beam 41 is 20.16 
Alpha[41]	0.000000
Alpha[41]	0.998570
TNavParticleFilter::Modified Variance for beam 42 is 22.80 
Alpha[42]	0.000000
Alpha[42]	0.998789
TNavParticleFilter::Modified Variance for beam 43 is 23.66 
Alpha[43]	0.000000
Alpha[43]	0.997839
TNavParticleFilter::Modified Variance for beam 44 is 24.39 
Alpha[44]	0.000000
Alpha[44]	0.997755
TNavParticleFilter::Modified Variance for beam 45 is 27.52 
Alpha[45]	0.000000
Alpha[45]	0.997637
TNavParticleFilter::Modified Variance for beam 46 is 27.48 
Alpha[46]	0.000000
Alpha[46]	0.997726
TNavParticleFilter::Modified Variance for beam 47 is 27.45 
Alpha[47]	0.000000
Alpha[47]	0.997827
TNavParticleFilter::Modified Variance for beam 48 is 23.51 
Alpha[48]	0.000000
Alpha[48]	0.997684
TNavParticleFilter::Modified Variance for beam 49 is 23.52 
Alpha[49]	0.000000
Alpha[49]	0.997251
TNavParticleFilter::Modified Variance for beam 50 is 26.14 
Alpha[50]	0.000000
Alpha[50]	0.996882
TNavParticleFilter::Modified Variance for beam 51 is 27.53 
Alpha[51]	0.000000
Alpha[51]	0.997156
TNavParticleFilter::Modified Variance for beam 52 is 27.56 
Alpha[52]	0.000000
Alpha[52]	0.997841
TNavParticleFilter::Modified Variance for beam 53 is 27.62 
Alpha[53]	0.000000
Alpha[53]	0.997823
TNavParticleFilter::Modified Variance for beam 54 is 27.72 
Alpha[54]	0.000000
Alpha[54]	0.997291
TNavParticleFilter::Modified Variance for beam 55 is 29.25 
Alpha[55]	0.000000
Alpha[55]	0.996655
TNavParticleFilter::Modified Variance for beam 56 is 27.94 
Alpha[56]	0.000000
Alpha[56]	0.996851
TNavParticleFilter::Modified Variance for beam 57 is 28.06 
Alpha[57]	0.000000
Alpha[57]	0.996813
TNavParticleFilter::Modified Variance for beam 58 is 28.28 
Alpha[58]	0.000000
Alpha[58]	0.994300
TNavParticleFilter::Modified Variance for beam 59 is 28.54 
Alpha[59]	0.000000
Alpha[59]	0.990713
TNavPF:: sumSquaredError = 176.895514 
TNavPF:: sumWeights = 0.000157 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -55.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -24.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -6.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -3.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -4.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -2.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -5.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -3.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -4.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -4.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -3.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.38. Range = 89.62 
TNavPF::Calculated measDiffMean for beam 61 as -0.62. Range = 87.93 
TNavPF::Calculated measDiffMean for beam 62 as -1.04. Range = 86.32 
TNavPF::Calculated measDiffMean for beam 63 as -1.48. Range = 84.80 
TNavPF::Calculated measDiffMean for beam 64 as -1.26. Range = 80.57 
TNavPF::Calculated measDiffMean for beam 65 as 0.98. Range = 79.24 
TNavPF::Calculated measDiffMean for beam 66 as 0.06. Range = 77.98 
TNavPF::Calculated measDiffMean for beam 67 as -0.80. Range = 74.13 
TNavPF::Calculated measDiffMean for beam 68 as -2.02. Range = 73.03 
TNavPF::Calculated measDiffMean for beam 69 as -1.22. Range = 64.25 
TNavPF::Calculated measDiffMean for beam 70 as -1.06. Range = 60.82 
TNavPF::Calculated measDiffMean for beam 71 as -2.38. Range = 60.01 
TNavPF::Calculated measDiffMean for beam 72 as -0.45. Range = 59.24 
TNavPF::Calculated measDiffMean for beam 73 as -2.45. Range = 58.50 
TNavPF::Calculated measDiffMean for beam 74 as -2.13. Range = 57.80 
TNavPF::Calculated measDiffMean for beam 75 as 1.61. Range = 57.14 
TNavPF::Calculated measDiffMean for beam 76 as 1.54. Range = 56.50 
TNavPF::Calculated measDiffMean for beam 77 as 1.74. Range = 55.90 
TNavPF::Calculated measDiffMean for beam 78 as -3.00. Range = 53.01 
TNavPF::Calculated measDiffMean for beam 79 as -2.59. Range = 52.49 
TNavPF::Calculated measDiffMean for beam 80 as 0.16. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 81 as 1.53. Range = 56.01 
TNavPF::Calculated measDiffMean for beam 82 as 0.98. Range = 55.53 
TNavPF::Calculated measDiffMean for beam 83 as 0.60. Range = 52.86 
TNavPF::Calculated measDiffMean for beam 84 as 0.05. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 85 as 1.03. Range = 52.04 
TNavPF::Calculated measDiffMean for beam 86 as -0.97. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 87 as -0.50. Range = 51.92 
TNavPF::Calculated measDiffMean for beam 88 as -0.33. Range = 53.10 
TNavPF::Calculated measDiffMean for beam 89 as -0.21. Range = 52.77 
TNavPF::First Term of Map Covariance Matrix is 80.30 
TNavPF::Calculated NIS Value : 30.48 	numBeams normalized NIS: 0.51
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322036.82 sec.
INS : North: 4070237.24, East: 589303.86, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 82.93, IDT[75] = 53.70
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322039.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322039.62)
ARL : North: -0.9466, East: -4.4532, Depth: -1.9302ARL : Estimation Bias  (Mean)         : (t = 1488322039.62)
ARL : North: -1.6751, East: -3.5901, Depth: 0.0989TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 73 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 43 44 45 46 
TNavParticleFilter::Modified Variance for beam 0 is 42.63 
Alpha[0]	0.123000
Alpha[0]	0.999603
TNavParticleFilter::Modified Variance for beam 1 is 41.18 
Alpha[1]	0.000000
Alpha[1]	0.997011
TNavParticleFilter::Modified Variance for beam 2 is 37.23 
Alpha[2]	0.000000
Alpha[2]	0.998248
TNavParticleFilter::Modified Variance for beam 3 is 35.96 
Alpha[3]	0.000000
Alpha[3]	0.998848
TNavParticleFilter::Modified Variance for beam 4 is 32.58 
Alpha[4]	0.000000
Alpha[4]	0.999171
TNavParticleFilter::Modified Variance for beam 5 is 27.55 
Alpha[5]	0.000000
Alpha[5]	0.999293
TNavParticleFilter::Modified Variance for beam 6 is 27.50 
Alpha[6]	0.000000
Alpha[6]	0.999218
TNavParticleFilter::Modified Variance for beam 7 is 22.55 
Alpha[7]	0.000000
Alpha[7]	0.998046
TNavParticleFilter::Modified Variance for beam 8 is 21.98 
Alpha[8]	0.000000
Alpha[8]	0.997054
TNavParticleFilter::Modified Variance for beam 9 is 21.41 
Alpha[9]	0.000000
Alpha[9]	0.997830
TNavParticleFilter::Modified Variance for beam 10 is 20.90 
Alpha[10]	0.000000
Alpha[10]	0.997101
TNavParticleFilter::Modified Variance for beam 11 is 20.44 
Alpha[11]	0.000000
Alpha[11]	0.995947
TNavParticleFilter::Modified Variance for beam 12 is 20.00 
Alpha[12]	0.000000
Alpha[12]	0.994917
TNavParticleFilter::Modified Variance for beam 13 is 19.59 
Alpha[13]	0.000000
Alpha[13]	0.993900
TNavParticleFilter::Modified Variance for beam 14 is 19.14 
Alpha[14]	0.000000
Alpha[14]	0.996062
TNavParticleFilter::Modified Variance for beam 15 is 17.45 
Alpha[15]	0.000000
Alpha[15]	0.996034
TNavParticleFilter::Modified Variance for beam 16 is 17.14 
Alpha[16]	0.000000
Alpha[16]	0.995112
TNavParticleFilter::Modified Variance for beam 17 is 17.04 
Alpha[17]	0.000000
Alpha[17]	0.994963
TNavParticleFilter::Modified Variance for beam 18 is 19.05 
Alpha[18]	0.000000
Alpha[18]	0.994546
TNavParticleFilter::Modified Variance for beam 19 is 18.76 
Alpha[19]	0.000000
Alpha[19]	0.992447
TNavParticleFilter::Modified Variance for beam 20 is 17.30 
Alpha[20]	0.000000
Alpha[20]	0.988603
TNavParticleFilter::Modified Variance for beam 21 is 17.12 
Alpha[21]	0.000000
Alpha[21]	0.983674
TNavParticleFilter::Modified Variance for beam 22 is 16.90 
Alpha[22]	0.000000
Alpha[22]	0.981774
TNavParticleFilter::Modified Variance for beam 23 is 16.59 
Alpha[23]	0.000000
Alpha[23]	0.986034
TNavParticleFilter::Modified Variance for beam 24 is 16.71 
Alpha[24]	0.000000
Alpha[24]	0.985457
TNavParticleFilter::Modified Variance for beam 25 is 17.33 
Alpha[25]	0.000000
Alpha[25]	0.983390
TNavParticleFilter::Modified Variance for beam 26 is 17.11 
Alpha[26]	0.000000
Alpha[26]	0.983791
TNavParticleFilter::Modified Variance for beam 27 is 16.93 
Alpha[27]	0.000000
Alpha[27]	0.982370
TNavParticleFilter::Modified Variance for beam 28 is 16.63 
Alpha[28]	0.000000
Alpha[28]	0.988671
TNavParticleFilter::Modified Variance for beam 29 is 16.43 
Alpha[29]	0.000000
Alpha[29]	0.990467
TNavParticleFilter::Modified Variance for beam 30 is 16.22 
Alpha[30]	0.000000
Alpha[30]	0.993322
TNavParticleFilter::Modified Variance for beam 31 is 16.26 
Alpha[31]	0.000000
Alpha[31]	0.994937
TNavParticleFilter::Modified Variance for beam 32 is 17.69 
Alpha[32]	0.000000
Alpha[32]	0.994862
TNavParticleFilter::Modified Variance for beam 33 is 17.89 
Alpha[33]	0.000000
Alpha[33]	0.995496
TNavParticleFilter::Modified Variance for beam 34 is 17.73 
Alpha[34]	0.000000
Alpha[34]	0.996354
TNavParticleFilter::Modified Variance for beam 35 is 18.70 
Alpha[35]	0.000000
Alpha[35]	0.996801
TNavParticleFilter::Modified Variance for beam 36 is 18.56 
Alpha[36]	0.000000
Alpha[36]	0.997138
TNavParticleFilter::Modified Variance for beam 37 is 18.89 
Alpha[37]	0.000000
Alpha[37]	0.998132
TNavParticleFilter::Modified Variance for beam 38 is 19.42 
Alpha[38]	0.000000
Alpha[38]	0.998575
TNavParticleFilter::Modified Variance for beam 39 is 19.34 
Alpha[39]	0.000000
Alpha[39]	0.997030
TNavParticleFilter::Modified Variance for beam 40 is 21.88 
Alpha[40]	0.000000
Alpha[40]	0.997662
TNavParticleFilter::Modified Variance for beam 41 is 22.69 
Alpha[41]	0.000000
Alpha[41]	0.997691
TNavParticleFilter::Modified Variance for beam 42 is 22.59 
Alpha[42]	0.000000
Alpha[42]	0.997762
TNavParticleFilter::Modified Variance for beam 43 is 26.38 
Alpha[43]	0.000000
Alpha[43]	0.997864
TNavParticleFilter::Modified Variance for beam 44 is 26.29 
Alpha[44]	0.000000
Alpha[44]	0.997911
TNavParticleFilter::Modified Variance for beam 45 is 26.24 
Alpha[45]	0.000000
Alpha[45]	0.997213
TNavParticleFilter::Modified Variance for beam 46 is 22.34 
Alpha[46]	0.000000
Alpha[46]	0.997006
TNavPF:: sumSquaredError = 19.736061 
TNavPF:: sumWeights = 0.001786 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 43 as -1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 3.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 2.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 5.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -2.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -2.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -2.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 2.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 2.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -1.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -2.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -2.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -2.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -3.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -7.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -3.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -2.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -3.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as 2.61. Range = 89.38 
TNavPF::Calculated measDiffMean for beam 87 as 3.23. Range = 87.59 
TNavPF::Calculated measDiffMean for beam 88 as 4.50. Range = 82.93 
TNavPF::Calculated measDiffMean for beam 89 as -2.06. Range = 81.38 
TNavPF::First Term of Map Covariance Matrix is 50.38 
TNavPF::Calculated NIS Value : 8.99 	numBeams normalized NIS: 0.19
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322039.82 sec.
INS : North: 4070235.01, East: 589300.30, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 75.59, IDT[75] = 54.64
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322042.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322042.62)
ARL : North: -1.4338, East: -3.1388, Depth: -1.6827ARL : Estimation Bias  (Mean)         : (t = 1488322042.62)
ARL : North: -1.4779, East: -2.7077, Depth: 0.1929TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 39 40 41 42 
TNavParticleFilter::Modified Variance for beam 0 is 45.18 
Alpha[0]	0.123000
Alpha[0]	0.999911
TNavParticleFilter::Modified Variance for beam 1 is 43.34 
Alpha[1]	0.000000
Alpha[1]	0.999636
TNavParticleFilter::Modified Variance for beam 2 is 41.66 
Alpha[2]	0.000000
Alpha[2]	0.999125
TNavParticleFilter::Modified Variance for beam 3 is 37.48 
Alpha[3]	0.000000
Alpha[3]	0.999349
TNavParticleFilter::Modified Variance for beam 4 is 36.12 
Alpha[4]	0.000000
Alpha[4]	0.999474
TNavParticleFilter::Modified Variance for beam 5 is 34.86 
Alpha[5]	0.000000
Alpha[5]	0.999500
TNavParticleFilter::Modified Variance for beam 6 is 31.49 
Alpha[6]	0.000000
Alpha[6]	0.999163
TNavParticleFilter::Modified Variance for beam 7 is 24.59 
Alpha[7]	0.000000
Alpha[7]	0.998144
TNavParticleFilter::Modified Variance for beam 8 is 23.85 
Alpha[8]	0.000000
Alpha[8]	0.998437
TNavParticleFilter::Modified Variance for beam 9 is 23.17 
Alpha[9]	0.000000
Alpha[9]	0.998192
TNavParticleFilter::Modified Variance for beam 10 is 20.92 
Alpha[10]	0.000000
Alpha[10]	0.997104
TNavParticleFilter::Modified Variance for beam 11 is 20.38 
Alpha[11]	0.000000
Alpha[11]	0.996418
TNavParticleFilter::Modified Variance for beam 12 is 19.87 
Alpha[12]	0.000000
Alpha[12]	0.996283
TNavParticleFilter::Modified Variance for beam 13 is 19.38 
Alpha[13]	0.000000
Alpha[13]	0.996995
TNavParticleFilter::Modified Variance for beam 14 is 17.55 
Alpha[14]	0.000000
Alpha[14]	0.996823
TNavParticleFilter::Modified Variance for beam 15 is 17.18 
Alpha[15]	0.000000
Alpha[15]	0.995681
TNavParticleFilter::Modified Variance for beam 16 is 17.40 
Alpha[16]	0.000000
Alpha[16]	0.995118
TNavParticleFilter::Modified Variance for beam 17 is 19.12 
Alpha[17]	0.000000
Alpha[17]	0.994934
TNavParticleFilter::Modified Variance for beam 18 is 18.76 
Alpha[18]	0.000000
Alpha[18]	0.993682
TNavParticleFilter::Modified Variance for beam 19 is 17.15 
Alpha[19]	0.000000
Alpha[19]	0.992002
TNavParticleFilter::Modified Variance for beam 20 is 16.87 
Alpha[20]	0.000000
Alpha[20]	0.989632
TNavParticleFilter::Modified Variance for beam 21 is 16.62 
Alpha[21]	0.000000
Alpha[21]	0.987322
TNavParticleFilter::Modified Variance for beam 22 is 16.33 
Alpha[22]	0.000000
Alpha[22]	0.988260
TNavParticleFilter::Modified Variance for beam 23 is 16.93 
Alpha[23]	0.000000
Alpha[23]	0.986460
TNavParticleFilter::Modified Variance for beam 24 is 17.02 
Alpha[24]	0.000000
Alpha[24]	0.985544
TNavParticleFilter::Modified Variance for beam 25 is 16.75 
Alpha[25]	0.000000
Alpha[25]	0.986572
TNavParticleFilter::Modified Variance for beam 26 is 16.47 
Alpha[26]	0.000000
Alpha[26]	0.989163
TNavParticleFilter::Modified Variance for beam 27 is 16.20 
Alpha[27]	0.000000
Alpha[27]	0.991977
TNavParticleFilter::Modified Variance for beam 28 is 15.99 
Alpha[28]	0.000000
Alpha[28]	0.992488
TNavParticleFilter::Modified Variance for beam 29 is 15.78 
Alpha[29]	0.000000
Alpha[29]	0.993248
TNavParticleFilter::Modified Variance for beam 30 is 16.37 
Alpha[30]	0.000000
Alpha[30]	0.994094
TNavParticleFilter::Modified Variance for beam 31 is 17.50 
Alpha[31]	0.000000
Alpha[31]	0.994652
TNavParticleFilter::Modified Variance for beam 32 is 17.38 
Alpha[32]	0.000000
Alpha[32]	0.995111
TNavParticleFilter::Modified Variance for beam 33 is 17.18 
Alpha[33]	0.000000
Alpha[33]	0.996153
TNavParticleFilter::Modified Variance for beam 34 is 17.00 
Alpha[34]	0.000000
Alpha[34]	0.997049
TNavParticleFilter::Modified Variance for beam 35 is 16.84 
Alpha[35]	0.000000
Alpha[35]	0.997411
TNavParticleFilter::Modified Variance for beam 36 is 18.13 
Alpha[36]	0.000000
Alpha[36]	0.998228
TNavParticleFilter::Modified Variance for beam 37 is 18.73 
Alpha[37]	0.000000
Alpha[37]	0.998667
TNavParticleFilter::Modified Variance for beam 38 is 18.59 
Alpha[38]	0.000000
Alpha[38]	0.998215
TNavParticleFilter::Modified Variance for beam 39 is 19.87 
Alpha[39]	0.000000
Alpha[39]	0.996938
TNavParticleFilter::Modified Variance for beam 40 is 24.40 
Alpha[40]	0.000000
Alpha[40]	0.997660
TNavParticleFilter::Modified Variance for beam 41 is 21.72 
Alpha[41]	0.000000
Alpha[41]	0.997418
TNavParticleFilter::Modified Variance for beam 42 is 22.81 
Alpha[42]	0.000000
Alpha[42]	0.997466
TNavParticleFilter::Modified Variance for beam 43 is 25.27 
Alpha[43]	0.000000
Alpha[43]	0.997624
TNavParticleFilter::Modified Variance for beam 44 is 25.14 
Alpha[44]	0.000000
Alpha[44]	0.997864
TNavParticleFilter::Modified Variance for beam 45 is 25.04 
Alpha[45]	0.000000
Alpha[45]	0.997521
TNavParticleFilter::Modified Variance for beam 46 is 21.20 
Alpha[46]	0.000000
Alpha[46]	0.997089
TNavParticleFilter::Modified Variance for beam 47 is 21.14 
Alpha[47]	0.000000
Alpha[47]	0.996648
TNavParticleFilter::Modified Variance for beam 48 is 23.51 
Alpha[48]	0.000000
Alpha[48]	0.997338
TNavParticleFilter::Modified Variance for beam 49 is 23.45 
Alpha[49]	0.000000
Alpha[49]	0.997493
TNavParticleFilter::Modified Variance for beam 50 is 24.70 
Alpha[50]	0.000000
Alpha[50]	0.996960
TNavPF:: sumSquaredError = 123.160227 
TNavPF:: sumWeights = 0.000363 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 39 as -4.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 4.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 4.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 6.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 10.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 10.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 2.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 2.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 2.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -2.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -2.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 2.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 2.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -2.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -4.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -2.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -3.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -6.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -5.56. Range = 92.26 
TNavPF::Calculated measDiffMean for beam 79 as 1.25. Range = 90.20 
TNavPF::Calculated measDiffMean for beam 80 as -3.78. Range = 88.24 
TNavPF::Calculated measDiffMean for beam 81 as -2.11. Range = 83.29 
TNavPF::Calculated measDiffMean for beam 82 as 2.14. Range = 81.61 
TNavPF::Calculated measDiffMean for beam 83 as 3.03. Range = 80.02 
TNavPF::Calculated measDiffMean for beam 84 as 3.81. Range = 75.59 
TNavPF::Calculated measDiffMean for beam 85 as -2.96. Range = 65.59 
TNavPF::Calculated measDiffMean for beam 86 as -3.86. Range = 64.44 
TNavPF::Calculated measDiffMean for beam 87 as -0.32. Range = 63.34 
TNavPF::Calculated measDiffMean for beam 88 as -0.94. Range = 59.58 
TNavPF::Calculated measDiffMean for beam 89 as 0.60. Range = 58.63 
TNavPF::First Term of Map Covariance Matrix is 225.09 
TNavPF::Calculated NIS Value : 13.93 	numBeams normalized NIS: 0.27
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322042.82 sec.
INS : North: 4070232.93, East: 589296.67, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 51.51, IDT[75] = 64.30
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322045.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322045.62)
ARL : North: -1.6463, East: -2.1508, Depth: -0.0006ARL : Estimation Bias  (Mean)         : (t = 1488322045.62)
ARL : North: -1.0564, East: -1.4421, Depth: 0.3397TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 36.02 
Alpha[0]	0.123000
Alpha[0]	0.999525
TNavParticleFilter::Modified Variance for beam 1 is 25.85 
Alpha[1]	0.000000
Alpha[1]	0.999120
TNavParticleFilter::Modified Variance for beam 2 is 24.97 
Alpha[2]	0.000000
Alpha[2]	0.998930
TNavParticleFilter::Modified Variance for beam 3 is 24.16 
Alpha[3]	0.000000
Alpha[3]	0.999033
TNavParticleFilter::Modified Variance for beam 4 is 23.42 
Alpha[4]	0.000000
Alpha[4]	0.998485
TNavParticleFilter::Modified Variance for beam 5 is 22.74 
Alpha[5]	0.000000
Alpha[5]	0.997426
TNavParticleFilter::Modified Variance for beam 6 is 22.08 
Alpha[6]	0.000000
Alpha[6]	0.997352
TNavParticleFilter::Modified Variance for beam 7 is 21.46 
Alpha[7]	0.000000
Alpha[7]	0.997513
TNavParticleFilter::Modified Variance for beam 8 is 20.89 
Alpha[8]	0.000000
Alpha[8]	0.997526
TNavParticleFilter::Modified Variance for beam 9 is 20.38 
Alpha[9]	0.000000
Alpha[9]	0.996255
TNavParticleFilter::Modified Variance for beam 10 is 19.90 
Alpha[10]	0.000000
Alpha[10]	0.994996
TNavParticleFilter::Modified Variance for beam 11 is 19.43 
Alpha[11]	0.000000
Alpha[11]	0.995313
TNavParticleFilter::Modified Variance for beam 12 is 18.99 
Alpha[12]	0.000000
Alpha[12]	0.994999
TNavParticleFilter::Modified Variance for beam 13 is 18.58 
Alpha[13]	0.000000
Alpha[13]	0.994541
TNavParticleFilter::Modified Variance for beam 14 is 16.91 
Alpha[14]	0.000000
Alpha[14]	0.993256
TNavParticleFilter::Modified Variance for beam 15 is 16.62 
Alpha[15]	0.000000
Alpha[15]	0.990528
TNavParticleFilter::Modified Variance for beam 16 is 16.31 
Alpha[16]	0.000000
Alpha[16]	0.990468
TNavParticleFilter::Modified Variance for beam 17 is 16.25 
Alpha[17]	0.000000
Alpha[17]	0.988871
TNavParticleFilter::Modified Variance for beam 18 is 16.93 
Alpha[18]	0.000000
Alpha[18]	0.990481
TNavParticleFilter::Modified Variance for beam 19 is 16.62 
Alpha[19]	0.000000
Alpha[19]	0.991781
TNavParticleFilter::Modified Variance for beam 20 is 16.32 
Alpha[20]	0.000000
Alpha[20]	0.993535
TNavParticleFilter::Modified Variance for beam 21 is 16.04 
Alpha[21]	0.000000
Alpha[21]	0.994681
TNavParticleFilter::Modified Variance for beam 22 is 15.94 
Alpha[22]	0.000000
Alpha[22]	0.994297
TNavParticleFilter::Modified Variance for beam 23 is 16.80 
Alpha[23]	0.000000
Alpha[23]	0.993392
TNavParticleFilter::Modified Variance for beam 24 is 17.65 
Alpha[24]	0.000000
Alpha[24]	0.993367
TNavParticleFilter::Modified Variance for beam 25 is 17.39 
Alpha[25]	0.000000
Alpha[25]	0.994409
TNavParticleFilter::Modified Variance for beam 26 is 17.16 
Alpha[26]	0.000000
Alpha[26]	0.995222
TNavParticleFilter::Modified Variance for beam 27 is 16.93 
Alpha[27]	0.000000
Alpha[27]	0.996110
TNavParticleFilter::Modified Variance for beam 28 is 16.88 
Alpha[28]	0.000000
Alpha[28]	0.997183
TNavParticleFilter::Modified Variance for beam 29 is 18.09 
Alpha[29]	0.000000
Alpha[29]	0.997402
TNavParticleFilter::Modified Variance for beam 30 is 18.58 
Alpha[30]	0.000000
Alpha[30]	0.998355
TNavParticleFilter::Modified Variance for beam 31 is 18.38 
Alpha[31]	0.000000
Alpha[31]	0.998741
TNavParticleFilter::Modified Variance for beam 32 is 19.25 
Alpha[32]	0.000000
Alpha[32]	0.998574
TNavParticleFilter::Modified Variance for beam 33 is 24.23 
Alpha[33]	0.000000
Alpha[33]	0.996771
TNavParticleFilter::Modified Variance for beam 34 is 24.00 
Alpha[34]	0.000000
Alpha[34]	0.997016
TNavParticleFilter::Modified Variance for beam 35 is 25.13 
Alpha[35]	0.000000
Alpha[35]	0.997180
TNavParticleFilter::Modified Variance for beam 36 is 24.95 
Alpha[36]	0.000000
Alpha[36]	0.996455
TNavParticleFilter::Modified Variance for beam 37 is 24.76 
Alpha[37]	0.000000
Alpha[37]	0.996611
TNavParticleFilter::Modified Variance for beam 38 is 24.58 
Alpha[38]	0.000000
Alpha[38]	0.997214
TNavParticleFilter::Modified Variance for beam 39 is 24.41 
Alpha[39]	0.000000
Alpha[39]	0.997732
TNavParticleFilter::Modified Variance for beam 40 is 23.00 
Alpha[40]	0.000000
Alpha[40]	0.997584
TNavParticleFilter::Modified Variance for beam 41 is 22.90 
Alpha[41]	0.000000
Alpha[41]	0.996569
TNavParticleFilter::Modified Variance for beam 42 is 24.07 
Alpha[42]	0.000000
Alpha[42]	0.996347
TNavParticleFilter::Modified Variance for beam 43 is 23.96 
Alpha[43]	0.000000
Alpha[43]	0.996798
TNavParticleFilter::Modified Variance for beam 44 is 23.87 
Alpha[44]	0.000000
Alpha[44]	0.996774
TNavParticleFilter::Modified Variance for beam 45 is 23.82 
Alpha[45]	0.000000
Alpha[45]	0.996158
TNavParticleFilter::Modified Variance for beam 46 is 25.05 
Alpha[46]	0.000000
Alpha[46]	0.995922
TNavParticleFilter::Modified Variance for beam 47 is 25.02 
Alpha[47]	0.000000
Alpha[47]	0.995029
TNavParticleFilter::Modified Variance for beam 48 is 24.96 
Alpha[48]	0.000000
Alpha[48]	0.995870
TNavParticleFilter::Modified Variance for beam 49 is 26.22 
Alpha[49]	0.000000
Alpha[49]	0.997339
TNavParticleFilter::Modified Variance for beam 50 is 23.63 
Alpha[50]	0.000000
Alpha[50]	0.996687
TNavParticleFilter::Modified Variance for beam 51 is 23.69 
Alpha[51]	0.000000
Alpha[51]	0.994288
TNavParticleFilter::Modified Variance for beam 52 is 23.78 
Alpha[52]	0.000000
Alpha[52]	0.991105
TNavParticleFilter::Modified Variance for beam 53 is 23.83 
Alpha[53]	0.000000
Alpha[53]	0.990016
TNavParticleFilter::Modified Variance for beam 54 is 23.82 
Alpha[54]	0.000000
Alpha[54]	0.991947
TNavParticleFilter::Modified Variance for beam 55 is 23.89 
Alpha[55]	0.000000
Alpha[55]	0.991396
TNavParticleFilter::Modified Variance for beam 56 is 23.31 
Alpha[56]	0.000000
Alpha[56]	0.985863
TNavParticleFilter::Modified Variance for beam 57 is 23.04 
Alpha[57]	0.000000
Alpha[57]	0.979650
TNavParticleFilter::Modified Variance for beam 58 is 23.19 
Alpha[58]	0.000000
Alpha[58]	0.977099
TNavParticleFilter::Modified Variance for beam 59 is 22.93 
Alpha[59]	0.000000
Alpha[59]	0.992204
TNavPF:: sumSquaredError = 15.776954 
TNavPF:: sumWeights = 0.010521 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 11.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 2.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 2.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 2.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 2.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -1.68. Range = 93.81 
TNavPF::Calculated measDiffMean for beam 58 as -2.81. Range = 88.40 
TNavPF::Calculated measDiffMean for beam 59 as -1.81. Range = 83.26 
TNavPF::Calculated measDiffMean for beam 60 as -1.72. Range = 81.49 
TNavPF::Calculated measDiffMean for beam 61 as -3.11. Range = 67.55 
TNavPF::Calculated measDiffMean for beam 62 as -3.90. Range = 66.22 
TNavPF::Calculated measDiffMean for beam 63 as 2.34. Range = 64.95 
TNavPF::Calculated measDiffMean for beam 64 as 1.37. Range = 63.75 
TNavPF::Calculated measDiffMean for beam 65 as 2.41. Range = 62.62 
TNavPF::Calculated measDiffMean for beam 66 as 1.61. Range = 61.54 
TNavPF::Calculated measDiffMean for beam 67 as 1.48. Range = 60.52 
TNavPF::Calculated measDiffMean for beam 68 as 1.85. Range = 59.55 
TNavPF::Calculated measDiffMean for beam 69 as 2.91. Range = 58.63 
TNavPF::Calculated measDiffMean for beam 70 as 1.01. Range = 57.75 
TNavPF::Calculated measDiffMean for beam 71 as 0.02. Range = 56.91 
TNavPF::Calculated measDiffMean for beam 72 as 1.49. Range = 56.12 
TNavPF::Calculated measDiffMean for beam 73 as 0.86. Range = 55.36 
TNavPF::Calculated measDiffMean for beam 74 as 0.30. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 75 as -0.14. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 76 as 1.49. Range = 50.89 
TNavPF::Calculated measDiffMean for beam 77 as 0.65. Range = 50.72 
TNavPF::Calculated measDiffMean for beam 78 as 0.50. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 79 as 2.64. Range = 51.54 
TNavPF::Calculated measDiffMean for beam 80 as -1.05. Range = 51.00 
TNavPF::Calculated measDiffMean for beam 81 as -0.73. Range = 50.50 
TNavPF::Calculated measDiffMean for beam 82 as -0.28. Range = 50.27 
TNavPF::Calculated measDiffMean for beam 83 as 0.03. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 84 as 0.29. Range = 53.58 
TNavPF::Calculated measDiffMean for beam 85 as 0.65. Range = 53.13 
TNavPF::Calculated measDiffMean for beam 86 as 0.29. Range = 52.70 
TNavPF::Calculated measDiffMean for beam 87 as -0.17. Range = 52.30 
TNavPF::Calculated measDiffMean for beam 88 as -0.09. Range = 52.22 
TNavPF::Calculated measDiffMean for beam 89 as -0.50. Range = 54.55 
TNavPF::First Term of Map Covariance Matrix is 42.08 
TNavPF::Calculated NIS Value : 5.54 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322045.82 sec.
INS : North: 4070231.63, East: 589292.76, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 65.45, IDT[75] = 66.37
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322048.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322048.62)
ARL : North: -0.3152, East: -1.0642, Depth: 3.6529ARL : Estimation Bias  (Mean)         : (t = 1488322048.62)
ARL : North: -0.6292, East: -1.2077, Depth: 0.2359TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.38 
Alpha[0]	0.123000
Alpha[0]	0.995714
TNavParticleFilter::Modified Variance for beam 1 is 17.47 
Alpha[1]	0.000000
Alpha[1]	0.996643
TNavParticleFilter::Modified Variance for beam 2 is 17.96 
Alpha[2]	0.000000
Alpha[2]	0.997170
TNavParticleFilter::Modified Variance for beam 3 is 17.64 
Alpha[3]	0.000000
Alpha[3]	0.996920
TNavParticleFilter::Modified Variance for beam 4 is 17.84 
Alpha[4]	0.000000
Alpha[4]	0.995794
TNavParticleFilter::Modified Variance for beam 5 is 18.31 
Alpha[5]	0.000000
Alpha[5]	0.994776
TNavParticleFilter::Modified Variance for beam 6 is 18.00 
Alpha[6]	0.000000
Alpha[6]	0.995757
TNavParticleFilter::Modified Variance for beam 7 is 18.34 
Alpha[7]	0.000000
Alpha[7]	0.996692
TNavParticleFilter::Modified Variance for beam 8 is 19.36 
Alpha[8]	0.000000
Alpha[8]	0.996783
TNavParticleFilter::Modified Variance for beam 9 is 20.49 
Alpha[9]	0.000000
Alpha[9]	0.997424
TNavParticleFilter::Modified Variance for beam 10 is 20.60 
Alpha[10]	0.000000
Alpha[10]	0.997398
TNavParticleFilter::Modified Variance for beam 11 is 20.32 
Alpha[11]	0.000000
Alpha[11]	0.997878
TNavParticleFilter::Modified Variance for beam 12 is 22.62 
Alpha[12]	0.000000
Alpha[12]	0.998676
TNavParticleFilter::Modified Variance for beam 13 is 23.24 
Alpha[13]	0.000000
Alpha[13]	0.998575
TNavParticleFilter::Modified Variance for beam 14 is 24.80 
Alpha[14]	0.000000
Alpha[14]	0.997447
TNavParticleFilter::Modified Variance for beam 15 is 24.62 
Alpha[15]	0.000000
Alpha[15]	0.993495
TNavParticleFilter::Modified Variance for beam 16 is 25.49 
Alpha[16]	0.000000
Alpha[16]	0.995138
TNavParticleFilter::Modified Variance for beam 17 is 25.45 
Alpha[17]	0.000000
Alpha[17]	0.994165
TNavParticleFilter::Modified Variance for beam 18 is 25.26 
Alpha[18]	0.000000
Alpha[18]	0.992110
TNavParticleFilter::Modified Variance for beam 19 is 25.00 
Alpha[19]	0.000000
Alpha[19]	0.993519
TNavParticleFilter::Modified Variance for beam 20 is 24.72 
Alpha[20]	0.000000
Alpha[20]	0.996173
TNavParticleFilter::Modified Variance for beam 21 is 24.50 
Alpha[21]	0.000000
Alpha[21]	0.997198
TNavParticleFilter::Modified Variance for beam 22 is 24.33 
Alpha[22]	0.000000
Alpha[22]	0.997065
TNavParticleFilter::Modified Variance for beam 23 is 24.21 
Alpha[23]	0.000000
Alpha[23]	0.995350
TNavParticleFilter::Modified Variance for beam 24 is 24.05 
Alpha[24]	0.000000
Alpha[24]	0.995566
TNavParticleFilter::Modified Variance for beam 25 is 25.23 
Alpha[25]	0.000000
Alpha[25]	0.995373
TNavParticleFilter::Modified Variance for beam 26 is 25.10 
Alpha[26]	0.000000
Alpha[26]	0.995372
TNavParticleFilter::Modified Variance for beam 27 is 25.00 
Alpha[27]	0.000000
Alpha[27]	0.994746
TNavParticleFilter::Modified Variance for beam 28 is 24.92 
Alpha[28]	0.000000
Alpha[28]	0.993925
TNavParticleFilter::Modified Variance for beam 29 is 26.16 
Alpha[29]	0.000000
Alpha[29]	0.993681
TNavParticleFilter::Modified Variance for beam 30 is 26.03 
Alpha[30]	0.000000
Alpha[30]	0.995566
TNavParticleFilter::Modified Variance for beam 31 is 25.93 
Alpha[31]	0.000000
Alpha[31]	0.997007
TNavParticleFilter::Modified Variance for beam 32 is 24.57 
Alpha[32]	0.000000
Alpha[32]	0.996776
TNavParticleFilter::Modified Variance for beam 33 is 24.57 
Alpha[33]	0.000000
Alpha[33]	0.995695
TNavParticleFilter::Modified Variance for beam 34 is 23.32 
Alpha[34]	0.000000
Alpha[34]	0.993759
TNavParticleFilter::Modified Variance for beam 35 is 23.42 
Alpha[35]	0.000000
Alpha[35]	0.989216
TNavParticleFilter::Modified Variance for beam 36 is 23.40 
Alpha[36]	0.000000
Alpha[36]	0.990218
TNavParticleFilter::Modified Variance for beam 37 is 23.36 
Alpha[37]	0.000000
Alpha[37]	0.992374
TNavParticleFilter::Modified Variance for beam 38 is 22.13 
Alpha[38]	0.000000
Alpha[38]	0.993304
TNavParticleFilter::Modified Variance for beam 39 is 22.20 
Alpha[39]	0.000000
Alpha[39]	0.991884
TNavParticleFilter::Modified Variance for beam 40 is 22.27 
Alpha[40]	0.000000
Alpha[40]	0.991171
TNavParticleFilter::Modified Variance for beam 41 is 24.76 
Alpha[41]	0.000000
Alpha[41]	0.995273
TNavParticleFilter::Modified Variance for beam 42 is 24.81 
Alpha[42]	0.000000
Alpha[42]	0.996271
TNavParticleFilter::Modified Variance for beam 43 is 24.93 
Alpha[43]	0.000000
Alpha[43]	0.995502
TNavParticleFilter::Modified Variance for beam 44 is 25.04 
Alpha[44]	0.000000
Alpha[44]	0.995400
TNavParticleFilter::Modified Variance for beam 45 is 25.18 
Alpha[45]	0.000000
Alpha[45]	0.994682
TNavParticleFilter::Modified Variance for beam 46 is 24.12 
Alpha[46]	0.000000
Alpha[46]	0.994262
TNavParticleFilter::Modified Variance for beam 47 is 24.13 
Alpha[47]	0.000000
Alpha[47]	0.995366
TNavParticleFilter::Modified Variance for beam 48 is 25.65 
Alpha[48]	0.000000
Alpha[48]	0.994045
TNavParticleFilter::Modified Variance for beam 49 is 25.82 
Alpha[49]	0.000000
Alpha[49]	0.994578
TNavParticleFilter::Modified Variance for beam 50 is 24.67 
Alpha[50]	0.000000
Alpha[50]	0.994569
TNavParticleFilter::Modified Variance for beam 51 is 24.83 
Alpha[51]	0.000000
Alpha[51]	0.995938
TNavParticleFilter::Modified Variance for beam 52 is 23.70 
Alpha[52]	0.000000
Alpha[52]	0.996640
TNavParticleFilter::Modified Variance for beam 53 is 23.90 
Alpha[53]	0.000000
Alpha[53]	0.997339
TNavParticleFilter::Modified Variance for beam 54 is 26.68 
Alpha[54]	0.000000
Alpha[54]	0.998029
TNavParticleFilter::Modified Variance for beam 55 is 25.77 
Alpha[55]	0.000000
Alpha[55]	0.997611
TNavParticleFilter::Modified Variance for beam 56 is 26.07 
Alpha[56]	0.000000
Alpha[56]	0.997285
TNavParticleFilter::Modified Variance for beam 57 is 27.89 
Alpha[57]	0.000000
Alpha[57]	0.995437
TNavParticleFilter::Modified Variance for beam 58 is 28.38 
Alpha[58]	0.000000
Alpha[58]	0.990585
TNavParticleFilter::Modified Variance for beam 59 is 27.73 
Alpha[59]	0.000000
Alpha[59]	0.986442
TNavPF:: sumSquaredError = 43.456842 
TNavPF:: sumWeights = 0.042763 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.43. Range = 97.19 
TNavPF::Calculated measDiffMean for beam 41 as -0.16. Range = 91.40 
TNavPF::Calculated measDiffMean for beam 42 as 2.64. Range = 89.25 
TNavPF::Calculated measDiffMean for beam 43 as 2.27. Range = 80.69 
TNavPF::Calculated measDiffMean for beam 44 as 2.56. Range = 69.33 
TNavPF::Calculated measDiffMean for beam 45 as 1.32. Range = 67.87 
TNavPF::Calculated measDiffMean for beam 46 as 2.23. Range = 68.77 
TNavPF::Calculated measDiffMean for beam 47 as 1.43. Range = 65.17 
TNavPF::Calculated measDiffMean for beam 48 as 0.89. Range = 63.93 
TNavPF::Calculated measDiffMean for beam 49 as 0.69. Range = 62.76 
TNavPF::Calculated measDiffMean for beam 50 as 1.14. Range = 61.64 
TNavPF::Calculated measDiffMean for beam 51 as 1.72. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 52 as 1.41. Range = 59.58 
TNavPF::Calculated measDiffMean for beam 53 as 0.70. Range = 58.63 
TNavPF::Calculated measDiffMean for beam 54 as 0.27. Range = 57.72 
TNavPF::Calculated measDiffMean for beam 55 as 1.67. Range = 54.24 
TNavPF::Calculated measDiffMean for beam 56 as 1.06. Range = 53.46 
TNavPF::Calculated measDiffMean for beam 57 as 0.73. Range = 52.72 
TNavPF::Calculated measDiffMean for beam 58 as 0.46. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 59 as 1.74. Range = 53.82 
TNavPF::Calculated measDiffMean for beam 60 as 1.50. Range = 53.14 
TNavPF::Calculated measDiffMean for beam 61 as 1.27. Range = 53.35 
TNavPF::Calculated measDiffMean for beam 62 as -0.40. Range = 54.29 
TNavPF::Calculated measDiffMean for beam 63 as 0.29. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 64 as -0.96. Range = 54.02 
TNavPF::Calculated measDiffMean for beam 65 as -0.43. Range = 54.87 
TNavPF::Calculated measDiffMean for beam 66 as -0.26. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 67 as 0.10. Range = 54.98 
TNavPF::Calculated measDiffMean for beam 68 as -0.75. Range = 56.84 
TNavPF::Calculated measDiffMean for beam 69 as -0.32. Range = 58.86 
TNavPF::Calculated measDiffMean for beam 70 as -0.16. Range = 59.04 
TNavPF::Calculated measDiffMean for beam 71 as 3.31. Range = 58.57 
TNavPF::Calculated measDiffMean for beam 72 as 2.03. Range = 62.48 
TNavPF::Calculated measDiffMean for beam 73 as 1.90. Range = 63.48 
TNavPF::Calculated measDiffMean for beam 74 as 1.92. Range = 65.89 
TNavPF::Calculated measDiffMean for beam 75 as 1.59. Range = 65.45 
TNavPF::Calculated measDiffMean for beam 76 as -0.71. Range = 66.85 
TNavPF::Calculated measDiffMean for beam 77 as -1.05. Range = 66.76 
TNavPF::Calculated measDiffMean for beam 78 as 1.44. Range = 66.39 
TNavPF::Calculated measDiffMean for beam 79 as 1.75. Range = 66.05 
TNavPF::Calculated measDiffMean for beam 80 as 0.12. Range = 65.72 
TNavPF::Calculated measDiffMean for beam 81 as 0.48. Range = 65.42 
TNavPF::Calculated measDiffMean for beam 82 as -0.99. Range = 65.14 
TNavPF::Calculated measDiffMean for beam 83 as -0.69. Range = 64.88 
TNavPF::Calculated measDiffMean for beam 84 as 2.28. Range = 64.65 
TNavPF::Calculated measDiffMean for beam 85 as 0.46. Range = 66.47 
TNavPF::Calculated measDiffMean for beam 86 as -0.14. Range = 66.27 
TNavPF::Calculated measDiffMean for beam 87 as 0.23. Range = 66.09 
TNavPF::Calculated measDiffMean for beam 88 as -0.05. Range = 65.94 
TNavPF::Calculated measDiffMean for beam 89 as -0.96. Range = 67.81 
TNavPF::First Term of Map Covariance Matrix is 4.65 
TNavPF::Calculated NIS Value : 2.55 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322048.82 sec.
INS : North: 4070231.34, East: 589288.72, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 67.10, IDT[75] = 66.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322051.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322051.62)
ARL : North: -0.8437, East: -1.7616, Depth: -2.2354ARL : Estimation Bias  (Mean)         : (t = 1488322051.62)
ARL : North: -0.4939, East: -1.4569, Depth: -0.1429TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.58 
Alpha[0]	0.123000
Alpha[0]	0.997299
TNavParticleFilter::Modified Variance for beam 1 is 25.74 
Alpha[1]	0.000000
Alpha[1]	0.998016
TNavParticleFilter::Modified Variance for beam 2 is 26.28 
Alpha[2]	0.000000
Alpha[2]	0.998362
TNavParticleFilter::Modified Variance for beam 3 is 25.93 
Alpha[3]	0.000000
Alpha[3]	0.997723
TNavParticleFilter::Modified Variance for beam 4 is 25.66 
Alpha[4]	0.000000
Alpha[4]	0.994622
TNavParticleFilter::Modified Variance for beam 5 is 26.40 
Alpha[5]	0.000000
Alpha[5]	0.990421
TNavParticleFilter::Modified Variance for beam 6 is 26.50 
Alpha[6]	0.000000
Alpha[6]	0.992766
TNavParticleFilter::Modified Variance for beam 7 is 26.25 
Alpha[7]	0.000000
Alpha[7]	0.990580
TNavParticleFilter::Modified Variance for beam 8 is 25.99 
Alpha[8]	0.000000
Alpha[8]	0.989284
TNavParticleFilter::Modified Variance for beam 9 is 25.61 
Alpha[9]	0.000000
Alpha[9]	0.993634
TNavParticleFilter::Modified Variance for beam 10 is 25.30 
Alpha[10]	0.000000
Alpha[10]	0.996031
TNavParticleFilter::Modified Variance for beam 11 is 25.06 
Alpha[11]	0.000000
Alpha[11]	0.996344
TNavParticleFilter::Modified Variance for beam 12 is 24.86 
Alpha[12]	0.000000
Alpha[12]	0.995422
TNavParticleFilter::Modified Variance for beam 13 is 24.69 
Alpha[13]	0.000000
Alpha[13]	0.994380
TNavParticleFilter::Modified Variance for beam 14 is 25.83 
Alpha[14]	0.000000
Alpha[14]	0.995186
TNavParticleFilter::Modified Variance for beam 15 is 25.66 
Alpha[15]	0.000000
Alpha[15]	0.994754
TNavParticleFilter::Modified Variance for beam 16 is 25.50 
Alpha[16]	0.000000
Alpha[16]	0.994516
TNavParticleFilter::Modified Variance for beam 17 is 25.38 
Alpha[17]	0.000000
Alpha[17]	0.993488
TNavParticleFilter::Modified Variance for beam 18 is 26.63 
Alpha[18]	0.000000
Alpha[18]	0.992220
TNavParticleFilter::Modified Variance for beam 19 is 26.45 
Alpha[19]	0.000000
Alpha[19]	0.993799
TNavParticleFilter::Modified Variance for beam 20 is 26.29 
Alpha[20]	0.000000
Alpha[20]	0.995883
TNavParticleFilter::Modified Variance for beam 21 is 24.84 
Alpha[21]	0.000000
Alpha[21]	0.996543
TNavParticleFilter::Modified Variance for beam 22 is 24.76 
Alpha[22]	0.000000
Alpha[22]	0.996546
TNavParticleFilter::Modified Variance for beam 23 is 24.71 
Alpha[23]	0.000000
Alpha[23]	0.995973
TNavParticleFilter::Modified Variance for beam 24 is 24.73 
Alpha[24]	0.000000
Alpha[24]	0.993098
TNavParticleFilter::Modified Variance for beam 25 is 24.79 
Alpha[25]	0.000000
Alpha[25]	0.989247
TNavParticleFilter::Modified Variance for beam 26 is 23.45 
Alpha[26]	0.000000
Alpha[26]	0.990437
TNavParticleFilter::Modified Variance for beam 27 is 23.34 
Alpha[27]	0.000000
Alpha[27]	0.994846
TNavParticleFilter::Modified Variance for beam 28 is 22.09 
Alpha[28]	0.000000
Alpha[28]	0.995380
TNavParticleFilter::Modified Variance for beam 29 is 22.11 
Alpha[29]	0.000000
Alpha[29]	0.994924
TNavParticleFilter::Modified Variance for beam 30 is 24.63 
Alpha[30]	0.000000
Alpha[30]	0.995317
TNavParticleFilter::Modified Variance for beam 31 is 24.64 
Alpha[31]	0.000000
Alpha[31]	0.996601
TNavParticleFilter::Modified Variance for beam 32 is 24.71 
Alpha[32]	0.000000
Alpha[32]	0.995701
TNavParticleFilter::Modified Variance for beam 33 is 24.80 
Alpha[33]	0.000000
Alpha[33]	0.994508
TNavParticleFilter::Modified Variance for beam 34 is 24.89 
Alpha[34]	0.000000
Alpha[34]	0.994052
TNavParticleFilter::Modified Variance for beam 35 is 23.73 
Alpha[35]	0.000000
Alpha[35]	0.992159
TNavParticleFilter::Modified Variance for beam 36 is 23.78 
Alpha[36]	0.000000
Alpha[36]	0.994210
TNavParticleFilter::Modified Variance for beam 37 is 25.18 
Alpha[37]	0.000000
Alpha[37]	0.994832
TNavParticleFilter::Modified Variance for beam 38 is 25.15 
Alpha[38]	0.000000
Alpha[38]	0.993173
TNavParticleFilter::Modified Variance for beam 39 is 24.18 
Alpha[39]	0.000000
Alpha[39]	0.993334
TNavParticleFilter::Modified Variance for beam 40 is 24.31 
Alpha[40]	0.000000
Alpha[40]	0.994315
TNavParticleFilter::Modified Variance for beam 41 is 24.44 
Alpha[41]	0.000000
Alpha[41]	0.995636
TNavParticleFilter::Modified Variance for beam 42 is 25.95 
Alpha[42]	0.000000
Alpha[42]	0.996639
TNavParticleFilter::Modified Variance for beam 43 is 26.00 
Alpha[43]	0.000000
Alpha[43]	0.997077
TNavParticleFilter::Modified Variance for beam 44 is 24.99 
Alpha[44]	0.000000
Alpha[44]	0.997420
TNavParticleFilter::Modified Variance for beam 45 is 25.22 
Alpha[45]	0.000000
Alpha[45]	0.997242
TNavParticleFilter::Modified Variance for beam 46 is 28.35 
Alpha[46]	0.000000
Alpha[46]	0.996436
TNavParticleFilter::Modified Variance for beam 47 is 28.74 
Alpha[47]	0.000000
Alpha[47]	0.993433
TNavParticleFilter::Modified Variance for beam 48 is 27.69 
Alpha[48]	0.000000
Alpha[48]	0.988968
TNavParticleFilter::Modified Variance for beam 49 is 28.10 
Alpha[49]	0.000000
Alpha[49]	0.985901
TNavParticleFilter::Modified Variance for beam 50 is 29.79 
Alpha[50]	0.000000
Alpha[50]	0.992754
TNavParticleFilter::Modified Variance for beam 51 is 27.94 
Alpha[51]	0.000000
Alpha[51]	0.996367
TNavParticleFilter::Modified Variance for beam 52 is 27.40 
Alpha[52]	0.000000
Alpha[52]	0.995771
TNavParticleFilter::Modified Variance for beam 53 is 27.81 
Alpha[53]	0.000000
Alpha[53]	0.994990
TNavParticleFilter::Modified Variance for beam 54 is 28.32 
Alpha[54]	0.000000
Alpha[54]	0.991559
TNavParticleFilter::Modified Variance for beam 55 is 28.86 
Alpha[55]	0.000000
Alpha[55]	0.988376
TNavParticleFilter::Modified Variance for beam 56 is 29.64 
Alpha[56]	0.000000
Alpha[56]	0.978111
TNavParticleFilter::Modified Variance for beam 57 is 29.98 
Alpha[57]	0.000000
Alpha[57]	0.983455
TNavParticleFilter::Modified Variance for beam 58 is 28.75 
Alpha[58]	0.000000
Alpha[58]	0.986556
TNavParticleFilter::Modified Variance for beam 59 is 29.07 
Alpha[59]	0.000000
Alpha[59]	0.993921
TNavPF:: sumSquaredError = 10.230440 
TNavPF:: sumWeights = 0.013970 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 5.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 5.28. Range = 94.64 
TNavPF::Calculated measDiffMean for beam 33 as 3.40. Range = 92.30 
TNavPF::Calculated measDiffMean for beam 34 as 1.42. Range = 73.24 
TNavPF::Calculated measDiffMean for beam 35 as 2.15. Range = 71.56 
TNavPF::Calculated measDiffMean for beam 36 as 1.87. Range = 71.70 
TNavPF::Calculated measDiffMean for beam 37 as 0.93. Range = 68.48 
TNavPF::Calculated measDiffMean for beam 38 as 0.42. Range = 67.06 
TNavPF::Calculated measDiffMean for beam 39 as 0.26. Range = 65.73 
TNavPF::Calculated measDiffMean for beam 40 as 0.75. Range = 64.46 
TNavPF::Calculated measDiffMean for beam 41 as 0.90. Range = 63.26 
TNavPF::Calculated measDiffMean for beam 42 as 0.32. Range = 62.13 
TNavPF::Calculated measDiffMean for beam 43 as -0.14. Range = 61.05 
TNavPF::Calculated measDiffMean for beam 44 as 1.45. Range = 60.02 
TNavPF::Calculated measDiffMean for beam 45 as 0.76. Range = 59.05 
TNavPF::Calculated measDiffMean for beam 46 as 0.28. Range = 58.13 
TNavPF::Calculated measDiffMean for beam 47 as 0.04. Range = 57.25 
TNavPF::Calculated measDiffMean for beam 48 as 1.79. Range = 56.67 
TNavPF::Calculated measDiffMean for beam 49 as 1.11. Range = 57.91 
TNavPF::Calculated measDiffMean for beam 50 as 0.83. Range = 57.39 
TNavPF::Calculated measDiffMean for beam 51 as -1.46. Range = 57.23 
TNavPF::Calculated measDiffMean for beam 52 as -0.77. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 53 as 0.01. Range = 57.67 
TNavPF::Calculated measDiffMean for beam 54 as 1.04. Range = 58.05 
TNavPF::Calculated measDiffMean for beam 55 as 1.42. Range = 56.35 
TNavPF::Calculated measDiffMean for beam 56 as -0.38. Range = 57.48 
TNavPF::Calculated measDiffMean for beam 57 as 0.52. Range = 59.80 
TNavPF::Calculated measDiffMean for beam 58 as -0.64. Range = 61.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.39. Range = 62.96 
TNavPF::Calculated measDiffMean for beam 60 as 3.50. Range = 60.71 
TNavPF::Calculated measDiffMean for beam 61 as 2.18. Range = 67.34 
TNavPF::Calculated measDiffMean for beam 62 as 1.52. Range = 68.17 
TNavPF::Calculated measDiffMean for beam 63 as 1.69. Range = 67.62 
TNavPF::Calculated measDiffMean for beam 64 as 1.62. Range = 67.09 
TNavPF::Calculated measDiffMean for beam 65 as -0.73. Range = 68.04 
TNavPF::Calculated measDiffMean for beam 66 as -1.01. Range = 68.28 
TNavPF::Calculated measDiffMean for beam 67 as 0.99. Range = 67.82 
TNavPF::Calculated measDiffMean for beam 68 as 1.22. Range = 67.39 
TNavPF::Calculated measDiffMean for beam 69 as -0.24. Range = 66.98 
TNavPF::Calculated measDiffMean for beam 70 as 0.21. Range = 66.60 
TNavPF::Calculated measDiffMean for beam 71 as 0.49. Range = 66.24 
TNavPF::Calculated measDiffMean for beam 72 as 3.09. Range = 65.91 
TNavPF::Calculated measDiffMean for beam 73 as 2.85. Range = 65.60 
TNavPF::Calculated measDiffMean for beam 74 as 0.19. Range = 67.37 
TNavPF::Calculated measDiffMean for beam 75 as 0.23. Range = 67.10 
TNavPF::Calculated measDiffMean for beam 76 as 3.87. Range = 66.85 
TNavPF::Calculated measDiffMean for beam 77 as 2.65. Range = 66.62 
TNavPF::Calculated measDiffMean for beam 78 as 0.39. Range = 68.44 
TNavPF::Calculated measDiffMean for beam 79 as 0.99. Range = 68.25 
TNavPF::Calculated measDiffMean for beam 80 as 4.07. Range = 68.08 
TNavPF::Calculated measDiffMean for beam 81 as 0.92. Range = 65.92 
TNavPF::Calculated measDiffMean for beam 82 as -1.23. Range = 65.80 
TNavPF::Calculated measDiffMean for beam 83 as -1.26. Range = 65.70 
TNavPF::Calculated measDiffMean for beam 84 as -0.22. Range = 65.62 
TNavPF::Calculated measDiffMean for beam 85 as 0.36. Range = 65.55 
TNavPF::Calculated measDiffMean for beam 86 as 0.86. Range = 63.51 
TNavPF::Calculated measDiffMean for beam 87 as 0.82. Range = 63.49 
TNavPF::Calculated measDiffMean for beam 88 as -1.59. Range = 61.49 
TNavPF::Calculated measDiffMean for beam 89 as -1.14. Range = 61.50 
TNavPF::First Term of Map Covariance Matrix is 7.39 
TNavPF::Calculated NIS Value : 5.17 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322051.82 sec.
INS : North: 4070231.37, East: 589284.64, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 67.19, IDT[75] = 62.08
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322054.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322054.62)
ARL : North: -0.6664, East: -1.1428, Depth: -1.5405ARL : Estimation Bias  (Mean)         : (t = 1488322054.62)
ARL : North: -0.2987, East: -1.9418, Depth: -0.6101TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.84 
Alpha[0]	0.123000
Alpha[0]	0.997646
TNavParticleFilter::Modified Variance for beam 1 is 21.73 
Alpha[1]	0.000000
Alpha[1]	0.998050
TNavParticleFilter::Modified Variance for beam 2 is 22.73 
Alpha[2]	0.000000
Alpha[2]	0.997887
TNavParticleFilter::Modified Variance for beam 3 is 22.76 
Alpha[3]	0.000000
Alpha[3]	0.997697
TNavParticleFilter::Modified Variance for beam 4 is 22.56 
Alpha[4]	0.000000
Alpha[4]	0.997199
TNavParticleFilter::Modified Variance for beam 5 is 24.85 
Alpha[5]	0.000000
Alpha[5]	0.997687
TNavParticleFilter::Modified Variance for beam 6 is 24.99 
Alpha[6]	0.000000
Alpha[6]	0.998265
TNavParticleFilter::Modified Variance for beam 7 is 26.43 
Alpha[7]	0.000000
Alpha[7]	0.998002
TNavParticleFilter::Modified Variance for beam 8 is 26.63 
Alpha[8]	0.000000
Alpha[8]	0.996532
TNavParticleFilter::Modified Variance for beam 9 is 26.73 
Alpha[9]	0.000000
Alpha[9]	0.993732
TNavParticleFilter::Modified Variance for beam 10 is 27.42 
Alpha[10]	0.000000
Alpha[10]	0.993862
TNavParticleFilter::Modified Variance for beam 11 is 27.03 
Alpha[11]	0.000000
Alpha[11]	0.994085
TNavParticleFilter::Modified Variance for beam 12 is 26.71 
Alpha[12]	0.000000
Alpha[12]	0.992763
TNavParticleFilter::Modified Variance for beam 13 is 26.30 
Alpha[13]	0.000000
Alpha[13]	0.995562
TNavParticleFilter::Modified Variance for beam 14 is 25.95 
Alpha[14]	0.000000
Alpha[14]	0.997072
TNavParticleFilter::Modified Variance for beam 15 is 25.67 
Alpha[15]	0.000000
Alpha[15]	0.996884
TNavParticleFilter::Modified Variance for beam 16 is 25.42 
Alpha[16]	0.000000
Alpha[16]	0.996030
TNavParticleFilter::Modified Variance for beam 17 is 25.18 
Alpha[17]	0.000000
Alpha[17]	0.995346
TNavParticleFilter::Modified Variance for beam 18 is 26.33 
Alpha[18]	0.000000
Alpha[18]	0.995173
TNavParticleFilter::Modified Variance for beam 19 is 24.73 
Alpha[19]	0.000000
Alpha[19]	0.995073
TNavParticleFilter::Modified Variance for beam 20 is 25.87 
Alpha[20]	0.000000
Alpha[20]	0.995202
TNavParticleFilter::Modified Variance for beam 21 is 25.69 
Alpha[21]	0.000000
Alpha[21]	0.994573
TNavParticleFilter::Modified Variance for beam 22 is 25.54 
Alpha[22]	0.000000
Alpha[22]	0.993052
TNavParticleFilter::Modified Variance for beam 23 is 25.98 
Alpha[23]	0.000000
Alpha[23]	0.994374
TNavParticleFilter::Modified Variance for beam 24 is 26.48 
Alpha[24]	0.000000
Alpha[24]	0.996450
TNavParticleFilter::Modified Variance for beam 25 is 24.98 
Alpha[25]	0.000000
Alpha[25]	0.997001
TNavParticleFilter::Modified Variance for beam 26 is 23.56 
Alpha[26]	0.000000
Alpha[26]	0.996850
TNavParticleFilter::Modified Variance for beam 27 is 23.48 
Alpha[27]	0.000000
Alpha[27]	0.996127
TNavParticleFilter::Modified Variance for beam 28 is 23.44 
Alpha[28]	0.000000
Alpha[28]	0.993709
TNavParticleFilter::Modified Variance for beam 29 is 23.42 
Alpha[29]	0.000000
Alpha[29]	0.991214
TNavParticleFilter::Modified Variance for beam 30 is 22.08 
Alpha[30]	0.000000
Alpha[30]	0.992719
TNavParticleFilter::Modified Variance for beam 31 is 22.00 
Alpha[31]	0.000000
Alpha[31]	0.994142
TNavParticleFilter::Modified Variance for beam 32 is 21.96 
Alpha[32]	0.000000
Alpha[32]	0.994232
TNavParticleFilter::Modified Variance for beam 33 is 21.93 
Alpha[33]	0.000000
Alpha[33]	0.994033
TNavParticleFilter::Modified Variance for beam 34 is 24.37 
Alpha[34]	0.000000
Alpha[34]	0.995375
TNavParticleFilter::Modified Variance for beam 35 is 24.34 
Alpha[35]	0.000000
Alpha[35]	0.996392
TNavParticleFilter::Modified Variance for beam 36 is 24.36 
Alpha[36]	0.000000
Alpha[36]	0.995986
TNavParticleFilter::Modified Variance for beam 37 is 24.40 
Alpha[37]	0.000000
Alpha[37]	0.995323
TNavParticleFilter::Modified Variance for beam 38 is 24.45 
Alpha[38]	0.000000
Alpha[38]	0.994471
TNavParticleFilter::Modified Variance for beam 39 is 23.24 
Alpha[39]	0.000000
Alpha[39]	0.993878
TNavParticleFilter::Modified Variance for beam 40 is 23.26 
Alpha[40]	0.000000
Alpha[40]	0.995077
TNavParticleFilter::Modified Variance for beam 41 is 23.32 
Alpha[41]	0.000000
Alpha[41]	0.995425
TNavParticleFilter::Modified Variance for beam 42 is 23.40 
Alpha[42]	0.000000
Alpha[42]	0.995313
TNavParticleFilter::Modified Variance for beam 43 is 23.49 
Alpha[43]	0.000000
Alpha[43]	0.995687
TNavParticleFilter::Modified Variance for beam 44 is 23.58 
Alpha[44]	0.000000
Alpha[44]	0.995966
TNavParticleFilter::Modified Variance for beam 45 is 22.44 
Alpha[45]	0.000000
Alpha[45]	0.996187
TNavParticleFilter::Modified Variance for beam 46 is 22.55 
Alpha[46]	0.000000
Alpha[46]	0.996726
TNavParticleFilter::Modified Variance for beam 47 is 26.61 
Alpha[47]	0.000000
Alpha[47]	0.997632
TNavParticleFilter::Modified Variance for beam 48 is 24.09 
Alpha[48]	0.000000
Alpha[48]	0.997883
TNavParticleFilter::Modified Variance for beam 49 is 24.28 
Alpha[49]	0.000000
Alpha[49]	0.997306
TNavParticleFilter::Modified Variance for beam 50 is 25.85 
Alpha[50]	0.000000
Alpha[50]	0.996165
TNavParticleFilter::Modified Variance for beam 51 is 26.12 
Alpha[51]	0.000000
Alpha[51]	0.993965
TNavParticleFilter::Modified Variance for beam 52 is 26.46 
Alpha[52]	0.000000
Alpha[52]	0.990291
TNavParticleFilter::Modified Variance for beam 53 is 25.36 
Alpha[53]	0.000000
Alpha[53]	0.988232
TNavParticleFilter::Modified Variance for beam 54 is 25.51 
Alpha[54]	0.000000
Alpha[54]	0.992444
TNavParticleFilter::Modified Variance for beam 55 is 27.12 
Alpha[55]	0.000000
Alpha[55]	0.995785
TNavParticleFilter::Modified Variance for beam 56 is 25.98 
Alpha[56]	0.000000
Alpha[56]	0.996027
TNavParticleFilter::Modified Variance for beam 57 is 26.33 
Alpha[57]	0.000000
Alpha[57]	0.994672
TNavParticleFilter::Modified Variance for beam 58 is 26.70 
Alpha[58]	0.000000
Alpha[58]	0.993216
TNavParticleFilter::Modified Variance for beam 59 is 27.15 
Alpha[59]	0.000000
Alpha[59]	0.989522
TNavPF:: sumSquaredError = 17.505415 
TNavPF:: sumWeights = 0.021001 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 2.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 2.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 2.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 2.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.52. Range = 97.57 
TNavPF::Calculated measDiffMean for beam 39 as 0.96. Range = 91.46 
TNavPF::Calculated measDiffMean for beam 40 as 1.84. Range = 75.21 
TNavPF::Calculated measDiffMean for beam 41 as 0.62. Range = 74.39 
TNavPF::Calculated measDiffMean for beam 42 as -0.01. Range = 71.68 
TNavPF::Calculated measDiffMean for beam 43 as -0.10. Range = 70.07 
TNavPF::Calculated measDiffMean for beam 44 as 0.35. Range = 68.55 
TNavPF::Calculated measDiffMean for beam 45 as 0.63. Range = 67.11 
TNavPF::Calculated measDiffMean for beam 46 as 0.15. Range = 65.76 
TNavPF::Calculated measDiffMean for beam 47 as -0.34. Range = 64.47 
TNavPF::Calculated measDiffMean for beam 48 as 1.31. Range = 60.32 
TNavPF::Calculated measDiffMean for beam 49 as -1.42. Range = 59.22 
TNavPF::Calculated measDiffMean for beam 50 as 0.15. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 51 as -0.16. Range = 57.75 
TNavPF::Calculated measDiffMean for beam 52 as -0.49. Range = 58.83 
TNavPF::Calculated measDiffMean for beam 53 as 0.03. Range = 58.05 
TNavPF::Calculated measDiffMean for beam 54 as 0.86. Range = 58.09 
TNavPF::Calculated measDiffMean for beam 55 as -1.43. Range = 58.93 
TNavPF::Calculated measDiffMean for beam 56 as -2.98. Range = 58.08 
TNavPF::Calculated measDiffMean for beam 57 as -2.14. Range = 58.65 
TNavPF::Calculated measDiffMean for beam 58 as -1.29. Range = 59.03 
TNavPF::Calculated measDiffMean for beam 59 as -0.85. Range = 58.27 
TNavPF::Calculated measDiffMean for beam 60 as -2.44. Range = 59.46 
TNavPF::Calculated measDiffMean for beam 61 as -1.47. Range = 60.99 
TNavPF::Calculated measDiffMean for beam 62 as -0.91. Range = 62.62 
TNavPF::Calculated measDiffMean for beam 63 as -0.73. Range = 62.66 
TNavPF::Calculated measDiffMean for beam 64 as 2.86. Range = 62.32 
TNavPF::Calculated measDiffMean for beam 65 as 1.77. Range = 65.98 
TNavPF::Calculated measDiffMean for beam 66 as 1.41. Range = 66.22 
TNavPF::Calculated measDiffMean for beam 67 as 1.52. Range = 68.38 
TNavPF::Calculated measDiffMean for beam 68 as 1.35. Range = 68.62 
TNavPF::Calculated measDiffMean for beam 69 as -0.92. Range = 68.66 
TNavPF::Calculated measDiffMean for beam 70 as -1.14. Range = 69.67 
TNavPF::Calculated measDiffMean for beam 71 as -1.09. Range = 69.12 
TNavPF::Calculated measDiffMean for beam 72 as -0.63. Range = 68.59 
TNavPF::Calculated measDiffMean for beam 73 as -0.21. Range = 68.10 
TNavPF::Calculated measDiffMean for beam 74 as 0.22. Range = 67.63 
TNavPF::Calculated measDiffMean for beam 75 as -1.42. Range = 67.19 
TNavPF::Calculated measDiffMean for beam 76 as -0.91. Range = 66.78 
TNavPF::Calculated measDiffMean for beam 77 as 4.96. Range = 66.39 
TNavPF::Calculated measDiffMean for beam 78 as 0.15. Range = 68.12 
TNavPF::Calculated measDiffMean for beam 79 as 0.10. Range = 65.68 
TNavPF::Calculated measDiffMean for beam 80 as 1.58. Range = 67.44 
TNavPF::Calculated measDiffMean for beam 81 as 0.51. Range = 67.13 
TNavPF::Calculated measDiffMean for beam 82 as 0.18. Range = 66.85 
TNavPF::Calculated measDiffMean for beam 83 as -1.54. Range = 67.57 
TNavPF::Calculated measDiffMean for beam 84 as -0.52. Range = 68.40 
TNavPF::Calculated measDiffMean for beam 85 as 1.93. Range = 66.14 
TNavPF::Calculated measDiffMean for beam 86 as -0.96. Range = 63.93 
TNavPF::Calculated measDiffMean for beam 87 as -1.37. Range = 63.76 
TNavPF::Calculated measDiffMean for beam 88 as -0.94. Range = 63.61 
TNavPF::Calculated measDiffMean for beam 89 as -0.39. Range = 63.49 
TNavPF::First Term of Map Covariance Matrix is 8.49 
TNavPF::Calculated NIS Value : 4.21 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322054.82 sec.
INS : North: 4070230.87, East: 589280.61, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 61.88, IDT[75] = 60.15
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322057.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322057.62)
ARL : North: 0.0275, East: -1.6730, Depth: -0.2449ARL : Estimation Bias  (Mean)         : (t = 1488322057.62)
ARL : North: -0.3577, East: -2.6698, Depth: -0.3716TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.26 
Alpha[0]	0.123000
Alpha[0]	0.997150
TNavParticleFilter::Modified Variance for beam 1 is 21.12 
Alpha[1]	0.000000
Alpha[1]	0.995597
TNavParticleFilter::Modified Variance for beam 2 is 21.72 
Alpha[2]	0.000000
Alpha[2]	0.993849
TNavParticleFilter::Modified Variance for beam 3 is 21.09 
Alpha[3]	0.000000
Alpha[3]	0.993344
TNavParticleFilter::Modified Variance for beam 4 is 21.27 
Alpha[4]	0.000000
Alpha[4]	0.995715
TNavParticleFilter::Modified Variance for beam 5 is 21.46 
Alpha[5]	0.000000
Alpha[5]	0.996573
TNavParticleFilter::Modified Variance for beam 6 is 20.90 
Alpha[6]	0.000000
Alpha[6]	0.996261
TNavParticleFilter::Modified Variance for beam 7 is 21.56 
Alpha[7]	0.000000
Alpha[7]	0.994940
TNavParticleFilter::Modified Variance for beam 8 is 21.44 
Alpha[8]	0.000000
Alpha[8]	0.993728
TNavParticleFilter::Modified Variance for beam 9 is 21.19 
Alpha[9]	0.000000
Alpha[9]	0.995096
TNavParticleFilter::Modified Variance for beam 10 is 21.95 
Alpha[10]	0.000000
Alpha[10]	0.996475
TNavParticleFilter::Modified Variance for beam 11 is 22.79 
Alpha[11]	0.000000
Alpha[11]	0.996638
TNavParticleFilter::Modified Variance for beam 12 is 23.71 
Alpha[12]	0.000000
Alpha[12]	0.996662
TNavParticleFilter::Modified Variance for beam 13 is 23.46 
Alpha[13]	0.000000
Alpha[13]	0.996260
TNavParticleFilter::Modified Variance for beam 14 is 23.50 
Alpha[14]	0.000000
Alpha[14]	0.997264
TNavParticleFilter::Modified Variance for beam 15 is 22.27 
Alpha[15]	0.000000
Alpha[15]	0.998053
TNavParticleFilter::Modified Variance for beam 16 is 23.32 
Alpha[16]	0.000000
Alpha[16]	0.997855
TNavParticleFilter::Modified Variance for beam 17 is 27.06 
Alpha[17]	0.000000
Alpha[17]	0.996515
TNavParticleFilter::Modified Variance for beam 18 is 27.28 
Alpha[18]	0.000000
Alpha[18]	0.994991
TNavParticleFilter::Modified Variance for beam 19 is 27.21 
Alpha[19]	0.000000
Alpha[19]	0.994987
TNavParticleFilter::Modified Variance for beam 20 is 27.90 
Alpha[20]	0.000000
Alpha[20]	0.995669
TNavParticleFilter::Modified Variance for beam 21 is 27.47 
Alpha[21]	0.000000
Alpha[21]	0.995398
TNavParticleFilter::Modified Variance for beam 22 is 27.00 
Alpha[22]	0.000000
Alpha[22]	0.997198
TNavParticleFilter::Modified Variance for beam 23 is 26.59 
Alpha[23]	0.000000
Alpha[23]	0.997799
TNavParticleFilter::Modified Variance for beam 24 is 24.79 
Alpha[24]	0.000000
Alpha[24]	0.997184
TNavParticleFilter::Modified Variance for beam 25 is 24.64 
Alpha[25]	0.000000
Alpha[25]	0.996345
TNavParticleFilter::Modified Variance for beam 26 is 25.59 
Alpha[26]	0.000000
Alpha[26]	0.996003
TNavParticleFilter::Modified Variance for beam 27 is 25.31 
Alpha[27]	0.000000
Alpha[27]	0.995205
TNavParticleFilter::Modified Variance for beam 28 is 25.03 
Alpha[28]	0.000000
Alpha[28]	0.995011
TNavParticleFilter::Modified Variance for beam 29 is 25.16 
Alpha[29]	0.000000
Alpha[29]	0.995603
TNavParticleFilter::Modified Variance for beam 30 is 25.89 
Alpha[30]	0.000000
Alpha[30]	0.994903
TNavParticleFilter::Modified Variance for beam 31 is 25.68 
Alpha[31]	0.000000
Alpha[31]	0.993289
TNavParticleFilter::Modified Variance for beam 32 is 25.39 
Alpha[32]	0.000000
Alpha[32]	0.995442
TNavParticleFilter::Modified Variance for beam 33 is 26.16 
Alpha[33]	0.000000
Alpha[33]	0.996884
TNavParticleFilter::Modified Variance for beam 34 is 26.30 
Alpha[34]	0.000000
Alpha[34]	0.997105
TNavParticleFilter::Modified Variance for beam 35 is 24.77 
Alpha[35]	0.000000
Alpha[35]	0.996380
TNavParticleFilter::Modified Variance for beam 36 is 23.34 
Alpha[36]	0.000000
Alpha[36]	0.995162
TNavParticleFilter::Modified Variance for beam 37 is 23.27 
Alpha[37]	0.000000
Alpha[37]	0.991859
TNavParticleFilter::Modified Variance for beam 38 is 23.14 
Alpha[38]	0.000000
Alpha[38]	0.991787
TNavParticleFilter::Modified Variance for beam 39 is 21.75 
Alpha[39]	0.000000
Alpha[39]	0.993536
TNavParticleFilter::Modified Variance for beam 40 is 21.70 
Alpha[40]	0.000000
Alpha[40]	0.991105
TNavParticleFilter::Modified Variance for beam 41 is 21.66 
Alpha[41]	0.000000
Alpha[41]	0.989115
TNavParticleFilter::Modified Variance for beam 42 is 21.58 
Alpha[42]	0.000000
Alpha[42]	0.989073
TNavParticleFilter::Modified Variance for beam 43 is 21.40 
Alpha[43]	0.000000
Alpha[43]	0.994791
TNavParticleFilter::Modified Variance for beam 44 is 21.32 
Alpha[44]	0.000000
Alpha[44]	0.996011
TNavParticleFilter::Modified Variance for beam 45 is 21.28 
Alpha[45]	0.000000
Alpha[45]	0.995821
TNavParticleFilter::Modified Variance for beam 46 is 21.26 
Alpha[46]	0.000000
Alpha[46]	0.995554
TNavParticleFilter::Modified Variance for beam 47 is 22.45 
Alpha[47]	0.000000
Alpha[47]	0.995168
TNavParticleFilter::Modified Variance for beam 48 is 22.44 
Alpha[48]	0.000000
Alpha[48]	0.995180
TNavParticleFilter::Modified Variance for beam 49 is 23.66 
Alpha[49]	0.000000
Alpha[49]	0.996178
TNavParticleFilter::Modified Variance for beam 50 is 23.67 
Alpha[50]	0.000000
Alpha[50]	0.996603
TNavParticleFilter::Modified Variance for beam 51 is 22.45 
Alpha[51]	0.000000
Alpha[51]	0.996891
TNavParticleFilter::Modified Variance for beam 52 is 22.48 
Alpha[52]	0.000000
Alpha[52]	0.996951
TNavParticleFilter::Modified Variance for beam 53 is 22.54 
Alpha[53]	0.000000
Alpha[53]	0.996509
TNavParticleFilter::Modified Variance for beam 54 is 22.28 
Alpha[54]	0.000000
Alpha[54]	0.996405
TNavParticleFilter::Modified Variance for beam 55 is 21.45 
Alpha[55]	0.000000
Alpha[55]	0.996857
TNavParticleFilter::Modified Variance for beam 56 is 21.50 
Alpha[56]	0.000000
Alpha[56]	0.998105
TNavParticleFilter::Modified Variance for beam 57 is 25.40 
Alpha[57]	0.000000
Alpha[57]	0.998080
TNavParticleFilter::Modified Variance for beam 58 is 22.96 
Alpha[58]	0.000000
Alpha[58]	0.997014
TNavParticleFilter::Modified Variance for beam 59 is 23.13 
Alpha[59]	0.000000
Alpha[59]	0.994988
TNavPF:: sumSquaredError = 44.931014 
TNavPF:: sumWeights = 0.022304 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -3.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -3.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.70. Range = 95.13 
TNavPF::Calculated measDiffMean for beam 51 as -0.04. Range = 77.74 
TNavPF::Calculated measDiffMean for beam 52 as 0.19. Range = 77.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.77. Range = 73.79 
TNavPF::Calculated measDiffMean for beam 54 as -1.24. Range = 71.99 
TNavPF::Calculated measDiffMean for beam 55 as -1.56. Range = 70.29 
TNavPF::Calculated measDiffMean for beam 56 as -0.14. Range = 68.70 
TNavPF::Calculated measDiffMean for beam 57 as -0.61. Range = 67.19 
TNavPF::Calculated measDiffMean for beam 58 as -1.26. Range = 65.77 
TNavPF::Calculated measDiffMean for beam 59 as -1.08. Range = 61.36 
TNavPF::Calculated measDiffMean for beam 60 as -0.02. Range = 60.16 
TNavPF::Calculated measDiffMean for beam 61 as -0.45. Range = 59.87 
TNavPF::Calculated measDiffMean for beam 62 as -0.76. Range = 60.82 
TNavPF::Calculated measDiffMean for beam 63 as 0.75. Range = 59.74 
TNavPF::Calculated measDiffMean for beam 64 as 1.02. Range = 60.13 
TNavPF::Calculated measDiffMean for beam 65 as -0.41. Range = 60.49 
TNavPF::Calculated measDiffMean for beam 66 as -1.72. Range = 59.52 
TNavPF::Calculated measDiffMean for beam 67 as -1.09. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 68 as -0.78. Range = 60.34 
TNavPF::Calculated measDiffMean for beam 69 as -2.06. Range = 59.97 
TNavPF::Calculated measDiffMean for beam 70 as -1.17. Range = 61.29 
TNavPF::Calculated measDiffMean for beam 71 as -0.87. Range = 62.68 
TNavPF::Calculated measDiffMean for beam 72 as -0.86. Range = 64.16 
TNavPF::Calculated measDiffMean for beam 73 as -1.73. Range = 63.74 
TNavPF::Calculated measDiffMean for beam 74 as -2.52. Range = 63.85 
TNavPF::Calculated measDiffMean for beam 75 as -2.55. Range = 61.88 
TNavPF::Calculated measDiffMean for beam 76 as -2.55. Range = 63.58 
TNavPF::Calculated measDiffMean for beam 77 as -0.90. Range = 69.25 
TNavPF::Calculated measDiffMean for beam 78 as -1.11. Range = 69.52 
TNavPF::Calculated measDiffMean for beam 79 as 0.69. Range = 69.42 
TNavPF::Calculated measDiffMean for beam 80 as 0.93. Range = 70.45 
TNavPF::Calculated measDiffMean for beam 81 as -0.53. Range = 69.80 
TNavPF::Calculated measDiffMean for beam 82 as -0.11. Range = 69.19 
TNavPF::Calculated measDiffMean for beam 83 as 0.27. Range = 68.61 
TNavPF::Calculated measDiffMean for beam 84 as 0.25. Range = 65.87 
TNavPF::Calculated measDiffMean for beam 85 as -0.74. Range = 65.61 
TNavPF::Calculated measDiffMean for beam 86 as -1.58. Range = 67.05 
TNavPF::Calculated measDiffMean for beam 87 as 3.81. Range = 66.58 
TNavPF::Calculated measDiffMean for beam 88 as -0.20. Range = 66.14 
TNavPF::Calculated measDiffMean for beam 89 as -0.98. Range = 66.38 
TNavPF::First Term of Map Covariance Matrix is 7.00 
TNavPF::Calculated NIS Value : 3.44 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322057.82 sec.
INS : North: 4070229.52, East: 589276.79, Depth: 889.87
TerrainNav::measUpdate() - IDT[45] = 62.11, IDT[75] = 59.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322060.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322060.62)
ARL : North: 0.2604, East: -2.3803, Depth: 2.0524ARL : Estimation Bias  (Mean)         : (t = 1488322060.62)
ARL : North: -0.6500, East: -2.5604, Depth: 0.2402TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 27.44 
Alpha[0]	0.123000
Alpha[0]	0.997990
TNavParticleFilter::Modified Variance for beam 1 is 26.31 
Alpha[1]	0.000000
Alpha[1]	0.997837
TNavParticleFilter::Modified Variance for beam 2 is 23.20 
Alpha[2]	0.000000
Alpha[2]	0.996731
TNavParticleFilter::Modified Variance for beam 3 is 22.38 
Alpha[3]	0.000000
Alpha[3]	0.994684
TNavParticleFilter::Modified Variance for beam 4 is 22.24 
Alpha[4]	0.000000
Alpha[4]	0.992524
TNavParticleFilter::Modified Variance for beam 5 is 22.76 
Alpha[5]	0.000000
Alpha[5]	0.991615
TNavParticleFilter::Modified Variance for beam 6 is 21.93 
Alpha[6]	0.000000
Alpha[6]	0.994469
TNavParticleFilter::Modified Variance for beam 7 is 22.26 
Alpha[7]	0.000000
Alpha[7]	0.995817
TNavParticleFilter::Modified Variance for beam 8 is 22.29 
Alpha[8]	0.000000
Alpha[8]	0.995276
TNavParticleFilter::Modified Variance for beam 9 is 21.86 
Alpha[9]	0.000000
Alpha[9]	0.993350
TNavParticleFilter::Modified Variance for beam 10 is 22.54 
Alpha[10]	0.000000
Alpha[10]	0.992191
TNavParticleFilter::Modified Variance for beam 11 is 22.07 
Alpha[11]	0.000000
Alpha[11]	0.993931
TNavParticleFilter::Modified Variance for beam 12 is 22.07 
Alpha[12]	0.000000
Alpha[12]	0.995656
TNavParticleFilter::Modified Variance for beam 13 is 20.98 
Alpha[13]	0.000000
Alpha[13]	0.995951
TNavParticleFilter::Modified Variance for beam 14 is 21.69 
Alpha[14]	0.000000
Alpha[14]	0.996012
TNavParticleFilter::Modified Variance for beam 15 is 22.46 
Alpha[15]	0.000000
Alpha[15]	0.995822
TNavParticleFilter::Modified Variance for beam 16 is 22.37 
Alpha[16]	0.000000
Alpha[16]	0.997095
TNavParticleFilter::Modified Variance for beam 17 is 22.10 
Alpha[17]	0.000000
Alpha[17]	0.997744
TNavParticleFilter::Modified Variance for beam 18 is 22.99 
Alpha[18]	0.000000
Alpha[18]	0.997423
TNavParticleFilter::Modified Variance for beam 19 is 26.21 
Alpha[19]	0.000000
Alpha[19]	0.996085
TNavParticleFilter::Modified Variance for beam 20 is 27.37 
Alpha[20]	0.000000
Alpha[20]	0.995937
TNavParticleFilter::Modified Variance for beam 21 is 27.72 
Alpha[21]	0.000000
Alpha[21]	0.995925
TNavParticleFilter::Modified Variance for beam 22 is 27.37 
Alpha[22]	0.000000
Alpha[22]	0.996622
TNavParticleFilter::Modified Variance for beam 23 is 28.24 
Alpha[23]	0.000000
Alpha[23]	0.997076
TNavParticleFilter::Modified Variance for beam 24 is 27.69 
Alpha[24]	0.000000
Alpha[24]	0.998175
TNavParticleFilter::Modified Variance for beam 25 is 27.21 
Alpha[25]	0.000000
Alpha[25]	0.998200
TNavParticleFilter::Modified Variance for beam 26 is 26.78 
Alpha[26]	0.000000
Alpha[26]	0.997208
TNavParticleFilter::Modified Variance for beam 27 is 24.87 
Alpha[27]	0.000000
Alpha[27]	0.996693
TNavParticleFilter::Modified Variance for beam 28 is 24.88 
Alpha[28]	0.000000
Alpha[28]	0.996422
TNavParticleFilter::Modified Variance for beam 29 is 25.61 
Alpha[29]	0.000000
Alpha[29]	0.995042
TNavParticleFilter::Modified Variance for beam 30 is 25.25 
Alpha[30]	0.000000
Alpha[30]	0.995251
TNavParticleFilter::Modified Variance for beam 31 is 24.90 
Alpha[31]	0.000000
Alpha[31]	0.995906
TNavParticleFilter::Modified Variance for beam 32 is 25.20 
Alpha[32]	0.000000
Alpha[32]	0.995149
TNavParticleFilter::Modified Variance for beam 33 is 25.72 
Alpha[33]	0.000000
Alpha[33]	0.994426
TNavParticleFilter::Modified Variance for beam 34 is 25.37 
Alpha[34]	0.000000
Alpha[34]	0.996587
TNavParticleFilter::Modified Variance for beam 35 is 25.07 
Alpha[35]	0.000000
Alpha[35]	0.997260
TNavParticleFilter::Modified Variance for beam 36 is 25.82 
Alpha[36]	0.000000
Alpha[36]	0.997187
TNavParticleFilter::Modified Variance for beam 37 is 25.97 
Alpha[37]	0.000000
Alpha[37]	0.996034
TNavParticleFilter::Modified Variance for beam 38 is 24.42 
Alpha[38]	0.000000
Alpha[38]	0.994079
TNavParticleFilter::Modified Variance for beam 39 is 22.95 
Alpha[39]	0.000000
Alpha[39]	0.991976
TNavParticleFilter::Modified Variance for beam 40 is 22.75 
Alpha[40]	0.000000
Alpha[40]	0.992757
TNavParticleFilter::Modified Variance for beam 41 is 22.59 
Alpha[41]	0.000000
Alpha[41]	0.992579
TNavParticleFilter::Modified Variance for beam 42 is 21.32 
Alpha[42]	0.000000
Alpha[42]	0.986848
TNavParticleFilter::Modified Variance for beam 43 is 21.22 
Alpha[43]	0.000000
Alpha[43]	0.985515
TNavParticleFilter::Modified Variance for beam 44 is 21.05 
Alpha[44]	0.000000
Alpha[44]	0.987610
TNavParticleFilter::Modified Variance for beam 45 is 20.79 
Alpha[45]	0.000000
Alpha[45]	0.994706
TNavParticleFilter::Modified Variance for beam 46 is 20.67 
Alpha[46]	0.000000
Alpha[46]	0.995962
TNavParticleFilter::Modified Variance for beam 47 is 20.58 
Alpha[47]	0.000000
Alpha[47]	0.996020
TNavParticleFilter::Modified Variance for beam 48 is 20.50 
Alpha[48]	0.000000
Alpha[48]	0.996336
TNavParticleFilter::Modified Variance for beam 49 is 20.45 
Alpha[49]	0.000000
Alpha[49]	0.996022
TNavParticleFilter::Modified Variance for beam 50 is 21.57 
Alpha[50]	0.000000
Alpha[50]	0.996164
TNavParticleFilter::Modified Variance for beam 51 is 21.50 
Alpha[51]	0.000000
Alpha[51]	0.997064
TNavParticleFilter::Modified Variance for beam 52 is 22.66 
Alpha[52]	0.000000
Alpha[52]	0.997656
TNavParticleFilter::Modified Variance for beam 53 is 22.64 
Alpha[53]	0.000000
Alpha[53]	0.997704
TNavParticleFilter::Modified Variance for beam 54 is 21.43 
Alpha[54]	0.000000
Alpha[54]	0.997343
TNavParticleFilter::Modified Variance for beam 55 is 21.44 
Alpha[55]	0.000000
Alpha[55]	0.996652
TNavParticleFilter::Modified Variance for beam 56 is 21.45 
Alpha[56]	0.000000
Alpha[56]	0.996738
TNavParticleFilter::Modified Variance for beam 57 is 21.46 
Alpha[57]	0.000000
Alpha[57]	0.997043
TNavParticleFilter::Modified Variance for beam 58 is 20.30 
Alpha[58]	0.000000
Alpha[58]	0.998200
TNavParticleFilter::Modified Variance for beam 59 is 20.33 
Alpha[59]	0.000000
Alpha[59]	0.998324
TNavPF:: sumSquaredError = 46.150779 
TNavPF:: sumWeights = 0.011932 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -3.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -3.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -2.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -2.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -4.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -4.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 1.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 1.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 2.34. Range = 79.99 
TNavPF::Calculated measDiffMean for beam 56 as 2.24. Range = 77.69 
TNavPF::Calculated measDiffMean for beam 57 as -0.69. Range = 75.54 
TNavPF::Calculated measDiffMean for beam 58 as -0.68. Range = 73.53 
TNavPF::Calculated measDiffMean for beam 59 as 0.36. Range = 71.64 
TNavPF::Calculated measDiffMean for beam 60 as -0.26. Range = 69.87 
TNavPF::Calculated measDiffMean for beam 61 as -0.71. Range = 68.20 
TNavPF::Calculated measDiffMean for beam 62 as -0.31. Range = 63.33 
TNavPF::Calculated measDiffMean for beam 63 as 0.43. Range = 61.93 
TNavPF::Calculated measDiffMean for beam 64 as 0.35. Range = 61.63 
TNavPF::Calculated measDiffMean for beam 65 as 0.34. Range = 62.44 
TNavPF::Calculated measDiffMean for beam 66 as 1.58. Range = 61.19 
TNavPF::Calculated measDiffMean for beam 67 as 2.74. Range = 61.77 
TNavPF::Calculated measDiffMean for beam 68 as 1.30. Range = 61.81 
TNavPF::Calculated measDiffMean for beam 69 as -0.31. Range = 61.04 
TNavPF::Calculated measDiffMean for beam 70 as 0.02. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 71 as 0.93. Range = 61.40 
TNavPF::Calculated measDiffMean for beam 72 as -0.59. Range = 61.46 
TNavPF::Calculated measDiffMean for beam 73 as -0.46. Range = 59.64 
TNavPF::Calculated measDiffMean for beam 74 as -0.59. Range = 60.84 
TNavPF::Calculated measDiffMean for beam 75 as -1.49. Range = 62.11 
TNavPF::Calculated measDiffMean for beam 76 as -1.94. Range = 62.01 
TNavPF::Calculated measDiffMean for beam 77 as -1.90. Range = 61.59 
TNavPF::Calculated measDiffMean for beam 78 as -1.94. Range = 63.03 
TNavPF::Calculated measDiffMean for beam 79 as -2.43. Range = 67.98 
TNavPF::Calculated measDiffMean for beam 80 as -0.56. Range = 69.68 
TNavPF::Calculated measDiffMean for beam 81 as -0.75. Range = 70.19 
TNavPF::Calculated measDiffMean for beam 82 as 1.59. Range = 69.72 
TNavPF::Calculated measDiffMean for beam 83 as 2.15. Range = 70.99 
TNavPF::Calculated measDiffMean for beam 84 as 0.45. Range = 70.25 
TNavPF::Calculated measDiffMean for beam 85 as 0.79. Range = 69.54 
TNavPF::Calculated measDiffMean for beam 86 as 1.35. Range = 68.87 
TNavPF::Calculated measDiffMean for beam 87 as 1.85. Range = 65.97 
TNavPF::Calculated measDiffMean for beam 88 as -1.02. Range = 65.97 
TNavPF::Calculated measDiffMean for beam 89 as -1.96. Range = 67.04 
TNavPF::First Term of Map Covariance Matrix is 9.94 
TNavPF::Calculated NIS Value : 5.01 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322060.82 sec.
INS : North: 4070227.95, East: 589273.03, Depth: 889.87
TerrainNav::measUpdate() - IDT[45] = 69.36, IDT[75] = 59.23
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322063.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322063.62)
ARL : North: -0.3720, East: -2.5579, Depth: 2.6546ARL : Estimation Bias  (Mean)         : (t = 1488322063.62)
ARL : North: -0.5313, East: -2.0233, Depth: 0.6306TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.76 
Alpha[0]	0.123000
Alpha[0]	0.997644
TNavParticleFilter::Modified Variance for beam 1 is 25.49 
Alpha[1]	0.000000
Alpha[1]	0.997864
TNavParticleFilter::Modified Variance for beam 2 is 24.91 
Alpha[2]	0.000000
Alpha[2]	0.997506
TNavParticleFilter::Modified Variance for beam 3 is 25.20 
Alpha[3]	0.000000
Alpha[3]	0.996721
TNavParticleFilter::Modified Variance for beam 4 is 25.29 
Alpha[4]	0.000000
Alpha[4]	0.997229
TNavParticleFilter::Modified Variance for beam 5 is 24.88 
Alpha[5]	0.000000
Alpha[5]	0.997678
TNavParticleFilter::Modified Variance for beam 6 is 27.87 
Alpha[6]	0.000000
Alpha[6]	0.997367
TNavParticleFilter::Modified Variance for beam 7 is 26.80 
Alpha[7]	0.000000
Alpha[7]	0.995901
TNavParticleFilter::Modified Variance for beam 8 is 27.85 
Alpha[8]	0.000000
Alpha[8]	0.993795
TNavParticleFilter::Modified Variance for beam 9 is 28.98 
Alpha[9]	0.000000
Alpha[9]	0.993466
TNavParticleFilter::Modified Variance for beam 10 is 28.39 
Alpha[10]	0.000000
Alpha[10]	0.993622
TNavParticleFilter::Modified Variance for beam 11 is 28.98 
Alpha[11]	0.000000
Alpha[11]	0.994167
TNavParticleFilter::Modified Variance for beam 12 is 28.78 
Alpha[12]	0.000000
Alpha[12]	0.996881
TNavParticleFilter::Modified Variance for beam 13 is 28.17 
Alpha[13]	0.000000
Alpha[13]	0.997643
TNavParticleFilter::Modified Variance for beam 14 is 27.64 
Alpha[14]	0.000000
Alpha[14]	0.996922
TNavParticleFilter::Modified Variance for beam 15 is 27.15 
Alpha[15]	0.000000
Alpha[15]	0.995864
TNavParticleFilter::Modified Variance for beam 16 is 26.67 
Alpha[16]	0.000000
Alpha[16]	0.995394
TNavParticleFilter::Modified Variance for beam 17 is 26.24 
Alpha[17]	0.000000
Alpha[17]	0.994363
TNavParticleFilter::Modified Variance for beam 18 is 25.80 
Alpha[18]	0.000000
Alpha[18]	0.994635
TNavParticleFilter::Modified Variance for beam 19 is 26.73 
Alpha[19]	0.000000
Alpha[19]	0.995361
TNavParticleFilter::Modified Variance for beam 20 is 26.48 
Alpha[20]	0.000000
Alpha[20]	0.994731
TNavParticleFilter::Modified Variance for beam 21 is 26.13 
Alpha[21]	0.000000
Alpha[21]	0.993514
TNavParticleFilter::Modified Variance for beam 22 is 25.72 
Alpha[22]	0.000000
Alpha[22]	0.995137
TNavParticleFilter::Modified Variance for beam 23 is 26.80 
Alpha[23]	0.000000
Alpha[23]	0.996617
TNavParticleFilter::Modified Variance for beam 24 is 26.45 
Alpha[24]	0.000000
Alpha[24]	0.996943
TNavParticleFilter::Modified Variance for beam 25 is 26.12 
Alpha[25]	0.000000
Alpha[25]	0.997017
TNavParticleFilter::Modified Variance for beam 26 is 24.45 
Alpha[26]	0.000000
Alpha[26]	0.996201
TNavParticleFilter::Modified Variance for beam 27 is 22.93 
Alpha[27]	0.000000
Alpha[27]	0.993204
TNavParticleFilter::Modified Variance for beam 28 is 22.69 
Alpha[28]	0.000000
Alpha[28]	0.993659
TNavParticleFilter::Modified Variance for beam 29 is 22.46 
Alpha[29]	0.000000
Alpha[29]	0.994276
TNavParticleFilter::Modified Variance for beam 30 is 21.06 
Alpha[30]	0.000000
Alpha[30]	0.991940
TNavParticleFilter::Modified Variance for beam 31 is 20.88 
Alpha[31]	0.000000
Alpha[31]	0.992106
TNavParticleFilter::Modified Variance for beam 32 is 20.71 
Alpha[32]	0.000000
Alpha[32]	0.992772
TNavParticleFilter::Modified Variance for beam 33 is 20.50 
Alpha[33]	0.000000
Alpha[33]	0.995450
TNavParticleFilter::Modified Variance for beam 34 is 22.79 
Alpha[34]	0.000000
Alpha[34]	0.996256
TNavParticleFilter::Modified Variance for beam 35 is 22.65 
Alpha[35]	0.000000
Alpha[35]	0.996297
TNavParticleFilter::Modified Variance for beam 36 is 22.54 
Alpha[36]	0.000000
Alpha[36]	0.995659
TNavParticleFilter::Modified Variance for beam 37 is 22.45 
Alpha[37]	0.000000
Alpha[37]	0.994341
TNavParticleFilter::Modified Variance for beam 38 is 22.35 
Alpha[38]	0.000000
Alpha[38]	0.994384
TNavParticleFilter::Modified Variance for beam 39 is 22.22 
Alpha[39]	0.000000
Alpha[39]	0.996110
TNavParticleFilter::Modified Variance for beam 40 is 20.92 
Alpha[40]	0.000000
Alpha[40]	0.996889
TNavParticleFilter::Modified Variance for beam 41 is 20.87 
Alpha[41]	0.000000
Alpha[41]	0.996491
TNavParticleFilter::Modified Variance for beam 42 is 22.02 
Alpha[42]	0.000000
Alpha[42]	0.995807
TNavParticleFilter::Modified Variance for beam 43 is 21.99 
Alpha[43]	0.000000
Alpha[43]	0.995548
TNavParticleFilter::Modified Variance for beam 44 is 20.75 
Alpha[44]	0.000000
Alpha[44]	0.996181
TNavParticleFilter::Modified Variance for beam 45 is 20.72 
Alpha[45]	0.000000
Alpha[45]	0.996854
TNavParticleFilter::Modified Variance for beam 46 is 20.69 
Alpha[46]	0.000000
Alpha[46]	0.997744
TNavParticleFilter::Modified Variance for beam 47 is 21.87 
Alpha[47]	0.000000
Alpha[47]	0.997898
TNavParticleFilter::Modified Variance for beam 48 is 23.13 
Alpha[48]	0.000000
Alpha[48]	0.997111
TNavParticleFilter::Modified Variance for beam 49 is 20.78 
Alpha[49]	0.000000
Alpha[49]	0.995084
TNavParticleFilter::Modified Variance for beam 50 is 20.84 
Alpha[50]	0.000000
Alpha[50]	0.993922
TNavParticleFilter::Modified Variance for beam 51 is 22.14 
Alpha[51]	0.000000
Alpha[51]	0.991079
TNavParticleFilter::Modified Variance for beam 52 is 22.24 
Alpha[52]	0.000000
Alpha[52]	0.989235
TNavParticleFilter::Modified Variance for beam 53 is 22.28 
Alpha[53]	0.000000
Alpha[53]	0.990564
TNavParticleFilter::Modified Variance for beam 54 is 22.30 
Alpha[54]	0.000000
Alpha[54]	0.993396
TNavParticleFilter::Modified Variance for beam 55 is 21.14 
Alpha[55]	0.000000
Alpha[55]	0.995126
TNavParticleFilter::Modified Variance for beam 56 is 21.23 
Alpha[56]	0.000000
Alpha[56]	0.995622
TNavParticleFilter::Modified Variance for beam 57 is 22.61 
Alpha[57]	0.000000
Alpha[57]	0.993611
TNavParticleFilter::Modified Variance for beam 58 is 22.67 
Alpha[58]	0.000000
Alpha[58]	0.993828
TNavParticleFilter::Modified Variance for beam 59 is 21.67 
Alpha[59]	0.000000
Alpha[59]	0.992250
TNavPF:: sumSquaredError = 10.909886 
TNavPF:: sumWeights = 0.028183 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 2.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -1.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.56. Range = 84.60 
TNavPF::Calculated measDiffMean for beam 45 as 1.10. Range = 84.02 
TNavPF::Calculated measDiffMean for beam 46 as 0.48. Range = 91.49 
TNavPF::Calculated measDiffMean for beam 47 as 0.01. Range = 77.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.66. Range = 74.80 
TNavPF::Calculated measDiffMean for beam 49 as 0.76. Range = 72.75 
TNavPF::Calculated measDiffMean for beam 50 as 0.46. Range = 70.83 
TNavPF::Calculated measDiffMean for beam 51 as 0.13. Range = 69.03 
TNavPF::Calculated measDiffMean for beam 52 as -0.20. Range = 67.34 
TNavPF::Calculated measDiffMean for beam 53 as 1.73. Range = 65.74 
TNavPF::Calculated measDiffMean for beam 54 as 1.37. Range = 65.24 
TNavPF::Calculated measDiffMean for beam 55 as 1.96. Range = 66.04 
TNavPF::Calculated measDiffMean for beam 56 as 0.77. Range = 64.63 
TNavPF::Calculated measDiffMean for beam 57 as -0.64. Range = 65.43 
TNavPF::Calculated measDiffMean for beam 58 as -0.18. Range = 65.07 
TNavPF::Calculated measDiffMean for beam 59 as 0.88. Range = 64.77 
TNavPF::Calculated measDiffMean for beam 60 as -0.58. Range = 65.83 
TNavPF::Calculated measDiffMean for beam 61 as -0.44. Range = 66.96 
TNavPF::Calculated measDiffMean for beam 62 as -0.68. Range = 66.06 
TNavPF::Calculated measDiffMean for beam 63 as -1.73. Range = 66.47 
TNavPF::Calculated measDiffMean for beam 64 as 1.62. Range = 66.63 
TNavPF::Calculated measDiffMean for beam 65 as 1.64. Range = 66.02 
TNavPF::Calculated measDiffMean for beam 66 as 1.57. Range = 70.47 
TNavPF::Calculated measDiffMean for beam 67 as 1.19. Range = 68.85 
TNavPF::Calculated measDiffMean for beam 68 as 1.05. Range = 70.30 
TNavPF::Calculated measDiffMean for beam 69 as 0.87. Range = 71.89 
TNavPF::Calculated measDiffMean for beam 70 as -1.04. Range = 71.07 
TNavPF::Calculated measDiffMean for beam 71 as -0.59. Range = 71.92 
TNavPF::Calculated measDiffMean for beam 72 as 1.75. Range = 71.75 
TNavPF::Calculated measDiffMean for beam 73 as 2.14. Range = 70.91 
TNavPF::Calculated measDiffMean for beam 74 as 0.66. Range = 70.12 
TNavPF::Calculated measDiffMean for beam 75 as 1.05. Range = 69.36 
TNavPF::Calculated measDiffMean for beam 76 as 0.39. Range = 68.64 
TNavPF::Calculated measDiffMean for beam 77 as 1.50. Range = 67.96 
TNavPF::Calculated measDiffMean for beam 78 as 3.32. Range = 67.30 
TNavPF::Calculated measDiffMean for beam 79 as -0.90. Range = 68.72 
TNavPF::Calculated measDiffMean for beam 80 as -1.68. Range = 68.33 
TNavPF::Calculated measDiffMean for beam 81 as -0.39. Range = 67.75 
TNavPF::Calculated measDiffMean for beam 82 as -0.46. Range = 67.21 
TNavPF::Calculated measDiffMean for beam 83 as -0.12. Range = 68.87 
TNavPF::Calculated measDiffMean for beam 84 as 0.95. Range = 68.36 
TNavPF::Calculated measDiffMean for beam 85 as -0.65. Range = 67.89 
TNavPF::Calculated measDiffMean for beam 86 as -1.50. Range = 65.30 
TNavPF::Calculated measDiffMean for beam 87 as -0.08. Range = 62.77 
TNavPF::Calculated measDiffMean for beam 88 as -0.12. Range = 62.40 
TNavPF::Calculated measDiffMean for beam 89 as -1.67. Range = 62.05 
TNavPF::First Term of Map Covariance Matrix is 8.48 
TNavPF::Calculated NIS Value : 2.90 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322063.82 sec.
INS : North: 4070226.94, East: 589269.11, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 59.83, IDT[75] = 60.07
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322066.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322066.62)
ARL : North: -0.2279, East: -2.7616, Depth: 1.8963ARL : Estimation Bias  (Mean)         : (t = 1488322066.62)
ARL : North: -0.4840, East: -1.5960, Depth: 0.2565TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 29.40 
Alpha[0]	0.123000
Alpha[0]	0.994147
TNavParticleFilter::Modified Variance for beam 1 is 29.00 
Alpha[1]	0.000000
Alpha[1]	0.993521
TNavParticleFilter::Modified Variance for beam 2 is 28.46 
Alpha[2]	0.000000
Alpha[2]	0.993473
TNavParticleFilter::Modified Variance for beam 3 is 28.29 
Alpha[3]	0.000000
Alpha[3]	0.994516
TNavParticleFilter::Modified Variance for beam 4 is 29.04 
Alpha[4]	0.000000
Alpha[4]	0.994365
TNavParticleFilter::Modified Variance for beam 5 is 28.59 
Alpha[5]	0.000000
Alpha[5]	0.993055
TNavParticleFilter::Modified Variance for beam 6 is 28.16 
Alpha[6]	0.000000
Alpha[6]	0.992110
TNavParticleFilter::Modified Variance for beam 7 is 27.67 
Alpha[7]	0.000000
Alpha[7]	0.994201
TNavParticleFilter::Modified Variance for beam 8 is 27.37 
Alpha[8]	0.000000
Alpha[8]	0.996006
TNavParticleFilter::Modified Variance for beam 9 is 25.35 
Alpha[9]	0.000000
Alpha[9]	0.997049
TNavParticleFilter::Modified Variance for beam 10 is 25.00 
Alpha[10]	0.000000
Alpha[10]	0.997620
TNavParticleFilter::Modified Variance for beam 11 is 24.71 
Alpha[11]	0.000000
Alpha[11]	0.996614
TNavParticleFilter::Modified Variance for beam 12 is 24.48 
Alpha[12]	0.000000
Alpha[12]	0.994055
TNavParticleFilter::Modified Variance for beam 13 is 24.16 
Alpha[13]	0.000000
Alpha[13]	0.995779
TNavParticleFilter::Modified Variance for beam 14 is 22.59 
Alpha[14]	0.000000
Alpha[14]	0.995376
TNavParticleFilter::Modified Variance for beam 15 is 21.08 
Alpha[15]	0.000000
Alpha[15]	0.996448
TNavParticleFilter::Modified Variance for beam 16 is 20.93 
Alpha[16]	0.000000
Alpha[16]	0.996732
TNavParticleFilter::Modified Variance for beam 17 is 23.11 
Alpha[17]	0.000000
Alpha[17]	0.995829
TNavParticleFilter::Modified Variance for beam 18 is 23.04 
Alpha[18]	0.000000
Alpha[18]	0.995681
TNavParticleFilter::Modified Variance for beam 19 is 22.85 
Alpha[19]	0.000000
Alpha[19]	0.995913
TNavParticleFilter::Modified Variance for beam 20 is 22.73 
Alpha[20]	0.000000
Alpha[20]	0.994243
TNavParticleFilter::Modified Variance for beam 21 is 22.65 
Alpha[21]	0.000000
Alpha[21]	0.991001
TNavParticleFilter::Modified Variance for beam 22 is 22.51 
Alpha[22]	0.000000
Alpha[22]	0.990963
TNavParticleFilter::Modified Variance for beam 23 is 23.58 
Alpha[23]	0.000000
Alpha[23]	0.993850
TNavParticleFilter::Modified Variance for beam 24 is 23.42 
Alpha[24]	0.000000
Alpha[24]	0.995461
TNavParticleFilter::Modified Variance for beam 25 is 22.08 
Alpha[25]	0.000000
Alpha[25]	0.994790
TNavParticleFilter::Modified Variance for beam 26 is 22.04 
Alpha[26]	0.000000
Alpha[26]	0.992996
TNavParticleFilter::Modified Variance for beam 27 is 20.76 
Alpha[27]	0.000000
Alpha[27]	0.993359
TNavParticleFilter::Modified Variance for beam 28 is 20.66 
Alpha[28]	0.000000
Alpha[28]	0.994874
TNavParticleFilter::Modified Variance for beam 29 is 20.58 
Alpha[29]	0.000000
Alpha[29]	0.996581
TNavParticleFilter::Modified Variance for beam 30 is 21.71 
Alpha[30]	0.000000
Alpha[30]	0.996974
TNavParticleFilter::Modified Variance for beam 31 is 21.68 
Alpha[31]	0.000000
Alpha[31]	0.996780
TNavParticleFilter::Modified Variance for beam 32 is 20.50 
Alpha[32]	0.000000
Alpha[32]	0.996339
TNavParticleFilter::Modified Variance for beam 33 is 20.50 
Alpha[33]	0.000000
Alpha[33]	0.995598
TNavParticleFilter::Modified Variance for beam 34 is 22.92 
Alpha[34]	0.000000
Alpha[34]	0.994846
TNavParticleFilter::Modified Variance for beam 35 is 23.01 
Alpha[35]	0.000000
Alpha[35]	0.991543
TNavParticleFilter::Modified Variance for beam 36 is 23.11 
Alpha[36]	0.000000
Alpha[36]	0.988305
TNavParticleFilter::Modified Variance for beam 37 is 23.15 
Alpha[37]	0.000000
Alpha[37]	0.988282
TNavParticleFilter::Modified Variance for beam 38 is 21.90 
Alpha[38]	0.000000
Alpha[38]	0.991352
TNavParticleFilter::Modified Variance for beam 39 is 21.91 
Alpha[39]	0.000000
Alpha[39]	0.993431
TNavParticleFilter::Modified Variance for beam 40 is 23.19 
Alpha[40]	0.000000
Alpha[40]	0.994620
TNavParticleFilter::Modified Variance for beam 41 is 23.31 
Alpha[41]	0.000000
Alpha[41]	0.993134
TNavParticleFilter::Modified Variance for beam 42 is 23.41 
Alpha[42]	0.000000
Alpha[42]	0.993487
TNavParticleFilter::Modified Variance for beam 43 is 22.19 
Alpha[43]	0.000000
Alpha[43]	0.994675
TNavParticleFilter::Modified Variance for beam 44 is 21.18 
Alpha[44]	0.000000
Alpha[44]	0.992577
TNavParticleFilter::Modified Variance for beam 45 is 21.38 
Alpha[45]	0.000000
Alpha[45]	0.988689
TNavParticleFilter::Modified Variance for beam 46 is 21.56 
Alpha[46]	0.000000
Alpha[46]	0.987032
TNavParticleFilter::Modified Variance for beam 47 is 21.81 
Alpha[47]	0.000000
Alpha[47]	0.982470
TNavParticleFilter::Modified Variance for beam 48 is 21.95 
Alpha[48]	0.000000
Alpha[48]	0.983407
TNavParticleFilter::Modified Variance for beam 49 is 21.76 
Alpha[49]	0.000000
Alpha[49]	0.987337
TNavParticleFilter::Modified Variance for beam 50 is 20.84 
Alpha[50]	0.000000
Alpha[50]	0.993537
TNavParticleFilter::Modified Variance for beam 51 is 21.00 
Alpha[51]	0.000000
Alpha[51]	0.994839
TNavParticleFilter::Modified Variance for beam 52 is 21.29 
Alpha[52]	0.000000
Alpha[52]	0.990765
TNavParticleFilter::Modified Variance for beam 53 is 21.53 
Alpha[53]	0.000000
Alpha[53]	0.989718
TNavParticleFilter::Modified Variance for beam 54 is 21.69 
Alpha[54]	0.000000
Alpha[54]	0.993378
TNavParticleFilter::Modified Variance for beam 55 is 21.65 
Alpha[55]	0.000000
Alpha[55]	0.993642
TNavParticleFilter::Modified Variance for beam 56 is 20.21 
Alpha[56]	0.000000
Alpha[56]	0.991911
TNavParticleFilter::Modified Variance for beam 57 is 18.88 
Alpha[57]	0.000000
Alpha[57]	0.993602
TNavParticleFilter::Modified Variance for beam 58 is 18.88 
Alpha[58]	0.000000
Alpha[58]	0.995740
TNavParticleFilter::Modified Variance for beam 59 is 19.12 
Alpha[59]	0.000000
Alpha[59]	0.996228
TNavPF:: sumSquaredError = 55.948251 
TNavPF:: sumWeights = 0.025397 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.15. Range = 87.20 
TNavPF::Calculated measDiffMean for beam 31 as 1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.24. Range = 84.91 
TNavPF::Calculated measDiffMean for beam 33 as 0.97. Range = 82.30 
TNavPF::Calculated measDiffMean for beam 34 as 2.06. Range = 79.87 
TNavPF::Calculated measDiffMean for beam 35 as 1.71. Range = 77.61 
TNavPF::Calculated measDiffMean for beam 36 as 1.48. Range = 75.49 
TNavPF::Calculated measDiffMean for beam 37 as 0.99. Range = 69.90 
TNavPF::Calculated measDiffMean for beam 38 as 0.61. Range = 68.13 
TNavPF::Calculated measDiffMean for beam 39 as -2.01. Range = 68.74 
TNavPF::Calculated measDiffMean for beam 40 as -1.05. Range = 68.24 
TNavPF::Calculated measDiffMean for beam 41 as 0.29. Range = 68.02 
TNavPF::Calculated measDiffMean for beam 42 as 1.15. Range = 68.43 
TNavPF::Calculated measDiffMean for beam 43 as 2.16. Range = 67.34 
TNavPF::Calculated measDiffMean for beam 44 as 1.04. Range = 68.35 
TNavPF::Calculated measDiffMean for beam 45 as -0.99. Range = 69.40 
TNavPF::Calculated measDiffMean for beam 46 as -1.09. Range = 68.99 
TNavPF::Calculated measDiffMean for beam 47 as 2.12. Range = 68.91 
TNavPF::Calculated measDiffMean for beam 48 as 1.19. Range = 70.09 
TNavPF::Calculated measDiffMean for beam 49 as 0.92. Range = 71.34 
TNavPF::Calculated measDiffMean for beam 50 as 1.07. Range = 72.66 
TNavPF::Calculated measDiffMean for beam 51 as 0.89. Range = 74.05 
TNavPF::Calculated measDiffMean for beam 52 as 0.75. Range = 75.52 
TNavPF::Calculated measDiffMean for beam 53 as 2.70. Range = 74.47 
TNavPF::Calculated measDiffMean for beam 54 as 2.48. Range = 73.39 
TNavPF::Calculated measDiffMean for beam 55 as 0.80. Range = 73.94 
TNavPF::Calculated measDiffMean for beam 56 as 1.20. Range = 73.91 
TNavPF::Calculated measDiffMean for beam 57 as -0.40. Range = 72.95 
TNavPF::Calculated measDiffMean for beam 58 as -0.03. Range = 72.04 
TNavPF::Calculated measDiffMean for beam 59 as 0.27. Range = 71.17 
TNavPF::Calculated measDiffMean for beam 60 as 2.03. Range = 72.52 
TNavPF::Calculated measDiffMean for beam 61 as 1.31. Range = 71.93 
TNavPF::Calculated measDiffMean for beam 62 as -0.99. Range = 71.15 
TNavPF::Calculated measDiffMean for beam 63 as -1.17. Range = 70.96 
TNavPF::Calculated measDiffMean for beam 64 as 2.48. Range = 72.01 
TNavPF::Calculated measDiffMean for beam 65 as 1.79. Range = 71.33 
TNavPF::Calculated measDiffMean for beam 66 as 1.68. Range = 70.67 
TNavPF::Calculated measDiffMean for beam 67 as 1.87. Range = 70.05 
TNavPF::Calculated measDiffMean for beam 68 as 0.43. Range = 69.68 
TNavPF::Calculated measDiffMean for beam 69 as 1.20. Range = 66.71 
TNavPF::Calculated measDiffMean for beam 70 as 2.97. Range = 66.20 
TNavPF::Calculated measDiffMean for beam 71 as 2.28. Range = 65.72 
TNavPF::Calculated measDiffMean for beam 72 as 2.07. Range = 65.26 
TNavPF::Calculated measDiffMean for beam 73 as 0.17. Range = 64.83 
TNavPF::Calculated measDiffMean for beam 74 as -0.93. Range = 62.31 
TNavPF::Calculated measDiffMean for beam 75 as -0.35. Range = 59.83 
TNavPF::Calculated measDiffMean for beam 76 as -0.02. Range = 59.58 
TNavPF::Calculated measDiffMean for beam 77 as 0.19. Range = 63.16 
TNavPF::Calculated measDiffMean for beam 78 as 0.06. Range = 63.04 
TNavPF::Calculated measDiffMean for beam 79 as -0.48. Range = 62.75 
TNavPF::Calculated measDiffMean for beam 80 as -1.83. Range = 62.48 
TNavPF::Calculated measDiffMean for beam 81 as -1.14. Range = 62.24 
TNavPF::Calculated measDiffMean for beam 82 as -0.00. Range = 62.01 
TNavPF::Calculated measDiffMean for beam 83 as 0.69. Range = 63.84 
TNavPF::Calculated measDiffMean for beam 84 as 0.61. Range = 63.65 
TNavPF::Calculated measDiffMean for beam 85 as 0.31. Range = 61.45 
TNavPF::Calculated measDiffMean for beam 86 as -1.41. Range = 61.31 
TNavPF::Calculated measDiffMean for beam 87 as -2.40. Range = 59.17 
TNavPF::Calculated measDiffMean for beam 88 as -1.36. Range = 59.06 
TNavPF::Calculated measDiffMean for beam 89 as -0.72. Range = 58.98 
TNavPF::First Term of Map Covariance Matrix is 3.41 
TNavPF::Calculated NIS Value : 3.75 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322066.82 sec.
INS : North: 4070226.66, East: 589265.07, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 63.93, IDT[75] = 59.60
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322069.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322069.62)
ARL : North: -0.3321, East: -2.0777, Depth: 3.1762ARL : Estimation Bias  (Mean)         : (t = 1488322069.62)
ARL : North: -0.2198, East: -1.9957, Depth: 0.2387TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 28.51 
Alpha[0]	0.123000
Alpha[0]	0.993698
TNavParticleFilter::Modified Variance for beam 1 is 29.05 
Alpha[1]	0.000000
Alpha[1]	0.994856
TNavParticleFilter::Modified Variance for beam 2 is 28.49 
Alpha[2]	0.000000
Alpha[2]	0.994756
TNavParticleFilter::Modified Variance for beam 3 is 28.00 
Alpha[3]	0.000000
Alpha[3]	0.993510
TNavParticleFilter::Modified Variance for beam 4 is 28.81 
Alpha[4]	0.000000
Alpha[4]	0.993451
TNavParticleFilter::Modified Variance for beam 5 is 28.56 
Alpha[5]	0.000000
Alpha[5]	0.995480
TNavParticleFilter::Modified Variance for beam 6 is 28.06 
Alpha[6]	0.000000
Alpha[6]	0.996447
TNavParticleFilter::Modified Variance for beam 7 is 26.07 
Alpha[7]	0.000000
Alpha[7]	0.997568
TNavParticleFilter::Modified Variance for beam 8 is 25.68 
Alpha[8]	0.000000
Alpha[8]	0.997494
TNavParticleFilter::Modified Variance for beam 9 is 25.37 
Alpha[9]	0.000000
Alpha[9]	0.995346
TNavParticleFilter::Modified Variance for beam 10 is 25.01 
Alpha[10]	0.000000
Alpha[10]	0.996011
TNavParticleFilter::Modified Variance for beam 11 is 23.33 
Alpha[11]	0.000000
Alpha[11]	0.995114
TNavParticleFilter::Modified Variance for beam 12 is 21.73 
Alpha[12]	0.000000
Alpha[12]	0.995401
TNavParticleFilter::Modified Variance for beam 13 is 21.62 
Alpha[13]	0.000000
Alpha[13]	0.996175
TNavParticleFilter::Modified Variance for beam 14 is 23.42 
Alpha[14]	0.000000
Alpha[14]	0.995563
TNavParticleFilter::Modified Variance for beam 15 is 23.59 
Alpha[15]	0.000000
Alpha[15]	0.995735
TNavParticleFilter::Modified Variance for beam 16 is 23.35 
Alpha[16]	0.000000
Alpha[16]	0.996165
TNavParticleFilter::Modified Variance for beam 17 is 23.17 
Alpha[17]	0.000000
Alpha[17]	0.994783
TNavParticleFilter::Modified Variance for beam 18 is 23.02 
Alpha[18]	0.000000
Alpha[18]	0.992256
TNavParticleFilter::Modified Variance for beam 19 is 21.56 
Alpha[19]	0.000000
Alpha[19]	0.992913
TNavParticleFilter::Modified Variance for beam 20 is 21.37 
Alpha[20]	0.000000
Alpha[20]	0.994556
TNavParticleFilter::Modified Variance for beam 21 is 21.84 
Alpha[21]	0.000000
Alpha[21]	0.995920
TNavParticleFilter::Modified Variance for beam 22 is 22.30 
Alpha[22]	0.000000
Alpha[22]	0.995060
TNavParticleFilter::Modified Variance for beam 23 is 20.97 
Alpha[23]	0.000000
Alpha[23]	0.994209
TNavParticleFilter::Modified Variance for beam 24 is 20.85 
Alpha[24]	0.000000
Alpha[24]	0.994668
TNavParticleFilter::Modified Variance for beam 25 is 20.72 
Alpha[25]	0.000000
Alpha[25]	0.995869
TNavParticleFilter::Modified Variance for beam 26 is 20.62 
Alpha[26]	0.000000
Alpha[26]	0.996618
TNavParticleFilter::Modified Variance for beam 27 is 21.72 
Alpha[27]	0.000000
Alpha[27]	0.996888
TNavParticleFilter::Modified Variance for beam 28 is 21.65 
Alpha[28]	0.000000
Alpha[28]	0.996785
TNavParticleFilter::Modified Variance for beam 29 is 20.44 
Alpha[29]	0.000000
Alpha[29]	0.995724
TNavParticleFilter::Modified Variance for beam 30 is 20.41 
Alpha[30]	0.000000
Alpha[30]	0.994885
TNavParticleFilter::Modified Variance for beam 31 is 22.78 
Alpha[31]	0.000000
Alpha[31]	0.993991
TNavParticleFilter::Modified Variance for beam 32 is 22.84 
Alpha[32]	0.000000
Alpha[32]	0.990135
TNavParticleFilter::Modified Variance for beam 33 is 22.87 
Alpha[33]	0.000000
Alpha[33]	0.988243
TNavParticleFilter::Modified Variance for beam 34 is 22.83 
Alpha[34]	0.000000
Alpha[34]	0.989784
TNavParticleFilter::Modified Variance for beam 35 is 21.54 
Alpha[35]	0.000000
Alpha[35]	0.993500
TNavParticleFilter::Modified Variance for beam 36 is 21.54 
Alpha[36]	0.000000
Alpha[36]	0.993982
TNavParticleFilter::Modified Variance for beam 37 is 22.79 
Alpha[37]	0.000000
Alpha[37]	0.994025
TNavParticleFilter::Modified Variance for beam 38 is 22.88 
Alpha[38]	0.000000
Alpha[38]	0.991948
TNavParticleFilter::Modified Variance for beam 39 is 22.89 
Alpha[39]	0.000000
Alpha[39]	0.993770
TNavParticleFilter::Modified Variance for beam 40 is 21.55 
Alpha[40]	0.000000
Alpha[40]	0.994427
TNavParticleFilter::Modified Variance for beam 41 is 20.66 
Alpha[41]	0.000000
Alpha[41]	0.991607
TNavParticleFilter::Modified Variance for beam 42 is 20.83 
Alpha[42]	0.000000
Alpha[42]	0.987369
TNavParticleFilter::Modified Variance for beam 43 is 20.99 
Alpha[43]	0.000000
Alpha[43]	0.983786
TNavParticleFilter::Modified Variance for beam 44 is 21.17 
Alpha[44]	0.000000
Alpha[44]	0.980504
TNavParticleFilter::Modified Variance for beam 45 is 21.20 
Alpha[45]	0.000000
Alpha[45]	0.984357
TNavParticleFilter::Modified Variance for beam 46 is 21.02 
Alpha[46]	0.000000
Alpha[46]	0.988322
TNavParticleFilter::Modified Variance for beam 47 is 20.07 
Alpha[47]	0.000000
Alpha[47]	0.993936
TNavParticleFilter::Modified Variance for beam 48 is 20.19 
Alpha[48]	0.000000
Alpha[48]	0.994656
TNavParticleFilter::Modified Variance for beam 49 is 20.42 
Alpha[49]	0.000000
Alpha[49]	0.991113
TNavParticleFilter::Modified Variance for beam 50 is 20.61 
Alpha[50]	0.000000
Alpha[50]	0.989707
TNavParticleFilter::Modified Variance for beam 51 is 20.72 
Alpha[51]	0.000000
Alpha[51]	0.993133
TNavParticleFilter::Modified Variance for beam 52 is 20.90 
Alpha[52]	0.000000
Alpha[52]	0.993524
TNavParticleFilter::Modified Variance for beam 53 is 19.24 
Alpha[53]	0.000000
Alpha[53]	0.992655
TNavParticleFilter::Modified Variance for beam 54 is 17.76 
Alpha[54]	0.000000
Alpha[54]	0.993796
TNavParticleFilter::Modified Variance for beam 55 is 17.90 
Alpha[55]	0.000000
Alpha[55]	0.995016
TNavParticleFilter::Modified Variance for beam 56 is 18.09 
Alpha[56]	0.000000
Alpha[56]	0.995576
TNavParticleFilter::Modified Variance for beam 57 is 17.14 
Alpha[57]	0.000000
Alpha[57]	0.996293
TNavParticleFilter::Modified Variance for beam 58 is 17.33 
Alpha[58]	0.000000
Alpha[58]	0.997311
TNavParticleFilter::Modified Variance for beam 59 is 17.28 
Alpha[59]	0.000000
Alpha[59]	0.998370
TNavPF:: sumSquaredError = 26.294379 
TNavPF:: sumWeights = 0.035822 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.72. Range = 91.16 
TNavPF::Calculated measDiffMean for beam 31 as 0.10. Range = 88.89 
TNavPF::Calculated measDiffMean for beam 32 as -0.60. Range = 85.97 
TNavPF::Calculated measDiffMean for beam 33 as -0.92. Range = 83.26 
TNavPF::Calculated measDiffMean for beam 34 as 0.73. Range = 76.75 
TNavPF::Calculated measDiffMean for beam 35 as 0.69. Range = 74.52 
TNavPF::Calculated measDiffMean for beam 36 as 0.14. Range = 72.43 
TNavPF::Calculated measDiffMean for beam 37 as -1.76. Range = 71.37 
TNavPF::Calculated measDiffMean for beam 38 as -0.49. Range = 72.20 
TNavPF::Calculated measDiffMean for beam 39 as 0.67. Range = 70.62 
TNavPF::Calculated measDiffMean for beam 40 as 1.77. Range = 71.51 
TNavPF::Calculated measDiffMean for beam 41 as 0.76. Range = 70.44 
TNavPF::Calculated measDiffMean for beam 42 as -1.14. Range = 70.88 
TNavPF::Calculated measDiffMean for beam 43 as -1.06. Range = 71.87 
TNavPF::Calculated measDiffMean for beam 44 as 1.50. Range = 72.18 
TNavPF::Calculated measDiffMean for beam 45 as 1.07. Range = 71.36 
TNavPF::Calculated measDiffMean for beam 46 as 0.76. Range = 72.47 
TNavPF::Calculated measDiffMean for beam 47 as 0.83. Range = 73.65 
TNavPF::Calculated measDiffMean for beam 48 as 0.64. Range = 74.88 
TNavPF::Calculated measDiffMean for beam 49 as -1.49. Range = 76.19 
TNavPF::Calculated measDiffMean for beam 50 as -1.55. Range = 77.56 
TNavPF::Calculated measDiffMean for beam 51 as -0.63. Range = 77.12 
TNavPF::Calculated measDiffMean for beam 52 as 0.72. Range = 75.90 
TNavPF::Calculated measDiffMean for beam 53 as -0.89. Range = 76.01 
TNavPF::Calculated measDiffMean for beam 54 as -0.42. Range = 76.24 
TNavPF::Calculated measDiffMean for beam 55 as 0.12. Range = 75.16 
TNavPF::Calculated measDiffMean for beam 56 as 0.31. Range = 74.12 
TNavPF::Calculated measDiffMean for beam 57 as 1.76. Range = 73.14 
TNavPF::Calculated measDiffMean for beam 58 as 1.00. Range = 74.61 
TNavPF::Calculated measDiffMean for beam 59 as -1.17. Range = 73.75 
TNavPF::Calculated measDiffMean for beam 60 as -1.32. Range = 71.24 
TNavPF::Calculated measDiffMean for beam 61 as 2.11. Range = 72.04 
TNavPF::Calculated measDiffMean for beam 62 as 1.49. Range = 71.25 
TNavPF::Calculated measDiffMean for beam 63 as 1.48. Range = 70.49 
TNavPF::Calculated measDiffMean for beam 64 as 1.72. Range = 71.66 
TNavPF::Calculated measDiffMean for beam 65 as 0.55. Range = 71.38 
TNavPF::Calculated measDiffMean for beam 66 as 1.13. Range = 70.71 
TNavPF::Calculated measDiffMean for beam 67 as 2.53. Range = 67.83 
TNavPF::Calculated measDiffMean for beam 68 as 1.96. Range = 67.24 
TNavPF::Calculated measDiffMean for beam 69 as 1.92. Range = 66.69 
TNavPF::Calculated measDiffMean for beam 70 as -0.06. Range = 66.16 
TNavPF::Calculated measDiffMean for beam 71 as -0.99. Range = 63.49 
TNavPF::Calculated measDiffMean for beam 72 as -0.54. Range = 60.88 
TNavPF::Calculated measDiffMean for beam 73 as -0.16. Range = 60.73 
TNavPF::Calculated measDiffMean for beam 74 as -0.03. Range = 63.66 
TNavPF::Calculated measDiffMean for beam 75 as -0.21. Range = 63.93 
TNavPF::Calculated measDiffMean for beam 76 as -0.56. Range = 63.56 
TNavPF::Calculated measDiffMean for beam 77 as -1.78. Range = 63.22 
TNavPF::Calculated measDiffMean for beam 78 as -1.11. Range = 62.89 
TNavPF::Calculated measDiffMean for beam 79 as 0.01. Range = 60.52 
TNavPF::Calculated measDiffMean for beam 80 as 0.63. Range = 60.25 
TNavPF::Calculated measDiffMean for beam 81 as 0.51. Range = 61.09 
TNavPF::Calculated measDiffMean for beam 82 as 0.68. Range = 61.81 
TNavPF::Calculated measDiffMean for beam 83 as -1.31. Range = 59.56 
TNavPF::Calculated measDiffMean for beam 84 as -2.46. Range = 59.37 
TNavPF::Calculated measDiffMean for beam 85 as -1.24. Range = 59.20 
TNavPF::Calculated measDiffMean for beam 86 as -0.68. Range = 59.05 
TNavPF::Calculated measDiffMean for beam 87 as -2.01. Range = 60.93 
TNavPF::Calculated measDiffMean for beam 88 as -1.35. Range = 60.81 
TNavPF::Calculated measDiffMean for beam 89 as -1.62. Range = 58.70 
TNavPF::First Term of Map Covariance Matrix is 3.16 
TNavPF::Calculated NIS Value : 3.02 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322069.82 sec.
INS : North: 4070226.29, East: 589260.98, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 65.07, IDT[75] = 58.37
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322072.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322072.62)
ARL : North: 1.0320, East: -1.8635, Depth: 0.0786ARL : Estimation Bias  (Mean)         : (t = 1488322072.62)
ARL : North: -0.2017, East: -2.3385, Depth: 0.2751TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 31.96 
Alpha[0]	0.123000
Alpha[0]	0.993699
TNavParticleFilter::Modified Variance for beam 1 is 31.21 
Alpha[1]	0.000000
Alpha[1]	0.993645
TNavParticleFilter::Modified Variance for beam 2 is 30.96 
Alpha[2]	0.000000
Alpha[2]	0.994853
TNavParticleFilter::Modified Variance for beam 3 is 31.61 
Alpha[3]	0.000000
Alpha[3]	0.994326
TNavParticleFilter::Modified Variance for beam 4 is 30.98 
Alpha[4]	0.000000
Alpha[4]	0.993225
TNavParticleFilter::Modified Variance for beam 5 is 29.93 
Alpha[5]	0.000000
Alpha[5]	0.993935
TNavParticleFilter::Modified Variance for beam 6 is 29.69 
Alpha[6]	0.000000
Alpha[6]	0.995530
TNavParticleFilter::Modified Variance for beam 7 is 29.09 
Alpha[7]	0.000000
Alpha[7]	0.997089
TNavParticleFilter::Modified Variance for beam 8 is 26.95 
Alpha[8]	0.000000
Alpha[8]	0.998010
TNavParticleFilter::Modified Variance for beam 9 is 26.53 
Alpha[9]	0.000000
Alpha[9]	0.996764
TNavParticleFilter::Modified Variance for beam 10 is 26.10 
Alpha[10]	0.000000
Alpha[10]	0.996420
TNavParticleFilter::Modified Variance for beam 11 is 24.26 
Alpha[11]	0.000000
Alpha[11]	0.995650
TNavParticleFilter::Modified Variance for beam 12 is 22.52 
Alpha[12]	0.000000
Alpha[12]	0.995404
TNavParticleFilter::Modified Variance for beam 13 is 22.18 
Alpha[13]	0.000000
Alpha[13]	0.996511
TNavParticleFilter::Modified Variance for beam 14 is 23.33 
Alpha[14]	0.000000
Alpha[14]	0.995431
TNavParticleFilter::Modified Variance for beam 15 is 24.32 
Alpha[15]	0.000000
Alpha[15]	0.995577
TNavParticleFilter::Modified Variance for beam 16 is 24.01 
Alpha[16]	0.000000
Alpha[16]	0.996218
TNavParticleFilter::Modified Variance for beam 17 is 23.77 
Alpha[17]	0.000000
Alpha[17]	0.994273
TNavParticleFilter::Modified Variance for beam 18 is 23.57 
Alpha[18]	0.000000
Alpha[18]	0.991804
TNavParticleFilter::Modified Variance for beam 19 is 23.30 
Alpha[19]	0.000000
Alpha[19]	0.992882
TNavParticleFilter::Modified Variance for beam 20 is 23.74 
Alpha[20]	0.000000
Alpha[20]	0.994312
TNavParticleFilter::Modified Variance for beam 21 is 24.10 
Alpha[21]	0.000000
Alpha[21]	0.995762
TNavParticleFilter::Modified Variance for beam 22 is 22.62 
Alpha[22]	0.000000
Alpha[22]	0.994418
TNavParticleFilter::Modified Variance for beam 23 is 21.20 
Alpha[23]	0.000000
Alpha[23]	0.994116
TNavParticleFilter::Modified Variance for beam 24 is 21.02 
Alpha[24]	0.000000
Alpha[24]	0.995284
TNavParticleFilter::Modified Variance for beam 25 is 20.86 
Alpha[25]	0.000000
Alpha[25]	0.996019
TNavParticleFilter::Modified Variance for beam 26 is 20.71 
Alpha[26]	0.000000
Alpha[26]	0.996634
TNavParticleFilter::Modified Variance for beam 27 is 21.79 
Alpha[27]	0.000000
Alpha[27]	0.996597
TNavParticleFilter::Modified Variance for beam 28 is 21.69 
Alpha[28]	0.000000
Alpha[28]	0.995826
TNavParticleFilter::Modified Variance for beam 29 is 20.43 
Alpha[29]	0.000000
Alpha[29]	0.994443
TNavParticleFilter::Modified Variance for beam 30 is 20.33 
Alpha[30]	0.000000
Alpha[30]	0.994778
TNavParticleFilter::Modified Variance for beam 31 is 22.71 
Alpha[31]	0.000000
Alpha[31]	0.992226
TNavParticleFilter::Modified Variance for beam 32 is 22.72 
Alpha[32]	0.000000
Alpha[32]	0.988459
TNavParticleFilter::Modified Variance for beam 33 is 22.67 
Alpha[33]	0.000000
Alpha[33]	0.988084
TNavParticleFilter::Modified Variance for beam 34 is 22.51 
Alpha[34]	0.000000
Alpha[34]	0.992641
TNavParticleFilter::Modified Variance for beam 35 is 21.24 
Alpha[35]	0.000000
Alpha[35]	0.993893
TNavParticleFilter::Modified Variance for beam 36 is 21.22 
Alpha[36]	0.000000
Alpha[36]	0.993400
TNavParticleFilter::Modified Variance for beam 37 is 22.45 
Alpha[37]	0.000000
Alpha[37]	0.991655
TNavParticleFilter::Modified Variance for beam 38 is 22.43 
Alpha[38]	0.000000
Alpha[38]	0.992170
TNavParticleFilter::Modified Variance for beam 39 is 22.39 
Alpha[39]	0.000000
Alpha[39]	0.994552
TNavParticleFilter::Modified Variance for beam 40 is 22.41 
Alpha[40]	0.000000
Alpha[40]	0.994358
TNavParticleFilter::Modified Variance for beam 41 is 20.17 
Alpha[41]	0.000000
Alpha[41]	0.989584
TNavParticleFilter::Modified Variance for beam 42 is 20.27 
Alpha[42]	0.000000
Alpha[42]	0.986212
TNavParticleFilter::Modified Variance for beam 43 is 20.40 
Alpha[43]	0.000000
Alpha[43]	0.981993
TNavParticleFilter::Modified Variance for beam 44 is 20.47 
Alpha[44]	0.000000
Alpha[44]	0.981603
TNavParticleFilter::Modified Variance for beam 45 is 20.47 
Alpha[45]	0.000000
Alpha[45]	0.985044
TNavParticleFilter::Modified Variance for beam 46 is 20.42 
Alpha[46]	0.000000
Alpha[46]	0.990884
TNavParticleFilter::Modified Variance for beam 47 is 19.28 
Alpha[47]	0.000000
Alpha[47]	0.994968
TNavParticleFilter::Modified Variance for beam 48 is 19.38 
Alpha[48]	0.000000
Alpha[48]	0.994468
TNavParticleFilter::Modified Variance for beam 49 is 19.57 
Alpha[49]	0.000000
Alpha[49]	0.990197
TNavParticleFilter::Modified Variance for beam 50 is 19.68 
Alpha[50]	0.000000
Alpha[50]	0.990583
TNavParticleFilter::Modified Variance for beam 51 is 19.74 
Alpha[51]	0.000000
Alpha[51]	0.993613
TNavParticleFilter::Modified Variance for beam 52 is 19.88 
Alpha[52]	0.000000
Alpha[52]	0.993590
TNavParticleFilter::Modified Variance for beam 53 is 18.60 
Alpha[53]	0.000000
Alpha[53]	0.993811
TNavParticleFilter::Modified Variance for beam 54 is 16.82 
Alpha[54]	0.000000
Alpha[54]	0.993982
TNavParticleFilter::Modified Variance for beam 55 is 16.92 
Alpha[55]	0.000000
Alpha[55]	0.994665
TNavParticleFilter::Modified Variance for beam 56 is 17.05 
Alpha[56]	0.000000
Alpha[56]	0.995785
TNavParticleFilter::Modified Variance for beam 57 is 16.12 
Alpha[57]	0.000000
Alpha[57]	0.996668
TNavParticleFilter::Modified Variance for beam 58 is 16.26 
Alpha[58]	0.000000
Alpha[58]	0.997393
TNavParticleFilter::Modified Variance for beam 59 is 16.35 
Alpha[59]	0.000000
Alpha[59]	0.998545
TNavPF:: sumSquaredError = 11.080112 
TNavPF:: sumWeights = 0.041294 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.32. Range = 94.15 
TNavPF::Calculated measDiffMean for beam 33 as 1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.14. Range = 91.23 
TNavPF::Calculated measDiffMean for beam 35 as 0.27. Range = 87.75 
TNavPF::Calculated measDiffMean for beam 36 as 0.20. Range = 84.87 
TNavPF::Calculated measDiffMean for beam 37 as -0.15. Range = 82.19 
TNavPF::Calculated measDiffMean for beam 38 as -1.46. Range = 75.71 
TNavPF::Calculated measDiffMean for beam 39 as 0.09. Range = 74.58 
TNavPF::Calculated measDiffMean for beam 40 as 1.48. Range = 75.21 
TNavPF::Calculated measDiffMean for beam 41 as 0.56. Range = 73.84 
TNavPF::Calculated measDiffMean for beam 42 as -1.34. Range = 74.70 
TNavPF::Calculated measDiffMean for beam 43 as -1.65. Range = 73.15 
TNavPF::Calculated measDiffMean for beam 44 as -0.14. Range = 74.07 
TNavPF::Calculated measDiffMean for beam 45 as 0.83. Range = 75.04 
TNavPF::Calculated measDiffMean for beam 46 as 0.46. Range = 74.49 
TNavPF::Calculated measDiffMean for beam 47 as 0.54. Range = 74.54 
TNavPF::Calculated measDiffMean for beam 48 as 0.38. Range = 75.62 
TNavPF::Calculated measDiffMean for beam 49 as 0.39. Range = 76.76 
TNavPF::Calculated measDiffMean for beam 50 as 1.38. Range = 77.96 
TNavPF::Calculated measDiffMean for beam 51 as 2.16. Range = 79.22 
TNavPF::Calculated measDiffMean for beam 52 as 0.54. Range = 80.42 
TNavPF::Calculated measDiffMean for beam 53 as -1.02. Range = 79.01 
TNavPF::Calculated measDiffMean for beam 54 as -0.49. Range = 77.67 
TNavPF::Calculated measDiffMean for beam 55 as 0.00. Range = 79.08 
TNavPF::Calculated measDiffMean for beam 56 as -0.22. Range = 77.87 
TNavPF::Calculated measDiffMean for beam 57 as 1.04. Range = 76.68 
TNavPF::Calculated measDiffMean for beam 58 as 0.62. Range = 75.55 
TNavPF::Calculated measDiffMean for beam 59 as -1.43. Range = 76.14 
TNavPF::Calculated measDiffMean for beam 60 as -1.80. Range = 75.98 
TNavPF::Calculated measDiffMean for beam 61 as 1.46. Range = 74.98 
TNavPF::Calculated measDiffMean for beam 62 as 1.18. Range = 74.69 
TNavPF::Calculated measDiffMean for beam 63 as 1.33. Range = 75.54 
TNavPF::Calculated measDiffMean for beam 64 as 1.80. Range = 74.64 
TNavPF::Calculated measDiffMean for beam 65 as 0.71. Range = 73.24 
TNavPF::Calculated measDiffMean for beam 66 as 0.64. Range = 72.97 
TNavPF::Calculated measDiffMean for beam 67 as 1.84. Range = 72.20 
TNavPF::Calculated measDiffMean for beam 68 as 1.63. Range = 69.16 
TNavPF::Calculated measDiffMean for beam 69 as 1.64. Range = 68.48 
TNavPF::Calculated measDiffMean for beam 70 as 2.16. Range = 67.83 
TNavPF::Calculated measDiffMean for beam 71 as -0.95. Range = 64.98 
TNavPF::Calculated measDiffMean for beam 72 as -0.60. Range = 62.19 
TNavPF::Calculated measDiffMean for beam 73 as -0.28. Range = 61.68 
TNavPF::Calculated measDiffMean for beam 74 as -0.32. Range = 63.50 
TNavPF::Calculated measDiffMean for beam 75 as -0.51. Range = 65.07 
TNavPF::Calculated measDiffMean for beam 76 as -0.36. Range = 64.61 
TNavPF::Calculated measDiffMean for beam 77 as -1.97. Range = 64.17 
TNavPF::Calculated measDiffMean for beam 78 as -1.15. Range = 63.75 
TNavPF::Calculated measDiffMean for beam 79 as 0.03. Range = 63.36 
TNavPF::Calculated measDiffMean for beam 80 as 0.29. Range = 64.12 
TNavPF::Calculated measDiffMean for beam 81 as 0.04. Range = 64.74 
TNavPF::Calculated measDiffMean for beam 82 as 0.50. Range = 62.33 
TNavPF::Calculated measDiffMean for beam 83 as -0.24. Range = 59.96 
TNavPF::Calculated measDiffMean for beam 84 as -1.93. Range = 59.69 
TNavPF::Calculated measDiffMean for beam 85 as -1.22. Range = 59.44 
TNavPF::Calculated measDiffMean for beam 86 as -0.61. Range = 59.21 
TNavPF::Calculated measDiffMean for beam 87 as -1.86. Range = 61.04 
TNavPF::Calculated measDiffMean for beam 88 as -1.46. Range = 60.84 
TNavPF::Calculated measDiffMean for beam 89 as -1.43. Range = 58.64 
TNavPF::First Term of Map Covariance Matrix is 3.16 
TNavPF::Calculated NIS Value : 2.61 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322072.82 sec.
INS : North: 4070225.69, East: 589256.86, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 65.06, IDT[75] = 55.54
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322075.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322075.62)
ARL : North: -0.4012, East: -2.3769, Depth: -0.5765ARL : Estimation Bias  (Mean)         : (t = 1488322075.62)
ARL : North: -0.2302, East: -2.3874, Depth: 0.1655TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 31.57 
Alpha[0]	0.123000
Alpha[0]	0.994953
TNavParticleFilter::Modified Variance for beam 1 is 31.64 
Alpha[1]	0.000000
Alpha[1]	0.994465
TNavParticleFilter::Modified Variance for beam 2 is 30.91 
Alpha[2]	0.000000
Alpha[2]	0.993794
TNavParticleFilter::Modified Variance for beam 3 is 30.47 
Alpha[3]	0.000000
Alpha[3]	0.994619
TNavParticleFilter::Modified Variance for beam 4 is 31.25 
Alpha[4]	0.000000
Alpha[4]	0.995835
TNavParticleFilter::Modified Variance for beam 5 is 30.53 
Alpha[5]	0.000000
Alpha[5]	0.997662
TNavParticleFilter::Modified Variance for beam 6 is 28.19 
Alpha[6]	0.000000
Alpha[6]	0.998118
TNavParticleFilter::Modified Variance for beam 7 is 27.68 
Alpha[7]	0.000000
Alpha[7]	0.996922
TNavParticleFilter::Modified Variance for beam 8 is 27.16 
Alpha[8]	0.000000
Alpha[8]	0.996616
TNavParticleFilter::Modified Variance for beam 9 is 25.18 
Alpha[9]	0.000000
Alpha[9]	0.994953
TNavParticleFilter::Modified Variance for beam 10 is 23.26 
Alpha[10]	0.000000
Alpha[10]	0.996351
TNavParticleFilter::Modified Variance for beam 11 is 22.88 
Alpha[11]	0.000000
Alpha[11]	0.996212
TNavParticleFilter::Modified Variance for beam 12 is 24.22 
Alpha[12]	0.000000
Alpha[12]	0.995493
TNavParticleFilter::Modified Variance for beam 13 is 24.99 
Alpha[13]	0.000000
Alpha[13]	0.996450
TNavParticleFilter::Modified Variance for beam 14 is 24.66 
Alpha[14]	0.000000
Alpha[14]	0.995286
TNavParticleFilter::Modified Variance for beam 15 is 24.40 
Alpha[15]	0.000000
Alpha[15]	0.992172
TNavParticleFilter::Modified Variance for beam 16 is 24.07 
Alpha[16]	0.000000
Alpha[16]	0.992445
TNavParticleFilter::Modified Variance for beam 17 is 22.39 
Alpha[17]	0.000000
Alpha[17]	0.993812
TNavParticleFilter::Modified Variance for beam 18 is 22.08 
Alpha[18]	0.000000
Alpha[18]	0.996026
TNavParticleFilter::Modified Variance for beam 19 is 22.82 
Alpha[19]	0.000000
Alpha[19]	0.995167
TNavParticleFilter::Modified Variance for beam 20 is 22.92 
Alpha[20]	0.000000
Alpha[20]	0.994838
TNavParticleFilter::Modified Variance for beam 21 is 21.40 
Alpha[21]	0.000000
Alpha[21]	0.995788
TNavParticleFilter::Modified Variance for beam 22 is 21.19 
Alpha[22]	0.000000
Alpha[22]	0.995938
TNavParticleFilter::Modified Variance for beam 23 is 20.99 
Alpha[23]	0.000000
Alpha[23]	0.996619
TNavParticleFilter::Modified Variance for beam 24 is 20.93 
Alpha[24]	0.000000
Alpha[24]	0.996387
TNavParticleFilter::Modified Variance for beam 25 is 21.91 
Alpha[25]	0.000000
Alpha[25]	0.995017
TNavParticleFilter::Modified Variance for beam 26 is 20.57 
Alpha[26]	0.000000
Alpha[26]	0.993963
TNavParticleFilter::Modified Variance for beam 27 is 20.42 
Alpha[27]	0.000000
Alpha[27]	0.994536
TNavParticleFilter::Modified Variance for beam 28 is 21.14 
Alpha[28]	0.000000
Alpha[28]	0.990896
TNavParticleFilter::Modified Variance for beam 29 is 22.73 
Alpha[29]	0.000000
Alpha[29]	0.988536
TNavParticleFilter::Modified Variance for beam 30 is 22.58 
Alpha[30]	0.000000
Alpha[30]	0.989964
TNavParticleFilter::Modified Variance for beam 31 is 22.38 
Alpha[31]	0.000000
Alpha[31]	0.994378
TNavParticleFilter::Modified Variance for beam 32 is 21.09 
Alpha[32]	0.000000
Alpha[32]	0.993866
TNavParticleFilter::Modified Variance for beam 33 is 21.05 
Alpha[33]	0.000000
Alpha[33]	0.992445
TNavParticleFilter::Modified Variance for beam 34 is 22.21 
Alpha[34]	0.000000
Alpha[34]	0.990405
TNavParticleFilter::Modified Variance for beam 35 is 22.13 
Alpha[35]	0.000000
Alpha[35]	0.992639
TNavParticleFilter::Modified Variance for beam 36 is 22.04 
Alpha[36]	0.000000
Alpha[36]	0.994679
TNavParticleFilter::Modified Variance for beam 37 is 22.02 
Alpha[37]	0.000000
Alpha[37]	0.994033
TNavParticleFilter::Modified Variance for beam 38 is 19.76 
Alpha[38]	0.000000
Alpha[38]	0.988930
TNavParticleFilter::Modified Variance for beam 39 is 19.81 
Alpha[39]	0.000000
Alpha[39]	0.986297
TNavParticleFilter::Modified Variance for beam 40 is 19.87 
Alpha[40]	0.000000
Alpha[40]	0.983054
TNavParticleFilter::Modified Variance for beam 41 is 19.89 
Alpha[41]	0.000000
Alpha[41]	0.982697
TNavParticleFilter::Modified Variance for beam 42 is 19.85 
Alpha[42]	0.000000
Alpha[42]	0.985629
TNavParticleFilter::Modified Variance for beam 43 is 19.75 
Alpha[43]	0.000000
Alpha[43]	0.992443
TNavParticleFilter::Modified Variance for beam 44 is 18.62 
Alpha[44]	0.000000
Alpha[44]	0.995240
TNavParticleFilter::Modified Variance for beam 45 is 18.68 
Alpha[45]	0.000000
Alpha[45]	0.994534
TNavParticleFilter::Modified Variance for beam 46 is 18.82 
Alpha[46]	0.000000
Alpha[46]	0.989983
TNavParticleFilter::Modified Variance for beam 47 is 18.86 
Alpha[47]	0.000000
Alpha[47]	0.991261
TNavParticleFilter::Modified Variance for beam 48 is 18.89 
Alpha[48]	0.000000
Alpha[48]	0.993809
TNavParticleFilter::Modified Variance for beam 49 is 18.97 
Alpha[49]	0.000000
Alpha[49]	0.994553
TNavParticleFilter::Modified Variance for beam 50 is 18.85 
Alpha[50]	0.000000
Alpha[50]	0.995060
TNavParticleFilter::Modified Variance for beam 51 is 16.36 
Alpha[51]	0.000000
Alpha[51]	0.994129
TNavParticleFilter::Modified Variance for beam 52 is 16.03 
Alpha[52]	0.000000
Alpha[52]	0.995226
TNavParticleFilter::Modified Variance for beam 53 is 16.12 
Alpha[53]	0.000000
Alpha[53]	0.996353
TNavParticleFilter::Modified Variance for beam 54 is 15.20 
Alpha[54]	0.000000
Alpha[54]	0.997022
TNavParticleFilter::Modified Variance for beam 55 is 15.31 
Alpha[55]	0.000000
Alpha[55]	0.997461
TNavParticleFilter::Modified Variance for beam 56 is 15.41 
Alpha[56]	0.000000
Alpha[56]	0.998628
TNavParticleFilter::Modified Variance for beam 57 is 14.53 
Alpha[57]	0.000000
Alpha[57]	0.998915
TNavParticleFilter::Modified Variance for beam 58 is 14.66 
Alpha[58]	0.000000
Alpha[58]	0.998917
TNavParticleFilter::Modified Variance for beam 59 is 14.79 
Alpha[59]	0.000000
Alpha[59]	0.999191
TNavPF:: sumSquaredError = 10.009692 
TNavPF:: sumWeights = 0.028881 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.73. Range = 97.56 
TNavPF::Calculated measDiffMean for beam 33 as -0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.72. Range = 94.65 
TNavPF::Calculated measDiffMean for beam 35 as 0.67. Range = 90.77 
TNavPF::Calculated measDiffMean for beam 36 as -0.47. Range = 87.60 
TNavPF::Calculated measDiffMean for beam 37 as 1.26. Range = 80.35 
TNavPF::Calculated measDiffMean for beam 38 as 2.93. Range = 77.77 
TNavPF::Calculated measDiffMean for beam 39 as 1.35. Range = 78.20 
TNavPF::Calculated measDiffMean for beam 40 as -1.21. Range = 77.07 
TNavPF::Calculated measDiffMean for beam 41 as -1.95. Range = 77.48 
TNavPF::Calculated measDiffMean for beam 42 as -0.37. Range = 76.53 
TNavPF::Calculated measDiffMean for beam 43 as 0.84. Range = 76.82 
TNavPF::Calculated measDiffMean for beam 44 as 0.83. Range = 77.73 
TNavPF::Calculated measDiffMean for beam 45 as 0.68. Range = 77.70 
TNavPF::Calculated measDiffMean for beam 46 as 0.68. Range = 77.20 
TNavPF::Calculated measDiffMean for beam 47 as -1.54. Range = 78.23 
TNavPF::Calculated measDiffMean for beam 48 as -1.79. Range = 79.31 
TNavPF::Calculated measDiffMean for beam 49 as 0.23. Range = 80.44 
TNavPF::Calculated measDiffMean for beam 50 as 1.39. Range = 81.64 
TNavPF::Calculated measDiffMean for beam 51 as -0.17. Range = 82.89 
TNavPF::Calculated measDiffMean for beam 52 as 0.26. Range = 81.60 
TNavPF::Calculated measDiffMean for beam 53 as -0.16. Range = 80.09 
TNavPF::Calculated measDiffMean for beam 54 as -0.81. Range = 81.42 
TNavPF::Calculated measDiffMean for beam 55 as 0.76. Range = 80.11 
TNavPF::Calculated measDiffMean for beam 56 as -1.30. Range = 78.78 
TNavPF::Calculated measDiffMean for beam 57 as -1.83. Range = 77.51 
TNavPF::Calculated measDiffMean for beam 58 as -1.32. Range = 78.56 
TNavPF::Calculated measDiffMean for beam 59 as 1.28. Range = 77.79 
TNavPF::Calculated measDiffMean for beam 60 as 1.49. Range = 75.52 
TNavPF::Calculated measDiffMean for beam 61 as 2.17. Range = 75.59 
TNavPF::Calculated measDiffMean for beam 62 as 0.91. Range = 74.57 
TNavPF::Calculated measDiffMean for beam 63 as 0.52. Range = 74.02 
TNavPF::Calculated measDiffMean for beam 64 as 1.74. Range = 75.13 
TNavPF::Calculated measDiffMean for beam 65 as 1.70. Range = 74.22 
TNavPF::Calculated measDiffMean for beam 66 as 1.72. Range = 70.97 
TNavPF::Calculated measDiffMean for beam 67 as 2.35. Range = 70.17 
TNavPF::Calculated measDiffMean for beam 68 as -0.91. Range = 69.41 
TNavPF::Calculated measDiffMean for beam 69 as -0.60. Range = 66.37 
TNavPF::Calculated measDiffMean for beam 70 as -0.33. Range = 63.42 
TNavPF::Calculated measDiffMean for beam 71 as -0.43. Range = 62.81 
TNavPF::Calculated measDiffMean for beam 72 as -0.59. Range = 64.91 
TNavPF::Calculated measDiffMean for beam 73 as -0.36. Range = 66.15 
TNavPF::Calculated measDiffMean for beam 74 as -1.91. Range = 65.59 
TNavPF::Calculated measDiffMean for beam 75 as -1.04. Range = 65.06 
TNavPF::Calculated measDiffMean for beam 76 as 0.06. Range = 64.56 
TNavPF::Calculated measDiffMean for beam 77 as 0.13. Range = 61.93 
TNavPF::Calculated measDiffMean for beam 78 as -0.10. Range = 61.49 
TNavPF::Calculated measDiffMean for beam 79 as 0.55. Range = 62.67 
TNavPF::Calculated measDiffMean for beam 80 as 2.37. Range = 62.82 
TNavPF::Calculated measDiffMean for beam 81 as -0.87. Range = 60.34 
TNavPF::Calculated measDiffMean for beam 82 as -1.23. Range = 60.00 
TNavPF::Calculated measDiffMean for beam 83 as -0.47. Range = 59.69 
TNavPF::Calculated measDiffMean for beam 84 as -1.84. Range = 59.58 
TNavPF::Calculated measDiffMean for beam 85 as -1.53. Range = 61.18 
TNavPF::Calculated measDiffMean for beam 86 as -1.29. Range = 58.86 
TNavPF::Calculated measDiffMean for beam 87 as -3.02. Range = 58.63 
TNavPF::Calculated measDiffMean for beam 88 as -2.05. Range = 59.74 
TNavPF::Calculated measDiffMean for beam 89 as -0.08. Range = 62.28 
TNavPF::First Term of Map Covariance Matrix is 3.95 
TNavPF::Calculated NIS Value : 3.46 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322075.82 sec.
INS : North: 4070225.08, East: 589252.71, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 61.31, IDT[75] = 46.15
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322078.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322078.62)
ARL : North: -0.7534, East: -2.2257, Depth: 3.3720ARL : Estimation Bias  (Mean)         : (t = 1488322078.62)
ARL : North: -0.2694, East: -2.0583, Depth: 0.2405TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.20 
Alpha[0]	0.123000
Alpha[0]	0.997488
TNavParticleFilter::Modified Variance for beam 1 is 24.90 
Alpha[1]	0.000000
Alpha[1]	0.995713
TNavParticleFilter::Modified Variance for beam 2 is 26.21 
Alpha[2]	0.000000
Alpha[2]	0.995680
TNavParticleFilter::Modified Variance for beam 3 is 26.00 
Alpha[3]	0.000000
Alpha[3]	0.993550
TNavParticleFilter::Modified Variance for beam 4 is 25.75 
Alpha[4]	0.000000
Alpha[4]	0.986817
TNavParticleFilter::Modified Variance for beam 5 is 25.26 
Alpha[5]	0.000000
Alpha[5]	0.990031
TNavParticleFilter::Modified Variance for beam 6 is 24.82 
Alpha[6]	0.000000
Alpha[6]	0.992694
TNavParticleFilter::Modified Variance for beam 7 is 25.04 
Alpha[7]	0.000000
Alpha[7]	0.994762
TNavParticleFilter::Modified Variance for beam 8 is 25.55 
Alpha[8]	0.000000
Alpha[8]	0.992662
TNavParticleFilter::Modified Variance for beam 9 is 23.79 
Alpha[9]	0.000000
Alpha[9]	0.993566
TNavParticleFilter::Modified Variance for beam 10 is 23.47 
Alpha[10]	0.000000
Alpha[10]	0.994784
TNavParticleFilter::Modified Variance for beam 11 is 21.86 
Alpha[11]	0.000000
Alpha[11]	0.995764
TNavParticleFilter::Modified Variance for beam 12 is 21.61 
Alpha[12]	0.000000
Alpha[12]	0.996397
TNavParticleFilter::Modified Variance for beam 13 is 21.41 
Alpha[13]	0.000000
Alpha[13]	0.994908
TNavParticleFilter::Modified Variance for beam 14 is 21.23 
Alpha[14]	0.000000
Alpha[14]	0.993525
TNavParticleFilter::Modified Variance for beam 15 is 22.00 
Alpha[15]	0.000000
Alpha[15]	0.994773
TNavParticleFilter::Modified Variance for beam 16 is 23.38 
Alpha[16]	0.000000
Alpha[16]	0.993539
TNavParticleFilter::Modified Variance for beam 17 is 22.02 
Alpha[17]	0.000000
Alpha[17]	0.988717
TNavParticleFilter::Modified Variance for beam 18 is 21.87 
Alpha[18]	0.000000
Alpha[18]	0.988149
TNavParticleFilter::Modified Variance for beam 19 is 21.63 
Alpha[19]	0.000000
Alpha[19]	0.991738
TNavParticleFilter::Modified Variance for beam 20 is 21.46 
Alpha[20]	0.000000
Alpha[20]	0.993367
TNavParticleFilter::Modified Variance for beam 21 is 21.38 
Alpha[21]	0.000000
Alpha[21]	0.991039
TNavParticleFilter::Modified Variance for beam 22 is 21.33 
Alpha[22]	0.000000
Alpha[22]	0.987525
TNavParticleFilter::Modified Variance for beam 23 is 21.19 
Alpha[23]	0.000000
Alpha[23]	0.989231
TNavParticleFilter::Modified Variance for beam 24 is 22.22 
Alpha[24]	0.000000
Alpha[24]	0.993211
TNavParticleFilter::Modified Variance for beam 25 is 22.10 
Alpha[25]	0.000000
Alpha[25]	0.994724
TNavParticleFilter::Modified Variance for beam 26 is 22.07 
Alpha[26]	0.000000
Alpha[26]	0.992677
TNavParticleFilter::Modified Variance for beam 27 is 19.72 
Alpha[27]	0.000000
Alpha[27]	0.989612
TNavParticleFilter::Modified Variance for beam 28 is 19.64 
Alpha[28]	0.000000
Alpha[28]	0.991064
TNavParticleFilter::Modified Variance for beam 29 is 19.61 
Alpha[29]	0.000000
Alpha[29]	0.991118
TNavParticleFilter::Modified Variance for beam 30 is 19.68 
Alpha[30]	0.000000
Alpha[30]	0.986304
TNavParticleFilter::Modified Variance for beam 31 is 19.60 
Alpha[31]	0.000000
Alpha[31]	0.989335
TNavParticleFilter::Modified Variance for beam 32 is 19.49 
Alpha[32]	0.000000
Alpha[32]	0.994422
TNavParticleFilter::Modified Variance for beam 33 is 20.62 
Alpha[33]	0.000000
Alpha[33]	0.995546
TNavParticleFilter::Modified Variance for beam 34 is 20.67 
Alpha[34]	0.000000
Alpha[34]	0.993703
TNavParticleFilter::Modified Variance for beam 35 is 18.49 
Alpha[35]	0.000000
Alpha[35]	0.990981
TNavParticleFilter::Modified Variance for beam 36 is 18.50 
Alpha[36]	0.000000
Alpha[36]	0.992351
TNavParticleFilter::Modified Variance for beam 37 is 19.61 
Alpha[37]	0.000000
Alpha[37]	0.994165
TNavParticleFilter::Modified Variance for beam 38 is 19.62 
Alpha[38]	0.000000
Alpha[38]	0.996683
TNavParticleFilter::Modified Variance for beam 39 is 16.02 
Alpha[39]	0.000000
Alpha[39]	0.996100
TNavParticleFilter::Modified Variance for beam 40 is 15.50 
Alpha[40]	0.000000
Alpha[40]	0.997031
TNavParticleFilter::Modified Variance for beam 41 is 15.55 
Alpha[41]	0.000000
Alpha[41]	0.997941
TNavParticleFilter::Modified Variance for beam 42 is 14.64 
Alpha[42]	0.000000
Alpha[42]	0.998310
TNavParticleFilter::Modified Variance for beam 43 is 14.71 
Alpha[43]	0.000000
Alpha[43]	0.998555
TNavParticleFilter::Modified Variance for beam 44 is 14.78 
Alpha[44]	0.000000
Alpha[44]	0.999054
TNavParticleFilter::Modified Variance for beam 45 is 13.91 
Alpha[45]	0.000000
Alpha[45]	0.999525
TNavParticleFilter::Modified Variance for beam 46 is 13.99 
Alpha[46]	0.000000
Alpha[46]	0.999723
TNavParticleFilter::Modified Variance for beam 47 is 8.32 
Alpha[47]	0.000000
Alpha[47]	0.999787
TNavParticleFilter::Modified Variance for beam 48 is 7.75 
Alpha[48]	0.000000
Alpha[48]	0.999785
TNavParticleFilter::Modified Variance for beam 49 is 7.36 
Alpha[49]	0.000000
Alpha[49]	0.999818
TNavParticleFilter::Modified Variance for beam 50 is 7.41 
Alpha[50]	0.000000
Alpha[50]	0.999843
TNavParticleFilter::Modified Variance for beam 51 is 7.45 
Alpha[51]	0.000000
Alpha[51]	0.999830
TNavParticleFilter::Modified Variance for beam 52 is 7.50 
Alpha[52]	0.000000
Alpha[52]	0.999789
TNavParticleFilter::Modified Variance for beam 53 is 8.18 
Alpha[53]	0.000000
Alpha[53]	0.999737
TNavParticleFilter::Modified Variance for beam 54 is 8.25 
Alpha[54]	0.000000
Alpha[54]	0.999702
TNavParticleFilter::Modified Variance for beam 55 is 12.24 
Alpha[55]	0.000000
Alpha[55]	0.999610
TNavParticleFilter::Modified Variance for beam 56 is 12.38 
Alpha[56]	0.000000
Alpha[56]	0.999453
TNavParticleFilter::Modified Variance for beam 57 is 12.52 
Alpha[57]	0.000000
Alpha[57]	0.999356
TNavParticleFilter::Modified Variance for beam 58 is 11.91 
Alpha[58]	0.000000
Alpha[58]	0.999363
TNavParticleFilter::Modified Variance for beam 59 is 11.89 
Alpha[59]	0.000000
Alpha[59]	0.999454
TNavPF:: sumSquaredError = 630.460587 
TNavPF:: sumWeights = 0.004790 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.09. Range = 83.48 
TNavPF::Calculated measDiffMean for beam 31 as -1.15. Range = 82.47 
TNavPF::Calculated measDiffMean for beam 32 as 0.72. Range = 82.37 
TNavPF::Calculated measDiffMean for beam 33 as 0.93. Range = 79.95 
TNavPF::Calculated measDiffMean for beam 34 as 0.98. Range = 77.70 
TNavPF::Calculated measDiffMean for beam 35 as 0.92. Range = 76.43 
TNavPF::Calculated measDiffMean for beam 36 as 0.83. Range = 82.16 
TNavPF::Calculated measDiffMean for beam 37 as 1.43. Range = 85.60 
TNavPF::Calculated measDiffMean for beam 38 as 3.20. Range = 83.67 
TNavPF::Calculated measDiffMean for beam 39 as 1.63. Range = 82.77 
TNavPF::Calculated measDiffMean for beam 40 as 2.05. Range = 83.88 
TNavPF::Calculated measDiffMean for beam 41 as -0.11. Range = 84.50 
TNavPF::Calculated measDiffMean for beam 42 as -0.79. Range = 83.67 
TNavPF::Calculated measDiffMean for beam 43 as -1.15. Range = 84.09 
TNavPF::Calculated measDiffMean for beam 44 as -1.10. Range = 83.54 
TNavPF::Calculated measDiffMean for beam 45 as 0.09. Range = 83.82 
TNavPF::Calculated measDiffMean for beam 46 as 1.90. Range = 83.51 
TNavPF::Calculated measDiffMean for beam 47 as -0.58. Range = 80.83 
TNavPF::Calculated measDiffMean for beam 48 as -0.43. Range = 80.70 
TNavPF::Calculated measDiffMean for beam 49 as -0.06. Range = 80.88 
TNavPF::Calculated measDiffMean for beam 50 as 0.54. Range = 79.59 
TNavPF::Calculated measDiffMean for beam 51 as 0.71. Range = 79.33 
TNavPF::Calculated measDiffMean for beam 52 as 0.25. Range = 79.81 
TNavPF::Calculated measDiffMean for beam 53 as -0.01. Range = 78.67 
TNavPF::Calculated measDiffMean for beam 54 as 1.76. Range = 77.58 
TNavPF::Calculated measDiffMean for beam 55 as 2.01. Range = 76.54 
TNavPF::Calculated measDiffMean for beam 56 as 3.21. Range = 78.03 
TNavPF::Calculated measDiffMean for beam 57 as -0.40. Range = 72.16 
TNavPF::Calculated measDiffMean for beam 58 as -0.18. Range = 66.46 
TNavPF::Calculated measDiffMean for beam 59 as -0.19. Range = 66.08 
TNavPF::Calculated measDiffMean for beam 60 as -0.29. Range = 64.96 
TNavPF::Calculated measDiffMean for beam 61 as -0.33. Range = 65.98 
TNavPF::Calculated measDiffMean for beam 62 as -0.35. Range = 67.97 
TNavPF::Calculated measDiffMean for beam 63 as 2.12. Range = 67.56 
TNavPF::Calculated measDiffMean for beam 64 as 3.59. Range = 66.92 
TNavPF::Calculated measDiffMean for beam 65 as 0.02. Range = 66.31 
TNavPF::Calculated measDiffMean for beam 66 as -0.27. Range = 65.73 
TNavPF::Calculated measDiffMean for beam 67 as 1.89. Range = 66.16 
TNavPF::Calculated measDiffMean for beam 68 as 3.97. Range = 66.85 
TNavPF::Calculated measDiffMean for beam 69 as -0.81. Range = 64.17 
TNavPF::Calculated measDiffMean for beam 70 as -1.46. Range = 63.70 
TNavPF::Calculated measDiffMean for beam 71 as -0.86. Range = 61.12 
TNavPF::Calculated measDiffMean for beam 72 as -2.26. Range = 60.72 
TNavPF::Calculated measDiffMean for beam 73 as -2.00. Range = 60.34 
TNavPF::Calculated measDiffMean for beam 74 as -1.75. Range = 59.99 
TNavPF::Calculated measDiffMean for beam 75 as -3.49. Range = 61.31 
TNavPF::Calculated measDiffMean for beam 76 as -1.00. Range = 63.51 
TNavPF::Calculated measDiffMean for beam 77 as -11.74. Range = 61.13 
TNavPF::Calculated measDiffMean for beam 78 as -10.39. Range = 60.85 
TNavPF::Calculated measDiffMean for beam 79 as -10.62. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 80 as -9.89. Range = 60.35 
TNavPF::Calculated measDiffMean for beam 81 as -8.94. Range = 60.14 
TNavPF::Calculated measDiffMean for beam 82 as -8.51. Range = 59.94 
TNavPF::Calculated measDiffMean for beam 83 as -6.93. Range = 59.77 
TNavPF::Calculated measDiffMean for beam 84 as -8.81. Range = 61.62 
TNavPF::Calculated measDiffMean for beam 85 as -0.16. Range = 61.48 
TNavPF::Calculated measDiffMean for beam 86 as -1.25. Range = 61.36 
TNavPF::Calculated measDiffMean for beam 87 as -1.09. Range = 57.23 
TNavPF::Calculated measDiffMean for beam 88 as -2.37. Range = 57.15 
TNavPF::Calculated measDiffMean for beam 89 as -2.81. Range = 57.09 
TNavPF::First Term of Map Covariance Matrix is 7.95 
TNavPF::Calculated NIS Value : 7.56 	numBeams normalized NIS: 0.13
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322078.82 sec.
INS : North: 4070225.06, East: 589248.57, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 57.76, IDT[75] = 50.42
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322081.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322081.62)
ARL : North: 0.9388, East: -1.5199, Depth: -2.3884ARL : Estimation Bias  (Mean)         : (t = 1488322081.62)
ARL : North: -0.0473, East: -1.8768, Depth: 0.6525TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.50 
Alpha[0]	0.123000
Alpha[0]	0.992668
TNavParticleFilter::Modified Variance for beam 1 is 23.03 
Alpha[1]	0.000000
Alpha[1]	0.988168
TNavParticleFilter::Modified Variance for beam 2 is 22.80 
Alpha[2]	0.000000
Alpha[2]	0.988854
TNavParticleFilter::Modified Variance for beam 3 is 22.52 
Alpha[3]	0.000000
Alpha[3]	0.992178
TNavParticleFilter::Modified Variance for beam 4 is 22.34 
Alpha[4]	0.000000
Alpha[4]	0.992062
TNavParticleFilter::Modified Variance for beam 5 is 22.27 
Alpha[5]	0.000000
Alpha[5]	0.987408
TNavParticleFilter::Modified Variance for beam 6 is 22.21 
Alpha[6]	0.000000
Alpha[6]	0.983147
TNavParticleFilter::Modified Variance for beam 7 is 21.94 
Alpha[7]	0.000000
Alpha[7]	0.988602
TNavParticleFilter::Modified Variance for beam 8 is 22.93 
Alpha[8]	0.000000
Alpha[8]	0.992900
TNavParticleFilter::Modified Variance for beam 9 is 22.78 
Alpha[9]	0.000000
Alpha[9]	0.995051
TNavParticleFilter::Modified Variance for beam 10 is 20.32 
Alpha[10]	0.000000
Alpha[10]	0.991728
TNavParticleFilter::Modified Variance for beam 11 is 20.23 
Alpha[11]	0.000000
Alpha[11]	0.991781
TNavParticleFilter::Modified Variance for beam 12 is 20.11 
Alpha[12]	0.000000
Alpha[12]	0.993952
TNavParticleFilter::Modified Variance for beam 13 is 20.08 
Alpha[13]	0.000000
Alpha[13]	0.991602
TNavParticleFilter::Modified Variance for beam 14 is 20.14 
Alpha[14]	0.000000
Alpha[14]	0.985997
TNavParticleFilter::Modified Variance for beam 15 is 19.96 
Alpha[15]	0.000000
Alpha[15]	0.992579
TNavParticleFilter::Modified Variance for beam 16 is 21.04 
Alpha[16]	0.000000
Alpha[16]	0.994865
TNavParticleFilter::Modified Variance for beam 17 is 18.72 
Alpha[17]	0.000000
Alpha[17]	0.995619
TNavParticleFilter::Modified Variance for beam 18 is 18.77 
Alpha[18]	0.000000
Alpha[18]	0.991715
TNavParticleFilter::Modified Variance for beam 19 is 18.78 
Alpha[19]	0.000000
Alpha[19]	0.991253
TNavParticleFilter::Modified Variance for beam 20 is 19.87 
Alpha[20]	0.000000
Alpha[20]	0.992865
TNavParticleFilter::Modified Variance for beam 21 is 19.78 
Alpha[21]	0.000000
Alpha[21]	0.997713
TNavParticleFilter::Modified Variance for beam 22 is 15.59 
Alpha[22]	0.000000
Alpha[22]	0.997070
TNavParticleFilter::Modified Variance for beam 23 is 15.60 
Alpha[23]	0.000000
Alpha[23]	0.997894
TNavParticleFilter::Modified Variance for beam 24 is 14.66 
Alpha[24]	0.000000
Alpha[24]	0.998759
TNavParticleFilter::Modified Variance for beam 25 is 14.69 
Alpha[25]	0.000000
Alpha[25]	0.999166
TNavParticleFilter::Modified Variance for beam 26 is 14.72 
Alpha[26]	0.000000
Alpha[26]	0.999669
TNavParticleFilter::Modified Variance for beam 27 is 14.77 
Alpha[27]	0.000000
Alpha[27]	0.999824
TNavParticleFilter::Modified Variance for beam 28 is 14.83 
Alpha[28]	0.000000
Alpha[28]	0.999854
TNavParticleFilter::Modified Variance for beam 29 is 14.03 
Alpha[29]	0.000000
Alpha[29]	0.999845
TNavParticleFilter::Modified Variance for beam 30 is 14.02 
Alpha[30]	0.000000
Alpha[30]	0.999824
TNavParticleFilter::Modified Variance for beam 31 is 14.09 
Alpha[31]	0.000000
Alpha[31]	0.999826
TNavParticleFilter::Modified Variance for beam 32 is 18.27 
Alpha[32]	0.000000
Alpha[32]	0.999857
TNavParticleFilter::Modified Variance for beam 33 is 18.39 
Alpha[33]	0.000000
Alpha[33]	0.999862
TNavParticleFilter::Modified Variance for beam 34 is 17.98 
Alpha[34]	0.000000
Alpha[34]	0.999838
TNavParticleFilter::Modified Variance for beam 35 is 12.87 
Alpha[35]	0.000000
Alpha[35]	0.999723
TNavParticleFilter::Modified Variance for beam 36 is 11.84 
Alpha[36]	0.000000
Alpha[36]	0.999560
TNavParticleFilter::Modified Variance for beam 37 is 11.94 
Alpha[37]	0.000000
Alpha[37]	0.999499
TNavParticleFilter::Modified Variance for beam 38 is 12.03 
Alpha[38]	0.000000
Alpha[38]	0.999475
TNavParticleFilter::Modified Variance for beam 39 is 12.14 
Alpha[39]	0.000000
Alpha[39]	0.999499
TNavParticleFilter::Modified Variance for beam 40 is 12.25 
Alpha[40]	0.000000
Alpha[40]	0.999542
TNavParticleFilter::Modified Variance for beam 41 is 12.37 
Alpha[41]	0.000000
Alpha[41]	0.999567
TNavParticleFilter::Modified Variance for beam 42 is 16.44 
Alpha[42]	0.000000
Alpha[42]	0.999580
TNavParticleFilter::Modified Variance for beam 43 is 15.63 
Alpha[43]	0.000000
Alpha[43]	0.999536
TNavParticleFilter::Modified Variance for beam 44 is 15.82 
Alpha[44]	0.000000
Alpha[44]	0.999517
TNavParticleFilter::Modified Variance for beam 45 is 15.93 
Alpha[45]	0.000000
Alpha[45]	0.999473
TNavParticleFilter::Modified Variance for beam 46 is 13.07 
Alpha[46]	0.000000
Alpha[46]	0.999352
TNavParticleFilter::Modified Variance for beam 47 is 12.45 
Alpha[47]	0.000000
Alpha[47]	0.999313
TNavParticleFilter::Modified Variance for beam 48 is 12.48 
Alpha[48]	0.000000
Alpha[48]	0.999360
TNavParticleFilter::Modified Variance for beam 49 is 12.66 
Alpha[49]	0.000000
Alpha[49]	0.999383
TNavParticleFilter::Modified Variance for beam 50 is 12.49 
Alpha[50]	0.000000
Alpha[50]	0.999433
TNavParticleFilter::Modified Variance for beam 51 is 12.05 
Alpha[51]	0.000000
Alpha[51]	0.999529
TNavParticleFilter::Modified Variance for beam 52 is 12.24 
Alpha[52]	0.000000
Alpha[52]	0.999546
TNavParticleFilter::Modified Variance for beam 53 is 12.45 
Alpha[53]	0.000000
Alpha[53]	0.999540
TNavParticleFilter::Modified Variance for beam 54 is 16.03 
Alpha[54]	0.000000
Alpha[54]	0.999482
TNavParticleFilter::Modified Variance for beam 55 is 14.68 
Alpha[55]	0.000000
Alpha[55]	0.999272
TNavParticleFilter::Modified Variance for beam 56 is 14.17 
Alpha[56]	0.000000
Alpha[56]	0.999184
TNavParticleFilter::Modified Variance for beam 57 is 13.69 
Alpha[57]	0.000000
Alpha[57]	0.999267
TNavParticleFilter::Modified Variance for beam 58 is 13.68 
Alpha[58]	0.000000
Alpha[58]	0.999295
TNavParticleFilter::Modified Variance for beam 59 is 13.97 
Alpha[59]	0.000000
Alpha[59]	0.999242
TNavPF:: sumSquaredError = 351.524752 
TNavPF:: sumWeights = 0.000927 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.86. Range = 87.62 
TNavPF::Calculated measDiffMean for beam 31 as -0.50. Range = 86.48 
TNavPF::Calculated measDiffMean for beam 32 as -0.20. Range = 87.67 
TNavPF::Calculated measDiffMean for beam 33 as 0.21. Range = 86.17 
TNavPF::Calculated measDiffMean for beam 34 as 0.66. Range = 84.64 
TNavPF::Calculated measDiffMean for beam 35 as 0.66. Range = 83.64 
TNavPF::Calculated measDiffMean for beam 36 as 0.39. Range = 84.56 
TNavPF::Calculated measDiffMean for beam 37 as 0.26. Range = 83.21 
TNavPF::Calculated measDiffMean for beam 38 as 1.78. Range = 81.92 
TNavPF::Calculated measDiffMean for beam 39 as 2.79. Range = 81.03 
TNavPF::Calculated measDiffMean for beam 40 as -0.36. Range = 82.12 
TNavPF::Calculated measDiffMean for beam 41 as -0.07. Range = 80.98 
TNavPF::Calculated measDiffMean for beam 42 as -0.02. Range = 69.84 
TNavPF::Calculated measDiffMean for beam 43 as -0.08. Range = 68.93 
TNavPF::Calculated measDiffMean for beam 44 as -0.07. Range = 69.83 
TNavPF::Calculated measDiffMean for beam 45 as -0.23. Range = 69.67 
TNavPF::Calculated measDiffMean for beam 46 as 1.70. Range = 69.86 
TNavPF::Calculated measDiffMean for beam 47 as -0.82. Range = 71.80 
TNavPF::Calculated measDiffMean for beam 48 as 0.07. Range = 69.71 
TNavPF::Calculated measDiffMean for beam 49 as -0.15. Range = 68.99 
TNavPF::Calculated measDiffMean for beam 50 as 1.75. Range = 68.30 
TNavPF::Calculated measDiffMean for beam 51 as 3.79. Range = 68.23 
TNavPF::Calculated measDiffMean for beam 52 as -1.75. Range = 69.29 
TNavPF::Calculated measDiffMean for beam 53 as -1.51. Range = 66.45 
TNavPF::Calculated measDiffMean for beam 54 as -2.88. Range = 65.89 
TNavPF::Calculated measDiffMean for beam 55 as -2.16. Range = 65.36 
TNavPF::Calculated measDiffMean for beam 56 as -0.01. Range = 66.58 
TNavPF::Calculated measDiffMean for beam 57 as 4.68. Range = 62.23 
TNavPF::Calculated measDiffMean for beam 58 as 8.31. Range = 61.80 
TNavPF::Calculated measDiffMean for beam 59 as 8.45. Range = 64.33 
TNavPF::Calculated measDiffMean for beam 60 as 9.72. Range = 65.25 
TNavPF::Calculated measDiffMean for beam 61 as 9.91. Range = 62.76 
TNavPF::Calculated measDiffMean for beam 62 as 15.83. Range = 62.41 
TNavPF::Calculated measDiffMean for beam 63 as 13.91. Range = 62.08 
TNavPF::Calculated measDiffMean for beam 64 as 11.50. Range = 61.78 
TNavPF::Calculated measDiffMean for beam 65 as -0.33. Range = 61.49 
TNavPF::Calculated measDiffMean for beam 66 as -3.39. Range = 61.23 
TNavPF::Calculated measDiffMean for beam 67 as -2.95. Range = 60.99 
TNavPF::Calculated measDiffMean for beam 68 as -2.54. Range = 62.76 
TNavPF::Calculated measDiffMean for beam 69 as -2.09. Range = 62.60 
TNavPF::Calculated measDiffMean for beam 70 as -1.49. Range = 58.36 
TNavPF::Calculated measDiffMean for beam 71 as -1.44. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 72 as 6.38. Range = 58.06 
TNavPF::Calculated measDiffMean for beam 73 as 4.65. Range = 57.94 
TNavPF::Calculated measDiffMean for beam 74 as 4.72. Range = 57.84 
TNavPF::Calculated measDiffMean for beam 75 as 4.10. Range = 57.76 
TNavPF::Calculated measDiffMean for beam 76 as -2.22. Range = 59.70 
TNavPF::Calculated measDiffMean for beam 77 as -3.25. Range = 55.64 
TNavPF::Calculated measDiffMean for beam 78 as -3.46. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 79 as -3.54. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 80 as -3.49. Range = 57.61 
TNavPF::Calculated measDiffMean for beam 81 as -3.79. Range = 57.63 
TNavPF::Calculated measDiffMean for beam 82 as -3.09. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 83 as -3.27. Range = 49.70 
TNavPF::Calculated measDiffMean for beam 84 as 3.11. Range = 47.76 
TNavPF::Calculated measDiffMean for beam 85 as 0.36. Range = 47.83 
TNavPF::Calculated measDiffMean for beam 86 as 0.24. Range = 47.93 
TNavPF::Calculated measDiffMean for beam 87 as 0.21. Range = 48.03 
TNavPF::Calculated measDiffMean for beam 88 as 0.59. Range = 48.15 
TNavPF::Calculated measDiffMean for beam 89 as 1.63. Range = 46.44 
TNavPF::First Term of Map Covariance Matrix is 2.72 
TNavPF::Calculated NIS Value : 12.98 	numBeams normalized NIS: 0.22
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322081.82 sec.
INS : North: 4070225.89, East: 589244.53, Depth: 890.10
TerrainNav::measUpdate() - IDT[45] = 54.92, IDT[75] = 49.01
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322084.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322084.62)
ARL : North: -0.6801, East: -2.7628, Depth: 0.0764ARL : Estimation Bias  (Mean)         : (t = 1488322084.62)
ARL : North: 0.1833, East: -1.7637, Depth: 0.1596TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.23 
Alpha[0]	0.123000
Alpha[0]	0.993667
TNavParticleFilter::Modified Variance for beam 1 is 21.06 
Alpha[1]	0.000000
Alpha[1]	0.995845
TNavParticleFilter::Modified Variance for beam 2 is 20.98 
Alpha[2]	0.000000
Alpha[2]	0.994693
TNavParticleFilter::Modified Variance for beam 3 is 21.02 
Alpha[3]	0.000000
Alpha[3]	0.988142
TNavParticleFilter::Modified Variance for beam 4 is 22.08 
Alpha[4]	0.000000
Alpha[4]	0.990993
TNavParticleFilter::Modified Variance for beam 5 is 21.93 
Alpha[5]	0.000000
Alpha[5]	0.994358
TNavParticleFilter::Modified Variance for beam 6 is 19.51 
Alpha[6]	0.000000
Alpha[6]	0.994864
TNavParticleFilter::Modified Variance for beam 7 is 19.51 
Alpha[7]	0.000000
Alpha[7]	0.992475
TNavParticleFilter::Modified Variance for beam 8 is 20.66 
Alpha[8]	0.000000
Alpha[8]	0.990725
TNavParticleFilter::Modified Variance for beam 9 is 20.50 
Alpha[9]	0.000000
Alpha[9]	0.997213
TNavParticleFilter::Modified Variance for beam 10 is 18.21 
Alpha[10]	0.000000
Alpha[10]	0.998815
TNavParticleFilter::Modified Variance for beam 11 is 18.19 
Alpha[11]	0.000000
Alpha[11]	0.999619
TNavParticleFilter::Modified Variance for beam 12 is 18.19 
Alpha[12]	0.000000
Alpha[12]	0.999852
TNavParticleFilter::Modified Variance for beam 13 is 18.20 
Alpha[13]	0.000000
Alpha[13]	0.999871
TNavParticleFilter::Modified Variance for beam 14 is 18.22 
Alpha[14]	0.000000
Alpha[14]	0.999868
TNavParticleFilter::Modified Variance for beam 15 is 18.24 
Alpha[15]	0.000000
Alpha[15]	0.999871
TNavParticleFilter::Modified Variance for beam 16 is 14.69 
Alpha[16]	0.000000
Alpha[16]	0.999893
TNavParticleFilter::Modified Variance for beam 17 is 14.30 
Alpha[17]	0.000000
Alpha[17]	0.999894
TNavParticleFilter::Modified Variance for beam 18 is 14.34 
Alpha[18]	0.000000
Alpha[18]	0.999882
TNavParticleFilter::Modified Variance for beam 19 is 20.50 
Alpha[19]	0.000000
Alpha[19]	0.999868
TNavParticleFilter::Modified Variance for beam 20 is 18.53 
Alpha[20]	0.000000
Alpha[20]	0.999757
TNavParticleFilter::Modified Variance for beam 21 is 18.62 
Alpha[21]	0.000000
Alpha[21]	0.999406
TNavParticleFilter::Modified Variance for beam 22 is 12.45 
Alpha[22]	0.000000
Alpha[22]	0.999448
TNavParticleFilter::Modified Variance for beam 23 is 11.97 
Alpha[23]	0.000000
Alpha[23]	0.999578
TNavParticleFilter::Modified Variance for beam 24 is 12.03 
Alpha[24]	0.000000
Alpha[24]	0.999619
TNavParticleFilter::Modified Variance for beam 25 is 12.10 
Alpha[25]	0.000000
Alpha[25]	0.999621
TNavParticleFilter::Modified Variance for beam 26 is 12.18 
Alpha[26]	0.000000
Alpha[26]	0.999614
TNavParticleFilter::Modified Variance for beam 27 is 12.26 
Alpha[27]	0.000000
Alpha[27]	0.999624
TNavParticleFilter::Modified Variance for beam 28 is 16.18 
Alpha[28]	0.000000
Alpha[28]	0.999640
TNavParticleFilter::Modified Variance for beam 29 is 16.32 
Alpha[29]	0.000000
Alpha[29]	0.999615
TNavParticleFilter::Modified Variance for beam 30 is 15.59 
Alpha[30]	0.000000
Alpha[30]	0.999575
TNavParticleFilter::Modified Variance for beam 31 is 15.57 
Alpha[31]	0.000000
Alpha[31]	0.999505
TNavParticleFilter::Modified Variance for beam 32 is 15.73 
Alpha[32]	0.000000
Alpha[32]	0.999401
TNavParticleFilter::Modified Variance for beam 33 is 15.03 
Alpha[33]	0.000000
Alpha[33]	0.999246
TNavParticleFilter::Modified Variance for beam 34 is 15.02 
Alpha[34]	0.000000
Alpha[34]	0.999237
TNavParticleFilter::Modified Variance for beam 35 is 15.20 
Alpha[35]	0.000000
Alpha[35]	0.999296
TNavParticleFilter::Modified Variance for beam 36 is 16.47 
Alpha[36]	0.000000
Alpha[36]	0.999373
TNavParticleFilter::Modified Variance for beam 37 is 16.04 
Alpha[37]	0.000000
Alpha[37]	0.999500
TNavParticleFilter::Modified Variance for beam 38 is 15.78 
Alpha[38]	0.000000
Alpha[38]	0.999587
TNavParticleFilter::Modified Variance for beam 39 is 16.01 
Alpha[39]	0.000000
Alpha[39]	0.999616
TNavParticleFilter::Modified Variance for beam 40 is 16.24 
Alpha[40]	0.000000
Alpha[40]	0.999581
TNavParticleFilter::Modified Variance for beam 41 is 16.50 
Alpha[41]	0.000000
Alpha[41]	0.999423
TNavParticleFilter::Modified Variance for beam 42 is 16.16 
Alpha[42]	0.000000
Alpha[42]	0.999254
TNavParticleFilter::Modified Variance for beam 43 is 15.45 
Alpha[43]	0.000000
Alpha[43]	0.999354
TNavParticleFilter::Modified Variance for beam 44 is 14.98 
Alpha[44]	0.000000
Alpha[44]	0.999387
TNavParticleFilter::Modified Variance for beam 45 is 15.25 
Alpha[45]	0.000000
Alpha[45]	0.999332
TNavParticleFilter::Modified Variance for beam 46 is 12.18 
Alpha[46]	0.000000
Alpha[46]	0.999242
TNavParticleFilter::Modified Variance for beam 47 is 11.77 
Alpha[47]	0.000000
Alpha[47]	0.999167
TNavParticleFilter::Modified Variance for beam 48 is 11.66 
Alpha[48]	0.000000
Alpha[48]	0.999170
TNavParticleFilter::Modified Variance for beam 49 is 11.88 
Alpha[49]	0.000000
Alpha[49]	0.999227
TNavParticleFilter::Modified Variance for beam 50 is 11.95 
Alpha[50]	0.000000
Alpha[50]	0.999197
TNavParticleFilter::Modified Variance for beam 51 is 11.60 
Alpha[51]	0.000000
Alpha[51]	0.999132
TNavParticleFilter::Modified Variance for beam 52 is 10.12 
Alpha[52]	0.000000
Alpha[52]	0.999100
TNavParticleFilter::Modified Variance for beam 53 is 9.87 
Alpha[53]	0.000000
Alpha[53]	0.998933
TNavParticleFilter::Modified Variance for beam 54 is 9.97 
Alpha[54]	0.000000
Alpha[54]	0.998787
TNavParticleFilter::Modified Variance for beam 55 is 10.19 
Alpha[55]	0.000000
Alpha[55]	0.998660
TNavParticleFilter::Modified Variance for beam 56 is 10.19 
Alpha[56]	0.000000
Alpha[56]	0.998627
TNavParticleFilter::Modified Variance for beam 57 is 9.96 
Alpha[57]	0.000000
Alpha[57]	0.998916
TNavParticleFilter::Modified Variance for beam 58 is 9.86 
Alpha[58]	0.000000
Alpha[58]	0.999164
TNavParticleFilter::Modified Variance for beam 59 is 10.10 
Alpha[59]	0.000000
Alpha[59]	0.999251
TNavPF:: sumSquaredError = 293.823685 
TNavPF:: sumWeights = 0.000533 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.40. Range = 85.22 
TNavPF::Calculated measDiffMean for beam 31 as -0.39. Range = 85.02 
TNavPF::Calculated measDiffMean for beam 32 as -0.44. Range = 78.61 
TNavPF::Calculated measDiffMean for beam 33 as -0.25. Range = 72.41 
TNavPF::Calculated measDiffMean for beam 34 as 1.43. Range = 72.95 
TNavPF::Calculated measDiffMean for beam 35 as 1.55. Range = 72.99 
TNavPF::Calculated measDiffMean for beam 36 as -0.74. Range = 73.04 
TNavPF::Calculated measDiffMean for beam 37 as -0.31. Range = 74.91 
TNavPF::Calculated measDiffMean for beam 38 as 1.64. Range = 72.78 
TNavPF::Calculated measDiffMean for beam 39 as 2.60. Range = 71.96 
TNavPF::Calculated measDiffMean for beam 40 as 1.49. Range = 71.19 
TNavPF::Calculated measDiffMean for beam 41 as 3.74. Range = 71.75 
TNavPF::Calculated measDiffMean for beam 42 as 9.29. Range = 69.75 
TNavPF::Calculated measDiffMean for beam 43 as 14.70. Range = 69.08 
TNavPF::Calculated measDiffMean for beam 44 as 16.41. Range = 68.45 
TNavPF::Calculated measDiffMean for beam 45 as 16.24. Range = 68.13 
TNavPF::Calculated measDiffMean for beam 46 as 6.95. Range = 69.49 
TNavPF::Calculated measDiffMean for beam 47 as 3.89. Range = 66.74 
TNavPF::Calculated measDiffMean for beam 48 as 2.99. Range = 66.22 
TNavPF::Calculated measDiffMean for beam 49 as 12.28. Range = 67.90 
TNavPF::Calculated measDiffMean for beam 50 as 5.59. Range = 67.43 
TNavPF::Calculated measDiffMean for beam 51 as 3.89. Range = 66.98 
TNavPF::Calculated measDiffMean for beam 52 as -7.47. Range = 64.44 
TNavPF::Calculated measDiffMean for beam 53 as -5.87. Range = 64.06 
TNavPF::Calculated measDiffMean for beam 54 as -5.01. Range = 63.70 
TNavPF::Calculated measDiffMean for beam 55 as -4.68. Range = 63.37 
TNavPF::Calculated measDiffMean for beam 56 as -4.10. Range = 63.05 
TNavPF::Calculated measDiffMean for beam 57 as -3.53. Range = 64.83 
TNavPF::Calculated measDiffMean for beam 58 as 4.48. Range = 60.44 
TNavPF::Calculated measDiffMean for beam 59 as 3.56. Range = 60.20 
TNavPF::Calculated measDiffMean for beam 60 as 1.96. Range = 59.98 
TNavPF::Calculated measDiffMean for beam 61 as 2.15. Range = 59.78 
TNavPF::Calculated measDiffMean for beam 62 as 1.74. Range = 59.60 
TNavPF::Calculated measDiffMean for beam 63 as -0.22. Range = 59.44 
TNavPF::Calculated measDiffMean for beam 64 as 0.74. Range = 61.31 
TNavPF::Calculated measDiffMean for beam 65 as 1.53. Range = 61.19 
TNavPF::Calculated measDiffMean for beam 66 as 3.73. Range = 57.05 
TNavPF::Calculated measDiffMean for beam 67 as 2.87. Range = 56.97 
TNavPF::Calculated measDiffMean for beam 68 as 3.01. Range = 58.91 
TNavPF::Calculated measDiffMean for beam 69 as 3.59. Range = 58.86 
TNavPF::Calculated measDiffMean for beam 70 as 3.68. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 71 as 3.06. Range = 54.81 
TNavPF::Calculated measDiffMean for beam 72 as 1.65. Range = 54.81 
TNavPF::Calculated measDiffMean for beam 73 as 1.06. Range = 54.83 
TNavPF::Calculated measDiffMean for beam 74 as 1.35. Range = 54.86 
TNavPF::Calculated measDiffMean for beam 75 as 2.81. Range = 54.92 
TNavPF::Calculated measDiffMean for beam 76 as -3.65. Range = 47.87 
TNavPF::Calculated measDiffMean for beam 77 as -3.87. Range = 47.02 
TNavPF::Calculated measDiffMean for beam 78 as -2.95. Range = 47.11 
TNavPF::Calculated measDiffMean for beam 79 as -1.63. Range = 58.95 
TNavPF::Calculated measDiffMean for beam 80 as -0.89. Range = 55.44 
TNavPF::Calculated measDiffMean for beam 81 as -0.88. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 82 as -3.14. Range = 42.80 
TNavPF::Calculated measDiffMean for beam 83 as -2.19. Range = 41.65 
TNavPF::Calculated measDiffMean for beam 84 as -1.20. Range = 41.81 
TNavPF::Calculated measDiffMean for beam 85 as -0.48. Range = 41.98 
TNavPF::Calculated measDiffMean for beam 86 as -0.78. Range = 42.16 
TNavPF::Calculated measDiffMean for beam 87 as -2.06. Range = 42.36 
TNavPF::Calculated measDiffMean for beam 88 as -2.56. Range = 50.94 
TNavPF::Calculated measDiffMean for beam 89 as -1.70. Range = 51.22 
TNavPF::First Term of Map Covariance Matrix is 3.15 
TNavPF::Calculated NIS Value : 13.75 	numBeams normalized NIS: 0.23
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322084.82 sec.
INS : North: 4070227.17, East: 589240.56, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 56.27, IDT[75] = 35.42
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322087.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322087.62)
ARL : North: -0.3536, East: -2.3748, Depth: 0.1673ARL : Estimation Bias  (Mean)         : (t = 1488322087.62)
ARL : North: 0.6449, East: -2.1252, Depth: 0.1913TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.08 
Alpha[0]	0.123000
Alpha[0]	0.997196
TNavParticleFilter::Modified Variance for beam 1 is 20.48 
Alpha[1]	0.000000
Alpha[1]	0.999258
TNavParticleFilter::Modified Variance for beam 2 is 20.38 
Alpha[2]	0.000000
Alpha[2]	0.999834
TNavParticleFilter::Modified Variance for beam 3 is 21.47 
Alpha[3]	0.000000
Alpha[3]	0.999901
TNavParticleFilter::Modified Variance for beam 4 is 21.40 
Alpha[4]	0.000000
Alpha[4]	0.999884
TNavParticleFilter::Modified Variance for beam 5 is 19.03 
Alpha[5]	0.000000
Alpha[5]	0.999869
TNavParticleFilter::Modified Variance for beam 6 is 18.98 
Alpha[6]	0.000000
Alpha[6]	0.999865
TNavParticleFilter::Modified Variance for beam 7 is 18.95 
Alpha[7]	0.000000
Alpha[7]	0.999864
TNavParticleFilter::Modified Variance for beam 8 is 18.92 
Alpha[8]	0.000000
Alpha[8]	0.999859
TNavParticleFilter::Modified Variance for beam 9 is 15.77 
Alpha[9]	0.000000
Alpha[9]	0.999857
TNavParticleFilter::Modified Variance for beam 10 is 15.76 
Alpha[10]	0.000000
Alpha[10]	0.999854
TNavParticleFilter::Modified Variance for beam 11 is 14.80 
Alpha[11]	0.000000
Alpha[11]	0.999799
TNavParticleFilter::Modified Variance for beam 12 is 14.81 
Alpha[12]	0.000000
Alpha[12]	0.999683
TNavParticleFilter::Modified Variance for beam 13 is 22.41 
Alpha[13]	0.000000
Alpha[13]	0.999558
TNavParticleFilter::Modified Variance for beam 14 is 22.45 
Alpha[14]	0.000000
Alpha[14]	0.999398
TNavParticleFilter::Modified Variance for beam 15 is 18.99 
Alpha[15]	0.000000
Alpha[15]	0.999484
TNavParticleFilter::Modified Variance for beam 16 is 12.23 
Alpha[16]	0.000000
Alpha[16]	0.999598
TNavParticleFilter::Modified Variance for beam 17 is 12.26 
Alpha[17]	0.000000
Alpha[17]	0.999615
TNavParticleFilter::Modified Variance for beam 18 is 12.30 
Alpha[18]	0.000000
Alpha[18]	0.999631
TNavParticleFilter::Modified Variance for beam 19 is 12.34 
Alpha[19]	0.000000
Alpha[19]	0.999659
TNavParticleFilter::Modified Variance for beam 20 is 12.39 
Alpha[20]	0.000000
Alpha[20]	0.999655
TNavParticleFilter::Modified Variance for beam 21 is 12.45 
Alpha[21]	0.000000
Alpha[21]	0.999636
TNavParticleFilter::Modified Variance for beam 22 is 16.28 
Alpha[22]	0.000000
Alpha[22]	0.999613
TNavParticleFilter::Modified Variance for beam 23 is 16.37 
Alpha[23]	0.000000
Alpha[23]	0.999578
TNavParticleFilter::Modified Variance for beam 24 is 16.39 
Alpha[24]	0.000000
Alpha[24]	0.999475
TNavParticleFilter::Modified Variance for beam 25 is 15.57 
Alpha[25]	0.000000
Alpha[25]	0.999157
TNavParticleFilter::Modified Variance for beam 26 is 15.68 
Alpha[26]	0.000000
Alpha[26]	0.999158
TNavParticleFilter::Modified Variance for beam 27 is 15.38 
Alpha[27]	0.000000
Alpha[27]	0.999322
TNavParticleFilter::Modified Variance for beam 28 is 14.92 
Alpha[28]	0.000000
Alpha[28]	0.999325
TNavParticleFilter::Modified Variance for beam 29 is 15.05 
Alpha[29]	0.000000
Alpha[29]	0.999458
TNavParticleFilter::Modified Variance for beam 30 is 16.23 
Alpha[30]	0.000000
Alpha[30]	0.999569
TNavParticleFilter::Modified Variance for beam 31 is 16.39 
Alpha[31]	0.000000
Alpha[31]	0.999591
TNavParticleFilter::Modified Variance for beam 32 is 15.50 
Alpha[32]	0.000000
Alpha[32]	0.999565
TNavParticleFilter::Modified Variance for beam 33 is 15.67 
Alpha[33]	0.000000
Alpha[33]	0.999473
TNavParticleFilter::Modified Variance for beam 34 is 15.85 
Alpha[34]	0.000000
Alpha[34]	0.999366
TNavParticleFilter::Modified Variance for beam 35 is 16.05 
Alpha[35]	0.000000
Alpha[35]	0.999388
TNavParticleFilter::Modified Variance for beam 36 is 16.25 
Alpha[36]	0.000000
Alpha[36]	0.999452
TNavParticleFilter::Modified Variance for beam 37 is 15.41 
Alpha[37]	0.000000
Alpha[37]	0.999457
TNavParticleFilter::Modified Variance for beam 38 is 14.63 
Alpha[38]	0.000000
Alpha[38]	0.999370
TNavParticleFilter::Modified Variance for beam 39 is 14.71 
Alpha[39]	0.000000
Alpha[39]	0.999301
TNavParticleFilter::Modified Variance for beam 40 is 11.59 
Alpha[40]	0.000000
Alpha[40]	0.999362
TNavParticleFilter::Modified Variance for beam 41 is 11.14 
Alpha[41]	0.000000
Alpha[41]	0.999349
TNavParticleFilter::Modified Variance for beam 42 is 11.30 
Alpha[42]	0.000000
Alpha[42]	0.999338
TNavParticleFilter::Modified Variance for beam 43 is 11.47 
Alpha[43]	0.000000
Alpha[43]	0.999367
TNavParticleFilter::Modified Variance for beam 44 is 11.29 
Alpha[44]	0.000000
Alpha[44]	0.999324
TNavParticleFilter::Modified Variance for beam 45 is 9.62 
Alpha[45]	0.000000
Alpha[45]	0.999142
TNavParticleFilter::Modified Variance for beam 46 is 9.32 
Alpha[46]	0.000000
Alpha[46]	0.998958
TNavParticleFilter::Modified Variance for beam 47 is 9.45 
Alpha[47]	0.000000
Alpha[47]	0.998828
TNavParticleFilter::Modified Variance for beam 48 is 9.61 
Alpha[48]	0.000000
Alpha[48]	0.998866
TNavParticleFilter::Modified Variance for beam 49 is 9.63 
Alpha[49]	0.000000
Alpha[49]	0.998991
TNavParticleFilter::Modified Variance for beam 50 is 9.37 
Alpha[50]	0.000000
Alpha[50]	0.999090
TNavParticleFilter::Modified Variance for beam 51 is 9.23 
Alpha[51]	0.000000
Alpha[51]	0.999136
TNavParticleFilter::Modified Variance for beam 52 is 9.41 
Alpha[52]	0.000000
Alpha[52]	0.999142
TNavParticleFilter::Modified Variance for beam 53 is 9.60 
Alpha[53]	0.000000
Alpha[53]	0.999179
TNavParticleFilter::Modified Variance for beam 54 is 9.47 
Alpha[54]	0.000000
Alpha[54]	0.999222
TNavParticleFilter::Modified Variance for beam 55 is 9.26 
Alpha[55]	0.000000
Alpha[55]	0.999213
TNavParticleFilter::Modified Variance for beam 56 is 9.25 
Alpha[56]	0.000000
Alpha[56]	0.999108
TNavParticleFilter::Modified Variance for beam 57 is 9.47 
Alpha[57]	0.000000
Alpha[57]	0.998964
TNavParticleFilter::Modified Variance for beam 58 is 9.70 
Alpha[58]	0.000000
Alpha[58]	0.998846
TNavParticleFilter::Modified Variance for beam 59 is 9.94 
Alpha[59]	0.000000
Alpha[59]	0.998822
TNavPF:: sumSquaredError = 539.013872 
TNavPF:: sumWeights = 0.000867 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.72. Range = 76.41 
TNavPF::Calculated measDiffMean for beam 31 as -0.02. Range = 75.71 
TNavPF::Calculated measDiffMean for beam 32 as 4.20. Range = 76.80 
TNavPF::Calculated measDiffMean for beam 33 as 13.15. Range = 75.83 
TNavPF::Calculated measDiffMean for beam 34 as 18.55. Range = 77.61 
TNavPF::Calculated measDiffMean for beam 35 as 15.63. Range = 78.75 
TNavPF::Calculated measDiffMean for beam 36 as 14.70. Range = 75.36 
TNavPF::Calculated measDiffMean for beam 37 as 12.67. Range = 74.48 
TNavPF::Calculated measDiffMean for beam 38 as 11.45. Range = 74.74 
TNavPF::Calculated measDiffMean for beam 39 as 4.52. Range = 72.84 
TNavPF::Calculated measDiffMean for beam 40 as 1.17. Range = 72.08 
TNavPF::Calculated measDiffMean for beam 41 as -4.57. Range = 71.36 
TNavPF::Calculated measDiffMean for beam 42 as -5.41. Range = 71.56 
TNavPF::Calculated measDiffMean for beam 43 as 7.28. Range = 72.28 
TNavPF::Calculated measDiffMean for beam 44 as 8.02. Range = 69.40 
TNavPF::Calculated measDiffMean for beam 45 as 5.04. Range = 70.00 
TNavPF::Calculated measDiffMean for beam 46 as -6.00. Range = 70.45 
TNavPF::Calculated measDiffMean for beam 47 as -5.37. Range = 69.91 
TNavPF::Calculated measDiffMean for beam 48 as -5.11. Range = 67.22 
TNavPF::Calculated measDiffMean for beam 49 as -4.53. Range = 66.75 
TNavPF::Calculated measDiffMean for beam 50 as -4.27. Range = 66.31 
TNavPF::Calculated measDiffMean for beam 51 as -5.14. Range = 65.89 
TNavPF::Calculated measDiffMean for beam 52 as 2.31. Range = 65.49 
TNavPF::Calculated measDiffMean for beam 53 as 2.55. Range = 66.90 
TNavPF::Calculated measDiffMean for beam 54 as 2.34. Range = 62.69 
TNavPF::Calculated measDiffMean for beam 55 as 0.16. Range = 62.37 
TNavPF::Calculated measDiffMean for beam 56 as 0.74. Range = 62.08 
TNavPF::Calculated measDiffMean for beam 57 as 1.31. Range = 61.81 
TNavPF::Calculated measDiffMean for beam 58 as 0.94. Range = 61.56 
TNavPF::Calculated measDiffMean for beam 59 as 1.40. Range = 61.34 
TNavPF::Calculated measDiffMean for beam 60 as 3.84. Range = 63.16 
TNavPF::Calculated measDiffMean for beam 61 as 4.39. Range = 58.91 
TNavPF::Calculated measDiffMean for beam 62 as 2.44. Range = 58.75 
TNavPF::Calculated measDiffMean for beam 63 as 1.68. Range = 60.62 
TNavPF::Calculated measDiffMean for beam 64 as 1.39. Range = 60.49 
TNavPF::Calculated measDiffMean for beam 65 as 2.04. Range = 56.36 
TNavPF::Calculated measDiffMean for beam 66 as 3.22. Range = 56.27 
TNavPF::Calculated measDiffMean for beam 67 as 2.62. Range = 56.21 
TNavPF::Calculated measDiffMean for beam 68 as 1.79. Range = 56.15 
TNavPF::Calculated measDiffMean for beam 69 as 2.72. Range = 50.11 
TNavPF::Calculated measDiffMean for beam 70 as -3.09. Range = 50.10 
TNavPF::Calculated measDiffMean for beam 71 as -3.00. Range = 48.10 
TNavPF::Calculated measDiffMean for beam 72 as -1.88. Range = 48.11 
TNavPF::Calculated measDiffMean for beam 73 as -0.50. Range = 62.17 
TNavPF::Calculated measDiffMean for beam 74 as 1.06. Range = 62.22 
TNavPF::Calculated measDiffMean for beam 75 as -1.68. Range = 56.27 
TNavPF::Calculated measDiffMean for beam 76 as -1.91. Range = 42.28 
TNavPF::Calculated measDiffMean for beam 77 as -1.43. Range = 42.36 
TNavPF::Calculated measDiffMean for beam 78 as -1.23. Range = 42.45 
TNavPF::Calculated measDiffMean for beam 79 as -1.48. Range = 42.55 
TNavPF::Calculated measDiffMean for beam 80 as -2.22. Range = 42.67 
TNavPF::Calculated measDiffMean for beam 81 as -2.60. Range = 42.80 
TNavPF::Calculated measDiffMean for beam 82 as -2.12. Range = 51.12 
TNavPF::Calculated measDiffMean for beam 83 as -1.59. Range = 51.31 
TNavPF::Calculated measDiffMean for beam 84 as -1.72. Range = 51.35 
TNavPF::Calculated measDiffMean for beam 85 as -1.86. Range = 49.68 
TNavPF::Calculated measDiffMean for beam 86 as -1.37. Range = 49.91 
TNavPF::Calculated measDiffMean for beam 87 as -0.56. Range = 49.29 
TNavPF::Calculated measDiffMean for beam 88 as 0.05. Range = 48.33 
TNavPF::Calculated measDiffMean for beam 89 as 0.50. Range = 48.60 
TNavPF::First Term of Map Covariance Matrix is 7.12 
TNavPF::Calculated NIS Value : 13.99 	numBeams normalized NIS: 0.23
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322087.82 sec.
INS : North: 4070228.59, East: 589236.62, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 48.94, IDT[75] = 34.78
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322090.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322090.62)
ARL : North: 1.6313, East: -1.7208, Depth: 3.3633ARL : Estimation Bias  (Mean)         : (t = 1488322090.62)
ARL : North: 0.7371, East: -1.8138, Depth: 0.2249TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.52 
Alpha[0]	0.123000
Alpha[0]	0.999690
TNavParticleFilter::Modified Variance for beam 1 is 23.50 
Alpha[1]	0.000000
Alpha[1]	0.999487
TNavParticleFilter::Modified Variance for beam 2 is 23.48 
Alpha[2]	0.000000
Alpha[2]	0.999592
TNavParticleFilter::Modified Variance for beam 3 is 23.47 
Alpha[3]	0.000000
Alpha[3]	0.999625
TNavParticleFilter::Modified Variance for beam 4 is 19.89 
Alpha[4]	0.000000
Alpha[4]	0.999631
TNavParticleFilter::Modified Variance for beam 5 is 19.90 
Alpha[5]	0.000000
Alpha[5]	0.999652
TNavParticleFilter::Modified Variance for beam 6 is 19.93 
Alpha[6]	0.000000
Alpha[6]	0.999677
TNavParticleFilter::Modified Variance for beam 7 is 12.94 
Alpha[7]	0.000000
Alpha[7]	0.999683
TNavParticleFilter::Modified Variance for beam 8 is 12.96 
Alpha[8]	0.000000
Alpha[8]	0.999638
TNavParticleFilter::Modified Variance for beam 9 is 18.94 
Alpha[9]	0.000000
Alpha[9]	0.999559
TNavParticleFilter::Modified Variance for beam 10 is 19.00 
Alpha[10]	0.000000
Alpha[10]	0.999522
TNavParticleFilter::Modified Variance for beam 11 is 19.08 
Alpha[11]	0.000000
Alpha[11]	0.999288
TNavParticleFilter::Modified Variance for beam 12 is 18.06 
Alpha[12]	0.000000
Alpha[12]	0.998974
TNavParticleFilter::Modified Variance for beam 13 is 18.15 
Alpha[13]	0.000000
Alpha[13]	0.999145
TNavParticleFilter::Modified Variance for beam 14 is 16.12 
Alpha[14]	0.000000
Alpha[14]	0.999361
TNavParticleFilter::Modified Variance for beam 15 is 15.21 
Alpha[15]	0.000000
Alpha[15]	0.999439
TNavParticleFilter::Modified Variance for beam 16 is 15.30 
Alpha[16]	0.000000
Alpha[16]	0.999481
TNavParticleFilter::Modified Variance for beam 17 is 15.40 
Alpha[17]	0.000000
Alpha[17]	0.999536
TNavParticleFilter::Modified Variance for beam 18 is 16.54 
Alpha[18]	0.000000
Alpha[18]	0.999529
TNavParticleFilter::Modified Variance for beam 19 is 16.30 
Alpha[19]	0.000000
Alpha[19]	0.999459
TNavParticleFilter::Modified Variance for beam 20 is 15.75 
Alpha[20]	0.000000
Alpha[20]	0.999390
TNavParticleFilter::Modified Variance for beam 21 is 15.89 
Alpha[21]	0.000000
Alpha[21]	0.999394
TNavParticleFilter::Modified Variance for beam 22 is 16.04 
Alpha[22]	0.000000
Alpha[22]	0.999355
TNavParticleFilter::Modified Variance for beam 23 is 16.19 
Alpha[23]	0.000000
Alpha[23]	0.999363
TNavParticleFilter::Modified Variance for beam 24 is 16.00 
Alpha[24]	0.000000
Alpha[24]	0.999391
TNavParticleFilter::Modified Variance for beam 25 is 14.95 
Alpha[25]	0.000000
Alpha[25]	0.999460
TNavParticleFilter::Modified Variance for beam 26 is 14.60 
Alpha[26]	0.000000
Alpha[26]	0.999546
TNavParticleFilter::Modified Variance for beam 27 is 14.77 
Alpha[27]	0.000000
Alpha[27]	0.999548
TNavParticleFilter::Modified Variance for beam 28 is 14.60 
Alpha[28]	0.000000
Alpha[28]	0.999496
TNavParticleFilter::Modified Variance for beam 29 is 13.82 
Alpha[29]	0.000000
Alpha[29]	0.999504
TNavParticleFilter::Modified Variance for beam 30 is 9.69 
Alpha[30]	0.000000
Alpha[30]	0.999546
TNavParticleFilter::Modified Variance for beam 31 is 9.29 
Alpha[31]	0.000000
Alpha[31]	0.999475
TNavParticleFilter::Modified Variance for beam 32 is 9.18 
Alpha[32]	0.000000
Alpha[32]	0.999323
TNavParticleFilter::Modified Variance for beam 33 is 9.29 
Alpha[33]	0.000000
Alpha[33]	0.999200
TNavParticleFilter::Modified Variance for beam 34 is 9.41 
Alpha[34]	0.000000
Alpha[34]	0.999199
TNavParticleFilter::Modified Variance for beam 35 is 12.05 
Alpha[35]	0.000000
Alpha[35]	0.999205
TNavParticleFilter::Modified Variance for beam 36 is 11.60 
Alpha[36]	0.000000
Alpha[36]	0.999151
TNavParticleFilter::Modified Variance for beam 37 is 11.65 
Alpha[37]	0.000000
Alpha[37]	0.999094
TNavParticleFilter::Modified Variance for beam 38 is 10.81 
Alpha[38]	0.000000
Alpha[38]	0.999125
TNavParticleFilter::Modified Variance for beam 39 is 10.46 
Alpha[39]	0.000000
Alpha[39]	0.999267
TNavParticleFilter::Modified Variance for beam 40 is 10.32 
Alpha[40]	0.000000
Alpha[40]	0.999369
TNavParticleFilter::Modified Variance for beam 41 is 10.50 
Alpha[41]	0.000000
Alpha[41]	0.999398
TNavParticleFilter::Modified Variance for beam 42 is 8.89 
Alpha[42]	0.000000
Alpha[42]	0.999353
TNavParticleFilter::Modified Variance for beam 43 is 9.05 
Alpha[43]	0.000000
Alpha[43]	0.999266
TNavParticleFilter::Modified Variance for beam 44 is 9.22 
Alpha[44]	0.000000
Alpha[44]	0.999153
TNavParticleFilter::Modified Variance for beam 45 is 9.40 
Alpha[45]	0.000000
Alpha[45]	0.999046
TNavParticleFilter::Modified Variance for beam 46 is 9.60 
Alpha[46]	0.000000
Alpha[46]	0.998984
TNavParticleFilter::Modified Variance for beam 47 is 9.43 
Alpha[47]	0.000000
Alpha[47]	0.998966
TNavParticleFilter::Modified Variance for beam 48 is 9.23 
Alpha[48]	0.000000
Alpha[48]	0.998926
TNavParticleFilter::Modified Variance for beam 49 is 9.03 
Alpha[49]	0.000000
Alpha[49]	0.998794
TNavParticleFilter::Modified Variance for beam 50 is 8.86 
Alpha[50]	0.000000
Alpha[50]	0.998621
TNavParticleFilter::Modified Variance for beam 51 is 8.70 
Alpha[51]	0.000000
Alpha[51]	0.998496
TNavParticleFilter::Modified Variance for beam 52 is 8.91 
Alpha[52]	0.000000
Alpha[52]	0.998457
TNavParticleFilter::Modified Variance for beam 53 is 9.14 
Alpha[53]	0.000000
Alpha[53]	0.998529
TNavParticleFilter::Modified Variance for beam 54 is 9.06 
Alpha[54]	0.000000
Alpha[54]	0.998592
TNavParticleFilter::Modified Variance for beam 55 is 8.91 
Alpha[55]	0.000000
Alpha[55]	0.998539
TNavParticleFilter::Modified Variance for beam 56 is 8.81 
Alpha[56]	0.000000
Alpha[56]	0.998440
TNavParticleFilter::Modified Variance for beam 57 is 9.06 
Alpha[57]	0.000000
Alpha[57]	0.998511
TNavParticleFilter::Modified Variance for beam 58 is 9.31 
Alpha[58]	0.000000
Alpha[58]	0.998676
TNavParticleFilter::Modified Variance for beam 59 is 9.17 
Alpha[59]	0.000000
Alpha[59]	0.998690
TNavPF:: sumSquaredError = 355.252795 
TNavPF:: sumWeights = 0.000083 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 5.64. Range = 76.11 
TNavPF::Calculated measDiffMean for beam 31 as 5.66. Range = 75.27 
TNavPF::Calculated measDiffMean for beam 32 as 7.45. Range = 74.47 
TNavPF::Calculated measDiffMean for beam 33 as 12.16. Range = 76.03 
TNavPF::Calculated measDiffMean for beam 34 as 7.17. Range = 72.99 
TNavPF::Calculated measDiffMean for beam 35 as 7.45. Range = 72.49 
TNavPF::Calculated measDiffMean for beam 36 as 7.82. Range = 73.90 
TNavPF::Calculated measDiffMean for beam 37 as -6.34. Range = 73.26 
TNavPF::Calculated measDiffMean for beam 38 as -7.54. Range = 70.45 
TNavPF::Calculated measDiffMean for beam 39 as 4.32. Range = 69.89 
TNavPF::Calculated measDiffMean for beam 40 as 4.38. Range = 69.36 
TNavPF::Calculated measDiffMean for beam 41 as 4.04. Range = 68.87 
TNavPF::Calculated measDiffMean for beam 42 as 2.23. Range = 68.40 
TNavPF::Calculated measDiffMean for beam 43 as 3.52. Range = 70.08 
TNavPF::Calculated measDiffMean for beam 44 as 0.62. Range = 67.54 
TNavPF::Calculated measDiffMean for beam 45 as -0.51. Range = 67.14 
TNavPF::Calculated measDiffMean for beam 46 as 0.15. Range = 64.68 
TNavPF::Calculated measDiffMean for beam 47 as 0.19. Range = 65.31 
TNavPF::Calculated measDiffMean for beam 48 as 2.27. Range = 66.12 
TNavPF::Calculated measDiffMean for beam 49 as 1.45. Range = 65.82 
TNavPF::Calculated measDiffMean for beam 50 as -0.41. Range = 34.39 
TNavPF::Calculated measDiffMean for beam 51 as -0.50. Range = 61.20 
TNavPF::Calculated measDiffMean for beam 52 as 0.16. Range = 62.83 
TNavPF::Calculated measDiffMean for beam 53 as 1.33. Range = 62.82 
TNavPF::Calculated measDiffMean for beam 54 as 1.86. Range = 58.58 
TNavPF::Calculated measDiffMean for beam 55 as 0.84. Range = 58.43 
TNavPF::Calculated measDiffMean for beam 56 as 1.52. Range = 58.30 
TNavPF::Calculated measDiffMean for beam 57 as 3.29. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 58 as 4.18. Range = 58.09 
TNavPF::Calculated measDiffMean for beam 59 as 4.09. Range = 58.01 
TNavPF::Calculated measDiffMean for beam 60 as -3.86. Range = 63.97 
TNavPF::Calculated measDiffMean for beam 61 as -3.39. Range = 63.92 
TNavPF::Calculated measDiffMean for beam 62 as -2.97. Range = 63.89 
TNavPF::Calculated measDiffMean for beam 63 as -2.43. Range = 63.88 
TNavPF::Calculated measDiffMean for beam 64 as -2.43. Range = 57.88 
TNavPF::Calculated measDiffMean for beam 65 as 4.45. Range = 57.91 
TNavPF::Calculated measDiffMean for beam 66 as 3.56. Range = 57.96 
TNavPF::Calculated measDiffMean for beam 67 as 3.78. Range = 43.96 
TNavPF::Calculated measDiffMean for beam 68 as 1.73. Range = 44.02 
TNavPF::Calculated measDiffMean for beam 69 as 0.93. Range = 56.18 
TNavPF::Calculated measDiffMean for beam 70 as 0.74. Range = 56.30 
TNavPF::Calculated measDiffMean for beam 71 as 1.60. Range = 56.43 
TNavPF::Calculated measDiffMean for beam 72 as -2.58. Range = 54.55 
TNavPF::Calculated measDiffMean for beam 73 as -1.77. Range = 54.71 
TNavPF::Calculated measDiffMean for beam 74 as -1.12. Range = 50.81 
TNavPF::Calculated measDiffMean for beam 75 as -0.64. Range = 48.94 
TNavPF::Calculated measDiffMean for beam 76 as -0.27. Range = 49.13 
TNavPF::Calculated measDiffMean for beam 77 as -0.69. Range = 49.34 
TNavPF::Calculated measDiffMean for beam 78 as -0.80. Range = 51.64 
TNavPF::Calculated measDiffMean for beam 79 as -0.77. Range = 51.17 
TNavPF::Calculated measDiffMean for beam 80 as -0.95. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 81 as -1.34. Range = 50.34 
TNavPF::Calculated measDiffMean for beam 82 as -0.75. Range = 50.64 
TNavPF::Calculated measDiffMean for beam 83 as -0.12. Range = 50.95 
TNavPF::Calculated measDiffMean for beam 84 as -0.28. Range = 50.56 
TNavPF::Calculated measDiffMean for beam 85 as -0.67. Range = 48.39 
TNavPF::Calculated measDiffMean for beam 86 as -1.14. Range = 47.66 
TNavPF::Calculated measDiffMean for beam 87 as -0.89. Range = 48.03 
TNavPF::Calculated measDiffMean for beam 88 as -0.92. Range = 47.65 
TNavPF::Calculated measDiffMean for beam 89 as -1.64. Range = 45.96 
TNavPF::First Term of Map Covariance Matrix is 64.51 
TNavPF::Calculated NIS Value : 22.80 	numBeams normalized NIS: 0.38
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322090.82 sec.
INS : North: 4070230.59, East: 589233.00, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 42.80, IDT[75] = 39.71
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322093.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322093.62)
ARL : North: 0.4352, East: -1.8562, Depth: -0.2585ARL : Estimation Bias  (Mean)         : (t = 1488322093.62)
ARL : North: 0.9915, East: -1.4497, Depth: 0.1973TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.57 
Alpha[0]	0.123000
Alpha[0]	0.999323
TNavParticleFilter::Modified Variance for beam 1 is 18.68 
Alpha[1]	0.000000
Alpha[1]	0.999213
TNavParticleFilter::Modified Variance for beam 2 is 18.80 
Alpha[2]	0.000000
Alpha[2]	0.999217
TNavParticleFilter::Modified Variance for beam 3 is 18.93 
Alpha[3]	0.000000
Alpha[3]	0.999277
TNavParticleFilter::Modified Variance for beam 4 is 19.08 
Alpha[4]	0.000000
Alpha[4]	0.999310
TNavParticleFilter::Modified Variance for beam 5 is 18.09 
Alpha[5]	0.000000
Alpha[5]	0.999395
TNavParticleFilter::Modified Variance for beam 6 is 18.24 
Alpha[6]	0.000000
Alpha[6]	0.999547
TNavParticleFilter::Modified Variance for beam 7 is 17.84 
Alpha[7]	0.000000
Alpha[7]	0.999630
TNavParticleFilter::Modified Variance for beam 8 is 16.44 
Alpha[8]	0.000000
Alpha[8]	0.999653
TNavParticleFilter::Modified Variance for beam 9 is 15.25 
Alpha[9]	0.000000
Alpha[9]	0.999695
TNavParticleFilter::Modified Variance for beam 10 is 9.76 
Alpha[10]	0.000000
Alpha[10]	0.999704
TNavParticleFilter::Modified Variance for beam 11 is 9.46 
Alpha[11]	0.000000
Alpha[11]	0.999686
TNavParticleFilter::Modified Variance for beam 12 is 9.55 
Alpha[12]	0.000000
Alpha[12]	0.999639
TNavParticleFilter::Modified Variance for beam 13 is 9.65 
Alpha[13]	0.000000
Alpha[13]	0.999509
TNavParticleFilter::Modified Variance for beam 14 is 12.30 
Alpha[14]	0.000000
Alpha[14]	0.999368
TNavParticleFilter::Modified Variance for beam 15 is 12.45 
Alpha[15]	0.000000
Alpha[15]	0.999276
TNavParticleFilter::Modified Variance for beam 16 is 11.90 
Alpha[16]	0.000000
Alpha[16]	0.999203
TNavParticleFilter::Modified Variance for beam 17 is 11.83 
Alpha[17]	0.000000
Alpha[17]	0.999162
TNavParticleFilter::Modified Variance for beam 18 is 10.87 
Alpha[18]	0.000000
Alpha[18]	0.999219
TNavParticleFilter::Modified Variance for beam 19 is 10.44 
Alpha[19]	0.000000
Alpha[19]	0.999356
TNavParticleFilter::Modified Variance for beam 20 is 10.50 
Alpha[20]	0.000000
Alpha[20]	0.999430
TNavParticleFilter::Modified Variance for beam 21 is 9.68 
Alpha[21]	0.000000
Alpha[21]	0.999477
TNavParticleFilter::Modified Variance for beam 22 is 9.35 
Alpha[22]	0.000000
Alpha[22]	0.999493
TNavParticleFilter::Modified Variance for beam 23 is 9.24 
Alpha[23]	0.000000
Alpha[23]	0.999469
TNavParticleFilter::Modified Variance for beam 24 is 9.38 
Alpha[24]	0.000000
Alpha[24]	0.999398
TNavParticleFilter::Modified Variance for beam 25 is 9.53 
Alpha[25]	0.000000
Alpha[25]	0.999267
TNavParticleFilter::Modified Variance for beam 26 is 10.55 
Alpha[26]	0.000000
Alpha[26]	0.999131
TNavParticleFilter::Modified Variance for beam 27 is 10.24 
Alpha[27]	0.000000
Alpha[27]	0.999096
TNavParticleFilter::Modified Variance for beam 28 is 8.87 
Alpha[28]	0.000000
Alpha[28]	0.999107
TNavParticleFilter::Modified Variance for beam 29 is 8.65 
Alpha[29]	0.000000
Alpha[29]	0.999068
TNavParticleFilter::Modified Variance for beam 30 is 8.61 
Alpha[30]	0.000000
Alpha[30]	0.998973
TNavParticleFilter::Modified Variance for beam 31 is 8.78 
Alpha[31]	0.000000
Alpha[31]	0.998885
TNavParticleFilter::Modified Variance for beam 32 is 8.95 
Alpha[32]	0.000000
Alpha[32]	0.998828
TNavParticleFilter::Modified Variance for beam 33 is 8.80 
Alpha[33]	0.000000
Alpha[33]	0.998840
TNavParticleFilter::Modified Variance for beam 34 is 8.62 
Alpha[34]	0.000000
Alpha[34]	0.998874
TNavParticleFilter::Modified Variance for beam 35 is 8.59 
Alpha[35]	0.000000
Alpha[35]	0.998857
TNavParticleFilter::Modified Variance for beam 36 is 8.78 
Alpha[36]	0.000000
Alpha[36]	0.998805
TNavParticleFilter::Modified Variance for beam 37 is 10.89 
Alpha[37]	0.000000
Alpha[37]	0.998771
TNavParticleFilter::Modified Variance for beam 38 is 10.66 
Alpha[38]	0.000000
Alpha[38]	0.998753
TNavParticleFilter::Modified Variance for beam 39 is 10.58 
Alpha[39]	0.000000
Alpha[39]	0.998811
TNavParticleFilter::Modified Variance for beam 40 is 9.36 
Alpha[40]	0.000000
Alpha[40]	0.998842
TNavParticleFilter::Modified Variance for beam 41 is 9.20 
Alpha[41]	0.000000
Alpha[41]	0.998765
TNavParticleFilter::Modified Variance for beam 42 is 9.14 
Alpha[42]	0.000000
Alpha[42]	0.998669
TNavParticleFilter::Modified Variance for beam 43 is 9.41 
Alpha[43]	0.000000
Alpha[43]	0.998613
TNavParticleFilter::Modified Variance for beam 44 is 11.01 
Alpha[44]	0.000000
Alpha[44]	0.998513
TNavParticleFilter::Modified Variance for beam 45 is 11.21 
Alpha[45]	0.000000
Alpha[45]	0.998346
TNavParticleFilter::Modified Variance for beam 46 is 11.04 
Alpha[46]	0.000000
Alpha[46]	0.998264
TNavParticleFilter::Modified Variance for beam 47 is 10.80 
Alpha[47]	0.000000
Alpha[47]	0.998333
TNavParticleFilter::Modified Variance for beam 48 is 10.72 
Alpha[48]	0.000000
Alpha[48]	0.998514
TNavParticleFilter::Modified Variance for beam 49 is 10.57 
Alpha[49]	0.000000
Alpha[49]	0.998745
TNavParticleFilter::Modified Variance for beam 50 is 10.59 
Alpha[50]	0.000000
Alpha[50]	0.998890
TNavParticleFilter::Modified Variance for beam 51 is 11.06 
Alpha[51]	0.000000
Alpha[51]	0.999314
TNavParticleFilter::Modified Variance for beam 52 is 11.89 
Alpha[52]	0.000000
Alpha[52]	0.999622
TNavParticleFilter::Modified Variance for beam 53 is 12.18 
Alpha[53]	0.000000
Alpha[53]	0.999893
TNavParticleFilter::Modified Variance for beam 54 is 12.85 
Alpha[54]	0.000000
Alpha[54]	0.999932
TNavParticleFilter::Modified Variance for beam 55 is 13.61 
Alpha[55]	0.000000
Alpha[55]	0.999947
TNavParticleFilter::Modified Variance for beam 56 is 14.46 
Alpha[56]	0.000000
Alpha[56]	0.999958
TNavParticleFilter::Modified Variance for beam 57 is 40.76 
Alpha[57]	0.000000
Alpha[57]	0.999943
TNavParticleFilter::Modified Variance for beam 58 is 43.98 
Alpha[58]	0.000000
Alpha[58]	0.999903
TNavParticleFilter::Modified Variance for beam 59 is 43.47 
Alpha[59]	0.000000
Alpha[59]	0.999833
TNavPF:: sumSquaredError = 645.180740 
TNavPF:: sumWeights = 0.002437 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.04. Range = 68.10 
TNavPF::Calculated measDiffMean for beam 31 as 1.78. Range = 36.12 
TNavPF::Calculated measDiffMean for beam 32 as 1.67. Range = 35.93 
TNavPF::Calculated measDiffMean for beam 33 as 1.69. Range = 35.74 
TNavPF::Calculated measDiffMean for beam 34 as 2.70. Range = 35.57 
TNavPF::Calculated measDiffMean for beam 35 as 2.21. Range = 66.39 
TNavPF::Calculated measDiffMean for beam 36 as 3.83. Range = 64.06 
TNavPF::Calculated measDiffMean for beam 37 as 4.30. Range = 61.76 
TNavPF::Calculated measDiffMean for beam 38 as 2.89. Range = 61.55 
TNavPF::Calculated measDiffMean for beam 39 as 3.28. Range = 61.35 
TNavPF::Calculated measDiffMean for beam 40 as -6.74. Range = 61.18 
TNavPF::Calculated measDiffMean for beam 41 as -6.36. Range = 61.02 
TNavPF::Calculated measDiffMean for beam 42 as -5.37. Range = 60.89 
TNavPF::Calculated measDiffMean for beam 43 as -4.65. Range = 64.80 
TNavPF::Calculated measDiffMean for beam 44 as 2.13. Range = 60.67 
TNavPF::Calculated measDiffMean for beam 45 as 2.77. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 46 as 1.91. Range = 60.53 
TNavPF::Calculated measDiffMean for beam 47 as 2.13. Range = 60.49 
TNavPF::Calculated measDiffMean for beam 48 as 0.14. Range = 60.47 
TNavPF::Calculated measDiffMean for beam 49 as -0.92. Range = 60.46 
TNavPF::Calculated measDiffMean for beam 50 as -0.71. Range = 58.47 
TNavPF::Calculated measDiffMean for beam 51 as -2.67. Range = 58.50 
TNavPF::Calculated measDiffMean for beam 52 as -3.22. Range = 58.55 
TNavPF::Calculated measDiffMean for beam 53 as -3.28. Range = 58.61 
TNavPF::Calculated measDiffMean for beam 54 as -2.70. Range = 56.68 
TNavPF::Calculated measDiffMean for beam 55 as -2.27. Range = 56.78 
TNavPF::Calculated measDiffMean for beam 56 as 0.72. Range = 56.90 
TNavPF::Calculated measDiffMean for beam 57 as 0.59. Range = 57.03 
TNavPF::Calculated measDiffMean for beam 58 as -2.53. Range = 55.67 
TNavPF::Calculated measDiffMean for beam 59 as -2.64. Range = 55.32 
TNavPF::Calculated measDiffMean for beam 60 as -2.43. Range = 55.50 
TNavPF::Calculated measDiffMean for beam 61 as -1.85. Range = 55.70 
TNavPF::Calculated measDiffMean for beam 62 as -1.30. Range = 55.92 
TNavPF::Calculated measDiffMean for beam 63 as -1.65. Range = 56.16 
TNavPF::Calculated measDiffMean for beam 64 as -2.10. Range = 56.42 
TNavPF::Calculated measDiffMean for beam 65 as -2.20. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 66 as -1.90. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 67 as 3.39. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 68 as 2.28. Range = 51.46 
TNavPF::Calculated measDiffMean for beam 69 as 2.09. Range = 49.03 
TNavPF::Calculated measDiffMean for beam 70 as -1.17. Range = 35.84 
TNavPF::Calculated measDiffMean for beam 71 as -1.69. Range = 34.98 
TNavPF::Calculated measDiffMean for beam 72 as -2.09. Range = 35.24 
TNavPF::Calculated measDiffMean for beam 73 as -1.71. Range = 35.51 
TNavPF::Calculated measDiffMean for beam 74 as 1.96. Range = 42.45 
TNavPF::Calculated measDiffMean for beam 75 as 1.83. Range = 42.80 
TNavPF::Calculated measDiffMean for beam 76 as 0.82. Range = 41.46 
TNavPF::Calculated measDiffMean for beam 77 as -0.32. Range = 41.30 
TNavPF::Calculated measDiffMean for beam 78 as -0.92. Range = 38.87 
TNavPF::Calculated measDiffMean for beam 79 as -1.69. Range = 37.70 
TNavPF::Calculated measDiffMean for beam 80 as -2.14. Range = 37.87 
TNavPF::Calculated measDiffMean for beam 81 as -2.12. Range = 35.60 
TNavPF::Calculated measDiffMean for beam 82 as -1.97. Range = 34.65 
TNavPF::Calculated measDiffMean for beam 83 as -5.88. Range = 34.32 
TNavPF::Calculated measDiffMean for beam 84 as -8.38. Range = 34.73 
TNavPF::Calculated measDiffMean for beam 85 as -11.06. Range = 35.17 
TNavPF::Calculated measDiffMean for beam 86 as -20.18. Range = 38.00 
TNavPF::Calculated measDiffMean for beam 87 as 8.73. Range = 37.15 
TNavPF::Calculated measDiffMean for beam 88 as 6.25. Range = 33.20 
TNavPF::Calculated measDiffMean for beam 89 as 2.09. Range = 32.51 
TNavPF::First Term of Map Covariance Matrix is 29.51 
TNavPF::Calculated NIS Value : 11.15 	numBeams normalized NIS: 0.19
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322093.82 sec.
INS : North: 4070233.33, East: 589230.02, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 33.50, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322096.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322096.62)
ARL : North: 0.6569, East: -1.2345, Depth: -1.5465ARL : Estimation Bias  (Mean)         : (t = 1488322096.62)
ARL : North: 1.0586, East: -1.3324, Depth: 0.1150TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 75 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.85 
Alpha[0]	0.123000
Alpha[0]	0.999368
TNavParticleFilter::Modified Variance for beam 1 is 14.02 
Alpha[1]	0.000000
Alpha[1]	0.999434
TNavParticleFilter::Modified Variance for beam 2 is 9.81 
Alpha[2]	0.000000
Alpha[2]	0.999498
TNavParticleFilter::Modified Variance for beam 3 is 9.77 
Alpha[3]	0.000000
Alpha[3]	0.999535
TNavParticleFilter::Modified Variance for beam 4 is 9.89 
Alpha[4]	0.000000
Alpha[4]	0.999524
TNavParticleFilter::Modified Variance for beam 5 is 10.02 
Alpha[5]	0.000000
Alpha[5]	0.999454
TNavParticleFilter::Modified Variance for beam 6 is 12.66 
Alpha[6]	0.000000
Alpha[6]	0.999344
TNavParticleFilter::Modified Variance for beam 7 is 9.35 
Alpha[7]	0.000000
Alpha[7]	0.999303
TNavParticleFilter::Modified Variance for beam 8 is 9.04 
Alpha[8]	0.000000
Alpha[8]	0.999301
TNavParticleFilter::Modified Variance for beam 9 is 8.92 
Alpha[9]	0.000000
Alpha[9]	0.999275
TNavParticleFilter::Modified Variance for beam 10 is 9.06 
Alpha[10]	0.000000
Alpha[10]	0.999197
TNavParticleFilter::Modified Variance for beam 11 is 9.20 
Alpha[11]	0.000000
Alpha[11]	0.999069
TNavParticleFilter::Modified Variance for beam 12 is 9.09 
Alpha[12]	0.000000
Alpha[12]	0.998981
TNavParticleFilter::Modified Variance for beam 13 is 8.84 
Alpha[13]	0.000000
Alpha[13]	0.998980
TNavParticleFilter::Modified Variance for beam 14 is 8.82 
Alpha[14]	0.000000
Alpha[14]	0.999008
TNavParticleFilter::Modified Variance for beam 15 is 8.97 
Alpha[15]	0.000000
Alpha[15]	0.999000
TNavParticleFilter::Modified Variance for beam 16 is 9.14 
Alpha[16]	0.000000
Alpha[16]	0.998966
TNavParticleFilter::Modified Variance for beam 17 is 11.08 
Alpha[17]	0.000000
Alpha[17]	0.998888
TNavParticleFilter::Modified Variance for beam 18 is 10.80 
Alpha[18]	0.000000
Alpha[18]	0.998784
TNavParticleFilter::Modified Variance for beam 19 is 9.51 
Alpha[19]	0.000000
Alpha[19]	0.998785
TNavParticleFilter::Modified Variance for beam 20 is 9.30 
Alpha[20]	0.000000
Alpha[20]	0.998874
TNavParticleFilter::Modified Variance for beam 21 is 9.17 
Alpha[21]	0.000000
Alpha[21]	0.998950
TNavParticleFilter::Modified Variance for beam 22 is 9.38 
Alpha[22]	0.000000
Alpha[22]	0.998918
TNavParticleFilter::Modified Variance for beam 23 is 9.61 
Alpha[23]	0.000000
Alpha[23]	0.998846
TNavParticleFilter::Modified Variance for beam 24 is 11.00 
Alpha[24]	0.000000
Alpha[24]	0.998750
TNavParticleFilter::Modified Variance for beam 25 is 11.19 
Alpha[25]	0.000000
Alpha[25]	0.998529
TNavParticleFilter::Modified Variance for beam 26 is 10.97 
Alpha[26]	0.000000
Alpha[26]	0.998204
TNavParticleFilter::Modified Variance for beam 27 is 10.77 
Alpha[27]	0.000000
Alpha[27]	0.998052
TNavParticleFilter::Modified Variance for beam 28 is 10.58 
Alpha[28]	0.000000
Alpha[28]	0.998268
TNavParticleFilter::Modified Variance for beam 29 is 10.40 
Alpha[29]	0.000000
Alpha[29]	0.998617
TNavParticleFilter::Modified Variance for beam 30 is 10.49 
Alpha[30]	0.000000
Alpha[30]	0.998913
TNavParticleFilter::Modified Variance for beam 31 is 10.86 
Alpha[31]	0.000000
Alpha[31]	0.998992
TNavParticleFilter::Modified Variance for beam 32 is 11.26 
Alpha[32]	0.000000
Alpha[32]	0.999034
TNavParticleFilter::Modified Variance for beam 33 is 13.31 
Alpha[33]	0.000000
Alpha[33]	0.999370
TNavParticleFilter::Modified Variance for beam 34 is 13.30 
Alpha[34]	0.000000
Alpha[34]	0.999612
TNavParticleFilter::Modified Variance for beam 35 is 13.10 
Alpha[35]	0.000000
Alpha[35]	0.999756
TNavParticleFilter::Modified Variance for beam 36 is 13.32 
Alpha[36]	0.000000
Alpha[36]	0.999894
TNavParticleFilter::Modified Variance for beam 37 is 29.02 
Alpha[37]	0.000000
Alpha[37]	0.999939
TNavParticleFilter::Modified Variance for beam 38 is 34.19 
Alpha[38]	0.000000
Alpha[38]	0.999940
TNavParticleFilter::Modified Variance for beam 39 is 40.27 
Alpha[39]	0.000000
Alpha[39]	0.999915
TNavParticleFilter::Modified Variance for beam 40 is 43.10 
Alpha[40]	0.000000
Alpha[40]	0.999875
TNavParticleFilter::Modified Variance for beam 41 is 43.26 
Alpha[41]	0.000000
Alpha[41]	0.999734
TNavParticleFilter::Modified Variance for beam 42 is 42.68 
Alpha[42]	0.000000
Alpha[42]	0.999546
TNavParticleFilter::Modified Variance for beam 43 is 42.11 
Alpha[43]	0.000000
Alpha[43]	0.999868
TNavParticleFilter::Modified Variance for beam 44 is 42.54 
Alpha[44]	0.000000
Alpha[44]	0.999948
TNavPF:: sumSquaredError = 150.689470 
TNavPF:: sumWeights = 0.000688 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 5.05. Range = 63.88 
TNavPF::Calculated measDiffMean for beam 31 as 5.52. Range = 63.80 
TNavPF::Calculated measDiffMean for beam 32 as -4.51. Range = 63.74 
TNavPF::Calculated measDiffMean for beam 33 as -4.52. Range = 63.70 
TNavPF::Calculated measDiffMean for beam 34 as -4.18. Range = 65.68 
TNavPF::Calculated measDiffMean for beam 35 as -3.87. Range = 65.67 
TNavPF::Calculated measDiffMean for beam 36 as 3.13. Range = 63.68 
TNavPF::Calculated measDiffMean for beam 37 as -4.34. Range = 63.72 
TNavPF::Calculated measDiffMean for beam 38 as -3.99. Range = 63.77 
TNavPF::Calculated measDiffMean for beam 39 as -3.66. Range = 59.82 
TNavPF::Calculated measDiffMean for beam 40 as -2.93. Range = 59.91 
TNavPF::Calculated measDiffMean for beam 41 as -2.29. Range = 60.02 
TNavPF::Calculated measDiffMean for beam 42 as -2.44. Range = 60.14 
TNavPF::Calculated measDiffMean for beam 43 as -2.88. Range = 60.29 
TNavPF::Calculated measDiffMean for beam 44 as -2.77. Range = 58.42 
TNavPF::Calculated measDiffMean for beam 45 as -2.37. Range = 58.59 
TNavPF::Calculated measDiffMean for beam 46 as -2.26. Range = 58.79 
TNavPF::Calculated measDiffMean for beam 47 as 2.37. Range = 58.58 
TNavPF::Calculated measDiffMean for beam 48 as 1.41. Range = 57.18 
TNavPF::Calculated measDiffMean for beam 49 as -1.75. Range = 57.42 
TNavPF::Calculated measDiffMean for beam 50 as -2.12. Range = 54.89 
TNavPF::Calculated measDiffMean for beam 51 as -2.65. Range = 51.61 
TNavPF::Calculated measDiffMean for beam 52 as -2.17. Range = 49.87 
TNavPF::Calculated measDiffMean for beam 53 as -1.80. Range = 50.15 
TNavPF::Calculated measDiffMean for beam 54 as 1.31. Range = 49.89 
TNavPF::Calculated measDiffMean for beam 55 as 1.24. Range = 47.53 
TNavPF::Calculated measDiffMean for beam 56 as 0.42. Range = 45.41 
TNavPF::Calculated measDiffMean for beam 57 as -0.43. Range = 43.47 
TNavPF::Calculated measDiffMean for beam 58 as -1.29. Range = 43.11 
TNavPF::Calculated measDiffMean for beam 59 as -2.03. Range = 43.44 
TNavPF::Calculated measDiffMean for beam 60 as -2.17. Range = 46.01 
TNavPF::Calculated measDiffMean for beam 61 as -1.74. Range = 46.40 
TNavPF::Calculated measDiffMean for beam 62 as -1.50. Range = 35.98 
TNavPF::Calculated measDiffMean for beam 63 as 1.89. Range = 35.86 
TNavPF::Calculated measDiffMean for beam 64 as -0.66. Range = 36.20 
TNavPF::Calculated measDiffMean for beam 65 as -3.74. Range = 36.57 
TNavPF::Calculated measDiffMean for beam 66 as -7.99. Range = 43.31 
TNavPF::Calculated measDiffMean for beam 67 as 12.50. Range = 34.63 
TNavPF::Calculated measDiffMean for beam 68 as 9.80. Range = 33.71 
TNavPF::Calculated measDiffMean for beam 69 as 7.14. Range = 33.36 
TNavPF::Calculated measDiffMean for beam 70 as 5.99. Range = 33.77 
TNavPF::Calculated measDiffMean for beam 71 as 2.54. Range = 34.19 
TNavPF::Calculated measDiffMean for beam 72 as 0.95. Range = 33.84 
TNavPF::Calculated measDiffMean for beam 73 as -2.10. Range = 33.09 
TNavPF::Calculated measDiffMean for beam 74 as -5.72. Range = 33.02 
TNavPF::First Term of Map Covariance Matrix is 31.64 
TNavPF::Calculated NIS Value : 16.42 	numBeams normalized NIS: 0.36
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322096.82 sec.
INS : North: 4070236.64, East: 589227.68, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 39.92, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322099.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322099.62)
ARL : North: 1.8809, East: -2.1964, Depth: 1.8938ARL : Estimation Bias  (Mean)         : (t = 1488322099.62)
ARL : North: 1.6483, East: -1.1011, Depth: 0.1772TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 82 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.78 
Alpha[0]	0.123000
Alpha[0]	0.999128
TNavParticleFilter::Modified Variance for beam 1 is 9.60 
Alpha[1]	0.000000
Alpha[1]	0.999024
TNavParticleFilter::Modified Variance for beam 2 is 9.27 
Alpha[2]	0.000000
Alpha[2]	0.999013
TNavParticleFilter::Modified Variance for beam 3 is 9.36 
Alpha[3]	0.000000
Alpha[3]	0.998997
TNavParticleFilter::Modified Variance for beam 4 is 9.50 
Alpha[4]	0.000000
Alpha[4]	0.998955
TNavParticleFilter::Modified Variance for beam 5 is 12.19 
Alpha[5]	0.000000
Alpha[5]	0.998872
TNavParticleFilter::Modified Variance for beam 6 is 11.78 
Alpha[6]	0.000000
Alpha[6]	0.998804
TNavParticleFilter::Modified Variance for beam 7 is 11.40 
Alpha[7]	0.000000
Alpha[7]	0.998795
TNavParticleFilter::Modified Variance for beam 8 is 9.86 
Alpha[8]	0.000000
Alpha[8]	0.998731
TNavParticleFilter::Modified Variance for beam 9 is 9.59 
Alpha[9]	0.000000
Alpha[9]	0.998760
TNavParticleFilter::Modified Variance for beam 10 is 9.60 
Alpha[10]	0.000000
Alpha[10]	0.998851
TNavParticleFilter::Modified Variance for beam 11 is 9.79 
Alpha[11]	0.000000
Alpha[11]	0.998817
TNavParticleFilter::Modified Variance for beam 12 is 11.00 
Alpha[12]	0.000000
Alpha[12]	0.998623
TNavParticleFilter::Modified Variance for beam 13 is 11.24 
Alpha[13]	0.000000
Alpha[13]	0.998390
TNavParticleFilter::Modified Variance for beam 14 is 11.51 
Alpha[14]	0.000000
Alpha[14]	0.998208
TNavParticleFilter::Modified Variance for beam 15 is 11.30 
Alpha[15]	0.000000
Alpha[15]	0.997879
TNavParticleFilter::Modified Variance for beam 16 is 11.04 
Alpha[16]	0.000000
Alpha[16]	0.997677
TNavParticleFilter::Modified Variance for beam 17 is 10.79 
Alpha[17]	0.000000
Alpha[17]	0.998009
TNavParticleFilter::Modified Variance for beam 18 is 10.56 
Alpha[18]	0.000000
Alpha[18]	0.998433
TNavParticleFilter::Modified Variance for beam 19 is 10.65 
Alpha[19]	0.000000
Alpha[19]	0.998759
TNavParticleFilter::Modified Variance for beam 20 is 10.95 
Alpha[20]	0.000000
Alpha[20]	0.998893
TNavParticleFilter::Modified Variance for beam 21 is 11.28 
Alpha[21]	0.000000
Alpha[21]	0.998773
TNavParticleFilter::Modified Variance for beam 22 is 11.64 
Alpha[22]	0.000000
Alpha[22]	0.998818
TNavParticleFilter::Modified Variance for beam 23 is 13.45 
Alpha[23]	0.000000
Alpha[23]	0.999020
TNavParticleFilter::Modified Variance for beam 24 is 13.31 
Alpha[24]	0.000000
Alpha[24]	0.999365
TNavParticleFilter::Modified Variance for beam 25 is 13.06 
Alpha[25]	0.000000
Alpha[25]	0.999569
TNavParticleFilter::Modified Variance for beam 26 is 13.37 
Alpha[26]	0.000000
Alpha[26]	0.999816
TNavParticleFilter::Modified Variance for beam 27 is 26.41 
Alpha[27]	0.000000
Alpha[27]	0.999873
TNavParticleFilter::Modified Variance for beam 28 is 27.71 
Alpha[28]	0.000000
Alpha[28]	0.999870
TNavParticleFilter::Modified Variance for beam 29 is 29.15 
Alpha[29]	0.000000
Alpha[29]	0.999864
TNavParticleFilter::Modified Variance for beam 30 is 33.77 
Alpha[30]	0.000000
Alpha[30]	0.999838
TNavParticleFilter::Modified Variance for beam 31 is 39.13 
Alpha[31]	0.000000
Alpha[31]	0.999710
TNavParticleFilter::Modified Variance for beam 32 is 41.53 
Alpha[32]	0.000000
Alpha[32]	0.999558
TNavParticleFilter::Modified Variance for beam 33 is 43.16 
Alpha[33]	0.000000
Alpha[33]	0.999294
TNavParticleFilter::Modified Variance for beam 34 is 42.52 
Alpha[34]	0.000000
Alpha[34]	0.998474
TNavParticleFilter::Modified Variance for beam 35 is 41.83 
Alpha[35]	0.000000
Alpha[35]	0.999722
TNavParticleFilter::Modified Variance for beam 36 is 41.23 
Alpha[36]	0.000000
Alpha[36]	0.999901
TNavParticleFilter::Modified Variance for beam 37 is 43.64 
Alpha[37]	0.000000
Alpha[37]	0.999970
TNavPF:: sumSquaredError = 10.804249 
TNavPF:: sumWeights = 0.015884 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.99. Range = 67.08 
TNavPF::Calculated measDiffMean for beam 31 as -2.95. Range = 67.10 
TNavPF::Calculated measDiffMean for beam 32 as -3.48. Range = 63.12 
TNavPF::Calculated measDiffMean for beam 33 as -3.13. Range = 63.17 
TNavPF::Calculated measDiffMean for beam 34 as -3.06. Range = 61.24 
TNavPF::Calculated measDiffMean for beam 35 as 3.23. Range = 61.33 
TNavPF::Calculated measDiffMean for beam 36 as 2.02. Range = 61.43 
TNavPF::Calculated measDiffMean for beam 37 as 1.49. Range = 61.56 
TNavPF::Calculated measDiffMean for beam 38 as -2.01. Range = 61.71 
TNavPF::Calculated measDiffMean for beam 39 as -2.66. Range = 61.87 
TNavPF::Calculated measDiffMean for beam 40 as -2.85. Range = 60.02 
TNavPF::Calculated measDiffMean for beam 41 as -2.62. Range = 60.22 
TNavPF::Calculated measDiffMean for beam 42 as 0.16. Range = 57.99 
TNavPF::Calculated measDiffMean for beam 43 as 0.27. Range = 53.71 
TNavPF::Calculated measDiffMean for beam 44 as 0.66. Range = 52.66 
TNavPF::Calculated measDiffMean for beam 45 as -0.01. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 46 as -0.77. Range = 51.16 
TNavPF::Calculated measDiffMean for beam 47 as -1.50. Range = 48.29 
TNavPF::Calculated measDiffMean for beam 48 as -2.25. Range = 45.74 
TNavPF::Calculated measDiffMean for beam 49 as -2.46. Range = 45.57 
TNavPF::Calculated measDiffMean for beam 50 as -2.46. Range = 45.86 
TNavPF::Calculated measDiffMean for beam 51 as -2.21. Range = 48.31 
TNavPF::Calculated measDiffMean for beam 52 as -2.44. Range = 37.86 
TNavPF::Calculated measDiffMean for beam 53 as 0.06. Range = 38.10 
TNavPF::Calculated measDiffMean for beam 54 as -1.85. Range = 38.39 
TNavPF::Calculated measDiffMean for beam 55 as -3.79. Range = 47.65 
TNavPF::Calculated measDiffMean for beam 56 as -7.09. Range = 45.96 
TNavPF::Calculated measDiffMean for beam 57 as 9.34. Range = 35.69 
TNavPF::Calculated measDiffMean for beam 58 as 5.36. Range = 35.18 
TNavPF::Calculated measDiffMean for beam 59 as -0.73. Range = 35.52 
TNavPF::Calculated measDiffMean for beam 60 as 1.35. Range = 35.88 
TNavPF::Calculated measDiffMean for beam 61 as 0.84. Range = 35.36 
TNavPF::Calculated measDiffMean for beam 62 as 1.69. Range = 34.38 
TNavPF::Calculated measDiffMean for beam 63 as 1.80. Range = 34.66 
TNavPF::Calculated measDiffMean for beam 64 as 0.53. Range = 35.07 
TNavPF::Calculated measDiffMean for beam 65 as -0.91. Range = 42.17 
TNavPF::Calculated measDiffMean for beam 66 as -3.77. Range = 41.17 
TNavPF::Calculated measDiffMean for beam 67 as -14.58. Range = 40.22 
TNavPF::First Term of Map Covariance Matrix is 22.91 
TNavPF::Calculated NIS Value : 6.58 	numBeams normalized NIS: 0.17
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322099.82 sec.
INS : North: 4070240.22, East: 589225.72, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 56.50, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322102.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322102.62)
ARL : North: 2.3776, East: -1.1784, Depth: 0.8012ARL : Estimation Bias  (Mean)         : (t = 1488322102.62)
ARL : North: 1.6047, East: -1.1546, Depth: 0.3786TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 91 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.11 
Alpha[0]	0.123000
Alpha[0]	0.998817
TNavParticleFilter::Modified Variance for beam 1 is 12.69 
Alpha[1]	0.000000
Alpha[1]	0.998499
TNavParticleFilter::Modified Variance for beam 2 is 12.30 
Alpha[2]	0.000000
Alpha[2]	0.998297
TNavParticleFilter::Modified Variance for beam 3 is 12.45 
Alpha[3]	0.000000
Alpha[3]	0.998251
TNavParticleFilter::Modified Variance for beam 4 is 12.72 
Alpha[4]	0.000000
Alpha[4]	0.998116
TNavParticleFilter::Modified Variance for beam 5 is 13.01 
Alpha[5]	0.000000
Alpha[5]	0.998005
TNavParticleFilter::Modified Variance for beam 6 is 13.32 
Alpha[6]	0.000000
Alpha[6]	0.998319
TNavParticleFilter::Modified Variance for beam 7 is 13.65 
Alpha[7]	0.000000
Alpha[7]	0.998620
TNavParticleFilter::Modified Variance for beam 8 is 15.27 
Alpha[8]	0.000000
Alpha[8]	0.998809
TNavParticleFilter::Modified Variance for beam 9 is 14.87 
Alpha[9]	0.000000
Alpha[9]	0.998915
TNavParticleFilter::Modified Variance for beam 10 is 14.80 
Alpha[10]	0.000000
Alpha[10]	0.998764
TNavParticleFilter::Modified Variance for beam 11 is 15.24 
Alpha[11]	0.000000
Alpha[11]	0.998511
TNavParticleFilter::Modified Variance for beam 12 is 15.71 
Alpha[12]	0.000000
Alpha[12]	0.998591
TNavParticleFilter::Modified Variance for beam 13 is 17.83 
Alpha[13]	0.000000
Alpha[13]	0.999187
TNavParticleFilter::Modified Variance for beam 14 is 18.44 
Alpha[14]	0.000000
Alpha[14]	0.999540
TNavParticleFilter::Modified Variance for beam 15 is 19.11 
Alpha[15]	0.000000
Alpha[15]	0.999696
TNavParticleFilter::Modified Variance for beam 16 is 26.01 
Alpha[16]	0.000000
Alpha[16]	0.999792
TNavParticleFilter::Modified Variance for beam 17 is 27.10 
Alpha[17]	0.000000
Alpha[17]	0.999749
TNavParticleFilter::Modified Variance for beam 18 is 30.80 
Alpha[18]	0.000000
Alpha[18]	0.999685
TNavParticleFilter::Modified Variance for beam 19 is 34.99 
Alpha[19]	0.000000
Alpha[19]	0.999677
TNavParticleFilter::Modified Variance for beam 20 is 39.74 
Alpha[20]	0.000000
Alpha[20]	0.999728
TNavParticleFilter::Modified Variance for beam 21 is 38.58 
Alpha[21]	0.000000
Alpha[21]	0.999590
TNavParticleFilter::Modified Variance for beam 22 is 42.71 
Alpha[22]	0.000000
Alpha[22]	0.999200
TNavParticleFilter::Modified Variance for beam 23 is 42.95 
Alpha[23]	0.000000
Alpha[23]	0.998873
TNavParticleFilter::Modified Variance for beam 24 is 43.17 
Alpha[24]	0.000000
Alpha[24]	0.999001
TNavParticleFilter::Modified Variance for beam 25 is 42.40 
Alpha[25]	0.000000
Alpha[25]	0.999399
TNavParticleFilter::Modified Variance for beam 26 is 43.14 
Alpha[26]	0.000000
Alpha[26]	0.999664
TNavParticleFilter::Modified Variance for beam 27 is 42.95 
Alpha[27]	0.000000
Alpha[27]	0.999956
TNavParticleFilter::Modified Variance for beam 28 is 44.85 
Alpha[28]	0.000000
Alpha[28]	0.999976
TNavPF:: sumSquaredError = 185.365937 
TNavPF:: sumWeights = 0.015767 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.59. Range = 67.36 
TNavPF::Calculated measDiffMean for beam 31 as 1.20. Range = 65.49 
TNavPF::Calculated measDiffMean for beam 32 as 0.15. Range = 65.66 
TNavPF::Calculated measDiffMean for beam 33 as 0.39. Range = 65.86 
TNavPF::Calculated measDiffMean for beam 34 as 1.03. Range = 66.07 
TNavPF::Calculated measDiffMean for beam 35 as 1.86. Range = 60.96 
TNavPF::Calculated measDiffMean for beam 36 as 2.58. Range = 58.32 
TNavPF::Calculated measDiffMean for beam 37 as 3.07. Range = 52.41 
TNavPF::Calculated measDiffMean for beam 38 as 5.91. Range = 48.99 
TNavPF::Calculated measDiffMean for beam 39 as 4.09. Range = 48.68 
TNavPF::Calculated measDiffMean for beam 40 as 3.38. Range = 48.93 
TNavPF::Calculated measDiffMean for beam 41 as 3.31. Range = 51.32 
TNavPF::Calculated measDiffMean for beam 42 as 2.92. Range = 51.62 
TNavPF::Calculated measDiffMean for beam 43 as 5.74. Range = 51.94 
TNavPF::Calculated measDiffMean for beam 44 as 5.17. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 45 as 4.19. Range = 49.87 
TNavPF::Calculated measDiffMean for beam 46 as 9.18. Range = 47.81 
TNavPF::Calculated measDiffMean for beam 47 as 5.18. Range = 46.84 
TNavPF::Calculated measDiffMean for beam 48 as 6.56. Range = 47.21 
TNavPF::Calculated measDiffMean for beam 49 as 7.52. Range = 47.18 
TNavPF::Calculated measDiffMean for beam 50 as 6.60. Range = 45.56 
TNavPF::Calculated measDiffMean for beam 51 as 1.78. Range = 44.06 
TNavPF::Calculated measDiffMean for beam 52 as 3.01. Range = 44.34 
TNavPF::Calculated measDiffMean for beam 53 as 1.34. Range = 44.78 
TNavPF::Calculated measDiffMean for beam 54 as 0.05. Range = 44.05 
TNavPF::Calculated measDiffMean for beam 55 as -1.02. Range = 43.36 
TNavPF::Calculated measDiffMean for beam 56 as -0.54. Range = 43.85 
TNavPF::Calculated measDiffMean for beam 57 as -7.72. Range = 44.36 
TNavPF::Calculated measDiffMean for beam 58 as -15.72. Range = 44.89 
TNavPF::First Term of Map Covariance Matrix is 16.89 
TNavPF::Calculated NIS Value : 6.04 	numBeams normalized NIS: 0.21
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322102.82 sec.
INS : North: 4070243.95, East: 589224.01, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 46.13, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322105.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322105.62)
ARL : North: 2.4811, East: -0.7564, Depth: 1.3111ARL : Estimation Bias  (Mean)         : (t = 1488322105.62)
ARL : North: 2.0842, East: -1.2428, Depth: -0.1087TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 87 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 11.17 
Alpha[0]	0.123000
Alpha[0]	0.998817
TNavParticleFilter::Modified Variance for beam 1 is 12.92 
Alpha[1]	0.000000
Alpha[1]	0.998719
TNavParticleFilter::Modified Variance for beam 2 is 12.47 
Alpha[2]	0.000000
Alpha[2]	0.998516
TNavParticleFilter::Modified Variance for beam 3 is 12.68 
Alpha[3]	0.000000
Alpha[3]	0.998210
TNavParticleFilter::Modified Variance for beam 4 is 12.90 
Alpha[4]	0.000000
Alpha[4]	0.997970
TNavParticleFilter::Modified Variance for beam 5 is 12.51 
Alpha[5]	0.000000
Alpha[5]	0.997934
TNavParticleFilter::Modified Variance for beam 6 is 12.08 
Alpha[6]	0.000000
Alpha[6]	0.997953
TNavParticleFilter::Modified Variance for beam 7 is 11.69 
Alpha[7]	0.000000
Alpha[7]	0.997996
TNavParticleFilter::Modified Variance for beam 8 is 11.73 
Alpha[8]	0.000000
Alpha[8]	0.998218
TNavParticleFilter::Modified Variance for beam 9 is 11.96 
Alpha[9]	0.000000
Alpha[9]	0.998412
TNavParticleFilter::Modified Variance for beam 10 is 12.21 
Alpha[10]	0.000000
Alpha[10]	0.998575
TNavParticleFilter::Modified Variance for beam 11 is 12.47 
Alpha[11]	0.000000
Alpha[11]	0.998616
TNavParticleFilter::Modified Variance for beam 12 is 13.95 
Alpha[12]	0.000000
Alpha[12]	0.998187
TNavParticleFilter::Modified Variance for beam 13 is 14.30 
Alpha[13]	0.000000
Alpha[13]	0.997775
TNavParticleFilter::Modified Variance for beam 14 is 14.29 
Alpha[14]	0.000000
Alpha[14]	0.998060
TNavParticleFilter::Modified Variance for beam 15 is 13.91 
Alpha[15]	0.000000
Alpha[15]	0.998641
TNavParticleFilter::Modified Variance for beam 16 is 14.09 
Alpha[16]	0.000000
Alpha[16]	0.999167
TNavParticleFilter::Modified Variance for beam 17 is 18.98 
Alpha[17]	0.000000
Alpha[17]	0.999383
TNavParticleFilter::Modified Variance for beam 18 is 19.57 
Alpha[18]	0.000000
Alpha[18]	0.999626
TNavParticleFilter::Modified Variance for beam 19 is 25.90 
Alpha[19]	0.000000
Alpha[19]	0.999695
TNavParticleFilter::Modified Variance for beam 20 is 26.84 
Alpha[20]	0.000000
Alpha[20]	0.999629
TNavParticleFilter::Modified Variance for beam 21 is 27.85 
Alpha[21]	0.000000
Alpha[21]	0.999623
TNavParticleFilter::Modified Variance for beam 22 is 28.95 
Alpha[22]	0.000000
Alpha[22]	0.999547
TNavParticleFilter::Modified Variance for beam 23 is 32.61 
Alpha[23]	0.000000
Alpha[23]	0.999612
TNavParticleFilter::Modified Variance for beam 24 is 34.02 
Alpha[24]	0.000000
Alpha[24]	0.999545
TNavParticleFilter::Modified Variance for beam 25 is 35.56 
Alpha[25]	0.000000
Alpha[25]	0.999438
TNavParticleFilter::Modified Variance for beam 26 is 40.23 
Alpha[26]	0.000000
Alpha[26]	0.999244
TNavParticleFilter::Modified Variance for beam 27 is 42.24 
Alpha[27]	0.000000
Alpha[27]	0.998964
TNavParticleFilter::Modified Variance for beam 28 is 43.50 
Alpha[28]	0.000000
Alpha[28]	0.998454
TNavParticleFilter::Modified Variance for beam 29 is 42.70 
Alpha[29]	0.000000
Alpha[29]	0.997335
TNavParticleFilter::Modified Variance for beam 30 is 42.02 
Alpha[30]	0.000000
Alpha[30]	0.994643
TNavParticleFilter::Modified Variance for beam 31 is 41.07 
Alpha[31]	0.000000
Alpha[31]	0.999639
TNavParticleFilter::Modified Variance for beam 32 is 43.47 
Alpha[32]	0.000000
Alpha[32]	0.999892
TNavPF:: sumSquaredError = 91.608860 
TNavPF:: sumWeights = 0.012867 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.34. Range = 70.37 
TNavPF::Calculated measDiffMean for beam 31 as 0.45. Range = 70.38 
TNavPF::Calculated measDiffMean for beam 32 as -1.13. Range = 70.41 
TNavPF::Calculated measDiffMean for beam 33 as -0.73. Range = 70.47 
TNavPF::Calculated measDiffMean for beam 34 as -0.18. Range = 70.55 
TNavPF::Calculated measDiffMean for beam 35 as -1.09. Range = 70.65 
TNavPF::Calculated measDiffMean for beam 36 as -1.99. Range = 66.74 
TNavPF::Calculated measDiffMean for beam 37 as -2.67. Range = 66.87 
TNavPF::Calculated measDiffMean for beam 38 as -2.54. Range = 61.24 
TNavPF::Calculated measDiffMean for beam 39 as -2.36. Range = 59.08 
TNavPF::Calculated measDiffMean for beam 40 as -2.56. Range = 59.26 
TNavPF::Calculated measDiffMean for beam 41 as -2.78. Range = 55.26 
TNavPF::Calculated measDiffMean for beam 42 as -0.07. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 43 as -0.09. Range = 51.67 
TNavPF::Calculated measDiffMean for beam 44 as -0.87. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 45 as -2.46. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 46 as -3.23. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 47 as 4.55. Range = 54.74 
TNavPF::Calculated measDiffMean for beam 48 as 1.79. Range = 40.75 
TNavPF::Calculated measDiffMean for beam 49 as 6.38. Range = 40.53 
TNavPF::Calculated measDiffMean for beam 50 as 5.03. Range = 40.78 
TNavPF::Calculated measDiffMean for beam 51 as 3.65. Range = 40.73 
TNavPF::Calculated measDiffMean for beam 52 as 1.72. Range = 39.17 
TNavPF::Calculated measDiffMean for beam 53 as 3.29. Range = 39.45 
TNavPF::Calculated measDiffMean for beam 54 as 0.84. Range = 39.76 
TNavPF::Calculated measDiffMean for beam 55 as -0.32. Range = 46.71 
TNavPF::Calculated measDiffMean for beam 56 as 1.17. Range = 46.96 
TNavPF::Calculated measDiffMean for beam 57 as 1.97. Range = 45.36 
TNavPF::Calculated measDiffMean for beam 58 as 1.74. Range = 39.64 
TNavPF::Calculated measDiffMean for beam 59 as 0.24. Range = 39.24 
TNavPF::Calculated measDiffMean for beam 60 as -0.44. Range = 39.63 
TNavPF::Calculated measDiffMean for beam 61 as -1.71. Range = 43.88 
TNavPF::Calculated measDiffMean for beam 62 as -1.99. Range = 42.84 
TNavPF::First Term of Map Covariance Matrix is 16.89 
TNavPF::Calculated NIS Value : 4.84 	numBeams normalized NIS: 0.15
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322105.82 sec.
INS : North: 4070247.46, East: 589221.85, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 47.97, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322108.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322108.62)
ARL : North: 2.3889, East: -0.8609, Depth: 0.5162ARL : Estimation Bias  (Mean)         : (t = 1488322108.62)
ARL : North: 2.3074, East: -1.4575, Depth: 0.3676TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 83 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 11.82 
Alpha[0]	0.123000
Alpha[0]	0.998940
TNavParticleFilter::Modified Variance for beam 1 is 11.95 
Alpha[1]	0.000000
Alpha[1]	0.998830
TNavParticleFilter::Modified Variance for beam 2 is 13.86 
Alpha[2]	0.000000
Alpha[2]	0.998603
TNavParticleFilter::Modified Variance for beam 3 is 13.21 
Alpha[3]	0.000000
Alpha[3]	0.998390
TNavParticleFilter::Modified Variance for beam 4 is 13.40 
Alpha[4]	0.000000
Alpha[4]	0.998146
TNavParticleFilter::Modified Variance for beam 5 is 13.59 
Alpha[5]	0.000000
Alpha[5]	0.997882
TNavParticleFilter::Modified Variance for beam 6 is 13.13 
Alpha[6]	0.000000
Alpha[6]	0.997945
TNavParticleFilter::Modified Variance for beam 7 is 12.58 
Alpha[7]	0.000000
Alpha[7]	0.998148
TNavParticleFilter::Modified Variance for beam 8 is 12.17 
Alpha[8]	0.000000
Alpha[8]	0.998174
TNavParticleFilter::Modified Variance for beam 9 is 12.36 
Alpha[9]	0.000000
Alpha[9]	0.998249
TNavParticleFilter::Modified Variance for beam 10 is 12.57 
Alpha[10]	0.000000
Alpha[10]	0.998278
TNavParticleFilter::Modified Variance for beam 11 is 12.79 
Alpha[11]	0.000000
Alpha[11]	0.998360
TNavParticleFilter::Modified Variance for beam 12 is 13.03 
Alpha[12]	0.000000
Alpha[12]	0.998343
TNavParticleFilter::Modified Variance for beam 13 is 14.42 
Alpha[13]	0.000000
Alpha[13]	0.997743
TNavParticleFilter::Modified Variance for beam 14 is 14.72 
Alpha[14]	0.000000
Alpha[14]	0.997445
TNavParticleFilter::Modified Variance for beam 15 is 14.77 
Alpha[15]	0.000000
Alpha[15]	0.997873
TNavParticleFilter::Modified Variance for beam 16 is 14.30 
Alpha[16]	0.000000
Alpha[16]	0.998364
TNavParticleFilter::Modified Variance for beam 17 is 14.45 
Alpha[17]	0.000000
Alpha[17]	0.998860
TNavParticleFilter::Modified Variance for beam 18 is 14.79 
Alpha[18]	0.000000
Alpha[18]	0.999184
TNavParticleFilter::Modified Variance for beam 19 is 19.44 
Alpha[19]	0.000000
Alpha[19]	0.999313
TNavParticleFilter::Modified Variance for beam 20 is 25.11 
Alpha[20]	0.000000
Alpha[20]	0.999592
TNavParticleFilter::Modified Variance for beam 21 is 25.84 
Alpha[21]	0.000000
Alpha[21]	0.999549
TNavParticleFilter::Modified Variance for beam 22 is 26.65 
Alpha[22]	0.000000
Alpha[22]	0.999520
TNavParticleFilter::Modified Variance for beam 23 is 27.52 
Alpha[23]	0.000000
Alpha[23]	0.999468
TNavParticleFilter::Modified Variance for beam 24 is 28.46 
Alpha[24]	0.000000
Alpha[24]	0.999401
TNavParticleFilter::Modified Variance for beam 25 is 29.48 
Alpha[25]	0.000000
Alpha[25]	0.999332
TNavParticleFilter::Modified Variance for beam 26 is 32.89 
Alpha[26]	0.000000
Alpha[26]	0.999434
TNavParticleFilter::Modified Variance for beam 27 is 34.17 
Alpha[27]	0.000000
Alpha[27]	0.999358
TNavParticleFilter::Modified Variance for beam 28 is 35.56 
Alpha[28]	0.000000
Alpha[28]	0.999246
TNavParticleFilter::Modified Variance for beam 29 is 39.83 
Alpha[29]	0.000000
Alpha[29]	0.998908
TNavParticleFilter::Modified Variance for beam 30 is 41.61 
Alpha[30]	0.000000
Alpha[30]	0.998628
TNavParticleFilter::Modified Variance for beam 31 is 43.57 
Alpha[31]	0.000000
Alpha[31]	0.997724
TNavParticleFilter::Modified Variance for beam 32 is 42.86 
Alpha[32]	0.000000
Alpha[32]	0.995543
TNavParticleFilter::Modified Variance for beam 33 is 41.98 
Alpha[33]	0.000000
Alpha[33]	0.995380
TNavParticleFilter::Modified Variance for beam 34 is 40.97 
Alpha[34]	0.000000
Alpha[34]	0.999417
TNavParticleFilter::Modified Variance for beam 35 is 42.25 
Alpha[35]	0.000000
Alpha[35]	0.999822
TNavParticleFilter::Modified Variance for beam 36 is 48.32 
Alpha[36]	0.000000
Alpha[36]	0.999954
TNavPF:: sumSquaredError = 245.183090 
TNavPF:: sumWeights = 0.024962 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.88. Range = 80.17 
TNavPF::Calculated measDiffMean for beam 31 as -3.67. Range = 78.03 
TNavPF::Calculated measDiffMean for beam 32 as 0.15. Range = 77.92 
TNavPF::Calculated measDiffMean for beam 33 as -1.60. Range = 73.83 
TNavPF::Calculated measDiffMean for beam 34 as -1.09. Range = 73.78 
TNavPF::Calculated measDiffMean for beam 35 as -0.51. Range = 73.74 
TNavPF::Calculated measDiffMean for beam 36 as -1.38. Range = 73.74 
TNavPF::Calculated measDiffMean for beam 37 as -2.34. Range = 73.75 
TNavPF::Calculated measDiffMean for beam 38 as -2.97. Range = 73.79 
TNavPF::Calculated measDiffMean for beam 39 as -2.63. Range = 73.84 
TNavPF::Calculated measDiffMean for beam 40 as -2.68. Range = 71.92 
TNavPF::Calculated measDiffMean for beam 41 as -2.97. Range = 72.02 
TNavPF::Calculated measDiffMean for beam 42 as -3.30. Range = 62.06 
TNavPF::Calculated measDiffMean for beam 43 as -0.76. Range = 62.19 
TNavPF::Calculated measDiffMean for beam 44 as -0.59. Range = 58.25 
TNavPF::Calculated measDiffMean for beam 45 as -1.06. Range = 54.38 
TNavPF::Calculated measDiffMean for beam 46 as -2.58. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 47 as -3.28. Range = 56.76 
TNavPF::Calculated measDiffMean for beam 48 as -4.52. Range = 56.96 
TNavPF::Calculated measDiffMean for beam 49 as 1.99. Range = 57.19 
TNavPF::Calculated measDiffMean for beam 50 as 6.41. Range = 57.43 
TNavPF::Calculated measDiffMean for beam 51 as 3.98. Range = 54.58 
TNavPF::Calculated measDiffMean for beam 52 as 3.73. Range = 51.71 
TNavPF::Calculated measDiffMean for beam 53 as 1.97. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 54 as 0.69. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 55 as -0.04. Range = 49.60 
TNavPF::Calculated measDiffMean for beam 56 as 0.36. Range = 48.64 
TNavPF::Calculated measDiffMean for beam 57 as -0.58. Range = 48.96 
TNavPF::Calculated measDiffMean for beam 58 as -1.84. Range = 48.47 
TNavPF::Calculated measDiffMean for beam 59 as -0.15. Range = 41.41 
TNavPF::Calculated measDiffMean for beam 60 as 0.87. Range = 41.25 
TNavPF::Calculated measDiffMean for beam 61 as 1.55. Range = 41.59 
TNavPF::Calculated measDiffMean for beam 62 as 0.22. Range = 46.01 
TNavPF::Calculated measDiffMean for beam 63 as -0.35. Range = 44.56 
TNavPF::Calculated measDiffMean for beam 64 as -1.29. Range = 44.96 
TNavPF::Calculated measDiffMean for beam 65 as -2.15. Range = 45.39 
TNavPF::Calculated measDiffMean for beam 66 as -7.17. Range = 44.36 
TNavPF::First Term of Map Covariance Matrix is 18.85 
TNavPF::Calculated NIS Value : 4.56 	numBeams normalized NIS: 0.12
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322108.82 sec.
INS : North: 4070250.84, East: 589219.43, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 49.35, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322111.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322111.62)
ARL : North: 2.0993, East: -1.4291, Depth: 0.8339ARL : Estimation Bias  (Mean)         : (t = 1488322111.62)
ARL : North: 2.2253, East: -1.5117, Depth: 0.7522TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 80 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.55 
Alpha[0]	0.123000
Alpha[0]	0.998938
TNavParticleFilter::Modified Variance for beam 1 is 15.70 
Alpha[1]	0.000000
Alpha[1]	0.998935
TNavParticleFilter::Modified Variance for beam 2 is 15.86 
Alpha[2]	0.000000
Alpha[2]	0.998824
TNavParticleFilter::Modified Variance for beam 3 is 16.04 
Alpha[3]	0.000000
Alpha[3]	0.998544
TNavParticleFilter::Modified Variance for beam 4 is 15.86 
Alpha[4]	0.000000
Alpha[4]	0.998347
TNavParticleFilter::Modified Variance for beam 5 is 14.91 
Alpha[5]	0.000000
Alpha[5]	0.998109
TNavParticleFilter::Modified Variance for beam 6 is 14.48 
Alpha[6]	0.000000
Alpha[6]	0.997777
TNavParticleFilter::Modified Variance for beam 7 is 13.33 
Alpha[7]	0.000000
Alpha[7]	0.997883
TNavParticleFilter::Modified Variance for beam 8 is 12.83 
Alpha[8]	0.000000
Alpha[8]	0.998237
TNavParticleFilter::Modified Variance for beam 9 is 13.00 
Alpha[9]	0.000000
Alpha[9]	0.998215
TNavParticleFilter::Modified Variance for beam 10 is 13.18 
Alpha[10]	0.000000
Alpha[10]	0.998134
TNavParticleFilter::Modified Variance for beam 11 is 13.38 
Alpha[11]	0.000000
Alpha[11]	0.998033
TNavParticleFilter::Modified Variance for beam 12 is 13.58 
Alpha[12]	0.000000
Alpha[12]	0.998076
TNavParticleFilter::Modified Variance for beam 13 is 14.97 
Alpha[13]	0.000000
Alpha[13]	0.998104
TNavParticleFilter::Modified Variance for beam 14 is 15.16 
Alpha[14]	0.000000
Alpha[14]	0.997435
TNavParticleFilter::Modified Variance for beam 15 is 15.44 
Alpha[15]	0.000000
Alpha[15]	0.997077
TNavParticleFilter::Modified Variance for beam 16 is 14.89 
Alpha[16]	0.000000
Alpha[16]	0.997539
TNavParticleFilter::Modified Variance for beam 17 is 14.82 
Alpha[17]	0.000000
Alpha[17]	0.998067
TNavParticleFilter::Modified Variance for beam 18 is 15.11 
Alpha[18]	0.000000
Alpha[18]	0.998539
TNavParticleFilter::Modified Variance for beam 19 is 18.02 
Alpha[19]	0.000000
Alpha[19]	0.998822
TNavParticleFilter::Modified Variance for beam 20 is 19.85 
Alpha[20]	0.000000
Alpha[20]	0.998983
TNavParticleFilter::Modified Variance for beam 21 is 21.87 
Alpha[21]	0.000000
Alpha[21]	0.999238
TNavParticleFilter::Modified Variance for beam 22 is 25.79 
Alpha[22]	0.000000
Alpha[22]	0.999521
TNavParticleFilter::Modified Variance for beam 23 is 26.49 
Alpha[23]	0.000000
Alpha[23]	0.999483
TNavParticleFilter::Modified Variance for beam 24 is 27.24 
Alpha[24]	0.000000
Alpha[24]	0.999461
TNavParticleFilter::Modified Variance for beam 25 is 28.05 
Alpha[25]	0.000000
Alpha[25]	0.999363
TNavParticleFilter::Modified Variance for beam 26 is 28.91 
Alpha[26]	0.000000
Alpha[26]	0.999279
TNavParticleFilter::Modified Variance for beam 27 is 29.83 
Alpha[27]	0.000000
Alpha[27]	0.999093
TNavParticleFilter::Modified Variance for beam 28 is 33.01 
Alpha[28]	0.000000
Alpha[28]	0.999275
TNavParticleFilter::Modified Variance for beam 29 is 34.16 
Alpha[29]	0.000000
Alpha[29]	0.999285
TNavParticleFilter::Modified Variance for beam 30 is 35.39 
Alpha[30]	0.000000
Alpha[30]	0.999280
TNavParticleFilter::Modified Variance for beam 31 is 39.30 
Alpha[31]	0.000000
Alpha[31]	0.999030
TNavParticleFilter::Modified Variance for beam 32 is 40.86 
Alpha[32]	0.000000
Alpha[32]	0.998849
TNavParticleFilter::Modified Variance for beam 33 is 42.58 
Alpha[33]	0.000000
Alpha[33]	0.997908
TNavParticleFilter::Modified Variance for beam 34 is 43.05 
Alpha[34]	0.000000
Alpha[34]	0.996278
TNavParticleFilter::Modified Variance for beam 35 is 42.12 
Alpha[35]	0.000000
Alpha[35]	0.994609
TNavParticleFilter::Modified Variance for beam 36 is 41.10 
Alpha[36]	0.000000
Alpha[36]	0.996302
TNavParticleFilter::Modified Variance for beam 37 is 41.01 
Alpha[37]	0.000000
Alpha[37]	0.999163
TNavParticleFilter::Modified Variance for beam 38 is 43.02 
Alpha[38]	0.000000
Alpha[38]	0.999682
TNavParticleFilter::Modified Variance for beam 39 is 48.73 
Alpha[39]	0.000000
Alpha[39]	0.999944
TNavPF:: sumSquaredError = 9.181722 
TNavPF:: sumWeights = 0.010270 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.16. Range = 82.52 
TNavPF::Calculated measDiffMean for beam 31 as 2.84. Range = 82.25 
TNavPF::Calculated measDiffMean for beam 32 as 2.89. Range = 82.01 
TNavPF::Calculated measDiffMean for beam 33 as 2.67. Range = 83.82 
TNavPF::Calculated measDiffMean for beam 34 as 2.23. Range = 81.61 
TNavPF::Calculated measDiffMean for beam 35 as 0.44. Range = 81.45 
TNavPF::Calculated measDiffMean for beam 36 as -0.19. Range = 81.31 
TNavPF::Calculated measDiffMean for beam 37 as -2.41. Range = 77.18 
TNavPF::Calculated measDiffMean for beam 38 as -3.13. Range = 77.10 
TNavPF::Calculated measDiffMean for beam 39 as -2.42. Range = 77.04 
TNavPF::Calculated measDiffMean for beam 40 as -2.21. Range = 77.00 
TNavPF::Calculated measDiffMean for beam 41 as -2.41. Range = 76.99 
TNavPF::Calculated measDiffMean for beam 42 as -2.71. Range = 77.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.65. Range = 75.03 
TNavPF::Calculated measDiffMean for beam 44 as -0.51. Range = 75.09 
TNavPF::Calculated measDiffMean for beam 45 as -0.21. Range = 75.17 
TNavPF::Calculated measDiffMean for beam 46 as -1.76. Range = 64.14 
TNavPF::Calculated measDiffMean for beam 47 as -2.30. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 48 as -2.63. Range = 57.37 
TNavPF::Calculated measDiffMean for beam 49 as 1.41. Range = 59.53 
TNavPF::Calculated measDiffMean for beam 50 as 2.66. Range = 59.69 
TNavPF::Calculated measDiffMean for beam 51 as 3.23. Range = 59.86 
TNavPF::Calculated measDiffMean for beam 52 as 4.86. Range = 60.05 
TNavPF::Calculated measDiffMean for beam 53 as 4.37. Range = 55.85 
TNavPF::Calculated measDiffMean for beam 54 as 3.75. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 55 as 2.19. Range = 54.56 
TNavPF::Calculated measDiffMean for beam 56 as 1.34. Range = 52.62 
TNavPF::Calculated measDiffMean for beam 57 as 0.65. Range = 50.90 
TNavPF::Calculated measDiffMean for beam 58 as 1.86. Range = 51.16 
TNavPF::Calculated measDiffMean for beam 59 as 0.68. Range = 50.57 
TNavPF::Calculated measDiffMean for beam 60 as -0.17. Range = 49.63 
TNavPF::Calculated measDiffMean for beam 61 as 1.29. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 62 as 0.82. Range = 50.26 
TNavPF::Calculated measDiffMean for beam 63 as 1.86. Range = 50.61 
TNavPF::Calculated measDiffMean for beam 64 as 0.87. Range = 50.24 
TNavPF::Calculated measDiffMean for beam 65 as -0.29. Range = 48.28 
TNavPF::Calculated measDiffMean for beam 66 as -0.72. Range = 47.35 
TNavPF::Calculated measDiffMean for beam 67 as -0.47. Range = 44.81 
TNavPF::Calculated measDiffMean for beam 68 as -0.51. Range = 43.66 
TNavPF::Calculated measDiffMean for beam 69 as -5.63. Range = 44.06 
TNavPF::First Term of Map Covariance Matrix is 18.81 
TNavPF::Calculated NIS Value : 5.94 	numBeams normalized NIS: 0.15
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322111.82 sec.
INS : North: 4070253.89, East: 589216.61, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 45.68, IDT[75] = 88.66
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322114.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322114.62)
ARL : North: 1.2672, East: -2.2933, Depth: -1.0784ARL : Estimation Bias  (Mean)         : (t = 1488322114.62)
ARL : North: 2.2321, East: -1.7428, Depth: 0.2018TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 74 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.94 
Alpha[0]	0.123000
Alpha[0]	0.999635
TNavParticleFilter::Modified Variance for beam 1 is 14.01 
Alpha[1]	0.000000
Alpha[1]	0.999476
TNavParticleFilter::Modified Variance for beam 2 is 17.06 
Alpha[2]	0.000000
Alpha[2]	0.999171
TNavParticleFilter::Modified Variance for beam 3 is 17.16 
Alpha[3]	0.000000
Alpha[3]	0.999026
TNavParticleFilter::Modified Variance for beam 4 is 13.55 
Alpha[4]	0.000000
Alpha[4]	0.999030
TNavParticleFilter::Modified Variance for beam 5 is 13.41 
Alpha[5]	0.000000
Alpha[5]	0.998905
TNavParticleFilter::Modified Variance for beam 6 is 13.50 
Alpha[6]	0.000000
Alpha[6]	0.998825
TNavParticleFilter::Modified Variance for beam 7 is 15.55 
Alpha[7]	0.000000
Alpha[7]	0.998599
TNavParticleFilter::Modified Variance for beam 8 is 15.02 
Alpha[8]	0.000000
Alpha[8]	0.998353
TNavParticleFilter::Modified Variance for beam 9 is 14.81 
Alpha[9]	0.000000
Alpha[9]	0.998149
TNavParticleFilter::Modified Variance for beam 10 is 14.95 
Alpha[10]	0.000000
Alpha[10]	0.997791
TNavParticleFilter::Modified Variance for beam 11 is 14.50 
Alpha[11]	0.000000
Alpha[11]	0.997661
TNavParticleFilter::Modified Variance for beam 12 is 13.53 
Alpha[12]	0.000000
Alpha[12]	0.998080
TNavParticleFilter::Modified Variance for beam 13 is 13.41 
Alpha[13]	0.000000
Alpha[13]	0.998241
TNavParticleFilter::Modified Variance for beam 14 is 13.56 
Alpha[14]	0.000000
Alpha[14]	0.997980
TNavParticleFilter::Modified Variance for beam 15 is 13.72 
Alpha[15]	0.000000
Alpha[15]	0.997722
TNavParticleFilter::Modified Variance for beam 16 is 13.89 
Alpha[16]	0.000000
Alpha[16]	0.997602
TNavParticleFilter::Modified Variance for beam 17 is 16.07 
Alpha[17]	0.000000
Alpha[17]	0.997875
TNavParticleFilter::Modified Variance for beam 18 is 15.32 
Alpha[18]	0.000000
Alpha[18]	0.997586
TNavParticleFilter::Modified Variance for beam 19 is 15.55 
Alpha[19]	0.000000
Alpha[19]	0.996794
TNavParticleFilter::Modified Variance for beam 20 is 15.74 
Alpha[20]	0.000000
Alpha[20]	0.996823
TNavParticleFilter::Modified Variance for beam 21 is 15.01 
Alpha[21]	0.000000
Alpha[21]	0.997488
TNavParticleFilter::Modified Variance for beam 22 is 15.13 
Alpha[22]	0.000000
Alpha[22]	0.997930
TNavParticleFilter::Modified Variance for beam 23 is 15.38 
Alpha[23]	0.000000
Alpha[23]	0.998370
TNavParticleFilter::Modified Variance for beam 24 is 18.11 
Alpha[24]	0.000000
Alpha[24]	0.998564
TNavParticleFilter::Modified Variance for beam 25 is 19.81 
Alpha[25]	0.000000
Alpha[25]	0.998476
TNavParticleFilter::Modified Variance for beam 26 is 20.20 
Alpha[26]	0.000000
Alpha[26]	0.998998
TNavParticleFilter::Modified Variance for beam 27 is 26.32 
Alpha[27]	0.000000
Alpha[27]	0.999463
TNavParticleFilter::Modified Variance for beam 28 is 25.80 
Alpha[28]	0.000000
Alpha[28]	0.999448
TNavParticleFilter::Modified Variance for beam 29 is 26.41 
Alpha[29]	0.000000
Alpha[29]	0.999420
TNavParticleFilter::Modified Variance for beam 30 is 27.07 
Alpha[30]	0.000000
Alpha[30]	0.999293
TNavParticleFilter::Modified Variance for beam 31 is 27.77 
Alpha[31]	0.000000
Alpha[31]	0.999183
TNavParticleFilter::Modified Variance for beam 32 is 28.52 
Alpha[32]	0.000000
Alpha[32]	0.999123
TNavParticleFilter::Modified Variance for beam 33 is 29.33 
Alpha[33]	0.000000
Alpha[33]	0.998750
TNavParticleFilter::Modified Variance for beam 34 is 32.20 
Alpha[34]	0.000000
Alpha[34]	0.999018
TNavParticleFilter::Modified Variance for beam 35 is 33.18 
Alpha[35]	0.000000
Alpha[35]	0.999190
TNavParticleFilter::Modified Variance for beam 36 is 32.06 
Alpha[36]	0.000000
Alpha[36]	0.999161
TNavParticleFilter::Modified Variance for beam 37 is 35.37 
Alpha[37]	0.000000
Alpha[37]	0.999045
TNavParticleFilter::Modified Variance for beam 38 is 38.88 
Alpha[38]	0.000000
Alpha[38]	0.998768
TNavParticleFilter::Modified Variance for beam 39 is 37.94 
Alpha[39]	0.000000
Alpha[39]	0.997418
TNavParticleFilter::Modified Variance for beam 40 is 39.38 
Alpha[40]	0.000000
Alpha[40]	0.996611
TNavParticleFilter::Modified Variance for beam 41 is 40.97 
Alpha[41]	0.000000
Alpha[41]	0.995002
TNavParticleFilter::Modified Variance for beam 42 is 41.32 
Alpha[42]	0.000000
Alpha[42]	0.996189
TNavParticleFilter::Modified Variance for beam 43 is 40.24 
Alpha[43]	0.000000
Alpha[43]	0.997564
TNavParticleFilter::Modified Variance for beam 44 is 40.23 
Alpha[44]	0.000000
Alpha[44]	0.998801
TNavParticleFilter::Modified Variance for beam 45 is 42.00 
Alpha[45]	0.000000
Alpha[45]	0.999595
TNavPF:: sumSquaredError = 112.755474 
TNavPF:: sumWeights = 0.008958 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -7.14. Range = 93.65 
TNavPF::Calculated measDiffMean for beam 31 as -6.38. Range = 90.92 
TNavPF::Calculated measDiffMean for beam 32 as 0.46. Range = 88.26 
TNavPF::Calculated measDiffMean for beam 33 as 1.28. Range = 87.76 
TNavPF::Calculated measDiffMean for beam 34 as -4.83. Range = 87.29 
TNavPF::Calculated measDiffMean for beam 35 as -4.09. Range = 87.82 
TNavPF::Calculated measDiffMean for beam 36 as -3.95. Range = 90.58 
TNavPF::Calculated measDiffMean for beam 37 as -0.11. Range = 86.07 
TNavPF::Calculated measDiffMean for beam 38 as -1.33. Range = 85.72 
TNavPF::Calculated measDiffMean for beam 39 as -1.59. Range = 85.40 
TNavPF::Calculated measDiffMean for beam 40 as -0.94. Range = 85.10 
TNavPF::Calculated measDiffMean for beam 41 as -1.37. Range = 86.87 
TNavPF::Calculated measDiffMean for beam 42 as -2.91. Range = 84.60 
TNavPF::Calculated measDiffMean for beam 43 as -2.89. Range = 84.39 
TNavPF::Calculated measDiffMean for beam 44 as -2.64. Range = 80.18 
TNavPF::Calculated measDiffMean for beam 45 as -2.81. Range = 80.03 
TNavPF::Calculated measDiffMean for beam 46 as -3.03. Range = 77.90 
TNavPF::Calculated measDiffMean for beam 47 as 0.61. Range = 77.80 
TNavPF::Calculated measDiffMean for beam 48 as -1.26. Range = 77.72 
TNavPF::Calculated measDiffMean for beam 49 as -0.80. Range = 77.67 
TNavPF::Calculated measDiffMean for beam 50 as -0.62. Range = 75.65 
TNavPF::Calculated measDiffMean for beam 51 as -2.36. Range = 67.63 
TNavPF::Calculated measDiffMean for beam 52 as -2.67. Range = 67.65 
TNavPF::Calculated measDiffMean for beam 53 as -3.39. Range = 59.67 
TNavPF::Calculated measDiffMean for beam 54 as 0.27. Range = 59.73 
TNavPF::Calculated measDiffMean for beam 55 as 1.35. Range = 61.81 
TNavPF::Calculated measDiffMean for beam 56 as -0.14. Range = 47.82 
TNavPF::Calculated measDiffMean for beam 57 as 5.91. Range = 47.91 
TNavPF::Calculated measDiffMean for beam 58 as 3.73. Range = 48.01 
TNavPF::Calculated measDiffMean for beam 59 as 3.03. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 60 as 1.68. Range = 46.23 
TNavPF::Calculated measDiffMean for beam 61 as 1.14. Range = 46.37 
TNavPF::Calculated measDiffMean for beam 62 as 0.37. Range = 52.65 
TNavPF::Calculated measDiffMean for beam 63 as -0.27. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 64 as 1.28. Range = 45.35 
TNavPF::Calculated measDiffMean for beam 65 as 0.60. Range = 45.02 
TNavPF::Calculated measDiffMean for beam 66 as -3.27. Range = 45.23 
TNavPF::Calculated measDiffMean for beam 67 as -2.09. Range = 49.63 
TNavPF::Calculated measDiffMean for beam 68 as -0.16. Range = 48.52 
TNavPF::Calculated measDiffMean for beam 69 as -2.31. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 70 as -1.82. Range = 48.35 
TNavPF::Calculated measDiffMean for beam 71 as -0.67. Range = 47.38 
TNavPF::Calculated measDiffMean for beam 72 as 0.44. Range = 45.27 
TNavPF::Calculated measDiffMean for beam 73 as 0.14. Range = 44.99 
TNavPF::Calculated measDiffMean for beam 74 as -0.92. Range = 45.33 
TNavPF::Calculated measDiffMean for beam 75 as -2.74. Range = 45.68 
TNavPF::First Term of Map Covariance Matrix is 54.73 
TNavPF::Calculated NIS Value : 6.87 	numBeams normalized NIS: 0.15
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322114.82 sec.
INS : North: 4070256.58, East: 589213.40, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 51.91, IDT[75] = 87.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322117.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322117.62)
ARL : North: 0.9508, East: -2.0024, Depth: 3.9436ARL : Estimation Bias  (Mean)         : (t = 1488322117.62)
ARL : North: 1.9298, East: -1.8481, Depth: 0.3362TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 73 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.33 
Alpha[0]	0.123000
Alpha[0]	0.999629
TNavParticleFilter::Modified Variance for beam 1 is 18.16 
Alpha[1]	0.000000
Alpha[1]	0.999369
TNavParticleFilter::Modified Variance for beam 2 is 18.24 
Alpha[2]	0.000000
Alpha[2]	0.999171
TNavParticleFilter::Modified Variance for beam 3 is 18.01 
Alpha[3]	0.000000
Alpha[3]	0.999198
TNavParticleFilter::Modified Variance for beam 4 is 17.33 
Alpha[4]	0.000000
Alpha[4]	0.999031
TNavParticleFilter::Modified Variance for beam 5 is 17.43 
Alpha[5]	0.000000
Alpha[5]	0.998843
TNavParticleFilter::Modified Variance for beam 6 is 17.54 
Alpha[6]	0.000000
Alpha[6]	0.998528
TNavParticleFilter::Modified Variance for beam 7 is 17.66 
Alpha[7]	0.000000
Alpha[7]	0.998372
TNavParticleFilter::Modified Variance for beam 8 is 16.73 
Alpha[8]	0.000000
Alpha[8]	0.998103
TNavParticleFilter::Modified Variance for beam 9 is 15.80 
Alpha[9]	0.000000
Alpha[9]	0.997924
TNavParticleFilter::Modified Variance for beam 10 is 15.92 
Alpha[10]	0.000000
Alpha[10]	0.998237
TNavParticleFilter::Modified Variance for beam 11 is 14.04 
Alpha[11]	0.000000
Alpha[11]	0.998553
TNavParticleFilter::Modified Variance for beam 12 is 14.17 
Alpha[12]	0.000000
Alpha[12]	0.998489
TNavParticleFilter::Modified Variance for beam 13 is 14.31 
Alpha[13]	0.000000
Alpha[13]	0.997942
TNavParticleFilter::Modified Variance for beam 14 is 14.45 
Alpha[14]	0.000000
Alpha[14]	0.997555
TNavParticleFilter::Modified Variance for beam 15 is 16.71 
Alpha[15]	0.000000
Alpha[15]	0.997534
TNavParticleFilter::Modified Variance for beam 16 is 15.81 
Alpha[16]	0.000000
Alpha[16]	0.997653
TNavParticleFilter::Modified Variance for beam 17 is 16.00 
Alpha[17]	0.000000
Alpha[17]	0.997324
TNavParticleFilter::Modified Variance for beam 18 is 16.14 
Alpha[18]	0.000000
Alpha[18]	0.996561
TNavParticleFilter::Modified Variance for beam 19 is 15.31 
Alpha[19]	0.000000
Alpha[19]	0.997050
TNavParticleFilter::Modified Variance for beam 20 is 15.51 
Alpha[20]	0.000000
Alpha[20]	0.997767
TNavParticleFilter::Modified Variance for beam 21 is 16.86 
Alpha[21]	0.000000
Alpha[21]	0.998026
TNavParticleFilter::Modified Variance for beam 22 is 18.31 
Alpha[22]	0.000000
Alpha[22]	0.998220
TNavParticleFilter::Modified Variance for beam 23 is 19.89 
Alpha[23]	0.000000
Alpha[23]	0.998239
TNavParticleFilter::Modified Variance for beam 24 is 20.24 
Alpha[24]	0.000000
Alpha[24]	0.997547
TNavParticleFilter::Modified Variance for beam 25 is 20.58 
Alpha[25]	0.000000
Alpha[25]	0.998422
TNavParticleFilter::Modified Variance for beam 26 is 26.70 
Alpha[26]	0.000000
Alpha[26]	0.999389
TNavParticleFilter::Modified Variance for beam 27 is 25.88 
Alpha[27]	0.000000
Alpha[27]	0.999382
TNavParticleFilter::Modified Variance for beam 28 is 26.42 
Alpha[28]	0.000000
Alpha[28]	0.999290
TNavParticleFilter::Modified Variance for beam 29 is 27.00 
Alpha[29]	0.000000
Alpha[29]	0.998966
TNavParticleFilter::Modified Variance for beam 30 is 27.62 
Alpha[30]	0.000000
Alpha[30]	0.998715
TNavParticleFilter::Modified Variance for beam 31 is 28.27 
Alpha[31]	0.000000
Alpha[31]	0.998760
TNavParticleFilter::Modified Variance for beam 32 is 28.97 
Alpha[32]	0.000000
Alpha[32]	0.998159
TNavParticleFilter::Modified Variance for beam 33 is 29.74 
Alpha[33]	0.000000
Alpha[33]	0.997313
TNavParticleFilter::Modified Variance for beam 34 is 32.44 
Alpha[34]	0.000000
Alpha[34]	0.998640
TNavParticleFilter::Modified Variance for beam 35 is 33.32 
Alpha[35]	0.000000
Alpha[35]	0.999098
TNavParticleFilter::Modified Variance for beam 36 is 34.29 
Alpha[36]	0.000000
Alpha[36]	0.998889
TNavParticleFilter::Modified Variance for beam 37 is 37.56 
Alpha[37]	0.000000
Alpha[37]	0.998593
TNavParticleFilter::Modified Variance for beam 38 is 38.77 
Alpha[38]	0.000000
Alpha[38]	0.997736
TNavParticleFilter::Modified Variance for beam 39 is 40.07 
Alpha[39]	0.000000
Alpha[39]	0.996778
TNavParticleFilter::Modified Variance for beam 40 is 41.46 
Alpha[40]	0.000000
Alpha[40]	0.996022
TNavParticleFilter::Modified Variance for beam 41 is 41.75 
Alpha[41]	0.000000
Alpha[41]	0.995216
TNavParticleFilter::Modified Variance for beam 42 is 40.63 
Alpha[42]	0.000000
Alpha[42]	0.994027
TNavParticleFilter::Modified Variance for beam 43 is 39.43 
Alpha[43]	0.000000
Alpha[43]	0.996634
TNavParticleFilter::Modified Variance for beam 44 is 39.50 
Alpha[44]	0.000000
Alpha[44]	0.997754
TNavParticleFilter::Modified Variance for beam 45 is 41.03 
Alpha[45]	0.000000
Alpha[45]	0.999464
TNavParticleFilter::Modified Variance for beam 46 is 45.69 
Alpha[46]	0.000000
Alpha[46]	0.999881
TNavPF:: sumSquaredError = 12.495267 
TNavPF:: sumWeights = 0.007054 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.15. Range = 67.95 
TNavPF::Calculated measDiffMean for beam 31 as -1.34. Range = 99.78 
TNavPF::Calculated measDiffMean for beam 32 as 0.54. Range = 94.78 
TNavPF::Calculated measDiffMean for beam 33 as 1.80. Range = 94.16 
TNavPF::Calculated measDiffMean for beam 34 as 1.47. Range = 93.64 
TNavPF::Calculated measDiffMean for beam 35 as 1.33. Range = 98.61 
TNavPF::Calculated measDiffMean for beam 36 as 1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.18. Range = 89.48 
TNavPF::Calculated measDiffMean for beam 39 as -1.08. Range = 89.06 
TNavPF::Calculated measDiffMean for beam 40 as 0.05. Range = 88.68 
TNavPF::Calculated measDiffMean for beam 41 as -3.39. Range = 88.88 
TNavPF::Calculated measDiffMean for beam 42 as -3.11. Range = 89.88 
TNavPF::Calculated measDiffMean for beam 43 as -2.99. Range = 87.72 
TNavPF::Calculated measDiffMean for beam 44 as -3.09. Range = 87.45 
TNavPF::Calculated measDiffMean for beam 45 as 0.85. Range = 83.17 
TNavPF::Calculated measDiffMean for beam 46 as -1.74. Range = 82.97 
TNavPF::Calculated measDiffMean for beam 47 as -1.30. Range = 82.80 
TNavPF::Calculated measDiffMean for beam 48 as -0.92. Range = 82.65 
TNavPF::Calculated measDiffMean for beam 49 as -2.66. Range = 82.53 
TNavPF::Calculated measDiffMean for beam 50 as -2.62. Range = 80.43 
TNavPF::Calculated measDiffMean for beam 51 as -0.62. Range = 80.36 
TNavPF::Calculated measDiffMean for beam 52 as 0.76. Range = 80.31 
TNavPF::Calculated measDiffMean for beam 53 as 2.03. Range = 62.26 
TNavPF::Calculated measDiffMean for beam 54 as 0.87. Range = 62.26 
TNavPF::Calculated measDiffMean for beam 55 as 0.11. Range = 64.29 
TNavPF::Calculated measDiffMean for beam 56 as 5.98. Range = 64.34 
TNavPF::Calculated measDiffMean for beam 57 as 2.52. Range = 64.40 
TNavPF::Calculated measDiffMean for beam 58 as 2.48. Range = 62.84 
TNavPF::Calculated measDiffMean for beam 59 as 1.48. Range = 58.54 
TNavPF::Calculated measDiffMean for beam 60 as 1.09. Range = 58.65 
TNavPF::Calculated measDiffMean for beam 61 as 0.72. Range = 54.74 
TNavPF::Calculated measDiffMean for beam 62 as -0.22. Range = 54.88 
TNavPF::Calculated measDiffMean for beam 63 as -0.41. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 64 as 1.18. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 65 as 0.07. Range = 53.35 
TNavPF::Calculated measDiffMean for beam 66 as -0.63. Range = 53.55 
TNavPF::Calculated measDiffMean for beam 67 as 1.20. Range = 53.77 
TNavPF::Calculated measDiffMean for beam 68 as 0.11. Range = 51.97 
TNavPF::Calculated measDiffMean for beam 69 as 0.36. Range = 50.10 
TNavPF::Calculated measDiffMean for beam 70 as 1.38. Range = 50.36 
TNavPF::Calculated measDiffMean for beam 71 as 0.62. Range = 46.42 
TNavPF::Calculated measDiffMean for beam 72 as -0.39. Range = 46.69 
TNavPF::Calculated measDiffMean for beam 73 as -0.72. Range = 46.98 
TNavPF::Calculated measDiffMean for beam 74 as -0.36. Range = 47.28 
TNavPF::Calculated measDiffMean for beam 75 as -0.66. Range = 51.91 
TNavPF::Calculated measDiffMean for beam 76 as -1.66. Range = 50.11 
TNavPF::First Term of Map Covariance Matrix is 53.85 
TNavPF::Calculated NIS Value : 5.51 	numBeams normalized NIS: 0.12
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322117.82 sec.
INS : North: 4070259.04, East: 589210.01, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 47.30, IDT[75] = 83.19
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322120.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322120.62)
ARL : North: 0.7042, East: -2.6868, Depth: 2.0174ARL : Estimation Bias  (Mean)         : (t = 1488322120.62)
ARL : North: 1.9596, East: -2.2024, Depth: 0.3416TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 66 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.78 
Alpha[0]	0.123000
Alpha[0]	0.999829
TNavParticleFilter::Modified Variance for beam 1 is 25.03 
Alpha[1]	0.000000
Alpha[1]	0.999806
TNavParticleFilter::Modified Variance for beam 2 is 25.01 
Alpha[2]	0.000000
Alpha[2]	0.999750
TNavParticleFilter::Modified Variance for beam 3 is 25.00 
Alpha[3]	0.000000
Alpha[3]	0.999739
TNavParticleFilter::Modified Variance for beam 4 is 15.86 
Alpha[4]	0.000000
Alpha[4]	0.999735
TNavParticleFilter::Modified Variance for beam 5 is 21.30 
Alpha[5]	0.000000
Alpha[5]	0.999674
TNavParticleFilter::Modified Variance for beam 6 is 21.33 
Alpha[6]	0.000000
Alpha[6]	0.999592
TNavParticleFilter::Modified Variance for beam 7 is 19.07 
Alpha[7]	0.000000
Alpha[7]	0.999415
TNavParticleFilter::Modified Variance for beam 8 is 14.98 
Alpha[8]	0.000000
Alpha[8]	0.999274
TNavParticleFilter::Modified Variance for beam 9 is 15.02 
Alpha[9]	0.000000
Alpha[9]	0.999078
TNavParticleFilter::Modified Variance for beam 10 is 17.08 
Alpha[10]	0.000000
Alpha[10]	0.998747
TNavParticleFilter::Modified Variance for beam 11 is 17.14 
Alpha[11]	0.000000
Alpha[11]	0.998516
TNavParticleFilter::Modified Variance for beam 12 is 16.18 
Alpha[12]	0.000000
Alpha[12]	0.998378
TNavParticleFilter::Modified Variance for beam 13 is 16.26 
Alpha[13]	0.000000
Alpha[13]	0.998147
TNavParticleFilter::Modified Variance for beam 14 is 15.94 
Alpha[14]	0.000000
Alpha[14]	0.997917
TNavParticleFilter::Modified Variance for beam 15 is 14.45 
Alpha[15]	0.000000
Alpha[15]	0.998195
TNavParticleFilter::Modified Variance for beam 16 is 14.54 
Alpha[16]	0.000000
Alpha[16]	0.998339
TNavParticleFilter::Modified Variance for beam 17 is 14.63 
Alpha[17]	0.000000
Alpha[17]	0.998193
TNavParticleFilter::Modified Variance for beam 18 is 14.74 
Alpha[18]	0.000000
Alpha[18]	0.997457
TNavParticleFilter::Modified Variance for beam 19 is 14.86 
Alpha[19]	0.000000
Alpha[19]	0.997108
TNavParticleFilter::Modified Variance for beam 20 is 17.05 
Alpha[20]	0.000000
Alpha[20]	0.997287
TNavParticleFilter::Modified Variance for beam 21 is 16.12 
Alpha[21]	0.000000
Alpha[21]	0.997548
TNavParticleFilter::Modified Variance for beam 22 is 16.28 
Alpha[22]	0.000000
Alpha[22]	0.997153
TNavParticleFilter::Modified Variance for beam 23 is 16.45 
Alpha[23]	0.000000
Alpha[23]	0.996276
TNavParticleFilter::Modified Variance for beam 24 is 15.55 
Alpha[24]	0.000000
Alpha[24]	0.996587
TNavParticleFilter::Modified Variance for beam 25 is 15.71 
Alpha[25]	0.000000
Alpha[25]	0.997176
TNavParticleFilter::Modified Variance for beam 26 is 15.88 
Alpha[26]	0.000000
Alpha[26]	0.997464
TNavParticleFilter::Modified Variance for beam 27 is 17.17 
Alpha[27]	0.000000
Alpha[27]	0.997908
TNavParticleFilter::Modified Variance for beam 28 is 18.57 
Alpha[28]	0.000000
Alpha[28]	0.997946
TNavParticleFilter::Modified Variance for beam 29 is 20.09 
Alpha[29]	0.000000
Alpha[29]	0.997007
TNavParticleFilter::Modified Variance for beam 30 is 20.38 
Alpha[30]	0.000000
Alpha[30]	0.996895
TNavParticleFilter::Modified Variance for beam 31 is 21.99 
Alpha[31]	0.000000
Alpha[31]	0.998914
TNavParticleFilter::Modified Variance for beam 32 is 26.74 
Alpha[32]	0.000000
Alpha[32]	0.999453
TNavParticleFilter::Modified Variance for beam 33 is 25.66 
Alpha[33]	0.000000
Alpha[33]	0.999400
TNavParticleFilter::Modified Variance for beam 34 is 26.12 
Alpha[34]	0.000000
Alpha[34]	0.999241
TNavParticleFilter::Modified Variance for beam 35 is 26.61 
Alpha[35]	0.000000
Alpha[35]	0.998976
TNavParticleFilter::Modified Variance for beam 36 is 27.13 
Alpha[36]	0.000000
Alpha[36]	0.999013
TNavParticleFilter::Modified Variance for beam 37 is 27.69 
Alpha[37]	0.000000
Alpha[37]	0.998817
TNavParticleFilter::Modified Variance for beam 38 is 28.30 
Alpha[38]	0.000000
Alpha[38]	0.998066
TNavParticleFilter::Modified Variance for beam 39 is 28.93 
Alpha[39]	0.000000
Alpha[39]	0.997901
TNavParticleFilter::Modified Variance for beam 40 is 29.57 
Alpha[40]	0.000000
Alpha[40]	0.998731
TNavParticleFilter::Modified Variance for beam 41 is 30.27 
Alpha[41]	0.000000
Alpha[41]	0.998996
TNavParticleFilter::Modified Variance for beam 42 is 31.03 
Alpha[42]	0.000000
Alpha[42]	0.998847
TNavParticleFilter::Modified Variance for beam 43 is 33.81 
Alpha[43]	0.000000
Alpha[43]	0.998791
TNavParticleFilter::Modified Variance for beam 44 is 36.85 
Alpha[44]	0.000000
Alpha[44]	0.998628
TNavParticleFilter::Modified Variance for beam 45 is 37.51 
Alpha[45]	0.000000
Alpha[45]	0.996472
TNavParticleFilter::Modified Variance for beam 46 is 36.82 
Alpha[46]	0.000000
Alpha[46]	0.996999
TNavParticleFilter::Modified Variance for beam 47 is 37.96 
Alpha[47]	0.000000
Alpha[47]	0.996556
TNavParticleFilter::Modified Variance for beam 48 is 39.17 
Alpha[48]	0.000000
Alpha[48]	0.996164
TNavParticleFilter::Modified Variance for beam 49 is 39.58 
Alpha[49]	0.000000
Alpha[49]	0.997579
TNavParticleFilter::Modified Variance for beam 50 is 38.40 
Alpha[50]	0.000000
Alpha[50]	0.997764
TNavParticleFilter::Modified Variance for beam 51 is 38.23 
Alpha[51]	0.000000
Alpha[51]	0.995869
TNavParticleFilter::Modified Variance for beam 52 is 39.56 
Alpha[52]	0.000000
Alpha[52]	0.997385
TNavParticleFilter::Modified Variance for beam 53 is 40.97 
Alpha[53]	0.000000
Alpha[53]	0.999815
TNavPF:: sumSquaredError = 91.342893 
TNavPF:: sumWeights = 0.000557 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 3.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 5.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 6.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -8.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.72. Range = 70.58 
TNavPF::Calculated measDiffMean for beam 36 as 1.93. Range = 71.52 
TNavPF::Calculated measDiffMean for beam 37 as 0.23. Range = 71.56 
TNavPF::Calculated measDiffMean for beam 38 as -5.40. Range = 72.10 
TNavPF::Calculated measDiffMean for beam 39 as -4.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.42. Range = 98.15 
TNavPF::Calculated measDiffMean for beam 41 as -0.58. Range = 95.28 
TNavPF::Calculated measDiffMean for beam 42 as -2.10. Range = 94.63 
TNavPF::Calculated measDiffMean for beam 43 as -1.64. Range = 94.01 
TNavPF::Calculated measDiffMean for beam 44 as -1.49. Range = 93.70 
TNavPF::Calculated measDiffMean for beam 45 as -3.45. Range = 97.09 
TNavPF::Calculated measDiffMean for beam 46 as -2.85. Range = 92.37 
TNavPF::Calculated measDiffMean for beam 47 as -2.82. Range = 91.89 
TNavPF::Calculated measDiffMean for beam 48 as -2.92. Range = 91.45 
TNavPF::Calculated measDiffMean for beam 49 as -3.03. Range = 92.99 
TNavPF::Calculated measDiffMean for beam 50 as 0.72. Range = 90.65 
TNavPF::Calculated measDiffMean for beam 51 as -1.45. Range = 90.30 
TNavPF::Calculated measDiffMean for beam 52 as -1.06. Range = 85.90 
TNavPF::Calculated measDiffMean for beam 53 as -0.57. Range = 85.62 
TNavPF::Calculated measDiffMean for beam 54 as -2.32. Range = 85.37 
TNavPF::Calculated measDiffMean for beam 55 as -2.32. Range = 85.15 
TNavPF::Calculated measDiffMean for beam 56 as -2.69. Range = 82.93 
TNavPF::Calculated measDiffMean for beam 57 as -1.27. Range = 80.76 
TNavPF::Calculated measDiffMean for beam 58 as -0.23. Range = 72.58 
TNavPF::Calculated measDiffMean for beam 59 as 0.90. Range = 72.48 
TNavPF::Calculated measDiffMean for beam 60 as 0.62. Range = 64.38 
TNavPF::Calculated measDiffMean for beam 61 as 1.44. Range = 66.33 
TNavPF::Calculated measDiffMean for beam 62 as 5.76. Range = 66.30 
TNavPF::Calculated measDiffMean for beam 63 as 3.28. Range = 66.29 
TNavPF::Calculated measDiffMean for beam 64 as 2.07. Range = 50.28 
TNavPF::Calculated measDiffMean for beam 65 as 1.57. Range = 60.32 
TNavPF::Calculated measDiffMean for beam 66 as 1.55. Range = 60.37 
TNavPF::Calculated measDiffMean for beam 67 as 0.81. Range = 56.42 
TNavPF::Calculated measDiffMean for beam 68 as -0.05. Range = 48.46 
TNavPF::Calculated measDiffMean for beam 69 as -0.04. Range = 48.54 
TNavPF::Calculated measDiffMean for beam 70 as -0.31. Range = 52.67 
TNavPF::Calculated measDiffMean for beam 71 as -1.19. Range = 52.79 
TNavPF::Calculated measDiffMean for beam 72 as -1.90. Range = 50.90 
TNavPF::Calculated measDiffMean for beam 73 as -0.39. Range = 51.05 
TNavPF::Calculated measDiffMean for beam 74 as 0.72. Range = 50.39 
TNavPF::Calculated measDiffMean for beam 75 as -0.49. Range = 47.30 
TNavPF::Calculated measDiffMean for beam 76 as -1.60. Range = 47.48 
TNavPF::Calculated measDiffMean for beam 77 as -1.05. Range = 47.68 
TNavPF::Calculated measDiffMean for beam 78 as -0.47. Range = 47.90 
TNavPF::Calculated measDiffMean for beam 79 as 0.89. Range = 48.13 
TNavPF::Calculated measDiffMean for beam 80 as 0.40. Range = 52.56 
TNavPF::Calculated measDiffMean for beam 81 as -0.47. Range = 50.75 
TNavPF::Calculated measDiffMean for beam 82 as -0.71. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 83 as -4.67. Range = 51.36 
TNavPF::First Term of Map Covariance Matrix is 117.19 
TNavPF::Calculated NIS Value : 14.10 	numBeams normalized NIS: 0.26
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322120.82 sec.
INS : North: 4070260.90, East: 589206.26, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 52.00, IDT[75] = 72.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322123.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322123.62)
ARL : North: 1.9467, East: -2.9254, Depth: -3.0627ARL : Estimation Bias  (Mean)         : (t = 1488322123.62)
ARL : North: 1.7048, East: -2.4234, Depth: 0.1898TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 40.78 
Alpha[0]	0.123000
Alpha[0]	0.999831
TNavParticleFilter::Modified Variance for beam 1 is 40.56 
Alpha[1]	0.000000
Alpha[1]	0.999829
TNavParticleFilter::Modified Variance for beam 2 is 36.99 
Alpha[2]	0.000000
Alpha[2]	0.999867
TNavParticleFilter::Modified Variance for beam 3 is 30.62 
Alpha[3]	0.000000
Alpha[3]	0.999897
TNavParticleFilter::Modified Variance for beam 4 is 24.97 
Alpha[4]	0.000000
Alpha[4]	0.999858
TNavParticleFilter::Modified Variance for beam 5 is 26.21 
Alpha[5]	0.000000
Alpha[5]	0.999836
TNavParticleFilter::Modified Variance for beam 6 is 26.15 
Alpha[6]	0.000000
Alpha[6]	0.999787
TNavParticleFilter::Modified Variance for beam 7 is 26.10 
Alpha[7]	0.000000
Alpha[7]	0.999767
TNavParticleFilter::Modified Variance for beam 8 is 26.06 
Alpha[8]	0.000000
Alpha[8]	0.999717
TNavParticleFilter::Modified Variance for beam 9 is 22.22 
Alpha[9]	0.000000
Alpha[9]	0.999627
TNavParticleFilter::Modified Variance for beam 10 is 15.63 
Alpha[10]	0.000000
Alpha[10]	0.999618
TNavParticleFilter::Modified Variance for beam 11 is 15.64 
Alpha[11]	0.000000
Alpha[11]	0.999374
TNavParticleFilter::Modified Variance for beam 12 is 15.65 
Alpha[12]	0.000000
Alpha[12]	0.999148
TNavParticleFilter::Modified Variance for beam 13 is 17.72 
Alpha[13]	0.000000
Alpha[13]	0.998653
TNavParticleFilter::Modified Variance for beam 14 is 17.75 
Alpha[14]	0.000000
Alpha[14]	0.998473
TNavParticleFilter::Modified Variance for beam 15 is 16.74 
Alpha[15]	0.000000
Alpha[15]	0.998379
TNavParticleFilter::Modified Variance for beam 16 is 16.79 
Alpha[16]	0.000000
Alpha[16]	0.998222
TNavParticleFilter::Modified Variance for beam 17 is 15.10 
Alpha[17]	0.000000
Alpha[17]	0.998339
TNavParticleFilter::Modified Variance for beam 18 is 14.90 
Alpha[18]	0.000000
Alpha[18]	0.998472
TNavParticleFilter::Modified Variance for beam 19 is 14.96 
Alpha[19]	0.000000
Alpha[19]	0.998365
TNavParticleFilter::Modified Variance for beam 20 is 15.03 
Alpha[20]	0.000000
Alpha[20]	0.997960
TNavParticleFilter::Modified Variance for beam 21 is 15.11 
Alpha[21]	0.000000
Alpha[21]	0.997170
TNavParticleFilter::Modified Variance for beam 22 is 17.24 
Alpha[22]	0.000000
Alpha[22]	0.997051
TNavParticleFilter::Modified Variance for beam 23 is 17.34 
Alpha[23]	0.000000
Alpha[23]	0.997249
TNavParticleFilter::Modified Variance for beam 24 is 16.39 
Alpha[24]	0.000000
Alpha[24]	0.997466
TNavParticleFilter::Modified Variance for beam 25 is 16.52 
Alpha[25]	0.000000
Alpha[25]	0.996663
TNavParticleFilter::Modified Variance for beam 26 is 16.07 
Alpha[26]	0.000000
Alpha[26]	0.996271
TNavParticleFilter::Modified Variance for beam 27 is 15.73 
Alpha[27]	0.000000
Alpha[27]	0.996922
TNavParticleFilter::Modified Variance for beam 28 is 15.86 
Alpha[28]	0.000000
Alpha[28]	0.997241
TNavParticleFilter::Modified Variance for beam 29 is 17.07 
Alpha[29]	0.000000
Alpha[29]	0.997458
TNavParticleFilter::Modified Variance for beam 30 is 18.36 
Alpha[30]	0.000000
Alpha[30]	0.997718
TNavParticleFilter::Modified Variance for beam 31 is 18.57 
Alpha[31]	0.000000
Alpha[31]	0.996791
TNavParticleFilter::Modified Variance for beam 32 is 20.00 
Alpha[32]	0.000000
Alpha[32]	0.995802
TNavParticleFilter::Modified Variance for beam 33 is 20.23 
Alpha[33]	0.000000
Alpha[33]	0.996122
TNavParticleFilter::Modified Variance for beam 34 is 20.43 
Alpha[34]	0.000000
Alpha[34]	0.998596
TNavParticleFilter::Modified Variance for beam 35 is 21.99 
Alpha[35]	0.000000
Alpha[35]	0.999353
TNavParticleFilter::Modified Variance for beam 36 is 26.44 
Alpha[36]	0.000000
Alpha[36]	0.999401
TNavParticleFilter::Modified Variance for beam 37 is 25.47 
Alpha[37]	0.000000
Alpha[37]	0.999116
TNavParticleFilter::Modified Variance for beam 38 is 25.88 
Alpha[38]	0.000000
Alpha[38]	0.998757
TNavParticleFilter::Modified Variance for beam 39 is 26.30 
Alpha[39]	0.000000
Alpha[39]	0.998811
TNavParticleFilter::Modified Variance for beam 40 is 26.76 
Alpha[40]	0.000000
Alpha[40]	0.998606
TNavParticleFilter::Modified Variance for beam 41 is 27.26 
Alpha[41]	0.000000
Alpha[41]	0.997568
TNavParticleFilter::Modified Variance for beam 42 is 27.78 
Alpha[42]	0.000000
Alpha[42]	0.997247
TNavParticleFilter::Modified Variance for beam 43 is 28.30 
Alpha[43]	0.000000
Alpha[43]	0.998078
TNavParticleFilter::Modified Variance for beam 44 is 30.58 
Alpha[44]	0.000000
Alpha[44]	0.998657
TNavParticleFilter::Modified Variance for beam 45 is 29.47 
Alpha[45]	0.000000
Alpha[45]	0.998573
TNavParticleFilter::Modified Variance for beam 46 is 30.12 
Alpha[46]	0.000000
Alpha[46]	0.998607
TNavParticleFilter::Modified Variance for beam 47 is 32.67 
Alpha[47]	0.000000
Alpha[47]	0.998505
TNavParticleFilter::Modified Variance for beam 48 is 35.44 
Alpha[48]	0.000000
Alpha[48]	0.998101
TNavParticleFilter::Modified Variance for beam 49 is 36.42 
Alpha[49]	0.000000
Alpha[49]	0.995626
TNavParticleFilter::Modified Variance for beam 50 is 35.70 
Alpha[50]	0.000000
Alpha[50]	0.996814
TNavParticleFilter::Modified Variance for beam 51 is 36.20 
Alpha[51]	0.000000
Alpha[51]	0.996670
TNavParticleFilter::Modified Variance for beam 52 is 37.22 
Alpha[52]	0.000000
Alpha[52]	0.996402
TNavParticleFilter::Modified Variance for beam 53 is 38.27 
Alpha[53]	0.000000
Alpha[53]	0.997475
TNavParticleFilter::Modified Variance for beam 54 is 37.77 
Alpha[54]	0.000000
Alpha[54]	0.997760
TNavParticleFilter::Modified Variance for beam 55 is 36.63 
Alpha[55]	0.000000
Alpha[55]	0.996005
TNavParticleFilter::Modified Variance for beam 56 is 37.21 
Alpha[56]	0.000000
Alpha[56]	0.996384
TNavParticleFilter::Modified Variance for beam 57 is 38.39 
Alpha[57]	0.000000
Alpha[57]	0.998279
TNavParticleFilter::Modified Variance for beam 58 is 39.67 
Alpha[58]	0.000000
Alpha[58]	0.999919
TNavPF:: sumSquaredError = 85.155485 
TNavPF:: sumWeights = 0.000979 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 4.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 4.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 3.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 3.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 5.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 6.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 6.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -8.92. Range = 73.93 
TNavPF::Calculated measDiffMean for beam 41 as -5.77. Range = 74.45 
TNavPF::Calculated measDiffMean for beam 42 as -5.25. Range = 74.77 
TNavPF::Calculated measDiffMean for beam 43 as -1.24. Range = 75.08 
TNavPF::Calculated measDiffMean for beam 44 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -2.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -3.73. Range = 97.83 
TNavPF::Calculated measDiffMean for beam 48 as -3.32. Range = 97.11 
TNavPF::Calculated measDiffMean for beam 49 as -3.24. Range = 96.44 
TNavPF::Calculated measDiffMean for beam 50 as -3.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -3.29. Range = 95.20 
TNavPF::Calculated measDiffMean for beam 52 as 0.40. Range = 94.64 
TNavPF::Calculated measDiffMean for beam 53 as 0.18. Range = 94.11 
TNavPF::Calculated measDiffMean for beam 54 as -1.67. Range = 94.36 
TNavPF::Calculated measDiffMean for beam 55 as -1.16. Range = 95.23 
TNavPF::Calculated measDiffMean for beam 56 as -1.72. Range = 92.73 
TNavPF::Calculated measDiffMean for beam 57 as -2.48. Range = 88.22 
TNavPF::Calculated measDiffMean for beam 58 as -2.72. Range = 87.87 
TNavPF::Calculated measDiffMean for beam 59 as -1.19. Range = 87.55 
TNavPF::Calculated measDiffMean for beam 60 as 0.04. Range = 87.26 
TNavPF::Calculated measDiffMean for beam 61 as -1.24. Range = 87.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.41. Range = 82.72 
TNavPF::Calculated measDiffMean for beam 63 as 0.30. Range = 74.45 
TNavPF::Calculated measDiffMean for beam 64 as -0.92. Range = 66.24 
TNavPF::Calculated measDiffMean for beam 65 as -1.20. Range = 68.13 
TNavPF::Calculated measDiffMean for beam 66 as 4.12. Range = 68.03 
TNavPF::Calculated measDiffMean for beam 67 as 1.30. Range = 67.95 
TNavPF::Calculated measDiffMean for beam 68 as 0.99. Range = 67.89 
TNavPF::Calculated measDiffMean for beam 69 as 1.11. Range = 61.85 
TNavPF::Calculated measDiffMean for beam 70 as 0.55. Range = 49.83 
TNavPF::Calculated measDiffMean for beam 71 as -0.24. Range = 49.83 
TNavPF::Calculated measDiffMean for beam 72 as -0.47. Range = 49.85 
TNavPF::Calculated measDiffMean for beam 73 as -0.23. Range = 53.89 
TNavPF::Calculated measDiffMean for beam 74 as 1.64. Range = 53.94 
TNavPF::Calculated measDiffMean for beam 75 as -1.78. Range = 52.00 
TNavPF::Calculated measDiffMean for beam 76 as -2.28. Range = 52.09 
TNavPF::Calculated measDiffMean for beam 77 as -0.76. Range = 48.68 
TNavPF::Calculated measDiffMean for beam 78 as 0.38. Range = 48.26 
TNavPF::Calculated measDiffMean for beam 79 as -0.42. Range = 48.38 
TNavPF::Calculated measDiffMean for beam 80 as -1.56. Range = 48.52 
TNavPF::Calculated measDiffMean for beam 81 as -1.50. Range = 48.67 
TNavPF::Calculated measDiffMean for beam 82 as -1.18. Range = 52.93 
TNavPF::Calculated measDiffMean for beam 83 as 0.48. Range = 53.13 
TNavPF::Calculated measDiffMean for beam 84 as 0.85. Range = 51.29 
TNavPF::Calculated measDiffMean for beam 85 as -0.38. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 86 as -0.88. Range = 50.60 
TNavPF::Calculated measDiffMean for beam 87 as -1.69. Range = 49.93 
TNavPF::Calculated measDiffMean for beam 88 as -10.45. Range = 50.20 
TNavPF::First Term of Map Covariance Matrix is 118.02 
TNavPF::Calculated NIS Value : 13.77 	numBeams normalized NIS: 0.23
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322123.82 sec.
INS : North: 4070262.31, East: 589202.29, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 54.98, IDT[75] = 69.70
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322126.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322126.62)
ARL : North: 1.6723, East: -1.8487, Depth: -1.9054ARL : Estimation Bias  (Mean)         : (t = 1488322126.62)
ARL : North: 1.0170, East: -2.6008, Depth: 0.2608TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 47.39 
Alpha[0]	0.123000
Alpha[0]	0.999857
TNavParticleFilter::Modified Variance for beam 1 is 43.22 
Alpha[1]	0.000000
Alpha[1]	0.999884
TNavParticleFilter::Modified Variance for beam 2 is 41.07 
Alpha[2]	0.000000
Alpha[2]	0.999865
TNavParticleFilter::Modified Variance for beam 3 is 40.76 
Alpha[3]	0.000000
Alpha[3]	0.999845
TNavParticleFilter::Modified Variance for beam 4 is 40.47 
Alpha[4]	0.000000
Alpha[4]	0.999874
TNavParticleFilter::Modified Variance for beam 5 is 38.49 
Alpha[5]	0.000000
Alpha[5]	0.999908
TNavParticleFilter::Modified Variance for beam 6 is 26.13 
Alpha[6]	0.000000
Alpha[6]	0.999906
TNavParticleFilter::Modified Variance for beam 7 is 26.00 
Alpha[7]	0.000000
Alpha[7]	0.999852
TNavParticleFilter::Modified Variance for beam 8 is 27.25 
Alpha[8]	0.000000
Alpha[8]	0.999827
TNavParticleFilter::Modified Variance for beam 9 is 17.43 
Alpha[9]	0.000000
Alpha[9]	0.999781
TNavParticleFilter::Modified Variance for beam 10 is 27.05 
Alpha[10]	0.000000
Alpha[10]	0.999718
TNavParticleFilter::Modified Variance for beam 11 is 23.05 
Alpha[11]	0.000000
Alpha[11]	0.999688
TNavParticleFilter::Modified Variance for beam 12 is 16.26 
Alpha[12]	0.000000
Alpha[12]	0.999630
TNavParticleFilter::Modified Variance for beam 13 is 16.24 
Alpha[13]	0.000000
Alpha[13]	0.999317
TNavParticleFilter::Modified Variance for beam 14 is 18.31 
Alpha[14]	0.000000
Alpha[14]	0.998948
TNavParticleFilter::Modified Variance for beam 15 is 18.30 
Alpha[15]	0.000000
Alpha[15]	0.998565
TNavParticleFilter::Modified Variance for beam 16 is 17.24 
Alpha[16]	0.000000
Alpha[16]	0.998434
TNavParticleFilter::Modified Variance for beam 17 is 17.24 
Alpha[17]	0.000000
Alpha[17]	0.998385
TNavParticleFilter::Modified Variance for beam 18 is 15.25 
Alpha[18]	0.000000
Alpha[18]	0.998506
TNavParticleFilter::Modified Variance for beam 19 is 15.27 
Alpha[19]	0.000000
Alpha[19]	0.998457
TNavParticleFilter::Modified Variance for beam 20 is 15.30 
Alpha[20]	0.000000
Alpha[20]	0.998261
TNavParticleFilter::Modified Variance for beam 21 is 15.34 
Alpha[21]	0.000000
Alpha[21]	0.997887
TNavParticleFilter::Modified Variance for beam 22 is 15.39 
Alpha[22]	0.000000
Alpha[22]	0.997233
TNavParticleFilter::Modified Variance for beam 23 is 17.47 
Alpha[23]	0.000000
Alpha[23]	0.996891
TNavParticleFilter::Modified Variance for beam 24 is 17.53 
Alpha[24]	0.000000
Alpha[24]	0.997059
TNavParticleFilter::Modified Variance for beam 25 is 16.55 
Alpha[25]	0.000000
Alpha[25]	0.997396
TNavParticleFilter::Modified Variance for beam 26 is 16.64 
Alpha[26]	0.000000
Alpha[26]	0.996922
TNavParticleFilter::Modified Variance for beam 27 is 16.17 
Alpha[27]	0.000000
Alpha[27]	0.995950
TNavParticleFilter::Modified Variance for beam 28 is 15.80 
Alpha[28]	0.000000
Alpha[28]	0.996276
TNavParticleFilter::Modified Variance for beam 29 is 15.89 
Alpha[29]	0.000000
Alpha[29]	0.996800
TNavParticleFilter::Modified Variance for beam 30 is 17.04 
Alpha[30]	0.000000
Alpha[30]	0.996876
TNavParticleFilter::Modified Variance for beam 31 is 17.15 
Alpha[31]	0.000000
Alpha[31]	0.997483
TNavParticleFilter::Modified Variance for beam 32 is 18.41 
Alpha[32]	0.000000
Alpha[32]	0.996387
TNavParticleFilter::Modified Variance for beam 33 is 19.74 
Alpha[33]	0.000000
Alpha[33]	0.995531
TNavParticleFilter::Modified Variance for beam 34 is 19.93 
Alpha[34]	0.000000
Alpha[34]	0.995143
TNavParticleFilter::Modified Variance for beam 35 is 20.10 
Alpha[35]	0.000000
Alpha[35]	0.996066
TNavParticleFilter::Modified Variance for beam 36 is 21.50 
Alpha[36]	0.000000
Alpha[36]	0.998504
TNavParticleFilter::Modified Variance for beam 37 is 24.38 
Alpha[37]	0.000000
Alpha[37]	0.999292
TNavParticleFilter::Modified Variance for beam 38 is 26.08 
Alpha[38]	0.000000
Alpha[38]	0.999406
TNavParticleFilter::Modified Variance for beam 39 is 24.98 
Alpha[39]	0.000000
Alpha[39]	0.999037
TNavParticleFilter::Modified Variance for beam 40 is 25.31 
Alpha[40]	0.000000
Alpha[40]	0.998808
TNavParticleFilter::Modified Variance for beam 41 is 25.66 
Alpha[41]	0.000000
Alpha[41]	0.998878
TNavParticleFilter::Modified Variance for beam 42 is 26.04 
Alpha[42]	0.000000
Alpha[42]	0.998532
TNavParticleFilter::Modified Variance for beam 43 is 26.48 
Alpha[43]	0.000000
Alpha[43]	0.997102
TNavParticleFilter::Modified Variance for beam 44 is 26.90 
Alpha[44]	0.000000
Alpha[44]	0.997046
TNavParticleFilter::Modified Variance for beam 45 is 27.32 
Alpha[45]	0.000000
Alpha[45]	0.998078
TNavParticleFilter::Modified Variance for beam 46 is 27.79 
Alpha[46]	0.000000
Alpha[46]	0.998459
TNavParticleFilter::Modified Variance for beam 47 is 28.29 
Alpha[47]	0.000000
Alpha[47]	0.998478
TNavParticleFilter::Modified Variance for beam 48 is 28.83 
Alpha[48]	0.000000
Alpha[48]	0.998220
TNavParticleFilter::Modified Variance for beam 49 is 29.40 
Alpha[49]	0.000000
Alpha[49]	0.998469
TNavParticleFilter::Modified Variance for beam 50 is 31.78 
Alpha[50]	0.000000
Alpha[50]	0.998218
TNavParticleFilter::Modified Variance for beam 51 is 34.36 
Alpha[51]	0.000000
Alpha[51]	0.997547
TNavParticleFilter::Modified Variance for beam 52 is 35.21 
Alpha[52]	0.000000
Alpha[52]	0.995460
TNavParticleFilter::Modified Variance for beam 53 is 34.43 
Alpha[53]	0.000000
Alpha[53]	0.996521
TNavParticleFilter::Modified Variance for beam 54 is 34.85 
Alpha[54]	0.000000
Alpha[54]	0.996818
TNavParticleFilter::Modified Variance for beam 55 is 35.74 
Alpha[55]	0.000000
Alpha[55]	0.996489
TNavParticleFilter::Modified Variance for beam 56 is 36.63 
Alpha[56]	0.000000
Alpha[56]	0.997948
TNavParticleFilter::Modified Variance for beam 57 is 36.43 
Alpha[57]	0.000000
Alpha[57]	0.998311
TNavParticleFilter::Modified Variance for beam 58 is 35.21 
Alpha[58]	0.000000
Alpha[58]	0.996861
TNavParticleFilter::Modified Variance for beam 59 is 35.68 
Alpha[59]	0.000000
Alpha[59]	0.989196
TNavPF:: sumSquaredError = 47.604458 
TNavPF:: sumWeights = 0.001657 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 8.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 8.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 5.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 3.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 5.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 8.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 2.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 6.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -9.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 6.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 2.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -6.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -4.91. Range = 77.50 
TNavPF::Calculated measDiffMean for beam 44 as -0.87. Range = 76.64 
TNavPF::Calculated measDiffMean for beam 45 as -0.51. Range = 78.16 
TNavPF::Calculated measDiffMean for beam 46 as -1.88. Range = 77.36 
TNavPF::Calculated measDiffMean for beam 47 as -1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -3.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -2.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -2.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -2.78. Range = 99.62 
TNavPF::Calculated measDiffMean for beam 53 as 0.97. Range = 98.87 
TNavPF::Calculated measDiffMean for beam 54 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.02. Range = 97.48 
TNavPF::Calculated measDiffMean for beam 56 as -0.67. Range = 96.84 
TNavPF::Calculated measDiffMean for beam 57 as -1.12. Range = 96.25 
TNavPF::Calculated measDiffMean for beam 58 as -1.76. Range = 97.79 
TNavPF::Calculated measDiffMean for beam 59 as -1.98. Range = 95.16 
TNavPF::Calculated measDiffMean for beam 60 as -0.35. Range = 94.67 
TNavPF::Calculated measDiffMean for beam 61 as -1.12. Range = 90.07 
TNavPF::Calculated measDiffMean for beam 62 as -0.30. Range = 87.60 
TNavPF::Calculated measDiffMean for beam 63 as 1.11. Range = 87.23 
TNavPF::Calculated measDiffMean for beam 64 as 1.01. Range = 86.89 
TNavPF::Calculated measDiffMean for beam 65 as 0.90. Range = 84.55 
TNavPF::Calculated measDiffMean for beam 66 as 1.78. Range = 68.02 
TNavPF::Calculated measDiffMean for beam 67 as 4.20. Range = 67.82 
TNavPF::Calculated measDiffMean for beam 68 as 4.77. Range = 69.66 
TNavPF::Calculated measDiffMean for beam 69 as 1.77. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 70 as 1.78. Range = 69.36 
TNavPF::Calculated measDiffMean for beam 71 as 1.98. Range = 63.22 
TNavPF::Calculated measDiffMean for beam 72 as 1.29. Range = 51.10 
TNavPF::Calculated measDiffMean for beam 73 as 0.59. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 74 as 0.34. Range = 55.01 
TNavPF::Calculated measDiffMean for beam 75 as 0.64. Range = 54.98 
TNavPF::Calculated measDiffMean for beam 76 as 0.71. Range = 52.97 
TNavPF::Calculated measDiffMean for beam 77 as -0.26. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 78 as -0.86. Range = 49.00 
TNavPF::Calculated measDiffMean for beam 79 as -1.36. Range = 49.03 
TNavPF::Calculated measDiffMean for beam 80 as 0.13. Range = 49.09 
TNavPF::Calculated measDiffMean for beam 81 as 0.94. Range = 49.15 
TNavPF::Calculated measDiffMean for beam 82 as 0.35. Range = 49.24 
TNavPF::Calculated measDiffMean for beam 83 as -0.67. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 84 as -0.54. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 85 as -0.24. Range = 51.60 
TNavPF::Calculated measDiffMean for beam 86 as 1.08. Range = 51.75 
TNavPF::Calculated measDiffMean for beam 87 as 1.84. Range = 50.78 
TNavPF::Calculated measDiffMean for beam 88 as 0.54. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 89 as -0.22. Range = 50.25 
TNavPF::First Term of Map Covariance Matrix is 139.99 
TNavPF::Calculated NIS Value : 13.91 	numBeams normalized NIS: 0.23
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322126.82 sec.
INS : North: 4070263.31, East: 589198.17, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 56.08, IDT[75] = 67.33
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322129.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322129.62)
ARL : North: 1.8531, East: -2.7911, Depth: 2.4539ARL : Estimation Bias  (Mean)         : (t = 1488322129.62)
ARL : North: 0.9003, East: -2.5765, Depth: 0.2165TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 51.10 
Alpha[0]	0.123000
Alpha[0]	0.999559
TNavParticleFilter::Modified Variance for beam 1 is 51.71 
Alpha[1]	0.000000
Alpha[1]	0.999700
TNavParticleFilter::Modified Variance for beam 2 is 49.87 
Alpha[2]	0.000000
Alpha[2]	0.999834
TNavParticleFilter::Modified Variance for beam 3 is 49.31 
Alpha[3]	0.000000
Alpha[3]	0.999895
TNavParticleFilter::Modified Variance for beam 4 is 44.93 
Alpha[4]	0.000000
Alpha[4]	0.999881
TNavParticleFilter::Modified Variance for beam 5 is 44.49 
Alpha[5]	0.000000
Alpha[5]	0.999842
TNavParticleFilter::Modified Variance for beam 6 is 44.08 
Alpha[6]	0.000000
Alpha[6]	0.999881
TNavParticleFilter::Modified Variance for beam 7 is 41.89 
Alpha[7]	0.000000
Alpha[7]	0.999919
TNavParticleFilter::Modified Variance for beam 8 is 27.23 
Alpha[8]	0.000000
Alpha[8]	0.999922
TNavParticleFilter::Modified Variance for beam 9 is 27.04 
Alpha[9]	0.000000
Alpha[9]	0.999899
TNavParticleFilter::Modified Variance for beam 10 is 28.27 
Alpha[10]	0.000000
Alpha[10]	0.999864
TNavParticleFilter::Modified Variance for beam 11 is 28.11 
Alpha[11]	0.000000
Alpha[11]	0.999793
TNavParticleFilter::Modified Variance for beam 12 is 27.96 
Alpha[12]	0.000000
Alpha[12]	0.999770
TNavParticleFilter::Modified Variance for beam 13 is 16.87 
Alpha[13]	0.000000
Alpha[13]	0.999748
TNavParticleFilter::Modified Variance for beam 14 is 16.80 
Alpha[14]	0.000000
Alpha[14]	0.999576
TNavParticleFilter::Modified Variance for beam 15 is 18.89 
Alpha[15]	0.000000
Alpha[15]	0.999208
TNavParticleFilter::Modified Variance for beam 16 is 18.84 
Alpha[16]	0.000000
Alpha[16]	0.998789
TNavParticleFilter::Modified Variance for beam 17 is 17.72 
Alpha[17]	0.000000
Alpha[17]	0.998612
TNavParticleFilter::Modified Variance for beam 18 is 17.68 
Alpha[18]	0.000000
Alpha[18]	0.998636
TNavParticleFilter::Modified Variance for beam 19 is 15.62 
Alpha[19]	0.000000
Alpha[19]	0.998843
TNavParticleFilter::Modified Variance for beam 20 is 15.61 
Alpha[20]	0.000000
Alpha[20]	0.998598
TNavParticleFilter::Modified Variance for beam 21 is 15.61 
Alpha[21]	0.000000
Alpha[21]	0.998321
TNavParticleFilter::Modified Variance for beam 22 is 15.61 
Alpha[22]	0.000000
Alpha[22]	0.997991
TNavParticleFilter::Modified Variance for beam 23 is 15.63 
Alpha[23]	0.000000
Alpha[23]	0.997540
TNavParticleFilter::Modified Variance for beam 24 is 17.69 
Alpha[24]	0.000000
Alpha[24]	0.996881
TNavParticleFilter::Modified Variance for beam 25 is 17.71 
Alpha[25]	0.000000
Alpha[25]	0.997099
TNavParticleFilter::Modified Variance for beam 26 is 16.70 
Alpha[26]	0.000000
Alpha[26]	0.997437
TNavParticleFilter::Modified Variance for beam 27 is 16.74 
Alpha[27]	0.000000
Alpha[27]	0.997077
TNavParticleFilter::Modified Variance for beam 28 is 15.80 
Alpha[28]	0.000000
Alpha[28]	0.996292
TNavParticleFilter::Modified Variance for beam 29 is 15.85 
Alpha[29]	0.000000
Alpha[29]	0.996513
TNavParticleFilter::Modified Variance for beam 30 is 15.90 
Alpha[30]	0.000000
Alpha[30]	0.996830
TNavParticleFilter::Modified Variance for beam 31 is 16.99 
Alpha[31]	0.000000
Alpha[31]	0.996905
TNavParticleFilter::Modified Variance for beam 32 is 18.15 
Alpha[32]	0.000000
Alpha[32]	0.997237
TNavParticleFilter::Modified Variance for beam 33 is 18.28 
Alpha[33]	0.000000
Alpha[33]	0.995425
TNavParticleFilter::Modified Variance for beam 34 is 19.53 
Alpha[34]	0.000000
Alpha[34]	0.995169
TNavParticleFilter::Modified Variance for beam 35 is 19.66 
Alpha[35]	0.000000
Alpha[35]	0.994780
TNavParticleFilter::Modified Variance for beam 36 is 19.79 
Alpha[36]	0.000000
Alpha[36]	0.995363
TNavParticleFilter::Modified Variance for beam 37 is 19.90 
Alpha[37]	0.000000
Alpha[37]	0.997851
TNavParticleFilter::Modified Variance for beam 38 is 21.25 
Alpha[38]	0.000000
Alpha[38]	0.998966
TNavParticleFilter::Modified Variance for beam 39 is 24.01 
Alpha[39]	0.000000
Alpha[39]	0.999350
TNavParticleFilter::Modified Variance for beam 40 is 25.62 
Alpha[40]	0.000000
Alpha[40]	0.999149
TNavParticleFilter::Modified Variance for beam 41 is 24.51 
Alpha[41]	0.000000
Alpha[41]	0.998753
TNavParticleFilter::Modified Variance for beam 42 is 24.78 
Alpha[42]	0.000000
Alpha[42]	0.998786
TNavParticleFilter::Modified Variance for beam 43 is 25.08 
Alpha[43]	0.000000
Alpha[43]	0.998603
TNavParticleFilter::Modified Variance for beam 44 is 25.42 
Alpha[44]	0.000000
Alpha[44]	0.997331
TNavParticleFilter::Modified Variance for beam 45 is 25.77 
Alpha[45]	0.000000
Alpha[45]	0.996172
TNavParticleFilter::Modified Variance for beam 46 is 26.09 
Alpha[46]	0.000000
Alpha[46]	0.997418
TNavParticleFilter::Modified Variance for beam 47 is 26.44 
Alpha[47]	0.000000
Alpha[47]	0.998171
TNavParticleFilter::Modified Variance for beam 48 is 26.84 
Alpha[48]	0.000000
Alpha[48]	0.998253
TNavParticleFilter::Modified Variance for beam 49 is 27.26 
Alpha[49]	0.000000
Alpha[49]	0.998032
TNavParticleFilter::Modified Variance for beam 50 is 27.71 
Alpha[50]	0.000000
Alpha[50]	0.998103
TNavParticleFilter::Modified Variance for beam 51 is 28.18 
Alpha[51]	0.000000
Alpha[51]	0.998130
TNavParticleFilter::Modified Variance for beam 52 is 30.35 
Alpha[52]	0.000000
Alpha[52]	0.997965
TNavParticleFilter::Modified Variance for beam 53 is 30.92 
Alpha[53]	0.000000
Alpha[53]	0.997798
TNavParticleFilter::Modified Variance for beam 54 is 33.41 
Alpha[54]	0.000000
Alpha[54]	0.995187
TNavParticleFilter::Modified Variance for beam 55 is 34.06 
Alpha[55]	0.000000
Alpha[55]	0.995867
TNavParticleFilter::Modified Variance for beam 56 is 32.89 
Alpha[56]	0.000000
Alpha[56]	0.996821
TNavParticleFilter::Modified Variance for beam 57 is 33.63 
Alpha[57]	0.000000
Alpha[57]	0.996556
TNavParticleFilter::Modified Variance for beam 58 is 34.39 
Alpha[58]	0.000000
Alpha[58]	0.997094
TNavParticleFilter::Modified Variance for beam 59 is 35.16 
Alpha[59]	0.000000
Alpha[59]	0.998419
TNavPF:: sumSquaredError = 115.784703 
TNavPF:: sumWeights = 0.004220 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 2.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 4.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 10.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 6.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 4.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 7.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 9.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -4.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 4.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 5.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 6.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -8.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -6.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.44. Range = 79.72 
TNavPF::Calculated measDiffMean for beam 48 as -1.72. Range = 80.99 
TNavPF::Calculated measDiffMean for beam 49 as -3.95. Range = 80.28 
TNavPF::Calculated measDiffMean for beam 50 as -3.08. Range = 81.72 
TNavPF::Calculated measDiffMean for beam 51 as -3.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -3.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -3.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -2.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -2.05. Range = 99.28 
TNavPF::Calculated measDiffMean for beam 60 as -2.42. Range = 98.58 
TNavPF::Calculated measDiffMean for beam 61 as -0.75. Range = 99.21 
TNavPF::Calculated measDiffMean for beam 62 as 0.30. Range = 97.30 
TNavPF::Calculated measDiffMean for beam 63 as -0.74. Range = 96.72 
TNavPF::Calculated measDiffMean for beam 64 as 0.82. Range = 91.98 
TNavPF::Calculated measDiffMean for beam 65 as 0.71. Range = 91.49 
TNavPF::Calculated measDiffMean for beam 66 as 0.68. Range = 91.04 
TNavPF::Calculated measDiffMean for beam 67 as -0.16. Range = 88.55 
TNavPF::Calculated measDiffMean for beam 68 as 0.46. Range = 69.64 
TNavPF::Calculated measDiffMean for beam 69 as 2.67. Range = 69.37 
TNavPF::Calculated measDiffMean for beam 70 as 3.04. Range = 71.15 
TNavPF::Calculated measDiffMean for beam 71 as 1.24. Range = 70.91 
TNavPF::Calculated measDiffMean for beam 72 as 1.53. Range = 70.69 
TNavPF::Calculated measDiffMean for beam 73 as 1.32. Range = 52.29 
TNavPF::Calculated measDiffMean for beam 74 as 0.49. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 75 as 0.22. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 76 as 0.16. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 77 as 0.40. Range = 53.89 
TNavPF::Calculated measDiffMean for beam 78 as 0.37. Range = 53.82 
TNavPF::Calculated measDiffMean for beam 79 as -0.52. Range = 49.77 
TNavPF::Calculated measDiffMean for beam 80 as -1.09. Range = 49.74 
TNavPF::Calculated measDiffMean for beam 81 as -1.42. Range = 49.72 
TNavPF::Calculated measDiffMean for beam 82 as -0.02. Range = 49.72 
TNavPF::Calculated measDiffMean for beam 83 as -1.08. Range = 49.74 
TNavPF::Calculated measDiffMean for beam 84 as 0.06. Range = 53.78 
TNavPF::Calculated measDiffMean for beam 85 as 0.34. Range = 53.83 
TNavPF::Calculated measDiffMean for beam 86 as -1.05. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 87 as -0.69. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 88 as -0.26. Range = 50.05 
TNavPF::Calculated measDiffMean for beam 89 as 1.58. Range = 50.15 
TNavPF::First Term of Map Covariance Matrix is 45.33 
TNavPF::Calculated NIS Value : 9.78 	numBeams normalized NIS: 0.16
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322129.82 sec.
INS : North: 4070263.93, East: 589193.95, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 57.14, IDT[75] = 65.81
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322132.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322132.62)
ARL : North: 0.9201, East: -3.0003, Depth: 1.6466ARL : Estimation Bias  (Mean)         : (t = 1488322132.62)
ARL : North: 0.5588, East: -2.5486, Depth: 0.3370TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 34 35 36 37 
TNavParticleFilter::Modified Variance for beam 0 is 51.71 
Alpha[0]	0.123000
Alpha[0]	0.999913
TNavParticleFilter::Modified Variance for beam 1 is 51.06 
Alpha[1]	0.000000
Alpha[1]	0.999903
TNavParticleFilter::Modified Variance for beam 2 is 46.46 
Alpha[2]	0.000000
Alpha[2]	0.999870
TNavParticleFilter::Modified Variance for beam 3 is 44.03 
Alpha[3]	0.000000
Alpha[3]	0.999911
TNavParticleFilter::Modified Variance for beam 4 is 43.56 
Alpha[4]	0.000000
Alpha[4]	0.999931
TNavParticleFilter::Modified Variance for beam 5 is 28.28 
Alpha[5]	0.000000
Alpha[5]	0.999930
TNavParticleFilter::Modified Variance for beam 6 is 28.03 
Alpha[6]	0.000000
Alpha[6]	0.999902
TNavParticleFilter::Modified Variance for beam 7 is 29.25 
Alpha[7]	0.000000
Alpha[7]	0.999875
TNavParticleFilter::Modified Variance for beam 8 is 29.02 
Alpha[8]	0.000000
Alpha[8]	0.999818
TNavParticleFilter::Modified Variance for beam 9 is 17.47 
Alpha[9]	0.000000
Alpha[9]	0.999795
TNavParticleFilter::Modified Variance for beam 10 is 17.37 
Alpha[10]	0.000000
Alpha[10]	0.999696
TNavParticleFilter::Modified Variance for beam 11 is 19.48 
Alpha[11]	0.000000
Alpha[11]	0.999322
TNavParticleFilter::Modified Variance for beam 12 is 19.38 
Alpha[12]	0.000000
Alpha[12]	0.998952
TNavParticleFilter::Modified Variance for beam 13 is 18.19 
Alpha[13]	0.000000
Alpha[13]	0.998680
TNavParticleFilter::Modified Variance for beam 14 is 18.11 
Alpha[14]	0.000000
Alpha[14]	0.998887
TNavParticleFilter::Modified Variance for beam 15 is 15.97 
Alpha[15]	0.000000
Alpha[15]	0.998849
TNavParticleFilter::Modified Variance for beam 16 is 15.93 
Alpha[16]	0.000000
Alpha[16]	0.998461
TNavParticleFilter::Modified Variance for beam 17 is 15.90 
Alpha[17]	0.000000
Alpha[17]	0.998104
TNavParticleFilter::Modified Variance for beam 18 is 15.87 
Alpha[18]	0.000000
Alpha[18]	0.997850
TNavParticleFilter::Modified Variance for beam 19 is 17.90 
Alpha[19]	0.000000
Alpha[19]	0.997404
TNavParticleFilter::Modified Variance for beam 20 is 17.89 
Alpha[20]	0.000000
Alpha[20]	0.996829
TNavParticleFilter::Modified Variance for beam 21 is 16.83 
Alpha[21]	0.000000
Alpha[21]	0.997141
TNavParticleFilter::Modified Variance for beam 22 is 16.83 
Alpha[22]	0.000000
Alpha[22]	0.997384
TNavParticleFilter::Modified Variance for beam 23 is 16.84 
Alpha[23]	0.000000
Alpha[23]	0.997031
TNavParticleFilter::Modified Variance for beam 24 is 15.86 
Alpha[24]	0.000000
Alpha[24]	0.996060
TNavParticleFilter::Modified Variance for beam 25 is 15.88 
Alpha[25]	0.000000
Alpha[25]	0.996229
TNavParticleFilter::Modified Variance for beam 26 is 16.91 
Alpha[26]	0.000000
Alpha[26]	0.996431
TNavParticleFilter::Modified Variance for beam 27 is 16.95 
Alpha[27]	0.000000
Alpha[27]	0.996801
TNavParticleFilter::Modified Variance for beam 28 is 18.06 
Alpha[28]	0.000000
Alpha[28]	0.996304
TNavParticleFilter::Modified Variance for beam 29 is 18.15 
Alpha[29]	0.000000
Alpha[29]	0.994676
TNavParticleFilter::Modified Variance for beam 30 is 19.32 
Alpha[30]	0.000000
Alpha[30]	0.994945
TNavParticleFilter::Modified Variance for beam 31 is 19.41 
Alpha[31]	0.000000
Alpha[31]	0.994710
TNavParticleFilter::Modified Variance for beam 32 is 19.51 
Alpha[32]	0.000000
Alpha[32]	0.994860
TNavParticleFilter::Modified Variance for beam 33 is 19.57 
Alpha[33]	0.000000
Alpha[33]	0.997286
TNavParticleFilter::Modified Variance for beam 34 is 20.83 
Alpha[34]	0.000000
Alpha[34]	0.998529
TNavParticleFilter::Modified Variance for beam 35 is 23.45 
Alpha[35]	0.000000
Alpha[35]	0.999188
TNavParticleFilter::Modified Variance for beam 36 is 24.94 
Alpha[36]	0.000000
Alpha[36]	0.999181
TNavParticleFilter::Modified Variance for beam 37 is 24.71 
Alpha[37]	0.000000
Alpha[37]	0.998902
TNavParticleFilter::Modified Variance for beam 38 is 24.01 
Alpha[38]	0.000000
Alpha[38]	0.998835
TNavParticleFilter::Modified Variance for beam 39 is 24.23 
Alpha[39]	0.000000
Alpha[39]	0.998744
TNavParticleFilter::Modified Variance for beam 40 is 24.49 
Alpha[40]	0.000000
Alpha[40]	0.997632
TNavParticleFilter::Modified Variance for beam 41 is 24.78 
Alpha[41]	0.000000
Alpha[41]	0.996035
TNavParticleFilter::Modified Variance for beam 42 is 25.03 
Alpha[42]	0.000000
Alpha[42]	0.996688
TNavParticleFilter::Modified Variance for beam 43 is 25.29 
Alpha[43]	0.000000
Alpha[43]	0.998037
TNavParticleFilter::Modified Variance for beam 44 is 25.59 
Alpha[44]	0.000000
Alpha[44]	0.998255
TNavParticleFilter::Modified Variance for beam 45 is 25.93 
Alpha[45]	0.000000
Alpha[45]	0.997758
TNavParticleFilter::Modified Variance for beam 46 is 26.27 
Alpha[46]	0.000000
Alpha[46]	0.997778
TNavParticleFilter::Modified Variance for beam 47 is 26.64 
Alpha[47]	0.000000
Alpha[47]	0.997960
TNavParticleFilter::Modified Variance for beam 48 is 27.04 
Alpha[48]	0.000000
Alpha[48]	0.997752
TNavParticleFilter::Modified Variance for beam 49 is 29.02 
Alpha[49]	0.000000
Alpha[49]	0.997799
TNavParticleFilter::Modified Variance for beam 50 is 29.50 
Alpha[50]	0.000000
Alpha[50]	0.997529
TNavParticleFilter::Modified Variance for beam 51 is 31.74 
Alpha[51]	0.000000
Alpha[51]	0.995931
TNavParticleFilter::Modified Variance for beam 52 is 32.32 
Alpha[52]	0.000000
Alpha[52]	0.995630
TNavParticleFilter::Modified Variance for beam 53 is 31.79 
Alpha[53]	0.000000
Alpha[53]	0.996505
TNavParticleFilter::Modified Variance for beam 54 is 31.73 
Alpha[54]	0.000000
Alpha[54]	0.996876
TNavParticleFilter::Modified Variance for beam 55 is 32.38 
Alpha[55]	0.000000
Alpha[55]	0.996768
TNavPF:: sumSquaredError = 57.857079 
TNavPF:: sumWeights = 0.003267 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 34 as 10.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 11.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 5.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 8.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 12.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -2.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 2.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 5.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 6.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -8.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -7.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -3.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -2.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -2.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.86. Range = 82.56 
TNavPF::Calculated measDiffMean for beam 54 as 0.82. Range = 83.64 
TNavPF::Calculated measDiffMean for beam 55 as -1.07. Range = 82.95 
TNavPF::Calculated measDiffMean for beam 56 as -0.94. Range = 84.36 
TNavPF::Calculated measDiffMean for beam 57 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 1.46. Range = 99.22 
TNavPF::Calculated measDiffMean for beam 69 as 3.91. Range = 98.55 
TNavPF::Calculated measDiffMean for beam 70 as 3.56. Range = 93.66 
TNavPF::Calculated measDiffMean for beam 71 as 2.62. Range = 90.98 
TNavPF::Calculated measDiffMean for beam 72 as 1.82. Range = 90.46 
TNavPF::Calculated measDiffMean for beam 73 as 1.78. Range = 71.16 
TNavPF::Calculated measDiffMean for beam 74 as 0.92. Range = 70.80 
TNavPF::Calculated measDiffMean for beam 75 as 0.56. Range = 72.53 
TNavPF::Calculated measDiffMean for beam 76 as 0.56. Range = 72.21 
TNavPF::Calculated measDiffMean for beam 77 as 0.70. Range = 53.46 
TNavPF::Calculated measDiffMean for beam 78 as 0.84. Range = 53.25 
TNavPF::Calculated measDiffMean for beam 79 as 0.59. Range = 57.14 
TNavPF::Calculated measDiffMean for beam 80 as -0.11. Range = 56.96 
TNavPF::Calculated measDiffMean for beam 81 as -0.61. Range = 54.77 
TNavPF::Calculated measDiffMean for beam 82 as -0.85. Range = 54.64 
TNavPF::Calculated measDiffMean for beam 83 as 0.50. Range = 50.48 
TNavPF::Calculated measDiffMean for beam 84 as -0.28. Range = 50.39 
TNavPF::Calculated measDiffMean for beam 85 as 0.41. Range = 50.31 
TNavPF::Calculated measDiffMean for beam 86 as 0.42. Range = 50.24 
TNavPF::Calculated measDiffMean for beam 87 as -0.14. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 88 as -0.42. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 89 as -0.11. Range = 52.14 
TNavPF::First Term of Map Covariance Matrix is 229.25 
TNavPF::Calculated NIS Value : 9.85 	numBeams normalized NIS: 0.18
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322132.82 sec.
INS : North: 4070264.24, East: 589189.67, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 60.08, IDT[75] = 64.83
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322135.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322135.62)
ARL : North: 1.1545, East: -2.9766, Depth: -0.5676ARL : Estimation Bias  (Mean)         : (t = 1488322135.62)
ARL : North: 0.3700, East: -2.6009, Depth: 0.2096TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 67 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 37 38 39 40 
TNavParticleFilter::Modified Variance for beam 0 is 47.90 
Alpha[0]	0.123000
Alpha[0]	0.999930
TNavParticleFilter::Modified Variance for beam 1 is 47.29 
Alpha[1]	0.000000
Alpha[1]	0.999938
TNavParticleFilter::Modified Variance for beam 2 is 29.35 
Alpha[2]	0.000000
Alpha[2]	0.999936
TNavParticleFilter::Modified Variance for beam 3 is 29.03 
Alpha[3]	0.000000
Alpha[3]	0.999916
TNavParticleFilter::Modified Variance for beam 4 is 30.23 
Alpha[4]	0.000000
Alpha[4]	0.999898
TNavParticleFilter::Modified Variance for beam 5 is 29.94 
Alpha[5]	0.000000
Alpha[5]	0.999867
TNavParticleFilter::Modified Variance for beam 6 is 25.39 
Alpha[6]	0.000000
Alpha[6]	0.999801
TNavParticleFilter::Modified Variance for beam 7 is 22.57 
Alpha[7]	0.000000
Alpha[7]	0.999603
TNavParticleFilter::Modified Variance for beam 8 is 21.17 
Alpha[8]	0.000000
Alpha[8]	0.999229
TNavParticleFilter::Modified Variance for beam 9 is 18.70 
Alpha[9]	0.000000
Alpha[9]	0.999055
TNavParticleFilter::Modified Variance for beam 10 is 16.43 
Alpha[10]	0.000000
Alpha[10]	0.999128
TNavParticleFilter::Modified Variance for beam 11 is 16.35 
Alpha[11]	0.000000
Alpha[11]	0.998952
TNavParticleFilter::Modified Variance for beam 12 is 16.27 
Alpha[12]	0.000000
Alpha[12]	0.998558
TNavParticleFilter::Modified Variance for beam 13 is 16.20 
Alpha[13]	0.000000
Alpha[13]	0.998264
TNavParticleFilter::Modified Variance for beam 14 is 16.14 
Alpha[14]	0.000000
Alpha[14]	0.998009
TNavParticleFilter::Modified Variance for beam 15 is 18.18 
Alpha[15]	0.000000
Alpha[15]	0.997361
TNavParticleFilter::Modified Variance for beam 16 is 18.13 
Alpha[16]	0.000000
Alpha[16]	0.996840
TNavParticleFilter::Modified Variance for beam 17 is 17.02 
Alpha[17]	0.000000
Alpha[17]	0.997261
TNavParticleFilter::Modified Variance for beam 18 is 16.98 
Alpha[18]	0.000000
Alpha[18]	0.997499
TNavParticleFilter::Modified Variance for beam 19 is 15.94 
Alpha[19]	0.000000
Alpha[19]	0.997010
TNavParticleFilter::Modified Variance for beam 20 is 15.94 
Alpha[20]	0.000000
Alpha[20]	0.996256
TNavParticleFilter::Modified Variance for beam 21 is 16.93 
Alpha[21]	0.000000
Alpha[21]	0.996409
TNavParticleFilter::Modified Variance for beam 22 is 16.93 
Alpha[22]	0.000000
Alpha[22]	0.996506
TNavParticleFilter::Modified Variance for beam 23 is 16.93 
Alpha[23]	0.000000
Alpha[23]	0.996474
TNavParticleFilter::Modified Variance for beam 24 is 18.04 
Alpha[24]	0.000000
Alpha[24]	0.994213
TNavParticleFilter::Modified Variance for beam 25 is 18.06 
Alpha[25]	0.000000
Alpha[25]	0.994157
TNavParticleFilter::Modified Variance for beam 26 is 19.19 
Alpha[26]	0.000000
Alpha[26]	0.994114
TNavParticleFilter::Modified Variance for beam 27 is 19.23 
Alpha[27]	0.000000
Alpha[27]	0.994179
TNavParticleFilter::Modified Variance for beam 28 is 19.28 
Alpha[28]	0.000000
Alpha[28]	0.994491
TNavParticleFilter::Modified Variance for beam 29 is 19.29 
Alpha[29]	0.000000
Alpha[29]	0.997247
TNavParticleFilter::Modified Variance for beam 30 is 20.49 
Alpha[30]	0.000000
Alpha[30]	0.998337
TNavParticleFilter::Modified Variance for beam 31 is 22.99 
Alpha[31]	0.000000
Alpha[31]	0.999053
TNavParticleFilter::Modified Variance for beam 32 is 24.39 
Alpha[32]	0.000000
Alpha[32]	0.998955
TNavParticleFilter::Modified Variance for beam 33 is 24.52 
Alpha[33]	0.000000
Alpha[33]	0.998881
TNavParticleFilter::Modified Variance for beam 34 is 23.38 
Alpha[34]	0.000000
Alpha[34]	0.998752
TNavParticleFilter::Modified Variance for beam 35 is 23.54 
Alpha[35]	0.000000
Alpha[35]	0.998554
TNavParticleFilter::Modified Variance for beam 36 is 23.75 
Alpha[36]	0.000000
Alpha[36]	0.996937
TNavParticleFilter::Modified Variance for beam 37 is 23.97 
Alpha[37]	0.000000
Alpha[37]	0.995097
TNavParticleFilter::Modified Variance for beam 38 is 24.16 
Alpha[38]	0.000000
Alpha[38]	0.995883
TNavParticleFilter::Modified Variance for beam 39 is 24.33 
Alpha[39]	0.000000
Alpha[39]	0.997507
TNavParticleFilter::Modified Variance for beam 40 is 24.55 
Alpha[40]	0.000000
Alpha[40]	0.997962
TNavParticleFilter::Modified Variance for beam 41 is 24.81 
Alpha[41]	0.000000
Alpha[41]	0.997428
TNavParticleFilter::Modified Variance for beam 42 is 25.09 
Alpha[42]	0.000000
Alpha[42]	0.997037
TNavParticleFilter::Modified Variance for beam 43 is 25.36 
Alpha[43]	0.000000
Alpha[43]	0.997473
TNavParticleFilter::Modified Variance for beam 44 is 25.67 
Alpha[44]	0.000000
Alpha[44]	0.997404
TNavParticleFilter::Modified Variance for beam 45 is 25.99 
Alpha[45]	0.000000
Alpha[45]	0.997299
TNavParticleFilter::Modified Variance for beam 46 is 27.83 
Alpha[46]	0.000000
Alpha[46]	0.997381
TNavParticleFilter::Modified Variance for beam 47 is 28.24 
Alpha[47]	0.000000
Alpha[47]	0.996657
TNavParticleFilter::Modified Variance for beam 48 is 30.27 
Alpha[48]	0.000000
Alpha[48]	0.995848
TNavParticleFilter::Modified Variance for beam 49 is 30.78 
Alpha[49]	0.000000
Alpha[49]	0.994562
TNavParticleFilter::Modified Variance for beam 50 is 30.84 
Alpha[50]	0.000000
Alpha[50]	0.995952
TNavParticleFilter::Modified Variance for beam 51 is 30.07 
Alpha[51]	0.000000
Alpha[51]	0.996601
TNavParticleFilter::Modified Variance for beam 52 is 30.60 
Alpha[52]	0.000000
Alpha[52]	0.996590
TNavPF:: sumSquaredError = 41.110746 
TNavPF:: sumWeights = 0.008124 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 37 as 11.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 14.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -3.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 4.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 7.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 2.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -2.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -4.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -3.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -3.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -3.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -3.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -2.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -1.90. Range = 85.28 
TNavPF::Calculated measDiffMean for beam 58 as -0.27. Range = 86.47 
TNavPF::Calculated measDiffMean for beam 59 as -0.59. Range = 85.49 
TNavPF::Calculated measDiffMean for beam 60 as -1.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 3.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 3.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 2.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 1.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 0.48. Range = 95.22 
TNavPF::Calculated measDiffMean for beam 75 as 0.47. Range = 94.57 
TNavPF::Calculated measDiffMean for beam 76 as 0.55. Range = 72.67 
TNavPF::Calculated measDiffMean for beam 77 as 0.58. Range = 72.23 
TNavPF::Calculated measDiffMean for beam 78 as 0.46. Range = 73.91 
TNavPF::Calculated measDiffMean for beam 79 as 0.20. Range = 73.51 
TNavPF::Calculated measDiffMean for beam 80 as -0.43. Range = 66.89 
TNavPF::Calculated measDiffMean for beam 81 as -0.86. Range = 62.42 
TNavPF::Calculated measDiffMean for beam 82 as -1.09. Range = 60.08 
TNavPF::Calculated measDiffMean for beam 83 as 0.29. Range = 55.72 
TNavPF::Calculated measDiffMean for beam 84 as -0.43. Range = 51.42 
TNavPF::Calculated measDiffMean for beam 85 as 0.36. Range = 51.24 
TNavPF::Calculated measDiffMean for beam 86 as 0.31. Range = 51.07 
TNavPF::Calculated measDiffMean for beam 87 as 0.27. Range = 50.92 
TNavPF::Calculated measDiffMean for beam 88 as -0.60. Range = 50.80 
TNavPF::Calculated measDiffMean for beam 89 as -0.35. Range = 54.71 
TNavPF::First Term of Map Covariance Matrix is 286.03 
TNavPF::Calculated NIS Value : 8.25 	numBeams normalized NIS: 0.16
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322135.82 sec.
INS : North: 4070264.31, East: 589185.36, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 61.12, IDT[75] = 63.62
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322138.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322138.62)
ARL : North: 1.9656, East: -2.5372, Depth: 2.2461ARL : Estimation Bias  (Mean)         : (t = 1488322138.62)
ARL : North: 0.1138, East: -2.7218, Depth: 0.1385TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 68 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 38 39 40 41 
TNavParticleFilter::Modified Variance for beam 0 is 49.73 
Alpha[0]	0.123000
Alpha[0]	0.999946
TNavParticleFilter::Modified Variance for beam 1 is 49.00 
Alpha[1]	0.000000
Alpha[1]	0.999944
TNavParticleFilter::Modified Variance for beam 2 is 30.28 
Alpha[2]	0.000000
Alpha[2]	0.999936
TNavParticleFilter::Modified Variance for beam 3 is 30.11 
Alpha[3]	0.000000
Alpha[3]	0.999917
TNavParticleFilter::Modified Variance for beam 4 is 31.10 
Alpha[4]	0.000000
Alpha[4]	0.999901
TNavParticleFilter::Modified Variance for beam 5 is 26.28 
Alpha[5]	0.000000
Alpha[5]	0.999844
TNavParticleFilter::Modified Variance for beam 6 is 23.28 
Alpha[6]	0.000000
Alpha[6]	0.999720
TNavParticleFilter::Modified Variance for beam 7 is 21.78 
Alpha[7]	0.000000
Alpha[7]	0.999442
TNavParticleFilter::Modified Variance for beam 8 is 16.94 
Alpha[8]	0.000000
Alpha[8]	0.999356
TNavParticleFilter::Modified Variance for beam 9 is 16.81 
Alpha[9]	0.000000
Alpha[9]	0.999187
TNavParticleFilter::Modified Variance for beam 10 is 16.69 
Alpha[10]	0.000000
Alpha[10]	0.998862
TNavParticleFilter::Modified Variance for beam 11 is 16.58 
Alpha[11]	0.000000
Alpha[11]	0.998495
TNavParticleFilter::Modified Variance for beam 12 is 16.47 
Alpha[12]	0.000000
Alpha[12]	0.998254
TNavParticleFilter::Modified Variance for beam 13 is 18.52 
Alpha[13]	0.000000
Alpha[13]	0.997836
TNavParticleFilter::Modified Variance for beam 14 is 18.43 
Alpha[14]	0.000000
Alpha[14]	0.997092
TNavParticleFilter::Modified Variance for beam 15 is 17.26 
Alpha[15]	0.000000
Alpha[15]	0.997097
TNavParticleFilter::Modified Variance for beam 16 is 17.17 
Alpha[16]	0.000000
Alpha[16]	0.997587
TNavParticleFilter::Modified Variance for beam 17 is 16.08 
Alpha[17]	0.000000
Alpha[17]	0.997447
TNavParticleFilter::Modified Variance for beam 18 is 16.04 
Alpha[18]	0.000000
Alpha[18]	0.996455
TNavParticleFilter::Modified Variance for beam 19 is 17.01 
Alpha[19]	0.000000
Alpha[19]	0.996208
TNavParticleFilter::Modified Variance for beam 20 is 16.97 
Alpha[20]	0.000000
Alpha[20]	0.996374
TNavParticleFilter::Modified Variance for beam 21 is 16.93 
Alpha[21]	0.000000
Alpha[21]	0.996158
TNavParticleFilter::Modified Variance for beam 22 is 17.99 
Alpha[22]	0.000000
Alpha[22]	0.994209
TNavParticleFilter::Modified Variance for beam 23 is 17.98 
Alpha[23]	0.000000
Alpha[23]	0.993719
TNavParticleFilter::Modified Variance for beam 24 is 19.05 
Alpha[24]	0.000000
Alpha[24]	0.994040
TNavParticleFilter::Modified Variance for beam 25 is 19.05 
Alpha[25]	0.000000
Alpha[25]	0.994067
TNavParticleFilter::Modified Variance for beam 26 is 19.05 
Alpha[26]	0.000000
Alpha[26]	0.994070
TNavParticleFilter::Modified Variance for beam 27 is 19.03 
Alpha[27]	0.000000
Alpha[27]	0.995895
TNavParticleFilter::Modified Variance for beam 28 is 20.15 
Alpha[28]	0.000000
Alpha[28]	0.997798
TNavParticleFilter::Modified Variance for beam 29 is 20.17 
Alpha[29]	0.000000
Alpha[29]	0.998591
TNavParticleFilter::Modified Variance for beam 30 is 22.60 
Alpha[30]	0.000000
Alpha[30]	0.998850
TNavParticleFilter::Modified Variance for beam 31 is 23.92 
Alpha[31]	0.000000
Alpha[31]	0.998783
TNavParticleFilter::Modified Variance for beam 32 is 24.00 
Alpha[32]	0.000000
Alpha[32]	0.998896
TNavParticleFilter::Modified Variance for beam 33 is 22.84 
Alpha[33]	0.000000
Alpha[33]	0.998697
TNavParticleFilter::Modified Variance for beam 34 is 22.96 
Alpha[34]	0.000000
Alpha[34]	0.997962
TNavParticleFilter::Modified Variance for beam 35 is 23.14 
Alpha[35]	0.000000
Alpha[35]	0.995195
TNavParticleFilter::Modified Variance for beam 36 is 23.28 
Alpha[36]	0.000000
Alpha[36]	0.994761
TNavParticleFilter::Modified Variance for beam 37 is 23.39 
Alpha[37]	0.000000
Alpha[37]	0.996005
TNavParticleFilter::Modified Variance for beam 38 is 23.52 
Alpha[38]	0.000000
Alpha[38]	0.997365
TNavParticleFilter::Modified Variance for beam 39 is 23.68 
Alpha[39]	0.000000
Alpha[39]	0.997597
TNavParticleFilter::Modified Variance for beam 40 is 23.88 
Alpha[40]	0.000000
Alpha[40]	0.996909
TNavParticleFilter::Modified Variance for beam 41 is 24.09 
Alpha[41]	0.000000
Alpha[41]	0.996655
TNavParticleFilter::Modified Variance for beam 42 is 24.30 
Alpha[42]	0.000000
Alpha[42]	0.996958
TNavParticleFilter::Modified Variance for beam 43 is 24.54 
Alpha[43]	0.000000
Alpha[43]	0.996864
TNavParticleFilter::Modified Variance for beam 44 is 24.78 
Alpha[44]	0.000000
Alpha[44]	0.996889
TNavParticleFilter::Modified Variance for beam 45 is 26.45 
Alpha[45]	0.000000
Alpha[45]	0.997212
TNavParticleFilter::Modified Variance for beam 46 is 26.77 
Alpha[46]	0.000000
Alpha[46]	0.996729
TNavParticleFilter::Modified Variance for beam 47 is 27.11 
Alpha[47]	0.000000
Alpha[47]	0.996347
TNavParticleFilter::Modified Variance for beam 48 is 29.00 
Alpha[48]	0.000000
Alpha[48]	0.995577
TNavParticleFilter::Modified Variance for beam 49 is 29.42 
Alpha[49]	0.000000
Alpha[49]	0.994423
TNavParticleFilter::Modified Variance for beam 50 is 29.19 
Alpha[50]	0.000000
Alpha[50]	0.996064
TNavParticleFilter::Modified Variance for beam 51 is 28.63 
Alpha[51]	0.000000
Alpha[51]	0.996543
TNavPF:: sumSquaredError = 63.040315 
TNavPF:: sumWeights = 0.013900 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 38 as 13.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 15.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -2.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 5.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -5.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -4.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -3.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -3.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -3.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -2.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.25. Range = 88.81 
TNavPF::Calculated measDiffMean for beam 60 as -0.40. Range = 87.94 
TNavPF::Calculated measDiffMean for beam 61 as -0.67. Range = 88.78 
TNavPF::Calculated measDiffMean for beam 62 as 0.92. Range = 88.51 
TNavPF::Calculated measDiffMean for beam 63 as 0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 1.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 2.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 3.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 2.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 1.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.67. Range = 97.16 
TNavPF::Calculated measDiffMean for beam 77 as 0.59. Range = 96.40 
TNavPF::Calculated measDiffMean for beam 78 as 0.48. Range = 73.98 
TNavPF::Calculated measDiffMean for beam 79 as 0.39. Range = 73.73 
TNavPF::Calculated measDiffMean for beam 80 as -0.11. Range = 75.09 
TNavPF::Calculated measDiffMean for beam 81 as -0.66. Range = 68.23 
TNavPF::Calculated measDiffMean for beam 82 as -0.77. Range = 63.59 
TNavPF::Calculated measDiffMean for beam 83 as 0.80. Range = 61.12 
TNavPF::Calculated measDiffMean for beam 84 as 0.17. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 85 as -0.69. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 86 as 0.29. Range = 51.91 
TNavPF::Calculated measDiffMean for beam 87 as 0.47. Range = 51.68 
TNavPF::Calculated measDiffMean for beam 88 as 0.21. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 89 as -0.41. Range = 55.36 
TNavPF::First Term of Map Covariance Matrix is 367.18 
TNavPF::Calculated NIS Value : 6.66 	numBeams normalized NIS: 0.13
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322138.82 sec.
INS : North: 4070264.06, East: 589181.05, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 64.79, IDT[75] = 62.19
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322141.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322141.62)
ARL : North: -0.2628, East: -2.6961, Depth: -0.1579ARL : Estimation Bias  (Mean)         : (t = 1488322141.62)
ARL : North: -0.0471, East: -2.8264, Depth: 0.0833TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 70 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 40 41 42 43 
TNavParticleFilter::Modified Variance for beam 0 is 51.67 
Alpha[0]	0.123000
Alpha[0]	0.999956
TNavParticleFilter::Modified Variance for beam 1 is 48.68 
Alpha[1]	0.000000
Alpha[1]	0.999951
TNavParticleFilter::Modified Variance for beam 2 is 31.20 
Alpha[2]	0.000000
Alpha[2]	0.999943
TNavParticleFilter::Modified Variance for beam 3 is 31.32 
Alpha[3]	0.000000
Alpha[3]	0.999927
TNavParticleFilter::Modified Variance for beam 4 is 31.93 
Alpha[4]	0.000000
Alpha[4]	0.999896
TNavParticleFilter::Modified Variance for beam 5 is 24.03 
Alpha[5]	0.000000
Alpha[5]	0.999836
TNavParticleFilter::Modified Variance for beam 6 is 19.87 
Alpha[6]	0.000000
Alpha[6]	0.999707
TNavParticleFilter::Modified Variance for beam 7 is 17.33 
Alpha[7]	0.000000
Alpha[7]	0.999536
TNavParticleFilter::Modified Variance for beam 8 is 17.16 
Alpha[8]	0.000000
Alpha[8]	0.999250
TNavParticleFilter::Modified Variance for beam 9 is 17.00 
Alpha[9]	0.000000
Alpha[9]	0.998919
TNavParticleFilter::Modified Variance for beam 10 is 16.85 
Alpha[10]	0.000000
Alpha[10]	0.998577
TNavParticleFilter::Modified Variance for beam 11 is 17.73 
Alpha[11]	0.000000
Alpha[11]	0.998265
TNavParticleFilter::Modified Variance for beam 12 is 18.78 
Alpha[12]	0.000000
Alpha[12]	0.997831
TNavParticleFilter::Modified Variance for beam 13 is 18.64 
Alpha[13]	0.000000
Alpha[13]	0.997224
TNavParticleFilter::Modified Variance for beam 14 is 17.40 
Alpha[14]	0.000000
Alpha[14]	0.997427
TNavParticleFilter::Modified Variance for beam 15 is 16.23 
Alpha[15]	0.000000
Alpha[15]	0.997841
TNavParticleFilter::Modified Variance for beam 16 is 16.15 
Alpha[16]	0.000000
Alpha[16]	0.997088
TNavParticleFilter::Modified Variance for beam 17 is 16.29 
Alpha[17]	0.000000
Alpha[17]	0.996277
TNavParticleFilter::Modified Variance for beam 18 is 17.02 
Alpha[18]	0.000000
Alpha[18]	0.996329
TNavParticleFilter::Modified Variance for beam 19 is 16.95 
Alpha[19]	0.000000
Alpha[19]	0.996121
TNavParticleFilter::Modified Variance for beam 20 is 17.96 
Alpha[20]	0.000000
Alpha[20]	0.994649
TNavParticleFilter::Modified Variance for beam 21 is 17.91 
Alpha[21]	0.000000
Alpha[21]	0.993678
TNavParticleFilter::Modified Variance for beam 22 is 18.37 
Alpha[22]	0.000000
Alpha[22]	0.993748
TNavParticleFilter::Modified Variance for beam 23 is 18.89 
Alpha[23]	0.000000
Alpha[23]	0.994056
TNavParticleFilter::Modified Variance for beam 24 is 18.85 
Alpha[24]	0.000000
Alpha[24]	0.993942
TNavParticleFilter::Modified Variance for beam 25 is 18.82 
Alpha[25]	0.000000
Alpha[25]	0.994140
TNavParticleFilter::Modified Variance for beam 26 is 18.75 
Alpha[26]	0.000000
Alpha[26]	0.996485
TNavParticleFilter::Modified Variance for beam 27 is 19.83 
Alpha[27]	0.000000
Alpha[27]	0.997878
TNavParticleFilter::Modified Variance for beam 28 is 19.81 
Alpha[28]	0.000000
Alpha[28]	0.998540
TNavParticleFilter::Modified Variance for beam 29 is 22.16 
Alpha[29]	0.000000
Alpha[29]	0.998601
TNavParticleFilter::Modified Variance for beam 30 is 22.18 
Alpha[30]	0.000000
Alpha[30]	0.998749
TNavParticleFilter::Modified Variance for beam 31 is 23.44 
Alpha[31]	0.000000
Alpha[31]	0.998958
TNavParticleFilter::Modified Variance for beam 32 is 22.25 
Alpha[32]	0.000000
Alpha[32]	0.998709
TNavParticleFilter::Modified Variance for beam 33 is 22.34 
Alpha[33]	0.000000
Alpha[33]	0.997073
TNavParticleFilter::Modified Variance for beam 34 is 22.46 
Alpha[34]	0.000000
Alpha[34]	0.994663
TNavParticleFilter::Modified Variance for beam 35 is 22.53 
Alpha[35]	0.000000
Alpha[35]	0.995086
TNavParticleFilter::Modified Variance for beam 36 is 22.59 
Alpha[36]	0.000000
Alpha[36]	0.996295
TNavParticleFilter::Modified Variance for beam 37 is 22.67 
Alpha[37]	0.000000
Alpha[37]	0.997287
TNavParticleFilter::Modified Variance for beam 38 is 22.78 
Alpha[38]	0.000000
Alpha[38]	0.997314
TNavParticleFilter::Modified Variance for beam 39 is 22.93 
Alpha[39]	0.000000
Alpha[39]	0.996666
TNavParticleFilter::Modified Variance for beam 40 is 23.07 
Alpha[40]	0.000000
Alpha[40]	0.996496
TNavParticleFilter::Modified Variance for beam 41 is 23.22 
Alpha[41]	0.000000
Alpha[41]	0.996694
TNavParticleFilter::Modified Variance for beam 42 is 23.40 
Alpha[42]	0.000000
Alpha[42]	0.996239
TNavParticleFilter::Modified Variance for beam 43 is 23.57 
Alpha[43]	0.000000
Alpha[43]	0.996700
TNavParticleFilter::Modified Variance for beam 44 is 23.76 
Alpha[44]	0.000000
Alpha[44]	0.996931
TNavParticleFilter::Modified Variance for beam 45 is 25.33 
Alpha[45]	0.000000
Alpha[45]	0.996905
TNavParticleFilter::Modified Variance for beam 46 is 25.62 
Alpha[46]	0.000000
Alpha[46]	0.995102
TNavParticleFilter::Modified Variance for beam 47 is 25.85 
Alpha[47]	0.000000
Alpha[47]	0.996186
TNavParticleFilter::Modified Variance for beam 48 is 27.60 
Alpha[48]	0.000000
Alpha[48]	0.995470
TNavParticleFilter::Modified Variance for beam 49 is 27.95 
Alpha[49]	0.000000
Alpha[49]	0.994271
TNavPF:: sumSquaredError = 155.068353 
TNavPF:: sumWeights = 0.008407 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 40 as 14.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 14.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 3.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 5.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -2.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -4.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -5.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -4.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -3.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -3.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -2.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -2.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -1.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.85. Range = 91.09 
TNavPF::Calculated measDiffMean for beam 65 as 0.88. Range = 90.82 
TNavPF::Calculated measDiffMean for beam 66 as 0.47. Range = 90.88 
TNavPF::Calculated measDiffMean for beam 67 as 1.58. Range = 91.36 
TNavPF::Calculated measDiffMean for beam 68 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 2.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 1.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 2.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 0.46. Range = 99.19 
TNavPF::Calculated measDiffMean for beam 81 as 0.19. Range = 96.05 
TNavPF::Calculated measDiffMean for beam 82 as -0.44. Range = 75.23 
TNavPF::Calculated measDiffMean for beam 83 as -0.71. Range = 75.39 
TNavPF::Calculated measDiffMean for beam 84 as -0.82. Range = 76.21 
TNavPF::Calculated measDiffMean for beam 85 as 0.51. Range = 64.79 
TNavPF::Calculated measDiffMean for beam 86 as -0.06. Range = 57.86 
TNavPF::Calculated measDiffMean for beam 87 as -0.88. Range = 53.19 
TNavPF::Calculated measDiffMean for beam 88 as 0.24. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 89 as 0.52. Range = 52.52 
TNavPF::First Term of Map Covariance Matrix is 453.81 
TNavPF::Calculated NIS Value : 5.46 	numBeams normalized NIS: 0.11
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322141.82 sec.
INS : North: 4070263.43, East: 589176.78, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 58.63, IDT[75] = 60.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322144.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322144.62)
ARL : North: -0.3510, East: -2.6885, Depth: 2.1633ARL : Estimation Bias  (Mean)         : (t = 1488322144.62)
ARL : North: -0.3177, East: -2.8386, Depth: 0.0269TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 72 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 45 
TNavParticleFilter::Modified Variance for beam 0 is 45.94 
Alpha[0]	0.123000
Alpha[0]	0.999960
TNavParticleFilter::Modified Variance for beam 1 is 45.74 
Alpha[1]	0.000000
Alpha[1]	0.999953
TNavParticleFilter::Modified Variance for beam 2 is 46.39 
Alpha[2]	0.000000
Alpha[2]	0.999942
TNavParticleFilter::Modified Variance for beam 3 is 20.31 
Alpha[3]	0.000000
Alpha[3]	0.999959
TNavParticleFilter::Modified Variance for beam 4 is 19.98 
Alpha[4]	0.000000
Alpha[4]	0.999944
TNavParticleFilter::Modified Variance for beam 5 is 20.59 
Alpha[5]	0.000000
Alpha[5]	0.999915
TNavParticleFilter::Modified Variance for beam 6 is 24.79 
Alpha[6]	0.000000
Alpha[6]	0.999884
TNavParticleFilter::Modified Variance for beam 7 is 20.36 
Alpha[7]	0.000000
Alpha[7]	0.999830
TNavParticleFilter::Modified Variance for beam 8 is 17.66 
Alpha[8]	0.000000
Alpha[8]	0.999657
TNavParticleFilter::Modified Variance for beam 9 is 17.44 
Alpha[9]	0.000000
Alpha[9]	0.999267
TNavParticleFilter::Modified Variance for beam 10 is 17.24 
Alpha[10]	0.000000
Alpha[10]	0.998892
TNavParticleFilter::Modified Variance for beam 11 is 17.10 
Alpha[11]	0.000000
Alpha[11]	0.998575
TNavParticleFilter::Modified Variance for beam 12 is 18.36 
Alpha[12]	0.000000
Alpha[12]	0.998172
TNavParticleFilter::Modified Variance for beam 13 is 18.96 
Alpha[13]	0.000000
Alpha[13]	0.997731
TNavParticleFilter::Modified Variance for beam 14 is 17.64 
Alpha[14]	0.000000
Alpha[14]	0.997273
TNavParticleFilter::Modified Variance for beam 15 is 17.46 
Alpha[15]	0.000000
Alpha[15]	0.997833
TNavParticleFilter::Modified Variance for beam 16 is 16.24 
Alpha[16]	0.000000
Alpha[16]	0.997645
TNavParticleFilter::Modified Variance for beam 17 is 16.13 
Alpha[17]	0.000000
Alpha[17]	0.996388
TNavParticleFilter::Modified Variance for beam 18 is 17.06 
Alpha[18]	0.000000
Alpha[18]	0.996015
TNavParticleFilter::Modified Variance for beam 19 is 16.94 
Alpha[19]	0.000000
Alpha[19]	0.995927
TNavParticleFilter::Modified Variance for beam 20 is 16.85 
Alpha[20]	0.000000
Alpha[20]	0.994522
TNavParticleFilter::Modified Variance for beam 21 is 17.83 
Alpha[21]	0.000000
Alpha[21]	0.993601
TNavParticleFilter::Modified Variance for beam 22 is 17.74 
Alpha[22]	0.000000
Alpha[22]	0.993315
TNavParticleFilter::Modified Variance for beam 23 is 18.73 
Alpha[23]	0.000000
Alpha[23]	0.993950
TNavParticleFilter::Modified Variance for beam 24 is 18.63 
Alpha[24]	0.000000
Alpha[24]	0.994097
TNavParticleFilter::Modified Variance for beam 25 is 18.55 
Alpha[25]	0.000000
Alpha[25]	0.994101
TNavParticleFilter::Modified Variance for beam 26 is 18.47 
Alpha[26]	0.000000
Alpha[26]	0.994747
TNavParticleFilter::Modified Variance for beam 27 is 18.37 
Alpha[27]	0.000000
Alpha[27]	0.997235
TNavParticleFilter::Modified Variance for beam 28 is 19.41 
Alpha[28]	0.000000
Alpha[28]	0.997878
TNavParticleFilter::Modified Variance for beam 29 is 19.36 
Alpha[29]	0.000000
Alpha[29]	0.998284
TNavParticleFilter::Modified Variance for beam 30 is 20.45 
Alpha[30]	0.000000
Alpha[30]	0.998485
TNavParticleFilter::Modified Variance for beam 31 is 20.42 
Alpha[31]	0.000000
Alpha[31]	0.998794
TNavParticleFilter::Modified Variance for beam 32 is 21.57 
Alpha[32]	0.000000
Alpha[32]	0.998964
TNavParticleFilter::Modified Variance for beam 33 is 21.58 
Alpha[33]	0.000000
Alpha[33]	0.998301
TNavParticleFilter::Modified Variance for beam 34 is 21.65 
Alpha[34]	0.000000
Alpha[34]	0.995511
TNavParticleFilter::Modified Variance for beam 35 is 21.68 
Alpha[35]	0.000000
Alpha[35]	0.994950
TNavParticleFilter::Modified Variance for beam 36 is 21.69 
Alpha[36]	0.000000
Alpha[36]	0.995482
TNavParticleFilter::Modified Variance for beam 37 is 21.71 
Alpha[37]	0.000000
Alpha[37]	0.996471
TNavParticleFilter::Modified Variance for beam 38 is 21.75 
Alpha[38]	0.000000
Alpha[38]	0.997030
TNavParticleFilter::Modified Variance for beam 39 is 21.81 
Alpha[39]	0.000000
Alpha[39]	0.997059
TNavParticleFilter::Modified Variance for beam 40 is 21.89 
Alpha[40]	0.000000
Alpha[40]	0.996456
TNavParticleFilter::Modified Variance for beam 41 is 21.98 
Alpha[41]	0.000000
Alpha[41]	0.996221
TNavParticleFilter::Modified Variance for beam 42 is 22.08 
Alpha[42]	0.000000
Alpha[42]	0.996000
TNavParticleFilter::Modified Variance for beam 43 is 22.20 
Alpha[43]	0.000000
Alpha[43]	0.995742
TNavParticleFilter::Modified Variance for beam 44 is 22.30 
Alpha[44]	0.000000
Alpha[44]	0.996278
TNavParticleFilter::Modified Variance for beam 45 is 22.43 
Alpha[45]	0.000000
Alpha[45]	0.996652
TNavParticleFilter::Modified Variance for beam 46 is 22.57 
Alpha[46]	0.000000
Alpha[46]	0.996901
TNavParticleFilter::Modified Variance for beam 47 is 24.05 
Alpha[47]	0.000000
Alpha[47]	0.995440
TNavPF:: sumSquaredError = 361.954414 
TNavPF:: sumWeights = 0.007433 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -20.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -28.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -31.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -22.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -17.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -13.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -3.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -4.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -5.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -4.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -3.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -3.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -2.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -2.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -0.32. Range = 93.31 
TNavPF::Calculated measDiffMean for beam 72 as -0.01. Range = 93.11 
TNavPF::Calculated measDiffMean for beam 73 as -0.55. Range = 92.88 
TNavPF::Calculated measDiffMean for beam 74 as 0.77. Range = 93.59 
TNavPF::Calculated measDiffMean for beam 75 as 0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as 0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as 0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as -0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as -0.72. Range = 58.63 
TNavPF::Calculated measDiffMean for beam 88 as -1.22. Range = 58.05 
TNavPF::Calculated measDiffMean for beam 89 as 0.08. Range = 59.12 
TNavPF::First Term of Map Covariance Matrix is 498.65 
TNavPF::Calculated NIS Value : 8.62 	numBeams normalized NIS: 0.18
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322144.82 sec.
INS : North: 4070262.29, East: 589172.62, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 59.01, IDT[75] = 59.56
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322147.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322147.62)
ARL : North: -0.2222, East: -2.7587, Depth: -0.1564ARL : Estimation Bias  (Mean)         : (t = 1488322147.62)
ARL : North: -0.3853, East: -2.5271, Depth: 0.2410TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 72 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 45 
TNavParticleFilter::Modified Variance for beam 0 is 47.61 
Alpha[0]	0.123000
Alpha[0]	0.999965
TNavParticleFilter::Modified Variance for beam 1 is 48.35 
Alpha[1]	0.000000
Alpha[1]	0.999958
TNavParticleFilter::Modified Variance for beam 2 is 47.25 
Alpha[2]	0.000000
Alpha[2]	0.999955
TNavParticleFilter::Modified Variance for beam 3 is 20.53 
Alpha[3]	0.000000
Alpha[3]	0.999964
TNavParticleFilter::Modified Variance for beam 4 is 21.24 
Alpha[4]	0.000000
Alpha[4]	0.999946
TNavParticleFilter::Modified Variance for beam 5 is 32.91 
Alpha[5]	0.000000
Alpha[5]	0.999923
TNavParticleFilter::Modified Variance for beam 6 is 18.20 
Alpha[6]	0.000000
Alpha[6]	0.999899
TNavParticleFilter::Modified Variance for beam 7 is 17.91 
Alpha[7]	0.000000
Alpha[7]	0.999814
TNavParticleFilter::Modified Variance for beam 8 is 17.65 
Alpha[8]	0.000000
Alpha[8]	0.999561
TNavParticleFilter::Modified Variance for beam 9 is 17.40 
Alpha[9]	0.000000
Alpha[9]	0.999099
TNavParticleFilter::Modified Variance for beam 10 is 18.05 
Alpha[10]	0.000000
Alpha[10]	0.998731
TNavParticleFilter::Modified Variance for beam 11 is 19.16 
Alpha[11]	0.000000
Alpha[11]	0.998257
TNavParticleFilter::Modified Variance for beam 12 is 19.07 
Alpha[12]	0.000000
Alpha[12]	0.997848
TNavParticleFilter::Modified Variance for beam 13 is 17.67 
Alpha[13]	0.000000
Alpha[13]	0.997615
TNavParticleFilter::Modified Variance for beam 14 is 16.35 
Alpha[14]	0.000000
Alpha[14]	0.998030
TNavParticleFilter::Modified Variance for beam 15 is 16.18 
Alpha[15]	0.000000
Alpha[15]	0.997408
TNavParticleFilter::Modified Variance for beam 16 is 16.92 
Alpha[16]	0.000000
Alpha[16]	0.996209
TNavParticleFilter::Modified Variance for beam 17 is 16.95 
Alpha[17]	0.000000
Alpha[17]	0.995948
TNavParticleFilter::Modified Variance for beam 18 is 16.81 
Alpha[18]	0.000000
Alpha[18]	0.995136
TNavParticleFilter::Modified Variance for beam 19 is 17.78 
Alpha[19]	0.000000
Alpha[19]	0.993764
TNavParticleFilter::Modified Variance for beam 20 is 17.63 
Alpha[20]	0.000000
Alpha[20]	0.993595
TNavParticleFilter::Modified Variance for beam 21 is 17.65 
Alpha[21]	0.000000
Alpha[21]	0.993656
TNavParticleFilter::Modified Variance for beam 22 is 18.46 
Alpha[22]	0.000000
Alpha[22]	0.994218
TNavParticleFilter::Modified Variance for beam 23 is 18.33 
Alpha[23]	0.000000
Alpha[23]	0.994276
TNavParticleFilter::Modified Variance for beam 24 is 18.22 
Alpha[24]	0.000000
Alpha[24]	0.994318
TNavParticleFilter::Modified Variance for beam 25 is 18.09 
Alpha[25]	0.000000
Alpha[25]	0.995268
TNavParticleFilter::Modified Variance for beam 26 is 19.06 
Alpha[26]	0.000000
Alpha[26]	0.997472
TNavParticleFilter::Modified Variance for beam 27 is 18.97 
Alpha[27]	0.000000
Alpha[27]	0.997641
TNavParticleFilter::Modified Variance for beam 28 is 19.10 
Alpha[28]	0.000000
Alpha[28]	0.998009
TNavParticleFilter::Modified Variance for beam 29 is 21.09 
Alpha[29]	0.000000
Alpha[29]	0.998516
TNavParticleFilter::Modified Variance for beam 30 is 21.02 
Alpha[30]	0.000000
Alpha[30]	0.998770
TNavParticleFilter::Modified Variance for beam 31 is 22.15 
Alpha[31]	0.000000
Alpha[31]	0.998898
TNavParticleFilter::Modified Variance for beam 32 is 20.93 
Alpha[32]	0.000000
Alpha[32]	0.997968
TNavParticleFilter::Modified Variance for beam 33 is 20.93 
Alpha[33]	0.000000
Alpha[33]	0.995765
TNavParticleFilter::Modified Variance for beam 34 is 20.91 
Alpha[34]	0.000000
Alpha[34]	0.995864
TNavParticleFilter::Modified Variance for beam 35 is 20.89 
Alpha[35]	0.000000
Alpha[35]	0.996025
TNavParticleFilter::Modified Variance for beam 36 is 20.87 
Alpha[36]	0.000000
Alpha[36]	0.996483
TNavParticleFilter::Modified Variance for beam 37 is 20.87 
Alpha[37]	0.000000
Alpha[37]	0.996869
TNavParticleFilter::Modified Variance for beam 38 is 20.88 
Alpha[38]	0.000000
Alpha[38]	0.996824
TNavParticleFilter::Modified Variance for beam 39 is 20.92 
Alpha[39]	0.000000
Alpha[39]	0.996494
TNavParticleFilter::Modified Variance for beam 40 is 20.96 
Alpha[40]	0.000000
Alpha[40]	0.996210
TNavParticleFilter::Modified Variance for beam 41 is 21.02 
Alpha[41]	0.000000
Alpha[41]	0.995485
TNavParticleFilter::Modified Variance for beam 42 is 21.08 
Alpha[42]	0.000000
Alpha[42]	0.995641
TNavParticleFilter::Modified Variance for beam 43 is 21.15 
Alpha[43]	0.000000
Alpha[43]	0.995783
TNavParticleFilter::Modified Variance for beam 44 is 21.21 
Alpha[44]	0.000000
Alpha[44]	0.996504
TNavParticleFilter::Modified Variance for beam 45 is 21.30 
Alpha[45]	0.000000
Alpha[45]	0.996760
TNavParticleFilter::Modified Variance for beam 46 is 22.64 
Alpha[46]	0.000000
Alpha[46]	0.996252
TNavParticleFilter::Modified Variance for beam 47 is 22.82 
Alpha[47]	0.000000
Alpha[47]	0.993587
TNavPF:: sumSquaredError = 103.436307 
TNavPF:: sumWeights = 0.007413 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -23.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -20.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -29.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -23.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -16.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 4.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -10.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -6.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -4.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -3.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -2.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -2.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -2.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 2.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 1.58. Range = 94.91 
TNavPF::Calculated measDiffMean for beam 73 as 2.64. Range = 95.71 
TNavPF::Calculated measDiffMean for beam 74 as 0.12. Range = 94.52 
TNavPF::Calculated measDiffMean for beam 75 as 0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as -0.90. Range = 59.01 
TNavPF::Calculated measDiffMean for beam 88 as 0.33. Range = 60.22 
TNavPF::Calculated measDiffMean for beam 89 as -0.19. Range = 77.52 
TNavPF::First Term of Map Covariance Matrix is 574.32 
TNavPF::Calculated NIS Value : 10.28 	numBeams normalized NIS: 0.21
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322147.82 sec.
INS : North: 4070260.96, East: 589168.49, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 78.15, IDT[75] = 58.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322150.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322150.62)
ARL : North: 0.9061, East: -2.6278, Depth: -0.4562ARL : Estimation Bias  (Mean)         : (t = 1488322150.62)
ARL : North: -0.4805, East: -2.3664, Depth: 0.3247TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 72 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 45 
TNavParticleFilter::Modified Variance for beam 0 is 49.44 
Alpha[0]	0.123000
Alpha[0]	0.999968
TNavParticleFilter::Modified Variance for beam 1 is 50.08 
Alpha[1]	0.000000
Alpha[1]	0.999959
TNavParticleFilter::Modified Variance for beam 2 is 49.71 
Alpha[2]	0.000000
Alpha[2]	0.999956
TNavParticleFilter::Modified Variance for beam 3 is 33.39 
Alpha[3]	0.000000
Alpha[3]	0.999954
TNavParticleFilter::Modified Variance for beam 4 is 18.57 
Alpha[4]	0.000000
Alpha[4]	0.999944
TNavParticleFilter::Modified Variance for beam 5 is 18.23 
Alpha[5]	0.000000
Alpha[5]	0.999890
TNavParticleFilter::Modified Variance for beam 6 is 17.91 
Alpha[6]	0.000000
Alpha[6]	0.999748
TNavParticleFilter::Modified Variance for beam 7 is 18.03 
Alpha[7]	0.000000
Alpha[7]	0.999460
TNavParticleFilter::Modified Variance for beam 8 is 18.93 
Alpha[8]	0.000000
Alpha[8]	0.998931
TNavParticleFilter::Modified Variance for beam 9 is 19.53 
Alpha[9]	0.000000
Alpha[9]	0.998447
TNavParticleFilter::Modified Variance for beam 10 is 18.00 
Alpha[10]	0.000000
Alpha[10]	0.998028
TNavParticleFilter::Modified Variance for beam 11 is 16.58 
Alpha[11]	0.000000
Alpha[11]	0.998008
TNavParticleFilter::Modified Variance for beam 12 is 16.35 
Alpha[12]	0.000000
Alpha[12]	0.998072
TNavParticleFilter::Modified Variance for beam 13 is 16.86 
Alpha[13]	0.000000
Alpha[13]	0.996866
TNavParticleFilter::Modified Variance for beam 14 is 17.08 
Alpha[14]	0.000000
Alpha[14]	0.996057
TNavParticleFilter::Modified Variance for beam 15 is 16.89 
Alpha[15]	0.000000
Alpha[15]	0.995403
TNavParticleFilter::Modified Variance for beam 16 is 17.61 
Alpha[16]	0.000000
Alpha[16]	0.993869
TNavParticleFilter::Modified Variance for beam 17 is 17.66 
Alpha[17]	0.000000
Alpha[17]	0.993567
TNavParticleFilter::Modified Variance for beam 18 is 17.48 
Alpha[18]	0.000000
Alpha[18]	0.993549
TNavParticleFilter::Modified Variance for beam 19 is 18.42 
Alpha[19]	0.000000
Alpha[19]	0.993952
TNavParticleFilter::Modified Variance for beam 20 is 18.24 
Alpha[20]	0.000000
Alpha[20]	0.994385
TNavParticleFilter::Modified Variance for beam 21 is 18.08 
Alpha[21]	0.000000
Alpha[21]	0.994403
TNavParticleFilter::Modified Variance for beam 22 is 17.93 
Alpha[22]	0.000000
Alpha[22]	0.994571
TNavParticleFilter::Modified Variance for beam 23 is 17.95 
Alpha[23]	0.000000
Alpha[23]	0.996223
TNavParticleFilter::Modified Variance for beam 24 is 18.72 
Alpha[24]	0.000000
Alpha[24]	0.997527
TNavParticleFilter::Modified Variance for beam 25 is 18.60 
Alpha[25]	0.000000
Alpha[25]	0.997191
TNavParticleFilter::Modified Variance for beam 26 is 19.93 
Alpha[26]	0.000000
Alpha[26]	0.998027
TNavParticleFilter::Modified Variance for beam 27 is 20.63 
Alpha[27]	0.000000
Alpha[27]	0.998600
TNavParticleFilter::Modified Variance for beam 28 is 20.52 
Alpha[28]	0.000000
Alpha[28]	0.998769
TNavParticleFilter::Modified Variance for beam 29 is 21.61 
Alpha[29]	0.000000
Alpha[29]	0.998617
TNavParticleFilter::Modified Variance for beam 30 is 21.55 
Alpha[30]	0.000000
Alpha[30]	0.997147
TNavParticleFilter::Modified Variance for beam 31 is 20.31 
Alpha[31]	0.000000
Alpha[31]	0.995909
TNavParticleFilter::Modified Variance for beam 32 is 20.25 
Alpha[32]	0.000000
Alpha[32]	0.995881
TNavParticleFilter::Modified Variance for beam 33 is 20.19 
Alpha[33]	0.000000
Alpha[33]	0.996007
TNavParticleFilter::Modified Variance for beam 34 is 20.13 
Alpha[34]	0.000000
Alpha[34]	0.996606
TNavParticleFilter::Modified Variance for beam 35 is 20.09 
Alpha[35]	0.000000
Alpha[35]	0.996850
TNavParticleFilter::Modified Variance for beam 36 is 20.07 
Alpha[36]	0.000000
Alpha[36]	0.996505
TNavParticleFilter::Modified Variance for beam 37 is 20.06 
Alpha[37]	0.000000
Alpha[37]	0.996292
TNavParticleFilter::Modified Variance for beam 38 is 20.07 
Alpha[38]	0.000000
Alpha[38]	0.995704
TNavParticleFilter::Modified Variance for beam 39 is 20.09 
Alpha[39]	0.000000
Alpha[39]	0.994980
TNavParticleFilter::Modified Variance for beam 40 is 20.10 
Alpha[40]	0.000000
Alpha[40]	0.995433
TNavParticleFilter::Modified Variance for beam 41 is 20.12 
Alpha[41]	0.000000
Alpha[41]	0.995499
TNavParticleFilter::Modified Variance for beam 42 is 20.14 
Alpha[42]	0.000000
Alpha[42]	0.996269
TNavParticleFilter::Modified Variance for beam 43 is 20.18 
Alpha[43]	0.000000
Alpha[43]	0.996638
TNavParticleFilter::Modified Variance for beam 44 is 21.42 
Alpha[44]	0.000000
Alpha[44]	0.996433
TNavParticleFilter::Modified Variance for beam 45 is 21.55 
Alpha[45]	0.000000
Alpha[45]	0.993632
TNavParticleFilter::Modified Variance for beam 46 is 21.66 
Alpha[46]	0.000000
Alpha[46]	0.992473
TNavParticleFilter::Modified Variance for beam 47 is 21.70 
Alpha[47]	0.000000
Alpha[47]	0.995231
TNavPF:: sumSquaredError = 582.365954 
TNavPF:: sumWeights = 0.025391 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -23.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -25.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -30.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -15.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -8.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -5.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -3.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -2.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -2.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 1.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 2.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 2.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 1.87. Range = 96.86 
TNavPF::Calculated measDiffMean for beam 73 as 0.32. Range = 97.54 
TNavPF::Calculated measDiffMean for beam 74 as 0.46. Range = 97.15 
TNavPF::Calculated measDiffMean for beam 75 as 0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as 0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 87 as -0.09. Range = 78.15 
TNavPF::Calculated measDiffMean for beam 88 as -0.32. Range = 55.53 
TNavPF::Calculated measDiffMean for beam 89 as -0.85. Range = 54.89 
TNavPF::First Term of Map Covariance Matrix is 616.96 
TNavPF::Calculated NIS Value : 4.17 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322150.82 sec.
INS : North: 4070259.46, East: 589164.39, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 55.78, IDT[75] = 56.91
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322153.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322153.62)
ARL : North: -0.5133, East: -2.5679, Depth: -1.5804ARL : Estimation Bias  (Mean)         : (t = 1488322153.62)
ARL : North: -0.5348, East: -2.2562, Depth: 0.2640TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 71 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 44 
TNavParticleFilter::Modified Variance for beam 0 is 51.57 
Alpha[0]	0.123000
Alpha[0]	0.999975
TNavParticleFilter::Modified Variance for beam 1 is 52.01 
Alpha[1]	0.000000
Alpha[1]	0.999966
TNavParticleFilter::Modified Variance for beam 2 is 51.78 
Alpha[2]	0.000000
Alpha[2]	0.999955
TNavParticleFilter::Modified Variance for beam 3 is 34.37 
Alpha[3]	0.000000
Alpha[3]	0.999969
TNavParticleFilter::Modified Variance for beam 4 is 18.71 
Alpha[4]	0.000000
Alpha[4]	0.999960
TNavParticleFilter::Modified Variance for beam 5 is 18.32 
Alpha[5]	0.000000
Alpha[5]	0.999919
TNavParticleFilter::Modified Variance for beam 6 is 18.72 
Alpha[6]	0.000000
Alpha[6]	0.999803
TNavParticleFilter::Modified Variance for beam 7 is 19.51 
Alpha[7]	0.000000
Alpha[7]	0.999564
TNavParticleFilter::Modified Variance for beam 8 is 19.90 
Alpha[8]	0.000000
Alpha[8]	0.999056
TNavParticleFilter::Modified Variance for beam 9 is 17.00 
Alpha[9]	0.000000
Alpha[9]	0.998592
TNavParticleFilter::Modified Variance for beam 10 is 16.72 
Alpha[10]	0.000000
Alpha[10]	0.998403
TNavParticleFilter::Modified Variance for beam 11 is 16.73 
Alpha[11]	0.000000
Alpha[11]	0.998203
TNavParticleFilter::Modified Variance for beam 12 is 17.38 
Alpha[12]	0.000000
Alpha[12]	0.997034
TNavParticleFilter::Modified Variance for beam 13 is 17.14 
Alpha[13]	0.000000
Alpha[13]	0.996085
TNavParticleFilter::Modified Variance for beam 14 is 17.21 
Alpha[14]	0.000000
Alpha[14]	0.995071
TNavParticleFilter::Modified Variance for beam 15 is 17.86 
Alpha[15]	0.000000
Alpha[15]	0.993531
TNavParticleFilter::Modified Variance for beam 16 is 17.63 
Alpha[16]	0.000000
Alpha[16]	0.993384
TNavParticleFilter::Modified Variance for beam 17 is 17.87 
Alpha[17]	0.000000
Alpha[17]	0.993402
TNavParticleFilter::Modified Variance for beam 18 is 18.33 
Alpha[18]	0.000000
Alpha[18]	0.993949
TNavParticleFilter::Modified Variance for beam 19 is 18.11 
Alpha[19]	0.000000
Alpha[19]	0.994427
TNavParticleFilter::Modified Variance for beam 20 is 17.91 
Alpha[20]	0.000000
Alpha[20]	0.994503
TNavParticleFilter::Modified Variance for beam 21 is 17.72 
Alpha[21]	0.000000
Alpha[21]	0.994786
TNavParticleFilter::Modified Variance for beam 22 is 18.42 
Alpha[22]	0.000000
Alpha[22]	0.996392
TNavParticleFilter::Modified Variance for beam 23 is 18.45 
Alpha[23]	0.000000
Alpha[23]	0.997114
TNavParticleFilter::Modified Variance for beam 24 is 18.29 
Alpha[24]	0.000000
Alpha[24]	0.996859
TNavParticleFilter::Modified Variance for beam 25 is 19.88 
Alpha[25]	0.000000
Alpha[25]	0.997843
TNavParticleFilter::Modified Variance for beam 26 is 20.26 
Alpha[26]	0.000000
Alpha[26]	0.998464
TNavParticleFilter::Modified Variance for beam 27 is 20.11 
Alpha[27]	0.000000
Alpha[27]	0.998524
TNavParticleFilter::Modified Variance for beam 28 is 21.17 
Alpha[28]	0.000000
Alpha[28]	0.998066
TNavParticleFilter::Modified Variance for beam 29 is 21.05 
Alpha[29]	0.000000
Alpha[29]	0.997080
TNavParticleFilter::Modified Variance for beam 30 is 19.77 
Alpha[30]	0.000000
Alpha[30]	0.996039
TNavParticleFilter::Modified Variance for beam 31 is 19.68 
Alpha[31]	0.000000
Alpha[31]	0.995280
TNavParticleFilter::Modified Variance for beam 32 is 19.58 
Alpha[32]	0.000000
Alpha[32]	0.995567
TNavParticleFilter::Modified Variance for beam 33 is 19.48 
Alpha[33]	0.000000
Alpha[33]	0.996311
TNavParticleFilter::Modified Variance for beam 34 is 19.40 
Alpha[34]	0.000000
Alpha[34]	0.996479
TNavParticleFilter::Modified Variance for beam 35 is 19.35 
Alpha[35]	0.000000
Alpha[35]	0.995794
TNavParticleFilter::Modified Variance for beam 36 is 19.30 
Alpha[36]	0.000000
Alpha[36]	0.995539
TNavParticleFilter::Modified Variance for beam 37 is 19.27 
Alpha[37]	0.000000
Alpha[37]	0.994796
TNavParticleFilter::Modified Variance for beam 38 is 19.24 
Alpha[38]	0.000000
Alpha[38]	0.994502
TNavParticleFilter::Modified Variance for beam 39 is 19.21 
Alpha[39]	0.000000
Alpha[39]	0.994695
TNavParticleFilter::Modified Variance for beam 40 is 19.20 
Alpha[40]	0.000000
Alpha[40]	0.994818
TNavParticleFilter::Modified Variance for beam 41 is 19.18 
Alpha[41]	0.000000
Alpha[41]	0.995449
TNavParticleFilter::Modified Variance for beam 42 is 19.17 
Alpha[42]	0.000000
Alpha[42]	0.996295
TNavParticleFilter::Modified Variance for beam 43 is 19.18 
Alpha[43]	0.000000
Alpha[43]	0.996186
TNavParticleFilter::Modified Variance for beam 44 is 20.39 
Alpha[44]	0.000000
Alpha[44]	0.993591
TNavParticleFilter::Modified Variance for beam 45 is 20.46 
Alpha[45]	0.000000
Alpha[45]	0.991939
TNavParticleFilter::Modified Variance for beam 46 is 20.49 
Alpha[46]	0.000000
Alpha[46]	0.992726
TNavParticleFilter::Modified Variance for beam 47 is 21.67 
Alpha[47]	0.000000
Alpha[47]	0.995678
TNavParticleFilter::Modified Variance for beam 48 is 21.75 
Alpha[48]	0.000000
Alpha[48]	0.995199
TNavPF:: sumSquaredError = 16.617679 
TNavPF:: sumWeights = 0.004475 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -28.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -27.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -30.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -18.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -10.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -4.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -3.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -3.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -2.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 1.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 0.01. Range = 99.09 
TNavPF::Calculated measDiffMean for beam 72 as 0.19. Range = 99.53 
TNavPF::Calculated measDiffMean for beam 73 as 0.38. Range = 99.30 
TNavPF::Calculated measDiffMean for beam 74 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -0.15. Range = 79.41 
TNavPF::Calculated measDiffMean for beam 86 as -0.38. Range = 55.78 
TNavPF::Calculated measDiffMean for beam 87 as -0.57. Range = 55.06 
TNavPF::Calculated measDiffMean for beam 88 as 0.57. Range = 55.79 
TNavPF::Calculated measDiffMean for beam 89 as -0.38. Range = 57.21 
TNavPF::First Term of Map Covariance Matrix is 786.53 
TNavPF::Calculated NIS Value : 4.36 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322153.82 sec.
INS : North: 4070257.78, East: 589160.36, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 56.08, IDT[75] = 55.59
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322156.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322156.62)
ARL : North: -0.5017, East: -2.6149, Depth: 1.0573ARL : Estimation Bias  (Mean)         : (t = 1488322156.62)
ARL : North: -0.7608, East: -2.4055, Depth: 0.2247TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 73 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 43 44 45 46 
TNavParticleFilter::Modified Variance for beam 0 is 19.85 
Alpha[0]	0.123000
Alpha[0]	0.999978
TNavParticleFilter::Modified Variance for beam 1 is 19.35 
Alpha[1]	0.000000
Alpha[1]	0.999970
TNavParticleFilter::Modified Variance for beam 2 is 18.87 
Alpha[2]	0.000000
Alpha[2]	0.999956
TNavParticleFilter::Modified Variance for beam 3 is 19.22 
Alpha[3]	0.000000
Alpha[3]	0.999888
TNavParticleFilter::Modified Variance for beam 4 is 19.91 
Alpha[4]	0.000000
Alpha[4]	0.999678
TNavParticleFilter::Modified Variance for beam 5 is 20.41 
Alpha[5]	0.000000
Alpha[5]	0.999325
TNavParticleFilter::Modified Variance for beam 6 is 17.27 
Alpha[6]	0.000000
Alpha[6]	0.998765
TNavParticleFilter::Modified Variance for beam 7 is 16.94 
Alpha[7]	0.000000
Alpha[7]	0.998424
TNavParticleFilter::Modified Variance for beam 8 is 17.29 
Alpha[8]	0.000000
Alpha[8]	0.997804
TNavParticleFilter::Modified Variance for beam 9 is 17.57 
Alpha[9]	0.000000
Alpha[9]	0.996325
TNavParticleFilter::Modified Variance for beam 10 is 17.28 
Alpha[10]	0.000000
Alpha[10]	0.995069
TNavParticleFilter::Modified Variance for beam 11 is 17.69 
Alpha[11]	0.000000
Alpha[11]	0.993849
TNavParticleFilter::Modified Variance for beam 12 is 17.95 
Alpha[12]	0.000000
Alpha[12]	0.993187
TNavParticleFilter::Modified Variance for beam 13 is 17.65 
Alpha[13]	0.000000
Alpha[13]	0.993593
TNavParticleFilter::Modified Variance for beam 14 is 18.16 
Alpha[14]	0.000000
Alpha[14]	0.994127
TNavParticleFilter::Modified Variance for beam 15 is 18.30 
Alpha[15]	0.000000
Alpha[15]	0.994741
TNavParticleFilter::Modified Variance for beam 16 is 18.04 
Alpha[16]	0.000000
Alpha[16]	0.994884
TNavParticleFilter::Modified Variance for beam 17 is 17.79 
Alpha[17]	0.000000
Alpha[17]	0.994933
TNavParticleFilter::Modified Variance for beam 18 is 17.54 
Alpha[18]	0.000000
Alpha[18]	0.995708
TNavParticleFilter::Modified Variance for beam 19 is 18.47 
Alpha[19]	0.000000
Alpha[19]	0.996668
TNavParticleFilter::Modified Variance for beam 20 is 18.25 
Alpha[20]	0.000000
Alpha[20]	0.996815
TNavParticleFilter::Modified Variance for beam 21 is 18.13 
Alpha[21]	0.000000
Alpha[21]	0.997512
TNavParticleFilter::Modified Variance for beam 22 is 19.51 
Alpha[22]	0.000000
Alpha[22]	0.998297
TNavParticleFilter::Modified Variance for beam 23 is 19.97 
Alpha[23]	0.000000
Alpha[23]	0.998423
TNavParticleFilter::Modified Variance for beam 24 is 19.78 
Alpha[24]	0.000000
Alpha[24]	0.997931
TNavParticleFilter::Modified Variance for beam 25 is 20.81 
Alpha[25]	0.000000
Alpha[25]	0.997295
TNavParticleFilter::Modified Variance for beam 26 is 20.64 
Alpha[26]	0.000000
Alpha[26]	0.996767
TNavParticleFilter::Modified Variance for beam 27 is 19.31 
Alpha[27]	0.000000
Alpha[27]	0.995811
TNavParticleFilter::Modified Variance for beam 28 is 19.15 
Alpha[28]	0.000000
Alpha[28]	0.996190
TNavParticleFilter::Modified Variance for beam 29 is 19.01 
Alpha[29]	0.000000
Alpha[29]	0.996574
TNavParticleFilter::Modified Variance for beam 30 is 18.89 
Alpha[30]	0.000000
Alpha[30]	0.996480
TNavParticleFilter::Modified Variance for beam 31 is 18.79 
Alpha[31]	0.000000
Alpha[31]	0.995666
TNavParticleFilter::Modified Variance for beam 32 is 18.69 
Alpha[32]	0.000000
Alpha[32]	0.995156
TNavParticleFilter::Modified Variance for beam 33 is 18.61 
Alpha[33]	0.000000
Alpha[33]	0.994808
TNavParticleFilter::Modified Variance for beam 34 is 18.53 
Alpha[34]	0.000000
Alpha[34]	0.994366
TNavParticleFilter::Modified Variance for beam 35 is 18.46 
Alpha[35]	0.000000
Alpha[35]	0.994341
TNavParticleFilter::Modified Variance for beam 36 is 18.39 
Alpha[36]	0.000000
Alpha[36]	0.994606
TNavParticleFilter::Modified Variance for beam 37 is 18.33 
Alpha[37]	0.000000
Alpha[37]	0.994850
TNavParticleFilter::Modified Variance for beam 38 is 18.27 
Alpha[38]	0.000000
Alpha[38]	0.995542
TNavParticleFilter::Modified Variance for beam 39 is 18.23 
Alpha[39]	0.000000
Alpha[39]	0.996167
TNavParticleFilter::Modified Variance for beam 40 is 18.22 
Alpha[40]	0.000000
Alpha[40]	0.995302
TNavParticleFilter::Modified Variance for beam 41 is 19.36 
Alpha[41]	0.000000
Alpha[41]	0.992157
TNavParticleFilter::Modified Variance for beam 42 is 19.37 
Alpha[42]	0.000000
Alpha[42]	0.991082
TNavParticleFilter::Modified Variance for beam 43 is 19.35 
Alpha[43]	0.000000
Alpha[43]	0.991873
TNavParticleFilter::Modified Variance for beam 44 is 19.30 
Alpha[44]	0.000000
Alpha[44]	0.994953
TNavParticleFilter::Modified Variance for beam 45 is 20.46 
Alpha[45]	0.000000
Alpha[45]	0.995055
TNavParticleFilter::Modified Variance for beam 46 is 20.49 
Alpha[46]	0.000000
Alpha[46]	0.994967
TNavPF:: sumSquaredError = 32.711511 
TNavPF:: sumWeights = 0.052911 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 43 as -29.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -21.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -13.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -5.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -3.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -3.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 1.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 1.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 1.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 1.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 1.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 83 as -1.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 84 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 85 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 86 as -0.44. Range = 57.83 
TNavPF::Calculated measDiffMean for beam 87 as -1.14. Range = 56.93 
TNavPF::Calculated measDiffMean for beam 88 as -0.19. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 89 as -0.05. Range = 56.70 
TNavPF::First Term of Map Covariance Matrix is 900.84 
TNavPF::Calculated NIS Value : 3.72 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322156.82 sec.
INS : North: 4070255.87, East: 589156.41, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 53.41, IDT[75] = 53.62
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322159.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322159.62)
ARL : North: -0.6331, East: -1.4052, Depth: 2.0090ARL : Estimation Bias  (Mean)         : (t = 1488322159.62)
ARL : North: -0.7867, East: -2.3439, Depth: 0.7362TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 71 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 41 42 43 44 
TNavParticleFilter::Modified Variance for beam 0 is 22.60 
Alpha[0]	0.123000
Alpha[0]	0.999957
TNavParticleFilter::Modified Variance for beam 1 is 21.97 
Alpha[1]	0.000000
Alpha[1]	0.999897
TNavParticleFilter::Modified Variance for beam 2 is 21.39 
Alpha[2]	0.000000
Alpha[2]	0.999683
TNavParticleFilter::Modified Variance for beam 3 is 17.88 
Alpha[3]	0.000000
Alpha[3]	0.999238
TNavParticleFilter::Modified Variance for beam 4 is 17.46 
Alpha[4]	0.000000
Alpha[4]	0.998629
TNavParticleFilter::Modified Variance for beam 5 is 17.65 
Alpha[5]	0.000000
Alpha[5]	0.997732
TNavParticleFilter::Modified Variance for beam 6 is 18.06 
Alpha[6]	0.000000
Alpha[6]	0.996057
TNavParticleFilter::Modified Variance for beam 7 is 17.70 
Alpha[7]	0.000000
Alpha[7]	0.994733
TNavParticleFilter::Modified Variance for beam 8 is 17.91 
Alpha[8]	0.000000
Alpha[8]	0.993753
TNavParticleFilter::Modified Variance for beam 9 is 18.30 
Alpha[9]	0.000000
Alpha[9]	0.994015
TNavParticleFilter::Modified Variance for beam 10 is 17.93 
Alpha[10]	0.000000
Alpha[10]	0.994451
TNavParticleFilter::Modified Variance for beam 11 is 18.20 
Alpha[11]	0.000000
Alpha[11]	0.995041
TNavParticleFilter::Modified Variance for beam 12 is 18.53 
Alpha[12]	0.000000
Alpha[12]	0.995406
TNavParticleFilter::Modified Variance for beam 13 is 18.21 
Alpha[13]	0.000000
Alpha[13]	0.995402
TNavParticleFilter::Modified Variance for beam 14 is 17.91 
Alpha[14]	0.000000
Alpha[14]	0.995368
TNavParticleFilter::Modified Variance for beam 15 is 17.61 
Alpha[15]	0.000000
Alpha[15]	0.996131
TNavParticleFilter::Modified Variance for beam 16 is 18.27 
Alpha[16]	0.000000
Alpha[16]	0.996768
TNavParticleFilter::Modified Variance for beam 17 is 18.26 
Alpha[17]	0.000000
Alpha[17]	0.997270
TNavParticleFilter::Modified Variance for beam 18 is 17.99 
Alpha[18]	0.000000
Alpha[18]	0.997927
TNavParticleFilter::Modified Variance for beam 19 is 18.95 
Alpha[19]	0.000000
Alpha[19]	0.998324
TNavParticleFilter::Modified Variance for beam 20 is 19.91 
Alpha[20]	0.000000
Alpha[20]	0.998043
TNavParticleFilter::Modified Variance for beam 21 is 19.67 
Alpha[21]	0.000000
Alpha[21]	0.997390
TNavParticleFilter::Modified Variance for beam 22 is 19.99 
Alpha[22]	0.000000
Alpha[22]	0.997275
TNavParticleFilter::Modified Variance for beam 23 is 20.44 
Alpha[23]	0.000000
Alpha[23]	0.996937
TNavParticleFilter::Modified Variance for beam 24 is 19.02 
Alpha[24]	0.000000
Alpha[24]	0.996756
TNavParticleFilter::Modified Variance for beam 25 is 18.82 
Alpha[25]	0.000000
Alpha[25]	0.997030
TNavParticleFilter::Modified Variance for beam 26 is 18.65 
Alpha[26]	0.000000
Alpha[26]	0.996856
TNavParticleFilter::Modified Variance for beam 27 is 18.49 
Alpha[27]	0.000000
Alpha[27]	0.996106
TNavParticleFilter::Modified Variance for beam 28 is 18.35 
Alpha[28]	0.000000
Alpha[28]	0.995188
TNavParticleFilter::Modified Variance for beam 29 is 18.21 
Alpha[29]	0.000000
Alpha[29]	0.994821
TNavParticleFilter::Modified Variance for beam 30 is 18.08 
Alpha[30]	0.000000
Alpha[30]	0.994821
TNavParticleFilter::Modified Variance for beam 31 is 17.95 
Alpha[31]	0.000000
Alpha[31]	0.994777
TNavParticleFilter::Modified Variance for beam 32 is 17.84 
Alpha[32]	0.000000
Alpha[32]	0.994746
TNavParticleFilter::Modified Variance for beam 33 is 17.73 
Alpha[33]	0.000000
Alpha[33]	0.994958
TNavParticleFilter::Modified Variance for beam 34 is 17.63 
Alpha[34]	0.000000
Alpha[34]	0.995246
TNavParticleFilter::Modified Variance for beam 35 is 17.54 
Alpha[35]	0.000000
Alpha[35]	0.995737
TNavParticleFilter::Modified Variance for beam 36 is 17.46 
Alpha[36]	0.000000
Alpha[36]	0.996050
TNavParticleFilter::Modified Variance for beam 37 is 17.42 
Alpha[37]	0.000000
Alpha[37]	0.994763
TNavParticleFilter::Modified Variance for beam 38 is 18.05 
Alpha[38]	0.000000
Alpha[38]	0.992176
TNavParticleFilter::Modified Variance for beam 39 is 18.43 
Alpha[39]	0.000000
Alpha[39]	0.991722
TNavParticleFilter::Modified Variance for beam 40 is 18.37 
Alpha[40]	0.000000
Alpha[40]	0.992607
TNavParticleFilter::Modified Variance for beam 41 is 18.30 
Alpha[41]	0.000000
Alpha[41]	0.994873
TNavParticleFilter::Modified Variance for beam 42 is 18.26 
Alpha[42]	0.000000
Alpha[42]	0.995551
TNavParticleFilter::Modified Variance for beam 43 is 19.35 
Alpha[43]	0.000000
Alpha[43]	0.995455
TNavParticleFilter::Modified Variance for beam 44 is 19.33 
Alpha[44]	0.000000
Alpha[44]	0.995834
TNavParticleFilter::Modified Variance for beam 45 is 19.31 
Alpha[45]	0.000000
Alpha[45]	0.997057
TNavParticleFilter::Modified Variance for beam 46 is 19.30 
Alpha[46]	0.000000
Alpha[46]	0.998209
TNavParticleFilter::Modified Variance for beam 47 is 18.22 
Alpha[47]	0.000000
Alpha[47]	0.998509
TNavParticleFilter::Modified Variance for beam 48 is 18.25 
Alpha[48]	0.000000
Alpha[48]	0.998173
TNavPF:: sumSquaredError = 42.980780 
TNavPF:: sumWeights = 0.038812 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 41 as -6.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -2.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 1.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 2.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -1.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.94. Range = 62.49 
TNavPF::Calculated measDiffMean for beam 83 as -2.04. Range = 61.46 
TNavPF::Calculated measDiffMean for beam 84 as -0.11. Range = 60.47 
TNavPF::Calculated measDiffMean for beam 85 as 0.39. Range = 54.22 
TNavPF::Calculated measDiffMean for beam 86 as 0.91. Range = 53.41 
TNavPF::Calculated measDiffMean for beam 87 as 1.80. Range = 53.73 
TNavPF::Calculated measDiffMean for beam 88 as 0.26. Range = 54.45 
TNavPF::Calculated measDiffMean for beam 89 as 0.11. Range = 53.72 
TNavPF::First Term of Map Covariance Matrix is 465.39 
TNavPF::Calculated NIS Value : 2.52 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322159.82 sec.
INS : North: 4070254.17, East: 589152.43, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 57.35, IDT[75] = 55.49
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322162.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322162.62)
ARL : North: -1.2251, East: -1.4094, Depth: 4.4694ARL : Estimation Bias  (Mean)         : (t = 1488322162.62)
ARL : North: -0.7556, East: -2.0962, Depth: 0.6998TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.23 
Alpha[0]	0.123000
Alpha[0]	0.999964
TNavParticleFilter::Modified Variance for beam 1 is 21.59 
Alpha[1]	0.000000
Alpha[1]	0.999914
TNavParticleFilter::Modified Variance for beam 2 is 22.04 
Alpha[2]	0.000000
Alpha[2]	0.999661
TNavParticleFilter::Modified Variance for beam 3 is 20.45 
Alpha[3]	0.000000
Alpha[3]	0.999097
TNavParticleFilter::Modified Variance for beam 4 is 19.95 
Alpha[4]	0.000000
Alpha[4]	0.997837
TNavParticleFilter::Modified Variance for beam 5 is 19.49 
Alpha[5]	0.000000
Alpha[5]	0.996678
TNavParticleFilter::Modified Variance for beam 6 is 19.57 
Alpha[6]	0.000000
Alpha[6]	0.994871
TNavParticleFilter::Modified Variance for beam 7 is 20.07 
Alpha[7]	0.000000
Alpha[7]	0.994208
TNavParticleFilter::Modified Variance for beam 8 is 19.63 
Alpha[8]	0.000000
Alpha[8]	0.993883
TNavParticleFilter::Modified Variance for beam 9 is 19.21 
Alpha[9]	0.000000
Alpha[9]	0.994277
TNavParticleFilter::Modified Variance for beam 10 is 18.81 
Alpha[10]	0.000000
Alpha[10]	0.994692
TNavParticleFilter::Modified Variance for beam 11 is 18.44 
Alpha[11]	0.000000
Alpha[11]	0.994523
TNavParticleFilter::Modified Variance for beam 12 is 18.37 
Alpha[12]	0.000000
Alpha[12]	0.994594
TNavParticleFilter::Modified Variance for beam 13 is 19.19 
Alpha[13]	0.000000
Alpha[13]	0.995407
TNavParticleFilter::Modified Variance for beam 14 is 20.00 
Alpha[14]	0.000000
Alpha[14]	0.995899
TNavParticleFilter::Modified Variance for beam 15 is 19.65 
Alpha[15]	0.000000
Alpha[15]	0.996245
TNavParticleFilter::Modified Variance for beam 16 is 19.77 
Alpha[16]	0.000000
Alpha[16]	0.996830
TNavParticleFilter::Modified Variance for beam 17 is 20.30 
Alpha[17]	0.000000
Alpha[17]	0.996883
TNavParticleFilter::Modified Variance for beam 18 is 20.01 
Alpha[18]	0.000000
Alpha[18]	0.996134
TNavParticleFilter::Modified Variance for beam 19 is 20.65 
Alpha[19]	0.000000
Alpha[19]	0.995865
TNavParticleFilter::Modified Variance for beam 20 is 20.70 
Alpha[20]	0.000000
Alpha[20]	0.996710
TNavParticleFilter::Modified Variance for beam 21 is 19.18 
Alpha[21]	0.000000
Alpha[21]	0.996798
TNavParticleFilter::Modified Variance for beam 22 is 18.95 
Alpha[22]	0.000000
Alpha[22]	0.996121
TNavParticleFilter::Modified Variance for beam 23 is 18.74 
Alpha[23]	0.000000
Alpha[23]	0.995141
TNavParticleFilter::Modified Variance for beam 24 is 18.56 
Alpha[24]	0.000000
Alpha[24]	0.993654
TNavParticleFilter::Modified Variance for beam 25 is 18.38 
Alpha[25]	0.000000
Alpha[25]	0.992676
TNavParticleFilter::Modified Variance for beam 26 is 18.19 
Alpha[26]	0.000000
Alpha[26]	0.992771
TNavParticleFilter::Modified Variance for beam 27 is 18.00 
Alpha[27]	0.000000
Alpha[27]	0.993416
TNavParticleFilter::Modified Variance for beam 28 is 17.83 
Alpha[28]	0.000000
Alpha[28]	0.993662
TNavParticleFilter::Modified Variance for beam 29 is 17.69 
Alpha[29]	0.000000
Alpha[29]	0.993580
TNavParticleFilter::Modified Variance for beam 30 is 17.65 
Alpha[30]	0.000000
Alpha[30]	0.993089
TNavParticleFilter::Modified Variance for beam 31 is 18.53 
Alpha[31]	0.000000
Alpha[31]	0.992864
TNavParticleFilter::Modified Variance for beam 32 is 18.39 
Alpha[32]	0.000000
Alpha[32]	0.993326
TNavParticleFilter::Modified Variance for beam 33 is 18.25 
Alpha[33]	0.000000
Alpha[33]	0.994701
TNavParticleFilter::Modified Variance for beam 34 is 18.14 
Alpha[34]	0.000000
Alpha[34]	0.994602
TNavParticleFilter::Modified Variance for beam 35 is 18.09 
Alpha[35]	0.000000
Alpha[35]	0.992425
TNavParticleFilter::Modified Variance for beam 36 is 18.02 
Alpha[36]	0.000000
Alpha[36]	0.991419
TNavParticleFilter::Modified Variance for beam 37 is 17.92 
Alpha[37]	0.000000
Alpha[37]	0.992161
TNavParticleFilter::Modified Variance for beam 38 is 17.83 
Alpha[38]	0.000000
Alpha[38]	0.993807
TNavParticleFilter::Modified Variance for beam 39 is 18.77 
Alpha[39]	0.000000
Alpha[39]	0.994884
TNavParticleFilter::Modified Variance for beam 40 is 19.91 
Alpha[40]	0.000000
Alpha[40]	0.994502
TNavParticleFilter::Modified Variance for beam 41 is 19.85 
Alpha[41]	0.000000
Alpha[41]	0.995143
TNavParticleFilter::Modified Variance for beam 42 is 18.67 
Alpha[42]	0.000000
Alpha[42]	0.996260
TNavParticleFilter::Modified Variance for beam 43 is 18.62 
Alpha[43]	0.000000
Alpha[43]	0.997595
TNavParticleFilter::Modified Variance for beam 44 is 18.59 
Alpha[44]	0.000000
Alpha[44]	0.998130
TNavParticleFilter::Modified Variance for beam 45 is 18.59 
Alpha[45]	0.000000
Alpha[45]	0.997890
TNavParticleFilter::Modified Variance for beam 46 is 18.61 
Alpha[46]	0.000000
Alpha[46]	0.996851
TNavParticleFilter::Modified Variance for beam 47 is 18.64 
Alpha[47]	0.000000
Alpha[47]	0.995989
TNavParticleFilter::Modified Variance for beam 48 is 18.66 
Alpha[48]	0.000000
Alpha[48]	0.995999
TNavParticleFilter::Modified Variance for beam 49 is 18.67 
Alpha[49]	0.000000
Alpha[49]	0.996582
TNavParticleFilter::Modified Variance for beam 50 is 15.60 
Alpha[50]	0.000000
Alpha[50]	0.996294
TNavParticleFilter::Modified Variance for beam 51 is 15.69 
Alpha[51]	0.000000
Alpha[51]	0.992924
TNavParticleFilter::Modified Variance for beam 52 is 15.81 
Alpha[52]	0.000000
Alpha[52]	0.988265
TNavParticleFilter::Modified Variance for beam 53 is 15.97 
Alpha[53]	0.000000
Alpha[53]	0.981652
TNavParticleFilter::Modified Variance for beam 54 is 15.99 
Alpha[54]	0.000000
Alpha[54]	0.984466
TNavParticleFilter::Modified Variance for beam 55 is 15.99 
Alpha[55]	0.000000
Alpha[55]	0.988542
TNavParticleFilter::Modified Variance for beam 56 is 16.06 
Alpha[56]	0.000000
Alpha[56]	0.989229
TNavParticleFilter::Modified Variance for beam 57 is 17.15 
Alpha[57]	0.000000
Alpha[57]	0.991377
TNavParticleFilter::Modified Variance for beam 58 is 17.21 
Alpha[58]	0.000000
Alpha[58]	0.993708
TNavParticleFilter::Modified Variance for beam 59 is 18.37 
Alpha[59]	0.000000
Alpha[59]	0.996706
TNavPF:: sumSquaredError = 11.792162 
TNavPF:: sumWeights = 0.048357 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -9.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 2.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.31. Range = 63.01 
TNavPF::Calculated measDiffMean for beam 60 as -0.35. Range = 61.89 
TNavPF::Calculated measDiffMean for beam 61 as 1.20. Range = 60.82 
TNavPF::Calculated measDiffMean for beam 62 as 1.04. Range = 61.56 
TNavPF::Calculated measDiffMean for beam 63 as 0.71. Range = 58.85 
TNavPF::Calculated measDiffMean for beam 64 as 0.24. Range = 57.93 
TNavPF::Calculated measDiffMean for beam 65 as -0.21. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 66 as -0.45. Range = 57.16 
TNavPF::Calculated measDiffMean for beam 67 as -0.57. Range = 58.01 
TNavPF::Calculated measDiffMean for beam 68 as -0.81. Range = 57.22 
TNavPF::Calculated measDiffMean for beam 69 as 0.31. Range = 56.48 
TNavPF::Calculated measDiffMean for beam 70 as 1.43. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 71 as 1.53. Range = 55.10 
TNavPF::Calculated measDiffMean for beam 72 as 0.13. Range = 54.98 
TNavPF::Calculated measDiffMean for beam 73 as 0.60. Range = 56.49 
TNavPF::Calculated measDiffMean for beam 74 as 0.95. Range = 57.95 
TNavPF::Calculated measDiffMean for beam 75 as 1.00. Range = 57.35 
TNavPF::Calculated measDiffMean for beam 76 as 0.98. Range = 57.58 
TNavPF::Calculated measDiffMean for beam 77 as 1.16. Range = 58.51 
TNavPF::Calculated measDiffMean for beam 78 as 1.71. Range = 57.97 
TNavPF::Calculated measDiffMean for beam 79 as 2.46. Range = 59.07 
TNavPF::Calculated measDiffMean for beam 80 as -1.98. Range = 59.19 
TNavPF::Calculated measDiffMean for beam 81 as -0.77. Range = 56.52 
TNavPF::Calculated measDiffMean for beam 82 as -0.36. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 83 as -0.12. Range = 55.67 
TNavPF::Calculated measDiffMean for beam 84 as -0.24. Range = 55.28 
TNavPF::Calculated measDiffMean for beam 85 as -0.76. Range = 54.92 
TNavPF::Calculated measDiffMean for beam 86 as -1.15. Range = 54.57 
TNavPF::Calculated measDiffMean for beam 87 as 0.54. Range = 54.25 
TNavPF::Calculated measDiffMean for beam 88 as 0.09. Range = 53.94 
TNavPF::Calculated measDiffMean for beam 89 as 1.46. Range = 53.66 
TNavPF::First Term of Map Covariance Matrix is 561.35 
TNavPF::Calculated NIS Value : 2.24 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322162.82 sec.
INS : North: 4070252.97, East: 589148.28, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 58.72, IDT[75] = 52.25
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322165.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322165.62)
ARL : North: -0.3374, East: -1.6704, Depth: 1.7402ARL : Estimation Bias  (Mean)         : (t = 1488322165.62)
ARL : North: -0.6644, East: -2.2013, Depth: 0.4114TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.70 
Alpha[0]	0.123000
Alpha[0]	0.999428
TNavParticleFilter::Modified Variance for beam 1 is 21.09 
Alpha[1]	0.000000
Alpha[1]	0.998338
TNavParticleFilter::Modified Variance for beam 2 is 20.52 
Alpha[2]	0.000000
Alpha[2]	0.996785
TNavParticleFilter::Modified Variance for beam 3 is 20.58 
Alpha[3]	0.000000
Alpha[3]	0.995124
TNavParticleFilter::Modified Variance for beam 4 is 21.03 
Alpha[4]	0.000000
Alpha[4]	0.994918
TNavParticleFilter::Modified Variance for beam 5 is 20.49 
Alpha[5]	0.000000
Alpha[5]	0.994915
TNavParticleFilter::Modified Variance for beam 6 is 19.98 
Alpha[6]	0.000000
Alpha[6]	0.995401
TNavParticleFilter::Modified Variance for beam 7 is 19.51 
Alpha[7]	0.000000
Alpha[7]	0.995538
TNavParticleFilter::Modified Variance for beam 8 is 19.08 
Alpha[8]	0.000000
Alpha[8]	0.994853
TNavParticleFilter::Modified Variance for beam 9 is 19.35 
Alpha[9]	0.000000
Alpha[9]	0.995118
TNavParticleFilter::Modified Variance for beam 10 is 19.62 
Alpha[10]	0.000000
Alpha[10]	0.996140
TNavParticleFilter::Modified Variance for beam 11 is 19.21 
Alpha[11]	0.000000
Alpha[11]	0.996702
TNavParticleFilter::Modified Variance for beam 12 is 19.72 
Alpha[12]	0.000000
Alpha[12]	0.996980
TNavParticleFilter::Modified Variance for beam 13 is 20.59 
Alpha[13]	0.000000
Alpha[13]	0.997095
TNavParticleFilter::Modified Variance for beam 14 is 20.80 
Alpha[14]	0.000000
Alpha[14]	0.996361
TNavParticleFilter::Modified Variance for beam 15 is 20.45 
Alpha[15]	0.000000
Alpha[15]	0.995580
TNavParticleFilter::Modified Variance for beam 16 is 21.33 
Alpha[16]	0.000000
Alpha[16]	0.996617
TNavParticleFilter::Modified Variance for beam 17 is 19.73 
Alpha[17]	0.000000
Alpha[17]	0.997501
TNavParticleFilter::Modified Variance for beam 18 is 19.43 
Alpha[18]	0.000000
Alpha[18]	0.997133
TNavParticleFilter::Modified Variance for beam 19 is 19.16 
Alpha[19]	0.000000
Alpha[19]	0.996094
TNavParticleFilter::Modified Variance for beam 20 is 18.93 
Alpha[20]	0.000000
Alpha[20]	0.994310
TNavParticleFilter::Modified Variance for beam 21 is 18.70 
Alpha[21]	0.000000
Alpha[21]	0.992941
TNavParticleFilter::Modified Variance for beam 22 is 18.45 
Alpha[22]	0.000000
Alpha[22]	0.993042
TNavParticleFilter::Modified Variance for beam 23 is 18.21 
Alpha[23]	0.000000
Alpha[23]	0.993934
TNavParticleFilter::Modified Variance for beam 24 is 17.99 
Alpha[24]	0.000000
Alpha[24]	0.994459
TNavParticleFilter::Modified Variance for beam 25 is 17.79 
Alpha[25]	0.000000
Alpha[25]	0.994354
TNavParticleFilter::Modified Variance for beam 26 is 17.61 
Alpha[26]	0.000000
Alpha[26]	0.993787
TNavParticleFilter::Modified Variance for beam 27 is 18.57 
Alpha[27]	0.000000
Alpha[27]	0.993772
TNavParticleFilter::Modified Variance for beam 28 is 18.39 
Alpha[28]	0.000000
Alpha[28]	0.994123
TNavParticleFilter::Modified Variance for beam 29 is 18.21 
Alpha[29]	0.000000
Alpha[29]	0.994690
TNavParticleFilter::Modified Variance for beam 30 is 18.06 
Alpha[30]	0.000000
Alpha[30]	0.994654
TNavParticleFilter::Modified Variance for beam 31 is 17.96 
Alpha[31]	0.000000
Alpha[31]	0.992471
TNavParticleFilter::Modified Variance for beam 32 is 17.85 
Alpha[32]	0.000000
Alpha[32]	0.991239
TNavParticleFilter::Modified Variance for beam 33 is 17.72 
Alpha[33]	0.000000
Alpha[33]	0.991252
TNavParticleFilter::Modified Variance for beam 34 is 17.59 
Alpha[34]	0.000000
Alpha[34]	0.992344
TNavParticleFilter::Modified Variance for beam 35 is 17.47 
Alpha[35]	0.000000
Alpha[35]	0.993430
TNavParticleFilter::Modified Variance for beam 36 is 19.58 
Alpha[36]	0.000000
Alpha[36]	0.994043
TNavParticleFilter::Modified Variance for beam 37 is 19.45 
Alpha[37]	0.000000
Alpha[37]	0.995548
TNavParticleFilter::Modified Variance for beam 38 is 18.23 
Alpha[38]	0.000000
Alpha[38]	0.997195
TNavParticleFilter::Modified Variance for beam 39 is 18.14 
Alpha[39]	0.000000
Alpha[39]	0.998142
TNavParticleFilter::Modified Variance for beam 40 is 17.02 
Alpha[40]	0.000000
Alpha[40]	0.998287
TNavParticleFilter::Modified Variance for beam 41 is 16.98 
Alpha[41]	0.000000
Alpha[41]	0.997804
TNavParticleFilter::Modified Variance for beam 42 is 16.97 
Alpha[42]	0.000000
Alpha[42]	0.996541
TNavParticleFilter::Modified Variance for beam 43 is 16.95 
Alpha[43]	0.000000
Alpha[43]	0.996117
TNavParticleFilter::Modified Variance for beam 44 is 16.92 
Alpha[44]	0.000000
Alpha[44]	0.996530
TNavParticleFilter::Modified Variance for beam 45 is 16.90 
Alpha[45]	0.000000
Alpha[45]	0.996735
TNavParticleFilter::Modified Variance for beam 46 is 14.92 
Alpha[46]	0.000000
Alpha[46]	0.996823
TNavParticleFilter::Modified Variance for beam 47 is 14.97 
Alpha[47]	0.000000
Alpha[47]	0.993639
TNavParticleFilter::Modified Variance for beam 48 is 15.05 
Alpha[48]	0.000000
Alpha[48]	0.988650
TNavParticleFilter::Modified Variance for beam 49 is 15.19 
Alpha[49]	0.000000
Alpha[49]	0.980779
TNavParticleFilter::Modified Variance for beam 50 is 15.19 
Alpha[50]	0.000000
Alpha[50]	0.981919
TNavParticleFilter::Modified Variance for beam 51 is 15.14 
Alpha[51]	0.000000
Alpha[51]	0.987475
TNavParticleFilter::Modified Variance for beam 52 is 15.18 
Alpha[52]	0.000000
Alpha[52]	0.987685
TNavParticleFilter::Modified Variance for beam 53 is 15.19 
Alpha[53]	0.000000
Alpha[53]	0.989356
TNavParticleFilter::Modified Variance for beam 54 is 16.22 
Alpha[54]	0.000000
Alpha[54]	0.990770
TNavParticleFilter::Modified Variance for beam 55 is 17.29 
Alpha[55]	0.000000
Alpha[55]	0.992776
TNavParticleFilter::Modified Variance for beam 56 is 17.31 
Alpha[56]	0.000000
Alpha[56]	0.996230
TNavParticleFilter::Modified Variance for beam 57 is 18.43 
Alpha[57]	0.000000
Alpha[57]	0.998891
TNavParticleFilter::Modified Variance for beam 58 is 18.52 
Alpha[58]	0.000000
Alpha[58]	0.999723
TNavParticleFilter::Modified Variance for beam 59 is 30.37 
Alpha[59]	0.000000
Alpha[59]	0.999781
TNavPF:: sumSquaredError = 8.621248 
TNavPF:: sumWeights = 0.039512 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.34. Range = 65.94 
TNavPF::Calculated measDiffMean for beam 57 as 1.40. Range = 64.60 
TNavPF::Calculated measDiffMean for beam 58 as 1.24. Range = 63.33 
TNavPF::Calculated measDiffMean for beam 59 as 1.02. Range = 63.17 
TNavPF::Calculated measDiffMean for beam 60 as 0.51. Range = 60.99 
TNavPF::Calculated measDiffMean for beam 61 as -0.05. Range = 59.91 
TNavPF::Calculated measDiffMean for beam 62 as -0.34. Range = 58.89 
TNavPF::Calculated measDiffMean for beam 63 as -0.44. Range = 58.92 
TNavPF::Calculated measDiffMean for beam 64 as -0.59. Range = 59.69 
TNavPF::Calculated measDiffMean for beam 65 as -1.11. Range = 58.77 
TNavPF::Calculated measDiffMean for beam 66 as 1.80. Range = 57.89 
TNavPF::Calculated measDiffMean for beam 67 as 1.59. Range = 57.06 
TNavPF::Calculated measDiffMean for beam 68 as 0.28. Range = 56.27 
TNavPF::Calculated measDiffMean for beam 69 as 0.94. Range = 56.77 
TNavPF::Calculated measDiffMean for beam 70 as -0.67. Range = 57.28 
TNavPF::Calculated measDiffMean for beam 71 as -0.79. Range = 56.56 
TNavPF::Calculated measDiffMean for beam 72 as -0.92. Range = 57.50 
TNavPF::Calculated measDiffMean for beam 73 as -0.75. Range = 59.02 
TNavPF::Calculated measDiffMean for beam 74 as -0.20. Range = 59.35 
TNavPF::Calculated measDiffMean for beam 75 as 0.40. Range = 58.72 
TNavPF::Calculated measDiffMean for beam 76 as -2.21. Range = 60.27 
TNavPF::Calculated measDiffMean for beam 77 as -0.89. Range = 57.54 
TNavPF::Calculated measDiffMean for beam 78 as -0.49. Range = 56.99 
TNavPF::Calculated measDiffMean for beam 79 as -0.20. Range = 56.47 
TNavPF::Calculated measDiffMean for beam 80 as -0.28. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 81 as -0.84. Range = 55.51 
TNavPF::Calculated measDiffMean for beam 82 as -1.25. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 83 as -1.50. Range = 54.65 
TNavPF::Calculated measDiffMean for beam 84 as 0.23. Range = 54.25 
TNavPF::Calculated measDiffMean for beam 85 as 1.82. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 86 as 1.08. Range = 53.52 
TNavPF::Calculated measDiffMean for beam 87 as 1.49. Range = 55.31 
TNavPF::Calculated measDiffMean for beam 88 as -3.21. Range = 54.98 
TNavPF::Calculated measDiffMean for beam 89 as 6.18. Range = 54.68 
TNavPF::First Term of Map Covariance Matrix is 34.97 
TNavPF::Calculated NIS Value : 2.88 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322165.82 sec.
INS : North: 4070251.72, East: 589144.12, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 57.61, IDT[75] = 46.99
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322168.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322168.62)
ARL : North: -0.0822, East: -2.3475, Depth: -0.8135ARL : Estimation Bias  (Mean)         : (t = 1488322168.62)
ARL : North: -0.6865, East: -2.3665, Depth: 0.2230TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.81 
Alpha[0]	0.123000
Alpha[0]	0.997404
TNavParticleFilter::Modified Variance for beam 1 is 22.18 
Alpha[1]	0.000000
Alpha[1]	0.994808
TNavParticleFilter::Modified Variance for beam 2 is 21.53 
Alpha[2]	0.000000
Alpha[2]	0.994808
TNavParticleFilter::Modified Variance for beam 3 is 20.92 
Alpha[3]	0.000000
Alpha[3]	0.995086
TNavParticleFilter::Modified Variance for beam 4 is 20.38 
Alpha[4]	0.000000
Alpha[4]	0.994046
TNavParticleFilter::Modified Variance for beam 5 is 19.95 
Alpha[5]	0.000000
Alpha[5]	0.993879
TNavParticleFilter::Modified Variance for beam 6 is 20.61 
Alpha[6]	0.000000
Alpha[6]	0.994709
TNavParticleFilter::Modified Variance for beam 7 is 21.31 
Alpha[7]	0.000000
Alpha[7]	0.995391
TNavParticleFilter::Modified Variance for beam 8 is 21.36 
Alpha[8]	0.000000
Alpha[8]	0.994910
TNavParticleFilter::Modified Variance for beam 9 is 20.99 
Alpha[9]	0.000000
Alpha[9]	0.994089
TNavParticleFilter::Modified Variance for beam 10 is 21.83 
Alpha[10]	0.000000
Alpha[10]	0.992907
TNavParticleFilter::Modified Variance for beam 11 is 21.43 
Alpha[11]	0.000000
Alpha[11]	0.994867
TNavParticleFilter::Modified Variance for beam 12 is 21.46 
Alpha[12]	0.000000
Alpha[12]	0.996655
TNavParticleFilter::Modified Variance for beam 13 is 21.95 
Alpha[13]	0.000000
Alpha[13]	0.997484
TNavParticleFilter::Modified Variance for beam 14 is 20.15 
Alpha[14]	0.000000
Alpha[14]	0.996890
TNavParticleFilter::Modified Variance for beam 15 is 19.83 
Alpha[15]	0.000000
Alpha[15]	0.994736
TNavParticleFilter::Modified Variance for beam 16 is 19.52 
Alpha[16]	0.000000
Alpha[16]	0.993092
TNavParticleFilter::Modified Variance for beam 17 is 19.20 
Alpha[17]	0.000000
Alpha[17]	0.992607
TNavParticleFilter::Modified Variance for beam 18 is 18.89 
Alpha[18]	0.000000
Alpha[18]	0.992888
TNavParticleFilter::Modified Variance for beam 19 is 18.60 
Alpha[19]	0.000000
Alpha[19]	0.993462
TNavParticleFilter::Modified Variance for beam 20 is 18.33 
Alpha[20]	0.000000
Alpha[20]	0.993520
TNavParticleFilter::Modified Variance for beam 21 is 18.09 
Alpha[21]	0.000000
Alpha[21]	0.992846
TNavParticleFilter::Modified Variance for beam 22 is 17.86 
Alpha[22]	0.000000
Alpha[22]	0.991850
TNavParticleFilter::Modified Variance for beam 23 is 18.82 
Alpha[23]	0.000000
Alpha[23]	0.992037
TNavParticleFilter::Modified Variance for beam 24 is 18.59 
Alpha[24]	0.000000
Alpha[24]	0.992055
TNavParticleFilter::Modified Variance for beam 25 is 18.35 
Alpha[25]	0.000000
Alpha[25]	0.993490
TNavParticleFilter::Modified Variance for beam 26 is 18.17 
Alpha[26]	0.000000
Alpha[26]	0.992285
TNavParticleFilter::Modified Variance for beam 27 is 18.01 
Alpha[27]	0.000000
Alpha[27]	0.990581
TNavParticleFilter::Modified Variance for beam 28 is 17.81 
Alpha[28]	0.000000
Alpha[28]	0.991671
TNavParticleFilter::Modified Variance for beam 29 is 17.63 
Alpha[29]	0.000000
Alpha[29]	0.992678
TNavParticleFilter::Modified Variance for beam 30 is 17.46 
Alpha[30]	0.000000
Alpha[30]	0.993865
TNavParticleFilter::Modified Variance for beam 31 is 17.41 
Alpha[31]	0.000000
Alpha[31]	0.993416
TNavParticleFilter::Modified Variance for beam 32 is 19.27 
Alpha[32]	0.000000
Alpha[32]	0.995533
TNavParticleFilter::Modified Variance for beam 33 is 19.21 
Alpha[33]	0.000000
Alpha[33]	0.997455
TNavParticleFilter::Modified Variance for beam 34 is 17.96 
Alpha[34]	0.000000
Alpha[34]	0.997648
TNavParticleFilter::Modified Variance for beam 35 is 17.85 
Alpha[35]	0.000000
Alpha[35]	0.997842
TNavParticleFilter::Modified Variance for beam 36 is 17.76 
Alpha[36]	0.000000
Alpha[36]	0.997378
TNavParticleFilter::Modified Variance for beam 37 is 17.68 
Alpha[37]	0.000000
Alpha[37]	0.996831
TNavParticleFilter::Modified Variance for beam 38 is 17.60 
Alpha[38]	0.000000
Alpha[38]	0.996463
TNavParticleFilter::Modified Variance for beam 39 is 17.53 
Alpha[39]	0.000000
Alpha[39]	0.996671
TNavParticleFilter::Modified Variance for beam 40 is 17.46 
Alpha[40]	0.000000
Alpha[40]	0.996872
TNavParticleFilter::Modified Variance for beam 41 is 17.40 
Alpha[41]	0.000000
Alpha[41]	0.997462
TNavParticleFilter::Modified Variance for beam 42 is 14.42 
Alpha[42]	0.000000
Alpha[42]	0.995418
TNavParticleFilter::Modified Variance for beam 43 is 14.41 
Alpha[43]	0.000000
Alpha[43]	0.993582
TNavParticleFilter::Modified Variance for beam 44 is 14.46 
Alpha[44]	0.000000
Alpha[44]	0.989101
TNavParticleFilter::Modified Variance for beam 45 is 14.48 
Alpha[45]	0.000000
Alpha[45]	0.986469
TNavParticleFilter::Modified Variance for beam 46 is 14.44 
Alpha[46]	0.000000
Alpha[46]	0.988656
TNavParticleFilter::Modified Variance for beam 47 is 15.39 
Alpha[47]	0.000000
Alpha[47]	0.988814
TNavParticleFilter::Modified Variance for beam 48 is 15.35 
Alpha[48]	0.000000
Alpha[48]	0.991477
TNavParticleFilter::Modified Variance for beam 49 is 15.35 
Alpha[49]	0.000000
Alpha[49]	0.992104
TNavParticleFilter::Modified Variance for beam 50 is 15.34 
Alpha[50]	0.000000
Alpha[50]	0.993905
TNavParticleFilter::Modified Variance for beam 51 is 16.35 
Alpha[51]	0.000000
Alpha[51]	0.994879
TNavParticleFilter::Modified Variance for beam 52 is 16.33 
Alpha[52]	0.000000
Alpha[52]	0.998383
TNavParticleFilter::Modified Variance for beam 53 is 16.36 
Alpha[53]	0.000000
Alpha[53]	0.999262
TNavParticleFilter::Modified Variance for beam 54 is 17.44 
Alpha[54]	0.000000
Alpha[54]	0.999749
TNavParticleFilter::Modified Variance for beam 55 is 28.67 
Alpha[55]	0.000000
Alpha[55]	0.999594
TNavParticleFilter::Modified Variance for beam 56 is 28.88 
Alpha[56]	0.000000
Alpha[56]	0.997063
TNavParticleFilter::Modified Variance for beam 57 is 29.10 
Alpha[57]	0.000000
Alpha[57]	0.994591
TNavParticleFilter::Modified Variance for beam 58 is 29.40 
Alpha[58]	0.000000
Alpha[58]	0.990315
TNavParticleFilter::Modified Variance for beam 59 is 29.63 
Alpha[59]	0.000000
Alpha[59]	0.988940
TNavPF:: sumSquaredError = 169.156086 
TNavPF:: sumWeights = 0.036596 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.22. Range = 66.22 
TNavPF::Calculated measDiffMean for beam 56 as -0.35. Range = 65.24 
TNavPF::Calculated measDiffMean for beam 57 as -0.63. Range = 63.45 
TNavPF::Calculated measDiffMean for beam 58 as -0.76. Range = 62.18 
TNavPF::Calculated measDiffMean for beam 59 as -0.89. Range = 60.97 
TNavPF::Calculated measDiffMean for beam 60 as -1.24. Range = 61.10 
TNavPF::Calculated measDiffMean for beam 61 as -2.12. Range = 61.61 
TNavPF::Calculated measDiffMean for beam 62 as 0.90. Range = 60.54 
TNavPF::Calculated measDiffMean for beam 63 as 1.64. Range = 59.52 
TNavPF::Calculated measDiffMean for beam 64 as 0.19. Range = 58.55 
TNavPF::Calculated measDiffMean for beam 65 as 0.40. Range = 57.80 
TNavPF::Calculated measDiffMean for beam 66 as 0.14. Range = 58.96 
TNavPF::Calculated measDiffMean for beam 67 as 0.16. Range = 60.19 
TNavPF::Calculated measDiffMean for beam 68 as 0.44. Range = 60.25 
TNavPF::Calculated measDiffMean for beam 69 as 0.91. Range = 59.59 
TNavPF::Calculated measDiffMean for beam 70 as 1.72. Range = 60.97 
TNavPF::Calculated measDiffMean for beam 71 as 3.55. Range = 60.36 
TNavPF::Calculated measDiffMean for beam 72 as -1.12. Range = 60.48 
TNavPF::Calculated measDiffMean for beam 73 as -0.74. Range = 61.32 
TNavPF::Calculated measDiffMean for beam 74 as -0.36. Range = 58.25 
TNavPF::Calculated measDiffMean for beam 75 as -0.39. Range = 57.61 
TNavPF::Calculated measDiffMean for beam 76 as -0.92. Range = 57.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.77. Range = 56.42 
TNavPF::Calculated measDiffMean for beam 78 as 0.38. Range = 55.87 
TNavPF::Calculated measDiffMean for beam 79 as -0.12. Range = 55.35 
TNavPF::Calculated measDiffMean for beam 80 as -0.43. Range = 54.85 
TNavPF::Calculated measDiffMean for beam 81 as 0.99. Range = 54.38 
TNavPF::Calculated measDiffMean for beam 82 as 0.03. Range = 53.94 
TNavPF::Calculated measDiffMean for beam 83 as -2.53. Range = 55.70 
TNavPF::Calculated measDiffMean for beam 84 as -5.98. Range = 55.28 
TNavPF::Calculated measDiffMean for beam 85 as 2.60. Range = 54.89 
TNavPF::Calculated measDiffMean for beam 86 as -0.27. Range = 54.52 
TNavPF::Calculated measDiffMean for beam 87 as -0.65. Range = 54.17 
TNavPF::Calculated measDiffMean for beam 88 as -0.97. Range = 53.84 
TNavPF::Calculated measDiffMean for beam 89 as -0.96. Range = 53.53 
TNavPF::First Term of Map Covariance Matrix is 7.69 
TNavPF::Calculated NIS Value : 3.01 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322168.82 sec.
INS : North: 4070250.50, East: 589139.95, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 55.40, IDT[75] = 70.24
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322171.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322171.62)
ARL : North: 0.1875, East: -1.3843, Depth: 0.2994ARL : Estimation Bias  (Mean)         : (t = 1488322171.62)
ARL : North: -0.5165, East: -2.0955, Depth: 0.3794TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.97 
Alpha[0]	0.123000
Alpha[0]	0.992508
TNavParticleFilter::Modified Variance for beam 1 is 22.55 
Alpha[1]	0.000000
Alpha[1]	0.994001
TNavParticleFilter::Modified Variance for beam 2 is 22.57 
Alpha[2]	0.000000
Alpha[2]	0.996467
TNavParticleFilter::Modified Variance for beam 3 is 22.98 
Alpha[3]	0.000000
Alpha[3]	0.997524
TNavParticleFilter::Modified Variance for beam 4 is 20.98 
Alpha[4]	0.000000
Alpha[4]	0.997508
TNavParticleFilter::Modified Variance for beam 5 is 20.57 
Alpha[5]	0.000000
Alpha[5]	0.996242
TNavParticleFilter::Modified Variance for beam 6 is 20.20 
Alpha[6]	0.000000
Alpha[6]	0.994357
TNavParticleFilter::Modified Variance for beam 7 is 19.83 
Alpha[7]	0.000000
Alpha[7]	0.993514
TNavParticleFilter::Modified Variance for beam 8 is 19.66 
Alpha[8]	0.000000
Alpha[8]	0.993391
TNavParticleFilter::Modified Variance for beam 9 is 20.44 
Alpha[9]	0.000000
Alpha[9]	0.993792
TNavParticleFilter::Modified Variance for beam 10 is 20.08 
Alpha[10]	0.000000
Alpha[10]	0.993979
TNavParticleFilter::Modified Variance for beam 11 is 19.77 
Alpha[11]	0.000000
Alpha[11]	0.993231
TNavParticleFilter::Modified Variance for beam 12 is 19.47 
Alpha[12]	0.000000
Alpha[12]	0.992316
TNavParticleFilter::Modified Variance for beam 13 is 19.18 
Alpha[13]	0.000000
Alpha[13]	0.992405
TNavParticleFilter::Modified Variance for beam 14 is 18.92 
Alpha[14]	0.000000
Alpha[14]	0.991709
TNavParticleFilter::Modified Variance for beam 15 is 18.63 
Alpha[15]	0.000000
Alpha[15]	0.993015
TNavParticleFilter::Modified Variance for beam 16 is 18.40 
Alpha[16]	0.000000
Alpha[16]	0.992418
TNavParticleFilter::Modified Variance for beam 17 is 18.19 
Alpha[17]	0.000000
Alpha[17]	0.991190
TNavParticleFilter::Modified Variance for beam 18 is 17.96 
Alpha[18]	0.000000
Alpha[18]	0.992175
TNavParticleFilter::Modified Variance for beam 19 is 17.74 
Alpha[19]	0.000000
Alpha[19]	0.993038
TNavParticleFilter::Modified Variance for beam 20 is 17.60 
Alpha[20]	0.000000
Alpha[20]	0.994132
TNavParticleFilter::Modified Variance for beam 21 is 19.00 
Alpha[21]	0.000000
Alpha[21]	0.995477
TNavParticleFilter::Modified Variance for beam 22 is 19.41 
Alpha[22]	0.000000
Alpha[22]	0.997469
TNavParticleFilter::Modified Variance for beam 23 is 18.07 
Alpha[23]	0.000000
Alpha[23]	0.997928
TNavParticleFilter::Modified Variance for beam 24 is 17.92 
Alpha[24]	0.000000
Alpha[24]	0.997630
TNavParticleFilter::Modified Variance for beam 25 is 17.79 
Alpha[25]	0.000000
Alpha[25]	0.997353
TNavParticleFilter::Modified Variance for beam 26 is 17.65 
Alpha[26]	0.000000
Alpha[26]	0.997324
TNavParticleFilter::Modified Variance for beam 27 is 17.53 
Alpha[27]	0.000000
Alpha[27]	0.997143
TNavParticleFilter::Modified Variance for beam 28 is 17.42 
Alpha[28]	0.000000
Alpha[28]	0.997091
TNavParticleFilter::Modified Variance for beam 29 is 17.32 
Alpha[29]	0.000000
Alpha[29]	0.997240
TNavParticleFilter::Modified Variance for beam 30 is 14.23 
Alpha[30]	0.000000
Alpha[30]	0.997793
TNavParticleFilter::Modified Variance for beam 31 is 14.18 
Alpha[31]	0.000000
Alpha[31]	0.996780
TNavParticleFilter::Modified Variance for beam 32 is 14.14 
Alpha[32]	0.000000
Alpha[32]	0.995019
TNavParticleFilter::Modified Variance for beam 33 is 14.12 
Alpha[33]	0.000000
Alpha[33]	0.993168
TNavParticleFilter::Modified Variance for beam 34 is 14.15 
Alpha[34]	0.000000
Alpha[34]	0.987862
TNavParticleFilter::Modified Variance for beam 35 is 15.04 
Alpha[35]	0.000000
Alpha[35]	0.988560
TNavParticleFilter::Modified Variance for beam 36 is 15.00 
Alpha[36]	0.000000
Alpha[36]	0.988826
TNavParticleFilter::Modified Variance for beam 37 is 14.97 
Alpha[37]	0.000000
Alpha[37]	0.989177
TNavParticleFilter::Modified Variance for beam 38 is 14.92 
Alpha[38]	0.000000
Alpha[38]	0.991033
TNavParticleFilter::Modified Variance for beam 39 is 14.89 
Alpha[39]	0.000000
Alpha[39]	0.991768
TNavParticleFilter::Modified Variance for beam 40 is 14.86 
Alpha[40]	0.000000
Alpha[40]	0.993688
TNavParticleFilter::Modified Variance for beam 41 is 14.83 
Alpha[41]	0.000000
Alpha[41]	0.995386
TNavParticleFilter::Modified Variance for beam 42 is 15.75 
Alpha[42]	0.000000
Alpha[42]	0.998696
TNavParticleFilter::Modified Variance for beam 43 is 16.76 
Alpha[43]	0.000000
Alpha[43]	0.999326
TNavParticleFilter::Modified Variance for beam 44 is 16.78 
Alpha[44]	0.000000
Alpha[44]	0.999700
TNavParticleFilter::Modified Variance for beam 45 is 27.65 
Alpha[45]	0.000000
Alpha[45]	0.999554
TNavParticleFilter::Modified Variance for beam 46 is 27.81 
Alpha[46]	0.000000
Alpha[46]	0.996494
TNavParticleFilter::Modified Variance for beam 47 is 27.98 
Alpha[47]	0.000000
Alpha[47]	0.993978
TNavParticleFilter::Modified Variance for beam 48 is 28.19 
Alpha[48]	0.000000
Alpha[48]	0.990221
TNavParticleFilter::Modified Variance for beam 49 is 28.33 
Alpha[49]	0.000000
Alpha[49]	0.989555
TNavParticleFilter::Modified Variance for beam 50 is 28.47 
Alpha[50]	0.000000
Alpha[50]	0.989421
TNavParticleFilter::Modified Variance for beam 51 is 28.65 
Alpha[51]	0.000000
Alpha[51]	0.988621
TNavParticleFilter::Modified Variance for beam 52 is 30.34 
Alpha[52]	0.000000
Alpha[52]	0.987061
TNavParticleFilter::Modified Variance for beam 53 is 30.58 
Alpha[53]	0.000000
Alpha[53]	0.985708
TNavParticleFilter::Modified Variance for beam 54 is 30.78 
Alpha[54]	0.000000
Alpha[54]	0.986347
TNavParticleFilter::Modified Variance for beam 55 is 30.93 
Alpha[55]	0.000000
Alpha[55]	0.989219
TNavParticleFilter::Modified Variance for beam 56 is 32.57 
Alpha[56]	0.000000
Alpha[56]	0.994624
TNavParticleFilter::Modified Variance for beam 57 is 33.18 
Alpha[57]	0.000000
Alpha[57]	0.985076
TNavParticleFilter::Modified Variance for beam 58 is 33.50 
Alpha[58]	0.000000
Alpha[58]	0.984774
TNavParticleFilter::Modified Variance for beam 59 is 32.35 
Alpha[59]	0.000000
Alpha[59]	0.981128
TNavPF:: sumSquaredError = 7.110273 
TNavPF:: sumWeights = 0.028380 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.55. Range = 75.72 
TNavPF::Calculated measDiffMean for beam 47 as -0.79. Range = 68.20 
TNavPF::Calculated measDiffMean for beam 48 as -0.92. Range = 65.67 
TNavPF::Calculated measDiffMean for beam 49 as -1.05. Range = 64.22 
TNavPF::Calculated measDiffMean for beam 50 as -1.34. Range = 63.25 
TNavPF::Calculated measDiffMean for beam 51 as 0.70. Range = 64.19 
TNavPF::Calculated measDiffMean for beam 52 as 1.30. Range = 63.36 
TNavPF::Calculated measDiffMean for beam 53 as -0.35. Range = 62.14 
TNavPF::Calculated measDiffMean for beam 54 as 0.18. Range = 60.99 
TNavPF::Calculated measDiffMean for beam 55 as 0.21. Range = 60.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.04. Range = 61.05 
TNavPF::Calculated measDiffMean for beam 57 as 0.07. Range = 62.17 
TNavPF::Calculated measDiffMean for beam 58 as 0.49. Range = 62.37 
TNavPF::Calculated measDiffMean for beam 59 as 1.16. Range = 61.56 
TNavPF::Calculated measDiffMean for beam 60 as -3.32. Range = 62.81 
TNavPF::Calculated measDiffMean for beam 61 as -1.49. Range = 62.19 
TNavPF::Calculated measDiffMean for beam 62 as -0.91. Range = 62.31 
TNavPF::Calculated measDiffMean for beam 63 as -0.50. Range = 63.01 
TNavPF::Calculated measDiffMean for beam 64 as -0.31. Range = 59.70 
TNavPF::Calculated measDiffMean for beam 65 as 1.34. Range = 58.95 
TNavPF::Calculated measDiffMean for beam 66 as 0.89. Range = 58.24 
TNavPF::Calculated measDiffMean for beam 67 as 0.67. Range = 57.56 
TNavPF::Calculated measDiffMean for beam 68 as 0.11. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 69 as -0.21. Range = 58.64 
TNavPF::Calculated measDiffMean for beam 70 as -0.65. Range = 58.03 
TNavPF::Calculated measDiffMean for beam 71 as -1.12. Range = 57.45 
TNavPF::Calculated measDiffMean for beam 72 as -0.44. Range = 56.89 
TNavPF::Calculated measDiffMean for beam 73 as -1.18. Range = 56.37 
TNavPF::Calculated measDiffMean for beam 74 as -5.36. Range = 55.87 
TNavPF::Calculated measDiffMean for beam 75 as 3.39. Range = 55.40 
TNavPF::Calculated measDiffMean for beam 76 as 0.18. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 77 as -0.29. Range = 54.53 
TNavPF::Calculated measDiffMean for beam 78 as -0.53. Range = 54.13 
TNavPF::Calculated measDiffMean for beam 79 as -0.84. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 80 as -0.84. Range = 53.51 
TNavPF::Calculated measDiffMean for beam 81 as -0.84. Range = 56.15 
TNavPF::Calculated measDiffMean for beam 82 as 0.87. Range = 56.95 
TNavPF::Calculated measDiffMean for beam 83 as 0.83. Range = 54.53 
TNavPF::Calculated measDiffMean for beam 84 as 0.83. Range = 54.24 
TNavPF::Calculated measDiffMean for beam 85 as 0.69. Range = 53.97 
TNavPF::Calculated measDiffMean for beam 86 as 1.52. Range = 53.72 
TNavPF::Calculated measDiffMean for beam 87 as 0.79. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 88 as 1.16. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 89 as -0.11. Range = 53.08 
TNavPF::First Term of Map Covariance Matrix is 2.66 
TNavPF::Calculated NIS Value : 3.31 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322171.82 sec.
INS : North: 4070249.73, East: 589135.70, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 57.55, IDT[75] = 69.26
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322174.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322174.62)
ARL : North: -0.7292, East: -2.9415, Depth: -3.2731ARL : Estimation Bias  (Mean)         : (t = 1488322174.62)
ARL : North: -0.4456, East: -2.1285, Depth: 0.6221TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.62 
Alpha[0]	0.123000
Alpha[0]	0.996120
TNavParticleFilter::Modified Variance for beam 1 is 24.40 
Alpha[1]	0.000000
Alpha[1]	0.997308
TNavParticleFilter::Modified Variance for beam 2 is 22.22 
Alpha[2]	0.000000
Alpha[2]	0.997739
TNavParticleFilter::Modified Variance for beam 3 is 21.69 
Alpha[3]	0.000000
Alpha[3]	0.997229
TNavParticleFilter::Modified Variance for beam 4 is 21.22 
Alpha[4]	0.000000
Alpha[4]	0.995897
TNavParticleFilter::Modified Variance for beam 5 is 20.77 
Alpha[5]	0.000000
Alpha[5]	0.994854
TNavParticleFilter::Modified Variance for beam 6 is 20.76 
Alpha[6]	0.000000
Alpha[6]	0.994220
TNavParticleFilter::Modified Variance for beam 7 is 21.34 
Alpha[7]	0.000000
Alpha[7]	0.994292
TNavParticleFilter::Modified Variance for beam 8 is 20.91 
Alpha[8]	0.000000
Alpha[8]	0.994293
TNavParticleFilter::Modified Variance for beam 9 is 20.53 
Alpha[9]	0.000000
Alpha[9]	0.993457
TNavParticleFilter::Modified Variance for beam 10 is 20.16 
Alpha[10]	0.000000
Alpha[10]	0.992769
TNavParticleFilter::Modified Variance for beam 11 is 19.81 
Alpha[11]	0.000000
Alpha[11]	0.992622
TNavParticleFilter::Modified Variance for beam 12 is 19.86 
Alpha[12]	0.000000
Alpha[12]	0.991719
TNavParticleFilter::Modified Variance for beam 13 is 20.45 
Alpha[13]	0.000000
Alpha[13]	0.993133
TNavParticleFilter::Modified Variance for beam 14 is 20.15 
Alpha[14]	0.000000
Alpha[14]	0.991986
TNavParticleFilter::Modified Variance for beam 15 is 19.86 
Alpha[15]	0.000000
Alpha[15]	0.991601
TNavParticleFilter::Modified Variance for beam 16 is 18.32 
Alpha[16]	0.000000
Alpha[16]	0.992650
TNavParticleFilter::Modified Variance for beam 17 is 18.05 
Alpha[17]	0.000000
Alpha[17]	0.994211
TNavParticleFilter::Modified Variance for beam 18 is 18.87 
Alpha[18]	0.000000
Alpha[18]	0.996381
TNavParticleFilter::Modified Variance for beam 19 is 19.92 
Alpha[19]	0.000000
Alpha[19]	0.997635
TNavParticleFilter::Modified Variance for beam 20 is 18.48 
Alpha[20]	0.000000
Alpha[20]	0.997969
TNavParticleFilter::Modified Variance for beam 21 is 18.28 
Alpha[21]	0.000000
Alpha[21]	0.997643
TNavParticleFilter::Modified Variance for beam 22 is 18.09 
Alpha[22]	0.000000
Alpha[22]	0.997070
TNavParticleFilter::Modified Variance for beam 23 is 17.90 
Alpha[23]	0.000000
Alpha[23]	0.997500
TNavParticleFilter::Modified Variance for beam 24 is 17.73 
Alpha[24]	0.000000
Alpha[24]	0.997653
TNavParticleFilter::Modified Variance for beam 25 is 17.57 
Alpha[25]	0.000000
Alpha[25]	0.997581
TNavParticleFilter::Modified Variance for beam 26 is 17.42 
Alpha[26]	0.000000
Alpha[26]	0.997885
TNavParticleFilter::Modified Variance for beam 27 is 14.23 
Alpha[27]	0.000000
Alpha[27]	0.998156
TNavParticleFilter::Modified Variance for beam 28 is 14.15 
Alpha[28]	0.000000
Alpha[28]	0.996875
TNavParticleFilter::Modified Variance for beam 29 is 14.08 
Alpha[29]	0.000000
Alpha[29]	0.995705
TNavParticleFilter::Modified Variance for beam 30 is 14.02 
Alpha[30]	0.000000
Alpha[30]	0.993830
TNavParticleFilter::Modified Variance for beam 31 is 14.01 
Alpha[31]	0.000000
Alpha[31]	0.989487
TNavParticleFilter::Modified Variance for beam 32 is 14.89 
Alpha[32]	0.000000
Alpha[32]	0.989243
TNavParticleFilter::Modified Variance for beam 33 is 14.82 
Alpha[33]	0.000000
Alpha[33]	0.989295
TNavParticleFilter::Modified Variance for beam 34 is 14.76 
Alpha[34]	0.000000
Alpha[34]	0.989222
TNavParticleFilter::Modified Variance for beam 35 is 14.68 
Alpha[35]	0.000000
Alpha[35]	0.990745
TNavParticleFilter::Modified Variance for beam 36 is 14.63 
Alpha[36]	0.000000
Alpha[36]	0.991141
TNavParticleFilter::Modified Variance for beam 37 is 14.58 
Alpha[37]	0.000000
Alpha[37]	0.991979
TNavParticleFilter::Modified Variance for beam 38 is 14.51 
Alpha[38]	0.000000
Alpha[38]	0.994644
TNavParticleFilter::Modified Variance for beam 39 is 16.62 
Alpha[39]	0.000000
Alpha[39]	0.997539
TNavParticleFilter::Modified Variance for beam 40 is 17.36 
Alpha[40]	0.000000
Alpha[40]	0.999163
TNavParticleFilter::Modified Variance for beam 41 is 17.34 
Alpha[41]	0.000000
Alpha[41]	0.999527
TNavParticleFilter::Modified Variance for beam 42 is 26.93 
Alpha[42]	0.000000
Alpha[42]	0.999652
TNavParticleFilter::Modified Variance for beam 43 is 26.99 
Alpha[43]	0.000000
Alpha[43]	0.997327
TNavParticleFilter::Modified Variance for beam 44 is 27.10 
Alpha[44]	0.000000
Alpha[44]	0.993984
TNavParticleFilter::Modified Variance for beam 45 is 27.31 
Alpha[45]	0.000000
Alpha[45]	0.987788
TNavParticleFilter::Modified Variance for beam 46 is 27.30 
Alpha[46]	0.000000
Alpha[46]	0.989827
TNavParticleFilter::Modified Variance for beam 47 is 28.74 
Alpha[47]	0.000000
Alpha[47]	0.990323
TNavParticleFilter::Modified Variance for beam 48 is 28.82 
Alpha[48]	0.000000
Alpha[48]	0.990657
TNavParticleFilter::Modified Variance for beam 49 is 27.51 
Alpha[49]	0.000000
Alpha[49]	0.990555
TNavParticleFilter::Modified Variance for beam 50 is 29.10 
Alpha[50]	0.000000
Alpha[50]	0.988239
TNavParticleFilter::Modified Variance for beam 51 is 29.33 
Alpha[51]	0.000000
Alpha[51]	0.985013
TNavParticleFilter::Modified Variance for beam 52 is 29.47 
Alpha[52]	0.000000
Alpha[52]	0.985176
TNavParticleFilter::Modified Variance for beam 53 is 29.60 
Alpha[53]	0.000000
Alpha[53]	0.986457
TNavParticleFilter::Modified Variance for beam 54 is 29.65 
Alpha[54]	0.000000
Alpha[54]	0.990811
TNavParticleFilter::Modified Variance for beam 55 is 31.25 
Alpha[55]	0.000000
Alpha[55]	0.993795
TNavParticleFilter::Modified Variance for beam 56 is 31.83 
Alpha[56]	0.000000
Alpha[56]	0.983066
TNavParticleFilter::Modified Variance for beam 57 is 31.53 
Alpha[57]	0.000000
Alpha[57]	0.983726
TNavParticleFilter::Modified Variance for beam 58 is 30.85 
Alpha[58]	0.000000
Alpha[58]	0.981580
TNavParticleFilter::Modified Variance for beam 59 is 31.06 
Alpha[59]	0.000000
Alpha[59]	0.983729
TNavPF:: sumSquaredError = 5.746805 
TNavPF:: sumWeights = 0.037902 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.11. Range = 79.73 
TNavPF::Calculated measDiffMean for beam 46 as -1.27. Range = 77.64 
TNavPF::Calculated measDiffMean for beam 47 as -1.46. Range = 68.67 
TNavPF::Calculated measDiffMean for beam 48 as 0.02. Range = 66.99 
TNavPF::Calculated measDiffMean for beam 49 as 1.48. Range = 66.19 
TNavPF::Calculated measDiffMean for beam 50 as -0.87. Range = 67.08 
TNavPF::Calculated measDiffMean for beam 51 as -0.36. Range = 65.73 
TNavPF::Calculated measDiffMean for beam 52 as -0.05. Range = 64.34 
TNavPF::Calculated measDiffMean for beam 53 as -0.26. Range = 63.03 
TNavPF::Calculated measDiffMean for beam 54 as -0.31. Range = 63.03 
TNavPF::Calculated measDiffMean for beam 55 as 0.11. Range = 64.04 
TNavPF::Calculated measDiffMean for beam 56 as 0.99. Range = 65.11 
TNavPF::Calculated measDiffMean for beam 57 as -3.11. Range = 64.13 
TNavPF::Calculated measDiffMean for beam 58 as -1.62. Range = 64.53 
TNavPF::Calculated measDiffMean for beam 59 as -1.09. Range = 64.73 
TNavPF::Calculated measDiffMean for beam 60 as -0.66. Range = 63.99 
TNavPF::Calculated measDiffMean for beam 61 as -0.58. Range = 65.26 
TNavPF::Calculated measDiffMean for beam 62 as 1.00. Range = 61.78 
TNavPF::Calculated measDiffMean for beam 63 as 0.69. Range = 60.89 
TNavPF::Calculated measDiffMean for beam 64 as 0.39. Range = 60.04 
TNavPF::Calculated measDiffMean for beam 65 as -0.21. Range = 59.24 
TNavPF::Calculated measDiffMean for beam 66 as -0.47. Range = 59.20 
TNavPF::Calculated measDiffMean for beam 67 as -0.91. Range = 60.19 
TNavPF::Calculated measDiffMean for beam 68 as -1.30. Range = 59.47 
TNavPF::Calculated measDiffMean for beam 69 as 2.15. Range = 58.78 
TNavPF::Calculated measDiffMean for beam 70 as 0.86. Range = 58.13 
TNavPF::Calculated measDiffMean for beam 71 as -1.26. Range = 57.50 
TNavPF::Calculated measDiffMean for beam 72 as 5.65. Range = 57.55 
TNavPF::Calculated measDiffMean for beam 73 as 1.18. Range = 58.64 
TNavPF::Calculated measDiffMean for beam 74 as 0.07. Range = 58.08 
TNavPF::Calculated measDiffMean for beam 75 as -0.34. Range = 57.55 
TNavPF::Calculated measDiffMean for beam 76 as -0.63. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 77 as 1.09. Range = 54.36 
TNavPF::Calculated measDiffMean for beam 78 as 0.96. Range = 55.95 
TNavPF::Calculated measDiffMean for beam 79 as -1.02. Range = 57.86 
TNavPF::Calculated measDiffMean for beam 80 as 0.91. Range = 55.28 
TNavPF::Calculated measDiffMean for beam 81 as 0.67. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 82 as 0.69. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 83 as 0.66. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 84 as 0.46. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 85 as 1.00. Range = 53.58 
TNavPF::Calculated measDiffMean for beam 86 as 0.65. Range = 53.30 
TNavPF::Calculated measDiffMean for beam 87 as 0.32. Range = 46.82 
TNavPF::Calculated measDiffMean for beam 88 as -0.22. Range = 46.61 
TNavPF::Calculated measDiffMean for beam 89 as 0.02. Range = 46.41 
TNavPF::First Term of Map Covariance Matrix is 5.14 
TNavPF::Calculated NIS Value : 2.89 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322174.82 sec.
INS : North: 4070248.69, East: 589131.53, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 55.75, IDT[75] = 67.99
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322177.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322177.62)
ARL : North: -1.2383, East: -1.6246, Depth: -2.9901ARL : Estimation Bias  (Mean)         : (t = 1488322177.62)
ARL : North: -0.4553, East: -2.3807, Depth: 0.3327TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.80 
Alpha[0]	0.123000
Alpha[0]	0.997360
TNavParticleFilter::Modified Variance for beam 1 is 25.55 
Alpha[1]	0.000000
Alpha[1]	0.997496
TNavParticleFilter::Modified Variance for beam 2 is 23.30 
Alpha[2]	0.000000
Alpha[2]	0.996823
TNavParticleFilter::Modified Variance for beam 3 is 22.69 
Alpha[3]	0.000000
Alpha[3]	0.995639
TNavParticleFilter::Modified Variance for beam 4 is 22.11 
Alpha[4]	0.000000
Alpha[4]	0.994989
TNavParticleFilter::Modified Variance for beam 5 is 21.55 
Alpha[5]	0.000000
Alpha[5]	0.994701
TNavParticleFilter::Modified Variance for beam 6 is 21.97 
Alpha[6]	0.000000
Alpha[6]	0.994941
TNavParticleFilter::Modified Variance for beam 7 is 22.06 
Alpha[7]	0.000000
Alpha[7]	0.994314
TNavParticleFilter::Modified Variance for beam 8 is 20.11 
Alpha[8]	0.000000
Alpha[8]	0.993342
TNavParticleFilter::Modified Variance for beam 9 is 20.54 
Alpha[9]	0.000000
Alpha[9]	0.992917
TNavParticleFilter::Modified Variance for beam 10 is 20.70 
Alpha[10]	0.000000
Alpha[10]	0.991967
TNavParticleFilter::Modified Variance for beam 11 is 20.26 
Alpha[11]	0.000000
Alpha[11]	0.992827
TNavParticleFilter::Modified Variance for beam 12 is 19.88 
Alpha[12]	0.000000
Alpha[12]	0.992582
TNavParticleFilter::Modified Variance for beam 13 is 19.52 
Alpha[13]	0.000000
Alpha[13]	0.992070
TNavParticleFilter::Modified Variance for beam 14 is 19.14 
Alpha[14]	0.000000
Alpha[14]	0.993742
TNavParticleFilter::Modified Variance for beam 15 is 18.76 
Alpha[15]	0.000000
Alpha[15]	0.996406
TNavParticleFilter::Modified Variance for beam 16 is 18.43 
Alpha[16]	0.000000
Alpha[16]	0.997612
TNavParticleFilter::Modified Variance for beam 17 is 19.12 
Alpha[17]	0.000000
Alpha[17]	0.997774
TNavParticleFilter::Modified Variance for beam 18 is 20.19 
Alpha[18]	0.000000
Alpha[18]	0.997464
TNavParticleFilter::Modified Variance for beam 19 is 20.09 
Alpha[19]	0.000000
Alpha[19]	0.996742
TNavParticleFilter::Modified Variance for beam 20 is 18.58 
Alpha[20]	0.000000
Alpha[20]	0.996850
TNavParticleFilter::Modified Variance for beam 21 is 18.32 
Alpha[21]	0.000000
Alpha[21]	0.997567
TNavParticleFilter::Modified Variance for beam 22 is 18.08 
Alpha[22]	0.000000
Alpha[22]	0.997960
TNavParticleFilter::Modified Variance for beam 23 is 17.86 
Alpha[23]	0.000000
Alpha[23]	0.998370
TNavParticleFilter::Modified Variance for beam 24 is 17.65 
Alpha[24]	0.000000
Alpha[24]	0.998552
TNavParticleFilter::Modified Variance for beam 25 is 14.32 
Alpha[25]	0.000000
Alpha[25]	0.997359
TNavParticleFilter::Modified Variance for beam 26 is 14.21 
Alpha[26]	0.000000
Alpha[26]	0.995790
TNavParticleFilter::Modified Variance for beam 27 is 14.10 
Alpha[27]	0.000000
Alpha[27]	0.993926
TNavParticleFilter::Modified Variance for beam 28 is 14.03 
Alpha[28]	0.000000
Alpha[28]	0.990468
TNavParticleFilter::Modified Variance for beam 29 is 13.93 
Alpha[29]	0.000000
Alpha[29]	0.989805
TNavParticleFilter::Modified Variance for beam 30 is 14.79 
Alpha[30]	0.000000
Alpha[30]	0.989682
TNavParticleFilter::Modified Variance for beam 31 is 14.69 
Alpha[31]	0.000000
Alpha[31]	0.988730
TNavParticleFilter::Modified Variance for beam 32 is 14.57 
Alpha[32]	0.000000
Alpha[32]	0.990325
TNavParticleFilter::Modified Variance for beam 33 is 14.48 
Alpha[33]	0.000000
Alpha[33]	0.990436
TNavParticleFilter::Modified Variance for beam 34 is 14.41 
Alpha[34]	0.000000
Alpha[34]	0.989853
TNavParticleFilter::Modified Variance for beam 35 is 14.31 
Alpha[35]	0.000000
Alpha[35]	0.991343
TNavParticleFilter::Modified Variance for beam 36 is 14.19 
Alpha[36]	0.000000
Alpha[36]	0.995040
TNavParticleFilter::Modified Variance for beam 37 is 14.18 
Alpha[37]	0.000000
Alpha[37]	0.997937
TNavParticleFilter::Modified Variance for beam 38 is 16.96 
Alpha[38]	0.000000
Alpha[38]	0.999064
TNavParticleFilter::Modified Variance for beam 39 is 15.88 
Alpha[39]	0.000000
Alpha[39]	0.999529
TNavParticleFilter::Modified Variance for beam 40 is 16.22 
Alpha[40]	0.000000
Alpha[40]	0.999445
TNavParticleFilter::Modified Variance for beam 41 is 25.06 
Alpha[41]	0.000000
Alpha[41]	0.995077
TNavParticleFilter::Modified Variance for beam 42 is 25.17 
Alpha[42]	0.000000
Alpha[42]	0.988600
TNavParticleFilter::Modified Variance for beam 43 is 25.46 
Alpha[43]	0.000000
Alpha[43]	0.975820
TNavParticleFilter::Modified Variance for beam 44 is 26.54 
Alpha[44]	0.000000
Alpha[44]	0.984632
TNavParticleFilter::Modified Variance for beam 45 is 26.42 
Alpha[45]	0.000000
Alpha[45]	0.988225
TNavParticleFilter::Modified Variance for beam 46 is 26.38 
Alpha[46]	0.000000
Alpha[46]	0.989712
TNavParticleFilter::Modified Variance for beam 47 is 26.40 
Alpha[47]	0.000000
Alpha[47]	0.989601
TNavParticleFilter::Modified Variance for beam 48 is 26.44 
Alpha[48]	0.000000
Alpha[48]	0.988896
TNavParticleFilter::Modified Variance for beam 49 is 26.53 
Alpha[49]	0.000000
Alpha[49]	0.987318
TNavParticleFilter::Modified Variance for beam 50 is 28.02 
Alpha[50]	0.000000
Alpha[50]	0.985334
TNavParticleFilter::Modified Variance for beam 51 is 28.09 
Alpha[51]	0.000000
Alpha[51]	0.985427
TNavParticleFilter::Modified Variance for beam 52 is 28.14 
Alpha[52]	0.000000
Alpha[52]	0.986593
TNavParticleFilter::Modified Variance for beam 53 is 28.16 
Alpha[53]	0.000000
Alpha[53]	0.989675
TNavParticleFilter::Modified Variance for beam 54 is 28.17 
Alpha[54]	0.000000
Alpha[54]	0.993503
TNavParticleFilter::Modified Variance for beam 55 is 30.05 
Alpha[55]	0.000000
Alpha[55]	0.983516
TNavParticleFilter::Modified Variance for beam 56 is 30.16 
Alpha[56]	0.000000
Alpha[56]	0.985081
TNavParticleFilter::Modified Variance for beam 57 is 30.42 
Alpha[57]	0.000000
Alpha[57]	0.982449
TNavParticleFilter::Modified Variance for beam 58 is 29.12 
Alpha[58]	0.000000
Alpha[58]	0.982818
TNavParticleFilter::Modified Variance for beam 59 is 29.21 
Alpha[59]	0.000000
Alpha[59]	0.986685
TNavPF:: sumSquaredError = 48.182199 
TNavPF:: sumWeights = 0.012794 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 2.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.54. Range = 75.07 
TNavPF::Calculated measDiffMean for beam 47 as -0.81. Range = 73.93 
TNavPF::Calculated measDiffMean for beam 48 as 1.40. Range = 70.90 
TNavPF::Calculated measDiffMean for beam 49 as 2.27. Range = 69.01 
TNavPF::Calculated measDiffMean for beam 50 as 0.34. Range = 69.19 
TNavPF::Calculated measDiffMean for beam 51 as 0.11. Range = 69.03 
TNavPF::Calculated measDiffMean for beam 52 as 0.17. Range = 67.39 
TNavPF::Calculated measDiffMean for beam 53 as 1.10. Range = 65.84 
TNavPF::Calculated measDiffMean for beam 54 as 3.31. Range = 65.18 
TNavPF::Calculated measDiffMean for beam 55 as -1.53. Range = 66.10 
TNavPF::Calculated measDiffMean for beam 56 as -0.91. Range = 67.07 
TNavPF::Calculated measDiffMean for beam 57 as -0.54. Range = 66.52 
TNavPF::Calculated measDiffMean for beam 58 as -0.55. Range = 66.45 
TNavPF::Calculated measDiffMean for beam 59 as -1.03. Range = 66.93 
TNavPF::Calculated measDiffMean for beam 60 as 0.75. Range = 65.88 
TNavPF::Calculated measDiffMean for beam 61 as 0.39. Range = 67.03 
TNavPF::Calculated measDiffMean for beam 62 as -0.17. Range = 63.50 
TNavPF::Calculated measDiffMean for beam 63 as -0.49. Range = 62.47 
TNavPF::Calculated measDiffMean for beam 64 as -0.91. Range = 61.50 
TNavPF::Calculated measDiffMean for beam 65 as -1.25. Range = 60.57 
TNavPF::Calculated measDiffMean for beam 66 as -1.95. Range = 61.26 
TNavPF::Calculated measDiffMean for beam 67 as -3.85. Range = 61.40 
TNavPF::Calculated measDiffMean for beam 68 as 0.31. Range = 58.04 
TNavPF::Calculated measDiffMean for beam 69 as -4.66. Range = 58.78 
TNavPF::Calculated measDiffMean for beam 70 as -12.71. Range = 59.02 
TNavPF::Calculated measDiffMean for beam 71 as -0.85. Range = 58.30 
TNavPF::Calculated measDiffMean for beam 72 as -1.46. Range = 57.61 
TNavPF::Calculated measDiffMean for beam 73 as -2.27. Range = 56.96 
TNavPF::Calculated measDiffMean for beam 74 as -0.54. Range = 56.34 
TNavPF::Calculated measDiffMean for beam 75 as -0.76. Range = 55.75 
TNavPF::Calculated measDiffMean for beam 76 as -1.10. Range = 55.19 
TNavPF::Calculated measDiffMean for beam 77 as -1.18. Range = 56.46 
TNavPF::Calculated measDiffMean for beam 78 as -1.17. Range = 58.33 
TNavPF::Calculated measDiffMean for beam 79 as -1.38. Range = 58.14 
TNavPF::Calculated measDiffMean for beam 80 as 0.42. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 81 as 0.42. Range = 54.98 
TNavPF::Calculated measDiffMean for beam 82 as 0.37. Range = 54.55 
TNavPF::Calculated measDiffMean for beam 83 as 0.19. Range = 54.14 
TNavPF::Calculated measDiffMean for beam 84 as -1.28. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 85 as 0.18. Range = 46.99 
TNavPF::Calculated measDiffMean for beam 86 as 0.53. Range = 46.69 
TNavPF::Calculated measDiffMean for beam 87 as 1.26. Range = 46.41 
TNavPF::Calculated measDiffMean for beam 88 as -0.47. Range = 46.15 
TNavPF::Calculated measDiffMean for beam 89 as -0.24. Range = 45.90 
TNavPF::First Term of Map Covariance Matrix is 7.56 
TNavPF::Calculated NIS Value : 6.12 	numBeams normalized NIS: 0.10
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322177.82 sec.
INS : North: 4070247.67, East: 589127.38, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 47.89, IDT[75] = 70.55
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322180.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322180.62)
ARL : North: -1.8137, East: -1.4797, Depth: -0.1396ARL : Estimation Bias  (Mean)         : (t = 1488322180.62)
ARL : North: -0.4014, East: -1.6366, Depth: 0.4386TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.39 
Alpha[0]	0.123000
Alpha[0]	0.995656
TNavParticleFilter::Modified Variance for beam 1 is 20.94 
Alpha[1]	0.000000
Alpha[1]	0.996838
TNavParticleFilter::Modified Variance for beam 2 is 20.55 
Alpha[2]	0.000000
Alpha[2]	0.996691
TNavParticleFilter::Modified Variance for beam 3 is 20.81 
Alpha[3]	0.000000
Alpha[3]	0.995970
TNavParticleFilter::Modified Variance for beam 4 is 21.17 
Alpha[4]	0.000000
Alpha[4]	0.996452
TNavParticleFilter::Modified Variance for beam 5 is 19.47 
Alpha[5]	0.000000
Alpha[5]	0.997468
TNavParticleFilter::Modified Variance for beam 6 is 19.20 
Alpha[6]	0.000000
Alpha[6]	0.997735
TNavParticleFilter::Modified Variance for beam 7 is 20.12 
Alpha[7]	0.000000
Alpha[7]	0.998217
TNavParticleFilter::Modified Variance for beam 8 is 19.81 
Alpha[8]	0.000000
Alpha[8]	0.998757
TNavParticleFilter::Modified Variance for beam 9 is 19.53 
Alpha[9]	0.000000
Alpha[9]	0.999042
TNavParticleFilter::Modified Variance for beam 10 is 15.80 
Alpha[10]	0.000000
Alpha[10]	0.998618
TNavParticleFilter::Modified Variance for beam 11 is 14.57 
Alpha[11]	0.000000
Alpha[11]	0.998042
TNavParticleFilter::Modified Variance for beam 12 is 14.41 
Alpha[12]	0.000000
Alpha[12]	0.997300
TNavParticleFilter::Modified Variance for beam 13 is 14.28 
Alpha[13]	0.000000
Alpha[13]	0.995707
TNavParticleFilter::Modified Variance for beam 14 is 14.30 
Alpha[14]	0.000000
Alpha[14]	0.994335
TNavParticleFilter::Modified Variance for beam 15 is 14.81 
Alpha[15]	0.000000
Alpha[15]	0.992600
TNavParticleFilter::Modified Variance for beam 16 is 14.92 
Alpha[16]	0.000000
Alpha[16]	0.990515
TNavParticleFilter::Modified Variance for beam 17 is 14.77 
Alpha[17]	0.000000
Alpha[17]	0.991767
TNavParticleFilter::Modified Variance for beam 18 is 14.65 
Alpha[18]	0.000000
Alpha[18]	0.991810
TNavParticleFilter::Modified Variance for beam 19 is 14.54 
Alpha[19]	0.000000
Alpha[19]	0.991235
TNavParticleFilter::Modified Variance for beam 20 is 14.39 
Alpha[20]	0.000000
Alpha[20]	0.994310
TNavParticleFilter::Modified Variance for beam 21 is 14.36 
Alpha[21]	0.000000
Alpha[21]	0.996845
TNavParticleFilter::Modified Variance for beam 22 is 16.07 
Alpha[22]	0.000000
Alpha[22]	0.998263
TNavParticleFilter::Modified Variance for beam 23 is 17.03 
Alpha[23]	0.000000
Alpha[23]	0.999331
TNavParticleFilter::Modified Variance for beam 24 is 16.93 
Alpha[24]	0.000000
Alpha[24]	0.999537
TNavParticleFilter::Modified Variance for beam 25 is 17.84 
Alpha[25]	0.000000
Alpha[25]	0.999577
TNavParticleFilter::Modified Variance for beam 26 is 26.38 
Alpha[26]	0.000000
Alpha[26]	0.997450
TNavParticleFilter::Modified Variance for beam 27 is 26.56 
Alpha[27]	0.000000
Alpha[27]	0.986326
TNavParticleFilter::Modified Variance for beam 28 is 26.48 
Alpha[28]	0.000000
Alpha[28]	0.985499
TNavParticleFilter::Modified Variance for beam 29 is 26.38 
Alpha[29]	0.000000
Alpha[29]	0.985774
TNavParticleFilter::Modified Variance for beam 30 is 26.20 
Alpha[30]	0.000000
Alpha[30]	0.989921
TNavParticleFilter::Modified Variance for beam 31 is 26.06 
Alpha[31]	0.000000
Alpha[31]	0.992785
TNavParticleFilter::Modified Variance for beam 32 is 26.03 
Alpha[32]	0.000000
Alpha[32]	0.992308
TNavParticleFilter::Modified Variance for beam 33 is 27.36 
Alpha[33]	0.000000
Alpha[33]	0.991886
TNavParticleFilter::Modified Variance for beam 34 is 27.34 
Alpha[34]	0.000000
Alpha[34]	0.991787
TNavParticleFilter::Modified Variance for beam 35 is 27.40 
Alpha[35]	0.000000
Alpha[35]	0.989543
TNavParticleFilter::Modified Variance for beam 36 is 27.57 
Alpha[36]	0.000000
Alpha[36]	0.983427
TNavParticleFilter::Modified Variance for beam 37 is 27.57 
Alpha[37]	0.000000
Alpha[37]	0.984229
TNavParticleFilter::Modified Variance for beam 38 is 27.58 
Alpha[38]	0.000000
Alpha[38]	0.985396
TNavParticleFilter::Modified Variance for beam 39 is 27.56 
Alpha[39]	0.000000
Alpha[39]	0.988138
TNavParticleFilter::Modified Variance for beam 40 is 27.47 
Alpha[40]	0.000000
Alpha[40]	0.993767
TNavParticleFilter::Modified Variance for beam 41 is 29.24 
Alpha[41]	0.000000
Alpha[41]	0.983898
TNavParticleFilter::Modified Variance for beam 42 is 29.41 
Alpha[42]	0.000000
Alpha[42]	0.981863
TNavParticleFilter::Modified Variance for beam 43 is 29.48 
Alpha[43]	0.000000
Alpha[43]	0.983573
TNavParticleFilter::Modified Variance for beam 44 is 28.13 
Alpha[44]	0.000000
Alpha[44]	0.985161
TNavParticleFilter::Modified Variance for beam 45 is 28.25 
Alpha[45]	0.000000
Alpha[45]	0.986107
TNavParticleFilter::Modified Variance for beam 46 is 28.40 
Alpha[46]	0.000000
Alpha[46]	0.986501
TNavParticleFilter::Modified Variance for beam 47 is 28.59 
Alpha[47]	0.000000
Alpha[47]	0.985982
TNavParticleFilter::Modified Variance for beam 48 is 28.73 
Alpha[48]	0.000000
Alpha[48]	0.988085
TNavParticleFilter::Modified Variance for beam 49 is 28.90 
Alpha[49]	0.000000
Alpha[49]	0.989565
TNavParticleFilter::Modified Variance for beam 50 is 29.08 
Alpha[50]	0.000000
Alpha[50]	0.991093
TNavParticleFilter::Modified Variance for beam 51 is 29.26 
Alpha[51]	0.000000
Alpha[51]	0.993595
TNavParticleFilter::Modified Variance for beam 52 is 27.98 
Alpha[52]	0.000000
Alpha[52]	0.996004
TNavParticleFilter::Modified Variance for beam 53 is 26.78 
Alpha[53]	0.000000
Alpha[53]	0.997038
TNavParticleFilter::Modified Variance for beam 54 is 27.05 
Alpha[54]	0.000000
Alpha[54]	0.997135
TNavParticleFilter::Modified Variance for beam 55 is 27.35 
Alpha[55]	0.000000
Alpha[55]	0.997128
TNavParticleFilter::Modified Variance for beam 56 is 29.17 
Alpha[56]	0.000000
Alpha[56]	0.996902
TNavParticleFilter::Modified Variance for beam 57 is 29.49 
Alpha[57]	0.000000
Alpha[57]	0.998224
TNavParticleFilter::Modified Variance for beam 58 is 29.84 
Alpha[58]	0.000000
Alpha[58]	0.999107
TNavParticleFilter::Modified Variance for beam 59 is 30.25 
Alpha[59]	0.000000
Alpha[59]	0.999062
TNavPF:: sumSquaredError = 26.208126 
TNavPF:: sumWeights = 0.022370 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.31. Range = 74.75 
TNavPF::Calculated measDiffMean for beam 36 as -0.41. Range = 74.08 
TNavPF::Calculated measDiffMean for beam 37 as 1.38. Range = 74.31 
TNavPF::Calculated measDiffMean for beam 38 as 2.23. Range = 72.31 
TNavPF::Calculated measDiffMean for beam 39 as 4.70. Range = 70.43 
TNavPF::Calculated measDiffMean for beam 40 as -0.04. Range = 68.67 
TNavPF::Calculated measDiffMean for beam 41 as -1.23. Range = 68.58 
TNavPF::Calculated measDiffMean for beam 42 as -0.69. Range = 68.77 
TNavPF::Calculated measDiffMean for beam 43 as -0.59. Range = 67.87 
TNavPF::Calculated measDiffMean for beam 44 as -0.57. Range = 68.82 
TNavPF::Calculated measDiffMean for beam 45 as 0.58. Range = 69.83 
TNavPF::Calculated measDiffMean for beam 46 as 0.42. Range = 70.88 
TNavPF::Calculated measDiffMean for beam 47 as -0.32. Range = 70.83 
TNavPF::Calculated measDiffMean for beam 48 as -0.63. Range = 69.50 
TNavPF::Calculated measDiffMean for beam 49 as -0.95. Range = 65.36 
TNavPF::Calculated measDiffMean for beam 50 as -1.26. Range = 64.31 
TNavPF::Calculated measDiffMean for beam 51 as -1.88. Range = 63.12 
TNavPF::Calculated measDiffMean for beam 52 as -0.31. Range = 63.74 
TNavPF::Calculated measDiffMean for beam 53 as -0.67. Range = 63.79 
TNavPF::Calculated measDiffMean for beam 54 as -2.65. Range = 62.82 
TNavPF::Calculated measDiffMean for beam 55 as -6.72. Range = 61.89 
TNavPF::Calculated measDiffMean for beam 56 as 1.90. Range = 61.01 
TNavPF::Calculated measDiffMean for beam 57 as 0.96. Range = 60.84 
TNavPF::Calculated measDiffMean for beam 58 as 0.64. Range = 61.87 
TNavPF::Calculated measDiffMean for beam 59 as -0.12. Range = 61.08 
TNavPF::Calculated measDiffMean for beam 60 as -0.53. Range = 60.33 
TNavPF::Calculated measDiffMean for beam 61 as -1.04. Range = 59.61 
TNavPF::Calculated measDiffMean for beam 62 as -1.40. Range = 58.93 
TNavPF::Calculated measDiffMean for beam 63 as 0.47. Range = 59.35 
TNavPF::Calculated measDiffMean for beam 64 as 0.49. Range = 59.99 
TNavPF::Calculated measDiffMean for beam 65 as 0.46. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 66 as 0.35. Range = 56.59 
TNavPF::Calculated measDiffMean for beam 67 as 0.33. Range = 58.24 
TNavPF::Calculated measDiffMean for beam 68 as 0.30. Range = 57.72 
TNavPF::Calculated measDiffMean for beam 69 as 0.12. Range = 57.22 
TNavPF::Calculated measDiffMean for beam 70 as -0.84. Range = 50.13 
TNavPF::Calculated measDiffMean for beam 71 as 0.02. Range = 47.54 
TNavPF::Calculated measDiffMean for beam 72 as 0.31. Range = 47.19 
TNavPF::Calculated measDiffMean for beam 73 as 0.74. Range = 46.85 
TNavPF::Calculated measDiffMean for beam 74 as -0.62. Range = 46.84 
TNavPF::Calculated measDiffMean for beam 75 as -0.52. Range = 47.89 
TNavPF::Calculated measDiffMean for beam 76 as -0.35. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 77 as 0.18. Range = 47.78 
TNavPF::Calculated measDiffMean for beam 78 as 0.27. Range = 47.52 
TNavPF::Calculated measDiffMean for beam 79 as 0.31. Range = 47.27 
TNavPF::Calculated measDiffMean for beam 80 as 0.38. Range = 47.05 
TNavPF::Calculated measDiffMean for beam 81 as 0.66. Range = 47.06 
TNavPF::Calculated measDiffMean for beam 82 as -0.46. Range = 50.66 
TNavPF::Calculated measDiffMean for beam 83 as -2.01. Range = 52.60 
TNavPF::Calculated measDiffMean for beam 84 as -1.95. Range = 52.41 
TNavPF::Calculated measDiffMean for beam 85 as -2.05. Range = 54.15 
TNavPF::Calculated measDiffMean for beam 86 as -0.23. Range = 68.29 
TNavPF::Calculated measDiffMean for beam 87 as 0.25. Range = 68.12 
TNavPF::Calculated measDiffMean for beam 88 as 1.85. Range = 67.96 
TNavPF::Calculated measDiffMean for beam 89 as 2.11. Range = 67.83 
TNavPF::First Term of Map Covariance Matrix is 4.59 
TNavPF::Calculated NIS Value : 3.49 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322180.82 sec.
INS : North: 4070247.47, East: 589123.19, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 70.44, IDT[75] = 73.71
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322183.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322183.62)
ARL : North: -0.9162, East: -1.5237, Depth: 2.7334ARL : Estimation Bias  (Mean)         : (t = 1488322183.62)
ARL : North: -0.1192, East: -1.4431, Depth: 0.6260TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.68 
Alpha[0]	0.123000
Alpha[0]	0.992331
TNavParticleFilter::Modified Variance for beam 1 is 16.49 
Alpha[1]	0.000000
Alpha[1]	0.992627
TNavParticleFilter::Modified Variance for beam 2 is 16.32 
Alpha[2]	0.000000
Alpha[2]	0.992811
TNavParticleFilter::Modified Variance for beam 3 is 16.16 
Alpha[3]	0.000000
Alpha[3]	0.992612
TNavParticleFilter::Modified Variance for beam 4 is 15.98 
Alpha[4]	0.000000
Alpha[4]	0.994903
TNavParticleFilter::Modified Variance for beam 5 is 17.29 
Alpha[5]	0.000000
Alpha[5]	0.996974
TNavParticleFilter::Modified Variance for beam 6 is 17.78 
Alpha[6]	0.000000
Alpha[6]	0.998435
TNavParticleFilter::Modified Variance for beam 7 is 17.63 
Alpha[7]	0.000000
Alpha[7]	0.999364
TNavParticleFilter::Modified Variance for beam 8 is 18.73 
Alpha[8]	0.000000
Alpha[8]	0.999598
TNavParticleFilter::Modified Variance for beam 9 is 26.80 
Alpha[9]	0.000000
Alpha[9]	0.999565
TNavParticleFilter::Modified Variance for beam 10 is 27.13 
Alpha[10]	0.000000
Alpha[10]	0.998682
TNavParticleFilter::Modified Variance for beam 11 is 27.26 
Alpha[11]	0.000000
Alpha[11]	0.987668
TNavParticleFilter::Modified Variance for beam 12 is 27.22 
Alpha[12]	0.000000
Alpha[12]	0.983397
TNavParticleFilter::Modified Variance for beam 13 is 27.05 
Alpha[13]	0.000000
Alpha[13]	0.984547
TNavParticleFilter::Modified Variance for beam 14 is 26.83 
Alpha[14]	0.000000
Alpha[14]	0.988090
TNavParticleFilter::Modified Variance for beam 15 is 28.01 
Alpha[15]	0.000000
Alpha[15]	0.991885
TNavParticleFilter::Modified Variance for beam 16 is 27.85 
Alpha[16]	0.000000
Alpha[16]	0.993844
TNavParticleFilter::Modified Variance for beam 17 is 27.79 
Alpha[17]	0.000000
Alpha[17]	0.992912
TNavParticleFilter::Modified Variance for beam 18 is 27.73 
Alpha[18]	0.000000
Alpha[18]	0.992750
TNavParticleFilter::Modified Variance for beam 19 is 27.68 
Alpha[19]	0.000000
Alpha[19]	0.992677
TNavParticleFilter::Modified Variance for beam 20 is 27.72 
Alpha[20]	0.000000
Alpha[20]	0.989835
TNavParticleFilter::Modified Variance for beam 21 is 27.84 
Alpha[21]	0.000000
Alpha[21]	0.984671
TNavParticleFilter::Modified Variance for beam 22 is 27.78 
Alpha[22]	0.000000
Alpha[22]	0.986722
TNavParticleFilter::Modified Variance for beam 23 is 27.74 
Alpha[23]	0.000000
Alpha[23]	0.988122
TNavParticleFilter::Modified Variance for beam 24 is 27.72 
Alpha[24]	0.000000
Alpha[24]	0.989822
TNavParticleFilter::Modified Variance for beam 25 is 29.06 
Alpha[25]	0.000000
Alpha[25]	0.993191
TNavParticleFilter::Modified Variance for beam 26 is 29.36 
Alpha[26]	0.000000
Alpha[26]	0.984832
TNavParticleFilter::Modified Variance for beam 27 is 29.53 
Alpha[27]	0.000000
Alpha[27]	0.981402
TNavParticleFilter::Modified Variance for beam 28 is 29.53 
Alpha[28]	0.000000
Alpha[28]	0.984478
TNavParticleFilter::Modified Variance for beam 29 is 29.54 
Alpha[29]	0.000000
Alpha[29]	0.987300
TNavParticleFilter::Modified Variance for beam 30 is 29.67 
Alpha[30]	0.000000
Alpha[30]	0.987078
TNavParticleFilter::Modified Variance for beam 31 is 28.37 
Alpha[31]	0.000000
Alpha[31]	0.986928
TNavParticleFilter::Modified Variance for beam 32 is 28.54 
Alpha[32]	0.000000
Alpha[32]	0.985818
TNavParticleFilter::Modified Variance for beam 33 is 28.65 
Alpha[33]	0.000000
Alpha[33]	0.987497
TNavParticleFilter::Modified Variance for beam 34 is 28.80 
Alpha[34]	0.000000
Alpha[34]	0.988739
TNavParticleFilter::Modified Variance for beam 35 is 28.96 
Alpha[35]	0.000000
Alpha[35]	0.989769
TNavParticleFilter::Modified Variance for beam 36 is 29.11 
Alpha[36]	0.000000
Alpha[36]	0.991877
TNavParticleFilter::Modified Variance for beam 37 is 29.23 
Alpha[37]	0.000000
Alpha[37]	0.995822
TNavParticleFilter::Modified Variance for beam 38 is 29.44 
Alpha[38]	0.000000
Alpha[38]	0.996924
TNavParticleFilter::Modified Variance for beam 39 is 29.71 
Alpha[39]	0.000000
Alpha[39]	0.997021
TNavParticleFilter::Modified Variance for beam 40 is 30.00 
Alpha[40]	0.000000
Alpha[40]	0.996927
TNavParticleFilter::Modified Variance for beam 41 is 23.10 
Alpha[41]	0.000000
Alpha[41]	0.996494
TNavParticleFilter::Modified Variance for beam 42 is 22.06 
Alpha[42]	0.000000
Alpha[42]	0.998887
TNavParticleFilter::Modified Variance for beam 43 is 22.30 
Alpha[43]	0.000000
Alpha[43]	0.999337
TNavParticleFilter::Modified Variance for beam 44 is 29.73 
Alpha[44]	0.000000
Alpha[44]	0.999224
TNavParticleFilter::Modified Variance for beam 45 is 30.18 
Alpha[45]	0.000000
Alpha[45]	0.997077
TNavParticleFilter::Modified Variance for beam 46 is 30.68 
Alpha[46]	0.000000
Alpha[46]	0.994016
TNavParticleFilter::Modified Variance for beam 47 is 29.49 
Alpha[47]	0.000000
Alpha[47]	0.994670
TNavParticleFilter::Modified Variance for beam 48 is 29.90 
Alpha[48]	0.000000
Alpha[48]	0.995325
TNavParticleFilter::Modified Variance for beam 49 is 30.35 
Alpha[49]	0.000000
Alpha[49]	0.995797
TNavParticleFilter::Modified Variance for beam 50 is 30.19 
Alpha[50]	0.000000
Alpha[50]	0.995596
TNavParticleFilter::Modified Variance for beam 51 is 28.50 
Alpha[51]	0.000000
Alpha[51]	0.996842
TNavParticleFilter::Modified Variance for beam 52 is 28.46 
Alpha[52]	0.000000
Alpha[52]	0.999290
TNavParticleFilter::Modified Variance for beam 53 is 28.97 
Alpha[53]	0.000000
Alpha[53]	0.999545
TNavParticleFilter::Modified Variance for beam 54 is 29.48 
Alpha[54]	0.000000
Alpha[54]	0.999541
TNavParticleFilter::Modified Variance for beam 55 is 28.43 
Alpha[55]	0.000000
Alpha[55]	0.999058
TNavParticleFilter::Modified Variance for beam 56 is 27.40 
Alpha[56]	0.000000
Alpha[56]	0.996401
TNavParticleFilter::Modified Variance for beam 57 is 28.02 
Alpha[57]	0.000000
Alpha[57]	0.995037
TNavParticleFilter::Modified Variance for beam 58 is 28.64 
Alpha[58]	0.000000
Alpha[58]	0.994879
TNavParticleFilter::Modified Variance for beam 59 is 28.16 
Alpha[59]	0.000000
Alpha[59]	0.995482
TNavPF:: sumSquaredError = 14.278594 
TNavPF:: sumWeights = 0.001883 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.14. Range = 73.07 
TNavPF::Calculated measDiffMean for beam 31 as 1.38. Range = 74.09 
TNavPF::Calculated measDiffMean for beam 32 as 1.05. Range = 74.64 
TNavPF::Calculated measDiffMean for beam 33 as 0.84. Range = 73.12 
TNavPF::Calculated measDiffMean for beam 34 as 0.52. Range = 68.69 
TNavPF::Calculated measDiffMean for beam 35 as 2.32. Range = 67.77 
TNavPF::Calculated measDiffMean for beam 36 as 1.29. Range = 68.91 
TNavPF::Calculated measDiffMean for beam 37 as -1.39. Range = 67.83 
TNavPF::Calculated measDiffMean for beam 38 as -1.70. Range = 66.67 
TNavPF::Calculated measDiffMean for beam 39 as 7.93. Range = 65.57 
TNavPF::Calculated measDiffMean for beam 40 as 2.64. Range = 64.53 
TNavPF::Calculated measDiffMean for beam 41 as 1.07. Range = 63.53 
TNavPF::Calculated measDiffMean for beam 42 as 0.69. Range = 64.64 
TNavPF::Calculated measDiffMean for beam 43 as 0.33. Range = 64.27 
TNavPF::Calculated measDiffMean for beam 44 as -0.37. Range = 63.38 
TNavPF::Calculated measDiffMean for beam 45 as 1.10. Range = 62.54 
TNavPF::Calculated measDiffMean for beam 46 as 0.46. Range = 63.88 
TNavPF::Calculated measDiffMean for beam 47 as 0.11. Range = 63.41 
TNavPF::Calculated measDiffMean for beam 48 as 0.02. Range = 62.65 
TNavPF::Calculated measDiffMean for beam 49 as 0.06. Range = 61.93 
TNavPF::Calculated measDiffMean for beam 50 as 0.20. Range = 61.25 
TNavPF::Calculated measDiffMean for beam 51 as 0.32. Range = 61.23 
TNavPF::Calculated measDiffMean for beam 52 as 0.30. Range = 62.28 
TNavPF::Calculated measDiffMean for beam 53 as 0.22. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 54 as -0.03. Range = 49.74 
TNavPF::Calculated measDiffMean for beam 55 as 0.89. Range = 49.29 
TNavPF::Calculated measDiffMean for beam 56 as 0.06. Range = 48.86 
TNavPF::Calculated measDiffMean for beam 57 as 0.41. Range = 48.45 
TNavPF::Calculated measDiffMean for beam 58 as 0.83. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 59 as 1.45. Range = 49.91 
TNavPF::Calculated measDiffMean for beam 60 as 1.56. Range = 51.68 
TNavPF::Calculated measDiffMean for beam 61 as -0.27. Range = 51.32 
TNavPF::Calculated measDiffMean for beam 62 as 0.31. Range = 50.98 
TNavPF::Calculated measDiffMean for beam 63 as 0.37. Range = 50.67 
TNavPF::Calculated measDiffMean for beam 64 as 0.36. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 65 as 0.42. Range = 53.01 
TNavPF::Calculated measDiffMean for beam 66 as 0.59. Range = 54.00 
TNavPF::Calculated measDiffMean for beam 67 as 1.31. Range = 53.74 
TNavPF::Calculated measDiffMean for beam 68 as 1.73. Range = 55.80 
TNavPF::Calculated measDiffMean for beam 69 as 1.83. Range = 68.99 
TNavPF::Calculated measDiffMean for beam 70 as 1.79. Range = 69.44 
TNavPF::Calculated measDiffMean for beam 71 as -9.13. Range = 69.19 
TNavPF::Calculated measDiffMean for beam 72 as -9.81. Range = 68.97 
TNavPF::Calculated measDiffMean for beam 73 as -8.19. Range = 68.77 
TNavPF::Calculated measDiffMean for beam 74 as 2.30. Range = 68.58 
TNavPF::Calculated measDiffMean for beam 75 as 0.95. Range = 70.44 
TNavPF::Calculated measDiffMean for beam 76 as 1.09. Range = 70.30 
TNavPF::Calculated measDiffMean for beam 77 as -0.66. Range = 70.18 
TNavPF::Calculated measDiffMean for beam 78 as 0.12. Range = 70.08 
TNavPF::Calculated measDiffMean for beam 79 as 1.06. Range = 70.00 
TNavPF::Calculated measDiffMean for beam 80 as 0.53. Range = 69.95 
TNavPF::Calculated measDiffMean for beam 81 as -1.66. Range = 69.92 
TNavPF::Calculated measDiffMean for beam 82 as 1.17. Range = 69.90 
TNavPF::Calculated measDiffMean for beam 83 as 4.45. Range = 69.91 
TNavPF::Calculated measDiffMean for beam 84 as 4.65. Range = 69.94 
TNavPF::Calculated measDiffMean for beam 85 as 0.59. Range = 72.00 
TNavPF::Calculated measDiffMean for beam 86 as -1.54. Range = 72.07 
TNavPF::Calculated measDiffMean for beam 87 as -0.54. Range = 72.17 
TNavPF::Calculated measDiffMean for beam 88 as 0.06. Range = 72.29 
TNavPF::Calculated measDiffMean for beam 89 as -0.53. Range = 72.43 
TNavPF::First Term of Map Covariance Matrix is 2.60 
TNavPF::Calculated NIS Value : 11.23 	numBeams normalized NIS: 0.19
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322183.82 sec.
INS : North: 4070247.97, East: 589119.03, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 71.31, IDT[75] = 71.48
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322186.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322186.62)
ARL : North: 0.9546, East: -1.9959, Depth: -0.4255ARL : Estimation Bias  (Mean)         : (t = 1488322186.62)
ARL : North: 0.1676, East: -2.3305, Depth: -0.2209TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.48 
Alpha[0]	0.123000
Alpha[0]	0.992220
TNavParticleFilter::Modified Variance for beam 1 is 17.25 
Alpha[1]	0.000000
Alpha[1]	0.992672
TNavParticleFilter::Modified Variance for beam 2 is 17.04 
Alpha[2]	0.000000
Alpha[2]	0.992394
TNavParticleFilter::Modified Variance for beam 3 is 17.05 
Alpha[3]	0.000000
Alpha[3]	0.993388
TNavParticleFilter::Modified Variance for beam 4 is 18.28 
Alpha[4]	0.000000
Alpha[4]	0.994777
TNavParticleFilter::Modified Variance for beam 5 is 18.66 
Alpha[5]	0.000000
Alpha[5]	0.996983
TNavParticleFilter::Modified Variance for beam 6 is 18.43 
Alpha[6]	0.000000
Alpha[6]	0.999056
TNavParticleFilter::Modified Variance for beam 7 is 19.44 
Alpha[7]	0.000000
Alpha[7]	0.999528
TNavParticleFilter::Modified Variance for beam 8 is 26.98 
Alpha[8]	0.000000
Alpha[8]	0.999498
TNavParticleFilter::Modified Variance for beam 9 is 28.18 
Alpha[9]	0.000000
Alpha[9]	0.998846
TNavParticleFilter::Modified Variance for beam 10 is 28.18 
Alpha[10]	0.000000
Alpha[10]	0.990678
TNavParticleFilter::Modified Variance for beam 11 is 28.14 
Alpha[11]	0.000000
Alpha[11]	0.984222
TNavParticleFilter::Modified Variance for beam 12 is 27.98 
Alpha[12]	0.000000
Alpha[12]	0.982530
TNavParticleFilter::Modified Variance for beam 13 is 27.83 
Alpha[13]	0.000000
Alpha[13]	0.981136
TNavParticleFilter::Modified Variance for beam 14 is 28.87 
Alpha[14]	0.000000
Alpha[14]	0.987241
TNavParticleFilter::Modified Variance for beam 15 is 28.61 
Alpha[15]	0.000000
Alpha[15]	0.991893
TNavParticleFilter::Modified Variance for beam 16 is 28.42 
Alpha[16]	0.000000
Alpha[16]	0.993573
TNavParticleFilter::Modified Variance for beam 17 is 28.32 
Alpha[17]	0.000000
Alpha[17]	0.992439
TNavParticleFilter::Modified Variance for beam 18 is 28.20 
Alpha[18]	0.000000
Alpha[18]	0.992492
TNavParticleFilter::Modified Variance for beam 19 is 28.12 
Alpha[19]	0.000000
Alpha[19]	0.992040
TNavParticleFilter::Modified Variance for beam 20 is 28.20 
Alpha[20]	0.000000
Alpha[20]	0.986244
TNavParticleFilter::Modified Variance for beam 21 is 28.22 
Alpha[21]	0.000000
Alpha[21]	0.983093
TNavParticleFilter::Modified Variance for beam 22 is 28.12 
Alpha[22]	0.000000
Alpha[22]	0.984757
TNavParticleFilter::Modified Variance for beam 23 is 28.01 
Alpha[23]	0.000000
Alpha[23]	0.987226
TNavParticleFilter::Modified Variance for beam 24 is 29.32 
Alpha[24]	0.000000
Alpha[24]	0.989898
TNavParticleFilter::Modified Variance for beam 25 is 29.33 
Alpha[25]	0.000000
Alpha[25]	0.989490
TNavParticleFilter::Modified Variance for beam 26 is 29.52 
Alpha[26]	0.000000
Alpha[26]	0.983331
TNavParticleFilter::Modified Variance for beam 27 is 28.16 
Alpha[27]	0.000000
Alpha[27]	0.981925
TNavParticleFilter::Modified Variance for beam 28 is 28.05 
Alpha[28]	0.000000
Alpha[28]	0.987161
TNavParticleFilter::Modified Variance for beam 29 is 28.11 
Alpha[29]	0.000000
Alpha[29]	0.986867
TNavParticleFilter::Modified Variance for beam 30 is 28.16 
Alpha[30]	0.000000
Alpha[30]	0.987326
TNavParticleFilter::Modified Variance for beam 31 is 28.26 
Alpha[31]	0.000000
Alpha[31]	0.986812
TNavParticleFilter::Modified Variance for beam 32 is 28.37 
Alpha[32]	0.000000
Alpha[32]	0.986322
TNavParticleFilter::Modified Variance for beam 33 is 28.44 
Alpha[33]	0.000000
Alpha[33]	0.987626
TNavParticleFilter::Modified Variance for beam 34 is 28.55 
Alpha[34]	0.000000
Alpha[34]	0.988545
TNavParticleFilter::Modified Variance for beam 35 is 28.64 
Alpha[35]	0.000000
Alpha[35]	0.990560
TNavParticleFilter::Modified Variance for beam 36 is 28.70 
Alpha[36]	0.000000
Alpha[36]	0.994055
TNavParticleFilter::Modified Variance for beam 37 is 28.80 
Alpha[37]	0.000000
Alpha[37]	0.996676
TNavParticleFilter::Modified Variance for beam 38 is 28.99 
Alpha[38]	0.000000
Alpha[38]	0.996926
TNavParticleFilter::Modified Variance for beam 39 is 29.20 
Alpha[39]	0.000000
Alpha[39]	0.996950
TNavParticleFilter::Modified Variance for beam 40 is 29.44 
Alpha[40]	0.000000
Alpha[40]	0.996631
TNavParticleFilter::Modified Variance for beam 41 is 28.17 
Alpha[41]	0.000000
Alpha[41]	0.998557
TNavParticleFilter::Modified Variance for beam 42 is 28.40 
Alpha[42]	0.000000
Alpha[42]	0.999244
TNavParticleFilter::Modified Variance for beam 43 is 28.68 
Alpha[43]	0.000000
Alpha[43]	0.999207
TNavParticleFilter::Modified Variance for beam 44 is 29.03 
Alpha[44]	0.000000
Alpha[44]	0.997445
TNavParticleFilter::Modified Variance for beam 45 is 28.69 
Alpha[45]	0.000000
Alpha[45]	0.993360
TNavParticleFilter::Modified Variance for beam 46 is 28.28 
Alpha[46]	0.000000
Alpha[46]	0.993619
TNavParticleFilter::Modified Variance for beam 47 is 28.07 
Alpha[47]	0.000000
Alpha[47]	0.993781
TNavParticleFilter::Modified Variance for beam 48 is 27.44 
Alpha[48]	0.000000
Alpha[48]	0.994740
TNavParticleFilter::Modified Variance for beam 49 is 27.80 
Alpha[49]	0.000000
Alpha[49]	0.994896
TNavParticleFilter::Modified Variance for beam 50 is 28.14 
Alpha[50]	0.000000
Alpha[50]	0.996349
TNavParticleFilter::Modified Variance for beam 51 is 18.75 
Alpha[51]	0.000000
Alpha[51]	0.999368
TNavParticleFilter::Modified Variance for beam 52 is 19.02 
Alpha[52]	0.000000
Alpha[52]	0.999556
TNavParticleFilter::Modified Variance for beam 53 is 27.78 
Alpha[53]	0.000000
Alpha[53]	0.999513
TNavParticleFilter::Modified Variance for beam 54 is 28.26 
Alpha[54]	0.000000
Alpha[54]	0.999000
TNavParticleFilter::Modified Variance for beam 55 is 26.85 
Alpha[55]	0.000000
Alpha[55]	0.996732
TNavParticleFilter::Modified Variance for beam 56 is 26.16 
Alpha[56]	0.000000
Alpha[56]	0.995526
TNavParticleFilter::Modified Variance for beam 57 is 26.67 
Alpha[57]	0.000000
Alpha[57]	0.994566
TNavParticleFilter::Modified Variance for beam 58 is 27.19 
Alpha[58]	0.000000
Alpha[58]	0.994523
TNavParticleFilter::Modified Variance for beam 59 is 26.79 
Alpha[59]	0.000000
Alpha[59]	0.995588
TNavPF:: sumSquaredError = 37.648635 
TNavPF:: sumWeights = 0.001798 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.59. Range = 75.37 
TNavPF::Calculated measDiffMean for beam 31 as 0.25. Range = 76.31 
TNavPF::Calculated measDiffMean for beam 32 as 0.08. Range = 77.30 
TNavPF::Calculated measDiffMean for beam 33 as 0.08. Range = 78.35 
TNavPF::Calculated measDiffMean for beam 34 as 1.50. Range = 76.69 
TNavPF::Calculated measDiffMean for beam 35 as 0.61. Range = 71.97 
TNavPF::Calculated measDiffMean for beam 36 as -1.53. Range = 71.18 
TNavPF::Calculated measDiffMean for beam 37 as -2.15. Range = 72.12 
TNavPF::Calculated measDiffMean for beam 38 as 6.75. Range = 70.76 
TNavPF::Calculated measDiffMean for beam 39 as 3.32. Range = 69.47 
TNavPF::Calculated measDiffMean for beam 40 as 0.81. Range = 68.24 
TNavPF::Calculated measDiffMean for beam 41 as 0.41. Range = 67.08 
TNavPF::Calculated measDiffMean for beam 42 as 0.09. Range = 67.01 
TNavPF::Calculated measDiffMean for beam 43 as -0.36. Range = 67.62 
TNavPF::Calculated measDiffMean for beam 44 as 1.13. Range = 66.58 
TNavPF::Calculated measDiffMean for beam 45 as 0.57. Range = 65.59 
TNavPF::Calculated measDiffMean for beam 46 as 0.08. Range = 64.66 
TNavPF::Calculated measDiffMean for beam 47 as -0.27. Range = 64.47 
TNavPF::Calculated measDiffMean for beam 48 as -0.25. Range = 65.42 
TNavPF::Calculated measDiffMean for beam 49 as -0.20. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 50 as -0.12. Range = 62.21 
TNavPF::Calculated measDiffMean for beam 51 as -0.06. Range = 63.02 
TNavPF::Calculated measDiffMean for beam 52 as -0.05. Range = 62.29 
TNavPF::Calculated measDiffMean for beam 53 as -0.16. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 54 as 1.56. Range = 51.60 
TNavPF::Calculated measDiffMean for beam 55 as 0.02. Range = 51.07 
TNavPF::Calculated measDiffMean for beam 56 as -0.16. Range = 50.57 
TNavPF::Calculated measDiffMean for beam 57 as -1.81. Range = 50.38 
TNavPF::Calculated measDiffMean for beam 58 as -1.09. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 59 as -0.70. Range = 53.66 
TNavPF::Calculated measDiffMean for beam 60 as -0.61. Range = 53.22 
TNavPF::Calculated measDiffMean for beam 61 as -0.23. Range = 52.79 
TNavPF::Calculated measDiffMean for beam 62 as 0.20. Range = 52.39 
TNavPF::Calculated measDiffMean for beam 63 as 0.21. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 64 as 0.25. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 65 as 0.36. Range = 55.58 
TNavPF::Calculated measDiffMean for beam 66 as 0.82. Range = 55.24 
TNavPF::Calculated measDiffMean for beam 67 as 1.70. Range = 57.09 
TNavPF::Calculated measDiffMean for beam 68 as 1.88. Range = 69.26 
TNavPF::Calculated measDiffMean for beam 69 as 1.97. Range = 70.98 
TNavPF::Calculated measDiffMean for beam 70 as 1.76. Range = 70.64 
TNavPF::Calculated measDiffMean for beam 71 as 0.69. Range = 70.32 
TNavPF::Calculated measDiffMean for beam 72 as 2.42. Range = 70.02 
TNavPF::Calculated measDiffMean for beam 73 as 2.05. Range = 69.75 
TNavPF::Calculated measDiffMean for beam 74 as 0.51. Range = 71.49 
TNavPF::Calculated measDiffMean for beam 75 as -0.29. Range = 71.31 
TNavPF::Calculated measDiffMean for beam 76 as -0.81. Range = 71.10 
TNavPF::Calculated measDiffMean for beam 77 as -1.16. Range = 70.91 
TNavPF::Calculated measDiffMean for beam 78 as -1.61. Range = 70.75 
TNavPF::Calculated measDiffMean for beam 79 as -0.85. Range = 70.61 
TNavPF::Calculated measDiffMean for beam 80 as -0.40. Range = 70.49 
TNavPF::Calculated measDiffMean for beam 81 as -13.03. Range = 70.39 
TNavPF::Calculated measDiffMean for beam 82 as -9.55. Range = 70.31 
TNavPF::Calculated measDiffMean for beam 83 as 4.41. Range = 70.26 
TNavPF::Calculated measDiffMean for beam 84 as 2.30. Range = 72.23 
TNavPF::Calculated measDiffMean for beam 85 as -0.76. Range = 72.22 
TNavPF::Calculated measDiffMean for beam 86 as -1.18. Range = 72.23 
TNavPF::Calculated measDiffMean for beam 87 as -0.22. Range = 70.26 
TNavPF::Calculated measDiffMean for beam 88 as 0.33. Range = 70.31 
TNavPF::Calculated measDiffMean for beam 89 as 0.01. Range = 70.38 
TNavPF::First Term of Map Covariance Matrix is 2.56 
TNavPF::Calculated NIS Value : 9.04 	numBeams normalized NIS: 0.15
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322186.82 sec.
INS : North: 4070248.17, East: 589114.86, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 57.63, IDT[75] = 66.46
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322189.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322189.62)
ARL : North: 1.1671, East: -2.5497, Depth: -2.8411ARL : Estimation Bias  (Mean)         : (t = 1488322189.62)
ARL : North: 0.3682, East: -3.1553, Depth: 0.3020TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.28 
Alpha[0]	0.123000
Alpha[0]	0.998844
TNavParticleFilter::Modified Variance for beam 1 is 19.31 
Alpha[1]	0.000000
Alpha[1]	0.999428
TNavParticleFilter::Modified Variance for beam 2 is 17.60 
Alpha[2]	0.000000
Alpha[2]	0.999369
TNavParticleFilter::Modified Variance for beam 3 is 17.27 
Alpha[3]	0.000000
Alpha[3]	0.998867
TNavParticleFilter::Modified Variance for beam 4 is 16.97 
Alpha[4]	0.000000
Alpha[4]	0.998125
TNavParticleFilter::Modified Variance for beam 5 is 16.85 
Alpha[5]	0.000000
Alpha[5]	0.996254
TNavParticleFilter::Modified Variance for beam 6 is 17.67 
Alpha[6]	0.000000
Alpha[6]	0.994183
TNavParticleFilter::Modified Variance for beam 7 is 18.59 
Alpha[7]	0.000000
Alpha[7]	0.990674
TNavParticleFilter::Modified Variance for beam 8 is 18.37 
Alpha[8]	0.000000
Alpha[8]	0.990756
TNavParticleFilter::Modified Variance for beam 9 is 16.89 
Alpha[9]	0.000000
Alpha[9]	0.991189
TNavParticleFilter::Modified Variance for beam 10 is 16.89 
Alpha[10]	0.000000
Alpha[10]	0.990494
TNavParticleFilter::Modified Variance for beam 11 is 17.88 
Alpha[11]	0.000000
Alpha[11]	0.988720
TNavParticleFilter::Modified Variance for beam 12 is 18.93 
Alpha[12]	0.000000
Alpha[12]	0.990103
TNavParticleFilter::Modified Variance for beam 13 is 19.43 
Alpha[13]	0.000000
Alpha[13]	0.993795
TNavParticleFilter::Modified Variance for beam 14 is 19.10 
Alpha[14]	0.000000
Alpha[14]	0.998162
TNavParticleFilter::Modified Variance for beam 15 is 19.75 
Alpha[15]	0.000000
Alpha[15]	0.999317
TNavParticleFilter::Modified Variance for beam 16 is 21.24 
Alpha[16]	0.000000
Alpha[16]	0.999346
TNavParticleFilter::Modified Variance for beam 17 is 27.63 
Alpha[17]	0.000000
Alpha[17]	0.998957
TNavParticleFilter::Modified Variance for beam 18 is 29.05 
Alpha[18]	0.000000
Alpha[18]	0.990312
TNavParticleFilter::Modified Variance for beam 19 is 28.88 
Alpha[19]	0.000000
Alpha[19]	0.986027
TNavParticleFilter::Modified Variance for beam 20 is 28.66 
Alpha[20]	0.000000
Alpha[20]	0.983705
TNavParticleFilter::Modified Variance for beam 21 is 28.49 
Alpha[21]	0.000000
Alpha[21]	0.980484
TNavParticleFilter::Modified Variance for beam 22 is 28.36 
Alpha[22]	0.000000
Alpha[22]	0.976526
TNavParticleFilter::Modified Variance for beam 23 is 27.94 
Alpha[23]	0.000000
Alpha[23]	0.983510
TNavParticleFilter::Modified Variance for beam 24 is 27.49 
Alpha[24]	0.000000
Alpha[24]	0.991931
TNavParticleFilter::Modified Variance for beam 25 is 28.73 
Alpha[25]	0.000000
Alpha[25]	0.991914
TNavParticleFilter::Modified Variance for beam 26 is 28.55 
Alpha[26]	0.000000
Alpha[26]	0.991750
TNavParticleFilter::Modified Variance for beam 27 is 28.39 
Alpha[27]	0.000000
Alpha[27]	0.991692
TNavParticleFilter::Modified Variance for beam 28 is 28.32 
Alpha[28]	0.000000
Alpha[28]	0.988776
TNavParticleFilter::Modified Variance for beam 29 is 28.39 
Alpha[29]	0.000000
Alpha[29]	0.981607
TNavParticleFilter::Modified Variance for beam 30 is 28.28 
Alpha[30]	0.000000
Alpha[30]	0.981636
TNavParticleFilter::Modified Variance for beam 31 is 28.13 
Alpha[31]	0.000000
Alpha[31]	0.983025
TNavParticleFilter::Modified Variance for beam 32 is 27.94 
Alpha[32]	0.000000
Alpha[32]	0.986667
TNavParticleFilter::Modified Variance for beam 33 is 29.21 
Alpha[33]	0.000000
Alpha[33]	0.989183
TNavParticleFilter::Modified Variance for beam 34 is 29.40 
Alpha[34]	0.000000
Alpha[34]	0.980993
TNavParticleFilter::Modified Variance for beam 35 is 29.30 
Alpha[35]	0.000000
Alpha[35]	0.982769
TNavParticleFilter::Modified Variance for beam 36 is 27.75 
Alpha[36]	0.000000
Alpha[36]	0.986556
TNavParticleFilter::Modified Variance for beam 37 is 27.80 
Alpha[37]	0.000000
Alpha[37]	0.984715
TNavParticleFilter::Modified Variance for beam 38 is 27.76 
Alpha[38]	0.000000
Alpha[38]	0.986051
TNavParticleFilter::Modified Variance for beam 39 is 27.75 
Alpha[39]	0.000000
Alpha[39]	0.987205
TNavParticleFilter::Modified Variance for beam 40 is 27.80 
Alpha[40]	0.000000
Alpha[40]	0.986670
TNavParticleFilter::Modified Variance for beam 41 is 27.83 
Alpha[41]	0.000000
Alpha[41]	0.987011
TNavParticleFilter::Modified Variance for beam 42 is 27.86 
Alpha[42]	0.000000
Alpha[42]	0.988458
TNavParticleFilter::Modified Variance for beam 43 is 27.86 
Alpha[43]	0.000000
Alpha[43]	0.991186
TNavParticleFilter::Modified Variance for beam 44 is 27.88 
Alpha[44]	0.000000
Alpha[44]	0.993549
TNavParticleFilter::Modified Variance for beam 45 is 25.19 
Alpha[45]	0.000000
Alpha[45]	0.996514
TNavParticleFilter::Modified Variance for beam 46 is 25.29 
Alpha[46]	0.000000
Alpha[46]	0.996792
TNavParticleFilter::Modified Variance for beam 47 is 25.42 
Alpha[47]	0.000000
Alpha[47]	0.996791
TNavParticleFilter::Modified Variance for beam 48 is 26.92 
Alpha[48]	0.000000
Alpha[48]	0.996725
TNavParticleFilter::Modified Variance for beam 49 is 27.04 
Alpha[49]	0.000000
Alpha[49]	0.998538
TNavParticleFilter::Modified Variance for beam 50 is 27.20 
Alpha[50]	0.000000
Alpha[50]	0.999084
TNavParticleFilter::Modified Variance for beam 51 is 27.40 
Alpha[51]	0.000000
Alpha[51]	0.998947
TNavParticleFilter::Modified Variance for beam 52 is 27.70 
Alpha[52]	0.000000
Alpha[52]	0.995729
TNavParticleFilter::Modified Variance for beam 53 is 28.02 
Alpha[53]	0.000000
Alpha[53]	0.992858
TNavParticleFilter::Modified Variance for beam 54 is 27.87 
Alpha[54]	0.000000
Alpha[54]	0.993615
TNavParticleFilter::Modified Variance for beam 55 is 27.07 
Alpha[55]	0.000000
Alpha[55]	0.993196
TNavParticleFilter::Modified Variance for beam 56 is 27.19 
Alpha[56]	0.000000
Alpha[56]	0.992544
TNavParticleFilter::Modified Variance for beam 57 is 26.19 
Alpha[57]	0.000000
Alpha[57]	0.993494
TNavParticleFilter::Modified Variance for beam 58 is 26.39 
Alpha[58]	0.000000
Alpha[58]	0.997000
TNavParticleFilter::Modified Variance for beam 59 is 18.15 
Alpha[59]	0.000000
Alpha[59]	0.999488
TNavPF:: sumSquaredError = 21.045021 
TNavPF:: sumWeights = 0.007776 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -5.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -5.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -3.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -3.05. Range = 85.03 
TNavPF::Calculated measDiffMean for beam 35 as -2.77. Range = 85.57 
TNavPF::Calculated measDiffMean for beam 36 as -1.04. Range = 82.84 
TNavPF::Calculated measDiffMean for beam 37 as 0.41. Range = 80.30 
TNavPF::Calculated measDiffMean for beam 38 as -0.11. Range = 79.03 
TNavPF::Calculated measDiffMean for beam 39 as -2.74. Range = 79.52 
TNavPF::Calculated measDiffMean for beam 40 as -2.48. Range = 78.37 
TNavPF::Calculated measDiffMean for beam 41 as -0.77. Range = 79.28 
TNavPF::Calculated measDiffMean for beam 42 as 0.18. Range = 80.22 
TNavPF::Calculated measDiffMean for beam 43 as -0.06. Range = 81.22 
TNavPF::Calculated measDiffMean for beam 44 as -1.58. Range = 79.96 
TNavPF::Calculated measDiffMean for beam 45 as -2.47. Range = 74.88 
TNavPF::Calculated measDiffMean for beam 46 as -3.10. Range = 74.24 
TNavPF::Calculated measDiffMean for beam 47 as 1.54. Range = 74.82 
TNavPF::Calculated measDiffMean for beam 48 as 0.73. Range = 73.30 
TNavPF::Calculated measDiffMean for beam 49 as -0.02. Range = 71.85 
TNavPF::Calculated measDiffMean for beam 50 as -0.38. Range = 70.48 
TNavPF::Calculated measDiffMean for beam 51 as -0.69. Range = 69.19 
TNavPF::Calculated measDiffMean for beam 52 as -1.32. Range = 70.24 
TNavPF::Calculated measDiffMean for beam 53 as -1.57. Range = 69.59 
TNavPF::Calculated measDiffMean for beam 54 as -2.15. Range = 68.43 
TNavPF::Calculated measDiffMean for beam 55 as -0.48. Range = 67.34 
TNavPF::Calculated measDiffMean for beam 56 as -0.65. Range = 66.53 
TNavPF::Calculated measDiffMean for beam 57 as -0.59. Range = 67.90 
TNavPF::Calculated measDiffMean for beam 58 as -0.66. Range = 64.37 
TNavPF::Calculated measDiffMean for beam 59 as -0.67. Range = 64.38 
TNavPF::Calculated measDiffMean for beam 60 as -0.63. Range = 65.13 
TNavPF::Calculated measDiffMean for beam 61 as -0.62. Range = 56.85 
TNavPF::Calculated measDiffMean for beam 62 as -0.75. Range = 53.69 
TNavPF::Calculated measDiffMean for beam 63 as 0.26. Range = 53.04 
TNavPF::Calculated measDiffMean for beam 64 as -0.84. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 65 as -0.49. Range = 52.15 
TNavPF::Calculated measDiffMean for beam 66 as -2.04. Range = 53.64 
TNavPF::Calculated measDiffMean for beam 67 as -1.25. Range = 55.24 
TNavPF::Calculated measDiffMean for beam 68 as -1.11. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 69 as -0.94. Range = 52.05 
TNavPF::Calculated measDiffMean for beam 70 as -0.35. Range = 52.02 
TNavPF::Calculated measDiffMean for beam 71 as -0.24. Range = 53.86 
TNavPF::Calculated measDiffMean for beam 72 as -0.19. Range = 55.85 
TNavPF::Calculated measDiffMean for beam 73 as -0.05. Range = 56.86 
TNavPF::Calculated measDiffMean for beam 74 as 0.22. Range = 56.43 
TNavPF::Calculated measDiffMean for beam 75 as -2.56. Range = 57.63 
TNavPF::Calculated measDiffMean for beam 76 as -2.23. Range = 60.21 
TNavPF::Calculated measDiffMean for beam 77 as -2.15. Range = 70.19 
TNavPF::Calculated measDiffMean for beam 78 as -0.24. Range = 71.87 
TNavPF::Calculated measDiffMean for beam 79 as 0.81. Range = 71.44 
TNavPF::Calculated measDiffMean for beam 80 as 2.07. Range = 71.04 
TNavPF::Calculated measDiffMean for beam 81 as 1.16. Range = 70.67 
TNavPF::Calculated measDiffMean for beam 82 as -0.58. Range = 70.32 
TNavPF::Calculated measDiffMean for beam 83 as 0.21. Range = 70.00 
TNavPF::Calculated measDiffMean for beam 84 as 0.21. Range = 69.70 
TNavPF::Calculated measDiffMean for beam 85 as -0.81. Range = 71.48 
TNavPF::Calculated measDiffMean for beam 86 as -0.56. Range = 71.22 
TNavPF::Calculated measDiffMean for beam 87 as -1.33. Range = 70.98 
TNavPF::Calculated measDiffMean for beam 88 as -0.66. Range = 70.77 
TNavPF::Calculated measDiffMean for beam 89 as -11.26. Range = 70.58 
TNavPF::First Term of Map Covariance Matrix is 17.29 
TNavPF::Calculated NIS Value : 4.93 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322189.82 sec.
INS : North: 4070247.53, East: 589110.81, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 55.73, IDT[75] = 71.10
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322192.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322192.62)
ARL : North: 0.0545, East: -2.9009, Depth: -1.3228ARL : Estimation Bias  (Mean)         : (t = 1488322192.62)
ARL : North: -0.0433, East: -3.4334, Depth: 0.6425TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 31.59 
Alpha[0]	0.123000
Alpha[0]	0.996325
TNavParticleFilter::Modified Variance for beam 1 is 30.56 
Alpha[1]	0.000000
Alpha[1]	0.995090
TNavParticleFilter::Modified Variance for beam 2 is 29.48 
Alpha[2]	0.000000
Alpha[2]	0.993401
TNavParticleFilter::Modified Variance for beam 3 is 28.44 
Alpha[3]	0.000000
Alpha[3]	0.993182
TNavParticleFilter::Modified Variance for beam 4 is 29.03 
Alpha[4]	0.000000
Alpha[4]	0.996202
TNavParticleFilter::Modified Variance for beam 5 is 28.48 
Alpha[5]	0.000000
Alpha[5]	0.997307
TNavParticleFilter::Modified Variance for beam 6 is 27.59 
Alpha[6]	0.000000
Alpha[6]	0.996771
TNavParticleFilter::Modified Variance for beam 7 is 26.79 
Alpha[7]	0.000000
Alpha[7]	0.994845
TNavParticleFilter::Modified Variance for beam 8 is 26.56 
Alpha[8]	0.000000
Alpha[8]	0.994910
TNavParticleFilter::Modified Variance for beam 9 is 25.20 
Alpha[9]	0.000000
Alpha[9]	0.997599
TNavParticleFilter::Modified Variance for beam 10 is 24.48 
Alpha[10]	0.000000
Alpha[10]	0.998704
TNavParticleFilter::Modified Variance for beam 11 is 19.11 
Alpha[11]	0.000000
Alpha[11]	0.999324
TNavParticleFilter::Modified Variance for beam 12 is 18.65 
Alpha[12]	0.000000
Alpha[12]	0.999265
TNavParticleFilter::Modified Variance for beam 13 is 18.23 
Alpha[13]	0.000000
Alpha[13]	0.998386
TNavParticleFilter::Modified Variance for beam 14 is 18.07 
Alpha[14]	0.000000
Alpha[14]	0.996672
TNavParticleFilter::Modified Variance for beam 15 is 18.79 
Alpha[15]	0.000000
Alpha[15]	0.994228
TNavParticleFilter::Modified Variance for beam 16 is 18.54 
Alpha[16]	0.000000
Alpha[16]	0.990664
TNavParticleFilter::Modified Variance for beam 17 is 18.20 
Alpha[17]	0.000000
Alpha[17]	0.989009
TNavParticleFilter::Modified Variance for beam 18 is 17.84 
Alpha[18]	0.000000
Alpha[18]	0.989320
TNavParticleFilter::Modified Variance for beam 19 is 17.51 
Alpha[19]	0.000000
Alpha[19]	0.989452
TNavParticleFilter::Modified Variance for beam 20 is 17.24 
Alpha[20]	0.000000
Alpha[20]	0.987257
TNavParticleFilter::Modified Variance for beam 21 is 17.78 
Alpha[21]	0.000000
Alpha[21]	0.982318
TNavParticleFilter::Modified Variance for beam 22 is 18.53 
Alpha[22]	0.000000
Alpha[22]	0.988336
TNavParticleFilter::Modified Variance for beam 23 is 19.39 
Alpha[23]	0.000000
Alpha[23]	0.992619
TNavParticleFilter::Modified Variance for beam 24 is 19.64 
Alpha[24]	0.000000
Alpha[24]	0.995600
TNavParticleFilter::Modified Variance for beam 25 is 19.30 
Alpha[25]	0.000000
Alpha[25]	0.998456
TNavParticleFilter::Modified Variance for beam 26 is 20.07 
Alpha[26]	0.000000
Alpha[26]	0.998912
TNavParticleFilter::Modified Variance for beam 27 is 21.32 
Alpha[27]	0.000000
Alpha[27]	0.998861
TNavParticleFilter::Modified Variance for beam 28 is 28.13 
Alpha[28]	0.000000
Alpha[28]	0.994309
TNavParticleFilter::Modified Variance for beam 29 is 28.08 
Alpha[29]	0.000000
Alpha[29]	0.982818
TNavParticleFilter::Modified Variance for beam 30 is 27.69 
Alpha[30]	0.000000
Alpha[30]	0.984313
TNavParticleFilter::Modified Variance for beam 31 is 28.60 
Alpha[31]	0.000000
Alpha[31]	0.985981
TNavParticleFilter::Modified Variance for beam 32 is 28.79 
Alpha[32]	0.000000
Alpha[32]	0.975375
TNavParticleFilter::Modified Variance for beam 33 is 28.58 
Alpha[33]	0.000000
Alpha[33]	0.971752
TNavParticleFilter::Modified Variance for beam 34 is 28.04 
Alpha[34]	0.000000
Alpha[34]	0.980287
TNavParticleFilter::Modified Variance for beam 35 is 27.54 
Alpha[35]	0.000000
Alpha[35]	0.988390
TNavParticleFilter::Modified Variance for beam 36 is 28.15 
Alpha[36]	0.000000
Alpha[36]	0.989705
TNavParticleFilter::Modified Variance for beam 37 is 27.02 
Alpha[37]	0.000000
Alpha[37]	0.989984
TNavParticleFilter::Modified Variance for beam 38 is 26.82 
Alpha[38]	0.000000
Alpha[38]	0.989314
TNavParticleFilter::Modified Variance for beam 39 is 26.93 
Alpha[39]	0.000000
Alpha[39]	0.986122
TNavParticleFilter::Modified Variance for beam 40 is 27.96 
Alpha[40]	0.000000
Alpha[40]	0.985372
TNavParticleFilter::Modified Variance for beam 41 is 27.78 
Alpha[41]	0.000000
Alpha[41]	0.985391
TNavParticleFilter::Modified Variance for beam 42 is 27.61 
Alpha[42]	0.000000
Alpha[42]	0.985883
TNavParticleFilter::Modified Variance for beam 43 is 27.44 
Alpha[43]	0.000000
Alpha[43]	0.986921
TNavParticleFilter::Modified Variance for beam 44 is 27.35 
Alpha[44]	0.000000
Alpha[44]	0.985744
TNavParticleFilter::Modified Variance for beam 45 is 28.67 
Alpha[45]	0.000000
Alpha[45]	0.984806
TNavParticleFilter::Modified Variance for beam 46 is 28.53 
Alpha[46]	0.000000
Alpha[46]	0.986211
TNavParticleFilter::Modified Variance for beam 47 is 28.41 
Alpha[47]	0.000000
Alpha[47]	0.987115
TNavParticleFilter::Modified Variance for beam 48 is 27.06 
Alpha[48]	0.000000
Alpha[48]	0.983435
TNavParticleFilter::Modified Variance for beam 49 is 26.91 
Alpha[49]	0.000000
Alpha[49]	0.986768
TNavParticleFilter::Modified Variance for beam 50 is 26.83 
Alpha[50]	0.000000
Alpha[50]	0.988554
TNavParticleFilter::Modified Variance for beam 51 is 26.82 
Alpha[51]	0.000000
Alpha[51]	0.987933
TNavParticleFilter::Modified Variance for beam 52 is 26.75 
Alpha[52]	0.000000
Alpha[52]	0.990325
TNavParticleFilter::Modified Variance for beam 53 is 26.70 
Alpha[53]	0.000000
Alpha[53]	0.992199
TNavParticleFilter::Modified Variance for beam 54 is 26.65 
Alpha[54]	0.000000
Alpha[54]	0.994795
TNavParticleFilter::Modified Variance for beam 55 is 26.65 
Alpha[55]	0.000000
Alpha[55]	0.996097
TNavParticleFilter::Modified Variance for beam 56 is 24.75 
Alpha[56]	0.000000
Alpha[56]	0.996240
TNavParticleFilter::Modified Variance for beam 57 is 24.12 
Alpha[57]	0.000000
Alpha[57]	0.996200
TNavParticleFilter::Modified Variance for beam 58 is 24.19 
Alpha[58]	0.000000
Alpha[58]	0.996207
TNavParticleFilter::Modified Variance for beam 59 is 24.24 
Alpha[59]	0.000000
Alpha[59]	0.997489
TNavPF:: sumSquaredError = 10.971667 
TNavPF:: sumWeights = 0.019022 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -6.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -4.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.37. Range = 87.88 
TNavPF::Calculated measDiffMean for beam 48 as -1.93. Range = 86.38 
TNavPF::Calculated measDiffMean for beam 49 as -2.35. Range = 85.25 
TNavPF::Calculated measDiffMean for beam 50 as -2.77. Range = 82.42 
TNavPF::Calculated measDiffMean for beam 51 as -2.28. Range = 81.89 
TNavPF::Calculated measDiffMean for beam 52 as -1.59. Range = 82.70 
TNavPF::Calculated measDiffMean for beam 53 as -0.61. Range = 82.89 
TNavPF::Calculated measDiffMean for beam 54 as -0.68. Range = 82.08 
TNavPF::Calculated measDiffMean for beam 55 as -2.85. Range = 82.05 
TNavPF::Calculated measDiffMean for beam 56 as -4.60. Range = 81.54 
TNavPF::Calculated measDiffMean for beam 57 as -7.29. Range = 77.89 
TNavPF::Calculated measDiffMean for beam 58 as -0.39. Range = 76.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.32. Range = 74.61 
TNavPF::Calculated measDiffMean for beam 60 as -1.69. Range = 75.61 
TNavPF::Calculated measDiffMean for beam 61 as -0.24. Range = 74.15 
TNavPF::Calculated measDiffMean for beam 62 as -0.62. Range = 72.59 
TNavPF::Calculated measDiffMean for beam 63 as -1.16. Range = 71.12 
TNavPF::Calculated measDiffMean for beam 64 as -1.35. Range = 72.08 
TNavPF::Calculated measDiffMean for beam 65 as -1.63. Range = 71.34 
TNavPF::Calculated measDiffMean for beam 66 as -0.70. Range = 70.04 
TNavPF::Calculated measDiffMean for beam 67 as -2.00. Range = 68.80 
TNavPF::Calculated measDiffMean for beam 68 as -2.02. Range = 68.45 
TNavPF::Calculated measDiffMean for beam 69 as -2.00. Range = 66.51 
TNavPF::Calculated measDiffMean for beam 70 as -0.31. Range = 65.45 
TNavPF::Calculated measDiffMean for beam 71 as -0.29. Range = 56.48 
TNavPF::Calculated measDiffMean for beam 72 as -0.33. Range = 55.64 
TNavPF::Calculated measDiffMean for beam 73 as -0.58. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 74 as -2.26. Range = 54.49 
TNavPF::Calculated measDiffMean for beam 75 as -0.50. Range = 55.73 
TNavPF::Calculated measDiffMean for beam 76 as -0.11. Range = 55.14 
TNavPF::Calculated measDiffMean for beam 77 as 0.64. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 78 as -0.96. Range = 53.81 
TNavPF::Calculated measDiffMean for beam 79 as -0.76. Range = 53.19 
TNavPF::Calculated measDiffMean for beam 80 as -0.39. Range = 52.60 
TNavPF::Calculated measDiffMean for beam 81 as -0.01. Range = 53.45 
TNavPF::Calculated measDiffMean for beam 82 as 0.10. Range = 55.04 
TNavPF::Calculated measDiffMean for beam 83 as 0.23. Range = 56.76 
TNavPF::Calculated measDiffMean for beam 84 as 0.55. Range = 57.31 
TNavPF::Calculated measDiffMean for beam 85 as 1.31. Range = 56.79 
TNavPF::Calculated measDiffMean for beam 86 as -0.45. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 87 as -1.41. Range = 60.33 
TNavPF::Calculated measDiffMean for beam 88 as -1.38. Range = 70.72 
TNavPF::Calculated measDiffMean for beam 89 as -1.20. Range = 70.18 
TNavPF::First Term of Map Covariance Matrix is 5.43 
TNavPF::Calculated NIS Value : 4.07 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322192.82 sec.
INS : North: 4070245.97, East: 589107.03, Depth: 889.87
TerrainNav::measUpdate() - IDT[45] = 56.25, IDT[75] = 70.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322195.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322195.62)
ARL : North: -0.4074, East: -3.9031, Depth: 6.4728ARL : Estimation Bias  (Mean)         : (t = 1488322195.62)
ARL : North: -0.4179, East: -3.0519, Depth: 1.0934TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 32.69 
Alpha[0]	0.123000
Alpha[0]	0.996581
TNavParticleFilter::Modified Variance for beam 1 is 32.71 
Alpha[1]	0.000000
Alpha[1]	0.994471
TNavParticleFilter::Modified Variance for beam 2 is 31.34 
Alpha[2]	0.000000
Alpha[2]	0.994503
TNavParticleFilter::Modified Variance for beam 3 is 30.02 
Alpha[3]	0.000000
Alpha[3]	0.996739
TNavParticleFilter::Modified Variance for beam 4 is 30.00 
Alpha[4]	0.000000
Alpha[4]	0.997764
TNavParticleFilter::Modified Variance for beam 5 is 30.00 
Alpha[5]	0.000000
Alpha[5]	0.997227
TNavParticleFilter::Modified Variance for beam 6 is 28.96 
Alpha[6]	0.000000
Alpha[6]	0.995935
TNavParticleFilter::Modified Variance for beam 7 is 27.96 
Alpha[7]	0.000000
Alpha[7]	0.996128
TNavParticleFilter::Modified Variance for beam 8 is 27.43 
Alpha[8]	0.000000
Alpha[8]	0.998187
TNavParticleFilter::Modified Variance for beam 9 is 26.09 
Alpha[9]	0.000000
Alpha[9]	0.999206
TNavParticleFilter::Modified Variance for beam 10 is 25.28 
Alpha[10]	0.000000
Alpha[10]	0.999459
TNavParticleFilter::Modified Variance for beam 11 is 25.98 
Alpha[11]	0.000000
Alpha[11]	0.999415
TNavParticleFilter::Modified Variance for beam 12 is 18.97 
Alpha[12]	0.000000
Alpha[12]	0.998757
TNavParticleFilter::Modified Variance for beam 13 is 18.58 
Alpha[13]	0.000000
Alpha[13]	0.997748
TNavParticleFilter::Modified Variance for beam 14 is 19.22 
Alpha[14]	0.000000
Alpha[14]	0.995522
TNavParticleFilter::Modified Variance for beam 15 is 19.11 
Alpha[15]	0.000000
Alpha[15]	0.992674
TNavParticleFilter::Modified Variance for beam 16 is 18.69 
Alpha[16]	0.000000
Alpha[16]	0.991058
TNavParticleFilter::Modified Variance for beam 17 is 18.27 
Alpha[17]	0.000000
Alpha[17]	0.990939
TNavParticleFilter::Modified Variance for beam 18 is 17.89 
Alpha[18]	0.000000
Alpha[18]	0.990081
TNavParticleFilter::Modified Variance for beam 19 is 17.60 
Alpha[19]	0.000000
Alpha[19]	0.985306
TNavParticleFilter::Modified Variance for beam 20 is 18.05 
Alpha[20]	0.000000
Alpha[20]	0.988509
TNavParticleFilter::Modified Variance for beam 21 is 18.73 
Alpha[21]	0.000000
Alpha[21]	0.992128
TNavParticleFilter::Modified Variance for beam 22 is 19.50 
Alpha[22]	0.000000
Alpha[22]	0.994283
TNavParticleFilter::Modified Variance for beam 23 is 19.91 
Alpha[23]	0.000000
Alpha[23]	0.997556
TNavParticleFilter::Modified Variance for beam 24 is 19.53 
Alpha[24]	0.000000
Alpha[24]	0.998894
TNavParticleFilter::Modified Variance for beam 25 is 19.99 
Alpha[25]	0.000000
Alpha[25]	0.999039
TNavParticleFilter::Modified Variance for beam 26 is 21.04 
Alpha[26]	0.000000
Alpha[26]	0.998516
TNavParticleFilter::Modified Variance for beam 27 is 22.31 
Alpha[27]	0.000000
Alpha[27]	0.992668
TNavParticleFilter::Modified Variance for beam 28 is 28.45 
Alpha[28]	0.000000
Alpha[28]	0.984680
TNavParticleFilter::Modified Variance for beam 29 is 27.98 
Alpha[29]	0.000000
Alpha[29]	0.985904
TNavParticleFilter::Modified Variance for beam 30 is 27.57 
Alpha[30]	0.000000
Alpha[30]	0.985635
TNavParticleFilter::Modified Variance for beam 31 is 28.85 
Alpha[31]	0.000000
Alpha[31]	0.978355
TNavParticleFilter::Modified Variance for beam 32 is 28.62 
Alpha[32]	0.000000
Alpha[32]	0.975800
TNavParticleFilter::Modified Variance for beam 33 is 28.08 
Alpha[33]	0.000000
Alpha[33]	0.981763
TNavParticleFilter::Modified Variance for beam 34 is 27.51 
Alpha[34]	0.000000
Alpha[34]	0.990040
TNavParticleFilter::Modified Variance for beam 35 is 27.17 
Alpha[35]	0.000000
Alpha[35]	0.990777
TNavParticleFilter::Modified Variance for beam 36 is 27.93 
Alpha[36]	0.000000
Alpha[36]	0.991032
TNavParticleFilter::Modified Variance for beam 37 is 28.05 
Alpha[37]	0.000000
Alpha[37]	0.990613
TNavParticleFilter::Modified Variance for beam 38 is 27.86 
Alpha[38]	0.000000
Alpha[38]	0.987308
TNavParticleFilter::Modified Variance for beam 39 is 27.68 
Alpha[39]	0.000000
Alpha[39]	0.984831
TNavParticleFilter::Modified Variance for beam 40 is 27.44 
Alpha[40]	0.000000
Alpha[40]	0.984807
TNavParticleFilter::Modified Variance for beam 41 is 27.20 
Alpha[41]	0.000000
Alpha[41]	0.985536
TNavParticleFilter::Modified Variance for beam 42 is 26.95 
Alpha[42]	0.000000
Alpha[42]	0.987052
TNavParticleFilter::Modified Variance for beam 43 is 26.74 
Alpha[43]	0.000000
Alpha[43]	0.988128
TNavParticleFilter::Modified Variance for beam 44 is 26.67 
Alpha[44]	0.000000
Alpha[44]	0.984268
TNavParticleFilter::Modified Variance for beam 45 is 27.88 
Alpha[45]	0.000000
Alpha[45]	0.985379
TNavParticleFilter::Modified Variance for beam 46 is 27.67 
Alpha[46]	0.000000
Alpha[46]	0.987793
TNavParticleFilter::Modified Variance for beam 47 is 27.62 
Alpha[47]	0.000000
Alpha[47]	0.984776
TNavParticleFilter::Modified Variance for beam 48 is 26.07 
Alpha[48]	0.000000
Alpha[48]	0.987001
TNavParticleFilter::Modified Variance for beam 49 is 25.93 
Alpha[49]	0.000000
Alpha[49]	0.988698
TNavParticleFilter::Modified Variance for beam 50 is 25.86 
Alpha[50]	0.000000
Alpha[50]	0.988318
TNavParticleFilter::Modified Variance for beam 51 is 25.74 
Alpha[51]	0.000000
Alpha[51]	0.990272
TNavParticleFilter::Modified Variance for beam 52 is 25.64 
Alpha[52]	0.000000
Alpha[52]	0.992119
TNavParticleFilter::Modified Variance for beam 53 is 25.54 
Alpha[53]	0.000000
Alpha[53]	0.994706
TNavParticleFilter::Modified Variance for beam 54 is 25.48 
Alpha[54]	0.000000
Alpha[54]	0.995873
TNavParticleFilter::Modified Variance for beam 55 is 25.45 
Alpha[55]	0.000000
Alpha[55]	0.996565
TNavParticleFilter::Modified Variance for beam 56 is 25.46 
Alpha[56]	0.000000
Alpha[56]	0.996468
TNavParticleFilter::Modified Variance for beam 57 is 22.92 
Alpha[57]	0.000000
Alpha[57]	0.996478
TNavParticleFilter::Modified Variance for beam 58 is 22.92 
Alpha[58]	0.000000
Alpha[58]	0.997453
TNavParticleFilter::Modified Variance for beam 59 is 22.93 
Alpha[59]	0.000000
Alpha[59]	0.998559
TNavPF:: sumSquaredError = 16.100249 
TNavPF:: sumWeights = 0.001111 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 3.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 7.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.95. Range = 90.62 
TNavPF::Calculated measDiffMean for beam 49 as -2.73. Range = 91.12 
TNavPF::Calculated measDiffMean for beam 50 as -2.47. Range = 88.46 
TNavPF::Calculated measDiffMean for beam 51 as -1.85. Range = 85.23 
TNavPF::Calculated measDiffMean for beam 52 as -0.96. Range = 84.42 
TNavPF::Calculated measDiffMean for beam 53 as -1.09. Range = 83.81 
TNavPF::Calculated measDiffMean for beam 54 as -4.05. Range = 83.69 
TNavPF::Calculated measDiffMean for beam 55 as -6.58. Range = 84.50 
TNavPF::Calculated measDiffMean for beam 56 as -8.89. Range = 85.36 
TNavPF::Calculated measDiffMean for beam 57 as -9.32. Range = 85.55 
TNavPF::Calculated measDiffMean for beam 58 as -0.49. Range = 79.50 
TNavPF::Calculated measDiffMean for beam 59 as -1.00. Range = 77.40 
TNavPF::Calculated measDiffMean for beam 60 as -1.43. Range = 77.09 
TNavPF::Calculated measDiffMean for beam 61 as 0.08. Range = 77.01 
TNavPF::Calculated measDiffMean for beam 62 as -0.47. Range = 75.19 
TNavPF::Calculated measDiffMean for beam 63 as -0.73. Range = 73.48 
TNavPF::Calculated measDiffMean for beam 64 as -1.13. Range = 73.50 
TNavPF::Calculated measDiffMean for beam 65 as -1.52. Range = 73.47 
TNavPF::Calculated measDiffMean for beam 66 as -0.06. Range = 71.97 
TNavPF::Calculated measDiffMean for beam 67 as 0.49. Range = 70.54 
TNavPF::Calculated measDiffMean for beam 68 as 0.26. Range = 69.86 
TNavPF::Calculated measDiffMean for beam 69 as 0.19. Range = 67.92 
TNavPF::Calculated measDiffMean for beam 70 as 0.19. Range = 66.70 
TNavPF::Calculated measDiffMean for beam 71 as 0.12. Range = 67.77 
TNavPF::Calculated measDiffMean for beam 72 as -0.09. Range = 56.21 
TNavPF::Calculated measDiffMean for beam 73 as -1.39. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 74 as -2.17. Range = 56.55 
TNavPF::Calculated measDiffMean for beam 75 as 0.21. Range = 56.25 
TNavPF::Calculated measDiffMean for beam 76 as 0.76. Range = 55.44 
TNavPF::Calculated measDiffMean for beam 77 as 1.33. Range = 54.66 
TNavPF::Calculated measDiffMean for beam 78 as -0.49. Range = 53.93 
TNavPF::Calculated measDiffMean for beam 79 as -0.25. Range = 53.23 
TNavPF::Calculated measDiffMean for beam 80 as 0.21. Range = 54.17 
TNavPF::Calculated measDiffMean for beam 81 as 0.36. Range = 55.54 
TNavPF::Calculated measDiffMean for beam 82 as 0.46. Range = 57.00 
TNavPF::Calculated measDiffMean for beam 83 as 0.74. Range = 57.85 
TNavPF::Calculated measDiffMean for beam 84 as 1.15. Range = 57.22 
TNavPF::Calculated measDiffMean for beam 85 as 2.30. Range = 58.04 
TNavPF::Calculated measDiffMean for beam 86 as 2.61. Range = 59.83 
TNavPF::Calculated measDiffMean for beam 87 as -1.35. Range = 61.75 
TNavPF::Calculated measDiffMean for beam 88 as -1.07. Range = 70.78 
TNavPF::Calculated measDiffMean for beam 89 as -0.00. Range = 70.16 
TNavPF::First Term of Map Covariance Matrix is 5.84 
TNavPF::Calculated NIS Value : 11.68 	numBeams normalized NIS: 0.19
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322195.82 sec.
INS : North: 4070244.35, East: 589103.26, Depth: 889.85
TerrainNav::measUpdate() - IDT[45] = 71.67, IDT[75] = 65.65
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322198.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322198.62)
ARL : North: 0.0924, East: -2.7506, Depth: 1.3610ARL : Estimation Bias  (Mean)         : (t = 1488322198.62)
ARL : North: -0.2216, East: -1.9028, Depth: 0.5073TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.24 
Alpha[0]	0.123000
Alpha[0]	0.999365
TNavParticleFilter::Modified Variance for beam 1 is 18.88 
Alpha[1]	0.000000
Alpha[1]	0.998958
TNavParticleFilter::Modified Variance for beam 2 is 19.47 
Alpha[2]	0.000000
Alpha[2]	0.997639
TNavParticleFilter::Modified Variance for beam 3 is 20.11 
Alpha[3]	0.000000
Alpha[3]	0.995698
TNavParticleFilter::Modified Variance for beam 4 is 20.30 
Alpha[4]	0.000000
Alpha[4]	0.994654
TNavParticleFilter::Modified Variance for beam 5 is 19.80 
Alpha[5]	0.000000
Alpha[5]	0.994253
TNavParticleFilter::Modified Variance for beam 6 is 19.36 
Alpha[6]	0.000000
Alpha[6]	0.992326
TNavParticleFilter::Modified Variance for beam 7 is 19.32 
Alpha[7]	0.000000
Alpha[7]	0.993034
TNavParticleFilter::Modified Variance for beam 8 is 20.04 
Alpha[8]	0.000000
Alpha[8]	0.992800
TNavParticleFilter::Modified Variance for beam 9 is 20.77 
Alpha[9]	0.000000
Alpha[9]	0.995582
TNavParticleFilter::Modified Variance for beam 10 is 20.35 
Alpha[10]	0.000000
Alpha[10]	0.998457
TNavParticleFilter::Modified Variance for beam 11 is 20.36 
Alpha[11]	0.000000
Alpha[11]	0.999231
TNavParticleFilter::Modified Variance for beam 12 is 21.25 
Alpha[12]	0.000000
Alpha[12]	0.999294
TNavParticleFilter::Modified Variance for beam 13 is 28.10 
Alpha[13]	0.000000
Alpha[13]	0.998755
TNavParticleFilter::Modified Variance for beam 14 is 28.52 
Alpha[14]	0.000000
Alpha[14]	0.993606
TNavParticleFilter::Modified Variance for beam 15 is 29.09 
Alpha[15]	0.000000
Alpha[15]	0.984285
TNavParticleFilter::Modified Variance for beam 16 is 28.93 
Alpha[16]	0.000000
Alpha[16]	0.985835
TNavParticleFilter::Modified Variance for beam 17 is 29.72 
Alpha[17]	0.000000
Alpha[17]	0.983969
TNavParticleFilter::Modified Variance for beam 18 is 29.29 
Alpha[18]	0.000000
Alpha[18]	0.982028
TNavParticleFilter::Modified Variance for beam 19 is 28.92 
Alpha[19]	0.000000
Alpha[19]	0.979073
TNavParticleFilter::Modified Variance for beam 20 is 28.24 
Alpha[20]	0.000000
Alpha[20]	0.987712
TNavParticleFilter::Modified Variance for beam 21 is 27.99 
Alpha[21]	0.000000
Alpha[21]	0.991198
TNavParticleFilter::Modified Variance for beam 22 is 28.82 
Alpha[22]	0.000000
Alpha[22]	0.993529
TNavParticleFilter::Modified Variance for beam 23 is 28.47 
Alpha[23]	0.000000
Alpha[23]	0.992758
TNavParticleFilter::Modified Variance for beam 24 is 28.10 
Alpha[24]	0.000000
Alpha[24]	0.993208
TNavParticleFilter::Modified Variance for beam 25 is 27.81 
Alpha[25]	0.000000
Alpha[25]	0.991927
TNavParticleFilter::Modified Variance for beam 26 is 27.65 
Alpha[26]	0.000000
Alpha[26]	0.986512
TNavParticleFilter::Modified Variance for beam 27 is 27.41 
Alpha[27]	0.000000
Alpha[27]	0.984735
TNavParticleFilter::Modified Variance for beam 28 is 27.08 
Alpha[28]	0.000000
Alpha[28]	0.986520
TNavParticleFilter::Modified Variance for beam 29 is 26.78 
Alpha[29]	0.000000
Alpha[29]	0.988461
TNavParticleFilter::Modified Variance for beam 30 is 26.54 
Alpha[30]	0.000000
Alpha[30]	0.988553
TNavParticleFilter::Modified Variance for beam 31 is 26.83 
Alpha[31]	0.000000
Alpha[31]	0.985271
TNavParticleFilter::Modified Variance for beam 32 is 27.60 
Alpha[32]	0.000000
Alpha[32]	0.985978
TNavParticleFilter::Modified Variance for beam 33 is 27.39 
Alpha[33]	0.000000
Alpha[33]	0.986183
TNavParticleFilter::Modified Variance for beam 34 is 27.16 
Alpha[34]	0.000000
Alpha[34]	0.988239
TNavParticleFilter::Modified Variance for beam 35 is 25.64 
Alpha[35]	0.000000
Alpha[35]	0.987897
TNavParticleFilter::Modified Variance for beam 36 is 25.49 
Alpha[36]	0.000000
Alpha[36]	0.988420
TNavParticleFilter::Modified Variance for beam 37 is 25.35 
Alpha[37]	0.000000
Alpha[37]	0.988837
TNavParticleFilter::Modified Variance for beam 38 is 25.27 
Alpha[38]	0.000000
Alpha[38]	0.987792
TNavParticleFilter::Modified Variance for beam 39 is 25.13 
Alpha[39]	0.000000
Alpha[39]	0.989565
TNavParticleFilter::Modified Variance for beam 40 is 24.99 
Alpha[40]	0.000000
Alpha[40]	0.991751
TNavParticleFilter::Modified Variance for beam 41 is 24.88 
Alpha[41]	0.000000
Alpha[41]	0.993649
TNavParticleFilter::Modified Variance for beam 42 is 24.76 
Alpha[42]	0.000000
Alpha[42]	0.996231
TNavParticleFilter::Modified Variance for beam 43 is 24.70 
Alpha[43]	0.000000
Alpha[43]	0.996876
TNavParticleFilter::Modified Variance for beam 44 is 24.67 
Alpha[44]	0.000000
Alpha[44]	0.996921
TNavParticleFilter::Modified Variance for beam 45 is 24.64 
Alpha[45]	0.000000
Alpha[45]	0.997764
TNavParticleFilter::Modified Variance for beam 46 is 24.60 
Alpha[46]	0.000000
Alpha[46]	0.998925
TNavParticleFilter::Modified Variance for beam 47 is 17.59 
Alpha[47]	0.000000
Alpha[47]	0.999087
TNavParticleFilter::Modified Variance for beam 48 is 23.37 
Alpha[48]	0.000000
Alpha[48]	0.998646
TNavParticleFilter::Modified Variance for beam 49 is 23.47 
Alpha[49]	0.000000
Alpha[49]	0.995936
TNavParticleFilter::Modified Variance for beam 50 is 23.55 
Alpha[50]	0.000000
Alpha[50]	0.994840
TNavParticleFilter::Modified Variance for beam 51 is 23.61 
Alpha[51]	0.000000
Alpha[51]	0.994600
TNavParticleFilter::Modified Variance for beam 52 is 23.68 
Alpha[52]	0.000000
Alpha[52]	0.994641
TNavParticleFilter::Modified Variance for beam 53 is 23.78 
Alpha[53]	0.000000
Alpha[53]	0.994103
TNavParticleFilter::Modified Variance for beam 54 is 22.56 
Alpha[54]	0.000000
Alpha[54]	0.996391
TNavParticleFilter::Modified Variance for beam 55 is 22.61 
Alpha[55]	0.000000
Alpha[55]	0.999110
TNavParticleFilter::Modified Variance for beam 56 is 21.48 
Alpha[56]	0.000000
Alpha[56]	0.999551
TNavParticleFilter::Modified Variance for beam 57 is 14.09 
Alpha[57]	0.000000
Alpha[57]	0.999588
TNavParticleFilter::Modified Variance for beam 58 is 14.17 
Alpha[58]	0.000000
Alpha[58]	0.999455
TNavParticleFilter::Modified Variance for beam 59 is 21.91 
Alpha[59]	0.000000
Alpha[59]	0.998482
TNavPF:: sumSquaredError = 185.354235 
TNavPF:: sumWeights = 0.000606 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.17. Range = 97.98 
TNavPF::Calculated measDiffMean for beam 38 as -0.75. Range = 93.80 
TNavPF::Calculated measDiffMean for beam 39 as -0.09. Range = 90.99 
TNavPF::Calculated measDiffMean for beam 40 as -1.94. Range = 91.36 
TNavPF::Calculated measDiffMean for beam 41 as -4.54. Range = 88.00 
TNavPF::Calculated measDiffMean for beam 42 as -6.09. Range = 88.75 
TNavPF::Calculated measDiffMean for beam 43 as 1.26. Range = 87.28 
TNavPF::Calculated measDiffMean for beam 44 as -0.52. Range = 88.08 
TNavPF::Calculated measDiffMean for beam 45 as -0.17. Range = 88.93 
TNavPF::Calculated measDiffMean for beam 46 as -0.40. Range = 82.46 
TNavPF::Calculated measDiffMean for beam 47 as 0.87. Range = 81.37 
TNavPF::Calculated measDiffMean for beam 48 as 0.48. Range = 81.60 
TNavPF::Calculated measDiffMean for beam 49 as -0.12. Range = 79.42 
TNavPF::Calculated measDiffMean for beam 50 as -0.68. Range = 77.38 
TNavPF::Calculated measDiffMean for beam 51 as -0.92. Range = 75.46 
TNavPF::Calculated measDiffMean for beam 52 as 0.26. Range = 76.32 
TNavPF::Calculated measDiffMean for beam 53 as -0.04. Range = 75.26 
TNavPF::Calculated measDiffMean for beam 54 as -0.07. Range = 73.59 
TNavPF::Calculated measDiffMean for beam 55 as -0.10. Range = 74.30 
TNavPF::Calculated measDiffMean for beam 56 as -0.00. Range = 73.61 
TNavPF::Calculated measDiffMean for beam 57 as 0.03. Range = 72.14 
TNavPF::Calculated measDiffMean for beam 58 as -0.03. Range = 70.75 
TNavPF::Calculated measDiffMean for beam 59 as -0.24. Range = 57.77 
TNavPF::Calculated measDiffMean for beam 60 as -0.76. Range = 56.73 
TNavPF::Calculated measDiffMean for beam 61 as -1.57. Range = 56.05 
TNavPF::Calculated measDiffMean for beam 62 as -0.22. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 63 as 0.17. Range = 58.14 
TNavPF::Calculated measDiffMean for beam 64 as 0.90. Range = 58.42 
TNavPF::Calculated measDiffMean for beam 65 as -0.90. Range = 57.54 
TNavPF::Calculated measDiffMean for beam 66 as -0.80. Range = 56.70 
TNavPF::Calculated measDiffMean for beam 67 as -0.37. Range = 56.64 
TNavPF::Calculated measDiffMean for beam 68 as -0.07. Range = 57.92 
TNavPF::Calculated measDiffMean for beam 69 as -0.07. Range = 59.27 
TNavPF::Calculated measDiffMean for beam 70 as 0.00. Range = 58.64 
TNavPF::Calculated measDiffMean for beam 71 as 0.16. Range = 58.69 
TNavPF::Calculated measDiffMean for beam 72 as 0.85. Range = 60.22 
TNavPF::Calculated measDiffMean for beam 73 as 1.45. Range = 70.85 
TNavPF::Calculated measDiffMean for beam 74 as 1.53. Range = 71.24 
TNavPF::Calculated measDiffMean for beam 75 as 1.84. Range = 71.67 
TNavPF::Calculated measDiffMean for beam 76 as 3.23. Range = 71.51 
TNavPF::Calculated measDiffMean for beam 77 as -8.25. Range = 72.53 
TNavPF::Calculated measDiffMean for beam 78 as 0.10. Range = 71.86 
TNavPF::Calculated measDiffMean for beam 79 as -1.13. Range = 71.22 
TNavPF::Calculated measDiffMean for beam 80 as -1.17. Range = 70.61 
TNavPF::Calculated measDiffMean for beam 81 as -0.49. Range = 70.39 
TNavPF::Calculated measDiffMean for beam 82 as 0.16. Range = 71.67 
TNavPF::Calculated measDiffMean for beam 83 as 0.58. Range = 71.14 
TNavPF::Calculated measDiffMean for beam 84 as -0.98. Range = 70.63 
TNavPF::Calculated measDiffMean for beam 85 as 0.96. Range = 70.16 
TNavPF::Calculated measDiffMean for beam 86 as 1.76. Range = 69.71 
TNavPF::Calculated measDiffMean for beam 87 as -11.45. Range = 69.29 
TNavPF::Calculated measDiffMean for beam 88 as -12.57. Range = 68.89 
TNavPF::Calculated measDiffMean for beam 89 as 0.71. Range = 68.52 
TNavPF::First Term of Map Covariance Matrix is 31.47 
TNavPF::Calculated NIS Value : 10.58 	numBeams normalized NIS: 0.18
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322198.82 sec.
INS : North: 4070243.38, East: 589099.31, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 70.20, IDT[75] = 58.99
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322201.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322201.62)
ARL : North: 0.5775, East: -1.5532, Depth: 1.8340ARL : Estimation Bias  (Mean)         : (t = 1488322201.62)
ARL : North: -0.4091, East: -1.3646, Depth: 0.0658TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 31.22 
Alpha[0]	0.123000
Alpha[0]	0.975313
TNavParticleFilter::Modified Variance for beam 1 is 30.49 
Alpha[1]	0.000000
Alpha[1]	0.980467
TNavParticleFilter::Modified Variance for beam 2 is 29.86 
Alpha[2]	0.000000
Alpha[2]	0.983471
TNavParticleFilter::Modified Variance for beam 3 is 30.79 
Alpha[3]	0.000000
Alpha[3]	0.990719
TNavParticleFilter::Modified Variance for beam 4 is 30.26 
Alpha[4]	0.000000
Alpha[4]	0.991745
TNavParticleFilter::Modified Variance for beam 5 is 31.40 
Alpha[5]	0.000000
Alpha[5]	0.992400
TNavParticleFilter::Modified Variance for beam 6 is 30.93 
Alpha[6]	0.000000
Alpha[6]	0.992320
TNavParticleFilter::Modified Variance for beam 7 is 30.45 
Alpha[7]	0.000000
Alpha[7]	0.993881
TNavParticleFilter::Modified Variance for beam 8 is 30.05 
Alpha[8]	0.000000
Alpha[8]	0.993365
TNavParticleFilter::Modified Variance for beam 9 is 28.22 
Alpha[9]	0.000000
Alpha[9]	0.990161
TNavParticleFilter::Modified Variance for beam 10 is 27.88 
Alpha[10]	0.000000
Alpha[10]	0.989859
TNavParticleFilter::Modified Variance for beam 11 is 27.50 
Alpha[11]	0.000000
Alpha[11]	0.991918
TNavParticleFilter::Modified Variance for beam 12 is 27.20 
Alpha[12]	0.000000
Alpha[12]	0.992066
TNavParticleFilter::Modified Variance for beam 13 is 27.02 
Alpha[13]	0.000000
Alpha[13]	0.988155
TNavParticleFilter::Modified Variance for beam 14 is 28.27 
Alpha[14]	0.000000
Alpha[14]	0.985715
TNavParticleFilter::Modified Variance for beam 15 is 27.96 
Alpha[15]	0.000000
Alpha[15]	0.987645
TNavParticleFilter::Modified Variance for beam 16 is 27.66 
Alpha[16]	0.000000
Alpha[16]	0.989452
TNavParticleFilter::Modified Variance for beam 17 is 27.45 
Alpha[17]	0.000000
Alpha[17]	0.989174
TNavParticleFilter::Modified Variance for beam 18 is 27.28 
Alpha[18]	0.000000
Alpha[18]	0.987735
TNavParticleFilter::Modified Variance for beam 19 is 27.09 
Alpha[19]	0.000000
Alpha[19]	0.987809
TNavParticleFilter::Modified Variance for beam 20 is 25.56 
Alpha[20]	0.000000
Alpha[20]	0.987233
TNavParticleFilter::Modified Variance for beam 21 is 25.44 
Alpha[21]	0.000000
Alpha[21]	0.986170
TNavParticleFilter::Modified Variance for beam 22 is 25.26 
Alpha[22]	0.000000
Alpha[22]	0.988065
TNavParticleFilter::Modified Variance for beam 23 is 25.11 
Alpha[23]	0.000000
Alpha[23]	0.989138
TNavParticleFilter::Modified Variance for beam 24 is 24.92 
Alpha[24]	0.000000
Alpha[24]	0.992812
TNavParticleFilter::Modified Variance for beam 25 is 24.74 
Alpha[25]	0.000000
Alpha[25]	0.996067
TNavParticleFilter::Modified Variance for beam 26 is 24.66 
Alpha[26]	0.000000
Alpha[26]	0.996267
TNavParticleFilter::Modified Variance for beam 27 is 24.57 
Alpha[27]	0.000000
Alpha[27]	0.997517
TNavParticleFilter::Modified Variance for beam 28 is 17.47 
Alpha[28]	0.000000
Alpha[28]	0.999205
TNavParticleFilter::Modified Variance for beam 29 is 17.44 
Alpha[29]	0.000000
Alpha[29]	0.999340
TNavParticleFilter::Modified Variance for beam 30 is 24.42 
Alpha[30]	0.000000
Alpha[30]	0.998885
TNavParticleFilter::Modified Variance for beam 31 is 24.52 
Alpha[31]	0.000000
Alpha[31]	0.994413
TNavParticleFilter::Modified Variance for beam 32 is 24.53 
Alpha[32]	0.000000
Alpha[32]	0.994015
TNavParticleFilter::Modified Variance for beam 33 is 24.54 
Alpha[33]	0.000000
Alpha[33]	0.994439
TNavParticleFilter::Modified Variance for beam 34 is 23.27 
Alpha[34]	0.000000
Alpha[34]	0.995344
TNavParticleFilter::Modified Variance for beam 35 is 23.32 
Alpha[35]	0.000000
Alpha[35]	0.995037
TNavParticleFilter::Modified Variance for beam 36 is 23.33 
Alpha[36]	0.000000
Alpha[36]	0.996505
TNavParticleFilter::Modified Variance for beam 37 is 23.32 
Alpha[37]	0.000000
Alpha[37]	0.999426
TNavParticleFilter::Modified Variance for beam 38 is 22.15 
Alpha[38]	0.000000
Alpha[38]	0.999682
TNavParticleFilter::Modified Variance for beam 39 is 22.23 
Alpha[39]	0.000000
Alpha[39]	0.999676
TNavParticleFilter::Modified Variance for beam 40 is 22.33 
Alpha[40]	0.000000
Alpha[40]	0.999490
TNavParticleFilter::Modified Variance for beam 41 is 22.47 
Alpha[41]	0.000000
Alpha[41]	0.997903
TNavParticleFilter::Modified Variance for beam 42 is 20.19 
Alpha[42]	0.000000
Alpha[42]	0.997560
TNavParticleFilter::Modified Variance for beam 43 is 20.32 
Alpha[43]	0.000000
Alpha[43]	0.996363
TNavParticleFilter::Modified Variance for beam 44 is 20.49 
Alpha[44]	0.000000
Alpha[44]	0.994602
TNavParticleFilter::Modified Variance for beam 45 is 20.59 
Alpha[45]	0.000000
Alpha[45]	0.996381
TNavParticleFilter::Modified Variance for beam 46 is 20.01 
Alpha[46]	0.000000
Alpha[46]	0.996958
TNavParticleFilter::Modified Variance for beam 47 is 19.69 
Alpha[47]	0.000000
Alpha[47]	0.997077
TNavParticleFilter::Modified Variance for beam 48 is 19.88 
Alpha[48]	0.000000
Alpha[48]	0.996149
TNavParticleFilter::Modified Variance for beam 49 is 20.05 
Alpha[49]	0.000000
Alpha[49]	0.996441
TNavParticleFilter::Modified Variance for beam 50 is 19.00 
Alpha[50]	0.000000
Alpha[50]	0.998966
TNavParticleFilter::Modified Variance for beam 51 is 10.45 
Alpha[51]	0.000000
Alpha[51]	0.999618
TNavParticleFilter::Modified Variance for beam 52 is 10.45 
Alpha[52]	0.000000
Alpha[52]	0.999702
TNavParticleFilter::Modified Variance for beam 53 is 10.54 
Alpha[53]	0.000000
Alpha[53]	0.999669
TNavParticleFilter::Modified Variance for beam 54 is 16.35 
Alpha[54]	0.000000
Alpha[54]	0.999523
TNavParticleFilter::Modified Variance for beam 55 is 16.54 
Alpha[55]	0.000000
Alpha[55]	0.998749
TNavParticleFilter::Modified Variance for beam 56 is 15.71 
Alpha[56]	0.000000
Alpha[56]	0.995733
TNavParticleFilter::Modified Variance for beam 57 is 15.95 
Alpha[57]	0.000000
Alpha[57]	0.993353
TNavParticleFilter::Modified Variance for beam 58 is 16.19 
Alpha[58]	0.000000
Alpha[58]	0.991925
TNavParticleFilter::Modified Variance for beam 59 is 16.40 
Alpha[59]	0.000000
Alpha[59]	0.992822
TNavPF:: sumSquaredError = 54.650821 
TNavPF:: sumWeights = 0.003631 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.32. Range = 93.05 
TNavPF::Calculated measDiffMean for beam 31 as 0.93. Range = 87.74 
TNavPF::Calculated measDiffMean for beam 32 as 0.23. Range = 85.14 
TNavPF::Calculated measDiffMean for beam 33 as 1.68. Range = 82.71 
TNavPF::Calculated measDiffMean for beam 34 as 0.80. Range = 80.44 
TNavPF::Calculated measDiffMean for beam 35 as 2.21. Range = 78.80 
TNavPF::Calculated measDiffMean for beam 36 as 1.98. Range = 79.74 
TNavPF::Calculated measDiffMean for beam 37 as 1.84. Range = 78.26 
TNavPF::Calculated measDiffMean for beam 38 as 1.97. Range = 79.27 
TNavPF::Calculated measDiffMean for beam 39 as 0.23. Range = 77.79 
TNavPF::Calculated measDiffMean for beam 40 as 0.25. Range = 78.87 
TNavPF::Calculated measDiffMean for beam 41 as 0.09. Range = 77.41 
TNavPF::Calculated measDiffMean for beam 42 as -0.30. Range = 73.24 
TNavPF::Calculated measDiffMean for beam 43 as -0.89. Range = 62.26 
TNavPF::Calculated measDiffMean for beam 44 as -0.06. Range = 61.07 
TNavPF::Calculated measDiffMean for beam 45 as 0.12. Range = 60.14 
TNavPF::Calculated measDiffMean for beam 46 as 0.58. Range = 61.17 
TNavPF::Calculated measDiffMean for beam 47 as 1.18. Range = 60.65 
TNavPF::Calculated measDiffMean for beam 48 as 1.27. Range = 59.64 
TNavPF::Calculated measDiffMean for beam 49 as 1.44. Range = 58.68 
TNavPF::Calculated measDiffMean for beam 50 as 0.05. Range = 59.80 
TNavPF::Calculated measDiffMean for beam 51 as 0.10. Range = 61.02 
TNavPF::Calculated measDiffMean for beam 52 as -0.04. Range = 62.32 
TNavPF::Calculated measDiffMean for beam 53 as -0.03. Range = 63.69 
TNavPF::Calculated measDiffMean for beam 54 as 0.14. Range = 72.18 
TNavPF::Calculated measDiffMean for beam 55 as 0.67. Range = 73.46 
TNavPF::Calculated measDiffMean for beam 56 as 0.76. Range = 75.26 
TNavPF::Calculated measDiffMean for beam 57 as 1.03. Range = 74.34 
TNavPF::Calculated measDiffMean for beam 58 as -9.12. Range = 73.48 
TNavPF::Calculated measDiffMean for beam 59 as -8.39. Range = 73.88 
TNavPF::Calculated measDiffMean for beam 60 as 1.91. Range = 74.21 
TNavPF::Calculated measDiffMean for beam 61 as 0.48. Range = 73.44 
TNavPF::Calculated measDiffMean for beam 62 as 0.36. Range = 72.71 
TNavPF::Calculated measDiffMean for beam 63 as 0.48. Range = 74.28 
TNavPF::Calculated measDiffMean for beam 64 as -0.51. Range = 73.60 
TNavPF::Calculated measDiffMean for beam 65 as -0.12. Range = 75.19 
TNavPF::Calculated measDiffMean for beam 66 as 0.52. Range = 74.55 
TNavPF::Calculated measDiffMean for beam 67 as 2.72. Range = 73.95 
TNavPF::Calculated measDiffMean for beam 68 as 4.47. Range = 73.38 
TNavPF::Calculated measDiffMean for beam 69 as 4.97. Range = 70.68 
TNavPF::Calculated measDiffMean for beam 70 as 2.93. Range = 70.18 
TNavPF::Calculated measDiffMean for beam 71 as 0.93. Range = 69.71 
TNavPF::Calculated measDiffMean for beam 72 as -2.04. Range = 69.28 
TNavPF::Calculated measDiffMean for beam 73 as -1.07. Range = 68.86 
TNavPF::Calculated measDiffMean for beam 74 as -0.41. Range = 70.57 
TNavPF::Calculated measDiffMean for beam 75 as 0.12. Range = 70.20 
TNavPF::Calculated measDiffMean for beam 76 as -0.38. Range = 69.85 
TNavPF::Calculated measDiffMean for beam 77 as -0.11. Range = 69.53 
TNavPF::Calculated measDiffMean for beam 78 as 0.62. Range = 69.23 
TNavPF::Calculated measDiffMean for beam 79 as 1.13. Range = 68.95 
TNavPF::Calculated measDiffMean for beam 80 as 0.57. Range = 66.66 
TNavPF::Calculated measDiffMean for beam 81 as -15.13. Range = 66.43 
TNavPF::Calculated measDiffMean for beam 82 as -13.60. Range = 66.23 
TNavPF::Calculated measDiffMean for beam 83 as -12.46. Range = 66.05 
TNavPF::Calculated measDiffMean for beam 84 as 1.01. Range = 65.89 
TNavPF::Calculated measDiffMean for beam 85 as 0.24. Range = 65.75 
TNavPF::Calculated measDiffMean for beam 86 as -1.67. Range = 65.63 
TNavPF::Calculated measDiffMean for beam 87 as -1.08. Range = 65.53 
TNavPF::Calculated measDiffMean for beam 88 as -0.52. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 89 as 0.15. Range = 53.38 
TNavPF::First Term of Map Covariance Matrix is 0.80 
TNavPF::Calculated NIS Value : 11.94 	numBeams normalized NIS: 0.20
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322201.82 sec.
INS : North: 4070243.38, East: 589095.31, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 66.09, IDT[75] = 51.59
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322204.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322204.62)
ARL : North: 0.5108, East: -1.5231, Depth: 4.3773ARL : Estimation Bias  (Mean)         : (t = 1488322204.62)
ARL : North: 0.0582, East: -1.6254, Depth: 0.3293TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 28.78 
Alpha[0]	0.123000
Alpha[0]	0.990984
TNavParticleFilter::Modified Variance for beam 1 is 28.58 
Alpha[1]	0.000000
Alpha[1]	0.988297
TNavParticleFilter::Modified Variance for beam 2 is 28.41 
Alpha[2]	0.000000
Alpha[2]	0.985188
TNavParticleFilter::Modified Variance for beam 3 is 28.07 
Alpha[3]	0.000000
Alpha[3]	0.988727
TNavParticleFilter::Modified Variance for beam 4 is 27.91 
Alpha[4]	0.000000
Alpha[4]	0.986502
TNavParticleFilter::Modified Variance for beam 5 is 27.70 
Alpha[5]	0.000000
Alpha[5]	0.986861
TNavParticleFilter::Modified Variance for beam 6 is 27.48 
Alpha[6]	0.000000
Alpha[6]	0.987912
TNavParticleFilter::Modified Variance for beam 7 is 27.21 
Alpha[7]	0.000000
Alpha[7]	0.991511
TNavParticleFilter::Modified Variance for beam 8 is 25.61 
Alpha[8]	0.000000
Alpha[8]	0.994738
TNavParticleFilter::Modified Variance for beam 9 is 25.46 
Alpha[9]	0.000000
Alpha[9]	0.995639
TNavParticleFilter::Modified Variance for beam 10 is 25.26 
Alpha[10]	0.000000
Alpha[10]	0.998913
TNavParticleFilter::Modified Variance for beam 11 is 25.15 
Alpha[11]	0.000000
Alpha[11]	0.999351
TNavParticleFilter::Modified Variance for beam 12 is 25.07 
Alpha[12]	0.000000
Alpha[12]	0.999223
TNavParticleFilter::Modified Variance for beam 13 is 25.06 
Alpha[13]	0.000000
Alpha[13]	0.996592
TNavParticleFilter::Modified Variance for beam 14 is 25.12 
Alpha[14]	0.000000
Alpha[14]	0.991721
TNavParticleFilter::Modified Variance for beam 15 is 25.03 
Alpha[15]	0.000000
Alpha[15]	0.993419
TNavParticleFilter::Modified Variance for beam 16 is 24.97 
Alpha[16]	0.000000
Alpha[16]	0.994792
TNavParticleFilter::Modified Variance for beam 17 is 23.63 
Alpha[17]	0.000000
Alpha[17]	0.996154
TNavParticleFilter::Modified Variance for beam 18 is 23.56 
Alpha[18]	0.000000
Alpha[18]	0.998665
TNavParticleFilter::Modified Variance for beam 19 is 23.55 
Alpha[19]	0.000000
Alpha[19]	0.999675
TNavParticleFilter::Modified Variance for beam 20 is 23.56 
Alpha[20]	0.000000
Alpha[20]	0.999739
TNavParticleFilter::Modified Variance for beam 21 is 23.59 
Alpha[21]	0.000000
Alpha[21]	0.999687
TNavParticleFilter::Modified Variance for beam 22 is 23.65 
Alpha[22]	0.000000
Alpha[22]	0.999071
TNavParticleFilter::Modified Variance for beam 23 is 22.50 
Alpha[23]	0.000000
Alpha[23]	0.997380
TNavParticleFilter::Modified Variance for beam 24 is 22.56 
Alpha[24]	0.000000
Alpha[24]	0.997540
TNavParticleFilter::Modified Variance for beam 25 is 22.62 
Alpha[25]	0.000000
Alpha[25]	0.998277
TNavParticleFilter::Modified Variance for beam 26 is 22.18 
Alpha[26]	0.000000
Alpha[26]	0.997418
TNavParticleFilter::Modified Variance for beam 27 is 20.42 
Alpha[27]	0.000000
Alpha[27]	0.996873
TNavParticleFilter::Modified Variance for beam 28 is 20.51 
Alpha[28]	0.000000
Alpha[28]	0.996952
TNavParticleFilter::Modified Variance for beam 29 is 19.45 
Alpha[29]	0.000000
Alpha[29]	0.997732
TNavParticleFilter::Modified Variance for beam 30 is 19.55 
Alpha[30]	0.000000
Alpha[30]	0.998216
TNavParticleFilter::Modified Variance for beam 31 is 19.65 
Alpha[31]	0.000000
Alpha[31]	0.999433
TNavParticleFilter::Modified Variance for beam 32 is 19.78 
Alpha[32]	0.000000
Alpha[32]	0.999711
TNavParticleFilter::Modified Variance for beam 33 is 19.12 
Alpha[33]	0.000000
Alpha[33]	0.999729
TNavParticleFilter::Modified Variance for beam 34 is 18.92 
Alpha[34]	0.000000
Alpha[34]	0.999704
TNavParticleFilter::Modified Variance for beam 35 is 19.08 
Alpha[35]	0.000000
Alpha[35]	0.999523
TNavParticleFilter::Modified Variance for beam 36 is 17.70 
Alpha[36]	0.000000
Alpha[36]	0.998606
TNavParticleFilter::Modified Variance for beam 37 is 16.33 
Alpha[37]	0.000000
Alpha[37]	0.997222
TNavParticleFilter::Modified Variance for beam 38 is 16.29 
Alpha[38]	0.000000
Alpha[38]	0.996745
TNavParticleFilter::Modified Variance for beam 39 is 16.47 
Alpha[39]	0.000000
Alpha[39]	0.995525
TNavParticleFilter::Modified Variance for beam 40 is 15.72 
Alpha[40]	0.000000
Alpha[40]	0.994182
TNavParticleFilter::Modified Variance for beam 41 is 15.78 
Alpha[41]	0.000000
Alpha[41]	0.993811
TNavParticleFilter::Modified Variance for beam 42 is 15.98 
Alpha[42]	0.000000
Alpha[42]	0.993102
TNavParticleFilter::Modified Variance for beam 43 is 16.17 
Alpha[43]	0.000000
Alpha[43]	0.993601
TNavParticleFilter::Modified Variance for beam 44 is 16.36 
Alpha[44]	0.000000
Alpha[44]	0.995341
TNavParticleFilter::Modified Variance for beam 45 is 16.56 
Alpha[45]	0.000000
Alpha[45]	0.996656
TNavParticleFilter::Modified Variance for beam 46 is 16.80 
Alpha[46]	0.000000
Alpha[46]	0.996916
TNavParticleFilter::Modified Variance for beam 47 is 16.22 
Alpha[47]	0.000000
Alpha[47]	0.997019
TNavParticleFilter::Modified Variance for beam 48 is 16.14 
Alpha[48]	0.000000
Alpha[48]	0.996995
TNavParticleFilter::Modified Variance for beam 49 is 14.77 
Alpha[49]	0.000000
Alpha[49]	0.997297
TNavParticleFilter::Modified Variance for beam 50 is 14.15 
Alpha[50]	0.000000
Alpha[50]	0.997687
TNavParticleFilter::Modified Variance for beam 51 is 13.58 
Alpha[51]	0.000000
Alpha[51]	0.998051
TNavParticleFilter::Modified Variance for beam 52 is 13.76 
Alpha[52]	0.000000
Alpha[52]	0.998114
TNavParticleFilter::Modified Variance for beam 53 is 14.01 
Alpha[53]	0.000000
Alpha[53]	0.997895
TNavParticleFilter::Modified Variance for beam 54 is 13.62 
Alpha[54]	0.000000
Alpha[54]	0.997803
TNavParticleFilter::Modified Variance for beam 55 is 13.15 
Alpha[55]	0.000000
Alpha[55]	0.998071
TNavParticleFilter::Modified Variance for beam 56 is 12.72 
Alpha[56]	0.000000
Alpha[56]	0.998160
TNavParticleFilter::Modified Variance for beam 57 is 12.33 
Alpha[57]	0.000000
Alpha[57]	0.998218
TNavParticleFilter::Modified Variance for beam 58 is 11.96 
Alpha[58]	0.000000
Alpha[58]	0.998331
TNavParticleFilter::Modified Variance for beam 59 is 11.62 
Alpha[59]	0.000000
Alpha[59]	0.998181
TNavPF:: sumSquaredError = 168.297613 
TNavPF:: sumWeights = 0.023053 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.55. Range = 63.94 
TNavPF::Calculated measDiffMean for beam 31 as 0.89. Range = 64.51 
TNavPF::Calculated measDiffMean for beam 32 as 1.09. Range = 63.33 
TNavPF::Calculated measDiffMean for beam 33 as 1.69. Range = 62.22 
TNavPF::Calculated measDiffMean for beam 34 as 2.00. Range = 62.64 
TNavPF::Calculated measDiffMean for beam 35 as 1.75. Range = 63.81 
TNavPF::Calculated measDiffMean for beam 36 as 1.68. Range = 65.05 
TNavPF::Calculated measDiffMean for beam 37 as 1.76. Range = 66.35 
TNavPF::Calculated measDiffMean for beam 38 as 0.01. Range = 67.73 
TNavPF::Calculated measDiffMean for beam 39 as 0.14. Range = 75.59 
TNavPF::Calculated measDiffMean for beam 40 as 1.33. Range = 77.28 
TNavPF::Calculated measDiffMean for beam 41 as 2.72. Range = 77.65 
TNavPF::Calculated measDiffMean for beam 42 as 2.13. Range = 77.54 
TNavPF::Calculated measDiffMean for beam 43 as 0.24. Range = 78.15 
TNavPF::Calculated measDiffMean for beam 44 as -0.05. Range = 77.22 
TNavPF::Calculated measDiffMean for beam 45 as -0.16. Range = 76.33 
TNavPF::Calculated measDiffMean for beam 46 as -0.10. Range = 75.49 
TNavPF::Calculated measDiffMean for beam 47 as -1.12. Range = 76.83 
TNavPF::Calculated measDiffMean for beam 48 as -0.23. Range = 76.23 
TNavPF::Calculated measDiffMean for beam 49 as 3.73. Range = 77.49 
TNavPF::Calculated measDiffMean for beam 50 as 6.13. Range = 77.04 
TNavPF::Calculated measDiffMean for beam 51 as 5.18. Range = 76.34 
TNavPF::Calculated measDiffMean for beam 52 as 2.00. Range = 75.68 
TNavPF::Calculated measDiffMean for beam 53 as -0.48. Range = 72.84 
TNavPF::Calculated measDiffMean for beam 54 as 0.13. Range = 72.26 
TNavPF::Calculated measDiffMean for beam 55 as 1.30. Range = 71.71 
TNavPF::Calculated measDiffMean for beam 56 as 1.53. Range = 73.36 
TNavPF::Calculated measDiffMean for beam 57 as -0.84. Range = 72.85 
TNavPF::Calculated measDiffMean for beam 58 as -0.45. Range = 74.51 
TNavPF::Calculated measDiffMean for beam 59 as -1.50. Range = 71.93 
TNavPF::Calculated measDiffMean for beam 60 as -0.47. Range = 71.51 
TNavPF::Calculated measDiffMean for beam 61 as 1.62. Range = 71.12 
TNavPF::Calculated measDiffMean for beam 62 as 4.45. Range = 70.75 
TNavPF::Calculated measDiffMean for beam 63 as 4.47. Range = 70.41 
TNavPF::Calculated measDiffMean for beam 64 as 4.11. Range = 70.09 
TNavPF::Calculated measDiffMean for beam 65 as 3.55. Range = 69.80 
TNavPF::Calculated measDiffMean for beam 66 as 0.88. Range = 69.53 
TNavPF::Calculated measDiffMean for beam 67 as -0.95. Range = 69.28 
TNavPF::Calculated measDiffMean for beam 68 as -0.22. Range = 67.02 
TNavPF::Calculated measDiffMean for beam 69 as 0.55. Range = 66.83 
TNavPF::Calculated measDiffMean for beam 70 as -0.66. Range = 66.65 
TNavPF::Calculated measDiffMean for beam 71 as -0.26. Range = 66.50 
TNavPF::Calculated measDiffMean for beam 72 as 0.28. Range = 66.37 
TNavPF::Calculated measDiffMean for beam 73 as 0.57. Range = 66.25 
TNavPF::Calculated measDiffMean for beam 74 as 0.78. Range = 66.16 
TNavPF::Calculated measDiffMean for beam 75 as 1.10. Range = 66.09 
TNavPF::Calculated measDiffMean for beam 76 as 1.89. Range = 66.04 
TNavPF::Calculated measDiffMean for beam 77 as 1.39. Range = 64.01 
TNavPF::Calculated measDiffMean for beam 78 as 1.65. Range = 64.00 
TNavPF::Calculated measDiffMean for beam 79 as -1.04. Range = 64.01 
TNavPF::Calculated measDiffMean for beam 80 as -1.88. Range = 64.04 
TNavPF::Calculated measDiffMean for beam 81 as -2.36. Range = 64.08 
TNavPF::Calculated measDiffMean for beam 82 as -1.16. Range = 64.15 
TNavPF::Calculated measDiffMean for beam 83 as 0.14. Range = 62.23 
TNavPF::Calculated measDiffMean for beam 84 as -0.15. Range = 62.33 
TNavPF::Calculated measDiffMean for beam 85 as -0.51. Range = 62.46 
TNavPF::Calculated measDiffMean for beam 86 as -0.68. Range = 61.70 
TNavPF::Calculated measDiffMean for beam 87 as -0.73. Range = 58.71 
TNavPF::Calculated measDiffMean for beam 88 as -0.75. Range = 58.88 
TNavPF::Calculated measDiffMean for beam 89 as -0.62. Range = 57.03 
TNavPF::First Term of Map Covariance Matrix is 2.21 
TNavPF::Calculated NIS Value : 3.55 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322204.82 sec.
INS : North: 4070244.23, East: 589091.41, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 61.77, IDT[75] = 38.09
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322207.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322207.62)
ARL : North: 0.5093, East: -1.3475, Depth: 2.3716ARL : Estimation Bias  (Mean)         : (t = 1488322207.62)
ARL : North: 0.2304, East: -1.6686, Depth: 0.2922TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 27.72 
Alpha[0]	0.123000
Alpha[0]	0.991018
TNavParticleFilter::Modified Variance for beam 1 is 27.60 
Alpha[1]	0.000000
Alpha[1]	0.991611
TNavParticleFilter::Modified Variance for beam 2 is 27.38 
Alpha[2]	0.000000
Alpha[2]	0.995904
TNavParticleFilter::Modified Variance for beam 3 is 27.21 
Alpha[3]	0.000000
Alpha[3]	0.999222
TNavParticleFilter::Modified Variance for beam 4 is 24.48 
Alpha[4]	0.000000
Alpha[4]	0.999718
TNavParticleFilter::Modified Variance for beam 5 is 24.43 
Alpha[5]	0.000000
Alpha[5]	0.999762
TNavParticleFilter::Modified Variance for beam 6 is 24.40 
Alpha[6]	0.000000
Alpha[6]	0.999692
TNavParticleFilter::Modified Variance for beam 7 is 24.40 
Alpha[7]	0.000000
Alpha[7]	0.999077
TNavParticleFilter::Modified Variance for beam 8 is 24.43 
Alpha[8]	0.000000
Alpha[8]	0.997605
TNavParticleFilter::Modified Variance for beam 9 is 23.17 
Alpha[9]	0.000000
Alpha[9]	0.997647
TNavParticleFilter::Modified Variance for beam 10 is 23.18 
Alpha[10]	0.000000
Alpha[10]	0.998024
TNavParticleFilter::Modified Variance for beam 11 is 23.20 
Alpha[11]	0.000000
Alpha[11]	0.998452
TNavParticleFilter::Modified Variance for beam 12 is 23.24 
Alpha[12]	0.000000
Alpha[12]	0.998169
TNavParticleFilter::Modified Variance for beam 13 is 22.07 
Alpha[13]	0.000000
Alpha[13]	0.997998
TNavParticleFilter::Modified Variance for beam 14 is 22.11 
Alpha[14]	0.000000
Alpha[14]	0.999008
TNavParticleFilter::Modified Variance for beam 15 is 22.17 
Alpha[15]	0.000000
Alpha[15]	0.999632
TNavParticleFilter::Modified Variance for beam 16 is 22.25 
Alpha[16]	0.000000
Alpha[16]	0.999741
TNavParticleFilter::Modified Variance for beam 17 is 19.96 
Alpha[17]	0.000000
Alpha[17]	0.999735
TNavParticleFilter::Modified Variance for beam 18 is 20.06 
Alpha[18]	0.000000
Alpha[18]	0.999646
TNavParticleFilter::Modified Variance for beam 19 is 20.18 
Alpha[19]	0.000000
Alpha[19]	0.999290
TNavParticleFilter::Modified Variance for beam 20 is 20.31 
Alpha[20]	0.000000
Alpha[20]	0.998631
TNavParticleFilter::Modified Variance for beam 21 is 19.34 
Alpha[21]	0.000000
Alpha[21]	0.998486
TNavParticleFilter::Modified Variance for beam 22 is 17.23 
Alpha[22]	0.000000
Alpha[22]	0.998304
TNavParticleFilter::Modified Variance for beam 23 is 16.26 
Alpha[23]	0.000000
Alpha[23]	0.997962
TNavParticleFilter::Modified Variance for beam 24 is 16.39 
Alpha[24]	0.000000
Alpha[24]	0.997285
TNavParticleFilter::Modified Variance for beam 25 is 16.12 
Alpha[25]	0.000000
Alpha[25]	0.996170
TNavParticleFilter::Modified Variance for beam 26 is 15.66 
Alpha[26]	0.000000
Alpha[26]	0.995129
TNavParticleFilter::Modified Variance for beam 27 is 15.82 
Alpha[27]	0.000000
Alpha[27]	0.993512
TNavParticleFilter::Modified Variance for beam 28 is 15.99 
Alpha[28]	0.000000
Alpha[28]	0.992985
TNavParticleFilter::Modified Variance for beam 29 is 16.12 
Alpha[29]	0.000000
Alpha[29]	0.994649
TNavParticleFilter::Modified Variance for beam 30 is 16.27 
Alpha[30]	0.000000
Alpha[30]	0.996183
TNavParticleFilter::Modified Variance for beam 31 is 16.45 
Alpha[31]	0.000000
Alpha[31]	0.997000
TNavParticleFilter::Modified Variance for beam 32 is 16.38 
Alpha[32]	0.000000
Alpha[32]	0.997323
TNavParticleFilter::Modified Variance for beam 33 is 15.74 
Alpha[33]	0.000000
Alpha[33]	0.997205
TNavParticleFilter::Modified Variance for beam 34 is 15.95 
Alpha[34]	0.000000
Alpha[34]	0.997270
TNavParticleFilter::Modified Variance for beam 35 is 15.92 
Alpha[35]	0.000000
Alpha[35]	0.997780
TNavParticleFilter::Modified Variance for beam 36 is 15.12 
Alpha[36]	0.000000
Alpha[36]	0.998248
TNavParticleFilter::Modified Variance for beam 37 is 14.40 
Alpha[37]	0.000000
Alpha[37]	0.998457
TNavParticleFilter::Modified Variance for beam 38 is 13.75 
Alpha[38]	0.000000
Alpha[38]	0.998314
TNavParticleFilter::Modified Variance for beam 39 is 13.78 
Alpha[39]	0.000000
Alpha[39]	0.998169
TNavParticleFilter::Modified Variance for beam 40 is 14.00 
Alpha[40]	0.000000
Alpha[40]	0.998336
TNavParticleFilter::Modified Variance for beam 41 is 13.72 
Alpha[41]	0.000000
Alpha[41]	0.998512
TNavParticleFilter::Modified Variance for beam 42 is 13.20 
Alpha[42]	0.000000
Alpha[42]	0.998571
TNavParticleFilter::Modified Variance for beam 43 is 12.72 
Alpha[43]	0.000000
Alpha[43]	0.998562
TNavParticleFilter::Modified Variance for beam 44 is 12.29 
Alpha[44]	0.000000
Alpha[44]	0.998356
TNavParticleFilter::Modified Variance for beam 45 is 10.59 
Alpha[45]	0.000000
Alpha[45]	0.998028
TNavParticleFilter::Modified Variance for beam 46 is 10.28 
Alpha[46]	0.000000
Alpha[46]	0.997934
TNavParticleFilter::Modified Variance for beam 47 is 9.99 
Alpha[47]	0.000000
Alpha[47]	0.998121
TNavParticleFilter::Modified Variance for beam 48 is 9.72 
Alpha[48]	0.000000
Alpha[48]	0.998269
TNavParticleFilter::Modified Variance for beam 49 is 9.87 
Alpha[49]	0.000000
Alpha[49]	0.998235
TNavParticleFilter::Modified Variance for beam 50 is 10.08 
Alpha[50]	0.000000
Alpha[50]	0.998055
TNavParticleFilter::Modified Variance for beam 51 is 10.29 
Alpha[51]	0.000000
Alpha[51]	0.997814
TNavParticleFilter::Modified Variance for beam 52 is 10.53 
Alpha[52]	0.000000
Alpha[52]	0.997596
TNavParticleFilter::Modified Variance for beam 53 is 9.59 
Alpha[53]	0.000000
Alpha[53]	0.997630
TNavParticleFilter::Modified Variance for beam 54 is 9.38 
Alpha[54]	0.000000
Alpha[54]	0.997888
TNavParticleFilter::Modified Variance for beam 55 is 9.19 
Alpha[55]	0.000000
Alpha[55]	0.998282
TNavParticleFilter::Modified Variance for beam 56 is 9.39 
Alpha[56]	0.000000
Alpha[56]	0.999061
TNavParticleFilter::Modified Variance for beam 57 is 9.62 
Alpha[57]	0.000000
Alpha[57]	0.999564
TNavParticleFilter::Modified Variance for beam 58 is 11.03 
Alpha[58]	0.000000
Alpha[58]	0.999687
TNavParticleFilter::Modified Variance for beam 59 is 13.38 
Alpha[59]	0.000000
Alpha[59]	0.999687
TNavPF:: sumSquaredError = 14.866729 
TNavPF:: sumWeights = 0.003944 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.86. Range = 80.33 
TNavPF::Calculated measDiffMean for beam 31 as 1.79. Range = 81.77 
TNavPF::Calculated measDiffMean for beam 32 as 1.73. Range = 80.72 
TNavPF::Calculated measDiffMean for beam 33 as 3.30. Range = 79.72 
TNavPF::Calculated measDiffMean for beam 34 as 3.06. Range = 78.77 
TNavPF::Calculated measDiffMean for beam 35 as 5.31. Range = 79.69 
TNavPF::Calculated measDiffMean for beam 36 as 3.70. Range = 79.37 
TNavPF::Calculated measDiffMean for beam 37 as 0.98. Range = 80.39 
TNavPF::Calculated measDiffMean for beam 38 as 0.49. Range = 80.04 
TNavPF::Calculated measDiffMean for beam 39 as -1.12. Range = 79.25 
TNavPF::Calculated measDiffMean for beam 40 as -0.41. Range = 78.50 
TNavPF::Calculated measDiffMean for beam 41 as 0.51. Range = 77.79 
TNavPF::Calculated measDiffMean for beam 42 as 1.74. Range = 77.12 
TNavPF::Calculated measDiffMean for beam 43 as 0.69. Range = 74.27 
TNavPF::Calculated measDiffMean for beam 44 as 1.65. Range = 75.88 
TNavPF::Calculated measDiffMean for beam 45 as 3.91. Range = 75.30 
TNavPF::Calculated measDiffMean for beam 46 as 6.35. Range = 76.92 
TNavPF::Calculated measDiffMean for beam 47 as 3.34. Range = 74.25 
TNavPF::Calculated measDiffMean for beam 48 as 3.13. Range = 73.77 
TNavPF::Calculated measDiffMean for beam 49 as 2.53. Range = 73.31 
TNavPF::Calculated measDiffMean for beam 50 as 2.70. Range = 72.88 
TNavPF::Calculated measDiffMean for beam 51 as 2.13. Range = 72.49 
TNavPF::Calculated measDiffMean for beam 52 as -0.25. Range = 72.11 
TNavPF::Calculated measDiffMean for beam 53 as -1.06. Range = 71.76 
TNavPF::Calculated measDiffMean for beam 54 as -0.13. Range = 71.44 
TNavPF::Calculated measDiffMean for beam 55 as -0.09. Range = 71.14 
TNavPF::Calculated measDiffMean for beam 56 as -0.63. Range = 70.87 
TNavPF::Calculated measDiffMean for beam 57 as -0.04. Range = 70.62 
TNavPF::Calculated measDiffMean for beam 58 as 0.33. Range = 70.39 
TNavPF::Calculated measDiffMean for beam 59 as 0.51. Range = 70.18 
TNavPF::Calculated measDiffMean for beam 60 as 0.69. Range = 70.00 
TNavPF::Calculated measDiffMean for beam 61 as 1.27. Range = 69.84 
TNavPF::Calculated measDiffMean for beam 62 as 1.72. Range = 69.70 
TNavPF::Calculated measDiffMean for beam 63 as 0.95. Range = 69.59 
TNavPF::Calculated measDiffMean for beam 64 as 1.67. Range = 65.47 
TNavPF::Calculated measDiffMean for beam 65 as 2.19. Range = 65.40 
TNavPF::Calculated measDiffMean for beam 66 as 1.31. Range = 65.35 
TNavPF::Calculated measDiffMean for beam 67 as 0.54. Range = 65.33 
TNavPF::Calculated measDiffMean for beam 68 as -0.04. Range = 65.32 
TNavPF::Calculated measDiffMean for beam 69 as 0.89. Range = 63.32 
TNavPF::Calculated measDiffMean for beam 70 as 2.18. Range = 63.35 
TNavPF::Calculated measDiffMean for beam 71 as 2.48. Range = 63.40 
TNavPF::Calculated measDiffMean for beam 72 as 2.30. Range = 63.47 
TNavPF::Calculated measDiffMean for beam 73 as 2.18. Range = 61.54 
TNavPF::Calculated measDiffMean for beam 74 as 2.14. Range = 61.65 
TNavPF::Calculated measDiffMean for beam 75 as -1.38. Range = 61.77 
TNavPF::Calculated measDiffMean for beam 76 as -1.73. Range = 61.91 
TNavPF::Calculated measDiffMean for beam 77 as -2.15. Range = 58.02 
TNavPF::Calculated measDiffMean for beam 78 as -2.58. Range = 58.19 
TNavPF::Calculated measDiffMean for beam 79 as -1.92. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 80 as -1.26. Range = 58.59 
TNavPF::Calculated measDiffMean for beam 81 as -0.71. Range = 56.86 
TNavPF::Calculated measDiffMean for beam 82 as -0.18. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 83 as -2.59. Range = 51.03 
TNavPF::Calculated measDiffMean for beam 84 as -2.70. Range = 51.28 
TNavPF::Calculated measDiffMean for beam 85 as -2.82. Range = 50.71 
TNavPF::Calculated measDiffMean for beam 86 as -2.27. Range = 49.72 
TNavPF::Calculated measDiffMean for beam 87 as -2.71. Range = 50.01 
TNavPF::Calculated measDiffMean for beam 88 as -0.40. Range = 50.32 
TNavPF::Calculated measDiffMean for beam 89 as 3.90. Range = 50.65 
TNavPF::First Term of Map Covariance Matrix is 2.22 
TNavPF::Calculated NIS Value : 7.43 	numBeams normalized NIS: 0.12
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322207.82 sec.
INS : North: 4070245.78, East: 589087.75, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 51.06, IDT[75] = 51.63
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322210.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322210.62)
ARL : North: 0.3653, East: -1.2443, Depth: 1.0497ARL : Estimation Bias  (Mean)         : (t = 1488322210.62)
ARL : North: 0.5847, East: -1.5055, Depth: 0.3283TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.36 
Alpha[0]	0.123000
Alpha[0]	0.999465
TNavParticleFilter::Modified Variance for beam 1 is 21.00 
Alpha[1]	0.000000
Alpha[1]	0.998541
TNavParticleFilter::Modified Variance for beam 2 is 21.09 
Alpha[2]	0.000000
Alpha[2]	0.997781
TNavParticleFilter::Modified Variance for beam 3 is 21.15 
Alpha[3]	0.000000
Alpha[3]	0.998342
TNavParticleFilter::Modified Variance for beam 4 is 21.21 
Alpha[4]	0.000000
Alpha[4]	0.998694
TNavParticleFilter::Modified Variance for beam 5 is 17.93 
Alpha[5]	0.000000
Alpha[5]	0.998889
TNavParticleFilter::Modified Variance for beam 6 is 18.00 
Alpha[6]	0.000000
Alpha[6]	0.998680
TNavParticleFilter::Modified Variance for beam 7 is 18.11 
Alpha[7]	0.000000
Alpha[7]	0.998274
TNavParticleFilter::Modified Variance for beam 8 is 17.15 
Alpha[8]	0.000000
Alpha[8]	0.997582
TNavParticleFilter::Modified Variance for beam 9 is 17.29 
Alpha[9]	0.000000
Alpha[9]	0.996366
TNavParticleFilter::Modified Variance for beam 10 is 16.79 
Alpha[10]	0.000000
Alpha[10]	0.994331
TNavParticleFilter::Modified Variance for beam 11 is 16.52 
Alpha[11]	0.000000
Alpha[11]	0.993674
TNavParticleFilter::Modified Variance for beam 12 is 16.63 
Alpha[12]	0.000000
Alpha[12]	0.994999
TNavParticleFilter::Modified Variance for beam 13 is 17.85 
Alpha[13]	0.000000
Alpha[13]	0.996391
TNavParticleFilter::Modified Variance for beam 14 is 17.59 
Alpha[14]	0.000000
Alpha[14]	0.997279
TNavParticleFilter::Modified Variance for beam 15 is 16.28 
Alpha[15]	0.000000
Alpha[15]	0.997574
TNavParticleFilter::Modified Variance for beam 16 is 16.14 
Alpha[16]	0.000000
Alpha[16]	0.997337
TNavParticleFilter::Modified Variance for beam 17 is 16.31 
Alpha[17]	0.000000
Alpha[17]	0.997729
TNavParticleFilter::Modified Variance for beam 18 is 16.49 
Alpha[18]	0.000000
Alpha[18]	0.998274
TNavParticleFilter::Modified Variance for beam 19 is 16.68 
Alpha[19]	0.000000
Alpha[19]	0.998566
TNavParticleFilter::Modified Variance for beam 20 is 13.90 
Alpha[20]	0.000000
Alpha[20]	0.998656
TNavParticleFilter::Modified Variance for beam 21 is 13.87 
Alpha[21]	0.000000
Alpha[21]	0.998526
TNavParticleFilter::Modified Variance for beam 22 is 14.06 
Alpha[22]	0.000000
Alpha[22]	0.998581
TNavParticleFilter::Modified Variance for beam 23 is 13.76 
Alpha[23]	0.000000
Alpha[23]	0.998713
TNavParticleFilter::Modified Variance for beam 24 is 13.12 
Alpha[24]	0.000000
Alpha[24]	0.998772
TNavParticleFilter::Modified Variance for beam 25 is 12.55 
Alpha[25]	0.000000
Alpha[25]	0.998723
TNavParticleFilter::Modified Variance for beam 26 is 12.03 
Alpha[26]	0.000000
Alpha[26]	0.998510
TNavParticleFilter::Modified Variance for beam 27 is 11.56 
Alpha[27]	0.000000
Alpha[27]	0.998365
TNavParticleFilter::Modified Variance for beam 28 is 11.24 
Alpha[28]	0.000000
Alpha[28]	0.998460
TNavParticleFilter::Modified Variance for beam 29 is 11.42 
Alpha[29]	0.000000
Alpha[29]	0.998552
TNavParticleFilter::Modified Variance for beam 30 is 11.61 
Alpha[30]	0.000000
Alpha[30]	0.998481
TNavParticleFilter::Modified Variance for beam 31 is 11.34 
Alpha[31]	0.000000
Alpha[31]	0.998249
TNavParticleFilter::Modified Variance for beam 32 is 11.04 
Alpha[32]	0.000000
Alpha[32]	0.997901
TNavParticleFilter::Modified Variance for beam 33 is 11.25 
Alpha[33]	0.000000
Alpha[33]	0.997712
TNavParticleFilter::Modified Variance for beam 34 is 11.46 
Alpha[34]	0.000000
Alpha[34]	0.997968
TNavParticleFilter::Modified Variance for beam 35 is 11.22 
Alpha[35]	0.000000
Alpha[35]	0.998312
TNavParticleFilter::Modified Variance for beam 36 is 10.91 
Alpha[36]	0.000000
Alpha[36]	0.998473
TNavParticleFilter::Modified Variance for beam 37 is 10.62 
Alpha[37]	0.000000
Alpha[37]	0.998933
TNavParticleFilter::Modified Variance for beam 38 is 10.35 
Alpha[38]	0.000000
Alpha[38]	0.999537
TNavParticleFilter::Modified Variance for beam 39 is 10.55 
Alpha[39]	0.000000
Alpha[39]	0.999739
TNavParticleFilter::Modified Variance for beam 40 is 10.79 
Alpha[40]	0.000000
Alpha[40]	0.999764
TNavParticleFilter::Modified Variance for beam 41 is 11.06 
Alpha[41]	0.000000
Alpha[41]	0.999746
TNavParticleFilter::Modified Variance for beam 42 is 11.34 
Alpha[42]	0.000000
Alpha[42]	0.999716
TNavParticleFilter::Modified Variance for beam 43 is 17.34 
Alpha[43]	0.000000
Alpha[43]	0.999609
TNavParticleFilter::Modified Variance for beam 44 is 17.71 
Alpha[44]	0.000000
Alpha[44]	0.999209
TNavParticleFilter::Modified Variance for beam 45 is 16.55 
Alpha[45]	0.000000
Alpha[45]	0.998379
TNavParticleFilter::Modified Variance for beam 46 is 16.21 
Alpha[46]	0.000000
Alpha[46]	0.996803
TNavParticleFilter::Modified Variance for beam 47 is 16.22 
Alpha[47]	0.000000
Alpha[47]	0.996941
TNavParticleFilter::Modified Variance for beam 48 is 13.61 
Alpha[48]	0.000000
Alpha[48]	0.997412
TNavParticleFilter::Modified Variance for beam 49 is 14.08 
Alpha[49]	0.000000
Alpha[49]	0.996734
TNavParticleFilter::Modified Variance for beam 50 is 13.83 
Alpha[50]	0.000000
Alpha[50]	0.996238
TNavParticleFilter::Modified Variance for beam 51 is 13.59 
Alpha[51]	0.000000
Alpha[51]	0.995718
TNavParticleFilter::Modified Variance for beam 52 is 14.14 
Alpha[52]	0.000000
Alpha[52]	0.994983
TNavParticleFilter::Modified Variance for beam 53 is 14.21 
Alpha[53]	0.000000
Alpha[53]	0.995279
TNavParticleFilter::Modified Variance for beam 54 is 13.96 
Alpha[54]	0.000000
Alpha[54]	0.996502
TNavParticleFilter::Modified Variance for beam 55 is 13.74 
Alpha[55]	0.000000
Alpha[55]	0.997264
TNavParticleFilter::Modified Variance for beam 56 is 13.56 
Alpha[56]	0.000000
Alpha[56]	0.995785
TNavParticleFilter::Modified Variance for beam 57 is 13.45 
Alpha[57]	0.000000
Alpha[57]	0.990071
TNavParticleFilter::Modified Variance for beam 58 is 13.28 
Alpha[58]	0.000000
Alpha[58]	0.990038
TNavParticleFilter::Modified Variance for beam 59 is 13.07 
Alpha[59]	0.000000
Alpha[59]	0.993112
TNavPF:: sumSquaredError = 44.324928 
TNavPF:: sumWeights = 0.002623 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 3.52. Range = 78.88 
TNavPF::Calculated measDiffMean for beam 31 as -0.73. Range = 80.42 
TNavPF::Calculated measDiffMean for beam 32 as 0.20. Range = 79.84 
TNavPF::Calculated measDiffMean for beam 33 as 1.06. Range = 79.27 
TNavPF::Calculated measDiffMean for beam 34 as 2.37. Range = 76.57 
TNavPF::Calculated measDiffMean for beam 35 as -1.69. Range = 76.08 
TNavPF::Calculated measDiffMean for beam 36 as -0.32. Range = 73.48 
TNavPF::Calculated measDiffMean for beam 37 as 0.97. Range = 73.39 
TNavPF::Calculated measDiffMean for beam 38 as 0.04. Range = 74.75 
TNavPF::Calculated measDiffMean for beam 39 as 0.90. Range = 74.37 
TNavPF::Calculated measDiffMean for beam 40 as 0.42. Range = 74.01 
TNavPF::Calculated measDiffMean for beam 41 as -0.07. Range = 73.67 
TNavPF::Calculated measDiffMean for beam 42 as 0.00. Range = 73.36 
TNavPF::Calculated measDiffMean for beam 43 as 2.28. Range = 73.08 
TNavPF::Calculated measDiffMean for beam 44 as 2.12. Range = 72.82 
TNavPF::Calculated measDiffMean for beam 45 as 0.15. Range = 72.59 
TNavPF::Calculated measDiffMean for beam 46 as 0.35. Range = 72.37 
TNavPF::Calculated measDiffMean for beam 47 as 1.27. Range = 72.18 
TNavPF::Calculated measDiffMean for beam 48 as 2.36. Range = 51.05 
TNavPF::Calculated measDiffMean for beam 49 as 3.38. Range = 51.55 
TNavPF::Calculated measDiffMean for beam 50 as -1.43. Range = 69.74 
TNavPF::Calculated measDiffMean for beam 51 as -0.25. Range = 69.64 
TNavPF::Calculated measDiffMean for beam 52 as 1.15. Range = 69.57 
TNavPF::Calculated measDiffMean for beam 53 as 1.55. Range = 69.52 
TNavPF::Calculated measDiffMean for beam 54 as 1.25. Range = 69.48 
TNavPF::Calculated measDiffMean for beam 55 as 1.10. Range = 69.47 
TNavPF::Calculated measDiffMean for beam 56 as 1.05. Range = 69.48 
TNavPF::Calculated measDiffMean for beam 57 as 0.74. Range = 63.49 
TNavPF::Calculated measDiffMean for beam 58 as 0.44. Range = 63.54 
TNavPF::Calculated measDiffMean for beam 59 as 1.22. Range = 63.61 
TNavPF::Calculated measDiffMean for beam 60 as 1.94. Range = 63.70 
TNavPF::Calculated measDiffMean for beam 61 as 1.47. Range = 59.77 
TNavPF::Calculated measDiffMean for beam 62 as 0.82. Range = 59.89 
TNavPF::Calculated measDiffMean for beam 63 as 1.48. Range = 60.03 
TNavPF::Calculated measDiffMean for beam 64 as 2.48. Range = 60.14 
TNavPF::Calculated measDiffMean for beam 65 as 2.46. Range = 54.30 
TNavPF::Calculated measDiffMean for beam 66 as 2.19. Range = 54.42 
TNavPF::Calculated measDiffMean for beam 67 as 1.50. Range = 54.62 
TNavPF::Calculated measDiffMean for beam 68 as -0.55. Range = 52.77 
TNavPF::Calculated measDiffMean for beam 69 as -2.62. Range = 52.99 
TNavPF::Calculated measDiffMean for beam 70 as -3.74. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 71 as -4.44. Range = 51.40 
TNavPF::Calculated measDiffMean for beam 72 as -5.26. Range = 51.67 
TNavPF::Calculated measDiffMean for beam 73 as 5.77. Range = 54.06 
TNavPF::Calculated measDiffMean for beam 74 as 5.67. Range = 53.61 
TNavPF::Calculated measDiffMean for beam 75 as 3.57. Range = 51.06 
TNavPF::Calculated measDiffMean for beam 76 as 3.42. Range = 50.78 
TNavPF::Calculated measDiffMean for beam 77 as 3.72. Range = 51.13 
TNavPF::Calculated measDiffMean for beam 78 as -1.86. Range = 51.50 
TNavPF::Calculated measDiffMean for beam 79 as -0.66. Range = 51.89 
TNavPF::Calculated measDiffMean for beam 80 as -1.00. Range = 46.11 
TNavPF::Calculated measDiffMean for beam 81 as -1.62. Range = 46.05 
TNavPF::Calculated measDiffMean for beam 82 as -0.73. Range = 46.45 
TNavPF::Calculated measDiffMean for beam 83 as -0.23. Range = 45.79 
TNavPF::Calculated measDiffMean for beam 84 as -0.12. Range = 44.35 
TNavPF::Calculated measDiffMean for beam 85 as -0.25. Range = 43.02 
TNavPF::Calculated measDiffMean for beam 86 as -0.22. Range = 41.77 
TNavPF::Calculated measDiffMean for beam 87 as -0.45. Range = 40.61 
TNavPF::Calculated measDiffMean for beam 88 as -0.83. Range = 39.78 
TNavPF::Calculated measDiffMean for beam 89 as -0.93. Range = 40.24 
TNavPF::First Term of Map Covariance Matrix is 37.33 
TNavPF::Calculated NIS Value : 7.84 	numBeams normalized NIS: 0.13
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322210.82 sec.
INS : North: 4070248.08, East: 589084.57, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 40.66, IDT[75] = 43.57
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322213.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322213.62)
ARL : North: 1.8935, East: -0.7854, Depth: 1.8887ARL : Estimation Bias  (Mean)         : (t = 1488322213.62)
ARL : North: 0.7366, East: -1.3869, Depth: 0.1056TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.13 
Alpha[0]	0.123000
Alpha[0]	0.997805
TNavParticleFilter::Modified Variance for beam 1 is 17.29 
Alpha[1]	0.000000
Alpha[1]	0.998261
TNavParticleFilter::Modified Variance for beam 2 is 17.45 
Alpha[2]	0.000000
Alpha[2]	0.998557
TNavParticleFilter::Modified Variance for beam 3 is 16.94 
Alpha[3]	0.000000
Alpha[3]	0.998843
TNavParticleFilter::Modified Variance for beam 4 is 15.80 
Alpha[4]	0.000000
Alpha[4]	0.998847
TNavParticleFilter::Modified Variance for beam 5 is 14.80 
Alpha[5]	0.000000
Alpha[5]	0.998855
TNavParticleFilter::Modified Variance for beam 6 is 13.93 
Alpha[6]	0.000000
Alpha[6]	0.998932
TNavParticleFilter::Modified Variance for beam 7 is 14.07 
Alpha[7]	0.000000
Alpha[7]	0.998961
TNavParticleFilter::Modified Variance for beam 8 is 12.48 
Alpha[8]	0.000000
Alpha[8]	0.998946
TNavParticleFilter::Modified Variance for beam 9 is 12.45 
Alpha[9]	0.000000
Alpha[9]	0.998878
TNavParticleFilter::Modified Variance for beam 10 is 12.61 
Alpha[10]	0.000000
Alpha[10]	0.998829
TNavParticleFilter::Modified Variance for beam 11 is 12.49 
Alpha[11]	0.000000
Alpha[11]	0.998712
TNavParticleFilter::Modified Variance for beam 12 is 12.00 
Alpha[12]	0.000000
Alpha[12]	0.998526
TNavParticleFilter::Modified Variance for beam 13 is 11.47 
Alpha[13]	0.000000
Alpha[13]	0.998227
TNavParticleFilter::Modified Variance for beam 14 is 11.41 
Alpha[14]	0.000000
Alpha[14]	0.997885
TNavParticleFilter::Modified Variance for beam 15 is 11.59 
Alpha[15]	0.000000
Alpha[15]	0.998063
TNavParticleFilter::Modified Variance for beam 16 is 11.63 
Alpha[16]	0.000000
Alpha[16]	0.998323
TNavParticleFilter::Modified Variance for beam 17 is 11.22 
Alpha[17]	0.000000
Alpha[17]	0.998523
TNavParticleFilter::Modified Variance for beam 18 is 10.85 
Alpha[18]	0.000000
Alpha[18]	0.998692
TNavParticleFilter::Modified Variance for beam 19 is 10.51 
Alpha[19]	0.000000
Alpha[19]	0.998911
TNavParticleFilter::Modified Variance for beam 20 is 10.61 
Alpha[20]	0.000000
Alpha[20]	0.999581
TNavParticleFilter::Modified Variance for beam 21 is 10.81 
Alpha[21]	0.000000
Alpha[21]	0.999755
TNavParticleFilter::Modified Variance for beam 22 is 11.02 
Alpha[22]	0.000000
Alpha[22]	0.999764
TNavParticleFilter::Modified Variance for beam 23 is 11.25 
Alpha[23]	0.000000
Alpha[23]	0.999749
TNavParticleFilter::Modified Variance for beam 24 is 17.73 
Alpha[24]	0.000000
Alpha[24]	0.999718
TNavParticleFilter::Modified Variance for beam 25 is 17.74 
Alpha[25]	0.000000
Alpha[25]	0.999595
TNavParticleFilter::Modified Variance for beam 26 is 17.23 
Alpha[26]	0.000000
Alpha[26]	0.999398
TNavParticleFilter::Modified Variance for beam 27 is 17.69 
Alpha[27]	0.000000
Alpha[27]	0.999038
TNavParticleFilter::Modified Variance for beam 28 is 16.32 
Alpha[28]	0.000000
Alpha[28]	0.998520
TNavParticleFilter::Modified Variance for beam 29 is 15.92 
Alpha[29]	0.000000
Alpha[29]	0.997201
TNavParticleFilter::Modified Variance for beam 30 is 16.21 
Alpha[30]	0.000000
Alpha[30]	0.997114
TNavParticleFilter::Modified Variance for beam 31 is 15.16 
Alpha[31]	0.000000
Alpha[31]	0.997414
TNavParticleFilter::Modified Variance for beam 32 is 14.82 
Alpha[32]	0.000000
Alpha[32]	0.997126
TNavParticleFilter::Modified Variance for beam 33 is 14.68 
Alpha[33]	0.000000
Alpha[33]	0.996824
TNavParticleFilter::Modified Variance for beam 34 is 15.20 
Alpha[34]	0.000000
Alpha[34]	0.996211
TNavParticleFilter::Modified Variance for beam 35 is 13.94 
Alpha[35]	0.000000
Alpha[35]	0.995536
TNavParticleFilter::Modified Variance for beam 36 is 13.65 
Alpha[36]	0.000000
Alpha[36]	0.996783
TNavParticleFilter::Modified Variance for beam 37 is 13.39 
Alpha[37]	0.000000
Alpha[37]	0.997665
TNavParticleFilter::Modified Variance for beam 38 is 13.15 
Alpha[38]	0.000000
Alpha[38]	0.998045
TNavParticleFilter::Modified Variance for beam 39 is 13.04 
Alpha[39]	0.000000
Alpha[39]	0.997258
TNavParticleFilter::Modified Variance for beam 40 is 13.63 
Alpha[40]	0.000000
Alpha[40]	0.993217
TNavParticleFilter::Modified Variance for beam 41 is 13.62 
Alpha[41]	0.000000
Alpha[41]	0.992233
TNavParticleFilter::Modified Variance for beam 42 is 12.38 
Alpha[42]	0.000000
Alpha[42]	0.995131
TNavParticleFilter::Modified Variance for beam 43 is 12.18 
Alpha[43]	0.000000
Alpha[43]	0.997169
TNavParticleFilter::Modified Variance for beam 44 is 12.40 
Alpha[44]	0.000000
Alpha[44]	0.997527
TNavParticleFilter::Modified Variance for beam 45 is 12.83 
Alpha[45]	0.000000
Alpha[45]	0.995482
TNavParticleFilter::Modified Variance for beam 46 is 13.64 
Alpha[46]	0.000000
Alpha[46]	0.994958
TNavParticleFilter::Modified Variance for beam 47 is 13.44 
Alpha[47]	0.000000
Alpha[47]	0.997665
TNavParticleFilter::Modified Variance for beam 48 is 13.27 
Alpha[48]	0.000000
Alpha[48]	0.998356
TNavParticleFilter::Modified Variance for beam 49 is 13.89 
Alpha[49]	0.000000
Alpha[49]	0.998092
TNavParticleFilter::Modified Variance for beam 50 is 14.81 
Alpha[50]	0.000000
Alpha[50]	0.997533
TNavParticleFilter::Modified Variance for beam 51 is 15.86 
Alpha[51]	0.000000
Alpha[51]	0.996069
TNavParticleFilter::Modified Variance for beam 52 is 15.71 
Alpha[52]	0.000000
Alpha[52]	0.995337
TNavParticleFilter::Modified Variance for beam 53 is 14.53 
Alpha[53]	0.000000
Alpha[53]	0.996754
TNavParticleFilter::Modified Variance for beam 54 is 14.39 
Alpha[54]	0.000000
Alpha[54]	0.997627
TNavParticleFilter::Modified Variance for beam 55 is 14.70 
Alpha[55]	0.000000
Alpha[55]	0.997632
TNavParticleFilter::Modified Variance for beam 56 is 15.13 
Alpha[56]	0.000000
Alpha[56]	0.997593
TNavParticleFilter::Modified Variance for beam 57 is 15.01 
Alpha[57]	0.000000
Alpha[57]	0.998210
TNavParticleFilter::Modified Variance for beam 58 is 15.47 
Alpha[58]	0.000000
Alpha[58]	0.998714
TNavParticleFilter::Modified Variance for beam 59 is 17.90 
Alpha[59]	0.000000
Alpha[59]	0.998804
TNavPF:: sumSquaredError = 24.794449 
TNavPF:: sumWeights = 0.006697 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.36. Range = 75.97 
TNavPF::Calculated measDiffMean for beam 31 as 1.34. Range = 75.70 
TNavPF::Calculated measDiffMean for beam 32 as 2.26. Range = 53.03 
TNavPF::Calculated measDiffMean for beam 33 as 2.16. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 34 as 1.39. Range = 52.73 
TNavPF::Calculated measDiffMean for beam 35 as 0.65. Range = 74.86 
TNavPF::Calculated measDiffMean for beam 36 as 0.02. Range = 74.71 
TNavPF::Calculated measDiffMean for beam 37 as 1.63. Range = 74.58 
TNavPF::Calculated measDiffMean for beam 38 as -0.42. Range = 74.47 
TNavPF::Calculated measDiffMean for beam 39 as 0.74. Range = 74.39 
TNavPF::Calculated measDiffMean for beam 40 as 1.84. Range = 72.33 
TNavPF::Calculated measDiffMean for beam 41 as 1.88. Range = 66.27 
TNavPF::Calculated measDiffMean for beam 42 as 1.00. Range = 66.25 
TNavPF::Calculated measDiffMean for beam 43 as 0.05. Range = 66.26 
TNavPF::Calculated measDiffMean for beam 44 as 0.30. Range = 66.29 
TNavPF::Calculated measDiffMean for beam 45 as 1.27. Range = 66.34 
TNavPF::Calculated measDiffMean for beam 46 as 2.04. Range = 66.41 
TNavPF::Calculated measDiffMean for beam 47 as 1.60. Range = 62.47 
TNavPF::Calculated measDiffMean for beam 48 as 0.99. Range = 62.57 
TNavPF::Calculated measDiffMean for beam 49 as -0.11. Range = 62.69 
TNavPF::Calculated measDiffMean for beam 50 as -2.01. Range = 62.83 
TNavPF::Calculated measDiffMean for beam 51 as -5.04. Range = 56.90 
TNavPF::Calculated measDiffMean for beam 52 as -6.62. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 53 as -7.23. Range = 55.21 
TNavPF::Calculated measDiffMean for beam 54 as 5.21. Range = 53.35 
TNavPF::Calculated measDiffMean for beam 55 as 2.81. Range = 53.55 
TNavPF::Calculated measDiffMean for beam 56 as 1.72. Range = 55.84 
TNavPF::Calculated measDiffMean for beam 57 as 4.31. Range = 56.09 
TNavPF::Calculated measDiffMean for beam 58 as 2.71. Range = 53.59 
TNavPF::Calculated measDiffMean for beam 59 as 3.14. Range = 52.46 
TNavPF::Calculated measDiffMean for beam 60 as 4.12. Range = 52.75 
TNavPF::Calculated measDiffMean for beam 61 as 1.74. Range = 53.05 
TNavPF::Calculated measDiffMean for beam 62 as 1.10. Range = 53.38 
TNavPF::Calculated measDiffMean for beam 63 as 1.06. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 64 as 2.12. Range = 50.13 
TNavPF::Calculated measDiffMean for beam 65 as -0.75. Range = 48.07 
TNavPF::Calculated measDiffMean for beam 66 as -0.98. Range = 46.19 
TNavPF::Calculated measDiffMean for beam 67 as -1.08. Range = 46.49 
TNavPF::Calculated measDiffMean for beam 68 as -1.38. Range = 42.86 
TNavPF::Calculated measDiffMean for beam 69 as -0.94. Range = 42.78 
TNavPF::Calculated measDiffMean for beam 70 as 0.91. Range = 43.17 
TNavPF::Calculated measDiffMean for beam 71 as 1.01. Range = 42.89 
TNavPF::Calculated measDiffMean for beam 72 as -1.44. Range = 41.69 
TNavPF::Calculated measDiffMean for beam 73 as -1.42. Range = 40.38 
TNavPF::Calculated measDiffMean for beam 74 as -0.55. Range = 40.21 
TNavPF::Calculated measDiffMean for beam 75 as 0.28. Range = 40.66 
TNavPF::Calculated measDiffMean for beam 76 as 1.46. Range = 40.77 
TNavPF::Calculated measDiffMean for beam 77 as 0.22. Range = 39.75 
TNavPF::Calculated measDiffMean for beam 78 as -0.81. Range = 38.79 
TNavPF::Calculated measDiffMean for beam 79 as -0.31. Range = 37.89 
TNavPF::Calculated measDiffMean for beam 80 as 0.01. Range = 38.17 
TNavPF::Calculated measDiffMean for beam 81 as 0.68. Range = 38.70 
TNavPF::Calculated measDiffMean for beam 82 as -0.13. Range = 39.26 
TNavPF::Calculated measDiffMean for beam 83 as -2.68. Range = 39.85 
TNavPF::Calculated measDiffMean for beam 84 as -3.03. Range = 53.95 
TNavPF::Calculated measDiffMean for beam 85 as -2.35. Range = 53.96 
TNavPF::Calculated measDiffMean for beam 86 as -1.52. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 87 as -2.23. Range = 53.85 
TNavPF::Calculated measDiffMean for beam 88 as -1.84. Range = 51.16 
TNavPF::Calculated measDiffMean for beam 89 as 1.37. Range = 50.33 
TNavPF::First Term of Map Covariance Matrix is 9.10 
TNavPF::Calculated NIS Value : 6.73 	numBeams normalized NIS: 0.11
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322213.82 sec.
INS : North: 4070251.02, East: 589081.92, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 57.53, IDT[75] = 47.49
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322216.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322216.62)
ARL : North: 1.1850, East: -1.3542, Depth: -0.1779ARL : Estimation Bias  (Mean)         : (t = 1488322216.62)
ARL : North: 1.3291, East: -1.4651, Depth: 0.4440TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.31 
Alpha[0]	0.123000
Alpha[0]	0.998813
TNavParticleFilter::Modified Variance for beam 1 is 12.70 
Alpha[1]	0.000000
Alpha[1]	0.998521
TNavParticleFilter::Modified Variance for beam 2 is 12.86 
Alpha[2]	0.000000
Alpha[2]	0.998461
TNavParticleFilter::Modified Variance for beam 3 is 13.02 
Alpha[3]	0.000000
Alpha[3]	0.998564
TNavParticleFilter::Modified Variance for beam 4 is 12.58 
Alpha[4]	0.000000
Alpha[4]	0.998608
TNavParticleFilter::Modified Variance for beam 5 is 12.02 
Alpha[5]	0.000000
Alpha[5]	0.998520
TNavParticleFilter::Modified Variance for beam 6 is 11.62 
Alpha[6]	0.000000
Alpha[6]	0.998461
TNavParticleFilter::Modified Variance for beam 7 is 11.79 
Alpha[7]	0.000000
Alpha[7]	0.998571
TNavParticleFilter::Modified Variance for beam 8 is 11.96 
Alpha[8]	0.000000
Alpha[8]	0.999223
TNavParticleFilter::Modified Variance for beam 9 is 11.19 
Alpha[9]	0.000000
Alpha[9]	0.999625
TNavParticleFilter::Modified Variance for beam 10 is 11.37 
Alpha[10]	0.000000
Alpha[10]	0.999707
TNavParticleFilter::Modified Variance for beam 11 is 11.56 
Alpha[11]	0.000000
Alpha[11]	0.999680
TNavParticleFilter::Modified Variance for beam 12 is 11.77 
Alpha[12]	0.000000
Alpha[12]	0.999621
TNavParticleFilter::Modified Variance for beam 13 is 19.28 
Alpha[13]	0.000000
Alpha[13]	0.999519
TNavParticleFilter::Modified Variance for beam 14 is 19.71 
Alpha[14]	0.000000
Alpha[14]	0.999453
TNavParticleFilter::Modified Variance for beam 15 is 19.69 
Alpha[15]	0.000000
Alpha[15]	0.999384
TNavParticleFilter::Modified Variance for beam 16 is 15.80 
Alpha[16]	0.000000
Alpha[16]	0.999033
TNavParticleFilter::Modified Variance for beam 17 is 15.48 
Alpha[17]	0.000000
Alpha[17]	0.998606
TNavParticleFilter::Modified Variance for beam 18 is 16.28 
Alpha[18]	0.000000
Alpha[18]	0.997566
TNavParticleFilter::Modified Variance for beam 19 is 16.28 
Alpha[19]	0.000000
Alpha[19]	0.997140
TNavParticleFilter::Modified Variance for beam 20 is 16.71 
Alpha[20]	0.000000
Alpha[20]	0.997312
TNavParticleFilter::Modified Variance for beam 21 is 15.00 
Alpha[21]	0.000000
Alpha[21]	0.997218
TNavParticleFilter::Modified Variance for beam 22 is 14.78 
Alpha[22]	0.000000
Alpha[22]	0.996995
TNavParticleFilter::Modified Variance for beam 23 is 15.22 
Alpha[23]	0.000000
Alpha[23]	0.996139
TNavParticleFilter::Modified Variance for beam 24 is 13.93 
Alpha[24]	0.000000
Alpha[24]	0.996244
TNavParticleFilter::Modified Variance for beam 25 is 13.60 
Alpha[25]	0.000000
Alpha[25]	0.997533
TNavParticleFilter::Modified Variance for beam 26 is 13.30 
Alpha[26]	0.000000
Alpha[26]	0.998131
TNavParticleFilter::Modified Variance for beam 27 is 13.02 
Alpha[27]	0.000000
Alpha[27]	0.998059
TNavParticleFilter::Modified Variance for beam 28 is 13.15 
Alpha[28]	0.000000
Alpha[28]	0.996235
TNavParticleFilter::Modified Variance for beam 29 is 13.63 
Alpha[29]	0.000000
Alpha[29]	0.993723
TNavParticleFilter::Modified Variance for beam 30 is 12.33 
Alpha[30]	0.000000
Alpha[30]	0.995035
TNavParticleFilter::Modified Variance for beam 31 is 12.10 
Alpha[31]	0.000000
Alpha[31]	0.996497
TNavParticleFilter::Modified Variance for beam 32 is 11.99 
Alpha[32]	0.000000
Alpha[32]	0.997460
TNavParticleFilter::Modified Variance for beam 33 is 12.45 
Alpha[33]	0.000000
Alpha[33]	0.997174
TNavParticleFilter::Modified Variance for beam 34 is 12.51 
Alpha[34]	0.000000
Alpha[34]	0.994829
TNavParticleFilter::Modified Variance for beam 35 is 12.30 
Alpha[35]	0.000000
Alpha[35]	0.996710
TNavParticleFilter::Modified Variance for beam 36 is 12.36 
Alpha[36]	0.000000
Alpha[36]	0.998079
TNavParticleFilter::Modified Variance for beam 37 is 12.93 
Alpha[37]	0.000000
Alpha[37]	0.998302
TNavParticleFilter::Modified Variance for beam 38 is 13.56 
Alpha[38]	0.000000
Alpha[38]	0.997872
TNavParticleFilter::Modified Variance for beam 39 is 15.63 
Alpha[39]	0.000000
Alpha[39]	0.996925
TNavParticleFilter::Modified Variance for beam 40 is 15.44 
Alpha[40]	0.000000
Alpha[40]	0.995471
TNavParticleFilter::Modified Variance for beam 41 is 15.98 
Alpha[41]	0.000000
Alpha[41]	0.995522
TNavParticleFilter::Modified Variance for beam 42 is 16.11 
Alpha[42]	0.000000
Alpha[42]	0.996634
TNavParticleFilter::Modified Variance for beam 43 is 14.86 
Alpha[43]	0.000000
Alpha[43]	0.997567
TNavParticleFilter::Modified Variance for beam 44 is 13.91 
Alpha[44]	0.000000
Alpha[44]	0.997901
TNavParticleFilter::Modified Variance for beam 45 is 14.55 
Alpha[45]	0.000000
Alpha[45]	0.997670
TNavParticleFilter::Modified Variance for beam 46 is 14.40 
Alpha[46]	0.000000
Alpha[46]	0.998171
TNavParticleFilter::Modified Variance for beam 47 is 14.26 
Alpha[47]	0.000000
Alpha[47]	0.998620
TNavParticleFilter::Modified Variance for beam 48 is 17.21 
Alpha[48]	0.000000
Alpha[48]	0.998752
TNavParticleFilter::Modified Variance for beam 49 is 17.07 
Alpha[49]	0.000000
Alpha[49]	0.998398
TNavParticleFilter::Modified Variance for beam 50 is 18.04 
Alpha[50]	0.000000
Alpha[50]	0.997639
TNavParticleFilter::Modified Variance for beam 51 is 17.93 
Alpha[51]	0.000000
Alpha[51]	0.995896
TNavParticleFilter::Modified Variance for beam 52 is 17.84 
Alpha[52]	0.000000
Alpha[52]	0.993534
TNavParticleFilter::Modified Variance for beam 53 is 17.74 
Alpha[53]	0.000000
Alpha[53]	0.992925
TNavParticleFilter::Modified Variance for beam 54 is 17.95 
Alpha[54]	0.000000
Alpha[54]	0.995067
TNavParticleFilter::Modified Variance for beam 55 is 18.57 
Alpha[55]	0.000000
Alpha[55]	0.995780
TNavParticleFilter::Modified Variance for beam 56 is 18.46 
Alpha[56]	0.000000
Alpha[56]	0.996671
TNavParticleFilter::Modified Variance for beam 57 is 20.74 
Alpha[57]	0.000000
Alpha[57]	0.997273
TNavParticleFilter::Modified Variance for beam 58 is 22.95 
Alpha[58]	0.000000
Alpha[58]	0.998148
TNavParticleFilter::Modified Variance for beam 59 is 22.84 
Alpha[59]	0.000000
Alpha[59]	0.999233
TNavPF:: sumSquaredError = 91.641324 
TNavPF:: sumWeights = 0.001691 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.54. Range = 77.83 
TNavPF::Calculated measDiffMean for beam 31 as 0.65. Range = 77.70 
TNavPF::Calculated measDiffMean for beam 32 as 1.73. Range = 75.58 
TNavPF::Calculated measDiffMean for beam 33 as 2.95. Range = 69.47 
TNavPF::Calculated measDiffMean for beam 34 as 2.62. Range = 69.42 
TNavPF::Calculated measDiffMean for beam 35 as 1.92. Range = 69.39 
TNavPF::Calculated measDiffMean for beam 36 as 1.23. Range = 69.39 
TNavPF::Calculated measDiffMean for beam 37 as 1.36. Range = 69.40 
TNavPF::Calculated measDiffMean for beam 38 as 0.42. Range = 65.41 
TNavPF::Calculated measDiffMean for beam 39 as -4.84. Range = 65.47 
TNavPF::Calculated measDiffMean for beam 40 as -7.50. Range = 65.54 
TNavPF::Calculated measDiffMean for beam 41 as -8.74. Range = 65.63 
TNavPF::Calculated measDiffMean for beam 42 as -9.49. Range = 59.69 
TNavPF::Calculated measDiffMean for beam 43 as 4.08. Range = 59.81 
TNavPF::Calculated measDiffMean for beam 44 as 4.04. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 45 as 4.62. Range = 58.07 
TNavPF::Calculated measDiffMean for beam 46 as -0.46. Range = 58.25 
TNavPF::Calculated measDiffMean for beam 47 as 0.45. Range = 56.39 
TNavPF::Calculated measDiffMean for beam 48 as 3.49. Range = 56.59 
TNavPF::Calculated measDiffMean for beam 49 as 3.76. Range = 54.75 
TNavPF::Calculated measDiffMean for beam 50 as 4.36. Range = 54.98 
TNavPF::Calculated measDiffMean for beam 51 as 1.10. Range = 55.24 
TNavPF::Calculated measDiffMean for beam 52 as 0.86. Range = 55.51 
TNavPF::Calculated measDiffMean for beam 53 as 1.69. Range = 55.27 
TNavPF::Calculated measDiffMean for beam 54 as -0.78. Range = 52.34 
TNavPF::Calculated measDiffMean for beam 55 as -0.95. Range = 49.72 
TNavPF::Calculated measDiffMean for beam 56 as -1.32. Range = 48.24 
TNavPF::Calculated measDiffMean for beam 57 as -1.50. Range = 45.23 
TNavPF::Calculated measDiffMean for beam 58 as -0.31. Range = 44.56 
TNavPF::Calculated measDiffMean for beam 59 as 1.20. Range = 44.88 
TNavPF::Calculated measDiffMean for beam 60 as -1.28. Range = 44.78 
TNavPF::Calculated measDiffMean for beam 61 as -1.26. Range = 43.37 
TNavPF::Calculated measDiffMean for beam 62 as -1.18. Range = 43.74 
TNavPF::Calculated measDiffMean for beam 63 as -0.23. Range = 44.12 
TNavPF::Calculated measDiffMean for beam 64 as -0.44. Range = 43.09 
TNavPF::Calculated measDiffMean for beam 65 as -1.43. Range = 41.74 
TNavPF::Calculated measDiffMean for beam 66 as -1.90. Range = 40.76 
TNavPF::Calculated measDiffMean for beam 67 as -1.40. Range = 41.18 
TNavPF::Calculated measDiffMean for beam 68 as -1.06. Range = 41.63 
TNavPF::Calculated measDiffMean for beam 69 as 1.88. Range = 39.70 
TNavPF::Calculated measDiffMean for beam 70 as 0.57. Range = 40.16 
TNavPF::Calculated measDiffMean for beam 71 as 1.39. Range = 40.65 
TNavPF::Calculated measDiffMean for beam 72 as 1.76. Range = 41.16 
TNavPF::Calculated measDiffMean for beam 73 as -0.78. Range = 56.80 
TNavPF::Calculated measDiffMean for beam 74 as -2.89. Range = 57.57 
TNavPF::Calculated measDiffMean for beam 75 as -1.47. Range = 57.53 
TNavPF::Calculated measDiffMean for beam 76 as -2.18. Range = 50.14 
TNavPF::Calculated measDiffMean for beam 77 as -2.86. Range = 49.48 
TNavPF::Calculated measDiffMean for beam 78 as 1.92. Range = 51.06 
TNavPF::Calculated measDiffMean for beam 79 as 0.19. Range = 51.05 
TNavPF::Calculated measDiffMean for beam 80 as 1.16. Range = 51.90 
TNavPF::Calculated measDiffMean for beam 81 as 0.16. Range = 48.44 
TNavPF::Calculated measDiffMean for beam 82 as -0.43. Range = 47.96 
TNavPF::Calculated measDiffMean for beam 83 as -0.83. Range = 48.86 
TNavPF::Calculated measDiffMean for beam 84 as -0.52. Range = 46.11 
TNavPF::Calculated measDiffMean for beam 85 as -0.07. Range = 45.41 
TNavPF::Calculated measDiffMean for beam 86 as -0.61. Range = 44.74 
TNavPF::Calculated measDiffMean for beam 87 as 1.99. Range = 44.11 
TNavPF::Calculated measDiffMean for beam 88 as 3.27. Range = 44.34 
TNavPF::Calculated measDiffMean for beam 89 as 1.21. Range = 45.36 
TNavPF::First Term of Map Covariance Matrix is 16.83 
TNavPF::Calculated NIS Value : 10.92 	numBeams normalized NIS: 0.18
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322216.82 sec.
INS : North: 4070254.27, East: 589079.54, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 51.12, IDT[75] = 52.74
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322219.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322219.62)
ARL : North: 2.0310, East: -2.2672, Depth: 1.4118ARL : Estimation Bias  (Mean)         : (t = 1488322219.62)
ARL : North: 1.6126, East: -1.1768, Depth: 0.3938TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.63 
Alpha[0]	0.123000
Alpha[0]	0.998486
TNavParticleFilter::Modified Variance for beam 1 is 15.93 
Alpha[1]	0.000000
Alpha[1]	0.999170
TNavParticleFilter::Modified Variance for beam 2 is 17.33 
Alpha[2]	0.000000
Alpha[2]	0.999420
TNavParticleFilter::Modified Variance for beam 3 is 18.84 
Alpha[3]	0.000000
Alpha[3]	0.999545
TNavParticleFilter::Modified Variance for beam 4 is 19.16 
Alpha[4]	0.000000
Alpha[4]	0.999570
TNavParticleFilter::Modified Variance for beam 5 is 19.50 
Alpha[5]	0.000000
Alpha[5]	0.999523
TNavParticleFilter::Modified Variance for beam 6 is 19.86 
Alpha[6]	0.000000
Alpha[6]	0.999380
TNavParticleFilter::Modified Variance for beam 7 is 20.23 
Alpha[7]	0.000000
Alpha[7]	0.999367
TNavParticleFilter::Modified Variance for beam 8 is 20.64 
Alpha[8]	0.000000
Alpha[8]	0.999355
TNavParticleFilter::Modified Variance for beam 9 is 16.42 
Alpha[9]	0.000000
Alpha[9]	0.999303
TNavParticleFilter::Modified Variance for beam 10 is 15.83 
Alpha[10]	0.000000
Alpha[10]	0.999036
TNavParticleFilter::Modified Variance for beam 11 is 15.28 
Alpha[11]	0.000000
Alpha[11]	0.998486
TNavParticleFilter::Modified Variance for beam 12 is 15.49 
Alpha[12]	0.000000
Alpha[12]	0.997763
TNavParticleFilter::Modified Variance for beam 13 is 15.84 
Alpha[13]	0.000000
Alpha[13]	0.997655
TNavParticleFilter::Modified Variance for beam 14 is 16.21 
Alpha[14]	0.000000
Alpha[14]	0.997895
TNavParticleFilter::Modified Variance for beam 15 is 16.31 
Alpha[15]	0.000000
Alpha[15]	0.997539
TNavParticleFilter::Modified Variance for beam 16 is 15.84 
Alpha[16]	0.000000
Alpha[16]	0.996534
TNavParticleFilter::Modified Variance for beam 17 is 14.04 
Alpha[17]	0.000000
Alpha[17]	0.996650
TNavParticleFilter::Modified Variance for beam 18 is 13.65 
Alpha[18]	0.000000
Alpha[18]	0.997734
TNavParticleFilter::Modified Variance for beam 19 is 13.30 
Alpha[19]	0.000000
Alpha[19]	0.998361
TNavParticleFilter::Modified Variance for beam 20 is 13.23 
Alpha[20]	0.000000
Alpha[20]	0.998093
TNavParticleFilter::Modified Variance for beam 21 is 13.63 
Alpha[21]	0.000000
Alpha[21]	0.996405
TNavParticleFilter::Modified Variance for beam 22 is 12.43 
Alpha[22]	0.000000
Alpha[22]	0.995639
TNavParticleFilter::Modified Variance for beam 23 is 12.15 
Alpha[23]	0.000000
Alpha[23]	0.996483
TNavParticleFilter::Modified Variance for beam 24 is 12.12 
Alpha[24]	0.000000
Alpha[24]	0.996936
TNavParticleFilter::Modified Variance for beam 25 is 12.50 
Alpha[25]	0.000000
Alpha[25]	0.997585
TNavParticleFilter::Modified Variance for beam 26 is 12.48 
Alpha[26]	0.000000
Alpha[26]	0.997009
TNavParticleFilter::Modified Variance for beam 27 is 12.25 
Alpha[27]	0.000000
Alpha[27]	0.996674
TNavParticleFilter::Modified Variance for beam 28 is 12.34 
Alpha[28]	0.000000
Alpha[28]	0.997839
TNavParticleFilter::Modified Variance for beam 29 is 12.80 
Alpha[29]	0.000000
Alpha[29]	0.998307
TNavParticleFilter::Modified Variance for beam 30 is 13.30 
Alpha[30]	0.000000
Alpha[30]	0.998269
TNavParticleFilter::Modified Variance for beam 31 is 15.62 
Alpha[31]	0.000000
Alpha[31]	0.997752
TNavParticleFilter::Modified Variance for beam 32 is 15.39 
Alpha[32]	0.000000
Alpha[32]	0.996355
TNavParticleFilter::Modified Variance for beam 33 is 15.16 
Alpha[33]	0.000000
Alpha[33]	0.995256
TNavParticleFilter::Modified Variance for beam 34 is 15.88 
Alpha[34]	0.000000
Alpha[34]	0.995914
TNavParticleFilter::Modified Variance for beam 35 is 15.78 
Alpha[35]	0.000000
Alpha[35]	0.996866
TNavParticleFilter::Modified Variance for beam 36 is 14.47 
Alpha[36]	0.000000
Alpha[36]	0.997595
TNavParticleFilter::Modified Variance for beam 37 is 14.28 
Alpha[37]	0.000000
Alpha[37]	0.998074
TNavParticleFilter::Modified Variance for beam 38 is 14.83 
Alpha[38]	0.000000
Alpha[38]	0.997983
TNavParticleFilter::Modified Variance for beam 39 is 17.12 
Alpha[39]	0.000000
Alpha[39]	0.998319
TNavParticleFilter::Modified Variance for beam 40 is 16.91 
Alpha[40]	0.000000
Alpha[40]	0.998591
TNavParticleFilter::Modified Variance for beam 41 is 17.84 
Alpha[41]	0.000000
Alpha[41]	0.998543
TNavParticleFilter::Modified Variance for beam 42 is 17.65 
Alpha[42]	0.000000
Alpha[42]	0.998097
TNavParticleFilter::Modified Variance for beam 43 is 17.52 
Alpha[43]	0.000000
Alpha[43]	0.997185
TNavParticleFilter::Modified Variance for beam 44 is 17.34 
Alpha[44]	0.000000
Alpha[44]	0.995347
TNavParticleFilter::Modified Variance for beam 45 is 17.19 
Alpha[45]	0.000000
Alpha[45]	0.994358
TNavParticleFilter::Modified Variance for beam 46 is 17.07 
Alpha[46]	0.000000
Alpha[46]	0.992733
TNavParticleFilter::Modified Variance for beam 47 is 16.89 
Alpha[47]	0.000000
Alpha[47]	0.994687
TNavParticleFilter::Modified Variance for beam 48 is 17.83 
Alpha[48]	0.000000
Alpha[48]	0.995738
TNavParticleFilter::Modified Variance for beam 49 is 17.69 
Alpha[49]	0.000000
Alpha[49]	0.995945
TNavParticleFilter::Modified Variance for beam 50 is 18.06 
Alpha[50]	0.000000
Alpha[50]	0.996255
TNavParticleFilter::Modified Variance for beam 51 is 20.48 
Alpha[51]	0.000000
Alpha[51]	0.996627
TNavParticleFilter::Modified Variance for beam 52 is 21.92 
Alpha[52]	0.000000
Alpha[52]	0.997611
TNavParticleFilter::Modified Variance for beam 53 is 21.77 
Alpha[53]	0.000000
Alpha[53]	0.998570
TNavParticleFilter::Modified Variance for beam 54 is 28.20 
Alpha[54]	0.000000
Alpha[54]	0.999443
TNavParticleFilter::Modified Variance for beam 55 is 30.97 
Alpha[55]	0.000000
Alpha[55]	0.999012
TNavPF:: sumSquaredError = 190.645046 
TNavPF:: sumWeights = 0.004977 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.65. Range = 78.88 
TNavPF::Calculated measDiffMean for beam 31 as 6.32. Range = 76.80 
TNavPF::Calculated measDiffMean for beam 32 as 6.40. Range = 72.74 
TNavPF::Calculated measDiffMean for beam 33 as 6.07. Range = 72.73 
TNavPF::Calculated measDiffMean for beam 34 as 4.35. Range = 68.72 
TNavPF::Calculated measDiffMean for beam 35 as 3.27. Range = 68.74 
TNavPF::Calculated measDiffMean for beam 36 as 2.60. Range = 68.79 
TNavPF::Calculated measDiffMean for beam 37 as 2.59. Range = 62.82 
TNavPF::Calculated measDiffMean for beam 38 as 3.06. Range = 62.90 
TNavPF::Calculated measDiffMean for beam 39 as -2.70. Range = 60.99 
TNavPF::Calculated measDiffMean for beam 40 as -1.18. Range = 61.10 
TNavPF::Calculated measDiffMean for beam 41 as -0.43. Range = 59.26 
TNavPF::Calculated measDiffMean for beam 42 as 0.64. Range = 59.36 
TNavPF::Calculated measDiffMean for beam 43 as 1.17. Range = 61.57 
TNavPF::Calculated measDiffMean for beam 44 as 2.06. Range = 61.76 
TNavPF::Calculated measDiffMean for beam 45 as 2.54. Range = 58.90 
TNavPF::Calculated measDiffMean for beam 46 as 1.66. Range = 58.09 
TNavPF::Calculated measDiffMean for beam 47 as -1.67. Range = 58.33 
TNavPF::Calculated measDiffMean for beam 48 as -1.97. Range = 55.00 
TNavPF::Calculated measDiffMean for beam 49 as -2.55. Range = 51.62 
TNavPF::Calculated measDiffMean for beam 50 as -1.92. Range = 48.64 
TNavPF::Calculated measDiffMean for beam 51 as 0.04. Range = 46.84 
TNavPF::Calculated measDiffMean for beam 52 as -2.04. Range = 47.11 
TNavPF::Calculated measDiffMean for beam 53 as -2.03. Range = 47.40 
TNavPF::Calculated measDiffMean for beam 54 as -1.60. Range = 45.56 
TNavPF::Calculated measDiffMean for beam 55 as -0.73. Range = 45.87 
TNavPF::Calculated measDiffMean for beam 56 as -0.98. Range = 46.20 
TNavPF::Calculated measDiffMean for beam 57 as -1.74. Range = 44.77 
TNavPF::Calculated measDiffMean for beam 58 as -2.11. Range = 43.07 
TNavPF::Calculated measDiffMean for beam 59 as -1.81. Range = 42.84 
TNavPF::Calculated measDiffMean for beam 60 as -1.62. Range = 43.21 
TNavPF::Calculated measDiffMean for beam 61 as 2.32. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 62 as 0.74. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 63 as -0.23. Range = 56.01 
TNavPF::Calculated measDiffMean for beam 64 as 1.18. Range = 56.58 
TNavPF::Calculated measDiffMean for beam 65 as 1.21. Range = 57.18 
TNavPF::Calculated measDiffMean for beam 66 as -1.35. Range = 57.82 
TNavPF::Calculated measDiffMean for beam 67 as -1.91. Range = 58.48 
TNavPF::Calculated measDiffMean for beam 68 as -0.71. Range = 59.18 
TNavPF::Calculated measDiffMean for beam 69 as 3.55. Range = 51.40 
TNavPF::Calculated measDiffMean for beam 70 as 2.69. Range = 50.20 
TNavPF::Calculated measDiffMean for beam 71 as 3.34. Range = 49.06 
TNavPF::Calculated measDiffMean for beam 72 as 1.57. Range = 49.48 
TNavPF::Calculated measDiffMean for beam 73 as 0.71. Range = 50.19 
TNavPF::Calculated measDiffMean for beam 74 as -0.26. Range = 50.93 
TNavPF::Calculated measDiffMean for beam 75 as -0.83. Range = 51.12 
TNavPF::Calculated measDiffMean for beam 76 as -1.23. Range = 50.15 
TNavPF::Calculated measDiffMean for beam 77 as -1.50. Range = 46.35 
TNavPF::Calculated measDiffMean for beam 78 as -0.06. Range = 45.53 
TNavPF::Calculated measDiffMean for beam 79 as -0.90. Range = 44.75 
TNavPF::Calculated measDiffMean for beam 80 as -0.57. Range = 44.59 
TNavPF::Calculated measDiffMean for beam 81 as 2.33. Range = 45.44 
TNavPF::Calculated measDiffMean for beam 82 as 2.83. Range = 42.64 
TNavPF::Calculated measDiffMean for beam 83 as 1.16. Range = 42.01 
TNavPF::Calculated measDiffMean for beam 84 as 6.53. Range = 41.95 
TNavPF::Calculated measDiffMean for beam 85 as 1.74. Range = 42.87 
TNavPF::First Term of Map Covariance Matrix is 13.19 
TNavPF::Calculated NIS Value : 7.72 	numBeams normalized NIS: 0.14
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322219.82 sec.
INS : North: 4070257.64, East: 589077.23, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 47.46, IDT[75] = 51.19
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322222.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322222.62)
ARL : North: 1.8451, East: -2.6228, Depth: 2.2247ARL : Estimation Bias  (Mean)         : (t = 1488322222.62)
ARL : North: 2.1358, East: -1.3667, Depth: 0.1486TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 63 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.85 
Alpha[0]	0.123000
Alpha[0]	0.999197
TNavParticleFilter::Modified Variance for beam 1 is 18.23 
Alpha[1]	0.000000
Alpha[1]	0.999219
TNavParticleFilter::Modified Variance for beam 2 is 19.70 
Alpha[2]	0.000000
Alpha[2]	0.999408
TNavParticleFilter::Modified Variance for beam 3 is 19.98 
Alpha[3]	0.000000
Alpha[3]	0.999287
TNavParticleFilter::Modified Variance for beam 4 is 20.27 
Alpha[4]	0.000000
Alpha[4]	0.999293
TNavParticleFilter::Modified Variance for beam 5 is 20.59 
Alpha[5]	0.000000
Alpha[5]	0.999289
TNavParticleFilter::Modified Variance for beam 6 is 20.93 
Alpha[6]	0.000000
Alpha[6]	0.999302
TNavParticleFilter::Modified Variance for beam 7 is 21.28 
Alpha[7]	0.000000
Alpha[7]	0.999329
TNavParticleFilter::Modified Variance for beam 8 is 17.06 
Alpha[8]	0.000000
Alpha[8]	0.999139
TNavParticleFilter::Modified Variance for beam 9 is 16.34 
Alpha[9]	0.000000
Alpha[9]	0.998685
TNavParticleFilter::Modified Variance for beam 10 is 16.92 
Alpha[10]	0.000000
Alpha[10]	0.997864
TNavParticleFilter::Modified Variance for beam 11 is 17.42 
Alpha[11]	0.000000
Alpha[11]	0.997726
TNavParticleFilter::Modified Variance for beam 12 is 16.16 
Alpha[12]	0.000000
Alpha[12]	0.998177
TNavParticleFilter::Modified Variance for beam 13 is 15.58 
Alpha[13]	0.000000
Alpha[13]	0.997584
TNavParticleFilter::Modified Variance for beam 14 is 15.91 
Alpha[14]	0.000000
Alpha[14]	0.996915
TNavParticleFilter::Modified Variance for beam 15 is 14.54 
Alpha[15]	0.000000
Alpha[15]	0.997138
TNavParticleFilter::Modified Variance for beam 16 is 14.07 
Alpha[16]	0.000000
Alpha[16]	0.997837
TNavParticleFilter::Modified Variance for beam 17 is 13.63 
Alpha[17]	0.000000
Alpha[17]	0.998371
TNavParticleFilter::Modified Variance for beam 18 is 13.53 
Alpha[18]	0.000000
Alpha[18]	0.997478
TNavParticleFilter::Modified Variance for beam 19 is 13.87 
Alpha[19]	0.000000
Alpha[19]	0.996214
TNavParticleFilter::Modified Variance for beam 20 is 12.55 
Alpha[20]	0.000000
Alpha[20]	0.996557
TNavParticleFilter::Modified Variance for beam 21 is 12.23 
Alpha[21]	0.000000
Alpha[21]	0.996718
TNavParticleFilter::Modified Variance for beam 22 is 12.41 
Alpha[22]	0.000000
Alpha[22]	0.996250
TNavParticleFilter::Modified Variance for beam 23 is 12.74 
Alpha[23]	0.000000
Alpha[23]	0.996354
TNavParticleFilter::Modified Variance for beam 24 is 12.50 
Alpha[24]	0.000000
Alpha[24]	0.996618
TNavParticleFilter::Modified Variance for beam 25 is 12.20 
Alpha[25]	0.000000
Alpha[25]	0.997782
TNavParticleFilter::Modified Variance for beam 26 is 12.51 
Alpha[26]	0.000000
Alpha[26]	0.997984
TNavParticleFilter::Modified Variance for beam 27 is 12.90 
Alpha[27]	0.000000
Alpha[27]	0.998063
TNavParticleFilter::Modified Variance for beam 28 is 13.32 
Alpha[28]	0.000000
Alpha[28]	0.997646
TNavParticleFilter::Modified Variance for beam 29 is 15.32 
Alpha[29]	0.000000
Alpha[29]	0.996494
TNavParticleFilter::Modified Variance for beam 30 is 15.42 
Alpha[30]	0.000000
Alpha[30]	0.994941
TNavParticleFilter::Modified Variance for beam 31 is 15.12 
Alpha[31]	0.000000
Alpha[31]	0.995203
TNavParticleFilter::Modified Variance for beam 32 is 15.39 
Alpha[32]	0.000000
Alpha[32]	0.996552
TNavParticleFilter::Modified Variance for beam 33 is 15.70 
Alpha[33]	0.000000
Alpha[33]	0.997069
TNavParticleFilter::Modified Variance for beam 34 is 14.30 
Alpha[34]	0.000000
Alpha[34]	0.997579
TNavParticleFilter::Modified Variance for beam 35 is 14.06 
Alpha[35]	0.000000
Alpha[35]	0.997934
TNavParticleFilter::Modified Variance for beam 36 is 14.33 
Alpha[36]	0.000000
Alpha[36]	0.998129
TNavParticleFilter::Modified Variance for beam 37 is 13.63 
Alpha[37]	0.000000
Alpha[37]	0.998485
TNavParticleFilter::Modified Variance for beam 38 is 13.77 
Alpha[38]	0.000000
Alpha[38]	0.998382
TNavParticleFilter::Modified Variance for beam 39 is 16.45 
Alpha[39]	0.000000
Alpha[39]	0.997892
TNavParticleFilter::Modified Variance for beam 40 is 16.24 
Alpha[40]	0.000000
Alpha[40]	0.997344
TNavParticleFilter::Modified Variance for beam 41 is 16.17 
Alpha[41]	0.000000
Alpha[41]	0.995840
TNavParticleFilter::Modified Variance for beam 42 is 16.98 
Alpha[42]	0.000000
Alpha[42]	0.994358
TNavParticleFilter::Modified Variance for beam 43 is 16.78 
Alpha[43]	0.000000
Alpha[43]	0.993961
TNavParticleFilter::Modified Variance for beam 44 is 16.61 
Alpha[44]	0.000000
Alpha[44]	0.992411
TNavParticleFilter::Modified Variance for beam 45 is 16.41 
Alpha[45]	0.000000
Alpha[45]	0.993810
TNavParticleFilter::Modified Variance for beam 46 is 16.29 
Alpha[46]	0.000000
Alpha[46]	0.994616
TNavParticleFilter::Modified Variance for beam 47 is 17.14 
Alpha[47]	0.000000
Alpha[47]	0.994765
TNavParticleFilter::Modified Variance for beam 48 is 16.98 
Alpha[48]	0.000000
Alpha[48]	0.995056
TNavParticleFilter::Modified Variance for beam 49 is 17.18 
Alpha[49]	0.000000
Alpha[49]	0.994524
TNavParticleFilter::Modified Variance for beam 50 is 18.82 
Alpha[50]	0.000000
Alpha[50]	0.995993
TNavParticleFilter::Modified Variance for beam 51 is 20.78 
Alpha[51]	0.000000
Alpha[51]	0.997465
TNavParticleFilter::Modified Variance for beam 52 is 20.89 
Alpha[52]	0.000000
Alpha[52]	0.997709
TNavParticleFilter::Modified Variance for beam 53 is 20.75 
Alpha[53]	0.000000
Alpha[53]	0.998994
TNavParticleFilter::Modified Variance for beam 54 is 27.03 
Alpha[54]	0.000000
Alpha[54]	0.998994
TNavParticleFilter::Modified Variance for beam 55 is 27.23 
Alpha[55]	0.000000
Alpha[55]	0.998330
TNavParticleFilter::Modified Variance for beam 56 is 31.89 
Alpha[56]	0.000000
Alpha[56]	0.999982
TNavPF:: sumSquaredError = 65.960630 
TNavPF:: sumWeights = 0.003904 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.91. Range = 82.50 
TNavPF::Calculated measDiffMean for beam 31 as 3.45. Range = 76.31 
TNavPF::Calculated measDiffMean for beam 32 as 3.37. Range = 76.20 
TNavPF::Calculated measDiffMean for beam 33 as 1.85. Range = 76.10 
TNavPF::Calculated measDiffMean for beam 34 as 1.51. Range = 76.04 
TNavPF::Calculated measDiffMean for beam 35 as 1.73. Range = 71.98 
TNavPF::Calculated measDiffMean for beam 36 as 1.90. Range = 71.96 
TNavPF::Calculated measDiffMean for beam 37 as 3.32. Range = 71.96 
TNavPF::Calculated measDiffMean for beam 38 as -0.82. Range = 65.96 
TNavPF::Calculated measDiffMean for beam 39 as -0.17. Range = 66.01 
TNavPF::Calculated measDiffMean for beam 40 as 1.79. Range = 64.06 
TNavPF::Calculated measDiffMean for beam 41 as 2.71. Range = 64.14 
TNavPF::Calculated measDiffMean for beam 42 as 0.49. Range = 62.22 
TNavPF::Calculated measDiffMean for beam 43 as -0.37. Range = 62.34 
TNavPF::Calculated measDiffMean for beam 44 as 0.58. Range = 64.50 
TNavPF::Calculated measDiffMean for beam 45 as -1.45. Range = 63.72 
TNavPF::Calculated measDiffMean for beam 46 as -1.87. Range = 60.77 
TNavPF::Calculated measDiffMean for beam 47 as -2.47. Range = 60.96 
TNavPF::Calculated measDiffMean for beam 48 as -1.51. Range = 57.42 
TNavPF::Calculated measDiffMean for beam 49 as 0.35. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 50 as -1.79. Range = 49.26 
TNavPF::Calculated measDiffMean for beam 51 as -2.05. Range = 49.48 
TNavPF::Calculated measDiffMean for beam 52 as -1.54. Range = 49.71 
TNavPF::Calculated measDiffMean for beam 53 as -0.93. Range = 47.87 
TNavPF::Calculated measDiffMean for beam 54 as -1.60. Range = 48.12 
TNavPF::Calculated measDiffMean for beam 55 as -2.85. Range = 48.40 
TNavPF::Calculated measDiffMean for beam 56 as -2.73. Range = 46.45 
TNavPF::Calculated measDiffMean for beam 57 as -2.72. Range = 44.72 
TNavPF::Calculated measDiffMean for beam 58 as -2.68. Range = 45.02 
TNavPF::Calculated measDiffMean for beam 59 as 0.67. Range = 45.34 
TNavPF::Calculated measDiffMean for beam 60 as 0.41. Range = 52.25 
TNavPF::Calculated measDiffMean for beam 61 as -0.25. Range = 54.86 
TNavPF::Calculated measDiffMean for beam 62 as 0.56. Range = 57.53 
TNavPF::Calculated measDiffMean for beam 63 as 1.53. Range = 58.03 
TNavPF::Calculated measDiffMean for beam 64 as -1.32. Range = 58.55 
TNavPF::Calculated measDiffMean for beam 65 as -1.97. Range = 59.09 
TNavPF::Calculated measDiffMean for beam 66 as -1.36. Range = 59.67 
TNavPF::Calculated measDiffMean for beam 67 as -3.37. Range = 60.28 
TNavPF::Calculated measDiffMean for beam 68 as -3.59. Range = 52.65 
TNavPF::Calculated measDiffMean for beam 69 as 0.64. Range = 51.21 
TNavPF::Calculated measDiffMean for beam 70 as -0.67. Range = 52.33 
TNavPF::Calculated measDiffMean for beam 71 as -1.34. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 72 as -0.10. Range = 50.84 
TNavPF::Calculated measDiffMean for beam 73 as -0.66. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 74 as -1.04. Range = 50.29 
TNavPF::Calculated measDiffMean for beam 75 as -1.26. Range = 47.46 
TNavPF::Calculated measDiffMean for beam 76 as -1.69. Range = 46.45 
TNavPF::Calculated measDiffMean for beam 77 as -0.59. Range = 45.50 
TNavPF::Calculated measDiffMean for beam 78 as -1.13. Range = 45.24 
TNavPF::Calculated measDiffMean for beam 79 as -1.56. Range = 45.96 
TNavPF::Calculated measDiffMean for beam 80 as -0.03. Range = 42.95 
TNavPF::Calculated measDiffMean for beam 81 as 2.19. Range = 42.19 
TNavPF::Calculated measDiffMean for beam 82 as 1.00. Range = 42.62 
TNavPF::Calculated measDiffMean for beam 83 as -2.81. Range = 43.40 
TNavPF::Calculated measDiffMean for beam 84 as -1.12. Range = 42.83 
TNavPF::Calculated measDiffMean for beam 85 as -3.59. Range = 42.17 
TNavPF::Calculated measDiffMean for beam 86 as -23.65. Range = 42.91 
TNavPF::First Term of Map Covariance Matrix is 24.90 
TNavPF::Calculated NIS Value : 7.61 	numBeams normalized NIS: 0.13
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322222.82 sec.
INS : North: 4070260.98, East: 589074.76, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 43.78, IDT[75] = 51.72
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322225.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322225.62)
ARL : North: 2.0157, East: -1.7165, Depth: -3.3846ARL : Estimation Bias  (Mean)         : (t = 1488322225.62)
ARL : North: 1.9918, East: -1.3989, Depth: 0.1564TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 66 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.21 
Alpha[0]	0.123000
Alpha[0]	0.999089
TNavParticleFilter::Modified Variance for beam 1 is 21.49 
Alpha[1]	0.000000
Alpha[1]	0.999178
TNavParticleFilter::Modified Variance for beam 2 is 21.78 
Alpha[2]	0.000000
Alpha[2]	0.999143
TNavParticleFilter::Modified Variance for beam 3 is 22.09 
Alpha[3]	0.000000
Alpha[3]	0.999247
TNavParticleFilter::Modified Variance for beam 4 is 18.15 
Alpha[4]	0.000000
Alpha[4]	0.999396
TNavParticleFilter::Modified Variance for beam 5 is 17.22 
Alpha[5]	0.000000
Alpha[5]	0.999079
TNavParticleFilter::Modified Variance for beam 6 is 16.66 
Alpha[6]	0.000000
Alpha[6]	0.998477
TNavParticleFilter::Modified Variance for beam 7 is 16.93 
Alpha[7]	0.000000
Alpha[7]	0.998322
TNavParticleFilter::Modified Variance for beam 8 is 17.20 
Alpha[8]	0.000000
Alpha[8]	0.998792
TNavParticleFilter::Modified Variance for beam 9 is 17.51 
Alpha[9]	0.000000
Alpha[9]	0.998511
TNavParticleFilter::Modified Variance for beam 10 is 17.28 
Alpha[10]	0.000000
Alpha[10]	0.997782
TNavParticleFilter::Modified Variance for beam 11 is 16.58 
Alpha[11]	0.000000
Alpha[11]	0.997620
TNavParticleFilter::Modified Variance for beam 12 is 15.98 
Alpha[12]	0.000000
Alpha[12]	0.998202
TNavParticleFilter::Modified Variance for beam 13 is 13.91 
Alpha[13]	0.000000
Alpha[13]	0.998614
TNavParticleFilter::Modified Variance for beam 14 is 14.20 
Alpha[14]	0.000000
Alpha[14]	0.997920
TNavParticleFilter::Modified Variance for beam 15 is 12.89 
Alpha[15]	0.000000
Alpha[15]	0.997593
TNavParticleFilter::Modified Variance for beam 16 is 12.50 
Alpha[16]	0.000000
Alpha[16]	0.997399
TNavParticleFilter::Modified Variance for beam 17 is 12.77 
Alpha[17]	0.000000
Alpha[17]	0.996840
TNavParticleFilter::Modified Variance for beam 18 is 13.06 
Alpha[18]	0.000000
Alpha[18]	0.996814
TNavParticleFilter::Modified Variance for beam 19 is 12.68 
Alpha[19]	0.000000
Alpha[19]	0.997453
TNavParticleFilter::Modified Variance for beam 20 is 12.47 
Alpha[20]	0.000000
Alpha[20]	0.998172
TNavParticleFilter::Modified Variance for beam 21 is 12.78 
Alpha[21]	0.000000
Alpha[21]	0.998268
TNavParticleFilter::Modified Variance for beam 22 is 13.11 
Alpha[22]	0.000000
Alpha[22]	0.998276
TNavParticleFilter::Modified Variance for beam 23 is 13.46 
Alpha[23]	0.000000
Alpha[23]	0.997992
TNavParticleFilter::Modified Variance for beam 24 is 15.23 
Alpha[24]	0.000000
Alpha[24]	0.997116
TNavParticleFilter::Modified Variance for beam 25 is 15.65 
Alpha[25]	0.000000
Alpha[25]	0.995780
TNavParticleFilter::Modified Variance for beam 26 is 15.30 
Alpha[26]	0.000000
Alpha[26]	0.995142
TNavParticleFilter::Modified Variance for beam 27 is 15.18 
Alpha[27]	0.000000
Alpha[27]	0.996453
TNavParticleFilter::Modified Variance for beam 28 is 15.68 
Alpha[28]	0.000000
Alpha[28]	0.997277
TNavParticleFilter::Modified Variance for beam 29 is 14.30 
Alpha[29]	0.000000
Alpha[29]	0.997498
TNavParticleFilter::Modified Variance for beam 30 is 14.01 
Alpha[30]	0.000000
Alpha[30]	0.997884
TNavParticleFilter::Modified Variance for beam 31 is 14.10 
Alpha[31]	0.000000
Alpha[31]	0.998318
TNavParticleFilter::Modified Variance for beam 32 is 16.34 
Alpha[32]	0.000000
Alpha[32]	0.998507
TNavParticleFilter::Modified Variance for beam 33 is 16.67 
Alpha[33]	0.000000
Alpha[33]	0.998420
TNavParticleFilter::Modified Variance for beam 34 is 16.39 
Alpha[34]	0.000000
Alpha[34]	0.997755
TNavParticleFilter::Modified Variance for beam 35 is 16.59 
Alpha[35]	0.000000
Alpha[35]	0.997008
TNavParticleFilter::Modified Variance for beam 36 is 17.04 
Alpha[36]	0.000000
Alpha[36]	0.996459
TNavParticleFilter::Modified Variance for beam 37 is 16.79 
Alpha[37]	0.000000
Alpha[37]	0.995080
TNavParticleFilter::Modified Variance for beam 38 is 16.99 
Alpha[38]	0.000000
Alpha[38]	0.994370
TNavParticleFilter::Modified Variance for beam 39 is 17.47 
Alpha[39]	0.000000
Alpha[39]	0.993950
TNavParticleFilter::Modified Variance for beam 40 is 17.23 
Alpha[40]	0.000000
Alpha[40]	0.993738
TNavParticleFilter::Modified Variance for beam 41 is 16.98 
Alpha[41]	0.000000
Alpha[41]	0.994727
TNavParticleFilter::Modified Variance for beam 42 is 16.76 
Alpha[42]	0.000000
Alpha[42]	0.994937
TNavParticleFilter::Modified Variance for beam 43 is 17.08 
Alpha[43]	0.000000
Alpha[43]	0.995296
TNavParticleFilter::Modified Variance for beam 44 is 16.34 
Alpha[44]	0.000000
Alpha[44]	0.995818
TNavParticleFilter::Modified Variance for beam 45 is 16.65 
Alpha[45]	0.000000
Alpha[45]	0.994926
TNavParticleFilter::Modified Variance for beam 46 is 17.88 
Alpha[46]	0.000000
Alpha[46]	0.995582
TNavParticleFilter::Modified Variance for beam 47 is 19.29 
Alpha[47]	0.000000
Alpha[47]	0.997014
TNavParticleFilter::Modified Variance for beam 48 is 20.15 
Alpha[48]	0.000000
Alpha[48]	0.997151
TNavParticleFilter::Modified Variance for beam 49 is 19.95 
Alpha[49]	0.000000
Alpha[49]	0.997520
TNavParticleFilter::Modified Variance for beam 50 is 20.87 
Alpha[50]	0.000000
Alpha[50]	0.998829
TNavParticleFilter::Modified Variance for beam 51 is 25.97 
Alpha[51]	0.000000
Alpha[51]	0.998423
TNavParticleFilter::Modified Variance for beam 52 is 25.87 
Alpha[52]	0.000000
Alpha[52]	0.995418
TNavParticleFilter::Modified Variance for beam 53 is 29.05 
Alpha[53]	0.000000
Alpha[53]	0.999789
TNavPF:: sumSquaredError = 180.945128 
TNavPF:: sumWeights = 0.015351 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.76. Range = 85.94 
TNavPF::Calculated measDiffMean for beam 31 as 0.63. Range = 83.76 
TNavPF::Calculated measDiffMean for beam 32 as 0.88. Range = 79.60 
TNavPF::Calculated measDiffMean for beam 33 as 1.57. Range = 75.47 
TNavPF::Calculated measDiffMean for beam 34 as -1.88. Range = 75.40 
TNavPF::Calculated measDiffMean for beam 35 as -0.48. Range = 75.35 
TNavPF::Calculated measDiffMean for beam 36 as -0.46. Range = 69.30 
TNavPF::Calculated measDiffMean for beam 37 as 0.20. Range = 69.30 
TNavPF::Calculated measDiffMean for beam 38 as 0.82. Range = 67.31 
TNavPF::Calculated measDiffMean for beam 39 as 1.67. Range = 67.34 
TNavPF::Calculated measDiffMean for beam 40 as 1.77. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 41 as 1.37. Range = 65.47 
TNavPF::Calculated measDiffMean for beam 42 as 0.74. Range = 67.58 
TNavPF::Calculated measDiffMean for beam 43 as -2.99. Range = 64.36 
TNavPF::Calculated measDiffMean for beam 44 as -0.64. Range = 63.79 
TNavPF::Calculated measDiffMean for beam 45 as -2.34. Range = 63.94 
TNavPF::Calculated measDiffMean for beam 46 as -2.62. Range = 56.19 
TNavPF::Calculated measDiffMean for beam 47 as -1.75. Range = 52.07 
TNavPF::Calculated measDiffMean for beam 48 as -1.08. Range = 52.25 
TNavPF::Calculated measDiffMean for beam 49 as -1.94. Range = 52.07 
TNavPF::Calculated measDiffMean for beam 50 as -2.99. Range = 50.58 
TNavPF::Calculated measDiffMean for beam 51 as -2.93. Range = 50.80 
TNavPF::Calculated measDiffMean for beam 52 as -2.96. Range = 49.64 
TNavPF::Calculated measDiffMean for beam 53 as -2.97. Range = 47.11 
TNavPF::Calculated measDiffMean for beam 54 as -0.01. Range = 47.36 
TNavPF::Calculated measDiffMean for beam 55 as 0.42. Range = 47.62 
TNavPF::Calculated measDiffMean for beam 56 as -0.35. Range = 54.28 
TNavPF::Calculated measDiffMean for beam 57 as -0.31. Range = 54.63 
TNavPF::Calculated measDiffMean for beam 58 as 1.07. Range = 57.14 
TNavPF::Calculated measDiffMean for beam 59 as -1.47. Range = 59.71 
TNavPF::Calculated measDiffMean for beam 60 as -2.16. Range = 60.15 
TNavPF::Calculated measDiffMean for beam 61 as -2.05. Range = 60.62 
TNavPF::Calculated measDiffMean for beam 62 as 2.28. Range = 61.11 
TNavPF::Calculated measDiffMean for beam 63 as 2.44. Range = 61.62 
TNavPF::Calculated measDiffMean for beam 64 as 1.03. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 65 as 0.50. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 66 as 0.77. Range = 51.84 
TNavPF::Calculated measDiffMean for beam 67 as -0.03. Range = 52.37 
TNavPF::Calculated measDiffMean for beam 68 as 0.28. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 69 as 1.13. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 70 as 0.79. Range = 53.03 
TNavPF::Calculated measDiffMean for beam 71 as 0.52. Range = 51.67 
TNavPF::Calculated measDiffMean for beam 72 as -0.13. Range = 50.48 
TNavPF::Calculated measDiffMean for beam 73 as 0.04. Range = 46.14 
TNavPF::Calculated measDiffMean for beam 74 as -1.62. Range = 46.75 
TNavPF::Calculated measDiffMean for beam 75 as -1.51. Range = 43.78 
TNavPF::Calculated measDiffMean for beam 76 as -0.30. Range = 42.87 
TNavPF::Calculated measDiffMean for beam 77 as 0.94. Range = 43.49 
TNavPF::Calculated measDiffMean for beam 78 as 1.36. Range = 44.15 
TNavPF::Calculated measDiffMean for beam 79 as -0.48. Range = 43.30 
TNavPF::Calculated measDiffMean for beam 80 as -2.42. Range = 42.82 
TNavPF::Calculated measDiffMean for beam 81 as -1.32. Range = 43.55 
TNavPF::Calculated measDiffMean for beam 82 as -3.68. Range = 44.31 
TNavPF::Calculated measDiffMean for beam 83 as -2.24. Range = 45.11 
TNavPF::First Term of Map Covariance Matrix is 21.95 
TNavPF::Calculated NIS Value : 4.73 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322225.82 sec.
INS : North: 4070264.35, East: 589072.25, Depth: 890.13
TerrainNav::measUpdate() - IDT[45] = 43.66, IDT[75] = 56.97
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322228.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322228.62)
ARL : North: 1.7073, East: -1.3604, Depth: -0.1912ARL : Estimation Bias  (Mean)         : (t = 1488322228.62)
ARL : North: 1.9814, East: -1.4653, Depth: 0.2235TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 68 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.19 
Alpha[0]	0.123000
Alpha[0]	0.999288
TNavParticleFilter::Modified Variance for beam 1 is 19.12 
Alpha[1]	0.000000
Alpha[1]	0.999377
TNavParticleFilter::Modified Variance for beam 2 is 17.96 
Alpha[2]	0.000000
Alpha[2]	0.998966
TNavParticleFilter::Modified Variance for beam 3 is 17.68 
Alpha[3]	0.000000
Alpha[3]	0.998370
TNavParticleFilter::Modified Variance for beam 4 is 17.92 
Alpha[4]	0.000000
Alpha[4]	0.998523
TNavParticleFilter::Modified Variance for beam 5 is 18.17 
Alpha[5]	0.000000
Alpha[5]	0.998868
TNavParticleFilter::Modified Variance for beam 6 is 18.45 
Alpha[6]	0.000000
Alpha[6]	0.998538
TNavParticleFilter::Modified Variance for beam 7 is 17.74 
Alpha[7]	0.000000
Alpha[7]	0.998017
TNavParticleFilter::Modified Variance for beam 8 is 14.97 
Alpha[8]	0.000000
Alpha[8]	0.997973
TNavParticleFilter::Modified Variance for beam 9 is 14.56 
Alpha[9]	0.000000
Alpha[9]	0.998455
TNavParticleFilter::Modified Variance for beam 10 is 14.81 
Alpha[10]	0.000000
Alpha[10]	0.998306
TNavParticleFilter::Modified Variance for beam 11 is 13.21 
Alpha[11]	0.000000
Alpha[11]	0.997798
TNavParticleFilter::Modified Variance for beam 12 is 13.13 
Alpha[12]	0.000000
Alpha[12]	0.997094
TNavParticleFilter::Modified Variance for beam 13 is 13.38 
Alpha[13]	0.000000
Alpha[13]	0.996143
TNavParticleFilter::Modified Variance for beam 14 is 13.30 
Alpha[14]	0.000000
Alpha[14]	0.996343
TNavParticleFilter::Modified Variance for beam 15 is 12.84 
Alpha[15]	0.000000
Alpha[15]	0.997456
TNavParticleFilter::Modified Variance for beam 16 is 13.02 
Alpha[16]	0.000000
Alpha[16]	0.998126
TNavParticleFilter::Modified Variance for beam 17 is 13.30 
Alpha[17]	0.000000
Alpha[17]	0.998213
TNavParticleFilter::Modified Variance for beam 18 is 13.59 
Alpha[18]	0.000000
Alpha[18]	0.998085
TNavParticleFilter::Modified Variance for beam 19 is 13.91 
Alpha[19]	0.000000
Alpha[19]	0.997594
TNavParticleFilter::Modified Variance for beam 20 is 15.55 
Alpha[20]	0.000000
Alpha[20]	0.996504
TNavParticleFilter::Modified Variance for beam 21 is 15.90 
Alpha[21]	0.000000
Alpha[21]	0.995480
TNavParticleFilter::Modified Variance for beam 22 is 15.46 
Alpha[22]	0.000000
Alpha[22]	0.995607
TNavParticleFilter::Modified Variance for beam 23 is 15.40 
Alpha[23]	0.000000
Alpha[23]	0.996809
TNavParticleFilter::Modified Variance for beam 24 is 15.83 
Alpha[24]	0.000000
Alpha[24]	0.997321
TNavParticleFilter::Modified Variance for beam 25 is 14.29 
Alpha[25]	0.000000
Alpha[25]	0.997315
TNavParticleFilter::Modified Variance for beam 26 is 13.95 
Alpha[26]	0.000000
Alpha[26]	0.997769
TNavParticleFilter::Modified Variance for beam 27 is 14.31 
Alpha[27]	0.000000
Alpha[27]	0.998354
TNavParticleFilter::Modified Variance for beam 28 is 16.30 
Alpha[28]	0.000000
Alpha[28]	0.998500
TNavParticleFilter::Modified Variance for beam 29 is 16.68 
Alpha[29]	0.000000
Alpha[29]	0.998159
TNavParticleFilter::Modified Variance for beam 30 is 16.35 
Alpha[30]	0.000000
Alpha[30]	0.996897
TNavParticleFilter::Modified Variance for beam 31 is 16.42 
Alpha[31]	0.000000
Alpha[31]	0.996205
TNavParticleFilter::Modified Variance for beam 32 is 16.96 
Alpha[32]	0.000000
Alpha[32]	0.995636
TNavParticleFilter::Modified Variance for beam 33 is 16.64 
Alpha[33]	0.000000
Alpha[33]	0.995225
TNavParticleFilter::Modified Variance for beam 34 is 16.63 
Alpha[34]	0.000000
Alpha[34]	0.994786
TNavParticleFilter::Modified Variance for beam 35 is 17.28 
Alpha[35]	0.000000
Alpha[35]	0.993878
TNavParticleFilter::Modified Variance for beam 36 is 16.99 
Alpha[36]	0.000000
Alpha[36]	0.993164
TNavParticleFilter::Modified Variance for beam 37 is 16.71 
Alpha[37]	0.000000
Alpha[37]	0.993657
TNavParticleFilter::Modified Variance for beam 38 is 16.44 
Alpha[38]	0.000000
Alpha[38]	0.993815
TNavParticleFilter::Modified Variance for beam 39 is 16.19 
Alpha[39]	0.000000
Alpha[39]	0.994034
TNavParticleFilter::Modified Variance for beam 40 is 15.94 
Alpha[40]	0.000000
Alpha[40]	0.995274
TNavParticleFilter::Modified Variance for beam 41 is 16.01 
Alpha[41]	0.000000
Alpha[41]	0.994592
TNavParticleFilter::Modified Variance for beam 42 is 16.96 
Alpha[42]	0.000000
Alpha[42]	0.993213
TNavParticleFilter::Modified Variance for beam 43 is 17.96 
Alpha[43]	0.000000
Alpha[43]	0.995724
TNavParticleFilter::Modified Variance for beam 44 is 19.13 
Alpha[44]	0.000000
Alpha[44]	0.996648
TNavParticleFilter::Modified Variance for beam 45 is 19.44 
Alpha[45]	0.000000
Alpha[45]	0.996063
TNavParticleFilter::Modified Variance for beam 46 is 19.21 
Alpha[46]	0.000000
Alpha[46]	0.996537
TNavParticleFilter::Modified Variance for beam 47 is 20.28 
Alpha[47]	0.000000
Alpha[47]	0.998285
TNavParticleFilter::Modified Variance for beam 48 is 25.14 
Alpha[48]	0.000000
Alpha[48]	0.998136
TNavParticleFilter::Modified Variance for beam 49 is 24.96 
Alpha[49]	0.000000
Alpha[49]	0.995386
TNavParticleFilter::Modified Variance for beam 50 is 27.59 
Alpha[50]	0.000000
Alpha[50]	0.992776
TNavParticleFilter::Modified Variance for beam 51 is 28.99 
Alpha[51]	0.000000
Alpha[51]	0.999749
TNavPF:: sumSquaredError = 33.085935 
TNavPF:: sumWeights = 0.014937 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.25. Range = 87.40 
TNavPF::Calculated measDiffMean for beam 31 as -1.05. Range = 83.18 
TNavPF::Calculated measDiffMean for beam 32 as -0.52. Range = 83.03 
TNavPF::Calculated measDiffMean for beam 33 as -0.18. Range = 78.88 
TNavPF::Calculated measDiffMean for beam 34 as 0.57. Range = 78.78 
TNavPF::Calculated measDiffMean for beam 35 as 1.19. Range = 72.69 
TNavPF::Calculated measDiffMean for beam 36 as 2.13. Range = 72.65 
TNavPF::Calculated measDiffMean for beam 37 as 1.86. Range = 70.62 
TNavPF::Calculated measDiffMean for beam 38 as -2.59. Range = 68.61 
TNavPF::Calculated measDiffMean for beam 39 as -2.66. Range = 68.63 
TNavPF::Calculated measDiffMean for beam 40 as -0.39. Range = 70.68 
TNavPF::Calculated measDiffMean for beam 41 as -2.49. Range = 70.75 
TNavPF::Calculated measDiffMean for beam 42 as -2.11. Range = 66.81 
TNavPF::Calculated measDiffMean for beam 43 as -1.31. Range = 66.91 
TNavPF::Calculated measDiffMean for beam 44 as -1.35. Range = 58.96 
TNavPF::Calculated measDiffMean for beam 45 as -2.42. Range = 55.04 
TNavPF::Calculated measDiffMean for beam 46 as -2.67. Range = 55.18 
TNavPF::Calculated measDiffMean for beam 47 as -2.73. Range = 53.30 
TNavPF::Calculated measDiffMean for beam 48 as -2.77. Range = 53.46 
TNavPF::Calculated measDiffMean for beam 49 as -2.83. Range = 52.80 
TNavPF::Calculated measDiffMean for beam 50 as -0.02. Range = 49.74 
TNavPF::Calculated measDiffMean for beam 51 as 0.47. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 52 as -0.23. Range = 54.30 
TNavPF::Calculated measDiffMean for beam 53 as 0.12. Range = 56.64 
TNavPF::Calculated measDiffMean for beam 54 as 1.37. Range = 56.92 
TNavPF::Calculated measDiffMean for beam 55 as -1.53. Range = 59.33 
TNavPF::Calculated measDiffMean for beam 56 as -2.20. Range = 61.78 
TNavPF::Calculated measDiffMean for beam 57 as -1.48. Range = 62.15 
TNavPF::Calculated measDiffMean for beam 58 as 2.15. Range = 62.55 
TNavPF::Calculated measDiffMean for beam 59 as 2.31. Range = 62.97 
TNavPF::Calculated measDiffMean for beam 60 as 0.89. Range = 63.42 
TNavPF::Calculated measDiffMean for beam 61 as 0.49. Range = 56.51 
TNavPF::Calculated measDiffMean for beam 62 as 0.98. Range = 54.35 
TNavPF::Calculated measDiffMean for beam 63 as 0.15. Range = 53.80 
TNavPF::Calculated measDiffMean for beam 64 as 0.13. Range = 54.26 
TNavPF::Calculated measDiffMean for beam 65 as 1.34. Range = 54.75 
TNavPF::Calculated measDiffMean for beam 66 as 0.95. Range = 55.26 
TNavPF::Calculated measDiffMean for beam 67 as 0.71. Range = 53.91 
TNavPF::Calculated measDiffMean for beam 68 as 0.09. Range = 48.39 
TNavPF::Calculated measDiffMean for beam 69 as -0.71. Range = 47.55 
TNavPF::Calculated measDiffMean for beam 70 as -1.38. Range = 48.07 
TNavPF::Calculated measDiffMean for beam 71 as -1.58. Range = 44.52 
TNavPF::Calculated measDiffMean for beam 72 as -0.48. Range = 44.33 
TNavPF::Calculated measDiffMean for beam 73 as 0.43. Range = 44.87 
TNavPF::Calculated measDiffMean for beam 74 as 1.45. Range = 44.68 
TNavPF::Calculated measDiffMean for beam 75 as 1.03. Range = 43.66 
TNavPF::Calculated measDiffMean for beam 76 as -0.74. Range = 44.12 
TNavPF::Calculated measDiffMean for beam 77 as -1.74. Range = 44.74 
TNavPF::Calculated measDiffMean for beam 78 as 0.26. Range = 45.40 
TNavPF::Calculated measDiffMean for beam 79 as -2.94. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 80 as -0.15. Range = 49.55 
TNavPF::Calculated measDiffMean for beam 81 as -1.81. Range = 50.24 
TNavPF::First Term of Map Covariance Matrix is 28.08 
TNavPF::Calculated NIS Value : 4.85 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322228.82 sec.
INS : North: 4070267.71, East: 589069.65, Depth: 890.15
TerrainNav::measUpdate() - IDT[45] = 46.82, IDT[75] = 58.69
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322231.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322231.62)
ARL : North: 2.0030, East: -0.9591, Depth: 0.8261ARL : Estimation Bias  (Mean)         : (t = 1488322231.62)
ARL : North: 1.9609, East: -1.4893, Depth: 0.2862TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.63 
Alpha[0]	0.123000
Alpha[0]	0.998933
TNavParticleFilter::Modified Variance for beam 1 is 18.85 
Alpha[1]	0.000000
Alpha[1]	0.998516
TNavParticleFilter::Modified Variance for beam 2 is 19.06 
Alpha[2]	0.000000
Alpha[2]	0.998972
TNavParticleFilter::Modified Variance for beam 3 is 19.30 
Alpha[3]	0.000000
Alpha[3]	0.999123
TNavParticleFilter::Modified Variance for beam 4 is 19.10 
Alpha[4]	0.000000
Alpha[4]	0.998805
TNavParticleFilter::Modified Variance for beam 5 is 18.01 
Alpha[5]	0.000000
Alpha[5]	0.998314
TNavParticleFilter::Modified Variance for beam 6 is 17.65 
Alpha[6]	0.000000
Alpha[6]	0.998529
TNavParticleFilter::Modified Variance for beam 7 is 14.13 
Alpha[7]	0.000000
Alpha[7]	0.998651
TNavParticleFilter::Modified Variance for beam 8 is 13.67 
Alpha[8]	0.000000
Alpha[8]	0.998196
TNavParticleFilter::Modified Variance for beam 9 is 13.89 
Alpha[9]	0.000000
Alpha[9]	0.997166
TNavParticleFilter::Modified Variance for beam 10 is 14.06 
Alpha[10]	0.000000
Alpha[10]	0.996553
TNavParticleFilter::Modified Variance for beam 11 is 13.47 
Alpha[11]	0.000000
Alpha[11]	0.996920
TNavParticleFilter::Modified Variance for beam 12 is 13.48 
Alpha[12]	0.000000
Alpha[12]	0.997918
TNavParticleFilter::Modified Variance for beam 13 is 13.71 
Alpha[13]	0.000000
Alpha[13]	0.998382
TNavParticleFilter::Modified Variance for beam 14 is 13.96 
Alpha[14]	0.000000
Alpha[14]	0.998392
TNavParticleFilter::Modified Variance for beam 15 is 14.23 
Alpha[15]	0.000000
Alpha[15]	0.998081
TNavParticleFilter::Modified Variance for beam 16 is 15.73 
Alpha[16]	0.000000
Alpha[16]	0.997222
TNavParticleFilter::Modified Variance for beam 17 is 16.08 
Alpha[17]	0.000000
Alpha[17]	0.996201
TNavParticleFilter::Modified Variance for beam 18 is 16.12 
Alpha[18]	0.000000
Alpha[18]	0.995918
TNavParticleFilter::Modified Variance for beam 19 is 15.58 
Alpha[19]	0.000000
Alpha[19]	0.996765
TNavParticleFilter::Modified Variance for beam 20 is 15.85 
Alpha[20]	0.000000
Alpha[20]	0.997335
TNavParticleFilter::Modified Variance for beam 21 is 14.64 
Alpha[21]	0.000000
Alpha[21]	0.997481
TNavParticleFilter::Modified Variance for beam 22 is 14.23 
Alpha[22]	0.000000
Alpha[22]	0.997609
TNavParticleFilter::Modified Variance for beam 23 is 14.36 
Alpha[23]	0.000000
Alpha[23]	0.998154
TNavParticleFilter::Modified Variance for beam 24 is 14.73 
Alpha[24]	0.000000
Alpha[24]	0.998512
TNavParticleFilter::Modified Variance for beam 25 is 16.57 
Alpha[25]	0.000000
Alpha[25]	0.998299
TNavParticleFilter::Modified Variance for beam 26 is 16.68 
Alpha[26]	0.000000
Alpha[26]	0.997229
TNavParticleFilter::Modified Variance for beam 27 is 16.29 
Alpha[27]	0.000000
Alpha[27]	0.995529
TNavParticleFilter::Modified Variance for beam 28 is 16.61 
Alpha[28]	0.000000
Alpha[28]	0.995255
TNavParticleFilter::Modified Variance for beam 29 is 16.85 
Alpha[29]	0.000000
Alpha[29]	0.995346
TNavParticleFilter::Modified Variance for beam 30 is 16.47 
Alpha[30]	0.000000
Alpha[30]	0.995432
TNavParticleFilter::Modified Variance for beam 31 is 16.69 
Alpha[31]	0.000000
Alpha[31]	0.994696
TNavParticleFilter::Modified Variance for beam 32 is 17.08 
Alpha[32]	0.000000
Alpha[32]	0.993413
TNavParticleFilter::Modified Variance for beam 33 is 16.73 
Alpha[33]	0.000000
Alpha[33]	0.993509
TNavParticleFilter::Modified Variance for beam 34 is 16.40 
Alpha[34]	0.000000
Alpha[34]	0.994135
TNavParticleFilter::Modified Variance for beam 35 is 16.10 
Alpha[35]	0.000000
Alpha[35]	0.993949
TNavParticleFilter::Modified Variance for beam 36 is 16.39 
Alpha[36]	0.000000
Alpha[36]	0.994348
TNavParticleFilter::Modified Variance for beam 37 is 16.69 
Alpha[37]	0.000000
Alpha[37]	0.995489
TNavParticleFilter::Modified Variance for beam 38 is 16.43 
Alpha[38]	0.000000
Alpha[38]	0.994778
TNavParticleFilter::Modified Variance for beam 39 is 16.69 
Alpha[39]	0.000000
Alpha[39]	0.993088
TNavParticleFilter::Modified Variance for beam 40 is 17.50 
Alpha[40]	0.000000
Alpha[40]	0.995327
TNavParticleFilter::Modified Variance for beam 41 is 17.98 
Alpha[41]	0.000000
Alpha[41]	0.996247
TNavParticleFilter::Modified Variance for beam 42 is 17.73 
Alpha[42]	0.000000
Alpha[42]	0.995653
TNavParticleFilter::Modified Variance for beam 43 is 18.68 
Alpha[43]	0.000000
Alpha[43]	0.995544
TNavParticleFilter::Modified Variance for beam 44 is 19.16 
Alpha[44]	0.000000
Alpha[44]	0.996547
TNavParticleFilter::Modified Variance for beam 45 is 20.38 
Alpha[45]	0.000000
Alpha[45]	0.998224
TNavParticleFilter::Modified Variance for beam 46 is 24.37 
Alpha[46]	0.000000
Alpha[46]	0.994990
TNavParticleFilter::Modified Variance for beam 47 is 24.08 
Alpha[47]	0.000000
Alpha[47]	0.994909
TNavParticleFilter::Modified Variance for beam 48 is 26.65 
Alpha[48]	0.000000
Alpha[48]	0.993089
TNavParticleFilter::Modified Variance for beam 49 is 27.48 
Alpha[49]	0.000000
Alpha[49]	0.995513
TNavParticleFilter::Modified Variance for beam 50 is 29.85 
Alpha[50]	0.000000
Alpha[50]	0.999937
TNavPF:: sumSquaredError = 13.794906 
TNavPF:: sumWeights = 0.012359 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.14. Range = 91.08 
TNavPF::Calculated measDiffMean for beam 31 as 0.12. Range = 86.80 
TNavPF::Calculated measDiffMean for beam 32 as 0.72. Range = 82.56 
TNavPF::Calculated measDiffMean for beam 33 as 1.25. Range = 82.40 
TNavPF::Calculated measDiffMean for beam 34 as 1.80. Range = 82.26 
TNavPF::Calculated measDiffMean for beam 35 as 1.40. Range = 76.12 
TNavPF::Calculated measDiffMean for beam 36 as 1.92. Range = 74.03 
TNavPF::Calculated measDiffMean for beam 37 as -3.29. Range = 73.98 
TNavPF::Calculated measDiffMean for beam 38 as -2.94. Range = 71.94 
TNavPF::Calculated measDiffMean for beam 39 as -1.91. Range = 73.94 
TNavPF::Calculated measDiffMean for beam 40 as -1.24. Range = 73.95 
TNavPF::Calculated measDiffMean for beam 41 as -2.26. Range = 69.97 
TNavPF::Calculated measDiffMean for beam 42 as -2.53. Range = 70.03 
TNavPF::Calculated measDiffMean for beam 43 as -2.83. Range = 58.04 
TNavPF::Calculated measDiffMean for beam 44 as -3.00. Range = 58.12 
TNavPF::Calculated measDiffMean for beam 45 as -3.03. Range = 56.21 
TNavPF::Calculated measDiffMean for beam 46 as -0.53. Range = 56.32 
TNavPF::Calculated measDiffMean for beam 47 as -0.14. Range = 56.29 
TNavPF::Calculated measDiffMean for beam 48 as 0.01. Range = 52.54 
TNavPF::Calculated measDiffMean for beam 49 as -0.53. Range = 52.69 
TNavPF::Calculated measDiffMean for beam 50 as 0.48. Range = 56.95 
TNavPF::Calculated measDiffMean for beam 51 as -1.60. Range = 59.20 
TNavPF::Calculated measDiffMean for beam 52 as -2.17. Range = 59.43 
TNavPF::Calculated measDiffMean for beam 53 as -1.73. Range = 61.75 
TNavPF::Calculated measDiffMean for beam 54 as -1.37. Range = 64.11 
TNavPF::Calculated measDiffMean for beam 55 as 1.74. Range = 64.42 
TNavPF::Calculated measDiffMean for beam 56 as 1.31. Range = 64.76 
TNavPF::Calculated measDiffMean for beam 57 as 0.17. Range = 65.12 
TNavPF::Calculated measDiffMean for beam 58 as 0.41. Range = 65.50 
TNavPF::Calculated measDiffMean for beam 59 as 0.53. Range = 58.02 
TNavPF::Calculated measDiffMean for beam 60 as -0.24. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 61 as 0.24. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 62 as 1.05. Range = 56.39 
TNavPF::Calculated measDiffMean for beam 63 as 0.75. Range = 56.82 
TNavPF::Calculated measDiffMean for beam 64 as 0.39. Range = 56.45 
TNavPF::Calculated measDiffMean for beam 65 as -0.36. Range = 54.43 
TNavPF::Calculated measDiffMean for beam 66 as 0.04. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 67 as 0.51. Range = 46.62 
TNavPF::Calculated measDiffMean for beam 68 as -0.38. Range = 45.59 
TNavPF::Calculated measDiffMean for beam 69 as -0.43. Range = 46.05 
TNavPF::Calculated measDiffMean for beam 70 as 0.33. Range = 46.39 
TNavPF::Calculated measDiffMean for beam 71 as 0.19. Range = 45.10 
TNavPF::Calculated measDiffMean for beam 72 as -1.15. Range = 45.16 
TNavPF::Calculated measDiffMean for beam 73 as -0.34. Range = 45.68 
TNavPF::Calculated measDiffMean for beam 74 as -1.16. Range = 46.24 
TNavPF::Calculated measDiffMean for beam 75 as -2.56. Range = 46.82 
TNavPF::Calculated measDiffMean for beam 76 as -0.59. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 77 as -3.01. Range = 50.62 
TNavPF::Calculated measDiffMean for beam 78 as -0.15. Range = 50.68 
TNavPF::Calculated measDiffMean for beam 79 as -0.38. Range = 49.63 
TNavPF::Calculated measDiffMean for beam 80 as -9.07. Range = 50.20 
TNavPF::First Term of Map Covariance Matrix is 18.72 
TNavPF::Calculated NIS Value : 4.46 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322231.82 sec.
INS : North: 4070271.04, East: 589066.95, Depth: 890.17
TerrainNav::measUpdate() - IDT[45] = 51.88, IDT[75] = 63.73
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322234.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322234.62)
ARL : North: 2.3866, East: -0.5987, Depth: 5.2776ARL : Estimation Bias  (Mean)         : (t = 1488322234.62)
ARL : North: 1.8135, East: -1.4898, Depth: 0.3712TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.11 
Alpha[0]	0.123000
Alpha[0]	0.998705
TNavParticleFilter::Modified Variance for beam 1 is 20.31 
Alpha[1]	0.000000
Alpha[1]	0.999095
TNavParticleFilter::Modified Variance for beam 2 is 20.52 
Alpha[2]	0.000000
Alpha[2]	0.999185
TNavParticleFilter::Modified Variance for beam 3 is 19.30 
Alpha[3]	0.000000
Alpha[3]	0.998916
TNavParticleFilter::Modified Variance for beam 4 is 18.56 
Alpha[4]	0.000000
Alpha[4]	0.998696
TNavParticleFilter::Modified Variance for beam 5 is 14.49 
Alpha[5]	0.000000
Alpha[5]	0.998784
TNavParticleFilter::Modified Variance for beam 6 is 14.54 
Alpha[6]	0.000000
Alpha[6]	0.998297
TNavParticleFilter::Modified Variance for beam 7 is 14.74 
Alpha[7]	0.000000
Alpha[7]	0.997010
TNavParticleFilter::Modified Variance for beam 8 is 14.28 
Alpha[8]	0.000000
Alpha[8]	0.996449
TNavParticleFilter::Modified Variance for beam 9 is 14.09 
Alpha[9]	0.000000
Alpha[9]	0.996950
TNavParticleFilter::Modified Variance for beam 10 is 14.27 
Alpha[10]	0.000000
Alpha[10]	0.998043
TNavParticleFilter::Modified Variance for beam 11 is 14.48 
Alpha[11]	0.000000
Alpha[11]	0.998466
TNavParticleFilter::Modified Variance for beam 12 is 14.71 
Alpha[12]	0.000000
Alpha[12]	0.998435
TNavParticleFilter::Modified Variance for beam 13 is 16.11 
Alpha[13]	0.000000
Alpha[13]	0.997783
TNavParticleFilter::Modified Variance for beam 14 is 16.41 
Alpha[14]	0.000000
Alpha[14]	0.996747
TNavParticleFilter::Modified Variance for beam 15 is 16.72 
Alpha[15]	0.000000
Alpha[15]	0.996020
TNavParticleFilter::Modified Variance for beam 16 is 16.29 
Alpha[16]	0.000000
Alpha[16]	0.996683
TNavParticleFilter::Modified Variance for beam 17 is 16.09 
Alpha[17]	0.000000
Alpha[17]	0.997325
TNavParticleFilter::Modified Variance for beam 18 is 15.10 
Alpha[18]	0.000000
Alpha[18]	0.997470
TNavParticleFilter::Modified Variance for beam 19 is 14.58 
Alpha[19]	0.000000
Alpha[19]	0.997614
TNavParticleFilter::Modified Variance for beam 20 is 14.60 
Alpha[20]	0.000000
Alpha[20]	0.997932
TNavParticleFilter::Modified Variance for beam 21 is 14.92 
Alpha[21]	0.000000
Alpha[21]	0.998340
TNavParticleFilter::Modified Variance for beam 22 is 16.57 
Alpha[22]	0.000000
Alpha[22]	0.998389
TNavParticleFilter::Modified Variance for beam 23 is 16.99 
Alpha[23]	0.000000
Alpha[23]	0.997608
TNavParticleFilter::Modified Variance for beam 24 is 16.65 
Alpha[24]	0.000000
Alpha[24]	0.995592
TNavParticleFilter::Modified Variance for beam 25 is 16.51 
Alpha[25]	0.000000
Alpha[25]	0.994361
TNavParticleFilter::Modified Variance for beam 26 is 16.95 
Alpha[26]	0.000000
Alpha[26]	0.994858
TNavParticleFilter::Modified Variance for beam 27 is 16.70 
Alpha[27]	0.000000
Alpha[27]	0.995387
TNavParticleFilter::Modified Variance for beam 28 is 16.42 
Alpha[28]	0.000000
Alpha[28]	0.995276
TNavParticleFilter::Modified Variance for beam 29 is 16.95 
Alpha[29]	0.000000
Alpha[29]	0.993732
TNavParticleFilter::Modified Variance for beam 30 is 16.85 
Alpha[30]	0.000000
Alpha[30]	0.993264
TNavParticleFilter::Modified Variance for beam 31 is 16.44 
Alpha[31]	0.000000
Alpha[31]	0.994024
TNavParticleFilter::Modified Variance for beam 32 is 16.08 
Alpha[32]	0.000000
Alpha[32]	0.993896
TNavParticleFilter::Modified Variance for beam 33 is 15.95 
Alpha[33]	0.000000
Alpha[33]	0.993604
TNavParticleFilter::Modified Variance for beam 34 is 16.51 
Alpha[34]	0.000000
Alpha[34]	0.994488
TNavParticleFilter::Modified Variance for beam 35 is 16.30 
Alpha[35]	0.000000
Alpha[35]	0.995186
TNavParticleFilter::Modified Variance for beam 36 is 16.04 
Alpha[36]	0.000000
Alpha[36]	0.993662
TNavParticleFilter::Modified Variance for beam 37 is 16.71 
Alpha[37]	0.000000
Alpha[37]	0.992721
TNavParticleFilter::Modified Variance for beam 38 is 17.38 
Alpha[38]	0.000000
Alpha[38]	0.995135
TNavParticleFilter::Modified Variance for beam 39 is 17.51 
Alpha[39]	0.000000
Alpha[39]	0.995606
TNavParticleFilter::Modified Variance for beam 40 is 17.34 
Alpha[40]	0.000000
Alpha[40]	0.994841
TNavParticleFilter::Modified Variance for beam 41 is 18.17 
Alpha[41]	0.000000
Alpha[41]	0.994216
TNavParticleFilter::Modified Variance for beam 42 is 18.66 
Alpha[42]	0.000000
Alpha[42]	0.995025
TNavParticleFilter::Modified Variance for beam 43 is 19.62 
Alpha[43]	0.000000
Alpha[43]	0.997209
TNavParticleFilter::Modified Variance for beam 44 is 23.42 
Alpha[44]	0.000000
Alpha[44]	0.995898
TNavParticleFilter::Modified Variance for beam 45 is 23.58 
Alpha[45]	0.000000
Alpha[45]	0.990749
TNavParticleFilter::Modified Variance for beam 46 is 23.43 
Alpha[46]	0.000000
Alpha[46]	0.994656
TNavParticleFilter::Modified Variance for beam 47 is 25.75 
Alpha[47]	0.000000
Alpha[47]	0.990885
TNavParticleFilter::Modified Variance for beam 48 is 26.90 
Alpha[48]	0.000000
Alpha[48]	0.990529
TNavParticleFilter::Modified Variance for beam 49 is 28.68 
Alpha[49]	0.000000
Alpha[49]	0.999523
TNavParticleFilter::Modified Variance for beam 50 is 39.74 
Alpha[50]	0.000000
Alpha[50]	0.999946
TNavPF:: sumSquaredError = 22.456501 
TNavPF:: sumWeights = 0.017130 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.55. Range = 90.92 
TNavPF::Calculated measDiffMean for beam 31 as 1.15. Range = 90.62 
TNavPF::Calculated measDiffMean for beam 32 as 1.91. Range = 90.35 
TNavPF::Calculated measDiffMean for beam 33 as 1.58. Range = 86.06 
TNavPF::Calculated measDiffMean for beam 34 as 2.13. Range = 85.86 
TNavPF::Calculated measDiffMean for beam 35 as -3.83. Range = 79.63 
TNavPF::Calculated measDiffMean for beam 36 as -2.48. Range = 79.50 
TNavPF::Calculated measDiffMean for beam 37 as -1.41. Range = 77.37 
TNavPF::Calculated measDiffMean for beam 38 as -1.96. Range = 75.28 
TNavPF::Calculated measDiffMean for beam 39 as -2.18. Range = 77.22 
TNavPF::Calculated measDiffMean for beam 40 as -2.32. Range = 77.18 
TNavPF::Calculated measDiffMean for beam 41 as -2.68. Range = 73.16 
TNavPF::Calculated measDiffMean for beam 42 as -2.88. Range = 73.17 
TNavPF::Calculated measDiffMean for beam 43 as -0.47. Range = 61.17 
TNavPF::Calculated measDiffMean for beam 44 as -0.30. Range = 61.21 
TNavPF::Calculated measDiffMean for beam 45 as 0.25. Range = 59.26 
TNavPF::Calculated measDiffMean for beam 46 as -0.15. Range = 59.34 
TNavPF::Calculated measDiffMean for beam 47 as 0.13. Range = 55.41 
TNavPF::Calculated measDiffMean for beam 48 as -1.41. Range = 55.52 
TNavPF::Calculated measDiffMean for beam 49 as -1.99. Range = 59.69 
TNavPF::Calculated measDiffMean for beam 50 as -1.54. Range = 61.87 
TNavPF::Calculated measDiffMean for beam 51 as -1.03. Range = 62.05 
TNavPF::Calculated measDiffMean for beam 52 as 1.55. Range = 64.28 
TNavPF::Calculated measDiffMean for beam 53 as 1.66. Range = 66.56 
TNavPF::Calculated measDiffMean for beam 54 as 0.60. Range = 66.81 
TNavPF::Calculated measDiffMean for beam 55 as 0.21. Range = 67.09 
TNavPF::Calculated measDiffMean for beam 56 as 0.77. Range = 67.39 
TNavPF::Calculated measDiffMean for beam 57 as 0.17. Range = 67.71 
TNavPF::Calculated measDiffMean for beam 58 as -0.30. Range = 59.12 
TNavPF::Calculated measDiffMean for beam 59 as 0.79. Range = 57.90 
TNavPF::Calculated measDiffMean for beam 60 as 0.90. Range = 58.24 
TNavPF::Calculated measDiffMean for beam 61 as 0.63. Range = 58.60 
TNavPF::Calculated measDiffMean for beam 62 as 0.02. Range = 58.98 
TNavPF::Calculated measDiffMean for beam 63 as -0.36. Range = 56.82 
TNavPF::Calculated measDiffMean for beam 64 as 0.73. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 65 as 0.12. Range = 47.39 
TNavPF::Calculated measDiffMean for beam 66 as -0.79. Range = 47.49 
TNavPF::Calculated measDiffMean for beam 67 as 0.08. Range = 47.88 
TNavPF::Calculated measDiffMean for beam 68 as 0.67. Range = 46.86 
TNavPF::Calculated measDiffMean for beam 69 as -0.07. Range = 46.47 
TNavPF::Calculated measDiffMean for beam 70 as -1.12. Range = 46.91 
TNavPF::Calculated measDiffMean for beam 71 as -0.32. Range = 47.37 
TNavPF::Calculated measDiffMean for beam 72 as -0.74. Range = 47.86 
TNavPF::Calculated measDiffMean for beam 73 as -1.35. Range = 50.73 
TNavPF::Calculated measDiffMean for beam 74 as 0.78. Range = 51.29 
TNavPF::Calculated measDiffMean for beam 75 as -1.44. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 76 as -2.95. Range = 51.05 
TNavPF::Calculated measDiffMean for beam 77 as -0.41. Range = 50.68 
TNavPF::Calculated measDiffMean for beam 78 as 0.03. Range = 48.65 
TNavPF::Calculated measDiffMean for beam 79 as -2.28. Range = 47.55 
TNavPF::Calculated measDiffMean for beam 80 as -9.88. Range = 47.60 
TNavPF::First Term of Map Covariance Matrix is 15.43 
TNavPF::Calculated NIS Value : 4.15 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322234.82 sec.
INS : North: 4070274.28, East: 589064.09, Depth: 890.17
TerrainNav::measUpdate() - IDT[45] = 51.79, IDT[75] = 62.96
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322237.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322237.62)
ARL : North: 2.2678, East: -2.4824, Depth: 0.6927ARL : Estimation Bias  (Mean)         : (t = 1488322237.62)
ARL : North: 1.8353, East: -1.5077, Depth: 0.2563TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.55 
Alpha[0]	0.123000
Alpha[0]	0.999273
TNavParticleFilter::Modified Variance for beam 1 is 21.74 
Alpha[1]	0.000000
Alpha[1]	0.999341
TNavParticleFilter::Modified Variance for beam 2 is 19.91 
Alpha[2]	0.000000
Alpha[2]	0.999197
TNavParticleFilter::Modified Variance for beam 3 is 18.32 
Alpha[3]	0.000000
Alpha[3]	0.999018
TNavParticleFilter::Modified Variance for beam 4 is 15.40 
Alpha[4]	0.000000
Alpha[4]	0.998773
TNavParticleFilter::Modified Variance for beam 5 is 15.57 
Alpha[5]	0.000000
Alpha[5]	0.998073
TNavParticleFilter::Modified Variance for beam 6 is 14.78 
Alpha[6]	0.000000
Alpha[6]	0.997153
TNavParticleFilter::Modified Variance for beam 7 is 14.89 
Alpha[7]	0.000000
Alpha[7]	0.997026
TNavParticleFilter::Modified Variance for beam 8 is 15.05 
Alpha[8]	0.000000
Alpha[8]	0.997944
TNavParticleFilter::Modified Variance for beam 9 is 15.23 
Alpha[9]	0.000000
Alpha[9]	0.998645
TNavParticleFilter::Modified Variance for beam 10 is 15.43 
Alpha[10]	0.000000
Alpha[10]	0.998721
TNavParticleFilter::Modified Variance for beam 11 is 16.78 
Alpha[11]	0.000000
Alpha[11]	0.997995
TNavParticleFilter::Modified Variance for beam 12 is 17.04 
Alpha[12]	0.000000
Alpha[12]	0.996855
TNavParticleFilter::Modified Variance for beam 13 is 17.31 
Alpha[13]	0.000000
Alpha[13]	0.996476
TNavParticleFilter::Modified Variance for beam 14 is 16.73 
Alpha[14]	0.000000
Alpha[14]	0.997345
TNavParticleFilter::Modified Variance for beam 15 is 16.65 
Alpha[15]	0.000000
Alpha[15]	0.997627
TNavParticleFilter::Modified Variance for beam 16 is 15.29 
Alpha[16]	0.000000
Alpha[16]	0.997646
TNavParticleFilter::Modified Variance for beam 17 is 14.86 
Alpha[17]	0.000000
Alpha[17]	0.997954
TNavParticleFilter::Modified Variance for beam 18 is 15.12 
Alpha[18]	0.000000
Alpha[18]	0.998158
TNavParticleFilter::Modified Variance for beam 19 is 16.63 
Alpha[19]	0.000000
Alpha[19]	0.998286
TNavParticleFilter::Modified Variance for beam 20 is 16.97 
Alpha[20]	0.000000
Alpha[20]	0.997951
TNavParticleFilter::Modified Variance for beam 21 is 17.35 
Alpha[21]	0.000000
Alpha[21]	0.996333
TNavParticleFilter::Modified Variance for beam 22 is 16.80 
Alpha[22]	0.000000
Alpha[22]	0.994334
TNavParticleFilter::Modified Variance for beam 23 is 16.83 
Alpha[23]	0.000000
Alpha[23]	0.993729
TNavParticleFilter::Modified Variance for beam 24 is 17.20 
Alpha[24]	0.000000
Alpha[24]	0.994874
TNavParticleFilter::Modified Variance for beam 25 is 16.71 
Alpha[25]	0.000000
Alpha[25]	0.995484
TNavParticleFilter::Modified Variance for beam 26 is 16.65 
Alpha[26]	0.000000
Alpha[26]	0.995107
TNavParticleFilter::Modified Variance for beam 27 is 17.10 
Alpha[27]	0.000000
Alpha[27]	0.993937
TNavParticleFilter::Modified Variance for beam 28 is 16.74 
Alpha[28]	0.000000
Alpha[28]	0.994221
TNavParticleFilter::Modified Variance for beam 29 is 16.28 
Alpha[29]	0.000000
Alpha[29]	0.994430
TNavParticleFilter::Modified Variance for beam 30 is 15.87 
Alpha[30]	0.000000
Alpha[30]	0.994030
TNavParticleFilter::Modified Variance for beam 31 is 16.05 
Alpha[31]	0.000000
Alpha[31]	0.994014
TNavParticleFilter::Modified Variance for beam 32 is 16.40 
Alpha[32]	0.000000
Alpha[32]	0.994791
TNavParticleFilter::Modified Variance for beam 33 is 16.01 
Alpha[33]	0.000000
Alpha[33]	0.995051
TNavParticleFilter::Modified Variance for beam 34 is 16.04 
Alpha[34]	0.000000
Alpha[34]	0.993714
TNavParticleFilter::Modified Variance for beam 35 is 16.60 
Alpha[35]	0.000000
Alpha[35]	0.993326
TNavParticleFilter::Modified Variance for beam 36 is 17.17 
Alpha[36]	0.000000
Alpha[36]	0.994676
TNavParticleFilter::Modified Variance for beam 37 is 17.15 
Alpha[37]	0.000000
Alpha[37]	0.994890
TNavParticleFilter::Modified Variance for beam 38 is 16.81 
Alpha[38]	0.000000
Alpha[38]	0.994651
TNavParticleFilter::Modified Variance for beam 39 is 17.39 
Alpha[39]	0.000000
Alpha[39]	0.993954
TNavParticleFilter::Modified Variance for beam 40 is 18.11 
Alpha[40]	0.000000
Alpha[40]	0.994322
TNavParticleFilter::Modified Variance for beam 41 is 18.89 
Alpha[41]	0.000000
Alpha[41]	0.995807
TNavParticleFilter::Modified Variance for beam 42 is 21.99 
Alpha[42]	0.000000
Alpha[42]	0.996315
TNavParticleFilter::Modified Variance for beam 43 is 23.27 
Alpha[43]	0.000000
Alpha[43]	0.986953
TNavParticleFilter::Modified Variance for beam 44 is 22.77 
Alpha[44]	0.000000
Alpha[44]	0.991486
TNavParticleFilter::Modified Variance for beam 45 is 23.02 
Alpha[45]	0.000000
Alpha[45]	0.994323
TNavParticleFilter::Modified Variance for beam 46 is 24.92 
Alpha[46]	0.000000
Alpha[46]	0.990287
TNavParticleFilter::Modified Variance for beam 47 is 25.94 
Alpha[47]	0.000000
Alpha[47]	0.988902
TNavParticleFilter::Modified Variance for beam 48 is 27.32 
Alpha[48]	0.000000
Alpha[48]	0.998482
TNavParticleFilter::Modified Variance for beam 49 is 36.38 
Alpha[49]	0.000000
Alpha[49]	0.999604
TNavParticleFilter::Modified Variance for beam 50 is 39.03 
Alpha[50]	0.000000
Alpha[50]	0.999946
TNavPF:: sumSquaredError = 4.903611 
TNavPF:: sumWeights = 0.012062 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.79. Range = 94.66 
TNavPF::Calculated measDiffMean for beam 32 as 1.11. Range = 94.30 
TNavPF::Calculated measDiffMean for beam 33 as 0.85. Range = 93.98 
TNavPF::Calculated measDiffMean for beam 34 as -3.15. Range = 89.62 
TNavPF::Calculated measDiffMean for beam 35 as -1.90. Range = 89.36 
TNavPF::Calculated measDiffMean for beam 36 as -2.81. Range = 83.07 
TNavPF::Calculated measDiffMean for beam 37 as -2.33. Range = 80.87 
TNavPF::Calculated measDiffMean for beam 38 as -2.45. Range = 78.71 
TNavPF::Calculated measDiffMean for beam 39 as -3.08. Range = 78.58 
TNavPF::Calculated measDiffMean for beam 40 as -3.56. Range = 80.49 
TNavPF::Calculated measDiffMean for beam 41 as -1.13. Range = 76.40 
TNavPF::Calculated measDiffMean for beam 42 as -0.75. Range = 76.35 
TNavPF::Calculated measDiffMean for beam 43 as -0.06. Range = 64.30 
TNavPF::Calculated measDiffMean for beam 44 as -0.53. Range = 62.29 
TNavPF::Calculated measDiffMean for beam 45 as -0.04. Range = 62.30 
TNavPF::Calculated measDiffMean for beam 46 as -2.11. Range = 58.33 
TNavPF::Calculated measDiffMean for beam 47 as -2.39. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 48 as -1.56. Range = 62.46 
TNavPF::Calculated measDiffMean for beam 49 as 0.98. Range = 62.56 
TNavPF::Calculated measDiffMean for beam 50 as 0.75. Range = 64.68 
TNavPF::Calculated measDiffMean for beam 51 as 0.99. Range = 66.84 
TNavPF::Calculated measDiffMean for beam 52 as -0.01. Range = 67.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.05. Range = 69.21 
TNavPF::Calculated measDiffMean for beam 54 as 0.59. Range = 69.42 
TNavPF::Calculated measDiffMean for beam 55 as -0.37. Range = 69.65 
TNavPF::Calculated measDiffMean for beam 56 as -0.39. Range = 69.91 
TNavPF::Calculated measDiffMean for beam 57 as 0.72. Range = 61.60 
TNavPF::Calculated measDiffMean for beam 58 as 0.59. Range = 60.15 
TNavPF::Calculated measDiffMean for beam 59 as 0.17. Range = 60.42 
TNavPF::Calculated measDiffMean for beam 60 as -0.65. Range = 60.72 
TNavPF::Calculated measDiffMean for beam 61 as -0.28. Range = 61.04 
TNavPF::Calculated measDiffMean for beam 62 as 0.44. Range = 57.91 
TNavPF::Calculated measDiffMean for beam 63 as -0.58. Range = 55.03 
TNavPF::Calculated measDiffMean for beam 64 as -0.79. Range = 49.32 
TNavPF::Calculated measDiffMean for beam 65 as -0.02. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 66 as 0.36. Range = 47.97 
TNavPF::Calculated measDiffMean for beam 67 as -0.52. Range = 48.19 
TNavPF::Calculated measDiffMean for beam 68 as -1.77. Range = 48.56 
TNavPF::Calculated measDiffMean for beam 69 as -1.29. Range = 48.95 
TNavPF::Calculated measDiffMean for beam 70 as -0.97. Range = 49.37 
TNavPF::Calculated measDiffMean for beam 71 as -1.17. Range = 52.06 
TNavPF::Calculated measDiffMean for beam 72 as 0.94. Range = 52.54 
TNavPF::Calculated measDiffMean for beam 73 as 0.10. Range = 53.05 
TNavPF::Calculated measDiffMean for beam 74 as -2.01. Range = 51.94 
TNavPF::Calculated measDiffMean for beam 75 as -2.77. Range = 51.79 
TNavPF::Calculated measDiffMean for beam 76 as -0.73. Range = 49.06 
TNavPF::Calculated measDiffMean for beam 77 as -0.24. Range = 48.16 
TNavPF::Calculated measDiffMean for beam 78 as -0.92. Range = 48.72 
TNavPF::Calculated measDiffMean for beam 79 as 0.59. Range = 51.77 
TNavPF::Calculated measDiffMean for beam 80 as -15.00. Range = 52.43 
TNavPF::First Term of Map Covariance Matrix is 27.49 
TNavPF::Calculated NIS Value : 4.22 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322237.82 sec.
INS : North: 4070277.41, East: 589061.08, Depth: 890.16
TerrainNav::measUpdate() - IDT[45] = 49.31, IDT[75] = 64.60
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322240.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322240.62)
ARL : North: 1.1782, East: -1.9391, Depth: 4.8006ARL : Estimation Bias  (Mean)         : (t = 1488322240.62)
ARL : North: 1.7833, East: -1.4956, Depth: 0.4002TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 70 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.98 
Alpha[0]	0.123000
Alpha[0]	0.999427
TNavParticleFilter::Modified Variance for beam 1 is 20.97 
Alpha[1]	0.000000
Alpha[1]	0.999454
TNavParticleFilter::Modified Variance for beam 2 is 18.87 
Alpha[2]	0.000000
Alpha[2]	0.999136
TNavParticleFilter::Modified Variance for beam 3 is 17.14 
Alpha[3]	0.000000
Alpha[3]	0.998683
TNavParticleFilter::Modified Variance for beam 4 is 15.69 
Alpha[4]	0.000000
Alpha[4]	0.998073
TNavParticleFilter::Modified Variance for beam 5 is 15.71 
Alpha[5]	0.000000
Alpha[5]	0.997004
TNavParticleFilter::Modified Variance for beam 6 is 15.86 
Alpha[6]	0.000000
Alpha[6]	0.997070
TNavParticleFilter::Modified Variance for beam 7 is 16.00 
Alpha[7]	0.000000
Alpha[7]	0.998259
TNavParticleFilter::Modified Variance for beam 8 is 16.16 
Alpha[8]	0.000000
Alpha[8]	0.998811
TNavParticleFilter::Modified Variance for beam 9 is 17.47 
Alpha[9]	0.000000
Alpha[9]	0.998524
TNavParticleFilter::Modified Variance for beam 10 is 17.69 
Alpha[10]	0.000000
Alpha[10]	0.997459
TNavParticleFilter::Modified Variance for beam 11 is 17.93 
Alpha[11]	0.000000
Alpha[11]	0.996833
TNavParticleFilter::Modified Variance for beam 12 is 17.50 
Alpha[12]	0.000000
Alpha[12]	0.997584
TNavParticleFilter::Modified Variance for beam 13 is 17.21 
Alpha[13]	0.000000
Alpha[13]	0.997869
TNavParticleFilter::Modified Variance for beam 14 is 15.68 
Alpha[14]	0.000000
Alpha[14]	0.997894
TNavParticleFilter::Modified Variance for beam 15 is 15.41 
Alpha[15]	0.000000
Alpha[15]	0.998079
TNavParticleFilter::Modified Variance for beam 16 is 15.64 
Alpha[16]	0.000000
Alpha[16]	0.998199
TNavParticleFilter::Modified Variance for beam 17 is 17.07 
Alpha[17]	0.000000
Alpha[17]	0.998142
TNavParticleFilter::Modified Variance for beam 18 is 17.37 
Alpha[18]	0.000000
Alpha[18]	0.997648
TNavParticleFilter::Modified Variance for beam 19 is 17.70 
Alpha[19]	0.000000
Alpha[19]	0.996040
TNavParticleFilter::Modified Variance for beam 20 is 17.11 
Alpha[20]	0.000000
Alpha[20]	0.994313
TNavParticleFilter::Modified Variance for beam 21 is 17.14 
Alpha[21]	0.000000
Alpha[21]	0.993366
TNavParticleFilter::Modified Variance for beam 22 is 17.45 
Alpha[22]	0.000000
Alpha[22]	0.994514
TNavParticleFilter::Modified Variance for beam 23 is 16.88 
Alpha[23]	0.000000
Alpha[23]	0.995370
TNavParticleFilter::Modified Variance for beam 24 is 16.86 
Alpha[24]	0.000000
Alpha[24]	0.995202
TNavParticleFilter::Modified Variance for beam 25 is 17.24 
Alpha[25]	0.000000
Alpha[25]	0.994727
TNavParticleFilter::Modified Variance for beam 26 is 16.77 
Alpha[26]	0.000000
Alpha[26]	0.994939
TNavParticleFilter::Modified Variance for beam 27 is 16.24 
Alpha[27]	0.000000
Alpha[27]	0.994426
TNavParticleFilter::Modified Variance for beam 28 is 15.75 
Alpha[28]	0.000000
Alpha[28]	0.993848
TNavParticleFilter::Modified Variance for beam 29 is 16.13 
Alpha[29]	0.000000
Alpha[29]	0.994124
TNavParticleFilter::Modified Variance for beam 30 is 16.26 
Alpha[30]	0.000000
Alpha[30]	0.994434
TNavParticleFilter::Modified Variance for beam 31 is 15.81 
Alpha[31]	0.000000
Alpha[31]	0.994414
TNavParticleFilter::Modified Variance for beam 32 is 16.03 
Alpha[32]	0.000000
Alpha[32]	0.993625
TNavParticleFilter::Modified Variance for beam 33 is 16.50 
Alpha[33]	0.000000
Alpha[33]	0.993028
TNavParticleFilter::Modified Variance for beam 34 is 16.99 
Alpha[34]	0.000000
Alpha[34]	0.993673
TNavParticleFilter::Modified Variance for beam 35 is 16.90 
Alpha[35]	0.000000
Alpha[35]	0.993908
TNavParticleFilter::Modified Variance for beam 36 is 16.50 
Alpha[36]	0.000000
Alpha[36]	0.994092
TNavParticleFilter::Modified Variance for beam 37 is 17.06 
Alpha[37]	0.000000
Alpha[37]	0.992959
TNavParticleFilter::Modified Variance for beam 38 is 17.67 
Alpha[38]	0.000000
Alpha[38]	0.992572
TNavParticleFilter::Modified Variance for beam 39 is 18.31 
Alpha[39]	0.000000
Alpha[39]	0.993183
TNavParticleFilter::Modified Variance for beam 40 is 20.88 
Alpha[40]	0.000000
Alpha[40]	0.995816
TNavParticleFilter::Modified Variance for beam 41 is 21.91 
Alpha[41]	0.000000
Alpha[41]	0.988419
TNavParticleFilter::Modified Variance for beam 42 is 23.04 
Alpha[42]	0.000000
Alpha[42]	0.980278
TNavParticleFilter::Modified Variance for beam 43 is 22.05 
Alpha[43]	0.000000
Alpha[43]	0.990932
TNavParticleFilter::Modified Variance for beam 44 is 22.53 
Alpha[44]	0.000000
Alpha[44]	0.993427
TNavParticleFilter::Modified Variance for beam 45 is 24.19 
Alpha[45]	0.000000
Alpha[45]	0.988532
TNavParticleFilter::Modified Variance for beam 46 is 25.01 
Alpha[46]	0.000000
Alpha[46]	0.986583
TNavParticleFilter::Modified Variance for beam 47 is 26.20 
Alpha[47]	0.000000
Alpha[47]	0.992354
TNavParticleFilter::Modified Variance for beam 48 is 33.63 
Alpha[48]	0.000000
Alpha[48]	0.999216
TNavParticleFilter::Modified Variance for beam 49 is 35.71 
Alpha[49]	0.000000
Alpha[49]	0.998582
TNavPF:: sumSquaredError = 23.074393 
TNavPF:: sumWeights = 0.011109 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.56. Range = 98.46 
TNavPF::Calculated measDiffMean for beam 33 as -1.19. Range = 98.03 
TNavPF::Calculated measDiffMean for beam 34 as -3.04. Range = 97.64 
TNavPF::Calculated measDiffMean for beam 35 as -2.40. Range = 93.20 
TNavPF::Calculated measDiffMean for beam 36 as -2.17. Range = 92.88 
TNavPF::Calculated measDiffMean for beam 37 as -2.61. Range = 86.51 
TNavPF::Calculated measDiffMean for beam 38 as -3.47. Range = 84.25 
TNavPF::Calculated measDiffMean for beam 39 as -1.43. Range = 82.03 
TNavPF::Calculated measDiffMean for beam 40 as -0.96. Range = 81.86 
TNavPF::Calculated measDiffMean for beam 41 as -0.27. Range = 83.72 
TNavPF::Calculated measDiffMean for beam 42 as -0.31. Range = 79.58 
TNavPF::Calculated measDiffMean for beam 43 as -0.11. Range = 67.44 
TNavPF::Calculated measDiffMean for beam 44 as -2.35. Range = 65.38 
TNavPF::Calculated measDiffMean for beam 45 as -2.11. Range = 65.34 
TNavPF::Calculated measDiffMean for beam 46 as -1.39. Range = 61.32 
TNavPF::Calculated measDiffMean for beam 47 as 0.90. Range = 61.32 
TNavPF::Calculated measDiffMean for beam 48 as 0.50. Range = 65.35 
TNavPF::Calculated measDiffMean for beam 49 as 0.74. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 50 as -0.14. Range = 67.46 
TNavPF::Calculated measDiffMean for beam 51 as 0.05. Range = 69.56 
TNavPF::Calculated measDiffMean for beam 52 as 0.59. Range = 69.66 
TNavPF::Calculated measDiffMean for beam 53 as -0.48. Range = 71.81 
TNavPF::Calculated measDiffMean for beam 54 as -0.37. Range = 71.97 
TNavPF::Calculated measDiffMean for beam 55 as 0.74. Range = 72.15 
TNavPF::Calculated measDiffMean for beam 56 as 0.54. Range = 66.23 
TNavPF::Calculated measDiffMean for beam 57 as -0.04. Range = 62.38 
TNavPF::Calculated measDiffMean for beam 58 as -0.95. Range = 62.60 
TNavPF::Calculated measDiffMean for beam 59 as -0.06. Range = 62.83 
TNavPF::Calculated measDiffMean for beam 60 as 0.25. Range = 63.09 
TNavPF::Calculated measDiffMean for beam 61 as -0.89. Range = 59.76 
TNavPF::Calculated measDiffMean for beam 62 as -0.67. Range = 56.05 
TNavPF::Calculated measDiffMean for beam 63 as 0.03. Range = 52.78 
TNavPF::Calculated measDiffMean for beam 64 as 0.33. Range = 49.90 
TNavPF::Calculated measDiffMean for beam 65 as -0.58. Range = 49.91 
TNavPF::Calculated measDiffMean for beam 66 as -1.86. Range = 50.21 
TNavPF::Calculated measDiffMean for beam 67 as -1.26. Range = 50.53 
TNavPF::Calculated measDiffMean for beam 68 as -0.90. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 69 as -0.89. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 70 as 1.56. Range = 53.80 
TNavPF::Calculated measDiffMean for beam 71 as 0.15. Range = 54.23 
TNavPF::Calculated measDiffMean for beam 72 as 0.12. Range = 53.44 
TNavPF::Calculated measDiffMean for beam 73 as -2.23. Range = 52.90 
TNavPF::Calculated measDiffMean for beam 74 as -2.56. Range = 49.86 
TNavPF::Calculated measDiffMean for beam 75 as -0.81. Range = 49.31 
TNavPF::Calculated measDiffMean for beam 76 as -0.33. Range = 49.79 
TNavPF::Calculated measDiffMean for beam 77 as -0.21. Range = 52.63 
TNavPF::Calculated measDiffMean for beam 78 as 4.30. Range = 53.19 
TNavPF::Calculated measDiffMean for beam 79 as -1.21. Range = 53.77 
TNavPF::First Term of Map Covariance Matrix is 34.88 
TNavPF::Calculated NIS Value : 3.94 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322240.82 sec.
INS : North: 4070280.41, East: 589057.91, Depth: 890.14
TerrainNav::measUpdate() - IDT[45] = 53.54, IDT[75] = 64.40
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322243.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322243.62)
ARL : North: 2.2793, East: -0.5716, Depth: -3.6405ARL : Estimation Bias  (Mean)         : (t = 1488322243.62)
ARL : North: 1.9616, East: -1.6337, Depth: 0.4216TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.88 
Alpha[0]	0.123000
Alpha[0]	0.999598
TNavParticleFilter::Modified Variance for beam 1 is 19.81 
Alpha[1]	0.000000
Alpha[1]	0.999327
TNavParticleFilter::Modified Variance for beam 2 is 17.53 
Alpha[2]	0.000000
Alpha[2]	0.998810
TNavParticleFilter::Modified Variance for beam 3 is 17.65 
Alpha[3]	0.000000
Alpha[3]	0.998278
TNavParticleFilter::Modified Variance for beam 4 is 17.80 
Alpha[4]	0.000000
Alpha[4]	0.996970
TNavParticleFilter::Modified Variance for beam 5 is 16.84 
Alpha[5]	0.000000
Alpha[5]	0.997680
TNavParticleFilter::Modified Variance for beam 6 is 16.96 
Alpha[6]	0.000000
Alpha[6]	0.998732
TNavParticleFilter::Modified Variance for beam 7 is 18.21 
Alpha[7]	0.000000
Alpha[7]	0.998869
TNavParticleFilter::Modified Variance for beam 8 is 18.40 
Alpha[8]	0.000000
Alpha[8]	0.998292
TNavParticleFilter::Modified Variance for beam 9 is 18.60 
Alpha[9]	0.000000
Alpha[9]	0.997407
TNavParticleFilter::Modified Variance for beam 10 is 18.77 
Alpha[10]	0.000000
Alpha[10]	0.997824
TNavParticleFilter::Modified Variance for beam 11 is 17.82 
Alpha[11]	0.000000
Alpha[11]	0.998082
TNavParticleFilter::Modified Variance for beam 12 is 16.33 
Alpha[12]	0.000000
Alpha[12]	0.998156
TNavParticleFilter::Modified Variance for beam 13 is 15.98 
Alpha[13]	0.000000
Alpha[13]	0.998244
TNavParticleFilter::Modified Variance for beam 14 is 16.18 
Alpha[14]	0.000000
Alpha[14]	0.998240
TNavParticleFilter::Modified Variance for beam 15 is 17.55 
Alpha[15]	0.000000
Alpha[15]	0.997918
TNavParticleFilter::Modified Variance for beam 16 is 17.81 
Alpha[16]	0.000000
Alpha[16]	0.997002
TNavParticleFilter::Modified Variance for beam 17 is 18.10 
Alpha[17]	0.000000
Alpha[17]	0.995398
TNavParticleFilter::Modified Variance for beam 18 is 17.67 
Alpha[18]	0.000000
Alpha[18]	0.993780
TNavParticleFilter::Modified Variance for beam 19 is 17.47 
Alpha[19]	0.000000
Alpha[19]	0.993279
TNavParticleFilter::Modified Variance for beam 20 is 17.74 
Alpha[20]	0.000000
Alpha[20]	0.994583
TNavParticleFilter::Modified Variance for beam 21 is 17.22 
Alpha[21]	0.000000
Alpha[21]	0.995397
TNavParticleFilter::Modified Variance for beam 22 is 17.09 
Alpha[22]	0.000000
Alpha[22]	0.995328
TNavParticleFilter::Modified Variance for beam 23 is 17.40 
Alpha[23]	0.000000
Alpha[23]	0.995477
TNavParticleFilter::Modified Variance for beam 24 is 16.94 
Alpha[24]	0.000000
Alpha[24]	0.995286
TNavParticleFilter::Modified Variance for beam 25 is 16.32 
Alpha[25]	0.000000
Alpha[25]	0.994324
TNavParticleFilter::Modified Variance for beam 26 is 15.90 
Alpha[26]	0.000000
Alpha[26]	0.994131
TNavParticleFilter::Modified Variance for beam 27 is 16.23 
Alpha[27]	0.000000
Alpha[27]	0.994398
TNavParticleFilter::Modified Variance for beam 28 is 16.22 
Alpha[28]	0.000000
Alpha[28]	0.994094
TNavParticleFilter::Modified Variance for beam 29 is 15.69 
Alpha[29]	0.000000
Alpha[29]	0.994282
TNavParticleFilter::Modified Variance for beam 30 is 16.03 
Alpha[30]	0.000000
Alpha[30]	0.993793
TNavParticleFilter::Modified Variance for beam 31 is 16.44 
Alpha[31]	0.000000
Alpha[31]	0.992832
TNavParticleFilter::Modified Variance for beam 32 is 16.86 
Alpha[32]	0.000000
Alpha[32]	0.992747
TNavParticleFilter::Modified Variance for beam 33 is 16.73 
Alpha[33]	0.000000
Alpha[33]	0.993246
TNavParticleFilter::Modified Variance for beam 34 is 16.31 
Alpha[34]	0.000000
Alpha[34]	0.993624
TNavParticleFilter::Modified Variance for beam 35 is 16.79 
Alpha[35]	0.000000
Alpha[35]	0.992548
TNavParticleFilter::Modified Variance for beam 36 is 17.30 
Alpha[36]	0.000000
Alpha[36]	0.991994
TNavParticleFilter::Modified Variance for beam 37 is 17.82 
Alpha[37]	0.000000
Alpha[37]	0.992399
TNavParticleFilter::Modified Variance for beam 38 is 18.35 
Alpha[38]	0.000000
Alpha[38]	0.994982
TNavParticleFilter::Modified Variance for beam 39 is 20.83 
Alpha[39]	0.000000
Alpha[39]	0.990132
TNavParticleFilter::Modified Variance for beam 40 is 21.85 
Alpha[40]	0.000000
Alpha[40]	0.977501
TNavParticleFilter::Modified Variance for beam 41 is 22.52 
Alpha[41]	0.000000
Alpha[41]	0.983726
TNavParticleFilter::Modified Variance for beam 42 is 23.20 
Alpha[42]	0.000000
Alpha[42]	0.992181
TNavParticleFilter::Modified Variance for beam 43 is 23.91 
Alpha[43]	0.000000
Alpha[43]	0.991647
TNavParticleFilter::Modified Variance for beam 44 is 23.50 
Alpha[44]	0.000000
Alpha[44]	0.987716
TNavParticleFilter::Modified Variance for beam 45 is 24.12 
Alpha[45]	0.000000
Alpha[45]	0.986097
TNavParticleFilter::Modified Variance for beam 46 is 25.11 
Alpha[46]	0.000000
Alpha[46]	0.990620
TNavParticleFilter::Modified Variance for beam 47 is 26.12 
Alpha[47]	0.000000
Alpha[47]	0.998440
TNavParticleFilter::Modified Variance for beam 48 is 33.04 
Alpha[48]	0.000000
Alpha[48]	0.998315
TNavParticleFilter::Modified Variance for beam 49 is 34.85 
Alpha[49]	0.000000
Alpha[49]	0.997802
TNavParticleFilter::Modified Variance for beam 50 is 40.16 
Alpha[50]	0.000000
Alpha[50]	0.999919
TNavPF:: sumSquaredError = 65.054842 
TNavPF:: sumWeights = 0.009873 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -2.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -2.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -3.64. Range = 96.81 
TNavPF::Calculated measDiffMean for beam 37 as -2.31. Range = 96.43 
TNavPF::Calculated measDiffMean for beam 38 as -1.83. Range = 89.96 
TNavPF::Calculated measDiffMean for beam 39 as -0.96. Range = 87.63 
TNavPF::Calculated measDiffMean for beam 40 as 0.22. Range = 85.34 
TNavPF::Calculated measDiffMean for beam 41 as -0.71. Range = 86.06 
TNavPF::Calculated measDiffMean for beam 42 as -2.62. Range = 86.93 
TNavPF::Calculated measDiffMean for beam 43 as -2.41. Range = 70.63 
TNavPF::Calculated measDiffMean for beam 44 as -1.86. Range = 68.50 
TNavPF::Calculated measDiffMean for beam 45 as 0.18. Range = 68.40 
TNavPF::Calculated measDiffMean for beam 46 as -0.23. Range = 64.31 
TNavPF::Calculated measDiffMean for beam 47 as 0.18. Range = 64.26 
TNavPF::Calculated measDiffMean for beam 48 as -0.21. Range = 68.23 
TNavPF::Calculated measDiffMean for beam 49 as -0.30. Range = 68.22 
TNavPF::Calculated measDiffMean for beam 50 as 0.23. Range = 70.23 
TNavPF::Calculated measDiffMean for beam 51 as -0.66. Range = 72.26 
TNavPF::Calculated measDiffMean for beam 52 as -0.64. Range = 72.31 
TNavPF::Calculated measDiffMean for beam 53 as 0.56. Range = 74.40 
TNavPF::Calculated measDiffMean for beam 54 as 0.45. Range = 74.49 
TNavPF::Calculated measDiffMean for beam 55 as -0.41. Range = 74.61 
TNavPF::Calculated measDiffMean for beam 56 as -1.05. Range = 65.73 
TNavPF::Calculated measDiffMean for beam 57 as -0.16. Range = 64.82 
TNavPF::Calculated measDiffMean for beam 58 as -0.21. Range = 64.98 
TNavPF::Calculated measDiffMean for beam 59 as -1.46. Range = 65.17 
TNavPF::Calculated measDiffMean for beam 60 as -0.85. Range = 62.94 
TNavPF::Calculated measDiffMean for beam 61 as -0.31. Range = 57.73 
TNavPF::Calculated measDiffMean for beam 62 as -0.12. Range = 53.53 
TNavPF::Calculated measDiffMean for beam 63 as -0.91. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 64 as -2.12. Range = 53.99 
TNavPF::Calculated measDiffMean for beam 65 as -1.60. Range = 52.17 
TNavPF::Calculated measDiffMean for beam 66 as -1.32. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 67 as -1.31. Range = 54.83 
TNavPF::Calculated measDiffMean for beam 68 as -2.00. Range = 55.15 
TNavPF::Calculated measDiffMean for beam 69 as -0.21. Range = 55.48 
TNavPF::Calculated measDiffMean for beam 70 as -0.44. Range = 55.81 
TNavPF::Calculated measDiffMean for beam 71 as -0.22. Range = 54.07 
TNavPF::Calculated measDiffMean for beam 72 as 0.21. Range = 51.17 
TNavPF::Calculated measDiffMean for beam 73 as 0.21. Range = 50.49 
TNavPF::Calculated measDiffMean for beam 74 as -1.01. Range = 50.89 
TNavPF::Calculated measDiffMean for beam 75 as -0.83. Range = 53.54 
TNavPF::Calculated measDiffMean for beam 76 as -0.74. Range = 54.00 
TNavPF::Calculated measDiffMean for beam 77 as -2.85. Range = 54.49 
TNavPF::Calculated measDiffMean for beam 78 as -0.58. Range = 53.63 
TNavPF::Calculated measDiffMean for beam 79 as -2.24. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 80 as -8.92. Range = 53.79 
TNavPF::First Term of Map Covariance Matrix is 49.75 
TNavPF::Calculated NIS Value : 2.73 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322243.82 sec.
INS : North: 4070283.27, East: 589054.58, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 55.53, IDT[75] = 65.31
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322246.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322246.62)
ARL : North: 1.9191, East: -0.3187, Depth: -1.0294ARL : Estimation Bias  (Mean)         : (t = 1488322246.62)
ARL : North: 1.8122, East: -1.5434, Depth: 0.8061TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.89 
Alpha[0]	0.123000
Alpha[0]	0.999450
TNavParticleFilter::Modified Variance for beam 1 is 18.70 
Alpha[1]	0.000000
Alpha[1]	0.998920
TNavParticleFilter::Modified Variance for beam 2 is 18.80 
Alpha[2]	0.000000
Alpha[2]	0.998138
TNavParticleFilter::Modified Variance for beam 3 is 20.08 
Alpha[3]	0.000000
Alpha[3]	0.996842
TNavParticleFilter::Modified Variance for beam 4 is 21.37 
Alpha[4]	0.000000
Alpha[4]	0.998092
TNavParticleFilter::Modified Variance for beam 5 is 21.50 
Alpha[5]	0.000000
Alpha[5]	0.998796
TNavParticleFilter::Modified Variance for beam 6 is 20.44 
Alpha[6]	0.000000
Alpha[6]	0.998743
TNavParticleFilter::Modified Variance for beam 7 is 20.61 
Alpha[7]	0.000000
Alpha[7]	0.998165
TNavParticleFilter::Modified Variance for beam 8 is 20.14 
Alpha[8]	0.000000
Alpha[8]	0.997980
TNavParticleFilter::Modified Variance for beam 9 is 18.59 
Alpha[9]	0.000000
Alpha[9]	0.998237
TNavParticleFilter::Modified Variance for beam 10 is 16.82 
Alpha[10]	0.000000
Alpha[10]	0.998357
TNavParticleFilter::Modified Variance for beam 11 is 16.69 
Alpha[11]	0.000000
Alpha[11]	0.998342
TNavParticleFilter::Modified Variance for beam 12 is 16.86 
Alpha[12]	0.000000
Alpha[12]	0.998267
TNavParticleFilter::Modified Variance for beam 13 is 18.18 
Alpha[13]	0.000000
Alpha[13]	0.997861
TNavParticleFilter::Modified Variance for beam 14 is 18.41 
Alpha[14]	0.000000
Alpha[14]	0.996913
TNavParticleFilter::Modified Variance for beam 15 is 18.65 
Alpha[15]	0.000000
Alpha[15]	0.995747
TNavParticleFilter::Modified Variance for beam 16 is 18.06 
Alpha[16]	0.000000
Alpha[16]	0.994135
TNavParticleFilter::Modified Variance for beam 17 is 17.98 
Alpha[17]	0.000000
Alpha[17]	0.993353
TNavParticleFilter::Modified Variance for beam 18 is 18.20 
Alpha[18]	0.000000
Alpha[18]	0.994556
TNavParticleFilter::Modified Variance for beam 19 is 17.40 
Alpha[19]	0.000000
Alpha[19]	0.995346
TNavParticleFilter::Modified Variance for beam 20 is 17.50 
Alpha[20]	0.000000
Alpha[20]	0.995535
TNavParticleFilter::Modified Variance for beam 21 is 17.77 
Alpha[21]	0.000000
Alpha[21]	0.995941
TNavParticleFilter::Modified Variance for beam 22 is 16.95 
Alpha[22]	0.000000
Alpha[22]	0.995391
TNavParticleFilter::Modified Variance for beam 23 is 16.21 
Alpha[23]	0.000000
Alpha[23]	0.994309
TNavParticleFilter::Modified Variance for beam 24 is 16.24 
Alpha[24]	0.000000
Alpha[24]	0.994277
TNavParticleFilter::Modified Variance for beam 25 is 16.53 
Alpha[25]	0.000000
Alpha[25]	0.994112
TNavParticleFilter::Modified Variance for beam 26 is 16.02 
Alpha[26]	0.000000
Alpha[26]	0.993487
TNavParticleFilter::Modified Variance for beam 27 is 15.92 
Alpha[27]	0.000000
Alpha[27]	0.993955
TNavParticleFilter::Modified Variance for beam 28 is 16.25 
Alpha[28]	0.000000
Alpha[28]	0.993590
TNavParticleFilter::Modified Variance for beam 29 is 16.61 
Alpha[29]	0.000000
Alpha[29]	0.992284
TNavParticleFilter::Modified Variance for beam 30 is 16.98 
Alpha[30]	0.000000
Alpha[30]	0.991857
TNavParticleFilter::Modified Variance for beam 31 is 16.42 
Alpha[31]	0.000000
Alpha[31]	0.992598
TNavParticleFilter::Modified Variance for beam 32 is 16.39 
Alpha[32]	0.000000
Alpha[32]	0.992934
TNavParticleFilter::Modified Variance for beam 33 is 16.81 
Alpha[33]	0.000000
Alpha[33]	0.991389
TNavParticleFilter::Modified Variance for beam 34 is 17.25 
Alpha[34]	0.000000
Alpha[34]	0.990517
TNavParticleFilter::Modified Variance for beam 35 is 17.70 
Alpha[35]	0.000000
Alpha[35]	0.990632
TNavParticleFilter::Modified Variance for beam 36 is 18.13 
Alpha[36]	0.000000
Alpha[36]	0.993703
TNavParticleFilter::Modified Variance for beam 37 is 20.32 
Alpha[37]	0.000000
Alpha[37]	0.990280
TNavParticleFilter::Modified Variance for beam 38 is 21.24 
Alpha[38]	0.000000
Alpha[38]	0.976048
TNavParticleFilter::Modified Variance for beam 39 is 21.91 
Alpha[39]	0.000000
Alpha[39]	0.976334
TNavParticleFilter::Modified Variance for beam 40 is 22.37 
Alpha[40]	0.000000
Alpha[40]	0.987625
TNavParticleFilter::Modified Variance for beam 41 is 23.04 
Alpha[41]	0.000000
Alpha[41]	0.992125
TNavParticleFilter::Modified Variance for beam 42 is 23.15 
Alpha[42]	0.000000
Alpha[42]	0.988179
TNavParticleFilter::Modified Variance for beam 43 is 22.86 
Alpha[43]	0.000000
Alpha[43]	0.986445
TNavParticleFilter::Modified Variance for beam 44 is 23.79 
Alpha[44]	0.000000
Alpha[44]	0.984535
TNavParticleFilter::Modified Variance for beam 45 is 24.60 
Alpha[45]	0.000000
Alpha[45]	0.990306
TNavParticleFilter::Modified Variance for beam 46 is 25.45 
Alpha[46]	0.000000
Alpha[46]	0.997317
TNavParticleFilter::Modified Variance for beam 47 is 31.55 
Alpha[47]	0.000000
Alpha[47]	0.998003
TNavParticleFilter::Modified Variance for beam 48 is 33.09 
Alpha[48]	0.000000
Alpha[48]	0.996159
TNavParticleFilter::Modified Variance for beam 49 is 34.66 
Alpha[49]	0.000000
Alpha[49]	0.998088
TNavParticleFilter::Modified Variance for beam 50 is 42.80 
Alpha[50]	0.000000
Alpha[50]	0.999869
TNavPF:: sumSquaredError = 10.350411 
TNavPF:: sumWeights = 0.013832 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 3.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 2.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.96. Range = 99.84 
TNavPF::Calculated measDiffMean for beam 39 as -0.79. Range = 93.27 
TNavPF::Calculated measDiffMean for beam 40 as -3.05. Range = 90.88 
TNavPF::Calculated measDiffMean for beam 41 as -2.20. Range = 88.53 
TNavPF::Calculated measDiffMean for beam 42 as -1.62. Range = 90.29 
TNavPF::Calculated measDiffMean for beam 43 as 0.30. Range = 85.98 
TNavPF::Calculated measDiffMean for beam 44 as -0.10. Range = 71.63 
TNavPF::Calculated measDiffMean for beam 45 as 0.23. Range = 71.47 
TNavPF::Calculated measDiffMean for beam 46 as -0.38. Range = 67.31 
TNavPF::Calculated measDiffMean for beam 47 as -0.13. Range = 69.66 
TNavPF::Calculated measDiffMean for beam 48 as 0.44. Range = 71.14 
TNavPF::Calculated measDiffMean for beam 49 as -0.92. Range = 73.07 
TNavPF::Calculated measDiffMean for beam 50 as -0.37. Range = 73.03 
TNavPF::Calculated measDiffMean for beam 51 as 0.87. Range = 75.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.11. Range = 77.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.92. Range = 77.03 
TNavPF::Calculated measDiffMean for beam 54 as -0.59. Range = 77.07 
TNavPF::Calculated measDiffMean for beam 55 as 0.22. Range = 77.14 
TNavPF::Calculated measDiffMean for beam 56 as -0.81. Range = 67.19 
TNavPF::Calculated measDiffMean for beam 57 as -1.08. Range = 67.29 
TNavPF::Calculated measDiffMean for beam 58 as -0.46. Range = 67.41 
TNavPF::Calculated measDiffMean for beam 59 as -0.06. Range = 65.45 
TNavPF::Calculated measDiffMean for beam 60 as 0.12. Range = 59.61 
TNavPF::Calculated measDiffMean for beam 61 as -1.35. Range = 55.72 
TNavPF::Calculated measDiffMean for beam 62 as -1.75. Range = 55.89 
TNavPF::Calculated measDiffMean for beam 63 as -1.30. Range = 58.12 
TNavPF::Calculated measDiffMean for beam 64 as -1.06. Range = 60.38 
TNavPF::Calculated measDiffMean for beam 65 as -1.05. Range = 60.62 
TNavPF::Calculated measDiffMean for beam 66 as -1.58. Range = 58.82 
TNavPF::Calculated measDiffMean for beam 67 as 0.04. Range = 59.09 
TNavPF::Calculated measDiffMean for beam 68 as -0.29. Range = 58.26 
TNavPF::Calculated measDiffMean for beam 69 as -0.24. Range = 55.50 
TNavPF::Calculated measDiffMean for beam 70 as 0.13. Range = 52.15 
TNavPF::Calculated measDiffMean for beam 71 as 0.42. Range = 51.91 
TNavPF::Calculated measDiffMean for beam 72 as -0.46. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 73 as -1.14. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 74 as -0.55. Range = 55.12 
TNavPF::Calculated measDiffMean for beam 75 as -0.57. Range = 55.53 
TNavPF::Calculated measDiffMean for beam 76 as -2.08. Range = 54.38 
TNavPF::Calculated measDiffMean for beam 77 as 0.65. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 78 as -1.45. Range = 54.66 
TNavPF::Calculated measDiffMean for beam 79 as -2.08. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 80 as -4.75. Range = 53.38 
TNavPF::First Term of Map Covariance Matrix is 36.33 
TNavPF::Calculated NIS Value : 3.24 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322246.82 sec.
INS : North: 4070285.99, East: 589051.12, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 55.09, IDT[75] = 65.44
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322249.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322249.62)
ARL : North: 2.1035, East: -2.8881, Depth: 3.0871ARL : Estimation Bias  (Mean)         : (t = 1488322249.62)
ARL : North: 1.6823, East: -1.7881, Depth: 0.4768TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.88 
Alpha[0]	0.123000
Alpha[0]	0.999417
TNavParticleFilter::Modified Variance for beam 1 is 19.95 
Alpha[1]	0.000000
Alpha[1]	0.998978
TNavParticleFilter::Modified Variance for beam 2 is 21.22 
Alpha[2]	0.000000
Alpha[2]	0.997686
TNavParticleFilter::Modified Variance for beam 3 is 22.51 
Alpha[3]	0.000000
Alpha[3]	0.998288
TNavParticleFilter::Modified Variance for beam 4 is 22.61 
Alpha[4]	0.000000
Alpha[4]	0.998858
TNavParticleFilter::Modified Variance for beam 5 is 21.49 
Alpha[5]	0.000000
Alpha[5]	0.998846
TNavParticleFilter::Modified Variance for beam 6 is 21.62 
Alpha[6]	0.000000
Alpha[6]	0.998659
TNavParticleFilter::Modified Variance for beam 7 is 20.69 
Alpha[7]	0.000000
Alpha[7]	0.998427
TNavParticleFilter::Modified Variance for beam 8 is 18.30 
Alpha[8]	0.000000
Alpha[8]	0.998509
TNavParticleFilter::Modified Variance for beam 9 is 17.40 
Alpha[9]	0.000000
Alpha[9]	0.998595
TNavParticleFilter::Modified Variance for beam 10 is 17.54 
Alpha[10]	0.000000
Alpha[10]	0.998414
TNavParticleFilter::Modified Variance for beam 11 is 18.81 
Alpha[11]	0.000000
Alpha[11]	0.997950
TNavParticleFilter::Modified Variance for beam 12 is 19.01 
Alpha[12]	0.000000
Alpha[12]	0.996147
TNavParticleFilter::Modified Variance for beam 13 is 19.21 
Alpha[13]	0.000000
Alpha[13]	0.995288
TNavParticleFilter::Modified Variance for beam 14 is 19.18 
Alpha[14]	0.000000
Alpha[14]	0.994590
TNavParticleFilter::Modified Variance for beam 15 is 18.45 
Alpha[15]	0.000000
Alpha[15]	0.993607
TNavParticleFilter::Modified Variance for beam 16 is 18.64 
Alpha[16]	0.000000
Alpha[16]	0.994508
TNavParticleFilter::Modified Variance for beam 17 is 18.09 
Alpha[17]	0.000000
Alpha[17]	0.995422
TNavParticleFilter::Modified Variance for beam 18 is 17.87 
Alpha[18]	0.000000
Alpha[18]	0.996003
TNavParticleFilter::Modified Variance for beam 19 is 18.09 
Alpha[19]	0.000000
Alpha[19]	0.996581
TNavParticleFilter::Modified Variance for beam 20 is 17.35 
Alpha[20]	0.000000
Alpha[20]	0.996011
TNavParticleFilter::Modified Variance for beam 21 is 16.42 
Alpha[21]	0.000000
Alpha[21]	0.994784
TNavParticleFilter::Modified Variance for beam 22 is 16.50 
Alpha[22]	0.000000
Alpha[22]	0.994813
TNavParticleFilter::Modified Variance for beam 23 is 16.75 
Alpha[23]	0.000000
Alpha[23]	0.994463
TNavParticleFilter::Modified Variance for beam 24 is 16.07 
Alpha[24]	0.000000
Alpha[24]	0.993839
TNavParticleFilter::Modified Variance for beam 25 is 16.10 
Alpha[25]	0.000000
Alpha[25]	0.994622
TNavParticleFilter::Modified Variance for beam 26 is 16.37 
Alpha[26]	0.000000
Alpha[26]	0.994260
TNavParticleFilter::Modified Variance for beam 27 is 16.69 
Alpha[27]	0.000000
Alpha[27]	0.992148
TNavParticleFilter::Modified Variance for beam 28 is 17.01 
Alpha[28]	0.000000
Alpha[28]	0.991224
TNavParticleFilter::Modified Variance for beam 29 is 16.33 
Alpha[29]	0.000000
Alpha[29]	0.992356
TNavParticleFilter::Modified Variance for beam 30 is 16.37 
Alpha[30]	0.000000
Alpha[30]	0.993092
TNavParticleFilter::Modified Variance for beam 31 is 16.72 
Alpha[31]	0.000000
Alpha[31]	0.991921
TNavParticleFilter::Modified Variance for beam 32 is 17.09 
Alpha[32]	0.000000
Alpha[32]	0.990887
TNavParticleFilter::Modified Variance for beam 33 is 17.48 
Alpha[33]	0.000000
Alpha[33]	0.990271
TNavParticleFilter::Modified Variance for beam 34 is 17.85 
Alpha[34]	0.000000
Alpha[34]	0.992340
TNavParticleFilter::Modified Variance for beam 35 is 19.77 
Alpha[35]	0.000000
Alpha[35]	0.990716
TNavParticleFilter::Modified Variance for beam 36 is 20.61 
Alpha[36]	0.000000
Alpha[36]	0.974243
TNavParticleFilter::Modified Variance for beam 37 is 21.22 
Alpha[37]	0.000000
Alpha[37]	0.971391
TNavParticleFilter::Modified Variance for beam 38 is 21.66 
Alpha[38]	0.000000
Alpha[38]	0.978134
TNavParticleFilter::Modified Variance for beam 39 is 22.03 
Alpha[39]	0.000000
Alpha[39]	0.989049
TNavParticleFilter::Modified Variance for beam 40 is 22.65 
Alpha[40]	0.000000
Alpha[40]	0.991063
TNavParticleFilter::Modified Variance for beam 41 is 22.55 
Alpha[41]	0.000000
Alpha[41]	0.986104
TNavParticleFilter::Modified Variance for beam 42 is 22.34 
Alpha[42]	0.000000
Alpha[42]	0.987625
TNavParticleFilter::Modified Variance for beam 43 is 23.17 
Alpha[43]	0.000000
Alpha[43]	0.983921
TNavParticleFilter::Modified Variance for beam 44 is 23.90 
Alpha[44]	0.000000
Alpha[44]	0.986963
TNavParticleFilter::Modified Variance for beam 45 is 24.55 
Alpha[45]	0.000000
Alpha[45]	0.995791
TNavParticleFilter::Modified Variance for beam 46 is 27.61 
Alpha[46]	0.000000
Alpha[46]	0.997377
TNavParticleFilter::Modified Variance for beam 47 is 31.11 
Alpha[47]	0.000000
Alpha[47]	0.996702
TNavParticleFilter::Modified Variance for beam 48 is 32.48 
Alpha[48]	0.000000
Alpha[48]	0.995015
TNavParticleFilter::Modified Variance for beam 49 is 33.82 
Alpha[49]	0.000000
Alpha[49]	0.997674
TNavParticleFilter::Modified Variance for beam 50 is 41.15 
Alpha[50]	0.000000
Alpha[50]	0.999767
TNavPF:: sumSquaredError = 19.068742 
TNavPF:: sumWeights = 0.022494 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.56. Range = 99.64 
TNavPF::Calculated measDiffMean for beam 31 as -1.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 2.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -2.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -3.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -2.13. Range = 96.68 
TNavPF::Calculated measDiffMean for beam 41 as -0.21. Range = 94.20 
TNavPF::Calculated measDiffMean for beam 42 as -0.59. Range = 91.78 
TNavPF::Calculated measDiffMean for beam 43 as -0.38. Range = 93.48 
TNavPF::Calculated measDiffMean for beam 44 as 0.13. Range = 89.09 
TNavPF::Calculated measDiffMean for beam 45 as -0.49. Range = 74.61 
TNavPF::Calculated measDiffMean for beam 46 as 0.14. Range = 70.36 
TNavPF::Calculated measDiffMean for beam 47 as -0.72. Range = 70.74 
TNavPF::Calculated measDiffMean for beam 48 as -0.73. Range = 74.07 
TNavPF::Calculated measDiffMean for beam 49 as 0.51. Range = 75.63 
TNavPF::Calculated measDiffMean for beam 50 as 0.04. Range = 75.83 
TNavPF::Calculated measDiffMean for beam 51 as -1.21. Range = 77.75 
TNavPF::Calculated measDiffMean for beam 52 as -0.63. Range = 77.68 
TNavPF::Calculated measDiffMean for beam 53 as 0.11. Range = 79.64 
TNavPF::Calculated measDiffMean for beam 54 as -1.17. Range = 79.62 
TNavPF::Calculated measDiffMean for beam 55 as -1.09. Range = 79.62 
TNavPF::Calculated measDiffMean for beam 56 as -0.54. Range = 69.63 
TNavPF::Calculated measDiffMean for beam 57 as -0.17. Range = 69.67 
TNavPF::Calculated measDiffMean for beam 58 as 0.02. Range = 69.74 
TNavPF::Calculated measDiffMean for beam 59 as -1.55. Range = 61.79 
TNavPF::Calculated measDiffMean for beam 60 as -1.72. Range = 57.86 
TNavPF::Calculated measDiffMean for beam 61 as -1.31. Range = 57.97 
TNavPF::Calculated measDiffMean for beam 62 as -1.07. Range = 60.11 
TNavPF::Calculated measDiffMean for beam 63 as -1.02. Range = 62.29 
TNavPF::Calculated measDiffMean for beam 64 as -1.29. Range = 62.46 
TNavPF::Calculated measDiffMean for beam 65 as 0.26. Range = 60.62 
TNavPF::Calculated measDiffMean for beam 66 as -0.19. Range = 60.82 
TNavPF::Calculated measDiffMean for beam 67 as -0.19. Range = 59.24 
TNavPF::Calculated measDiffMean for beam 68 as -0.05. Range = 54.98 
TNavPF::Calculated measDiffMean for beam 69 as 0.31. Range = 53.29 
TNavPF::Calculated measDiffMean for beam 70 as 0.43. Range = 53.54 
TNavPF::Calculated measDiffMean for beam 71 as -0.62. Range = 55.90 
TNavPF::Calculated measDiffMean for beam 72 as -0.95. Range = 56.20 
TNavPF::Calculated measDiffMean for beam 73 as -0.44. Range = 56.52 
TNavPF::Calculated measDiffMean for beam 74 as -0.38. Range = 56.44 
TNavPF::Calculated measDiffMean for beam 75 as -1.25. Range = 55.09 
TNavPF::Calculated measDiffMean for beam 76 as -1.06. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 77 as -0.61. Range = 54.49 
TNavPF::Calculated measDiffMean for beam 78 as -1.52. Range = 54.09 
TNavPF::Calculated measDiffMean for beam 79 as -2.04. Range = 54.51 
TNavPF::Calculated measDiffMean for beam 80 as -2.60. Range = 53.10 
TNavPF::First Term of Map Covariance Matrix is 34.27 
TNavPF::Calculated NIS Value : 2.71 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322249.82 sec.
INS : North: 4070288.53, East: 589047.52, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 56.46, IDT[75] = 64.52
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322252.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322252.62)
ARL : North: 2.5941, East: -1.0198, Depth: 0.4819ARL : Estimation Bias  (Mean)         : (t = 1488322252.62)
ARL : North: 1.5732, East: -1.9841, Depth: 0.5730TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 67 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.13 
Alpha[0]	0.123000
Alpha[0]	0.999594
TNavParticleFilter::Modified Variance for beam 1 is 21.17 
Alpha[1]	0.000000
Alpha[1]	0.999202
TNavParticleFilter::Modified Variance for beam 2 is 22.43 
Alpha[2]	0.000000
Alpha[2]	0.998320
TNavParticleFilter::Modified Variance for beam 3 is 23.72 
Alpha[3]	0.000000
Alpha[3]	0.998475
TNavParticleFilter::Modified Variance for beam 4 is 23.78 
Alpha[4]	0.000000
Alpha[4]	0.998815
TNavParticleFilter::Modified Variance for beam 5 is 22.61 
Alpha[5]	0.000000
Alpha[5]	0.998944
TNavParticleFilter::Modified Variance for beam 6 is 22.69 
Alpha[6]	0.000000
Alpha[6]	0.998990
TNavParticleFilter::Modified Variance for beam 7 is 21.57 
Alpha[7]	0.000000
Alpha[7]	0.998688
TNavParticleFilter::Modified Variance for beam 8 is 21.68 
Alpha[8]	0.000000
Alpha[8]	0.998808
TNavParticleFilter::Modified Variance for beam 9 is 18.31 
Alpha[9]	0.000000
Alpha[9]	0.998597
TNavParticleFilter::Modified Variance for beam 10 is 20.73 
Alpha[10]	0.000000
Alpha[10]	0.998051
TNavParticleFilter::Modified Variance for beam 11 is 19.72 
Alpha[11]	0.000000
Alpha[11]	0.996081
TNavParticleFilter::Modified Variance for beam 12 is 19.88 
Alpha[12]	0.000000
Alpha[12]	0.995071
TNavParticleFilter::Modified Variance for beam 13 is 20.03 
Alpha[13]	0.000000
Alpha[13]	0.995248
TNavParticleFilter::Modified Variance for beam 14 is 19.03 
Alpha[14]	0.000000
Alpha[14]	0.994192
TNavParticleFilter::Modified Variance for beam 15 is 19.19 
Alpha[15]	0.000000
Alpha[15]	0.994686
TNavParticleFilter::Modified Variance for beam 16 is 18.71 
Alpha[16]	0.000000
Alpha[16]	0.995430
TNavParticleFilter::Modified Variance for beam 17 is 18.34 
Alpha[17]	0.000000
Alpha[17]	0.996526
TNavParticleFilter::Modified Variance for beam 18 is 18.52 
Alpha[18]	0.000000
Alpha[18]	0.997022
TNavParticleFilter::Modified Variance for beam 19 is 17.59 
Alpha[19]	0.000000
Alpha[19]	0.996238
TNavParticleFilter::Modified Variance for beam 20 is 16.67 
Alpha[20]	0.000000
Alpha[20]	0.995293
TNavParticleFilter::Modified Variance for beam 21 is 16.87 
Alpha[21]	0.000000
Alpha[21]	0.995068
TNavParticleFilter::Modified Variance for beam 22 is 16.88 
Alpha[22]	0.000000
Alpha[22]	0.994198
TNavParticleFilter::Modified Variance for beam 23 is 16.17 
Alpha[23]	0.000000
Alpha[23]	0.994191
TNavParticleFilter::Modified Variance for beam 24 is 16.38 
Alpha[24]	0.000000
Alpha[24]	0.994816
TNavParticleFilter::Modified Variance for beam 25 is 16.62 
Alpha[25]	0.000000
Alpha[25]	0.993879
TNavParticleFilter::Modified Variance for beam 26 is 16.91 
Alpha[26]	0.000000
Alpha[26]	0.991261
TNavParticleFilter::Modified Variance for beam 27 is 16.87 
Alpha[27]	0.000000
Alpha[27]	0.990783
TNavParticleFilter::Modified Variance for beam 28 is 16.23 
Alpha[28]	0.000000
Alpha[28]	0.992254
TNavParticleFilter::Modified Variance for beam 29 is 16.49 
Alpha[29]	0.000000
Alpha[29]	0.992501
TNavParticleFilter::Modified Variance for beam 30 is 16.80 
Alpha[30]	0.000000
Alpha[30]	0.991143
TNavParticleFilter::Modified Variance for beam 31 is 17.12 
Alpha[31]	0.000000
Alpha[31]	0.989715
TNavParticleFilter::Modified Variance for beam 32 is 17.45 
Alpha[32]	0.000000
Alpha[32]	0.989236
TNavParticleFilter::Modified Variance for beam 33 is 17.74 
Alpha[33]	0.000000
Alpha[33]	0.991660
TNavParticleFilter::Modified Variance for beam 34 is 19.55 
Alpha[34]	0.000000
Alpha[34]	0.987558
TNavParticleFilter::Modified Variance for beam 35 is 20.33 
Alpha[35]	0.000000
Alpha[35]	0.969722
TNavParticleFilter::Modified Variance for beam 36 is 20.83 
Alpha[36]	0.000000
Alpha[36]	0.967955
TNavParticleFilter::Modified Variance for beam 37 is 21.21 
Alpha[37]	0.000000
Alpha[37]	0.972430
TNavParticleFilter::Modified Variance for beam 38 is 21.44 
Alpha[38]	0.000000
Alpha[38]	0.985653
TNavParticleFilter::Modified Variance for beam 39 is 21.88 
Alpha[39]	0.000000
Alpha[39]	0.990268
TNavParticleFilter::Modified Variance for beam 40 is 22.37 
Alpha[40]	0.000000
Alpha[40]	0.986199
TNavParticleFilter::Modified Variance for beam 41 is 21.68 
Alpha[41]	0.000000
Alpha[41]	0.985918
TNavParticleFilter::Modified Variance for beam 42 is 22.12 
Alpha[42]	0.000000
Alpha[42]	0.985133
TNavParticleFilter::Modified Variance for beam 43 is 22.85 
Alpha[43]	0.000000
Alpha[43]	0.981954
TNavParticleFilter::Modified Variance for beam 44 is 23.39 
Alpha[44]	0.000000
Alpha[44]	0.988480
TNavParticleFilter::Modified Variance for beam 45 is 23.97 
Alpha[45]	0.000000
Alpha[45]	0.995472
TNavParticleFilter::Modified Variance for beam 46 is 26.73 
Alpha[46]	0.000000
Alpha[46]	0.996281
TNavParticleFilter::Modified Variance for beam 47 is 29.82 
Alpha[47]	0.000000
Alpha[47]	0.996071
TNavParticleFilter::Modified Variance for beam 48 is 30.98 
Alpha[48]	0.000000
Alpha[48]	0.994195
TNavParticleFilter::Modified Variance for beam 49 is 32.16 
Alpha[49]	0.000000
Alpha[49]	0.994557
TNavParticleFilter::Modified Variance for beam 50 is 35.86 
Alpha[50]	0.000000
Alpha[50]	0.998423
TNavParticleFilter::Modified Variance for beam 51 is 40.09 
Alpha[51]	0.000000
Alpha[51]	0.999716
TNavParticleFilter::Modified Variance for beam 52 is 48.00 
Alpha[52]	0.000000
Alpha[52]	0.999777
TNavPF:: sumSquaredError = 28.344791 
TNavPF:: sumWeights = 0.016542 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 2.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 2.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -2.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.52. Range = 99.89 
TNavPF::Calculated measDiffMean for beam 43 as 0.22. Range = 95.26 
TNavPF::Calculated measDiffMean for beam 44 as -0.64. Range = 94.85 
TNavPF::Calculated measDiffMean for beam 45 as 0.11. Range = 92.38 
TNavPF::Calculated measDiffMean for beam 46 as -0.54. Range = 87.93 
TNavPF::Calculated measDiffMean for beam 47 as -0.67. Range = 73.35 
TNavPF::Calculated measDiffMean for beam 48 as 0.58. Range = 74.23 
TNavPF::Calculated measDiffMean for beam 49 as -0.18. Range = 76.95 
TNavPF::Calculated measDiffMean for beam 50 as -1.24. Range = 78.32 
TNavPF::Calculated measDiffMean for beam 51 as -0.39. Range = 78.59 
TNavPF::Calculated measDiffMean for beam 52 as -0.14. Range = 80.45 
TNavPF::Calculated measDiffMean for beam 53 as -1.33. Range = 80.32 
TNavPF::Calculated measDiffMean for beam 54 as -0.85. Range = 82.21 
TNavPF::Calculated measDiffMean for beam 55 as -0.41. Range = 82.13 
TNavPF::Calculated measDiffMean for beam 56 as -0.12. Range = 72.05 
TNavPF::Calculated measDiffMean for beam 57 as -0.46. Range = 72.02 
TNavPF::Calculated measDiffMean for beam 58 as -1.83. Range = 72.01 
TNavPF::Calculated measDiffMean for beam 59 as -1.53. Range = 65.38 
TNavPF::Calculated measDiffMean for beam 60 as -1.16. Range = 60.03 
TNavPF::Calculated measDiffMean for beam 61 as -0.99. Range = 60.08 
TNavPF::Calculated measDiffMean for beam 62 as -0.97. Range = 62.15 
TNavPF::Calculated measDiffMean for beam 63 as -1.33. Range = 64.24 
TNavPF::Calculated measDiffMean for beam 64 as 0.14. Range = 64.35 
TNavPF::Calculated measDiffMean for beam 65 as -0.17. Range = 62.46 
TNavPF::Calculated measDiffMean for beam 66 as -0.17. Range = 62.61 
TNavPF::Calculated measDiffMean for beam 67 as -0.09. Range = 60.75 
TNavPF::Calculated measDiffMean for beam 68 as 0.24. Range = 60.92 
TNavPF::Calculated measDiffMean for beam 69 as 0.42. Range = 55.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.15. Range = 59.29 
TNavPF::Calculated measDiffMean for beam 71 as -1.06. Range = 57.47 
TNavPF::Calculated measDiffMean for beam 72 as -0.60. Range = 57.71 
TNavPF::Calculated measDiffMean for beam 73 as -0.32. Range = 57.97 
TNavPF::Calculated measDiffMean for beam 74 as -0.40. Range = 56.17 
TNavPF::Calculated measDiffMean for beam 75 as -1.50. Range = 56.46 
TNavPF::Calculated measDiffMean for beam 76 as -0.87. Range = 55.62 
TNavPF::Calculated measDiffMean for beam 77 as -0.11. Range = 54.99 
TNavPF::Calculated measDiffMean for beam 78 as -1.25. Range = 55.33 
TNavPF::Calculated measDiffMean for beam 79 as -1.38. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 80 as 0.35. Range = 51.76 
TNavPF::Calculated measDiffMean for beam 81 as -4.28. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 82 as -4.22. Range = 52.13 
TNavPF::First Term of Map Covariance Matrix is 49.20 
TNavPF::Calculated NIS Value : 2.93 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322252.82 sec.
INS : North: 4070290.85, East: 589043.77, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 57.50, IDT[75] = 62.64
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322255.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322255.62)
ARL : North: 0.5065, East: -1.8113, Depth: -2.6463ARL : Estimation Bias  (Mean)         : (t = 1488322255.62)
ARL : North: 1.4025, East: -2.0443, Depth: 0.3493TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 65 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.41 
Alpha[0]	0.123000
Alpha[0]	0.999750
TNavParticleFilter::Modified Variance for beam 1 is 22.39 
Alpha[1]	0.000000
Alpha[1]	0.999668
TNavParticleFilter::Modified Variance for beam 2 is 23.62 
Alpha[2]	0.000000
Alpha[2]	0.999520
TNavParticleFilter::Modified Variance for beam 3 is 23.63 
Alpha[3]	0.000000
Alpha[3]	0.999161
TNavParticleFilter::Modified Variance for beam 4 is 24.94 
Alpha[4]	0.000000
Alpha[4]	0.998742
TNavParticleFilter::Modified Variance for beam 5 is 24.96 
Alpha[5]	0.000000
Alpha[5]	0.998837
TNavParticleFilter::Modified Variance for beam 6 is 23.71 
Alpha[6]	0.000000
Alpha[6]	0.999102
TNavParticleFilter::Modified Variance for beam 7 is 23.76 
Alpha[7]	0.000000
Alpha[7]	0.999161
TNavParticleFilter::Modified Variance for beam 8 is 22.58 
Alpha[8]	0.000000
Alpha[8]	0.998966
TNavParticleFilter::Modified Variance for beam 9 is 22.65 
Alpha[9]	0.000000
Alpha[9]	0.998923
TNavParticleFilter::Modified Variance for beam 10 is 21.53 
Alpha[10]	0.000000
Alpha[10]	0.998324
TNavParticleFilter::Modified Variance for beam 11 is 20.46 
Alpha[11]	0.000000
Alpha[11]	0.996714
TNavParticleFilter::Modified Variance for beam 12 is 20.60 
Alpha[12]	0.000000
Alpha[12]	0.994706
TNavParticleFilter::Modified Variance for beam 13 is 20.69 
Alpha[13]	0.000000
Alpha[13]	0.995556
TNavParticleFilter::Modified Variance for beam 14 is 19.64 
Alpha[14]	0.000000
Alpha[14]	0.995097
TNavParticleFilter::Modified Variance for beam 15 is 19.77 
Alpha[15]	0.000000
Alpha[15]	0.994925
TNavParticleFilter::Modified Variance for beam 16 is 19.35 
Alpha[16]	0.000000
Alpha[16]	0.995493
TNavParticleFilter::Modified Variance for beam 17 is 18.84 
Alpha[17]	0.000000
Alpha[17]	0.996929
TNavParticleFilter::Modified Variance for beam 18 is 18.98 
Alpha[18]	0.000000
Alpha[18]	0.997406
TNavParticleFilter::Modified Variance for beam 19 is 17.69 
Alpha[19]	0.000000
Alpha[19]	0.996723
TNavParticleFilter::Modified Variance for beam 20 is 17.07 
Alpha[20]	0.000000
Alpha[20]	0.996033
TNavParticleFilter::Modified Variance for beam 21 is 17.24 
Alpha[21]	0.000000
Alpha[21]	0.995339
TNavParticleFilter::Modified Variance for beam 22 is 16.69 
Alpha[22]	0.000000
Alpha[22]	0.994552
TNavParticleFilter::Modified Variance for beam 23 is 16.49 
Alpha[23]	0.000000
Alpha[23]	0.994822
TNavParticleFilter::Modified Variance for beam 24 is 16.67 
Alpha[24]	0.000000
Alpha[24]	0.995017
TNavParticleFilter::Modified Variance for beam 25 is 16.88 
Alpha[25]	0.000000
Alpha[25]	0.993723
TNavParticleFilter::Modified Variance for beam 26 is 17.12 
Alpha[26]	0.000000
Alpha[26]	0.990953
TNavParticleFilter::Modified Variance for beam 27 is 16.53 
Alpha[27]	0.000000
Alpha[27]	0.991235
TNavParticleFilter::Modified Variance for beam 28 is 16.40 
Alpha[28]	0.000000
Alpha[28]	0.992414
TNavParticleFilter::Modified Variance for beam 29 is 16.62 
Alpha[29]	0.000000
Alpha[29]	0.992440
TNavParticleFilter::Modified Variance for beam 30 is 16.88 
Alpha[30]	0.000000
Alpha[30]	0.991159
TNavParticleFilter::Modified Variance for beam 31 is 17.15 
Alpha[31]	0.000000
Alpha[31]	0.989647
TNavParticleFilter::Modified Variance for beam 32 is 17.44 
Alpha[32]	0.000000
Alpha[32]	0.988870
TNavParticleFilter::Modified Variance for beam 33 is 17.69 
Alpha[33]	0.000000
Alpha[33]	0.990774
TNavParticleFilter::Modified Variance for beam 34 is 19.43 
Alpha[34]	0.000000
Alpha[34]	0.982926
TNavParticleFilter::Modified Variance for beam 35 is 20.15 
Alpha[35]	0.000000
Alpha[35]	0.964994
TNavParticleFilter::Modified Variance for beam 36 is 20.55 
Alpha[36]	0.000000
Alpha[36]	0.963910
TNavParticleFilter::Modified Variance for beam 37 is 20.88 
Alpha[37]	0.000000
Alpha[37]	0.967560
TNavParticleFilter::Modified Variance for beam 38 is 21.00 
Alpha[38]	0.000000
Alpha[38]	0.981939
TNavParticleFilter::Modified Variance for beam 39 is 21.30 
Alpha[39]	0.000000
Alpha[39]	0.988869
TNavParticleFilter::Modified Variance for beam 40 is 21.80 
Alpha[40]	0.000000
Alpha[40]	0.987505
TNavParticleFilter::Modified Variance for beam 41 is 21.40 
Alpha[41]	0.000000
Alpha[41]	0.984238
TNavParticleFilter::Modified Variance for beam 42 is 21.28 
Alpha[42]	0.000000
Alpha[42]	0.987420
TNavParticleFilter::Modified Variance for beam 43 is 21.92 
Alpha[43]	0.000000
Alpha[43]	0.982493
TNavParticleFilter::Modified Variance for beam 44 is 22.53 
Alpha[44]	0.000000
Alpha[44]	0.980749
TNavParticleFilter::Modified Variance for beam 45 is 22.93 
Alpha[45]	0.000000
Alpha[45]	0.989447
TNavParticleFilter::Modified Variance for beam 46 is 25.23 
Alpha[46]	0.000000
Alpha[46]	0.994274
TNavParticleFilter::Modified Variance for beam 47 is 27.87 
Alpha[47]	0.000000
Alpha[47]	0.995216
TNavParticleFilter::Modified Variance for beam 48 is 28.75 
Alpha[48]	0.000000
Alpha[48]	0.994958
TNavParticleFilter::Modified Variance for beam 49 is 29.71 
Alpha[49]	0.000000
Alpha[49]	0.993843
TNavParticleFilter::Modified Variance for beam 50 is 30.73 
Alpha[50]	0.000000
Alpha[50]	0.993299
TNavParticleFilter::Modified Variance for beam 51 is 31.75 
Alpha[51]	0.000000
Alpha[51]	0.995295
TNavParticleFilter::Modified Variance for beam 52 is 35.19 
Alpha[52]	0.000000
Alpha[52]	0.998813
TNavParticleFilter::Modified Variance for beam 53 is 41.78 
Alpha[53]	0.000000
Alpha[53]	0.999632
TNavParticleFilter::Modified Variance for beam 54 is 46.38 
Alpha[54]	0.000000
Alpha[54]	0.999724
TNavPF:: sumSquaredError = 24.091256 
TNavPF:: sumWeights = 0.009291 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -7.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -3.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.55. Range = 98.14 
TNavPF::Calculated measDiffMean for beam 47 as -0.83. Range = 99.73 
TNavPF::Calculated measDiffMean for beam 48 as 0.37. Range = 91.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.90. Range = 76.21 
TNavPF::Calculated measDiffMean for beam 50 as -1.19. Range = 77.87 
TNavPF::Calculated measDiffMean for beam 51 as -0.38. Range = 79.71 
TNavPF::Calculated measDiffMean for beam 52 as -1.11. Range = 81.59 
TNavPF::Calculated measDiffMean for beam 53 as -1.22. Range = 81.23 
TNavPF::Calculated measDiffMean for beam 54 as -0.81. Range = 83.03 
TNavPF::Calculated measDiffMean for beam 55 as -0.42. Range = 83.31 
TNavPF::Calculated measDiffMean for beam 56 as -0.15. Range = 84.67 
TNavPF::Calculated measDiffMean for beam 57 as -1.39. Range = 84.52 
TNavPF::Calculated measDiffMean for beam 58 as -1.72. Range = 74.35 
TNavPF::Calculated measDiffMean for beam 59 as -1.44. Range = 74.26 
TNavPF::Calculated measDiffMean for beam 60 as -1.12. Range = 62.18 
TNavPF::Calculated measDiffMean for beam 61 as -0.98. Range = 62.14 
TNavPF::Calculated measDiffMean for beam 62 as -0.96. Range = 64.12 
TNavPF::Calculated measDiffMean for beam 63 as -1.40. Range = 64.13 
TNavPF::Calculated measDiffMean for beam 64 as 0.05. Range = 66.15 
TNavPF::Calculated measDiffMean for beam 65 as -0.14. Range = 66.19 
TNavPF::Calculated measDiffMean for beam 66 as -0.14. Range = 64.25 
TNavPF::Calculated measDiffMean for beam 67 as -0.11. Range = 64.33 
TNavPF::Calculated measDiffMean for beam 68 as 0.14. Range = 62.42 
TNavPF::Calculated measDiffMean for beam 69 as 0.38. Range = 62.54 
TNavPF::Calculated measDiffMean for beam 70 as 0.28. Range = 60.65 
TNavPF::Calculated measDiffMean for beam 71 as -0.82. Range = 58.78 
TNavPF::Calculated measDiffMean for beam 72 as -0.81. Range = 58.94 
TNavPF::Calculated measDiffMean for beam 73 as -0.39. Range = 59.13 
TNavPF::Calculated measDiffMean for beam 74 as -0.25. Range = 57.29 
TNavPF::Calculated measDiffMean for beam 75 as -0.45. Range = 57.50 
TNavPF::Calculated measDiffMean for beam 76 as 0.87. Range = 56.78 
TNavPF::Calculated measDiffMean for beam 77 as 1.91. Range = 55.92 
TNavPF::Calculated measDiffMean for beam 78 as 0.05. Range = 56.18 
TNavPF::Calculated measDiffMean for beam 79 as -1.11. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 80 as -1.21. Range = 52.57 
TNavPF::Calculated measDiffMean for beam 81 as -1.51. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 82 as -1.42. Range = 51.77 
TNavPF::Calculated measDiffMean for beam 83 as -1.93. Range = 51.39 
TNavPF::Calculated measDiffMean for beam 84 as -3.76. Range = 51.74 
TNavPF::First Term of Map Covariance Matrix is 79.87 
TNavPF::Calculated NIS Value : 3.55 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322255.82 sec.
INS : North: 4070292.86, East: 589039.84, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 58.42, IDT[75] = 60.44
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322258.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322258.62)
ARL : North: 1.1412, East: -1.6957, Depth: -1.6019ARL : Estimation Bias  (Mean)         : (t = 1488322258.62)
ARL : North: 1.1430, East: -2.4778, Depth: 0.1601TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 63 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 32.20 
Alpha[0]	0.123000
Alpha[0]	0.999665
TNavParticleFilter::Modified Variance for beam 1 is 32.08 
Alpha[1]	0.000000
Alpha[1]	0.999728
TNavParticleFilter::Modified Variance for beam 2 is 23.67 
Alpha[2]	0.000000
Alpha[2]	0.999754
TNavParticleFilter::Modified Variance for beam 3 is 23.61 
Alpha[3]	0.000000
Alpha[3]	0.999581
TNavParticleFilter::Modified Variance for beam 4 is 24.85 
Alpha[4]	0.000000
Alpha[4]	0.999212
TNavParticleFilter::Modified Variance for beam 5 is 24.81 
Alpha[5]	0.000000
Alpha[5]	0.999232
TNavParticleFilter::Modified Variance for beam 6 is 26.11 
Alpha[6]	0.000000
Alpha[6]	0.998902
TNavParticleFilter::Modified Variance for beam 7 is 24.77 
Alpha[7]	0.000000
Alpha[7]	0.999192
TNavParticleFilter::Modified Variance for beam 8 is 24.77 
Alpha[8]	0.000000
Alpha[8]	0.999304
TNavParticleFilter::Modified Variance for beam 9 is 23.51 
Alpha[9]	0.000000
Alpha[9]	0.999163
TNavParticleFilter::Modified Variance for beam 10 is 23.55 
Alpha[10]	0.000000
Alpha[10]	0.998923
TNavParticleFilter::Modified Variance for beam 11 is 22.37 
Alpha[11]	0.000000
Alpha[11]	0.997695
TNavParticleFilter::Modified Variance for beam 12 is 21.26 
Alpha[12]	0.000000
Alpha[12]	0.995623
TNavParticleFilter::Modified Variance for beam 13 is 21.32 
Alpha[13]	0.000000
Alpha[13]	0.995181
TNavParticleFilter::Modified Variance for beam 14 is 21.38 
Alpha[14]	0.000000
Alpha[14]	0.995648
TNavParticleFilter::Modified Variance for beam 15 is 20.28 
Alpha[15]	0.000000
Alpha[15]	0.995357
TNavParticleFilter::Modified Variance for beam 16 is 20.36 
Alpha[16]	0.000000
Alpha[16]	0.995325
TNavParticleFilter::Modified Variance for beam 17 is 19.28 
Alpha[17]	0.000000
Alpha[17]	0.996798
TNavParticleFilter::Modified Variance for beam 18 is 19.36 
Alpha[18]	0.000000
Alpha[18]	0.997667
TNavParticleFilter::Modified Variance for beam 19 is 19.15 
Alpha[19]	0.000000
Alpha[19]	0.997205
TNavParticleFilter::Modified Variance for beam 20 is 17.38 
Alpha[20]	0.000000
Alpha[20]	0.996831
TNavParticleFilter::Modified Variance for beam 21 is 17.51 
Alpha[21]	0.000000
Alpha[21]	0.995748
TNavParticleFilter::Modified Variance for beam 22 is 17.33 
Alpha[22]	0.000000
Alpha[22]	0.994888
TNavParticleFilter::Modified Variance for beam 23 is 16.70 
Alpha[23]	0.000000
Alpha[23]	0.995095
TNavParticleFilter::Modified Variance for beam 24 is 16.83 
Alpha[24]	0.000000
Alpha[24]	0.994882
TNavParticleFilter::Modified Variance for beam 25 is 17.00 
Alpha[25]	0.000000
Alpha[25]	0.993785
TNavParticleFilter::Modified Variance for beam 26 is 17.21 
Alpha[26]	0.000000
Alpha[26]	0.990570
TNavParticleFilter::Modified Variance for beam 27 is 16.76 
Alpha[27]	0.000000
Alpha[27]	0.991091
TNavParticleFilter::Modified Variance for beam 28 is 16.42 
Alpha[28]	0.000000
Alpha[28]	0.992019
TNavParticleFilter::Modified Variance for beam 29 is 16.59 
Alpha[29]	0.000000
Alpha[29]	0.992181
TNavParticleFilter::Modified Variance for beam 30 is 16.80 
Alpha[30]	0.000000
Alpha[30]	0.991002
TNavParticleFilter::Modified Variance for beam 31 is 17.03 
Alpha[31]	0.000000
Alpha[31]	0.989146
TNavParticleFilter::Modified Variance for beam 32 is 17.26 
Alpha[32]	0.000000
Alpha[32]	0.988106
TNavParticleFilter::Modified Variance for beam 33 is 17.47 
Alpha[33]	0.000000
Alpha[33]	0.989301
TNavParticleFilter::Modified Variance for beam 34 is 19.12 
Alpha[34]	0.000000
Alpha[34]	0.979131
TNavParticleFilter::Modified Variance for beam 35 is 19.76 
Alpha[35]	0.000000
Alpha[35]	0.961092
TNavParticleFilter::Modified Variance for beam 36 is 20.09 
Alpha[36]	0.000000
Alpha[36]	0.959977
TNavParticleFilter::Modified Variance for beam 37 is 20.39 
Alpha[37]	0.000000
Alpha[37]	0.961261
TNavParticleFilter::Modified Variance for beam 38 is 20.45 
Alpha[38]	0.000000
Alpha[38]	0.974491
TNavParticleFilter::Modified Variance for beam 39 is 20.55 
Alpha[39]	0.000000
Alpha[39]	0.986422
TNavParticleFilter::Modified Variance for beam 40 is 20.90 
Alpha[40]	0.000000
Alpha[40]	0.988117
TNavParticleFilter::Modified Variance for beam 41 is 21.44 
Alpha[41]	0.000000
Alpha[41]	0.981493
TNavParticleFilter::Modified Variance for beam 42 is 20.70 
Alpha[42]	0.000000
Alpha[42]	0.985966
TNavParticleFilter::Modified Variance for beam 43 is 20.74 
Alpha[43]	0.000000
Alpha[43]	0.986215
TNavParticleFilter::Modified Variance for beam 44 is 21.30 
Alpha[44]	0.000000
Alpha[44]	0.980855
TNavParticleFilter::Modified Variance for beam 45 is 21.80 
Alpha[45]	0.000000
Alpha[45]	0.980112
TNavParticleFilter::Modified Variance for beam 46 is 22.11 
Alpha[46]	0.000000
Alpha[46]	0.988602
TNavParticleFilter::Modified Variance for beam 47 is 24.17 
Alpha[47]	0.000000
Alpha[47]	0.992972
TNavParticleFilter::Modified Variance for beam 48 is 24.81 
Alpha[48]	0.000000
Alpha[48]	0.992113
TNavParticleFilter::Modified Variance for beam 49 is 27.22 
Alpha[49]	0.000000
Alpha[49]	0.993824
TNavParticleFilter::Modified Variance for beam 50 is 27.98 
Alpha[50]	0.000000
Alpha[50]	0.993715
TNavParticleFilter::Modified Variance for beam 51 is 28.85 
Alpha[51]	0.000000
Alpha[51]	0.991705
TNavParticleFilter::Modified Variance for beam 52 is 29.70 
Alpha[52]	0.000000
Alpha[52]	0.992716
TNavParticleFilter::Modified Variance for beam 53 is 30.56 
Alpha[53]	0.000000
Alpha[53]	0.995062
TNavParticleFilter::Modified Variance for beam 54 is 33.66 
Alpha[54]	0.000000
Alpha[54]	0.998278
TNavParticleFilter::Modified Variance for beam 55 is 37.14 
Alpha[55]	0.000000
Alpha[55]	0.999402
TNavParticleFilter::Modified Variance for beam 56 is 43.66 
Alpha[56]	0.000000
Alpha[56]	0.999633
TNavPF:: sumSquaredError = 25.610145 
TNavPF:: sumWeights = 0.028669 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 3.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -4.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -2.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 2.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.48. Range = 79.15 
TNavPF::Calculated measDiffMean for beam 52 as -0.32. Range = 78.76 
TNavPF::Calculated measDiffMean for beam 53 as -1.20. Range = 82.53 
TNavPF::Calculated measDiffMean for beam 54 as -0.82. Range = 82.17 
TNavPF::Calculated measDiffMean for beam 55 as -0.47. Range = 83.89 
TNavPF::Calculated measDiffMean for beam 56 as -0.16. Range = 84.59 
TNavPF::Calculated measDiffMean for beam 57 as -0.98. Range = 85.34 
TNavPF::Calculated measDiffMean for beam 58 as -1.67. Range = 87.11 
TNavPF::Calculated measDiffMean for beam 59 as -1.40. Range = 86.87 
TNavPF::Calculated measDiffMean for beam 60 as -1.11. Range = 76.56 
TNavPF::Calculated measDiffMean for beam 61 as -0.97. Range = 76.40 
TNavPF::Calculated measDiffMean for beam 62 as -0.94. Range = 64.20 
TNavPF::Calculated measDiffMean for beam 63 as -1.33. Range = 64.10 
TNavPF::Calculated measDiffMean for beam 64 as 0.08. Range = 66.03 
TNavPF::Calculated measDiffMean for beam 65 as -0.10. Range = 65.97 
TNavPF::Calculated measDiffMean for beam 66 as -0.10. Range = 67.94 
TNavPF::Calculated measDiffMean for beam 67 as -0.09. Range = 65.92 
TNavPF::Calculated measDiffMean for beam 68 as 0.04. Range = 65.92 
TNavPF::Calculated measDiffMean for beam 69 as 0.34. Range = 63.94 
TNavPF::Calculated measDiffMean for beam 70 as 0.35. Range = 63.98 
TNavPF::Calculated measDiffMean for beam 71 as 0.25. Range = 62.03 
TNavPF::Calculated measDiffMean for beam 72 as -0.65. Range = 60.10 
TNavPF::Calculated measDiffMean for beam 73 as -0.62. Range = 60.19 
TNavPF::Calculated measDiffMean for beam 74 as -0.32. Range = 60.31 
TNavPF::Calculated measDiffMean for beam 75 as -0.22. Range = 58.42 
TNavPF::Calculated measDiffMean for beam 76 as -0.41. Range = 58.56 
TNavPF::Calculated measDiffMean for beam 77 as 0.78. Range = 56.70 
TNavPF::Calculated measDiffMean for beam 78 as -0.41. Range = 56.87 
TNavPF::Calculated measDiffMean for beam 79 as 0.45. Range = 56.47 
TNavPF::Calculated measDiffMean for beam 80 as -0.76. Range = 53.18 
TNavPF::Calculated measDiffMean for beam 81 as -1.12. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 82 as -1.14. Range = 53.02 
TNavPF::Calculated measDiffMean for beam 83 as -1.67. Range = 51.80 
TNavPF::Calculated measDiffMean for beam 84 as -1.39. Range = 52.07 
TNavPF::Calculated measDiffMean for beam 85 as -3.58. Range = 52.35 
TNavPF::Calculated measDiffMean for beam 86 as -1.64. Range = 52.64 
TNavPF::First Term of Map Covariance Matrix is 59.60 
TNavPF::Calculated NIS Value : 2.58 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322258.82 sec.
INS : North: 4070294.52, East: 589035.76, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 59.47, IDT[75] = 58.94
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322261.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322261.62)
ARL : North: -0.0488, East: -2.4067, Depth: 0.3356ARL : Estimation Bias  (Mean)         : (t = 1488322261.62)
ARL : North: 1.0248, East: -2.4815, Depth: -0.1337TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 44.38 
Alpha[0]	0.123000
Alpha[0]	0.999546
TNavParticleFilter::Modified Variance for beam 1 is 42.29 
Alpha[1]	0.000000
Alpha[1]	0.999756
TNavParticleFilter::Modified Variance for beam 2 is 33.72 
Alpha[2]	0.000000
Alpha[2]	0.999657
TNavParticleFilter::Modified Variance for beam 3 is 24.93 
Alpha[3]	0.000000
Alpha[3]	0.999774
TNavParticleFilter::Modified Variance for beam 4 is 24.82 
Alpha[4]	0.000000
Alpha[4]	0.999696
TNavParticleFilter::Modified Variance for beam 5 is 26.06 
Alpha[5]	0.000000
Alpha[5]	0.999189
TNavParticleFilter::Modified Variance for beam 6 is 25.97 
Alpha[6]	0.000000
Alpha[6]	0.999305
TNavParticleFilter::Modified Variance for beam 7 is 27.25 
Alpha[7]	0.000000
Alpha[7]	0.999186
TNavParticleFilter::Modified Variance for beam 8 is 25.84 
Alpha[8]	0.000000
Alpha[8]	0.999236
TNavParticleFilter::Modified Variance for beam 9 is 25.78 
Alpha[9]	0.000000
Alpha[9]	0.999418
TNavParticleFilter::Modified Variance for beam 10 is 24.45 
Alpha[10]	0.000000
Alpha[10]	0.999230
TNavParticleFilter::Modified Variance for beam 11 is 24.45 
Alpha[11]	0.000000
Alpha[11]	0.998660
TNavParticleFilter::Modified Variance for beam 12 is 23.23 
Alpha[12]	0.000000
Alpha[12]	0.996422
TNavParticleFilter::Modified Variance for beam 13 is 23.26 
Alpha[13]	0.000000
Alpha[13]	0.995531
TNavParticleFilter::Modified Variance for beam 14 is 22.05 
Alpha[14]	0.000000
Alpha[14]	0.995431
TNavParticleFilter::Modified Variance for beam 15 is 20.87 
Alpha[15]	0.000000
Alpha[15]	0.995995
TNavParticleFilter::Modified Variance for beam 16 is 20.93 
Alpha[16]	0.000000
Alpha[16]	0.995346
TNavParticleFilter::Modified Variance for beam 17 is 20.07 
Alpha[17]	0.000000
Alpha[17]	0.996807
TNavParticleFilter::Modified Variance for beam 18 is 19.82 
Alpha[18]	0.000000
Alpha[18]	0.997783
TNavParticleFilter::Modified Variance for beam 19 is 19.89 
Alpha[19]	0.000000
Alpha[19]	0.997669
TNavParticleFilter::Modified Variance for beam 20 is 17.76 
Alpha[20]	0.000000
Alpha[20]	0.997240
TNavParticleFilter::Modified Variance for beam 21 is 17.85 
Alpha[21]	0.000000
Alpha[21]	0.996314
TNavParticleFilter::Modified Variance for beam 22 is 16.98 
Alpha[22]	0.000000
Alpha[22]	0.995408
TNavParticleFilter::Modified Variance for beam 23 is 16.97 
Alpha[23]	0.000000
Alpha[23]	0.995392
TNavParticleFilter::Modified Variance for beam 24 is 17.08 
Alpha[24]	0.000000
Alpha[24]	0.994826
TNavParticleFilter::Modified Variance for beam 25 is 17.20 
Alpha[25]	0.000000
Alpha[25]	0.993716
TNavParticleFilter::Modified Variance for beam 26 is 17.37 
Alpha[26]	0.000000
Alpha[26]	0.991141
TNavParticleFilter::Modified Variance for beam 27 is 16.41 
Alpha[27]	0.000000
Alpha[27]	0.991711
TNavParticleFilter::Modified Variance for beam 28 is 16.53 
Alpha[28]	0.000000
Alpha[28]	0.992134
TNavParticleFilter::Modified Variance for beam 29 is 16.67 
Alpha[29]	0.000000
Alpha[29]	0.992346
TNavParticleFilter::Modified Variance for beam 30 is 16.84 
Alpha[30]	0.000000
Alpha[30]	0.991041
TNavParticleFilter::Modified Variance for beam 31 is 17.03 
Alpha[31]	0.000000
Alpha[31]	0.988980
TNavParticleFilter::Modified Variance for beam 32 is 17.21 
Alpha[32]	0.000000
Alpha[32]	0.988276
TNavParticleFilter::Modified Variance for beam 33 is 17.39 
Alpha[33]	0.000000
Alpha[33]	0.988069
TNavParticleFilter::Modified Variance for beam 34 is 19.13 
Alpha[34]	0.000000
Alpha[34]	0.968791
TNavParticleFilter::Modified Variance for beam 35 is 19.63 
Alpha[35]	0.000000
Alpha[35]	0.955344
TNavParticleFilter::Modified Variance for beam 36 is 19.86 
Alpha[36]	0.000000
Alpha[36]	0.955729
TNavParticleFilter::Modified Variance for beam 37 is 20.09 
Alpha[37]	0.000000
Alpha[37]	0.957490
TNavParticleFilter::Modified Variance for beam 38 is 20.06 
Alpha[38]	0.000000
Alpha[38]	0.972227
TNavParticleFilter::Modified Variance for beam 39 is 20.08 
Alpha[39]	0.000000
Alpha[39]	0.985166
TNavParticleFilter::Modified Variance for beam 40 is 20.34 
Alpha[40]	0.000000
Alpha[40]	0.987253
TNavParticleFilter::Modified Variance for beam 41 is 20.81 
Alpha[41]	0.000000
Alpha[41]	0.980503
TNavParticleFilter::Modified Variance for beam 42 is 20.43 
Alpha[42]	0.000000
Alpha[42]	0.983528
TNavParticleFilter::Modified Variance for beam 43 is 20.01 
Alpha[43]	0.000000
Alpha[43]	0.987154
TNavParticleFilter::Modified Variance for beam 44 is 20.47 
Alpha[44]	0.000000
Alpha[44]	0.982620
TNavParticleFilter::Modified Variance for beam 45 is 20.98 
Alpha[45]	0.000000
Alpha[45]	0.976575
TNavParticleFilter::Modified Variance for beam 46 is 21.31 
Alpha[46]	0.000000
Alpha[46]	0.980275
TNavParticleFilter::Modified Variance for beam 47 is 21.48 
Alpha[47]	0.000000
Alpha[47]	0.992158
TNavParticleFilter::Modified Variance for beam 48 is 23.58 
Alpha[48]	0.000000
Alpha[48]	0.987271
TNavParticleFilter::Modified Variance for beam 49 is 23.96 
Alpha[49]	0.000000
Alpha[49]	0.993153
TNavParticleFilter::Modified Variance for beam 50 is 26.21 
Alpha[50]	0.000000
Alpha[50]	0.992471
TNavParticleFilter::Modified Variance for beam 51 is 26.83 
Alpha[51]	0.000000
Alpha[51]	0.993089
TNavParticleFilter::Modified Variance for beam 52 is 27.57 
Alpha[52]	0.000000
Alpha[52]	0.991150
TNavParticleFilter::Modified Variance for beam 53 is 28.28 
Alpha[53]	0.000000
Alpha[53]	0.991783
TNavParticleFilter::Modified Variance for beam 54 is 29.01 
Alpha[54]	0.000000
Alpha[54]	0.993696
TNavParticleFilter::Modified Variance for beam 55 is 31.82 
Alpha[55]	0.000000
Alpha[55]	0.994735
TNavParticleFilter::Modified Variance for beam 56 is 34.80 
Alpha[56]	0.000000
Alpha[56]	0.998542
TNavParticleFilter::Modified Variance for beam 57 is 38.17 
Alpha[57]	0.000000
Alpha[57]	0.999432
TNavParticleFilter::Modified Variance for beam 58 is 41.88 
Alpha[58]	0.000000
Alpha[58]	0.999585
TNavPF:: sumSquaredError = 34.896151 
TNavPF:: sumWeights = 0.016539 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 6.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 9.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 4.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -5.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -3.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.39. Range = 81.80 
TNavPF::Calculated measDiffMean for beam 54 as -1.00. Range = 81.32 
TNavPF::Calculated measDiffMean for beam 55 as -0.68. Range = 85.06 
TNavPF::Calculated measDiffMean for beam 56 as -0.31. Range = 84.63 
TNavPF::Calculated measDiffMean for beam 57 as -1.96. Range = 88.36 
TNavPF::Calculated measDiffMean for beam 58 as -1.75. Range = 87.97 
TNavPF::Calculated measDiffMean for beam 59 as -1.48. Range = 87.60 
TNavPF::Calculated measDiffMean for beam 60 as -1.25. Range = 91.36 
TNavPF::Calculated measDiffMean for beam 61 as -1.13. Range = 89.00 
TNavPF::Calculated measDiffMean for beam 62 as -1.14. Range = 78.56 
TNavPF::Calculated measDiffMean for beam 63 as -1.72. Range = 66.18 
TNavPF::Calculated measDiffMean for beam 64 as -0.16. Range = 66.01 
TNavPF::Calculated measDiffMean for beam 65 as -0.22. Range = 67.87 
TNavPF::Calculated measDiffMean for beam 66 as -0.22. Range = 67.74 
TNavPF::Calculated measDiffMean for beam 67 as -0.21. Range = 69.64 
TNavPF::Calculated measDiffMean for beam 68 as -0.09. Range = 67.54 
TNavPF::Calculated measDiffMean for beam 69 as 0.19. Range = 67.47 
TNavPF::Calculated measDiffMean for beam 70 as 0.20. Range = 65.42 
TNavPF::Calculated measDiffMean for beam 71 as 0.01. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 72 as -0.42. Range = 63.38 
TNavPF::Calculated measDiffMean for beam 73 as -0.90. Range = 63.39 
TNavPF::Calculated measDiffMean for beam 74 as -0.56. Range = 61.42 
TNavPF::Calculated measDiffMean for beam 75 as -0.38. Range = 59.47 
TNavPF::Calculated measDiffMean for beam 76 as -0.38. Range = 59.53 
TNavPF::Calculated measDiffMean for beam 77 as -1.03. Range = 58.10 
TNavPF::Calculated measDiffMean for beam 78 as 0.05. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 79 as -0.95. Range = 57.82 
TNavPF::Calculated measDiffMean for beam 80 as 0.12. Range = 53.91 
TNavPF::Calculated measDiffMean for beam 81 as -0.98. Range = 54.06 
TNavPF::Calculated measDiffMean for beam 82 as -1.34. Range = 52.37 
TNavPF::Calculated measDiffMean for beam 83 as -1.35. Range = 52.35 
TNavPF::Calculated measDiffMean for beam 84 as -1.58. Range = 52.54 
TNavPF::Calculated measDiffMean for beam 85 as -0.29. Range = 52.75 
TNavPF::Calculated measDiffMean for beam 86 as -1.10. Range = 52.97 
TNavPF::Calculated measDiffMean for beam 87 as -2.02. Range = 51.14 
TNavPF::Calculated measDiffMean for beam 88 as -2.60. Range = 51.39 
TNavPF::First Term of Map Covariance Matrix is 44.01 
TNavPF::Calculated NIS Value : 4.25 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322261.82 sec.
INS : North: 4070295.88, East: 589031.56, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 60.59, IDT[75] = 58.24
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322264.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322264.62)
ARL : North: 0.7528, East: -3.4303, Depth: -0.3540ARL : Estimation Bias  (Mean)         : (t = 1488322264.62)
ARL : North: 0.9736, East: -2.3912, Depth: 0.1282TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 43.00 
Alpha[0]	0.123000
Alpha[0]	0.999036
TNavParticleFilter::Modified Variance for beam 1 is 46.30 
Alpha[1]	0.000000
Alpha[1]	0.999744
TNavParticleFilter::Modified Variance for beam 2 is 35.43 
Alpha[2]	0.000000
Alpha[2]	0.999729
TNavParticleFilter::Modified Variance for beam 3 is 26.23 
Alpha[3]	0.000000
Alpha[3]	0.999701
TNavParticleFilter::Modified Variance for beam 4 is 26.06 
Alpha[4]	0.000000
Alpha[4]	0.999750
TNavParticleFilter::Modified Variance for beam 5 is 27.29 
Alpha[5]	0.000000
Alpha[5]	0.999361
TNavParticleFilter::Modified Variance for beam 6 is 27.16 
Alpha[6]	0.000000
Alpha[6]	0.999012
TNavParticleFilter::Modified Variance for beam 7 is 28.41 
Alpha[7]	0.000000
Alpha[7]	0.999460
TNavParticleFilter::Modified Variance for beam 8 is 26.91 
Alpha[8]	0.000000
Alpha[8]	0.999344
TNavParticleFilter::Modified Variance for beam 9 is 26.81 
Alpha[9]	0.000000
Alpha[9]	0.999522
TNavParticleFilter::Modified Variance for beam 10 is 25.40 
Alpha[10]	0.000000
Alpha[10]	0.999227
TNavParticleFilter::Modified Variance for beam 11 is 24.06 
Alpha[11]	0.000000
Alpha[11]	0.998269
TNavParticleFilter::Modified Variance for beam 12 is 24.06 
Alpha[12]	0.000000
Alpha[12]	0.996422
TNavParticleFilter::Modified Variance for beam 13 is 24.03 
Alpha[13]	0.000000
Alpha[13]	0.996112
TNavParticleFilter::Modified Variance for beam 14 is 24.00 
Alpha[14]	0.000000
Alpha[14]	0.996496
TNavParticleFilter::Modified Variance for beam 15 is 21.54 
Alpha[15]	0.000000
Alpha[15]	0.995974
TNavParticleFilter::Modified Variance for beam 16 is 21.52 
Alpha[16]	0.000000
Alpha[16]	0.996837
TNavParticleFilter::Modified Variance for beam 17 is 20.34 
Alpha[17]	0.000000
Alpha[17]	0.997938
TNavParticleFilter::Modified Variance for beam 18 is 20.36 
Alpha[18]	0.000000
Alpha[18]	0.998084
TNavParticleFilter::Modified Variance for beam 19 is 18.17 
Alpha[19]	0.000000
Alpha[19]	0.997536
TNavParticleFilter::Modified Variance for beam 20 is 18.22 
Alpha[20]	0.000000
Alpha[20]	0.996859
TNavParticleFilter::Modified Variance for beam 21 is 17.22 
Alpha[21]	0.000000
Alpha[21]	0.995819
TNavParticleFilter::Modified Variance for beam 22 is 17.28 
Alpha[22]	0.000000
Alpha[22]	0.995529
TNavParticleFilter::Modified Variance for beam 23 is 17.35 
Alpha[23]	0.000000
Alpha[23]	0.994819
TNavParticleFilter::Modified Variance for beam 24 is 17.44 
Alpha[24]	0.000000
Alpha[24]	0.993733
TNavParticleFilter::Modified Variance for beam 25 is 17.37 
Alpha[25]	0.000000
Alpha[25]	0.991397
TNavParticleFilter::Modified Variance for beam 26 is 16.58 
Alpha[26]	0.000000
Alpha[26]	0.991926
TNavParticleFilter::Modified Variance for beam 27 is 16.67 
Alpha[27]	0.000000
Alpha[27]	0.991923
TNavParticleFilter::Modified Variance for beam 28 is 16.77 
Alpha[28]	0.000000
Alpha[28]	0.992055
TNavParticleFilter::Modified Variance for beam 29 is 16.91 
Alpha[29]	0.000000
Alpha[29]	0.990295
TNavParticleFilter::Modified Variance for beam 30 is 17.07 
Alpha[30]	0.000000
Alpha[30]	0.988226
TNavParticleFilter::Modified Variance for beam 31 is 17.20 
Alpha[31]	0.000000
Alpha[31]	0.988074
TNavParticleFilter::Modified Variance for beam 32 is 18.51 
Alpha[32]	0.000000
Alpha[32]	0.985082
TNavParticleFilter::Modified Variance for beam 33 is 19.21 
Alpha[33]	0.000000
Alpha[33]	0.957547
TNavParticleFilter::Modified Variance for beam 34 is 19.54 
Alpha[34]	0.000000
Alpha[34]	0.950379
TNavParticleFilter::Modified Variance for beam 35 is 19.72 
Alpha[35]	0.000000
Alpha[35]	0.950757
TNavParticleFilter::Modified Variance for beam 36 is 19.90 
Alpha[36]	0.000000
Alpha[36]	0.952229
TNavParticleFilter::Modified Variance for beam 37 is 19.80 
Alpha[37]	0.000000
Alpha[37]	0.967655
TNavParticleFilter::Modified Variance for beam 38 is 19.71 
Alpha[38]	0.000000
Alpha[38]	0.983721
TNavParticleFilter::Modified Variance for beam 39 is 19.90 
Alpha[39]	0.000000
Alpha[39]	0.986109
TNavParticleFilter::Modified Variance for beam 40 is 20.31 
Alpha[40]	0.000000
Alpha[40]	0.978828
TNavParticleFilter::Modified Variance for beam 41 is 20.09 
Alpha[41]	0.000000
Alpha[41]	0.980061
TNavParticleFilter::Modified Variance for beam 42 is 19.44 
Alpha[42]	0.000000
Alpha[42]	0.986176
TNavParticleFilter::Modified Variance for beam 43 is 19.80 
Alpha[43]	0.000000
Alpha[43]	0.982999
TNavParticleFilter::Modified Variance for beam 44 is 20.25 
Alpha[44]	0.000000
Alpha[44]	0.975984
TNavParticleFilter::Modified Variance for beam 45 is 20.58 
Alpha[45]	0.000000
Alpha[45]	0.975821
TNavParticleFilter::Modified Variance for beam 46 is 20.69 
Alpha[46]	0.000000
Alpha[46]	0.987142
TNavParticleFilter::Modified Variance for beam 47 is 22.39 
Alpha[47]	0.000000
Alpha[47]	0.990702
TNavParticleFilter::Modified Variance for beam 48 is 23.04 
Alpha[48]	0.000000
Alpha[48]	0.980854
TNavParticleFilter::Modified Variance for beam 49 is 24.74 
Alpha[49]	0.000000
Alpha[49]	0.992955
TNavParticleFilter::Modified Variance for beam 50 is 25.31 
Alpha[50]	0.000000
Alpha[50]	0.990677
TNavParticleFilter::Modified Variance for beam 51 is 25.83 
Alpha[51]	0.000000
Alpha[51]	0.991574
TNavParticleFilter::Modified Variance for beam 52 is 26.44 
Alpha[52]	0.000000
Alpha[52]	0.990427
TNavParticleFilter::Modified Variance for beam 53 is 27.05 
Alpha[53]	0.000000
Alpha[53]	0.990544
TNavParticleFilter::Modified Variance for beam 54 is 27.65 
Alpha[54]	0.000000
Alpha[54]	0.992719
TNavParticleFilter::Modified Variance for beam 55 is 30.19 
Alpha[55]	0.000000
Alpha[55]	0.992971
TNavParticleFilter::Modified Variance for beam 56 is 30.86 
Alpha[56]	0.000000
Alpha[56]	0.997234
TNavParticleFilter::Modified Variance for beam 57 is 33.72 
Alpha[57]	0.000000
Alpha[57]	0.997976
TNavParticleFilter::Modified Variance for beam 58 is 36.81 
Alpha[58]	0.000000
Alpha[58]	0.999342
TNavParticleFilter::Modified Variance for beam 59 is 40.23 
Alpha[59]	0.000000
Alpha[59]	0.999524
TNavPF:: sumSquaredError = 10.465555 
TNavPF:: sumWeights = 0.024713 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 9.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 3.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -5.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -4.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.70. Range = 84.35 
TNavPF::Calculated measDiffMean for beam 55 as -0.61. Range = 84.15 
TNavPF::Calculated measDiffMean for beam 56 as -1.91. Range = 87.50 
TNavPF::Calculated measDiffMean for beam 57 as -1.72. Range = 86.99 
TNavPF::Calculated measDiffMean for beam 58 as -1.43. Range = 90.69 
TNavPF::Calculated measDiffMean for beam 59 as -1.25. Range = 90.22 
TNavPF::Calculated measDiffMean for beam 60 as -1.16. Range = 89.77 
TNavPF::Calculated measDiffMean for beam 61 as -1.25. Range = 93.49 
TNavPF::Calculated measDiffMean for beam 62 as 0.08. Range = 80.75 
TNavPF::Calculated measDiffMean for beam 63 as -0.31. Range = 68.15 
TNavPF::Calculated measDiffMean for beam 64 as -0.33. Range = 67.90 
TNavPF::Calculated measDiffMean for beam 65 as -0.32. Range = 69.71 
TNavPF::Calculated measDiffMean for beam 66 as -0.31. Range = 69.50 
TNavPF::Calculated measDiffMean for beam 67 as -0.20. Range = 71.33 
TNavPF::Calculated measDiffMean for beam 68 as 0.08. Range = 69.15 
TNavPF::Calculated measDiffMean for beam 69 as 0.09. Range = 69.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.16. Range = 66.87 
TNavPF::Calculated measDiffMean for beam 71 as -0.42. Range = 64.77 
TNavPF::Calculated measDiffMean for beam 72 as -1.01. Range = 64.69 
TNavPF::Calculated measDiffMean for beam 73 as -0.70. Range = 64.64 
TNavPF::Calculated measDiffMean for beam 74 as -0.50. Range = 64.60 
TNavPF::Calculated measDiffMean for beam 75 as -0.47. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 76 as -0.72. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 77 as 0.34. Range = 58.61 
TNavPF::Calculated measDiffMean for beam 78 as -0.34. Range = 58.65 
TNavPF::Calculated measDiffMean for beam 79 as 0.85. Range = 54.70 
TNavPF::Calculated measDiffMean for beam 80 as -0.18. Range = 54.77 
TNavPF::Calculated measDiffMean for beam 81 as -1.09. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 82 as -1.35. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 83 as -1.32. Range = 53.06 
TNavPF::Calculated measDiffMean for beam 84 as -1.47. Range = 53.19 
TNavPF::Calculated measDiffMean for beam 85 as 0.04. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 86 as -1.77. Range = 51.48 
TNavPF::Calculated measDiffMean for beam 87 as -2.27. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 88 as -2.28. Range = 51.85 
TNavPF::Calculated measDiffMean for beam 89 as -2.56. Range = 52.06 
TNavPF::First Term of Map Covariance Matrix is 20.74 
TNavPF::Calculated NIS Value : 3.26 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322264.82 sec.
INS : North: 4070297.00, East: 589027.29, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 61.67, IDT[75] = 57.57
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322267.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322267.62)
ARL : North: 0.2197, East: -2.0035, Depth: -0.4967ARL : Estimation Bias  (Mean)         : (t = 1488322267.62)
ARL : North: 0.8422, East: -2.4572, Depth: 0.2675TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 45.34 
Alpha[0]	0.123000
Alpha[0]	0.998116
TNavParticleFilter::Modified Variance for beam 1 is 44.80 
Alpha[1]	0.000000
Alpha[1]	0.999670
TNavParticleFilter::Modified Variance for beam 2 is 48.18 
Alpha[2]	0.000000
Alpha[2]	0.999802
TNavParticleFilter::Modified Variance for beam 3 is 27.56 
Alpha[3]	0.000000
Alpha[3]	0.999697
TNavParticleFilter::Modified Variance for beam 4 is 27.34 
Alpha[4]	0.000000
Alpha[4]	0.999713
TNavParticleFilter::Modified Variance for beam 5 is 28.56 
Alpha[5]	0.000000
Alpha[5]	0.999477
TNavParticleFilter::Modified Variance for beam 6 is 28.38 
Alpha[6]	0.000000
Alpha[6]	0.998764
TNavParticleFilter::Modified Variance for beam 7 is 29.61 
Alpha[7]	0.000000
Alpha[7]	0.999564
TNavParticleFilter::Modified Variance for beam 8 is 28.00 
Alpha[8]	0.000000
Alpha[8]	0.999504
TNavParticleFilter::Modified Variance for beam 9 is 26.47 
Alpha[9]	0.000000
Alpha[9]	0.999533
TNavParticleFilter::Modified Variance for beam 10 is 26.36 
Alpha[10]	0.000000
Alpha[10]	0.998938
TNavParticleFilter::Modified Variance for beam 11 is 24.95 
Alpha[11]	0.000000
Alpha[11]	0.997556
TNavParticleFilter::Modified Variance for beam 12 is 24.87 
Alpha[12]	0.000000
Alpha[12]	0.996894
TNavParticleFilter::Modified Variance for beam 13 is 24.80 
Alpha[13]	0.000000
Alpha[13]	0.996589
TNavParticleFilter::Modified Variance for beam 14 is 22.21 
Alpha[14]	0.000000
Alpha[14]	0.996792
TNavParticleFilter::Modified Variance for beam 15 is 22.15 
Alpha[15]	0.000000
Alpha[15]	0.997442
TNavParticleFilter::Modified Variance for beam 16 is 20.91 
Alpha[16]	0.000000
Alpha[16]	0.998083
TNavParticleFilter::Modified Variance for beam 17 is 20.88 
Alpha[17]	0.000000
Alpha[17]	0.998387
TNavParticleFilter::Modified Variance for beam 18 is 18.62 
Alpha[18]	0.000000
Alpha[18]	0.997741
TNavParticleFilter::Modified Variance for beam 19 is 18.63 
Alpha[19]	0.000000
Alpha[19]	0.997236
TNavParticleFilter::Modified Variance for beam 20 is 17.59 
Alpha[20]	0.000000
Alpha[20]	0.996072
TNavParticleFilter::Modified Variance for beam 21 is 17.62 
Alpha[21]	0.000000
Alpha[21]	0.995450
TNavParticleFilter::Modified Variance for beam 22 is 17.66 
Alpha[22]	0.000000
Alpha[22]	0.994702
TNavParticleFilter::Modified Variance for beam 23 is 17.71 
Alpha[23]	0.000000
Alpha[23]	0.993606
TNavParticleFilter::Modified Variance for beam 24 is 16.73 
Alpha[24]	0.000000
Alpha[24]	0.992047
TNavParticleFilter::Modified Variance for beam 25 is 16.78 
Alpha[25]	0.000000
Alpha[25]	0.991931
TNavParticleFilter::Modified Variance for beam 26 is 16.84 
Alpha[26]	0.000000
Alpha[26]	0.991920
TNavParticleFilter::Modified Variance for beam 27 is 16.91 
Alpha[27]	0.000000
Alpha[27]	0.991479
TNavParticleFilter::Modified Variance for beam 28 is 17.03 
Alpha[28]	0.000000
Alpha[28]	0.988837
TNavParticleFilter::Modified Variance for beam 29 is 17.14 
Alpha[29]	0.000000
Alpha[29]	0.987648
TNavParticleFilter::Modified Variance for beam 30 is 17.23 
Alpha[30]	0.000000
Alpha[30]	0.987475
TNavParticleFilter::Modified Variance for beam 31 is 18.76 
Alpha[31]	0.000000
Alpha[31]	0.969776
TNavParticleFilter::Modified Variance for beam 32 is 19.28 
Alpha[32]	0.000000
Alpha[32]	0.950171
TNavParticleFilter::Modified Variance for beam 33 is 19.42 
Alpha[33]	0.000000
Alpha[33]	0.949970
TNavParticleFilter::Modified Variance for beam 34 is 19.56 
Alpha[34]	0.000000
Alpha[34]	0.950329
TNavParticleFilter::Modified Variance for beam 35 is 19.64 
Alpha[35]	0.000000
Alpha[35]	0.953988
TNavParticleFilter::Modified Variance for beam 36 is 19.39 
Alpha[36]	0.000000
Alpha[36]	0.974730
TNavParticleFilter::Modified Variance for beam 37 is 19.37 
Alpha[37]	0.000000
Alpha[37]	0.984699
TNavParticleFilter::Modified Variance for beam 38 is 19.56 
Alpha[38]	0.000000
Alpha[38]	0.984688
TNavParticleFilter::Modified Variance for beam 39 is 19.99 
Alpha[39]	0.000000
Alpha[39]	0.973770
TNavParticleFilter::Modified Variance for beam 40 is 19.45 
Alpha[40]	0.000000
Alpha[40]	0.981952
TNavParticleFilter::Modified Variance for beam 41 is 18.98 
Alpha[41]	0.000000
Alpha[41]	0.985534
TNavParticleFilter::Modified Variance for beam 42 is 19.28 
Alpha[42]	0.000000
Alpha[42]	0.981845
TNavParticleFilter::Modified Variance for beam 43 is 19.65 
Alpha[43]	0.000000
Alpha[43]	0.975647
TNavParticleFilter::Modified Variance for beam 44 is 19.92 
Alpha[44]	0.000000
Alpha[44]	0.975404
TNavParticleFilter::Modified Variance for beam 45 is 20.01 
Alpha[45]	0.000000
Alpha[45]	0.984902
TNavParticleFilter::Modified Variance for beam 46 is 21.51 
Alpha[46]	0.000000
Alpha[46]	0.990667
TNavParticleFilter::Modified Variance for beam 47 is 22.24 
Alpha[47]	0.000000
Alpha[47]	0.972784
TNavParticleFilter::Modified Variance for beam 48 is 22.20 
Alpha[48]	0.000000
Alpha[48]	0.990493
TNavParticleFilter::Modified Variance for beam 49 is 24.05 
Alpha[49]	0.000000
Alpha[49]	0.989963
TNavParticleFilter::Modified Variance for beam 50 is 24.48 
Alpha[50]	0.000000
Alpha[50]	0.990157
TNavParticleFilter::Modified Variance for beam 51 is 24.94 
Alpha[51]	0.000000
Alpha[51]	0.990098
TNavParticleFilter::Modified Variance for beam 52 is 25.45 
Alpha[52]	0.000000
Alpha[52]	0.989397
TNavParticleFilter::Modified Variance for beam 53 is 25.97 
Alpha[53]	0.000000
Alpha[53]	0.989607
TNavParticleFilter::Modified Variance for beam 54 is 26.46 
Alpha[54]	0.000000
Alpha[54]	0.991965
TNavParticleFilter::Modified Variance for beam 55 is 28.78 
Alpha[55]	0.000000
Alpha[55]	0.991792
TNavParticleFilter::Modified Variance for beam 56 is 29.36 
Alpha[56]	0.000000
Alpha[56]	0.995141
TNavParticleFilter::Modified Variance for beam 57 is 31.89 
Alpha[57]	0.000000
Alpha[57]	0.997218
TNavParticleFilter::Modified Variance for beam 58 is 34.67 
Alpha[58]	0.000000
Alpha[58]	0.997995
TNavParticleFilter::Modified Variance for beam 59 is 35.55 
Alpha[59]	0.000000
Alpha[59]	0.999334
TNavPF:: sumSquaredError = 46.945154 
TNavPF:: sumWeights = 0.023039 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 5.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 14.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -5.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -3.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -2.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.82. Range = 86.78 
TNavPF::Calculated measDiffMean for beam 56 as -1.54. Range = 87.35 
TNavPF::Calculated measDiffMean for beam 57 as -1.35. Range = 89.83 
TNavPF::Calculated measDiffMean for beam 58 as -1.20. Range = 89.74 
TNavPF::Calculated measDiffMean for beam 59 as -1.17. Range = 92.91 
TNavPF::Calculated measDiffMean for beam 60 as -1.61. Range = 92.35 
TNavPF::Calculated measDiffMean for beam 61 as -0.25. Range = 91.83 
TNavPF::Calculated measDiffMean for beam 62 as -0.34. Range = 95.52 
TNavPF::Calculated measDiffMean for beam 63 as -0.34. Range = 70.11 
TNavPF::Calculated measDiffMean for beam 64 as -0.33. Range = 69.79 
TNavPF::Calculated measDiffMean for beam 65 as -0.32. Range = 71.54 
TNavPF::Calculated measDiffMean for beam 66 as -0.14. Range = 71.25 
TNavPF::Calculated measDiffMean for beam 67 as 0.10. Range = 73.03 
TNavPF::Calculated measDiffMean for beam 68 as 0.01. Range = 70.75 
TNavPF::Calculated measDiffMean for beam 69 as -0.21. Range = 68.50 
TNavPF::Calculated measDiffMean for beam 70 as -0.54. Range = 68.31 
TNavPF::Calculated measDiffMean for beam 71 as -0.95. Range = 66.12 
TNavPF::Calculated measDiffMean for beam 72 as -0.68. Range = 65.98 
TNavPF::Calculated measDiffMean for beam 73 as -0.51. Range = 65.86 
TNavPF::Calculated measDiffMean for beam 74 as -0.48. Range = 61.74 
TNavPF::Calculated measDiffMean for beam 75 as -0.67. Range = 61.67 
TNavPF::Calculated measDiffMean for beam 76 as 0.45. Range = 59.60 
TNavPF::Calculated measDiffMean for beam 77 as -0.26. Range = 59.57 
TNavPF::Calculated measDiffMean for beam 78 as -0.91. Range = 55.55 
TNavPF::Calculated measDiffMean for beam 79 as 0.11. Range = 55.55 
TNavPF::Calculated measDiffMean for beam 80 as -0.56. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 81 as -1.21. Range = 53.59 
TNavPF::Calculated measDiffMean for beam 82 as -1.28. Range = 53.64 
TNavPF::Calculated measDiffMean for beam 83 as -1.26. Range = 53.71 
TNavPF::Calculated measDiffMean for beam 84 as -1.41. Range = 51.78 
TNavPF::Calculated measDiffMean for beam 85 as 0.03. Range = 51.87 
TNavPF::Calculated measDiffMean for beam 86 as -1.15. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 87 as -1.48. Range = 52.11 
TNavPF::Calculated measDiffMean for beam 88 as -0.40. Range = 52.25 
TNavPF::Calculated measDiffMean for beam 89 as -3.20. Range = 52.41 
TNavPF::First Term of Map Covariance Matrix is 10.60 
TNavPF::Calculated NIS Value : 4.24 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322267.82 sec.
INS : North: 4070297.85, East: 589022.96, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 62.67, IDT[75] = 59.15
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322270.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322270.62)
ARL : North: 0.5445, East: -1.7345, Depth: 0.0754ARL : Estimation Bias  (Mean)         : (t = 1488322270.62)
ARL : North: 0.7229, East: -2.4097, Depth: 0.4785TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 47.70 
Alpha[0]	0.123000
Alpha[0]	0.997770
TNavParticleFilter::Modified Variance for beam 1 is 38.85 
Alpha[1]	0.000000
Alpha[1]	0.999709
TNavParticleFilter::Modified Variance for beam 2 is 47.93 
Alpha[2]	0.000000
Alpha[2]	0.999794
TNavParticleFilter::Modified Variance for beam 3 is 28.88 
Alpha[3]	0.000000
Alpha[3]	0.999716
TNavParticleFilter::Modified Variance for beam 4 is 29.11 
Alpha[4]	0.000000
Alpha[4]	0.999673
TNavParticleFilter::Modified Variance for beam 5 is 29.81 
Alpha[5]	0.000000
Alpha[5]	0.999431
TNavParticleFilter::Modified Variance for beam 6 is 30.26 
Alpha[6]	0.000000
Alpha[6]	0.998917
TNavParticleFilter::Modified Variance for beam 7 is 30.79 
Alpha[7]	0.000000
Alpha[7]	0.999655
TNavParticleFilter::Modified Variance for beam 8 is 29.07 
Alpha[8]	0.000000
Alpha[8]	0.999598
TNavParticleFilter::Modified Variance for beam 9 is 27.45 
Alpha[9]	0.000000
Alpha[9]	0.999394
TNavParticleFilter::Modified Variance for beam 10 is 25.92 
Alpha[10]	0.000000
Alpha[10]	0.998309
TNavParticleFilter::Modified Variance for beam 11 is 25.79 
Alpha[11]	0.000000
Alpha[11]	0.997474
TNavParticleFilter::Modified Variance for beam 12 is 25.66 
Alpha[12]	0.000000
Alpha[12]	0.997167
TNavParticleFilter::Modified Variance for beam 13 is 22.95 
Alpha[13]	0.000000
Alpha[13]	0.997425
TNavParticleFilter::Modified Variance for beam 14 is 22.84 
Alpha[14]	0.000000
Alpha[14]	0.998005
TNavParticleFilter::Modified Variance for beam 15 is 22.75 
Alpha[15]	0.000000
Alpha[15]	0.998325
TNavParticleFilter::Modified Variance for beam 16 is 19.15 
Alpha[16]	0.000000
Alpha[16]	0.998531
TNavParticleFilter::Modified Variance for beam 17 is 19.11 
Alpha[17]	0.000000
Alpha[17]	0.997780
TNavParticleFilter::Modified Variance for beam 18 is 17.99 
Alpha[18]	0.000000
Alpha[18]	0.997390
TNavParticleFilter::Modified Variance for beam 19 is 17.99 
Alpha[19]	0.000000
Alpha[19]	0.995989
TNavParticleFilter::Modified Variance for beam 20 is 17.99 
Alpha[20]	0.000000
Alpha[20]	0.995212
TNavParticleFilter::Modified Variance for beam 21 is 17.99 
Alpha[21]	0.000000
Alpha[21]	0.994463
TNavParticleFilter::Modified Variance for beam 22 is 16.96 
Alpha[22]	0.000000
Alpha[22]	0.993460
TNavParticleFilter::Modified Variance for beam 23 is 16.99 
Alpha[23]	0.000000
Alpha[23]	0.991908
TNavParticleFilter::Modified Variance for beam 24 is 17.01 
Alpha[24]	0.000000
Alpha[24]	0.991923
TNavParticleFilter::Modified Variance for beam 25 is 17.04 
Alpha[25]	0.000000
Alpha[25]	0.991786
TNavParticleFilter::Modified Variance for beam 26 is 17.10 
Alpha[26]	0.000000
Alpha[26]	0.990034
TNavParticleFilter::Modified Variance for beam 27 is 17.18 
Alpha[27]	0.000000
Alpha[27]	0.987662
TNavParticleFilter::Modified Variance for beam 28 is 17.23 
Alpha[28]	0.000000
Alpha[28]	0.987580
TNavParticleFilter::Modified Variance for beam 29 is 18.59 
Alpha[29]	0.000000
Alpha[29]	0.975763
TNavParticleFilter::Modified Variance for beam 30 is 19.14 
Alpha[30]	0.000000
Alpha[30]	0.951200
TNavParticleFilter::Modified Variance for beam 31 is 19.28 
Alpha[31]	0.000000
Alpha[31]	0.948723
TNavParticleFilter::Modified Variance for beam 32 is 19.37 
Alpha[32]	0.000000
Alpha[32]	0.948998
TNavParticleFilter::Modified Variance for beam 33 is 19.46 
Alpha[33]	0.000000
Alpha[33]	0.949856
TNavParticleFilter::Modified Variance for beam 34 is 19.29 
Alpha[34]	0.000000
Alpha[34]	0.964233
TNavParticleFilter::Modified Variance for beam 35 is 19.06 
Alpha[35]	0.000000
Alpha[35]	0.981836
TNavParticleFilter::Modified Variance for beam 36 is 19.15 
Alpha[36]	0.000000
Alpha[36]	0.984264
TNavParticleFilter::Modified Variance for beam 37 is 19.43 
Alpha[37]	0.000000
Alpha[37]	0.977809
TNavParticleFilter::Modified Variance for beam 38 is 19.65 
Alpha[38]	0.000000
Alpha[38]	0.974483
TNavParticleFilter::Modified Variance for beam 39 is 18.46 
Alpha[39]	0.000000
Alpha[39]	0.984203
TNavParticleFilter::Modified Variance for beam 40 is 18.64 
Alpha[40]	0.000000
Alpha[40]	0.983628
TNavParticleFilter::Modified Variance for beam 41 is 18.93 
Alpha[41]	0.000000
Alpha[41]	0.978382
TNavParticleFilter::Modified Variance for beam 42 is 19.22 
Alpha[42]	0.000000
Alpha[42]	0.973719
TNavParticleFilter::Modified Variance for beam 43 is 19.35 
Alpha[43]	0.000000
Alpha[43]	0.977328
TNavParticleFilter::Modified Variance for beam 44 is 19.38 
Alpha[44]	0.000000
Alpha[44]	0.987510
TNavParticleFilter::Modified Variance for beam 45 is 20.88 
Alpha[45]	0.000000
Alpha[45]	0.987097
TNavParticleFilter::Modified Variance for beam 46 is 21.58 
Alpha[46]	0.000000
Alpha[46]	0.967539
TNavParticleFilter::Modified Variance for beam 47 is 21.39 
Alpha[47]	0.000000
Alpha[47]	0.989252
TNavParticleFilter::Modified Variance for beam 48 is 23.07 
Alpha[48]	0.000000
Alpha[48]	0.988993
TNavParticleFilter::Modified Variance for beam 49 is 23.45 
Alpha[49]	0.000000
Alpha[49]	0.987692
TNavParticleFilter::Modified Variance for beam 50 is 23.80 
Alpha[50]	0.000000
Alpha[50]	0.988960
TNavParticleFilter::Modified Variance for beam 51 is 24.20 
Alpha[51]	0.000000
Alpha[51]	0.988658
TNavParticleFilter::Modified Variance for beam 52 is 24.63 
Alpha[52]	0.000000
Alpha[52]	0.988479
TNavParticleFilter::Modified Variance for beam 53 is 25.05 
Alpha[53]	0.000000
Alpha[53]	0.989374
TNavParticleFilter::Modified Variance for beam 54 is 25.45 
Alpha[54]	0.000000
Alpha[54]	0.992312
TNavParticleFilter::Modified Variance for beam 55 is 27.69 
Alpha[55]	0.000000
Alpha[55]	0.988206
TNavParticleFilter::Modified Variance for beam 56 is 28.07 
Alpha[56]	0.000000
Alpha[56]	0.995088
TNavParticleFilter::Modified Variance for beam 57 is 30.39 
Alpha[57]	0.000000
Alpha[57]	0.996568
TNavParticleFilter::Modified Variance for beam 58 is 32.93 
Alpha[58]	0.000000
Alpha[58]	0.997042
TNavParticleFilter::Modified Variance for beam 59 is 33.65 
Alpha[59]	0.000000
Alpha[59]	0.998936
TNavPF:: sumSquaredError = 30.948679 
TNavPF:: sumWeights = 0.011759 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -3.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 12.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -5.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -2.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -2.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -2.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -2.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.25. Range = 88.96 
TNavPF::Calculated measDiffMean for beam 57 as -1.16. Range = 91.15 
TNavPF::Calculated measDiffMean for beam 58 as -1.45. Range = 91.92 
TNavPF::Calculated measDiffMean for beam 59 as -0.19. Range = 93.55 
TNavPF::Calculated measDiffMean for beam 60 as -0.37. Range = 94.90 
TNavPF::Calculated measDiffMean for beam 61 as -0.37. Range = 84.96 
TNavPF::Calculated measDiffMean for beam 62 as -0.36. Range = 95.25 
TNavPF::Calculated measDiffMean for beam 63 as -0.36. Range = 72.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.27. Range = 72.34 
TNavPF::Calculated measDiffMean for beam 65 as 0.01. Range = 73.30 
TNavPF::Calculated measDiffMean for beam 66 as 0.05. Range = 73.91 
TNavPF::Calculated measDiffMean for beam 67 as -0.22. Range = 74.66 
TNavPF::Calculated measDiffMean for beam 68 as -0.05. Range = 72.27 
TNavPF::Calculated measDiffMean for beam 69 as -1.21. Range = 69.93 
TNavPF::Calculated measDiffMean for beam 70 as -0.83. Range = 67.63 
TNavPF::Calculated measDiffMean for beam 71 as -0.61. Range = 67.40 
TNavPF::Calculated measDiffMean for beam 72 as -0.53. Range = 67.19 
TNavPF::Calculated measDiffMean for beam 73 as -0.57. Range = 62.96 
TNavPF::Calculated measDiffMean for beam 74 as -0.90. Range = 62.81 
TNavPF::Calculated measDiffMean for beam 75 as 0.08. Range = 62.67 
TNavPF::Calculated measDiffMean for beam 76 as -0.34. Range = 56.53 
TNavPF::Calculated measDiffMean for beam 77 as -0.90. Range = 56.44 
TNavPF::Calculated measDiffMean for beam 78 as 0.09. Range = 54.36 
TNavPF::Calculated measDiffMean for beam 79 as -0.46. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 80 as -1.09. Range = 54.28 
TNavPF::Calculated measDiffMean for beam 81 as -1.27. Range = 54.26 
TNavPF::Calculated measDiffMean for beam 82 as -1.25. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 83 as -1.26. Range = 52.28 
TNavPF::Calculated measDiffMean for beam 84 as -1.70. Range = 52.31 
TNavPF::Calculated measDiffMean for beam 85 as -0.34. Range = 52.36 
TNavPF::Calculated measDiffMean for beam 86 as -1.56. Range = 52.42 
TNavPF::Calculated measDiffMean for beam 87 as -1.51. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 88 as -0.18. Range = 52.59 
TNavPF::Calculated measDiffMean for beam 89 as -2.13. Range = 54.73 
TNavPF::First Term of Map Covariance Matrix is 8.96 
TNavPF::Calculated NIS Value : 4.62 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322270.82 sec.
INS : North: 4070298.50, East: 589018.58, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 55.42, IDT[75] = 58.96
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322273.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322273.62)
ARL : North: 0.7406, East: -2.6527, Depth: 1.4930ARL : Estimation Bias  (Mean)         : (t = 1488322273.62)
ARL : North: 0.5043, East: -2.4548, Depth: 0.3523TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 39.64 
Alpha[0]	0.123000
Alpha[0]	0.999730
TNavParticleFilter::Modified Variance for beam 1 is 37.32 
Alpha[1]	0.000000
Alpha[1]	0.999789
TNavParticleFilter::Modified Variance for beam 2 is 30.26 
Alpha[2]	0.000000
Alpha[2]	0.999728
TNavParticleFilter::Modified Variance for beam 3 is 31.12 
Alpha[3]	0.000000
Alpha[3]	0.999687
TNavParticleFilter::Modified Variance for beam 4 is 31.12 
Alpha[4]	0.000000
Alpha[4]	0.999377
TNavParticleFilter::Modified Variance for beam 5 is 32.24 
Alpha[5]	0.000000
Alpha[5]	0.999238
TNavParticleFilter::Modified Variance for beam 6 is 32.02 
Alpha[6]	0.000000
Alpha[6]	0.999734
TNavParticleFilter::Modified Variance for beam 7 is 30.19 
Alpha[7]	0.000000
Alpha[7]	0.999558
TNavParticleFilter::Modified Variance for beam 8 is 28.47 
Alpha[8]	0.000000
Alpha[8]	0.999040
TNavParticleFilter::Modified Variance for beam 9 is 26.85 
Alpha[9]	0.000000
Alpha[9]	0.998067
TNavParticleFilter::Modified Variance for beam 10 is 26.66 
Alpha[10]	0.000000
Alpha[10]	0.997639
TNavParticleFilter::Modified Variance for beam 11 is 23.79 
Alpha[11]	0.000000
Alpha[11]	0.997959
TNavParticleFilter::Modified Variance for beam 12 is 23.64 
Alpha[12]	0.000000
Alpha[12]	0.998232
TNavParticleFilter::Modified Variance for beam 13 is 23.49 
Alpha[13]	0.000000
Alpha[13]	0.998650
TNavParticleFilter::Modified Variance for beam 14 is 20.92 
Alpha[14]	0.000000
Alpha[14]	0.998556
TNavParticleFilter::Modified Variance for beam 15 is 18.55 
Alpha[15]	0.000000
Alpha[15]	0.998090
TNavParticleFilter::Modified Variance for beam 16 is 18.50 
Alpha[16]	0.000000
Alpha[16]	0.997121
TNavParticleFilter::Modified Variance for beam 17 is 18.45 
Alpha[17]	0.000000
Alpha[17]	0.995981
TNavParticleFilter::Modified Variance for beam 18 is 18.41 
Alpha[18]	0.000000
Alpha[18]	0.995257
TNavParticleFilter::Modified Variance for beam 19 is 17.30 
Alpha[19]	0.000000
Alpha[19]	0.995052
TNavParticleFilter::Modified Variance for beam 20 is 17.30 
Alpha[20]	0.000000
Alpha[20]	0.993228
TNavParticleFilter::Modified Variance for beam 21 is 17.29 
Alpha[21]	0.000000
Alpha[21]	0.992764
TNavParticleFilter::Modified Variance for beam 22 is 17.27 
Alpha[22]	0.000000
Alpha[22]	0.992603
TNavParticleFilter::Modified Variance for beam 23 is 17.28 
Alpha[23]	0.000000
Alpha[23]	0.991656
TNavParticleFilter::Modified Variance for beam 24 is 17.33 
Alpha[24]	0.000000
Alpha[24]	0.989061
TNavParticleFilter::Modified Variance for beam 25 is 17.35 
Alpha[25]	0.000000
Alpha[25]	0.988143
TNavParticleFilter::Modified Variance for beam 26 is 18.65 
Alpha[26]	0.000000
Alpha[26]	0.976919
TNavParticleFilter::Modified Variance for beam 27 is 19.14 
Alpha[27]	0.000000
Alpha[27]	0.953361
TNavParticleFilter::Modified Variance for beam 28 is 19.27 
Alpha[28]	0.000000
Alpha[28]	0.949232
TNavParticleFilter::Modified Variance for beam 29 is 19.32 
Alpha[29]	0.000000
Alpha[29]	0.948997
TNavParticleFilter::Modified Variance for beam 30 is 19.38 
Alpha[30]	0.000000
Alpha[30]	0.948821
TNavParticleFilter::Modified Variance for beam 31 is 19.27 
Alpha[31]	0.000000
Alpha[31]	0.957828
TNavParticleFilter::Modified Variance for beam 32 is 18.91 
Alpha[32]	0.000000
Alpha[32]	0.980081
TNavParticleFilter::Modified Variance for beam 33 is 18.91 
Alpha[33]	0.000000
Alpha[33]	0.984463
TNavParticleFilter::Modified Variance for beam 34 is 19.08 
Alpha[34]	0.000000
Alpha[34]	0.980599
TNavParticleFilter::Modified Variance for beam 35 is 19.39 
Alpha[35]	0.000000
Alpha[35]	0.970212
TNavParticleFilter::Modified Variance for beam 36 is 18.39 
Alpha[36]	0.000000
Alpha[36]	0.984593
TNavParticleFilter::Modified Variance for beam 37 is 18.19 
Alpha[37]	0.000000
Alpha[37]	0.985810
TNavParticleFilter::Modified Variance for beam 38 is 18.38 
Alpha[38]	0.000000
Alpha[38]	0.982727
TNavParticleFilter::Modified Variance for beam 39 is 18.61 
Alpha[39]	0.000000
Alpha[39]	0.977861
TNavParticleFilter::Modified Variance for beam 40 is 18.86 
Alpha[40]	0.000000
Alpha[40]	0.972796
TNavParticleFilter::Modified Variance for beam 41 is 18.91 
Alpha[41]	0.000000
Alpha[41]	0.978828
TNavParticleFilter::Modified Variance for beam 42 is 18.88 
Alpha[42]	0.000000
Alpha[42]	0.989541
TNavParticleFilter::Modified Variance for beam 43 is 20.56 
Alpha[43]	0.000000
Alpha[43]	0.975633
TNavParticleFilter::Modified Variance for beam 44 is 20.93 
Alpha[44]	0.000000
Alpha[44]	0.968339
TNavParticleFilter::Modified Variance for beam 45 is 20.72 
Alpha[45]	0.000000
Alpha[45]	0.989553
TNavParticleFilter::Modified Variance for beam 46 is 22.31 
Alpha[46]	0.000000
Alpha[46]	0.987459
TNavParticleFilter::Modified Variance for beam 47 is 22.59 
Alpha[47]	0.000000
Alpha[47]	0.987566
TNavParticleFilter::Modified Variance for beam 48 is 22.87 
Alpha[48]	0.000000
Alpha[48]	0.988307
TNavParticleFilter::Modified Variance for beam 49 is 23.18 
Alpha[49]	0.000000
Alpha[49]	0.988475
TNavParticleFilter::Modified Variance for beam 50 is 23.53 
Alpha[50]	0.000000
Alpha[50]	0.988258
TNavParticleFilter::Modified Variance for beam 51 is 23.89 
Alpha[51]	0.000000
Alpha[51]	0.988292
TNavParticleFilter::Modified Variance for beam 52 is 24.20 
Alpha[52]	0.000000
Alpha[52]	0.991186
TNavParticleFilter::Modified Variance for beam 53 is 26.15 
Alpha[53]	0.000000
Alpha[53]	0.989945
TNavParticleFilter::Modified Variance for beam 54 is 26.68 
Alpha[54]	0.000000
Alpha[54]	0.987684
TNavParticleFilter::Modified Variance for beam 55 is 28.58 
Alpha[55]	0.000000
Alpha[55]	0.995383
TNavParticleFilter::Modified Variance for beam 56 is 29.11 
Alpha[56]	0.000000
Alpha[56]	0.996284
TNavParticleFilter::Modified Variance for beam 57 is 31.44 
Alpha[57]	0.000000
Alpha[57]	0.996655
TNavParticleFilter::Modified Variance for beam 58 is 32.06 
Alpha[58]	0.000000
Alpha[58]	0.998414
TNavParticleFilter::Modified Variance for beam 59 is 34.63 
Alpha[59]	0.000000
Alpha[59]	0.999268
TNavPF:: sumSquaredError = 8.626776 
TNavPF:: sumWeights = 0.013741 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -4.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -5.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -2.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -2.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.34. Range = 91.91 
TNavPF::Calculated measDiffMean for beam 56 as -0.03. Range = 91.77 
TNavPF::Calculated measDiffMean for beam 57 as -0.23. Range = 94.72 
TNavPF::Calculated measDiffMean for beam 58 as -0.23. Range = 93.92 
TNavPF::Calculated measDiffMean for beam 59 as -0.23. Range = 97.41 
TNavPF::Calculated measDiffMean for beam 60 as -0.22. Range = 85.91 
TNavPF::Calculated measDiffMean for beam 61 as -0.18. Range = 83.11 
TNavPF::Calculated measDiffMean for beam 62 as 0.07. Range = 73.93 
TNavPF::Calculated measDiffMean for beam 63 as 0.20. Range = 75.11 
TNavPF::Calculated measDiffMean for beam 64 as -0.03. Range = 75.10 
TNavPF::Calculated measDiffMean for beam 65 as -0.13. Range = 76.61 
TNavPF::Calculated measDiffMean for beam 66 as -0.87. Range = 76.33 
TNavPF::Calculated measDiffMean for beam 67 as -0.84. Range = 73.84 
TNavPF::Calculated measDiffMean for beam 68 as -0.60. Range = 71.40 
TNavPF::Calculated measDiffMean for beam 69 as -0.43. Range = 69.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.37. Range = 68.70 
TNavPF::Calculated measDiffMean for beam 71 as -0.45. Range = 64.33 
TNavPF::Calculated measDiffMean for beam 72 as -1.23. Range = 64.10 
TNavPF::Calculated measDiffMean for beam 73 as -0.06. Range = 63.88 
TNavPF::Calculated measDiffMean for beam 74 as -0.22. Range = 59.63 
TNavPF::Calculated measDiffMean for beam 75 as -0.92. Range = 55.42 
TNavPF::Calculated measDiffMean for beam 76 as 0.18. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 77 as -0.33. Range = 55.17 
TNavPF::Calculated measDiffMean for beam 78 as -0.92. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 79 as -1.15. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 80 as -1.13. Range = 52.92 
TNavPF::Calculated measDiffMean for beam 81 as -1.10. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 82 as -1.27. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 83 as 0.15. Range = 52.83 
TNavPF::Calculated measDiffMean for beam 84 as -0.47. Range = 52.83 
TNavPF::Calculated measDiffMean for beam 85 as 0.19. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 86 as -1.58. Range = 54.88 
TNavPF::Calculated measDiffMean for beam 87 as -0.15. Range = 54.93 
TNavPF::Calculated measDiffMean for beam 88 as -1.62. Range = 55.00 
TNavPF::Calculated measDiffMean for beam 89 as -1.63. Range = 55.09 
TNavPF::First Term of Map Covariance Matrix is 73.95 
TNavPF::Calculated NIS Value : 2.87 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322273.82 sec.
INS : North: 4070299.01, East: 589014.19, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 56.16, IDT[75] = 60.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322276.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322276.62)
ARL : North: -0.1422, East: -2.3707, Depth: -0.6795ARL : Estimation Bias  (Mean)         : (t = 1488322276.62)
ARL : North: 0.2545, East: -2.6178, Depth: 0.0590TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 41.18 
Alpha[0]	0.123000
Alpha[0]	0.999795
TNavParticleFilter::Modified Variance for beam 1 is 31.80 
Alpha[1]	0.000000
Alpha[1]	0.999777
TNavParticleFilter::Modified Variance for beam 2 is 32.55 
Alpha[2]	0.000000
Alpha[2]	0.999740
TNavParticleFilter::Modified Variance for beam 3 is 32.57 
Alpha[3]	0.000000
Alpha[3]	0.999526
TNavParticleFilter::Modified Variance for beam 4 is 33.58 
Alpha[4]	0.000000
Alpha[4]	0.999473
TNavParticleFilter::Modified Variance for beam 5 is 31.78 
Alpha[5]	0.000000
Alpha[5]	0.999785
TNavParticleFilter::Modified Variance for beam 6 is 29.88 
Alpha[6]	0.000000
Alpha[6]	0.999521
TNavParticleFilter::Modified Variance for beam 7 is 28.10 
Alpha[7]	0.000000
Alpha[7]	0.998968
TNavParticleFilter::Modified Variance for beam 8 is 27.84 
Alpha[8]	0.000000
Alpha[8]	0.998306
TNavParticleFilter::Modified Variance for beam 9 is 27.58 
Alpha[9]	0.000000
Alpha[9]	0.998465
TNavParticleFilter::Modified Variance for beam 10 is 24.58 
Alpha[10]	0.000000
Alpha[10]	0.998533
TNavParticleFilter::Modified Variance for beam 11 is 24.38 
Alpha[11]	0.000000
Alpha[11]	0.998890
TNavParticleFilter::Modified Variance for beam 12 is 21.66 
Alpha[12]	0.000000
Alpha[12]	0.998775
TNavParticleFilter::Modified Variance for beam 13 is 21.52 
Alpha[13]	0.000000
Alpha[13]	0.998444
TNavParticleFilter::Modified Variance for beam 14 is 20.22 
Alpha[14]	0.000000
Alpha[14]	0.997472
TNavParticleFilter::Modified Variance for beam 15 is 18.98 
Alpha[15]	0.000000
Alpha[15]	0.996518
TNavParticleFilter::Modified Variance for beam 16 is 18.89 
Alpha[16]	0.000000
Alpha[16]	0.996229
TNavParticleFilter::Modified Variance for beam 17 is 17.73 
Alpha[17]	0.000000
Alpha[17]	0.995409
TNavParticleFilter::Modified Variance for beam 18 is 17.69 
Alpha[18]	0.000000
Alpha[18]	0.993866
TNavParticleFilter::Modified Variance for beam 19 is 17.64 
Alpha[19]	0.000000
Alpha[19]	0.993704
TNavParticleFilter::Modified Variance for beam 20 is 17.60 
Alpha[20]	0.000000
Alpha[20]	0.993113
TNavParticleFilter::Modified Variance for beam 21 is 17.59 
Alpha[21]	0.000000
Alpha[21]	0.990990
TNavParticleFilter::Modified Variance for beam 22 is 17.59 
Alpha[22]	0.000000
Alpha[22]	0.989229
TNavParticleFilter::Modified Variance for beam 23 is 18.80 
Alpha[23]	0.000000
Alpha[23]	0.980750
TNavParticleFilter::Modified Variance for beam 24 is 19.22 
Alpha[24]	0.000000
Alpha[24]	0.958385
TNavParticleFilter::Modified Variance for beam 25 is 19.33 
Alpha[25]	0.000000
Alpha[25]	0.952640
TNavParticleFilter::Modified Variance for beam 26 is 19.35 
Alpha[26]	0.000000
Alpha[26]	0.951419
TNavParticleFilter::Modified Variance for beam 27 is 19.37 
Alpha[27]	0.000000
Alpha[27]	0.951078
TNavParticleFilter::Modified Variance for beam 28 is 19.28 
Alpha[28]	0.000000
Alpha[28]	0.956784
TNavParticleFilter::Modified Variance for beam 29 is 18.90 
Alpha[29]	0.000000
Alpha[29]	0.977395
TNavParticleFilter::Modified Variance for beam 30 is 18.81 
Alpha[30]	0.000000
Alpha[30]	0.984036
TNavParticleFilter::Modified Variance for beam 31 is 18.90 
Alpha[31]	0.000000
Alpha[31]	0.981621
TNavParticleFilter::Modified Variance for beam 32 is 19.14 
Alpha[32]	0.000000
Alpha[32]	0.972219
TNavParticleFilter::Modified Variance for beam 33 is 19.00 
Alpha[33]	0.000000
Alpha[33]	0.983221
TNavParticleFilter::Modified Variance for beam 34 is 17.89 
Alpha[34]	0.000000
Alpha[34]	0.987426
TNavParticleFilter::Modified Variance for beam 35 is 18.00 
Alpha[35]	0.000000
Alpha[35]	0.986128
TNavParticleFilter::Modified Variance for beam 36 is 18.14 
Alpha[36]	0.000000
Alpha[36]	0.983060
TNavParticleFilter::Modified Variance for beam 37 is 18.34 
Alpha[37]	0.000000
Alpha[37]	0.977854
TNavParticleFilter::Modified Variance for beam 38 is 18.51 
Alpha[38]	0.000000
Alpha[38]	0.974507
TNavParticleFilter::Modified Variance for beam 39 is 18.41 
Alpha[39]	0.000000
Alpha[39]	0.986393
TNavParticleFilter::Modified Variance for beam 40 is 19.71 
Alpha[40]	0.000000
Alpha[40]	0.985858
TNavParticleFilter::Modified Variance for beam 41 is 20.27 
Alpha[41]	0.000000
Alpha[41]	0.965921
TNavParticleFilter::Modified Variance for beam 42 is 20.23 
Alpha[42]	0.000000
Alpha[42]	0.975830
TNavParticleFilter::Modified Variance for beam 43 is 20.12 
Alpha[43]	0.000000
Alpha[43]	0.989661
TNavParticleFilter::Modified Variance for beam 44 is 21.61 
Alpha[44]	0.000000
Alpha[44]	0.987210
TNavParticleFilter::Modified Variance for beam 45 is 21.80 
Alpha[45]	0.000000
Alpha[45]	0.988364
TNavParticleFilter::Modified Variance for beam 46 is 22.04 
Alpha[46]	0.000000
Alpha[46]	0.988459
TNavParticleFilter::Modified Variance for beam 47 is 22.29 
Alpha[47]	0.000000
Alpha[47]	0.988377
TNavParticleFilter::Modified Variance for beam 48 is 22.56 
Alpha[48]	0.000000
Alpha[48]	0.988453
TNavParticleFilter::Modified Variance for beam 49 is 22.85 
Alpha[49]	0.000000
Alpha[49]	0.988128
TNavParticleFilter::Modified Variance for beam 50 is 23.11 
Alpha[50]	0.000000
Alpha[50]	0.989909
TNavParticleFilter::Modified Variance for beam 51 is 23.41 
Alpha[51]	0.000000
Alpha[51]	0.991071
TNavParticleFilter::Modified Variance for beam 52 is 25.35 
Alpha[52]	0.000000
Alpha[52]	0.985050
TNavParticleFilter::Modified Variance for beam 53 is 25.56 
Alpha[53]	0.000000
Alpha[53]	0.991783
TNavParticleFilter::Modified Variance for beam 54 is 27.42 
Alpha[54]	0.000000
Alpha[54]	0.995354
TNavParticleFilter::Modified Variance for beam 55 is 27.87 
Alpha[55]	0.000000
Alpha[55]	0.996358
TNavParticleFilter::Modified Variance for beam 56 is 30.02 
Alpha[56]	0.000000
Alpha[56]	0.996292
TNavParticleFilter::Modified Variance for beam 57 is 30.54 
Alpha[57]	0.000000
Alpha[57]	0.997864
TNavParticleFilter::Modified Variance for beam 58 is 32.87 
Alpha[58]	0.000000
Alpha[58]	0.999134
TNavParticleFilter::Modified Variance for beam 59 is 33.54 
Alpha[59]	0.000000
Alpha[59]	0.999431
TNavPF:: sumSquaredError = 23.199400 
TNavPF:: sumWeights = 0.021589 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -6.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -2.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -1.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.08. Range = 94.20 
TNavPF::Calculated measDiffMean for beam 56 as -0.07. Range = 95.03 
TNavPF::Calculated measDiffMean for beam 57 as -0.06. Range = 96.91 
TNavPF::Calculated measDiffMean for beam 58 as -0.04. Range = 97.02 
TNavPF::Calculated measDiffMean for beam 59 as 0.12. Range = 99.64 
TNavPF::Calculated measDiffMean for beam 60 as 0.27. Range = 87.73 
TNavPF::Calculated measDiffMean for beam 61 as 0.13. Range = 76.03 
TNavPF::Calculated measDiffMean for beam 62 as -0.03. Range = 77.04 
TNavPF::Calculated measDiffMean for beam 63 as 0.42. Range = 77.06 
TNavPF::Calculated measDiffMean for beam 64 as -0.90. Range = 78.37 
TNavPF::Calculated measDiffMean for beam 65 as -0.63. Range = 76.01 
TNavPF::Calculated measDiffMean for beam 66 as -0.38. Range = 73.41 
TNavPF::Calculated measDiffMean for beam 67 as -0.26. Range = 70.86 
TNavPF::Calculated measDiffMean for beam 68 as -0.21. Range = 70.47 
TNavPF::Calculated measDiffMean for beam 69 as -0.56. Range = 70.09 
TNavPF::Calculated measDiffMean for beam 70 as 0.44. Range = 65.59 
TNavPF::Calculated measDiffMean for beam 71 as 0.04. Range = 65.29 
TNavPF::Calculated measDiffMean for beam 72 as -0.12. Range = 60.89 
TNavPF::Calculated measDiffMean for beam 73 as -0.98. Range = 60.65 
TNavPF::Calculated measDiffMean for beam 74 as 0.31. Range = 58.39 
TNavPF::Calculated measDiffMean for beam 75 as -0.27. Range = 56.16 
TNavPF::Calculated measDiffMean for beam 76 as -0.79. Range = 55.99 
TNavPF::Calculated measDiffMean for beam 77 as -1.06. Range = 53.81 
TNavPF::Calculated measDiffMean for beam 78 as -1.06. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 79 as -1.03. Range = 53.57 
TNavPF::Calculated measDiffMean for beam 80 as -1.09. Range = 53.47 
TNavPF::Calculated measDiffMean for beam 81 as -1.66. Range = 53.39 
TNavPF::Calculated measDiffMean for beam 82 as -0.11. Range = 53.33 
TNavPF::Calculated measDiffMean for beam 83 as -0.74. Range = 55.28 
TNavPF::Calculated measDiffMean for beam 84 as -0.39. Range = 55.25 
TNavPF::Calculated measDiffMean for beam 85 as -1.74. Range = 55.24 
TNavPF::Calculated measDiffMean for beam 86 as -0.24. Range = 55.24 
TNavPF::Calculated measDiffMean for beam 87 as -1.42. Range = 55.26 
TNavPF::Calculated measDiffMean for beam 88 as -1.42. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 89 as -3.36. Range = 55.34 
TNavPF::First Term of Map Covariance Matrix is 97.66 
TNavPF::Calculated NIS Value : 2.37 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322276.82 sec.
INS : North: 4070299.34, East: 589009.77, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 54.85, IDT[75] = 60.09
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322279.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322279.62)
ARL : North: -0.8465, East: -1.8926, Depth: -1.7991ARL : Estimation Bias  (Mean)         : (t = 1488322279.62)
ARL : North: 0.1716, East: -2.3797, Depth: 0.2500TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 33.77 
Alpha[0]	0.123000
Alpha[0]	0.999824
TNavParticleFilter::Modified Variance for beam 1 is 33.23 
Alpha[1]	0.000000
Alpha[1]	0.999786
TNavParticleFilter::Modified Variance for beam 2 is 34.43 
Alpha[2]	0.000000
Alpha[2]	0.999723
TNavParticleFilter::Modified Variance for beam 3 is 33.92 
Alpha[3]	0.000000
Alpha[3]	0.999589
TNavParticleFilter::Modified Variance for beam 4 is 35.14 
Alpha[4]	0.000000
Alpha[4]	0.999584
TNavParticleFilter::Modified Variance for beam 5 is 32.98 
Alpha[5]	0.000000
Alpha[5]	0.999795
TNavParticleFilter::Modified Variance for beam 6 is 30.96 
Alpha[6]	0.000000
Alpha[6]	0.999480
TNavParticleFilter::Modified Variance for beam 7 is 29.07 
Alpha[7]	0.000000
Alpha[7]	0.998907
TNavParticleFilter::Modified Variance for beam 8 is 28.73 
Alpha[8]	0.000000
Alpha[8]	0.998919
TNavParticleFilter::Modified Variance for beam 9 is 25.55 
Alpha[9]	0.000000
Alpha[9]	0.998849
TNavParticleFilter::Modified Variance for beam 10 is 25.29 
Alpha[10]	0.000000
Alpha[10]	0.999054
TNavParticleFilter::Modified Variance for beam 11 is 22.42 
Alpha[11]	0.000000
Alpha[11]	0.998918
TNavParticleFilter::Modified Variance for beam 12 is 20.99 
Alpha[12]	0.000000
Alpha[12]	0.998516
TNavParticleFilter::Modified Variance for beam 13 is 19.66 
Alpha[13]	0.000000
Alpha[13]	0.997484
TNavParticleFilter::Modified Variance for beam 14 is 19.53 
Alpha[14]	0.000000
Alpha[14]	0.996662
TNavParticleFilter::Modified Variance for beam 15 is 18.27 
Alpha[15]	0.000000
Alpha[15]	0.996494
TNavParticleFilter::Modified Variance for beam 16 is 18.18 
Alpha[16]	0.000000
Alpha[16]	0.995005
TNavParticleFilter::Modified Variance for beam 17 is 18.10 
Alpha[17]	0.000000
Alpha[17]	0.994121
TNavParticleFilter::Modified Variance for beam 18 is 18.01 
Alpha[18]	0.000000
Alpha[18]	0.993582
TNavParticleFilter::Modified Variance for beam 19 is 17.95 
Alpha[19]	0.000000
Alpha[19]	0.992073
TNavParticleFilter::Modified Variance for beam 20 is 17.93 
Alpha[20]	0.000000
Alpha[20]	0.989372
TNavParticleFilter::Modified Variance for beam 21 is 19.07 
Alpha[21]	0.000000
Alpha[21]	0.983609
TNavParticleFilter::Modified Variance for beam 22 is 19.52 
Alpha[22]	0.000000
Alpha[22]	0.957651
TNavParticleFilter::Modified Variance for beam 23 is 19.63 
Alpha[23]	0.000000
Alpha[23]	0.949974
TNavParticleFilter::Modified Variance for beam 24 is 19.64 
Alpha[24]	0.000000
Alpha[24]	0.947021
TNavParticleFilter::Modified Variance for beam 25 is 19.63 
Alpha[25]	0.000000
Alpha[25]	0.945933
TNavParticleFilter::Modified Variance for beam 26 is 19.54 
Alpha[26]	0.000000
Alpha[26]	0.949103
TNavParticleFilter::Modified Variance for beam 27 is 19.04 
Alpha[27]	0.000000
Alpha[27]	0.973360
TNavParticleFilter::Modified Variance for beam 28 is 18.85 
Alpha[28]	0.000000
Alpha[28]	0.983282
TNavParticleFilter::Modified Variance for beam 29 is 18.89 
Alpha[29]	0.000000
Alpha[29]	0.981405
TNavParticleFilter::Modified Variance for beam 30 is 19.13 
Alpha[30]	0.000000
Alpha[30]	0.969695
TNavParticleFilter::Modified Variance for beam 31 is 18.92 
Alpha[31]	0.000000
Alpha[31]	0.981808
TNavParticleFilter::Modified Variance for beam 32 is 17.76 
Alpha[32]	0.000000
Alpha[32]	0.987473
TNavParticleFilter::Modified Variance for beam 33 is 17.81 
Alpha[33]	0.000000
Alpha[33]	0.986420
TNavParticleFilter::Modified Variance for beam 34 is 17.92 
Alpha[34]	0.000000
Alpha[34]	0.983271
TNavParticleFilter::Modified Variance for beam 35 is 18.04 
Alpha[35]	0.000000
Alpha[35]	0.979635
TNavParticleFilter::Modified Variance for beam 36 is 18.24 
Alpha[36]	0.000000
Alpha[36]	0.972822
TNavParticleFilter::Modified Variance for beam 37 is 18.18 
Alpha[37]	0.000000
Alpha[37]	0.980238
TNavParticleFilter::Modified Variance for beam 38 is 19.27 
Alpha[38]	0.000000
Alpha[38]	0.986188
TNavParticleFilter::Modified Variance for beam 39 is 19.78 
Alpha[39]	0.000000
Alpha[39]	0.965781
TNavParticleFilter::Modified Variance for beam 40 is 20.07 
Alpha[40]	0.000000
Alpha[40]	0.957562
TNavParticleFilter::Modified Variance for beam 41 is 19.66 
Alpha[41]	0.000000
Alpha[41]	0.983513
TNavParticleFilter::Modified Variance for beam 42 is 20.93 
Alpha[42]	0.000000
Alpha[42]	0.986392
TNavParticleFilter::Modified Variance for beam 43 is 21.10 
Alpha[43]	0.000000
Alpha[43]	0.986025
TNavParticleFilter::Modified Variance for beam 44 is 21.28 
Alpha[44]	0.000000
Alpha[44]	0.985337
TNavParticleFilter::Modified Variance for beam 45 is 21.44 
Alpha[45]	0.000000
Alpha[45]	0.986927
TNavParticleFilter::Modified Variance for beam 46 is 21.63 
Alpha[46]	0.000000
Alpha[46]	0.987266
TNavParticleFilter::Modified Variance for beam 47 is 21.83 
Alpha[47]	0.000000
Alpha[47]	0.987586
TNavParticleFilter::Modified Variance for beam 48 is 22.07 
Alpha[48]	0.000000
Alpha[48]	0.987007
TNavParticleFilter::Modified Variance for beam 49 is 22.29 
Alpha[49]	0.000000
Alpha[49]	0.988381
TNavParticleFilter::Modified Variance for beam 50 is 23.85 
Alpha[50]	0.000000
Alpha[50]	0.990173
TNavParticleFilter::Modified Variance for beam 51 is 24.36 
Alpha[51]	0.000000
Alpha[51]	0.981771
TNavParticleFilter::Modified Variance for beam 52 is 24.55 
Alpha[52]	0.000000
Alpha[52]	0.986865
TNavParticleFilter::Modified Variance for beam 53 is 26.20 
Alpha[53]	0.000000
Alpha[53]	0.992628
TNavParticleFilter::Modified Variance for beam 54 is 26.51 
Alpha[54]	0.000000
Alpha[54]	0.995226
TNavParticleFilter::Modified Variance for beam 55 is 28.45 
Alpha[55]	0.000000
Alpha[55]	0.995871
TNavParticleFilter::Modified Variance for beam 56 is 28.90 
Alpha[56]	0.000000
Alpha[56]	0.995953
TNavParticleFilter::Modified Variance for beam 57 is 31.00 
Alpha[57]	0.000000
Alpha[57]	0.997648
TNavParticleFilter::Modified Variance for beam 58 is 31.50 
Alpha[58]	0.000000
Alpha[58]	0.999065
TNavParticleFilter::Modified Variance for beam 59 is 39.50 
Alpha[59]	0.000000
Alpha[59]	0.999386
TNavPF:: sumSquaredError = 122.612202 
TNavPF:: sumWeights = 0.010041 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -11.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -6.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 2.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 2.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -2.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.10. Range = 97.09 
TNavPF::Calculated measDiffMean for beam 56 as -0.08. Range = 96.46 
TNavPF::Calculated measDiffMean for beam 57 as 0.05. Range = 99.26 
TNavPF::Calculated measDiffMean for beam 58 as 0.23. Range = 98.65 
TNavPF::Calculated measDiffMean for beam 59 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.09. Range = 78.64 
TNavPF::Calculated measDiffMean for beam 61 as 0.21. Range = 77.93 
TNavPF::Calculated measDiffMean for beam 62 as -0.99. Range = 79.48 
TNavPF::Calculated measDiffMean for beam 63 as -0.69. Range = 78.82 
TNavPF::Calculated measDiffMean for beam 64 as -0.43. Range = 80.39 
TNavPF::Calculated measDiffMean for beam 65 as -0.32. Range = 77.61 
TNavPF::Calculated measDiffMean for beam 66 as -0.25. Range = 74.89 
TNavPF::Calculated measDiffMean for beam 67 as -0.41. Range = 72.24 
TNavPF::Calculated measDiffMean for beam 68 as 0.65. Range = 71.77 
TNavPF::Calculated measDiffMean for beam 69 as 0.04. Range = 67.10 
TNavPF::Calculated measDiffMean for beam 70 as -0.03. Range = 66.71 
TNavPF::Calculated measDiffMean for beam 71 as -0.43. Range = 62.16 
TNavPF::Calculated measDiffMean for beam 72 as 0.59. Range = 59.76 
TNavPF::Calculated measDiffMean for beam 73 as 0.07. Range = 57.40 
TNavPF::Calculated measDiffMean for beam 74 as -0.46. Range = 57.14 
TNavPF::Calculated measDiffMean for beam 75 as -0.86. Range = 54.85 
TNavPF::Calculated measDiffMean for beam 76 as -1.01. Range = 54.64 
TNavPF::Calculated measDiffMean for beam 77 as -1.01. Range = 54.45 
TNavPF::Calculated measDiffMean for beam 78 as -0.97. Range = 54.27 
TNavPF::Calculated measDiffMean for beam 79 as -1.00. Range = 54.11 
TNavPF::Calculated measDiffMean for beam 80 as 0.57. Range = 53.97 
TNavPF::Calculated measDiffMean for beam 81 as -0.07. Range = 55.86 
TNavPF::Calculated measDiffMean for beam 82 as -0.43. Range = 55.75 
TNavPF::Calculated measDiffMean for beam 83 as 0.27. Range = 55.66 
TNavPF::Calculated measDiffMean for beam 84 as -1.18. Range = 55.58 
TNavPF::Calculated measDiffMean for beam 85 as 0.22. Range = 55.53 
TNavPF::Calculated measDiffMean for beam 86 as -0.41. Range = 55.48 
TNavPF::Calculated measDiffMean for beam 87 as 0.56. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 88 as -1.40. Range = 55.45 
TNavPF::Calculated measDiffMean for beam 89 as 6.14. Range = 55.46 
TNavPF::First Term of Map Covariance Matrix is 113.30 
TNavPF::Calculated NIS Value : 4.62 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322279.82 sec.
INS : North: 4070299.48, East: 589005.35, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 55.59, IDT[75] = 59.21
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322282.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322282.62)
ARL : North: -0.4996, East: -2.3522, Depth: -2.4886ARL : Estimation Bias  (Mean)         : (t = 1488322282.62)
ARL : North: 0.1449, East: -2.7875, Depth: 0.3319TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 34.97 
Alpha[0]	0.123000
Alpha[0]	0.999799
TNavParticleFilter::Modified Variance for beam 1 is 35.95 
Alpha[1]	0.000000
Alpha[1]	0.999738
TNavParticleFilter::Modified Variance for beam 2 is 35.55 
Alpha[2]	0.000000
Alpha[2]	0.999667
TNavParticleFilter::Modified Variance for beam 3 is 36.76 
Alpha[3]	0.000000
Alpha[3]	0.999583
TNavParticleFilter::Modified Variance for beam 4 is 34.42 
Alpha[4]	0.000000
Alpha[4]	0.999809
TNavParticleFilter::Modified Variance for beam 5 is 32.24 
Alpha[5]	0.000000
Alpha[5]	0.999544
TNavParticleFilter::Modified Variance for beam 6 is 30.19 
Alpha[6]	0.000000
Alpha[6]	0.999204
TNavParticleFilter::Modified Variance for beam 7 is 26.76 
Alpha[7]	0.000000
Alpha[7]	0.999188
TNavParticleFilter::Modified Variance for beam 8 is 26.42 
Alpha[8]	0.000000
Alpha[8]	0.999204
TNavParticleFilter::Modified Variance for beam 9 is 23.35 
Alpha[9]	0.000000
Alpha[9]	0.999070
TNavParticleFilter::Modified Variance for beam 10 is 21.80 
Alpha[10]	0.000000
Alpha[10]	0.998568
TNavParticleFilter::Modified Variance for beam 11 is 20.36 
Alpha[11]	0.000000
Alpha[11]	0.997577
TNavParticleFilter::Modified Variance for beam 12 is 18.99 
Alpha[12]	0.000000
Alpha[12]	0.997027
TNavParticleFilter::Modified Variance for beam 13 is 18.84 
Alpha[13]	0.000000
Alpha[13]	0.996215
TNavParticleFilter::Modified Variance for beam 14 is 18.71 
Alpha[14]	0.000000
Alpha[14]	0.994586
TNavParticleFilter::Modified Variance for beam 15 is 18.57 
Alpha[15]	0.000000
Alpha[15]	0.994005
TNavParticleFilter::Modified Variance for beam 16 is 18.46 
Alpha[16]	0.000000
Alpha[16]	0.992946
TNavParticleFilter::Modified Variance for beam 17 is 18.39 
Alpha[17]	0.000000
Alpha[17]	0.989959
TNavParticleFilter::Modified Variance for beam 18 is 18.42 
Alpha[18]	0.000000
Alpha[18]	0.984165
TNavParticleFilter::Modified Variance for beam 19 is 19.89 
Alpha[19]	0.000000
Alpha[19]	0.959863
TNavParticleFilter::Modified Variance for beam 20 is 19.97 
Alpha[20]	0.000000
Alpha[20]	0.951036
TNavParticleFilter::Modified Variance for beam 21 is 19.95 
Alpha[21]	0.000000
Alpha[21]	0.947571
TNavParticleFilter::Modified Variance for beam 22 is 19.88 
Alpha[22]	0.000000
Alpha[22]	0.946991
TNavParticleFilter::Modified Variance for beam 23 is 19.69 
Alpha[23]	0.000000
Alpha[23]	0.952449
TNavParticleFilter::Modified Variance for beam 24 is 19.15 
Alpha[24]	0.000000
Alpha[24]	0.975835
TNavParticleFilter::Modified Variance for beam 25 is 18.95 
Alpha[25]	0.000000
Alpha[25]	0.983459
TNavParticleFilter::Modified Variance for beam 26 is 18.97 
Alpha[26]	0.000000
Alpha[26]	0.980613
TNavParticleFilter::Modified Variance for beam 27 is 19.16 
Alpha[27]	0.000000
Alpha[27]	0.969174
TNavParticleFilter::Modified Variance for beam 28 is 18.85 
Alpha[28]	0.000000
Alpha[28]	0.983619
TNavParticleFilter::Modified Variance for beam 29 is 17.68 
Alpha[29]	0.000000
Alpha[29]	0.987497
TNavParticleFilter::Modified Variance for beam 30 is 17.70 
Alpha[30]	0.000000
Alpha[30]	0.986309
TNavParticleFilter::Modified Variance for beam 31 is 17.77 
Alpha[31]	0.000000
Alpha[31]	0.982981
TNavParticleFilter::Modified Variance for beam 32 is 17.84 
Alpha[32]	0.000000
Alpha[32]	0.979847
TNavParticleFilter::Modified Variance for beam 33 is 17.98 
Alpha[33]	0.000000
Alpha[33]	0.973392
TNavParticleFilter::Modified Variance for beam 34 is 17.88 
Alpha[34]	0.000000
Alpha[34]	0.980480
TNavParticleFilter::Modified Variance for beam 35 is 18.93 
Alpha[35]	0.000000
Alpha[35]	0.984640
TNavParticleFilter::Modified Variance for beam 36 is 19.42 
Alpha[36]	0.000000
Alpha[36]	0.962620
TNavParticleFilter::Modified Variance for beam 37 is 19.66 
Alpha[37]	0.000000
Alpha[37]	0.953873
TNavParticleFilter::Modified Variance for beam 38 is 19.26 
Alpha[38]	0.000000
Alpha[38]	0.977268
TNavParticleFilter::Modified Variance for beam 39 is 20.31 
Alpha[39]	0.000000
Alpha[39]	0.986604
TNavParticleFilter::Modified Variance for beam 40 is 20.46 
Alpha[40]	0.000000
Alpha[40]	0.984182
TNavParticleFilter::Modified Variance for beam 41 is 20.55 
Alpha[41]	0.000000
Alpha[41]	0.985176
TNavParticleFilter::Modified Variance for beam 42 is 20.67 
Alpha[42]	0.000000
Alpha[42]	0.985287
TNavParticleFilter::Modified Variance for beam 43 is 22.01 
Alpha[43]	0.000000
Alpha[43]	0.986277
TNavParticleFilter::Modified Variance for beam 44 is 20.92 
Alpha[44]	0.000000
Alpha[44]	0.986799
TNavParticleFilter::Modified Variance for beam 45 is 21.08 
Alpha[45]	0.000000
Alpha[45]	0.986752
TNavParticleFilter::Modified Variance for beam 46 is 21.26 
Alpha[46]	0.000000
Alpha[46]	0.986332
TNavParticleFilter::Modified Variance for beam 47 is 21.40 
Alpha[47]	0.000000
Alpha[47]	0.988431
TNavParticleFilter::Modified Variance for beam 48 is 21.61 
Alpha[48]	0.000000
Alpha[48]	0.987488
TNavParticleFilter::Modified Variance for beam 49 is 23.32 
Alpha[49]	0.000000
Alpha[49]	0.979050
TNavParticleFilter::Modified Variance for beam 50 is 23.41 
Alpha[50]	0.000000
Alpha[50]	0.985606
TNavParticleFilter::Modified Variance for beam 51 is 24.93 
Alpha[51]	0.000000
Alpha[51]	0.990675
TNavParticleFilter::Modified Variance for beam 52 is 25.14 
Alpha[52]	0.000000
Alpha[52]	0.993864
TNavParticleFilter::Modified Variance for beam 53 is 25.42 
Alpha[53]	0.000000
Alpha[53]	0.995595
TNavParticleFilter::Modified Variance for beam 54 is 27.25 
Alpha[54]	0.000000
Alpha[54]	0.994698
TNavParticleFilter::Modified Variance for beam 55 is 27.61 
Alpha[55]	0.000000
Alpha[55]	0.995614
TNavParticleFilter::Modified Variance for beam 56 is 29.52 
Alpha[56]	0.000000
Alpha[56]	0.997830
TNavParticleFilter::Modified Variance for beam 57 is 29.94 
Alpha[57]	0.000000
Alpha[57]	0.999052
TNavParticleFilter::Modified Variance for beam 58 is 37.41 
Alpha[58]	0.000000
Alpha[58]	0.999342
TNavPF:: sumSquaredError = 19.179126 
TNavPF:: sumWeights = 0.026858 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 31 as -6.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 3.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -2.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.02. Range = 99.41 
TNavPF::Calculated measDiffMean for beam 58 as -0.20. Range = 99.29 
TNavPF::Calculated measDiffMean for beam 59 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.54. Range = 80.17 
TNavPF::Calculated measDiffMean for beam 63 as -0.45. Range = 81.41 
TNavPF::Calculated measDiffMean for beam 64 as -0.37. Range = 80.90 
TNavPF::Calculated measDiffMean for beam 65 as -0.55. Range = 82.42 
TNavPF::Calculated measDiffMean for beam 66 as 0.45. Range = 79.48 
TNavPF::Calculated measDiffMean for beam 67 as -0.09. Range = 76.61 
TNavPF::Calculated measDiffMean for beam 68 as -0.14. Range = 73.82 
TNavPF::Calculated measDiffMean for beam 69 as -0.37. Range = 68.91 
TNavPF::Calculated measDiffMean for beam 70 as 0.66. Range = 68.42 
TNavPF::Calculated measDiffMean for beam 71 as 0.11. Range = 63.66 
TNavPF::Calculated measDiffMean for beam 72 as -0.43. Range = 61.12 
TNavPF::Calculated measDiffMean for beam 73 as -0.78. Range = 58.63 
TNavPF::Calculated measDiffMean for beam 74 as 0.98. Range = 56.19 
TNavPF::Calculated measDiffMean for beam 75 as -1.11. Range = 55.88 
TNavPF::Calculated measDiffMean for beam 76 as -1.09. Range = 55.59 
TNavPF::Calculated measDiffMean for beam 77 as -1.06. Range = 55.32 
TNavPF::Calculated measDiffMean for beam 78 as -1.16. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 79 as -1.88. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 80 as -0.23. Range = 54.71 
TNavPF::Calculated measDiffMean for beam 81 as -0.55. Range = 56.48 
TNavPF::Calculated measDiffMean for beam 82 as 0.29. Range = 56.30 
TNavPF::Calculated measDiffMean for beam 83 as -0.99. Range = 56.13 
TNavPF::Calculated measDiffMean for beam 84 as -1.80. Range = 55.99 
TNavPF::Calculated measDiffMean for beam 85 as -0.27. Range = 55.86 
TNavPF::Calculated measDiffMean for beam 86 as -0.93. Range = 55.75 
TNavPF::Calculated measDiffMean for beam 87 as -0.07. Range = 55.65 
TNavPF::Calculated measDiffMean for beam 88 as -1.65. Range = 55.58 
TNavPF::Calculated measDiffMean for beam 89 as 5.22. Range = 55.52 
TNavPF::First Term of Map Covariance Matrix is 99.46 
TNavPF::Calculated NIS Value : 3.42 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322282.82 sec.
INS : North: 4070299.38, East: 589000.92, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 56.34, IDT[75] = 58.22
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322285.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322285.62)
ARL : North: -0.1940, East: -3.7629, Depth: -1.0550ARL : Estimation Bias  (Mean)         : (t = 1488322285.62)
ARL : North: 0.1286, East: -2.8469, Depth: 0.3644TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 37.00 
Alpha[0]	0.123000
Alpha[0]	0.999855
TNavParticleFilter::Modified Variance for beam 1 is 36.58 
Alpha[1]	0.000000
Alpha[1]	0.999803
TNavParticleFilter::Modified Variance for beam 2 is 37.45 
Alpha[2]	0.000000
Alpha[2]	0.999743
TNavParticleFilter::Modified Variance for beam 3 is 37.32 
Alpha[3]	0.000000
Alpha[3]	0.999638
TNavParticleFilter::Modified Variance for beam 4 is 37.95 
Alpha[4]	0.000000
Alpha[4]	0.999712
TNavParticleFilter::Modified Variance for beam 5 is 33.70 
Alpha[5]	0.000000
Alpha[5]	0.999783
TNavParticleFilter::Modified Variance for beam 6 is 31.46 
Alpha[6]	0.000000
Alpha[6]	0.999535
TNavParticleFilter::Modified Variance for beam 7 is 27.80 
Alpha[7]	0.000000
Alpha[7]	0.999415
TNavParticleFilter::Modified Variance for beam 8 is 27.40 
Alpha[8]	0.000000
Alpha[8]	0.999321
TNavParticleFilter::Modified Variance for beam 9 is 22.76 
Alpha[9]	0.000000
Alpha[9]	0.999021
TNavParticleFilter::Modified Variance for beam 10 is 21.18 
Alpha[10]	0.000000
Alpha[10]	0.998431
TNavParticleFilter::Modified Variance for beam 11 is 20.94 
Alpha[11]	0.000000
Alpha[11]	0.997536
TNavParticleFilter::Modified Variance for beam 12 is 19.48 
Alpha[12]	0.000000
Alpha[12]	0.996845
TNavParticleFilter::Modified Variance for beam 13 is 19.30 
Alpha[13]	0.000000
Alpha[13]	0.995473
TNavParticleFilter::Modified Variance for beam 14 is 19.12 
Alpha[14]	0.000000
Alpha[14]	0.994394
TNavParticleFilter::Modified Variance for beam 15 is 18.96 
Alpha[15]	0.000000
Alpha[15]	0.993204
TNavParticleFilter::Modified Variance for beam 16 is 18.85 
Alpha[16]	0.000000
Alpha[16]	0.990127
TNavParticleFilter::Modified Variance for beam 17 is 19.40 
Alpha[17]	0.000000
Alpha[17]	0.982219
TNavParticleFilter::Modified Variance for beam 18 is 20.25 
Alpha[18]	0.000000
Alpha[18]	0.962816
TNavParticleFilter::Modified Variance for beam 19 is 20.24 
Alpha[19]	0.000000
Alpha[19]	0.955909
TNavParticleFilter::Modified Variance for beam 20 is 20.16 
Alpha[20]	0.000000
Alpha[20]	0.953012
TNavParticleFilter::Modified Variance for beam 21 is 20.02 
Alpha[21]	0.000000
Alpha[21]	0.953813
TNavParticleFilter::Modified Variance for beam 22 is 19.65 
Alpha[22]	0.000000
Alpha[22]	0.966039
TNavParticleFilter::Modified Variance for beam 23 is 19.23 
Alpha[23]	0.000000
Alpha[23]	0.981460
TNavParticleFilter::Modified Variance for beam 24 is 19.10 
Alpha[24]	0.000000
Alpha[24]	0.983587
TNavParticleFilter::Modified Variance for beam 25 is 19.15 
Alpha[25]	0.000000
Alpha[25]	0.976441
TNavParticleFilter::Modified Variance for beam 26 is 19.05 
Alpha[26]	0.000000
Alpha[26]	0.977771
TNavParticleFilter::Modified Variance for beam 27 is 18.79 
Alpha[27]	0.000000
Alpha[27]	0.988220
TNavParticleFilter::Modified Variance for beam 28 is 17.66 
Alpha[28]	0.000000
Alpha[28]	0.987615
TNavParticleFilter::Modified Variance for beam 29 is 17.66 
Alpha[29]	0.000000
Alpha[29]	0.985642
TNavParticleFilter::Modified Variance for beam 30 is 17.68 
Alpha[30]	0.000000
Alpha[30]	0.982325
TNavParticleFilter::Modified Variance for beam 31 is 17.74 
Alpha[31]	0.000000
Alpha[31]	0.978108
TNavParticleFilter::Modified Variance for beam 32 is 17.78 
Alpha[32]	0.000000
Alpha[32]	0.975003
TNavParticleFilter::Modified Variance for beam 33 is 17.60 
Alpha[33]	0.000000
Alpha[33]	0.984801
TNavParticleFilter::Modified Variance for beam 34 is 18.85 
Alpha[34]	0.000000
Alpha[34]	0.975835
TNavParticleFilter::Modified Variance for beam 35 is 19.19 
Alpha[35]	0.000000
Alpha[35]	0.959199
TNavParticleFilter::Modified Variance for beam 36 is 19.24 
Alpha[36]	0.000000
Alpha[36]	0.957809
TNavParticleFilter::Modified Variance for beam 37 is 18.78 
Alpha[37]	0.000000
Alpha[37]	0.982508
TNavParticleFilter::Modified Variance for beam 38 is 19.91 
Alpha[38]	0.000000
Alpha[38]	0.984729
TNavParticleFilter::Modified Variance for beam 39 is 19.99 
Alpha[39]	0.000000
Alpha[39]	0.983456
TNavParticleFilter::Modified Variance for beam 40 is 20.05 
Alpha[40]	0.000000
Alpha[40]	0.983258
TNavParticleFilter::Modified Variance for beam 41 is 20.10 
Alpha[41]	0.000000
Alpha[41]	0.984676
TNavParticleFilter::Modified Variance for beam 42 is 21.34 
Alpha[42]	0.000000
Alpha[42]	0.985996
TNavParticleFilter::Modified Variance for beam 43 is 20.24 
Alpha[43]	0.000000
Alpha[43]	0.986648
TNavParticleFilter::Modified Variance for beam 44 is 20.34 
Alpha[44]	0.000000
Alpha[44]	0.986769
TNavParticleFilter::Modified Variance for beam 45 is 20.47 
Alpha[45]	0.000000
Alpha[45]	0.986173
TNavParticleFilter::Modified Variance for beam 46 is 20.58 
Alpha[46]	0.000000
Alpha[46]	0.987170
TNavParticleFilter::Modified Variance for beam 47 is 20.70 
Alpha[47]	0.000000
Alpha[47]	0.988085
TNavParticleFilter::Modified Variance for beam 48 is 22.30 
Alpha[48]	0.000000
Alpha[48]	0.978527
TNavParticleFilter::Modified Variance for beam 49 is 22.44 
Alpha[49]	0.000000
Alpha[49]	0.980480
TNavParticleFilter::Modified Variance for beam 50 is 22.43 
Alpha[50]	0.000000
Alpha[50]	0.989396
TNavParticleFilter::Modified Variance for beam 51 is 23.95 
Alpha[51]	0.000000
Alpha[51]	0.989558
TNavParticleFilter::Modified Variance for beam 52 is 24.07 
Alpha[52]	0.000000
Alpha[52]	0.994017
TNavParticleFilter::Modified Variance for beam 53 is 24.30 
Alpha[53]	0.000000
Alpha[53]	0.995169
TNavParticleFilter::Modified Variance for beam 54 is 26.00 
Alpha[54]	0.000000
Alpha[54]	0.994123
TNavParticleFilter::Modified Variance for beam 55 is 26.29 
Alpha[55]	0.000000
Alpha[55]	0.994844
TNavParticleFilter::Modified Variance for beam 56 is 28.04 
Alpha[56]	0.000000
Alpha[56]	0.997072
TNavParticleFilter::Modified Variance for beam 57 is 28.36 
Alpha[57]	0.000000
Alpha[57]	0.998763
TNavParticleFilter::Modified Variance for beam 58 is 28.74 
Alpha[58]	0.000000
Alpha[58]	0.999240
TNavPF:: sumSquaredError = 34.492693 
TNavPF:: sumWeights = 0.019539 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 31 as -10.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -4.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -2.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -2.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.54. Range = 82.73 
TNavPF::Calculated measDiffMean for beam 63 as -0.54. Range = 82.20 
TNavPF::Calculated measDiffMean for beam 64 as -1.12. Range = 83.27 
TNavPF::Calculated measDiffMean for beam 65 as -0.04. Range = 83.10 
TNavPF::Calculated measDiffMean for beam 66 as -0.25. Range = 83.88 
TNavPF::Calculated measDiffMean for beam 67 as -0.31. Range = 78.54 
TNavPF::Calculated measDiffMean for beam 68 as -0.74. Range = 75.57 
TNavPF::Calculated measDiffMean for beam 69 as 0.32. Range = 70.45 
TNavPF::Calculated measDiffMean for beam 70 as -0.13. Range = 69.86 
TNavPF::Calculated measDiffMean for beam 71 as -0.60. Range = 62.72 
TNavPF::Calculated measDiffMean for beam 72 as -0.89. Range = 60.06 
TNavPF::Calculated measDiffMean for beam 73 as 0.84. Range = 59.63 
TNavPF::Calculated measDiffMean for beam 74 as -1.22. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 75 as -1.21. Range = 56.69 
TNavPF::Calculated measDiffMean for beam 76 as -1.17. Range = 56.34 
TNavPF::Calculated measDiffMean for beam 77 as -1.22. Range = 56.01 
TNavPF::Calculated measDiffMean for beam 78 as -1.82. Range = 55.69 
TNavPF::Calculated measDiffMean for beam 79 as -0.28. Range = 56.41 
TNavPF::Calculated measDiffMean for beam 80 as -0.50. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 81 as -1.26. Range = 56.94 
TNavPF::Calculated measDiffMean for beam 82 as -0.43. Range = 56.70 
TNavPF::Calculated measDiffMean for beam 83 as -1.34. Range = 56.48 
TNavPF::Calculated measDiffMean for beam 84 as -2.10. Range = 56.27 
TNavPF::Calculated measDiffMean for beam 85 as -0.43. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 86 as -1.10. Range = 55.92 
TNavPF::Calculated measDiffMean for beam 87 as -0.00. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 88 as -1.31. Range = 55.64 
TNavPF::Calculated measDiffMean for beam 89 as -3.13. Range = 55.52 
TNavPF::First Term of Map Covariance Matrix is 137.70 
TNavPF::Calculated NIS Value : 3.74 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322285.82 sec.
INS : North: 4070299.03, East: 588996.51, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 57.17, IDT[75] = 57.11
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322288.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322288.62)
ARL : North: -0.9481, East: -3.0340, Depth: 2.8876ARL : Estimation Bias  (Mean)         : (t = 1488322288.62)
ARL : North: -0.1103, East: -2.7097, Depth: 0.5960TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 32 33 34 35 
TNavParticleFilter::Modified Variance for beam 0 is 38.67 
Alpha[0]	0.123000
Alpha[0]	0.999864
TNavParticleFilter::Modified Variance for beam 1 is 38.32 
Alpha[1]	0.000000
Alpha[1]	0.999823
TNavParticleFilter::Modified Variance for beam 2 is 38.98 
Alpha[2]	0.000000
Alpha[2]	0.999777
TNavParticleFilter::Modified Variance for beam 3 is 39.00 
Alpha[3]	0.000000
Alpha[3]	0.999649
TNavParticleFilter::Modified Variance for beam 4 is 37.42 
Alpha[4]	0.000000
Alpha[4]	0.999678
TNavParticleFilter::Modified Variance for beam 5 is 33.04 
Alpha[5]	0.000000
Alpha[5]	0.999826
TNavParticleFilter::Modified Variance for beam 6 is 29.08 
Alpha[6]	0.000000
Alpha[6]	0.999610
TNavParticleFilter::Modified Variance for beam 7 is 28.58 
Alpha[7]	0.000000
Alpha[7]	0.999461
TNavParticleFilter::Modified Variance for beam 8 is 23.63 
Alpha[8]	0.000000
Alpha[8]	0.999165
TNavParticleFilter::Modified Variance for beam 9 is 21.91 
Alpha[9]	0.000000
Alpha[9]	0.998562
TNavParticleFilter::Modified Variance for beam 10 is 21.61 
Alpha[10]	0.000000
Alpha[10]	0.997670
TNavParticleFilter::Modified Variance for beam 11 is 21.33 
Alpha[11]	0.000000
Alpha[11]	0.996725
TNavParticleFilter::Modified Variance for beam 12 is 19.82 
Alpha[12]	0.000000
Alpha[12]	0.995096
TNavParticleFilter::Modified Variance for beam 13 is 19.60 
Alpha[13]	0.000000
Alpha[13]	0.993997
TNavParticleFilter::Modified Variance for beam 14 is 19.41 
Alpha[14]	0.000000
Alpha[14]	0.992074
TNavParticleFilter::Modified Variance for beam 15 is 19.39 
Alpha[15]	0.000000
Alpha[15]	0.986987
TNavParticleFilter::Modified Variance for beam 16 is 20.70 
Alpha[16]	0.000000
Alpha[16]	0.967286
TNavParticleFilter::Modified Variance for beam 17 is 20.75 
Alpha[17]	0.000000
Alpha[17]	0.955501
TNavParticleFilter::Modified Variance for beam 18 is 20.61 
Alpha[18]	0.000000
Alpha[18]	0.952930
TNavParticleFilter::Modified Variance for beam 19 is 20.44 
Alpha[19]	0.000000
Alpha[19]	0.951871
TNavParticleFilter::Modified Variance for beam 20 is 20.10 
Alpha[20]	0.000000
Alpha[20]	0.960154
TNavParticleFilter::Modified Variance for beam 21 is 19.54 
Alpha[21]	0.000000
Alpha[21]	0.979823
TNavParticleFilter::Modified Variance for beam 22 is 19.32 
Alpha[22]	0.000000
Alpha[22]	0.983935
TNavParticleFilter::Modified Variance for beam 23 is 19.29 
Alpha[23]	0.000000
Alpha[23]	0.978645
TNavParticleFilter::Modified Variance for beam 24 is 19.27 
Alpha[24]	0.000000
Alpha[24]	0.973480
TNavParticleFilter::Modified Variance for beam 25 is 17.78 
Alpha[25]	0.000000
Alpha[25]	0.987909
TNavParticleFilter::Modified Variance for beam 26 is 17.70 
Alpha[26]	0.000000
Alpha[26]	0.987037
TNavParticleFilter::Modified Variance for beam 27 is 17.66 
Alpha[27]	0.000000
Alpha[27]	0.984932
TNavParticleFilter::Modified Variance for beam 28 is 17.66 
Alpha[28]	0.000000
Alpha[28]	0.980528
TNavParticleFilter::Modified Variance for beam 29 is 17.65 
Alpha[29]	0.000000
Alpha[29]	0.977579
TNavParticleFilter::Modified Variance for beam 30 is 17.68 
Alpha[30]	0.000000
Alpha[30]	0.973045
TNavParticleFilter::Modified Variance for beam 31 is 17.46 
Alpha[31]	0.000000
Alpha[31]	0.982874
TNavParticleFilter::Modified Variance for beam 32 is 18.60 
Alpha[32]	0.000000
Alpha[32]	0.977160
TNavParticleFilter::Modified Variance for beam 33 is 18.98 
Alpha[33]	0.000000
Alpha[33]	0.955957
TNavParticleFilter::Modified Variance for beam 34 is 19.05 
Alpha[34]	0.000000
Alpha[34]	0.951693
TNavParticleFilter::Modified Variance for beam 35 is 18.58 
Alpha[35]	0.000000
Alpha[35]	0.974812
TNavParticleFilter::Modified Variance for beam 36 is 19.48 
Alpha[36]	0.000000
Alpha[36]	0.985780
TNavParticleFilter::Modified Variance for beam 37 is 19.58 
Alpha[37]	0.000000
Alpha[37]	0.980915
TNavParticleFilter::Modified Variance for beam 38 is 19.56 
Alpha[38]	0.000000
Alpha[38]	0.982537
TNavParticleFilter::Modified Variance for beam 39 is 19.61 
Alpha[39]	0.000000
Alpha[39]	0.981315
TNavParticleFilter::Modified Variance for beam 40 is 20.74 
Alpha[40]	0.000000
Alpha[40]	0.984673
TNavParticleFilter::Modified Variance for beam 41 is 20.78 
Alpha[41]	0.000000
Alpha[41]	0.985025
TNavParticleFilter::Modified Variance for beam 42 is 20.82 
Alpha[42]	0.000000
Alpha[42]	0.985716
TNavParticleFilter::Modified Variance for beam 43 is 19.73 
Alpha[43]	0.000000
Alpha[43]	0.985536
TNavParticleFilter::Modified Variance for beam 44 is 19.82 
Alpha[44]	0.000000
Alpha[44]	0.985121
TNavParticleFilter::Modified Variance for beam 45 is 19.86 
Alpha[45]	0.000000
Alpha[45]	0.987100
TNavParticleFilter::Modified Variance for beam 46 is 21.18 
Alpha[46]	0.000000
Alpha[46]	0.985078
TNavParticleFilter::Modified Variance for beam 47 is 21.56 
Alpha[47]	0.000000
Alpha[47]	0.973189
TNavParticleFilter::Modified Variance for beam 48 is 21.59 
Alpha[48]	0.000000
Alpha[48]	0.977769
TNavParticleFilter::Modified Variance for beam 49 is 21.49 
Alpha[49]	0.000000
Alpha[49]	0.988570
TNavParticleFilter::Modified Variance for beam 50 is 22.99 
Alpha[50]	0.000000
Alpha[50]	0.984951
TNavParticleFilter::Modified Variance for beam 51 is 22.99 
Alpha[51]	0.000000
Alpha[51]	0.992298
TNavParticleFilter::Modified Variance for beam 52 is 23.13 
Alpha[52]	0.000000
Alpha[52]	0.994732
TNavParticleFilter::Modified Variance for beam 53 is 24.69 
Alpha[53]	0.000000
Alpha[53]	0.993781
TNavParticleFilter::Modified Variance for beam 54 is 24.94 
Alpha[54]	0.000000
Alpha[54]	0.993086
TNavParticleFilter::Modified Variance for beam 55 is 25.15 
Alpha[55]	0.000000
Alpha[55]	0.994988
TNavParticleFilter::Modified Variance for beam 56 is 26.78 
Alpha[56]	0.000000
Alpha[56]	0.997437
TNavParticleFilter::Modified Variance for beam 57 is 27.05 
Alpha[57]	0.000000
Alpha[57]	0.998752
TNavPF:: sumSquaredError = 16.731286 
TNavPF:: sumWeights = 0.020283 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 32 as -10.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -4.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 2.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -3.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 3.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.08. Range = 84.76 
TNavPF::Calculated measDiffMean for beam 65 as -0.18. Range = 84.34 
TNavPF::Calculated measDiffMean for beam 66 as -0.21. Range = 85.13 
TNavPF::Calculated measDiffMean for beam 67 as -0.43. Range = 85.15 
TNavPF::Calculated measDiffMean for beam 68 as 0.58. Range = 83.23 
TNavPF::Calculated measDiffMean for beam 69 as 0.07. Range = 77.69 
TNavPF::Calculated measDiffMean for beam 70 as -0.35. Range = 72.28 
TNavPF::Calculated measDiffMean for beam 71 as -0.64. Range = 71.58 
TNavPF::Calculated measDiffMean for beam 72 as 1.07. Range = 64.12 
TNavPF::Calculated measDiffMean for beam 73 as 0.94. Range = 61.30 
TNavPF::Calculated measDiffMean for beam 74 as 0.94. Range = 60.77 
TNavPF::Calculated measDiffMean for beam 75 as -1.04. Range = 60.27 
TNavPF::Calculated measDiffMean for beam 76 as -1.01. Range = 57.60 
TNavPF::Calculated measDiffMean for beam 77 as -1.15. Range = 57.17 
TNavPF::Calculated measDiffMean for beam 78 as 0.13. Range = 56.76 
TNavPF::Calculated measDiffMean for beam 79 as -0.22. Range = 56.55 
TNavPF::Calculated measDiffMean for beam 80 as -0.38. Range = 58.14 
TNavPF::Calculated measDiffMean for beam 81 as -1.14. Range = 57.78 
TNavPF::Calculated measDiffMean for beam 82 as -0.23. Range = 57.45 
TNavPF::Calculated measDiffMean for beam 83 as -0.99. Range = 57.13 
TNavPF::Calculated measDiffMean for beam 84 as -1.66. Range = 56.84 
TNavPF::Calculated measDiffMean for beam 85 as -0.18. Range = 56.57 
TNavPF::Calculated measDiffMean for beam 86 as -0.56. Range = 56.32 
TNavPF::Calculated measDiffMean for beam 87 as -1.38. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 88 as -0.16. Range = 55.87 
TNavPF::Calculated measDiffMean for beam 89 as -1.15. Range = 53.64 
TNavPF::First Term of Map Covariance Matrix is 146.73 
TNavPF::Calculated NIS Value : 3.42 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322288.82 sec.
INS : North: 4070298.39, East: 588992.14, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 58.20, IDT[75] = 55.92
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322291.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322291.62)
ARL : North: 0.4667, East: -3.1152, Depth: -0.0576ARL : Estimation Bias  (Mean)         : (t = 1488322291.62)
ARL : North: -0.2617, East: -2.8230, Depth: 0.5752TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 34 35 36 37 
TNavParticleFilter::Modified Variance for beam 0 is 39.82 
Alpha[0]	0.123000
Alpha[0]	0.999875
TNavParticleFilter::Modified Variance for beam 1 is 40.79 
Alpha[1]	0.000000
Alpha[1]	0.999833
TNavParticleFilter::Modified Variance for beam 2 is 40.02 
Alpha[2]	0.000000
Alpha[2]	0.999727
TNavParticleFilter::Modified Variance for beam 3 is 41.20 
Alpha[3]	0.000000
Alpha[3]	0.999676
TNavParticleFilter::Modified Variance for beam 4 is 34.40 
Alpha[4]	0.000000
Alpha[4]	0.999879
TNavParticleFilter::Modified Variance for beam 5 is 30.13 
Alpha[5]	0.000000
Alpha[5]	0.999726
TNavParticleFilter::Modified Variance for beam 6 is 26.29 
Alpha[6]	0.000000
Alpha[6]	0.999478
TNavParticleFilter::Modified Variance for beam 7 is 22.83 
Alpha[7]	0.000000
Alpha[7]	0.999047
TNavParticleFilter::Modified Variance for beam 8 is 22.45 
Alpha[8]	0.000000
Alpha[8]	0.998454
TNavParticleFilter::Modified Variance for beam 9 is 20.75 
Alpha[9]	0.000000
Alpha[9]	0.997286
TNavParticleFilter::Modified Variance for beam 10 is 20.46 
Alpha[10]	0.000000
Alpha[10]	0.995606
TNavParticleFilter::Modified Variance for beam 11 is 20.17 
Alpha[11]	0.000000
Alpha[11]	0.994610
TNavParticleFilter::Modified Variance for beam 12 is 19.93 
Alpha[12]	0.000000
Alpha[12]	0.992022
TNavParticleFilter::Modified Variance for beam 13 is 20.19 
Alpha[13]	0.000000
Alpha[13]	0.984610
TNavParticleFilter::Modified Variance for beam 14 is 21.27 
Alpha[14]	0.000000
Alpha[14]	0.963269
TNavParticleFilter::Modified Variance for beam 15 is 21.12 
Alpha[15]	0.000000
Alpha[15]	0.958294
TNavParticleFilter::Modified Variance for beam 16 is 20.91 
Alpha[16]	0.000000
Alpha[16]	0.956043
TNavParticleFilter::Modified Variance for beam 17 is 20.63 
Alpha[17]	0.000000
Alpha[17]	0.958325
TNavParticleFilter::Modified Variance for beam 18 is 20.04 
Alpha[18]	0.000000
Alpha[18]	0.976120
TNavParticleFilter::Modified Variance for beam 19 is 19.69 
Alpha[19]	0.000000
Alpha[19]	0.983160
TNavParticleFilter::Modified Variance for beam 20 is 19.53 
Alpha[20]	0.000000
Alpha[20]	0.981955
TNavParticleFilter::Modified Variance for beam 21 is 19.52 
Alpha[21]	0.000000
Alpha[21]	0.973481
TNavParticleFilter::Modified Variance for beam 22 is 19.09 
Alpha[22]	0.000000
Alpha[22]	0.987230
TNavParticleFilter::Modified Variance for beam 23 is 17.79 
Alpha[23]	0.000000
Alpha[23]	0.988236
TNavParticleFilter::Modified Variance for beam 24 is 17.70 
Alpha[24]	0.000000
Alpha[24]	0.986380
TNavParticleFilter::Modified Variance for beam 25 is 17.65 
Alpha[25]	0.000000
Alpha[25]	0.982346
TNavParticleFilter::Modified Variance for beam 26 is 17.59 
Alpha[26]	0.000000
Alpha[26]	0.979502
TNavParticleFilter::Modified Variance for beam 27 is 17.58 
Alpha[27]	0.000000
Alpha[27]	0.974578
TNavParticleFilter::Modified Variance for beam 28 is 17.40 
Alpha[28]	0.000000
Alpha[28]	0.979614
TNavParticleFilter::Modified Variance for beam 29 is 18.03 
Alpha[29]	0.000000
Alpha[29]	0.980412
TNavParticleFilter::Modified Variance for beam 30 is 18.70 
Alpha[30]	0.000000
Alpha[30]	0.959759
TNavParticleFilter::Modified Variance for beam 31 is 18.77 
Alpha[31]	0.000000
Alpha[31]	0.952864
TNavParticleFilter::Modified Variance for beam 32 is 18.55 
Alpha[32]	0.000000
Alpha[32]	0.960967
TNavParticleFilter::Modified Variance for beam 33 is 18.06 
Alpha[33]	0.000000
Alpha[33]	0.984332
TNavParticleFilter::Modified Variance for beam 34 is 19.17 
Alpha[34]	0.000000
Alpha[34]	0.981720
TNavParticleFilter::Modified Variance for beam 35 is 19.14 
Alpha[35]	0.000000
Alpha[35]	0.981529
TNavParticleFilter::Modified Variance for beam 36 is 19.12 
Alpha[36]	0.000000
Alpha[36]	0.981537
TNavParticleFilter::Modified Variance for beam 37 is 19.06 
Alpha[37]	0.000000
Alpha[37]	0.983428
TNavParticleFilter::Modified Variance for beam 38 is 20.15 
Alpha[38]	0.000000
Alpha[38]	0.985293
TNavParticleFilter::Modified Variance for beam 39 is 20.15 
Alpha[39]	0.000000
Alpha[39]	0.985520
TNavParticleFilter::Modified Variance for beam 40 is 19.03 
Alpha[40]	0.000000
Alpha[40]	0.985983
TNavParticleFilter::Modified Variance for beam 41 is 19.06 
Alpha[41]	0.000000
Alpha[41]	0.985673
TNavParticleFilter::Modified Variance for beam 42 is 19.09 
Alpha[42]	0.000000
Alpha[42]	0.985505
TNavParticleFilter::Modified Variance for beam 43 is 19.10 
Alpha[43]	0.000000
Alpha[43]	0.987265
TNavParticleFilter::Modified Variance for beam 44 is 20.42 
Alpha[44]	0.000000
Alpha[44]	0.981044
TNavParticleFilter::Modified Variance for beam 45 is 20.62 
Alpha[45]	0.000000
Alpha[45]	0.974944
TNavParticleFilter::Modified Variance for beam 46 is 20.61 
Alpha[46]	0.000000
Alpha[46]	0.979273
TNavParticleFilter::Modified Variance for beam 47 is 20.51 
Alpha[47]	0.000000
Alpha[47]	0.988159
TNavParticleFilter::Modified Variance for beam 48 is 21.92 
Alpha[48]	0.000000
Alpha[48]	0.983085
TNavParticleFilter::Modified Variance for beam 49 is 21.85 
Alpha[49]	0.000000
Alpha[49]	0.991683
TNavParticleFilter::Modified Variance for beam 50 is 21.93 
Alpha[50]	0.000000
Alpha[50]	0.994069
TNavParticleFilter::Modified Variance for beam 51 is 23.34 
Alpha[51]	0.000000
Alpha[51]	0.993942
TNavParticleFilter::Modified Variance for beam 52 is 23.53 
Alpha[52]	0.000000
Alpha[52]	0.992718
TNavParticleFilter::Modified Variance for beam 53 is 23.72 
Alpha[53]	0.000000
Alpha[53]	0.992623
TNavParticleFilter::Modified Variance for beam 54 is 25.19 
Alpha[54]	0.000000
Alpha[54]	0.995273
TNavParticleFilter::Modified Variance for beam 55 is 25.35 
Alpha[55]	0.000000
Alpha[55]	0.997717
TNavPF:: sumSquaredError = 18.618780 
TNavPF:: sumWeights = 0.041370 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 34 as -7.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 3.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -3.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -2.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.19. Range = 86.13 
TNavPF::Calculated measDiffMean for beam 69 as -0.19. Range = 87.27 
TNavPF::Calculated measDiffMean for beam 70 as -0.60. Range = 86.36 
TNavPF::Calculated measDiffMean for beam 71 as -0.81. Range = 87.74 
TNavPF::Calculated measDiffMean for beam 72 as 0.90. Range = 79.45 
TNavPF::Calculated measDiffMean for beam 73 as 0.87. Range = 73.76 
TNavPF::Calculated measDiffMean for beam 74 as -1.13. Range = 68.23 
TNavPF::Calculated measDiffMean for beam 75 as -1.11. Range = 62.83 
TNavPF::Calculated measDiffMean for beam 76 as -1.09. Range = 62.19 
TNavPF::Calculated measDiffMean for beam 77 as -1.37. Range = 59.29 
TNavPF::Calculated measDiffMean for beam 78 as -0.08. Range = 58.73 
TNavPF::Calculated measDiffMean for beam 79 as -0.30. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 80 as -0.47. Range = 57.69 
TNavPF::Calculated measDiffMean for beam 81 as -1.20. Range = 57.88 
TNavPF::Calculated measDiffMean for beam 82 as -0.21. Range = 58.95 
TNavPF::Calculated measDiffMean for beam 83 as -0.94. Range = 58.51 
TNavPF::Calculated measDiffMean for beam 84 as -1.49. Range = 58.08 
TNavPF::Calculated measDiffMean for beam 85 as -0.17. Range = 57.68 
TNavPF::Calculated measDiffMean for beam 86 as -0.44. Range = 57.31 
TNavPF::Calculated measDiffMean for beam 87 as -0.99. Range = 56.95 
TNavPF::Calculated measDiffMean for beam 88 as 0.31. Range = 56.62 
TNavPF::Calculated measDiffMean for beam 89 as -0.49. Range = 56.31 
TNavPF::First Term of Map Covariance Matrix is 159.58 
TNavPF::Calculated NIS Value : 2.22 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322291.82 sec.
INS : North: 4070297.45, East: 588987.82, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 58.61, IDT[75] = 54.77
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322294.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322294.62)
ARL : North: -0.8091, East: -4.4191, Depth: -0.5168ARL : Estimation Bias  (Mean)         : (t = 1488322294.62)
ARL : North: -0.4113, East: -2.7749, Depth: 0.4050TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 34 35 36 37 
TNavParticleFilter::Modified Variance for beam 0 is 41.78 
Alpha[0]	0.123000
Alpha[0]	0.999962
TNavParticleFilter::Modified Variance for beam 1 is 41.85 
Alpha[1]	0.000000
Alpha[1]	0.999875
TNavParticleFilter::Modified Variance for beam 2 is 41.80 
Alpha[2]	0.000000
Alpha[2]	0.999840
TNavParticleFilter::Modified Variance for beam 3 is 42.42 
Alpha[3]	0.000000
Alpha[3]	0.999763
TNavParticleFilter::Modified Variance for beam 4 is 35.67 
Alpha[4]	0.000000
Alpha[4]	0.999881
TNavParticleFilter::Modified Variance for beam 5 is 31.09 
Alpha[5]	0.000000
Alpha[5]	0.999837
TNavParticleFilter::Modified Variance for beam 6 is 25.36 
Alpha[6]	0.000000
Alpha[6]	0.999544
TNavParticleFilter::Modified Variance for beam 7 is 23.32 
Alpha[7]	0.000000
Alpha[7]	0.999116
TNavParticleFilter::Modified Variance for beam 8 is 22.89 
Alpha[8]	0.000000
Alpha[8]	0.998265
TNavParticleFilter::Modified Variance for beam 9 is 22.50 
Alpha[9]	0.000000
Alpha[9]	0.996802
TNavParticleFilter::Modified Variance for beam 10 is 22.12 
Alpha[10]	0.000000
Alpha[10]	0.995561
TNavParticleFilter::Modified Variance for beam 11 is 20.44 
Alpha[11]	0.000000
Alpha[11]	0.992765
TNavParticleFilter::Modified Variance for beam 12 is 21.13 
Alpha[12]	0.000000
Alpha[12]	0.983208
TNavParticleFilter::Modified Variance for beam 13 is 21.67 
Alpha[13]	0.000000
Alpha[13]	0.967225
TNavParticleFilter::Modified Variance for beam 14 is 21.42 
Alpha[14]	0.000000
Alpha[14]	0.963627
TNavParticleFilter::Modified Variance for beam 15 is 21.17 
Alpha[15]	0.000000
Alpha[15]	0.961119
TNavParticleFilter::Modified Variance for beam 16 is 20.67 
Alpha[16]	0.000000
Alpha[16]	0.970928
TNavParticleFilter::Modified Variance for beam 17 is 20.16 
Alpha[17]	0.000000
Alpha[17]	0.982645
TNavParticleFilter::Modified Variance for beam 18 is 19.87 
Alpha[18]	0.000000
Alpha[18]	0.984209
TNavParticleFilter::Modified Variance for beam 19 is 19.73 
Alpha[19]	0.000000
Alpha[19]	0.979737
TNavParticleFilter::Modified Variance for beam 20 is 19.38 
Alpha[20]	0.000000
Alpha[20]	0.986287
TNavParticleFilter::Modified Variance for beam 21 is 17.94 
Alpha[21]	0.000000
Alpha[21]	0.990317
TNavParticleFilter::Modified Variance for beam 22 is 17.78 
Alpha[22]	0.000000
Alpha[22]	0.989129
TNavParticleFilter::Modified Variance for beam 23 is 17.65 
Alpha[23]	0.000000
Alpha[23]	0.987066
TNavParticleFilter::Modified Variance for beam 24 is 17.54 
Alpha[24]	0.000000
Alpha[24]	0.984472
TNavParticleFilter::Modified Variance for beam 25 is 17.49 
Alpha[25]	0.000000
Alpha[25]	0.979381
TNavParticleFilter::Modified Variance for beam 26 is 17.39 
Alpha[26]	0.000000
Alpha[26]	0.977142
TNavParticleFilter::Modified Variance for beam 27 is 17.46 
Alpha[27]	0.000000
Alpha[27]	0.981322
TNavParticleFilter::Modified Variance for beam 28 is 18.44 
Alpha[28]	0.000000
Alpha[28]	0.967319
TNavParticleFilter::Modified Variance for beam 29 is 18.51 
Alpha[29]	0.000000
Alpha[29]	0.957392
TNavParticleFilter::Modified Variance for beam 30 is 18.41 
Alpha[30]	0.000000
Alpha[30]	0.957082
TNavParticleFilter::Modified Variance for beam 31 is 17.93 
Alpha[31]	0.000000
Alpha[31]	0.977739
TNavParticleFilter::Modified Variance for beam 32 is 18.84 
Alpha[32]	0.000000
Alpha[32]	0.983701
TNavParticleFilter::Modified Variance for beam 33 is 18.81 
Alpha[33]	0.000000
Alpha[33]	0.980822
TNavParticleFilter::Modified Variance for beam 34 is 18.73 
Alpha[34]	0.000000
Alpha[34]	0.981346
TNavParticleFilter::Modified Variance for beam 35 is 18.65 
Alpha[35]	0.000000
Alpha[35]	0.982412
TNavParticleFilter::Modified Variance for beam 36 is 18.56 
Alpha[36]	0.000000
Alpha[36]	0.984557
TNavParticleFilter::Modified Variance for beam 37 is 19.62 
Alpha[37]	0.000000
Alpha[37]	0.985390
TNavParticleFilter::Modified Variance for beam 38 is 19.57 
Alpha[38]	0.000000
Alpha[38]	0.985953
TNavParticleFilter::Modified Variance for beam 39 is 19.54 
Alpha[39]	0.000000
Alpha[39]	0.986450
TNavParticleFilter::Modified Variance for beam 40 is 19.54 
Alpha[40]	0.000000
Alpha[40]	0.985862
TNavParticleFilter::Modified Variance for beam 41 is 18.43 
Alpha[41]	0.000000
Alpha[41]	0.985691
TNavParticleFilter::Modified Variance for beam 42 is 18.43 
Alpha[42]	0.000000
Alpha[42]	0.986009
TNavParticleFilter::Modified Variance for beam 43 is 19.73 
Alpha[43]	0.000000
Alpha[43]	0.977145
TNavParticleFilter::Modified Variance for beam 44 is 19.78 
Alpha[44]	0.000000
Alpha[44]	0.975896
TNavParticleFilter::Modified Variance for beam 45 is 19.71 
Alpha[45]	0.000000
Alpha[45]	0.981009
TNavParticleFilter::Modified Variance for beam 46 is 19.63 
Alpha[46]	0.000000
Alpha[46]	0.987010
TNavParticleFilter::Modified Variance for beam 47 is 20.96 
Alpha[47]	0.000000
Alpha[47]	0.981957
TNavParticleFilter::Modified Variance for beam 48 is 20.82 
Alpha[48]	0.000000
Alpha[48]	0.991711
TNavParticleFilter::Modified Variance for beam 49 is 20.86 
Alpha[49]	0.000000
Alpha[49]	0.993653
TNavParticleFilter::Modified Variance for beam 50 is 22.15 
Alpha[50]	0.000000
Alpha[50]	0.994066
TNavParticleFilter::Modified Variance for beam 51 is 22.29 
Alpha[51]	0.000000
Alpha[51]	0.992779
TNavParticleFilter::Modified Variance for beam 52 is 22.45 
Alpha[52]	0.000000
Alpha[52]	0.990916
TNavParticleFilter::Modified Variance for beam 53 is 22.53 
Alpha[53]	0.000000
Alpha[53]	0.993604
TNavParticleFilter::Modified Variance for beam 54 is 23.89 
Alpha[54]	0.000000
Alpha[54]	0.996284
TNavParticleFilter::Modified Variance for beam 55 is 24.02 
Alpha[55]	0.000000
Alpha[55]	0.998132
TNavPF:: sumSquaredError = 2.875527 
TNavPF:: sumWeights = 0.018693 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 34 as -15.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -3.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 3.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -0.46. Range = 88.43 
TNavPF::Calculated measDiffMean for beam 69 as -0.73. Range = 88.51 
TNavPF::Calculated measDiffMean for beam 70 as -1.01. Range = 88.45 
TNavPF::Calculated measDiffMean for beam 71 as 0.83. Range = 89.15 
TNavPF::Calculated measDiffMean for beam 72 as 0.81. Range = 81.07 
TNavPF::Calculated measDiffMean for beam 73 as 0.81. Range = 75.08 
TNavPF::Calculated measDiffMean for beam 74 as 0.85. Range = 66.84 
TNavPF::Calculated measDiffMean for beam 75 as -1.20. Range = 63.63 
TNavPF::Calculated measDiffMean for beam 76 as -1.70. Range = 62.90 
TNavPF::Calculated measDiffMean for beam 77 as -0.21. Range = 62.20 
TNavPF::Calculated measDiffMean for beam 78 as -0.36. Range = 61.54 
TNavPF::Calculated measDiffMean for beam 79 as -0.54. Range = 58.61 
TNavPF::Calculated measDiffMean for beam 80 as -1.34. Range = 59.44 
TNavPF::Calculated measDiffMean for beam 81 as -0.22. Range = 59.75 
TNavPF::Calculated measDiffMean for beam 82 as -0.95. Range = 59.21 
TNavPF::Calculated measDiffMean for beam 83 as -1.47. Range = 58.70 
TNavPF::Calculated measDiffMean for beam 84 as -0.15. Range = 58.21 
TNavPF::Calculated measDiffMean for beam 85 as -0.47. Range = 57.75 
TNavPF::Calculated measDiffMean for beam 86 as -0.82. Range = 57.31 
TNavPF::Calculated measDiffMean for beam 87 as -1.44. Range = 56.90 
TNavPF::Calculated measDiffMean for beam 88 as -0.09. Range = 56.51 
TNavPF::Calculated measDiffMean for beam 89 as -0.90. Range = 54.02 
TNavPF::First Term of Map Covariance Matrix is 527.98 
TNavPF::Calculated NIS Value : 2.51 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322294.82 sec.
INS : North: 4070296.29, East: 588983.55, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 60.23, IDT[75] = 53.56
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322297.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322297.62)
ARL : North: 0.2581, East: -2.4083, Depth: 3.7692ARL : Estimation Bias  (Mean)         : (t = 1488322297.62)
ARL : North: -0.4581, East: -2.7164, Depth: 0.5302TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 65 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 35 36 37 38 
TNavParticleFilter::Modified Variance for beam 0 is 43.03 
Alpha[0]	0.123000
Alpha[0]	0.999965
TNavParticleFilter::Modified Variance for beam 1 is 43.92 
Alpha[1]	0.000000
Alpha[1]	0.999887
TNavParticleFilter::Modified Variance for beam 2 is 42.91 
Alpha[2]	0.000000
Alpha[2]	0.999854
TNavParticleFilter::Modified Variance for beam 3 is 44.04 
Alpha[3]	0.000000
Alpha[3]	0.999858
TNavParticleFilter::Modified Variance for beam 4 is 32.35 
Alpha[4]	0.000000
Alpha[4]	0.999891
TNavParticleFilter::Modified Variance for beam 5 is 24.51 
Alpha[5]	0.000000
Alpha[5]	0.999676
TNavParticleFilter::Modified Variance for beam 6 is 23.96 
Alpha[6]	0.000000
Alpha[6]	0.999180
TNavParticleFilter::Modified Variance for beam 7 is 23.46 
Alpha[7]	0.000000
Alpha[7]	0.998136
TNavParticleFilter::Modified Variance for beam 8 is 23.00 
Alpha[8]	0.000000
Alpha[8]	0.996450
TNavParticleFilter::Modified Variance for beam 9 is 22.58 
Alpha[9]	0.000000
Alpha[9]	0.994530
TNavParticleFilter::Modified Variance for beam 10 is 21.51 
Alpha[10]	0.000000
Alpha[10]	0.987228
TNavParticleFilter::Modified Variance for beam 11 is 22.23 
Alpha[11]	0.000000
Alpha[11]	0.971865
TNavParticleFilter::Modified Variance for beam 12 is 21.94 
Alpha[12]	0.000000
Alpha[12]	0.966919
TNavParticleFilter::Modified Variance for beam 13 is 21.61 
Alpha[13]	0.000000
Alpha[13]	0.965099
TNavParticleFilter::Modified Variance for beam 14 is 21.04 
Alpha[14]	0.000000
Alpha[14]	0.974935
TNavParticleFilter::Modified Variance for beam 15 is 20.51 
Alpha[15]	0.000000
Alpha[15]	0.984079
TNavParticleFilter::Modified Variance for beam 16 is 20.20 
Alpha[16]	0.000000
Alpha[16]	0.984180
TNavParticleFilter::Modified Variance for beam 17 is 19.97 
Alpha[17]	0.000000
Alpha[17]	0.981365
TNavParticleFilter::Modified Variance for beam 18 is 19.53 
Alpha[18]	0.000000
Alpha[18]	0.989740
TNavParticleFilter::Modified Variance for beam 19 is 18.06 
Alpha[19]	0.000000
Alpha[19]	0.990588
TNavParticleFilter::Modified Variance for beam 20 is 17.86 
Alpha[20]	0.000000
Alpha[20]	0.989193
TNavParticleFilter::Modified Variance for beam 21 is 17.70 
Alpha[21]	0.000000
Alpha[21]	0.986657
TNavParticleFilter::Modified Variance for beam 22 is 17.55 
Alpha[22]	0.000000
Alpha[22]	0.983759
TNavParticleFilter::Modified Variance for beam 23 is 17.46 
Alpha[23]	0.000000
Alpha[23]	0.978564
TNavParticleFilter::Modified Variance for beam 24 is 17.26 
Alpha[24]	0.000000
Alpha[24]	0.979969
TNavParticleFilter::Modified Variance for beam 25 is 18.28 
Alpha[25]	0.000000
Alpha[25]	0.976847
TNavParticleFilter::Modified Variance for beam 26 is 18.37 
Alpha[26]	0.000000
Alpha[26]	0.963199
TNavParticleFilter::Modified Variance for beam 27 is 18.32 
Alpha[27]	0.000000
Alpha[27]	0.957633
TNavParticleFilter::Modified Variance for beam 28 is 18.10 
Alpha[28]	0.000000
Alpha[28]	0.961790
TNavParticleFilter::Modified Variance for beam 29 is 17.60 
Alpha[29]	0.000000
Alpha[29]	0.981834
TNavParticleFilter::Modified Variance for beam 30 is 18.57 
Alpha[30]	0.000000
Alpha[30]	0.982444
TNavParticleFilter::Modified Variance for beam 31 is 18.52 
Alpha[31]	0.000000
Alpha[31]	0.979272
TNavParticleFilter::Modified Variance for beam 32 is 18.39 
Alpha[32]	0.000000
Alpha[32]	0.980453
TNavParticleFilter::Modified Variance for beam 33 is 18.25 
Alpha[33]	0.000000
Alpha[33]	0.982647
TNavParticleFilter::Modified Variance for beam 34 is 19.01 
Alpha[34]	0.000000
Alpha[34]	0.984571
TNavParticleFilter::Modified Variance for beam 35 is 19.14 
Alpha[35]	0.000000
Alpha[35]	0.985345
TNavParticleFilter::Modified Variance for beam 36 is 19.05 
Alpha[36]	0.000000
Alpha[36]	0.985981
TNavParticleFilter::Modified Variance for beam 37 is 18.98 
Alpha[37]	0.000000
Alpha[37]	0.986282
TNavParticleFilter::Modified Variance for beam 38 is 18.94 
Alpha[38]	0.000000
Alpha[38]	0.985604
TNavParticleFilter::Modified Variance for beam 39 is 18.90 
Alpha[39]	0.000000
Alpha[39]	0.985253
TNavParticleFilter::Modified Variance for beam 40 is 17.80 
Alpha[40]	0.000000
Alpha[40]	0.984346
TNavParticleFilter::Modified Variance for beam 41 is 19.04 
Alpha[41]	0.000000
Alpha[41]	0.974818
TNavParticleFilter::Modified Variance for beam 42 is 19.02 
Alpha[42]	0.000000
Alpha[42]	0.975015
TNavParticleFilter::Modified Variance for beam 43 is 18.91 
Alpha[43]	0.000000
Alpha[43]	0.980495
TNavParticleFilter::Modified Variance for beam 44 is 18.79 
Alpha[44]	0.000000
Alpha[44]	0.986830
TNavParticleFilter::Modified Variance for beam 45 is 20.09 
Alpha[45]	0.000000
Alpha[45]	0.978653
TNavParticleFilter::Modified Variance for beam 46 is 19.89 
Alpha[46]	0.000000
Alpha[46]	0.989553
TNavParticleFilter::Modified Variance for beam 47 is 19.86 
Alpha[47]	0.000000
Alpha[47]	0.992728
TNavParticleFilter::Modified Variance for beam 48 is 19.89 
Alpha[48]	0.000000
Alpha[48]	0.993795
TNavParticleFilter::Modified Variance for beam 49 is 21.12 
Alpha[49]	0.000000
Alpha[49]	0.992948
TNavParticleFilter::Modified Variance for beam 50 is 21.23 
Alpha[50]	0.000000
Alpha[50]	0.990905
TNavParticleFilter::Modified Variance for beam 51 is 21.32 
Alpha[51]	0.000000
Alpha[51]	0.990654
TNavParticleFilter::Modified Variance for beam 52 is 22.56 
Alpha[52]	0.000000
Alpha[52]	0.993739
TNavParticleFilter::Modified Variance for beam 53 is 22.61 
Alpha[53]	0.000000
Alpha[53]	0.996417
TNavParticleFilter::Modified Variance for beam 54 is 22.70 
Alpha[54]	0.000000
Alpha[54]	0.998010
TNavPF:: sumSquaredError = 74.638041 
TNavPF:: sumWeights = 0.021788 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 35 as -12.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 7.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -4.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.73. Range = 89.86 
TNavPF::Calculated measDiffMean for beam 71 as 0.73. Range = 90.86 
TNavPF::Calculated measDiffMean for beam 72 as 0.74. Range = 89.71 
TNavPF::Calculated measDiffMean for beam 73 as 0.77. Range = 91.00 
TNavPF::Calculated measDiffMean for beam 74 as 0.69. Range = 76.78 
TNavPF::Calculated measDiffMean for beam 75 as -1.87. Range = 65.52 
TNavPF::Calculated measDiffMean for beam 76 as -0.31. Range = 64.65 
TNavPF::Calculated measDiffMean for beam 77 as -0.44. Range = 63.81 
TNavPF::Calculated measDiffMean for beam 78 as -0.63. Range = 63.01 
TNavPF::Calculated measDiffMean for beam 79 as -1.38. Range = 62.26 
TNavPF::Calculated measDiffMean for beam 80 as -0.23. Range = 60.23 
TNavPF::Calculated measDiffMean for beam 81 as -0.82. Range = 60.85 
TNavPF::Calculated measDiffMean for beam 82 as -1.36. Range = 60.19 
TNavPF::Calculated measDiffMean for beam 83 as -1.96. Range = 59.57 
TNavPF::Calculated measDiffMean for beam 84 as -0.44. Range = 58.98 
TNavPF::Calculated measDiffMean for beam 85 as -0.70. Range = 58.42 
TNavPF::Calculated measDiffMean for beam 86 as -1.10. Range = 57.89 
TNavPF::Calculated measDiffMean for beam 87 as 0.31. Range = 57.38 
TNavPF::Calculated measDiffMean for beam 88 as -0.27. Range = 56.90 
TNavPF::Calculated measDiffMean for beam 89 as -0.94. Range = 54.25 
TNavPF::First Term of Map Covariance Matrix is 570.33 
TNavPF::Calculated NIS Value : 2.70 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322297.82 sec.
INS : North: 4070294.89, East: 588979.35, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 61.76, IDT[75] = 54.25
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322300.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322300.62)
ARL : North: -0.1917, East: -1.5667, Depth: 2.2411ARL : Estimation Bias  (Mean)         : (t = 1488322300.62)
ARL : North: -0.5556, East: -2.5710, Depth: 0.3800TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 66 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 36 37 38 39 
TNavParticleFilter::Modified Variance for beam 0 is 45.05 
Alpha[0]	0.123000
Alpha[0]	0.999970
TNavParticleFilter::Modified Variance for beam 1 is 44.69 
Alpha[1]	0.000000
Alpha[1]	0.999908
TNavParticleFilter::Modified Variance for beam 2 is 45.53 
Alpha[2]	0.000000
Alpha[2]	0.999894
TNavParticleFilter::Modified Variance for beam 3 is 25.62 
Alpha[3]	0.000000
Alpha[3]	0.999893
TNavParticleFilter::Modified Variance for beam 4 is 24.95 
Alpha[4]	0.000000
Alpha[4]	0.999712
TNavParticleFilter::Modified Variance for beam 5 is 24.34 
Alpha[5]	0.000000
Alpha[5]	0.999102
TNavParticleFilter::Modified Variance for beam 6 is 23.78 
Alpha[6]	0.000000
Alpha[6]	0.997357
TNavParticleFilter::Modified Variance for beam 7 is 23.27 
Alpha[7]	0.000000
Alpha[7]	0.995425
TNavParticleFilter::Modified Variance for beam 8 is 22.92 
Alpha[8]	0.000000
Alpha[8]	0.987995
TNavParticleFilter::Modified Variance for beam 9 is 22.75 
Alpha[9]	0.000000
Alpha[9]	0.973960
TNavParticleFilter::Modified Variance for beam 10 is 22.36 
Alpha[10]	0.000000
Alpha[10]	0.970133
TNavParticleFilter::Modified Variance for beam 11 is 21.89 
Alpha[11]	0.000000
Alpha[11]	0.971303
TNavParticleFilter::Modified Variance for beam 12 is 21.23 
Alpha[12]	0.000000
Alpha[12]	0.982455
TNavParticleFilter::Modified Variance for beam 13 is 20.78 
Alpha[13]	0.000000
Alpha[13]	0.985213
TNavParticleFilter::Modified Variance for beam 14 is 20.46 
Alpha[14]	0.000000
Alpha[14]	0.983164
TNavParticleFilter::Modified Variance for beam 15 is 20.01 
Alpha[15]	0.000000
Alpha[15]	0.988275
TNavParticleFilter::Modified Variance for beam 16 is 18.34 
Alpha[16]	0.000000
Alpha[16]	0.992133
TNavParticleFilter::Modified Variance for beam 17 is 18.08 
Alpha[17]	0.000000
Alpha[17]	0.991118
TNavParticleFilter::Modified Variance for beam 18 is 17.85 
Alpha[18]	0.000000
Alpha[18]	0.989265
TNavParticleFilter::Modified Variance for beam 19 is 17.65 
Alpha[19]	0.000000
Alpha[19]	0.986784
TNavParticleFilter::Modified Variance for beam 20 is 17.51 
Alpha[20]	0.000000
Alpha[20]	0.981490
TNavParticleFilter::Modified Variance for beam 21 is 17.33 
Alpha[21]	0.000000
Alpha[21]	0.978908
TNavParticleFilter::Modified Variance for beam 22 is 18.15 
Alpha[22]	0.000000
Alpha[22]	0.977920
TNavParticleFilter::Modified Variance for beam 23 is 18.30 
Alpha[23]	0.000000
Alpha[23]	0.966701
TNavParticleFilter::Modified Variance for beam 24 is 18.19 
Alpha[24]	0.000000
Alpha[24]	0.961903
TNavParticleFilter::Modified Variance for beam 25 is 18.02 
Alpha[25]	0.000000
Alpha[25]	0.960701
TNavParticleFilter::Modified Variance for beam 26 is 17.53 
Alpha[26]	0.000000
Alpha[26]	0.977936
TNavParticleFilter::Modified Variance for beam 27 is 18.39 
Alpha[27]	0.000000
Alpha[27]	0.983511
TNavParticleFilter::Modified Variance for beam 28 is 18.30 
Alpha[28]	0.000000
Alpha[28]	0.979959
TNavParticleFilter::Modified Variance for beam 29 is 18.15 
Alpha[29]	0.000000
Alpha[29]	0.979712
TNavParticleFilter::Modified Variance for beam 30 is 17.95 
Alpha[30]	0.000000
Alpha[30]	0.982859
TNavParticleFilter::Modified Variance for beam 31 is 18.07 
Alpha[31]	0.000000
Alpha[31]	0.984437
TNavParticleFilter::Modified Variance for beam 32 is 18.76 
Alpha[32]	0.000000
Alpha[32]	0.985592
TNavParticleFilter::Modified Variance for beam 33 is 18.63 
Alpha[33]	0.000000
Alpha[33]	0.986169
TNavParticleFilter::Modified Variance for beam 34 is 18.51 
Alpha[34]	0.000000
Alpha[34]	0.986715
TNavParticleFilter::Modified Variance for beam 35 is 18.42 
Alpha[35]	0.000000
Alpha[35]	0.986374
TNavParticleFilter::Modified Variance for beam 36 is 18.35 
Alpha[36]	0.000000
Alpha[36]	0.985558
TNavParticleFilter::Modified Variance for beam 37 is 18.29 
Alpha[37]	0.000000
Alpha[37]	0.984680
TNavParticleFilter::Modified Variance for beam 38 is 18.35 
Alpha[38]	0.000000
Alpha[38]	0.978061
TNavParticleFilter::Modified Variance for beam 39 is 18.37 
Alpha[39]	0.000000
Alpha[39]	0.973862
TNavParticleFilter::Modified Variance for beam 40 is 18.26 
Alpha[40]	0.000000
Alpha[40]	0.976803
TNavParticleFilter::Modified Variance for beam 41 is 18.09 
Alpha[41]	0.000000
Alpha[41]	0.983557
TNavParticleFilter::Modified Variance for beam 42 is 19.17 
Alpha[42]	0.000000
Alpha[42]	0.983076
TNavParticleFilter::Modified Variance for beam 43 is 19.22 
Alpha[43]	0.000000
Alpha[43]	0.979216
TNavParticleFilter::Modified Variance for beam 44 is 18.97 
Alpha[44]	0.000000
Alpha[44]	0.991260
TNavParticleFilter::Modified Variance for beam 45 is 18.93 
Alpha[45]	0.000000
Alpha[45]	0.993075
TNavParticleFilter::Modified Variance for beam 46 is 20.05 
Alpha[46]	0.000000
Alpha[46]	0.993646
TNavParticleFilter::Modified Variance for beam 47 is 20.09 
Alpha[47]	0.000000
Alpha[47]	0.992658
TNavParticleFilter::Modified Variance for beam 48 is 20.16 
Alpha[48]	0.000000
Alpha[48]	0.990167
TNavParticleFilter::Modified Variance for beam 49 is 20.21 
Alpha[49]	0.000000
Alpha[49]	0.989767
TNavParticleFilter::Modified Variance for beam 50 is 21.36 
Alpha[50]	0.000000
Alpha[50]	0.993064
TNavParticleFilter::Modified Variance for beam 51 is 21.36 
Alpha[51]	0.000000
Alpha[51]	0.995693
TNavParticleFilter::Modified Variance for beam 52 is 21.39 
Alpha[52]	0.000000
Alpha[52]	0.997524
TNavParticleFilter::Modified Variance for beam 53 is 21.45 
Alpha[53]	0.000000
Alpha[53]	0.998420
TNavPF:: sumSquaredError = 20.178887 
TNavPF:: sumWeights = 0.050081 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 36 as -7.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 7.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -10.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -3.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 0.67. Range = 92.12 
TNavPF::Calculated measDiffMean for beam 73 as 0.32. Range = 91.72 
TNavPF::Calculated measDiffMean for beam 74 as -0.26. Range = 92.65 
TNavPF::Calculated measDiffMean for beam 75 as -0.43. Range = 67.24 
TNavPF::Calculated measDiffMean for beam 76 as -0.55. Range = 66.21 
TNavPF::Calculated measDiffMean for beam 77 as -0.89. Range = 65.23 
TNavPF::Calculated measDiffMean for beam 78 as 0.18. Range = 64.30 
TNavPF::Calculated measDiffMean for beam 79 as -0.42. Range = 63.41 
TNavPF::Calculated measDiffMean for beam 80 as -1.08. Range = 62.57 
TNavPF::Calculated measDiffMean for beam 81 as -1.58. Range = 61.76 
TNavPF::Calculated measDiffMean for beam 82 as -0.20. Range = 61.00 
TNavPF::Calculated measDiffMean for beam 83 as -0.62. Range = 60.27 
TNavPF::Calculated measDiffMean for beam 84 as -0.86. Range = 59.58 
TNavPF::Calculated measDiffMean for beam 85 as -1.17. Range = 58.92 
TNavPF::Calculated measDiffMean for beam 86 as 0.27. Range = 58.29 
TNavPF::Calculated measDiffMean for beam 87 as -0.25. Range = 57.69 
TNavPF::Calculated measDiffMean for beam 88 as -0.90. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 89 as -2.04. Range = 54.32 
TNavPF::First Term of Map Covariance Matrix is 658.59 
TNavPF::Calculated NIS Value : 2.86 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322300.82 sec.
INS : North: 4070293.28, East: 588975.23, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 61.77, IDT[75] = 52.84
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322303.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322303.62)
ARL : North: 0.1842, East: -1.2642, Depth: 4.0736ARL : Estimation Bias  (Mean)         : (t = 1488322303.62)
ARL : North: -0.7614, East: -2.5274, Depth: 0.1193TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 66 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 36 37 38 39 
TNavParticleFilter::Modified Variance for beam 0 is 46.51 
Alpha[0]	0.123000
Alpha[0]	0.999977
TNavParticleFilter::Modified Variance for beam 1 is 46.39 
Alpha[1]	0.000000
Alpha[1]	0.999970
TNavParticleFilter::Modified Variance for beam 2 is 46.82 
Alpha[2]	0.000000
Alpha[2]	0.999925
TNavParticleFilter::Modified Variance for beam 3 is 26.00 
Alpha[3]	0.000000
Alpha[3]	0.999897
TNavParticleFilter::Modified Variance for beam 4 is 25.26 
Alpha[4]	0.000000
Alpha[4]	0.999666
TNavParticleFilter::Modified Variance for beam 5 is 24.59 
Alpha[5]	0.000000
Alpha[5]	0.998288
TNavParticleFilter::Modified Variance for beam 6 is 23.99 
Alpha[6]	0.000000
Alpha[6]	0.995707
TNavParticleFilter::Modified Variance for beam 7 is 23.59 
Alpha[7]	0.000000
Alpha[7]	0.986886
TNavParticleFilter::Modified Variance for beam 8 is 23.26 
Alpha[8]	0.000000
Alpha[8]	0.975897
TNavParticleFilter::Modified Variance for beam 9 is 22.78 
Alpha[9]	0.000000
Alpha[9]	0.973016
TNavParticleFilter::Modified Variance for beam 10 is 22.08 
Alpha[10]	0.000000
Alpha[10]	0.980871
TNavParticleFilter::Modified Variance for beam 11 is 21.47 
Alpha[11]	0.000000
Alpha[11]	0.986392
TNavParticleFilter::Modified Variance for beam 12 is 21.06 
Alpha[12]	0.000000
Alpha[12]	0.984522
TNavParticleFilter::Modified Variance for beam 13 is 20.57 
Alpha[13]	0.000000
Alpha[13]	0.987751
TNavParticleFilter::Modified Variance for beam 14 is 18.71 
Alpha[14]	0.000000
Alpha[14]	0.993011
TNavParticleFilter::Modified Variance for beam 15 is 18.38 
Alpha[15]	0.000000
Alpha[15]	0.992619
TNavParticleFilter::Modified Variance for beam 16 is 18.08 
Alpha[16]	0.000000
Alpha[16]	0.991229
TNavParticleFilter::Modified Variance for beam 17 is 17.81 
Alpha[17]	0.000000
Alpha[17]	0.989516
TNavParticleFilter::Modified Variance for beam 18 is 17.60 
Alpha[18]	0.000000
Alpha[18]	0.984835
TNavParticleFilter::Modified Variance for beam 19 is 17.44 
Alpha[19]	0.000000
Alpha[19]	0.978414
TNavParticleFilter::Modified Variance for beam 20 is 18.34 
Alpha[20]	0.000000
Alpha[20]	0.975650
TNavParticleFilter::Modified Variance for beam 21 is 18.31 
Alpha[21]	0.000000
Alpha[21]	0.968854
TNavParticleFilter::Modified Variance for beam 22 is 18.14 
Alpha[22]	0.000000
Alpha[22]	0.964394
TNavParticleFilter::Modified Variance for beam 23 is 17.94 
Alpha[23]	0.000000
Alpha[23]	0.962627
TNavParticleFilter::Modified Variance for beam 24 is 17.51 
Alpha[24]	0.000000
Alpha[24]	0.977424
TNavParticleFilter::Modified Variance for beam 25 is 18.28 
Alpha[25]	0.000000
Alpha[25]	0.983823
TNavParticleFilter::Modified Variance for beam 26 is 18.15 
Alpha[26]	0.000000
Alpha[26]	0.979621
TNavParticleFilter::Modified Variance for beam 27 is 17.97 
Alpha[27]	0.000000
Alpha[27]	0.978744
TNavParticleFilter::Modified Variance for beam 28 is 17.69 
Alpha[28]	0.000000
Alpha[28]	0.984015
TNavParticleFilter::Modified Variance for beam 29 is 17.84 
Alpha[29]	0.000000
Alpha[29]	0.984980
TNavParticleFilter::Modified Variance for beam 30 is 18.45 
Alpha[30]	0.000000
Alpha[30]	0.985929
TNavParticleFilter::Modified Variance for beam 31 is 18.28 
Alpha[31]	0.000000
Alpha[31]	0.986416
TNavParticleFilter::Modified Variance for beam 32 is 18.12 
Alpha[32]	0.000000
Alpha[32]	0.987196
TNavParticleFilter::Modified Variance for beam 33 is 17.98 
Alpha[33]	0.000000
Alpha[33]	0.986998
TNavParticleFilter::Modified Variance for beam 34 is 17.88 
Alpha[34]	0.000000
Alpha[34]	0.985888
TNavParticleFilter::Modified Variance for beam 35 is 17.81 
Alpha[35]	0.000000
Alpha[35]	0.983090
TNavParticleFilter::Modified Variance for beam 36 is 17.82 
Alpha[36]	0.000000
Alpha[36]	0.976699
TNavParticleFilter::Modified Variance for beam 37 is 17.77 
Alpha[37]	0.000000
Alpha[37]	0.973920
TNavParticleFilter::Modified Variance for beam 38 is 17.62 
Alpha[38]	0.000000
Alpha[38]	0.977470
TNavParticleFilter::Modified Variance for beam 39 is 17.46 
Alpha[39]	0.000000
Alpha[39]	0.982035
TNavParticleFilter::Modified Variance for beam 40 is 17.83 
Alpha[40]	0.000000
Alpha[40]	0.983544
TNavParticleFilter::Modified Variance for beam 41 is 18.63 
Alpha[41]	0.000000
Alpha[41]	0.970225
TNavParticleFilter::Modified Variance for beam 42 is 18.24 
Alpha[42]	0.000000
Alpha[42]	0.987860
TNavParticleFilter::Modified Variance for beam 43 is 18.10 
Alpha[43]	0.000000
Alpha[43]	0.992699
TNavParticleFilter::Modified Variance for beam 44 is 18.05 
Alpha[44]	0.000000
Alpha[44]	0.993446
TNavParticleFilter::Modified Variance for beam 45 is 19.12 
Alpha[45]	0.000000
Alpha[45]	0.993157
TNavParticleFilter::Modified Variance for beam 46 is 19.13 
Alpha[46]	0.000000
Alpha[46]	0.991813
TNavParticleFilter::Modified Variance for beam 47 is 19.18 
Alpha[47]	0.000000
Alpha[47]	0.988342
TNavParticleFilter::Modified Variance for beam 48 is 19.14 
Alpha[48]	0.000000
Alpha[48]	0.990593
TNavParticleFilter::Modified Variance for beam 49 is 20.23 
Alpha[49]	0.000000
Alpha[49]	0.993190
TNavParticleFilter::Modified Variance for beam 50 is 20.19 
Alpha[50]	0.000000
Alpha[50]	0.995941
TNavParticleFilter::Modified Variance for beam 51 is 20.19 
Alpha[51]	0.000000
Alpha[51]	0.997483
TNavParticleFilter::Modified Variance for beam 52 is 20.21 
Alpha[52]	0.000000
Alpha[52]	0.998275
TNavParticleFilter::Modified Variance for beam 53 is 22.66 
Alpha[53]	0.000000
Alpha[53]	0.997668
TNavPF:: sumSquaredError = 20.717732 
TNavPF:: sumWeights = 0.040946 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 36 as -10.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -2.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 10.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -8.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -2.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -0.19. Range = 93.73 
TNavPF::Calculated measDiffMean for beam 73 as -0.36. Range = 93.60 
TNavPF::Calculated measDiffMean for beam 74 as -0.48. Range = 94.06 
TNavPF::Calculated measDiffMean for beam 75 as -0.70. Range = 67.82 
TNavPF::Calculated measDiffMean for beam 76 as -0.67. Range = 66.68 
TNavPF::Calculated measDiffMean for beam 77 as -0.19. Range = 65.59 
TNavPF::Calculated measDiffMean for beam 78 as -0.74. Range = 64.56 
TNavPF::Calculated measDiffMean for beam 79 as -1.43. Range = 63.59 
TNavPF::Calculated measDiffMean for beam 80 as -1.89. Range = 62.66 
TNavPF::Calculated measDiffMean for beam 81 as -0.52. Range = 61.77 
TNavPF::Calculated measDiffMean for beam 82 as -0.76. Range = 60.93 
TNavPF::Calculated measDiffMean for beam 83 as -0.99. Range = 60.13 
TNavPF::Calculated measDiffMean for beam 84 as -1.30. Range = 59.37 
TNavPF::Calculated measDiffMean for beam 85 as 0.11. Range = 58.64 
TNavPF::Calculated measDiffMean for beam 86 as -0.39. Range = 55.55 
TNavPF::Calculated measDiffMean for beam 87 as -1.05. Range = 54.92 
TNavPF::Calculated measDiffMean for beam 88 as -2.22. Range = 54.32 
TNavPF::Calculated measDiffMean for beam 89 as -0.07. Range = 53.75 
TNavPF::First Term of Map Covariance Matrix is 886.47 
TNavPF::Calculated NIS Value : 3.13 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322303.82 sec.
INS : North: 4070291.48, East: 588971.18, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 61.96, IDT[75] = 53.41
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322306.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322306.62)
ARL : North: 0.3088, East: -1.9254, Depth: 2.1572ARL : Estimation Bias  (Mean)         : (t = 1488322306.62)
ARL : North: -0.8021, East: -2.2670, Depth: 0.0497TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 67 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 37 38 39 40 
TNavParticleFilter::Modified Variance for beam 0 is 46.54 
Alpha[0]	0.123000
Alpha[0]	0.999982
TNavParticleFilter::Modified Variance for beam 1 is 27.52 
Alpha[1]	0.000000
Alpha[1]	0.999979
TNavParticleFilter::Modified Variance for beam 2 is 26.61 
Alpha[2]	0.000000
Alpha[2]	0.999926
TNavParticleFilter::Modified Variance for beam 3 is 25.75 
Alpha[3]	0.000000
Alpha[3]	0.999803
TNavParticleFilter::Modified Variance for beam 4 is 24.99 
Alpha[4]	0.000000
Alpha[4]	0.998546
TNavParticleFilter::Modified Variance for beam 5 is 24.36 
Alpha[5]	0.000000
Alpha[5]	0.994086
TNavParticleFilter::Modified Variance for beam 6 is 23.98 
Alpha[6]	0.000000
Alpha[6]	0.981135
TNavParticleFilter::Modified Variance for beam 7 is 23.45 
Alpha[7]	0.000000
Alpha[7]	0.975798
TNavParticleFilter::Modified Variance for beam 8 is 22.71 
Alpha[8]	0.000000
Alpha[8]	0.980896
TNavParticleFilter::Modified Variance for beam 9 is 22.00 
Alpha[9]	0.000000
Alpha[9]	0.986978
TNavParticleFilter::Modified Variance for beam 10 is 21.51 
Alpha[10]	0.000000
Alpha[10]	0.984793
TNavParticleFilter::Modified Variance for beam 11 is 20.88 
Alpha[11]	0.000000
Alpha[11]	0.990581
TNavParticleFilter::Modified Variance for beam 12 is 18.92 
Alpha[12]	0.000000
Alpha[12]	0.993969
TNavParticleFilter::Modified Variance for beam 13 is 18.52 
Alpha[13]	0.000000
Alpha[13]	0.993597
TNavParticleFilter::Modified Variance for beam 14 is 18.17 
Alpha[14]	0.000000
Alpha[14]	0.992350
TNavParticleFilter::Modified Variance for beam 15 is 17.84 
Alpha[15]	0.000000
Alpha[15]	0.990516
TNavParticleFilter::Modified Variance for beam 16 is 17.61 
Alpha[16]	0.000000
Alpha[16]	0.984999
TNavParticleFilter::Modified Variance for beam 17 is 18.23 
Alpha[17]	0.000000
Alpha[17]	0.977475
TNavParticleFilter::Modified Variance for beam 18 is 18.48 
Alpha[18]	0.000000
Alpha[18]	0.972133
TNavParticleFilter::Modified Variance for beam 19 is 18.26 
Alpha[19]	0.000000
Alpha[19]	0.966909
TNavParticleFilter::Modified Variance for beam 20 is 18.06 
Alpha[20]	0.000000
Alpha[20]	0.962069
TNavParticleFilter::Modified Variance for beam 21 is 17.74 
Alpha[21]	0.000000
Alpha[21]	0.964067
TNavParticleFilter::Modified Variance for beam 22 is 18.24 
Alpha[22]	0.000000
Alpha[22]	0.981526
TNavParticleFilter::Modified Variance for beam 23 is 18.09 
Alpha[23]	0.000000
Alpha[23]	0.982603
TNavParticleFilter::Modified Variance for beam 24 is 18.00 
Alpha[24]	0.000000
Alpha[24]	0.973956
TNavParticleFilter::Modified Variance for beam 25 is 17.63 
Alpha[25]	0.000000
Alpha[25]	0.981464
TNavParticleFilter::Modified Variance for beam 26 is 17.39 
Alpha[26]	0.000000
Alpha[26]	0.984959
TNavParticleFilter::Modified Variance for beam 27 is 18.28 
Alpha[27]	0.000000
Alpha[27]	0.985916
TNavParticleFilter::Modified Variance for beam 28 is 18.06 
Alpha[28]	0.000000
Alpha[28]	0.986804
TNavParticleFilter::Modified Variance for beam 29 is 17.85 
Alpha[29]	0.000000
Alpha[29]	0.987286
TNavParticleFilter::Modified Variance for beam 30 is 17.66 
Alpha[30]	0.000000
Alpha[30]	0.988154
TNavParticleFilter::Modified Variance for beam 31 is 17.50 
Alpha[31]	0.000000
Alpha[31]	0.987448
TNavParticleFilter::Modified Variance for beam 32 is 17.38 
Alpha[32]	0.000000
Alpha[32]	0.984890
TNavParticleFilter::Modified Variance for beam 33 is 17.36 
Alpha[33]	0.000000
Alpha[33]	0.977650
TNavParticleFilter::Modified Variance for beam 34 is 17.28 
Alpha[34]	0.000000
Alpha[34]	0.974257
TNavParticleFilter::Modified Variance for beam 35 is 17.16 
Alpha[35]	0.000000
Alpha[35]	0.973856
TNavParticleFilter::Modified Variance for beam 36 is 16.97 
Alpha[36]	0.000000
Alpha[36]	0.978276
TNavParticleFilter::Modified Variance for beam 37 is 16.78 
Alpha[37]	0.000000
Alpha[37]	0.983066
TNavParticleFilter::Modified Variance for beam 38 is 17.85 
Alpha[38]	0.000000
Alpha[38]	0.976904
TNavParticleFilter::Modified Variance for beam 39 is 17.96 
Alpha[39]	0.000000
Alpha[39]	0.965730
TNavParticleFilter::Modified Variance for beam 40 is 17.47 
Alpha[40]	0.000000
Alpha[40]	0.988247
TNavParticleFilter::Modified Variance for beam 41 is 17.31 
Alpha[41]	0.000000
Alpha[41]	0.992918
TNavParticleFilter::Modified Variance for beam 42 is 17.72 
Alpha[42]	0.000000
Alpha[42]	0.993241
TNavParticleFilter::Modified Variance for beam 43 is 18.24 
Alpha[43]	0.000000
Alpha[43]	0.992903
TNavParticleFilter::Modified Variance for beam 44 is 18.21 
Alpha[44]	0.000000
Alpha[44]	0.991516
TNavParticleFilter::Modified Variance for beam 45 is 18.24 
Alpha[45]	0.000000
Alpha[45]	0.987665
TNavParticleFilter::Modified Variance for beam 46 is 18.17 
Alpha[46]	0.000000
Alpha[46]	0.989141
TNavParticleFilter::Modified Variance for beam 47 is 19.18 
Alpha[47]	0.000000
Alpha[47]	0.992538
TNavParticleFilter::Modified Variance for beam 48 is 19.12 
Alpha[48]	0.000000
Alpha[48]	0.994656
TNavParticleFilter::Modified Variance for beam 49 is 19.06 
Alpha[49]	0.000000
Alpha[49]	0.997165
TNavParticleFilter::Modified Variance for beam 50 is 19.05 
Alpha[50]	0.000000
Alpha[50]	0.997840
TNavParticleFilter::Modified Variance for beam 51 is 21.35 
Alpha[51]	0.000000
Alpha[51]	0.997659
TNavParticleFilter::Modified Variance for beam 52 is 21.38 
Alpha[52]	0.000000
Alpha[52]	0.996982
TNavPF:: sumSquaredError = 1.396411 
TNavPF:: sumWeights = 0.057548 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 37 as -8.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -21.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -9.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -3.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -2.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -1.03. Range = 93.76 
TNavPF::Calculated measDiffMean for beam 75 as 0.03. Range = 70.07 
TNavPF::Calculated measDiffMean for beam 76 as -0.36. Range = 68.72 
TNavPF::Calculated measDiffMean for beam 77 as -0.94. Range = 67.44 
TNavPF::Calculated measDiffMean for beam 78 as -1.63. Range = 66.23 
TNavPF::Calculated measDiffMean for beam 79 as -1.18. Range = 65.08 
TNavPF::Calculated measDiffMean for beam 80 as -0.73. Range = 63.98 
TNavPF::Calculated measDiffMean for beam 81 as -0.95. Range = 62.95 
TNavPF::Calculated measDiffMean for beam 82 as -1.13. Range = 61.96 
TNavPF::Calculated measDiffMean for beam 83 as -1.34. Range = 61.02 
TNavPF::Calculated measDiffMean for beam 84 as 0.02. Range = 60.13 
TNavPF::Calculated measDiffMean for beam 85 as -0.33. Range = 59.28 
TNavPF::Calculated measDiffMean for beam 86 as -1.04. Range = 55.95 
TNavPF::Calculated measDiffMean for beam 87 as -1.82. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 88 as 0.23. Range = 54.52 
TNavPF::Calculated measDiffMean for beam 89 as -0.91. Range = 53.85 
TNavPF::First Term of Map Covariance Matrix is 1119.26 
TNavPF::Calculated NIS Value : 1.74 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322306.82 sec.
INS : North: 4070289.47, East: 588967.24, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 62.46, IDT[75] = 51.94
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322309.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322309.62)
ARL : North: -0.3619, East: -4.0346, Depth: 0.7895ARL : Estimation Bias  (Mean)         : (t = 1488322309.62)
ARL : North: -1.0314, East: -2.3084, Depth: 0.3978TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 67 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 37 38 39 40 
TNavParticleFilter::Modified Variance for beam 0 is 49.25 
Alpha[0]	0.123000
Alpha[0]	0.999990
TNavParticleFilter::Modified Variance for beam 1 is 28.68 
Alpha[1]	0.000000
Alpha[1]	0.999982
TNavParticleFilter::Modified Variance for beam 2 is 27.60 
Alpha[2]	0.000000
Alpha[2]	0.999960
TNavParticleFilter::Modified Variance for beam 3 is 26.61 
Alpha[3]	0.000000
Alpha[3]	0.999645
TNavParticleFilter::Modified Variance for beam 4 is 25.79 
Alpha[4]	0.000000
Alpha[4]	0.995538
TNavParticleFilter::Modified Variance for beam 5 is 25.18 
Alpha[5]	0.000000
Alpha[5]	0.985397
TNavParticleFilter::Modified Variance for beam 6 is 24.48 
Alpha[6]	0.000000
Alpha[6]	0.981111
TNavParticleFilter::Modified Variance for beam 7 is 23.54 
Alpha[7]	0.000000
Alpha[7]	0.988509
TNavParticleFilter::Modified Variance for beam 8 is 22.83 
Alpha[8]	0.000000
Alpha[8]	0.988914
TNavParticleFilter::Modified Variance for beam 9 is 22.18 
Alpha[9]	0.000000
Alpha[9]	0.988910
TNavParticleFilter::Modified Variance for beam 10 is 21.45 
Alpha[10]	0.000000
Alpha[10]	0.994579
TNavParticleFilter::Modified Variance for beam 11 is 19.35 
Alpha[11]	0.000000
Alpha[11]	0.994354
TNavParticleFilter::Modified Variance for beam 12 is 18.89 
Alpha[12]	0.000000
Alpha[12]	0.992892
TNavParticleFilter::Modified Variance for beam 13 is 18.47 
Alpha[13]	0.000000
Alpha[13]	0.991210
TNavParticleFilter::Modified Variance for beam 14 is 18.14 
Alpha[14]	0.000000
Alpha[14]	0.986350
TNavParticleFilter::Modified Variance for beam 15 is 17.99 
Alpha[15]	0.000000
Alpha[15]	0.977217
TNavParticleFilter::Modified Variance for beam 16 is 18.73 
Alpha[16]	0.000000
Alpha[16]	0.973216
TNavParticleFilter::Modified Variance for beam 17 is 18.60 
Alpha[17]	0.000000
Alpha[17]	0.971519
TNavParticleFilter::Modified Variance for beam 18 is 18.29 
Alpha[18]	0.000000
Alpha[18]	0.968401
TNavParticleFilter::Modified Variance for beam 19 is 17.97 
Alpha[19]	0.000000
Alpha[19]	0.966674
TNavParticleFilter::Modified Variance for beam 20 is 17.72 
Alpha[20]	0.000000
Alpha[20]	0.981234
TNavParticleFilter::Modified Variance for beam 21 is 18.30 
Alpha[21]	0.000000
Alpha[21]	0.982972
TNavParticleFilter::Modified Variance for beam 22 is 18.17 
Alpha[22]	0.000000
Alpha[22]	0.972912
TNavParticleFilter::Modified Variance for beam 23 is 17.73 
Alpha[23]	0.000000
Alpha[23]	0.980872
TNavParticleFilter::Modified Variance for beam 24 is 17.37 
Alpha[24]	0.000000
Alpha[24]	0.985228
TNavParticleFilter::Modified Variance for beam 25 is 17.62 
Alpha[25]	0.000000
Alpha[25]	0.986331
TNavParticleFilter::Modified Variance for beam 26 is 18.01 
Alpha[26]	0.000000
Alpha[26]	0.987547
TNavParticleFilter::Modified Variance for beam 27 is 17.75 
Alpha[27]	0.000000
Alpha[27]	0.987923
TNavParticleFilter::Modified Variance for beam 28 is 17.50 
Alpha[28]	0.000000
Alpha[28]	0.988558
TNavParticleFilter::Modified Variance for beam 29 is 17.30 
Alpha[29]	0.000000
Alpha[29]	0.987723
TNavParticleFilter::Modified Variance for beam 30 is 17.16 
Alpha[30]	0.000000
Alpha[30]	0.983784
TNavParticleFilter::Modified Variance for beam 31 is 17.12 
Alpha[31]	0.000000
Alpha[31]	0.974808
TNavParticleFilter::Modified Variance for beam 32 is 16.94 
Alpha[32]	0.000000
Alpha[32]	0.974254
TNavParticleFilter::Modified Variance for beam 33 is 16.78 
Alpha[33]	0.000000
Alpha[33]	0.973722
TNavParticleFilter::Modified Variance for beam 34 is 16.54 
Alpha[34]	0.000000
Alpha[34]	0.978189
TNavParticleFilter::Modified Variance for beam 35 is 16.34 
Alpha[35]	0.000000
Alpha[35]	0.981428
TNavParticleFilter::Modified Variance for beam 36 is 16.77 
Alpha[36]	0.000000
Alpha[36]	0.975129
TNavParticleFilter::Modified Variance for beam 37 is 17.46 
Alpha[37]	0.000000
Alpha[37]	0.962689
TNavParticleFilter::Modified Variance for beam 38 is 16.99 
Alpha[38]	0.000000
Alpha[38]	0.981985
TNavParticleFilter::Modified Variance for beam 39 is 16.70 
Alpha[39]	0.000000
Alpha[39]	0.991667
TNavParticleFilter::Modified Variance for beam 40 is 16.57 
Alpha[40]	0.000000
Alpha[40]	0.992712
TNavParticleFilter::Modified Variance for beam 41 is 17.26 
Alpha[41]	0.000000
Alpha[41]	0.992800
TNavParticleFilter::Modified Variance for beam 42 is 17.44 
Alpha[42]	0.000000
Alpha[42]	0.992244
TNavParticleFilter::Modified Variance for beam 43 is 17.41 
Alpha[43]	0.000000
Alpha[43]	0.988730
TNavParticleFilter::Modified Variance for beam 44 is 17.37 
Alpha[44]	0.000000
Alpha[44]	0.986545
TNavParticleFilter::Modified Variance for beam 45 is 17.24 
Alpha[45]	0.000000
Alpha[45]	0.989859
TNavParticleFilter::Modified Variance for beam 46 is 18.19 
Alpha[46]	0.000000
Alpha[46]	0.992678
TNavParticleFilter::Modified Variance for beam 47 is 18.09 
Alpha[47]	0.000000
Alpha[47]	0.995073
TNavParticleFilter::Modified Variance for beam 48 is 18.00 
Alpha[48]	0.000000
Alpha[48]	0.997159
TNavParticleFilter::Modified Variance for beam 49 is 17.96 
Alpha[49]	0.000000
Alpha[49]	0.997452
TNavParticleFilter::Modified Variance for beam 50 is 19.17 
Alpha[50]	0.000000
Alpha[50]	0.996897
TNavParticleFilter::Modified Variance for beam 51 is 20.13 
Alpha[51]	0.000000
Alpha[51]	0.996624
TNavParticleFilter::Modified Variance for beam 52 is 20.11 
Alpha[52]	0.000000
Alpha[52]	0.996979
TNavPF:: sumSquaredError = 21.734519 
TNavPF:: sumWeights = 0.038624 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 37 as -10.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -17.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -7.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -0.10. Range = 96.66 
TNavPF::Calculated measDiffMean for beam 75 as -0.51. Range = 71.74 
TNavPF::Calculated measDiffMean for beam 76 as -1.22. Range = 70.18 
TNavPF::Calculated measDiffMean for beam 77 as -1.66. Range = 68.71 
TNavPF::Calculated measDiffMean for beam 78 as -0.76. Range = 67.32 
TNavPF::Calculated measDiffMean for beam 79 as -0.59. Range = 66.01 
TNavPF::Calculated measDiffMean for beam 80 as -0.84. Range = 64.76 
TNavPF::Calculated measDiffMean for beam 81 as -0.97. Range = 63.58 
TNavPF::Calculated measDiffMean for beam 82 as -1.37. Range = 62.46 
TNavPF::Calculated measDiffMean for beam 83 as 0.16. Range = 61.40 
TNavPF::Calculated measDiffMean for beam 84 as -0.13. Range = 60.39 
TNavPF::Calculated measDiffMean for beam 85 as -0.80. Range = 56.74 
TNavPF::Calculated measDiffMean for beam 86 as -1.74. Range = 55.87 
TNavPF::Calculated measDiffMean for beam 87 as -1.40. Range = 55.04 
TNavPF::Calculated measDiffMean for beam 88 as -0.53. Range = 54.26 
TNavPF::Calculated measDiffMean for beam 89 as -1.76. Range = 53.67 
TNavPF::First Term of Map Covariance Matrix is 2059.38 
TNavPF::Calculated NIS Value : 1.66 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322309.82 sec.
INS : North: 4070287.28, East: 588963.41, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 55.61, IDT[75] = 55.11
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322312.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322312.62)
ARL : North: -0.2917, East: -1.5684, Depth: -0.0327ARL : Estimation Bias  (Mean)         : (t = 1488322312.62)
ARL : North: -1.0506, East: -2.0317, Depth: 0.2570TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 29.55 
Alpha[0]	0.123000
Alpha[0]	0.999994
TNavParticleFilter::Modified Variance for beam 1 is 28.32 
Alpha[1]	0.000000
Alpha[1]	0.999987
TNavParticleFilter::Modified Variance for beam 2 is 27.19 
Alpha[2]	0.000000
Alpha[2]	0.999927
TNavParticleFilter::Modified Variance for beam 3 is 26.20 
Alpha[3]	0.000000
Alpha[3]	0.997836
TNavParticleFilter::Modified Variance for beam 4 is 25.50 
Alpha[4]	0.000000
Alpha[4]	0.987503
TNavParticleFilter::Modified Variance for beam 5 is 24.58 
Alpha[5]	0.000000
Alpha[5]	0.987962
TNavParticleFilter::Modified Variance for beam 6 is 23.72 
Alpha[6]	0.000000
Alpha[6]	0.989001
TNavParticleFilter::Modified Variance for beam 7 is 22.93 
Alpha[7]	0.000000
Alpha[7]	0.989751
TNavParticleFilter::Modified Variance for beam 8 is 22.08 
Alpha[8]	0.000000
Alpha[8]	0.995345
TNavParticleFilter::Modified Variance for beam 9 is 21.41 
Alpha[9]	0.000000
Alpha[9]	0.995963
TNavParticleFilter::Modified Variance for beam 10 is 19.19 
Alpha[10]	0.000000
Alpha[10]	0.995341
TNavParticleFilter::Modified Variance for beam 11 is 18.69 
Alpha[11]	0.000000
Alpha[11]	0.994126
TNavParticleFilter::Modified Variance for beam 12 is 18.30 
Alpha[12]	0.000000
Alpha[12]	0.988547
TNavParticleFilter::Modified Variance for beam 13 is 19.04 
Alpha[13]	0.000000
Alpha[13]	0.977633
TNavParticleFilter::Modified Variance for beam 14 is 19.07 
Alpha[14]	0.000000
Alpha[14]	0.975945
TNavParticleFilter::Modified Variance for beam 15 is 18.66 
Alpha[15]	0.000000
Alpha[15]	0.974119
TNavParticleFilter::Modified Variance for beam 16 is 18.31 
Alpha[16]	0.000000
Alpha[16]	0.969908
TNavParticleFilter::Modified Variance for beam 17 is 18.16 
Alpha[17]	0.000000
Alpha[17]	0.975743
TNavParticleFilter::Modified Variance for beam 18 is 18.62 
Alpha[18]	0.000000
Alpha[18]	0.984170
TNavParticleFilter::Modified Variance for beam 19 is 18.34 
Alpha[19]	0.000000
Alpha[19]	0.978996
TNavParticleFilter::Modified Variance for beam 20 is 18.02 
Alpha[20]	0.000000
Alpha[20]	0.976782
TNavParticleFilter::Modified Variance for beam 21 is 17.51 
Alpha[21]	0.000000
Alpha[21]	0.985940
TNavParticleFilter::Modified Variance for beam 22 is 17.79 
Alpha[22]	0.000000
Alpha[22]	0.986777
TNavParticleFilter::Modified Variance for beam 23 is 18.11 
Alpha[23]	0.000000
Alpha[23]	0.987558
TNavParticleFilter::Modified Variance for beam 24 is 17.79 
Alpha[24]	0.000000
Alpha[24]	0.988142
TNavParticleFilter::Modified Variance for beam 25 is 17.49 
Alpha[25]	0.000000
Alpha[25]	0.988864
TNavParticleFilter::Modified Variance for beam 26 is 17.22 
Alpha[26]	0.000000
Alpha[26]	0.989110
TNavParticleFilter::Modified Variance for beam 27 is 17.02 
Alpha[27]	0.000000
Alpha[27]	0.985639
TNavParticleFilter::Modified Variance for beam 28 is 16.94 
Alpha[28]	0.000000
Alpha[28]	0.976615
TNavParticleFilter::Modified Variance for beam 29 is 16.74 
Alpha[29]	0.000000
Alpha[29]	0.975104
TNavParticleFilter::Modified Variance for beam 30 is 16.46 
Alpha[30]	0.000000
Alpha[30]	0.978591
TNavParticleFilter::Modified Variance for beam 31 is 16.25 
Alpha[31]	0.000000
Alpha[31]	0.979327
TNavParticleFilter::Modified Variance for beam 32 is 16.01 
Alpha[32]	0.000000
Alpha[32]	0.982341
TNavParticleFilter::Modified Variance for beam 33 is 16.67 
Alpha[33]	0.000000
Alpha[33]	0.979526
TNavParticleFilter::Modified Variance for beam 34 is 17.03 
Alpha[34]	0.000000
Alpha[34]	0.965739
TNavParticleFilter::Modified Variance for beam 35 is 16.72 
Alpha[35]	0.000000
Alpha[35]	0.973931
TNavParticleFilter::Modified Variance for beam 36 is 17.32 
Alpha[36]	0.000000
Alpha[36]	0.989069
TNavParticleFilter::Modified Variance for beam 37 is 17.16 
Alpha[37]	0.000000
Alpha[37]	0.993029
TNavParticleFilter::Modified Variance for beam 38 is 17.02 
Alpha[38]	0.000000
Alpha[38]	0.992840
TNavParticleFilter::Modified Variance for beam 39 is 17.98 
Alpha[39]	0.000000
Alpha[39]	0.992353
TNavParticleFilter::Modified Variance for beam 40 is 17.87 
Alpha[40]	0.000000
Alpha[40]	0.991024
TNavParticleFilter::Modified Variance for beam 41 is 17.79 
Alpha[41]	0.000000
Alpha[41]	0.988172
TNavParticleFilter::Modified Variance for beam 42 is 17.69 
Alpha[42]	0.000000
Alpha[42]	0.987250
TNavParticleFilter::Modified Variance for beam 43 is 17.84 
Alpha[43]	0.000000
Alpha[43]	0.990053
TNavParticleFilter::Modified Variance for beam 44 is 18.48 
Alpha[44]	0.000000
Alpha[44]	0.992841
TNavParticleFilter::Modified Variance for beam 45 is 17.26 
Alpha[45]	0.000000
Alpha[45]	0.995268
TNavParticleFilter::Modified Variance for beam 46 is 17.15 
Alpha[46]	0.000000
Alpha[46]	0.997150
TNavParticleFilter::Modified Variance for beam 47 is 17.08 
Alpha[47]	0.000000
Alpha[47]	0.997190
TNavParticleFilter::Modified Variance for beam 48 is 19.19 
Alpha[48]	0.000000
Alpha[48]	0.996557
TNavParticleFilter::Modified Variance for beam 49 is 19.14 
Alpha[49]	0.000000
Alpha[49]	0.996278
TNavParticleFilter::Modified Variance for beam 50 is 21.03 
Alpha[50]	0.000000
Alpha[50]	0.996460
TNavParticleFilter::Modified Variance for beam 51 is 21.35 
Alpha[51]	0.000000
Alpha[51]	0.996127
TNavParticleFilter::Modified Variance for beam 52 is 21.33 
Alpha[52]	0.000000
Alpha[52]	0.995519
TNavParticleFilter::Modified Variance for beam 53 is 21.32 
Alpha[53]	0.000000
Alpha[53]	0.994687
TNavParticleFilter::Modified Variance for beam 54 is 22.54 
Alpha[54]	0.000000
Alpha[54]	0.993507
TNavParticleFilter::Modified Variance for beam 55 is 22.63 
Alpha[55]	0.000000
Alpha[55]	0.989187
TNavParticleFilter::Modified Variance for beam 56 is 22.69 
Alpha[56]	0.000000
Alpha[56]	0.987284
TNavParticleFilter::Modified Variance for beam 57 is 22.73 
Alpha[57]	0.000000
Alpha[57]	0.986134
TNavParticleFilter::Modified Variance for beam 58 is 22.78 
Alpha[58]	0.000000
Alpha[58]	0.985707
TNavPF:: sumSquaredError = 18.292276 
TNavPF:: sumWeights = 0.045698 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 31 as -43.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -19.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -3.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.29. Range = 72.97 
TNavPF::Calculated measDiffMean for beam 63 as -0.59. Range = 71.22 
TNavPF::Calculated measDiffMean for beam 64 as 0.17. Range = 69.58 
TNavPF::Calculated measDiffMean for beam 65 as 0.10. Range = 68.03 
TNavPF::Calculated measDiffMean for beam 66 as -0.20. Range = 66.57 
TNavPF::Calculated measDiffMean for beam 67 as 1.04. Range = 65.19 
TNavPF::Calculated measDiffMean for beam 68 as 0.44. Range = 63.88 
TNavPF::Calculated measDiffMean for beam 69 as -0.09. Range = 62.64 
TNavPF::Calculated measDiffMean for beam 70 as 1.44. Range = 61.47 
TNavPF::Calculated measDiffMean for beam 71 as 1.17. Range = 60.36 
TNavPF::Calculated measDiffMean for beam 72 as 1.03. Range = 56.50 
TNavPF::Calculated measDiffMean for beam 73 as 0.91. Range = 55.55 
TNavPF::Calculated measDiffMean for beam 74 as 1.02. Range = 54.64 
TNavPF::Calculated measDiffMean for beam 75 as 2.00. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 76 as -0.42. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 77 as -1.25. Range = 54.79 
TNavPF::Calculated measDiffMean for beam 78 as -2.18. Range = 54.02 
TNavPF::Calculated measDiffMean for beam 79 as 0.21. Range = 53.93 
TNavPF::Calculated measDiffMean for beam 80 as -0.75. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 81 as 1.69. Range = 54.37 
TNavPF::Calculated measDiffMean for beam 82 as 1.47. Range = 53.71 
TNavPF::Calculated measDiffMean for beam 83 as 0.98. Range = 53.07 
TNavPF::Calculated measDiffMean for beam 84 as 0.53. Range = 53.62 
TNavPF::Calculated measDiffMean for beam 85 as 1.79. Range = 54.25 
TNavPF::Calculated measDiffMean for beam 86 as 1.16. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 87 as 0.93. Range = 53.13 
TNavPF::Calculated measDiffMean for beam 88 as 0.79. Range = 52.62 
TNavPF::Calculated measDiffMean for beam 89 as 0.76. Range = 52.13 
TNavPF::First Term of Map Covariance Matrix is 3331.44 
TNavPF::Calculated NIS Value : 2.93 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322312.82 sec.
INS : North: 4070285.40, East: 588959.45, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 56.03, IDT[75] = 55.30
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322315.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322315.62)
ARL : North: -1.1532, East: -2.5224, Depth: -0.8750ARL : Estimation Bias  (Mean)         : (t = 1488322315.62)
ARL : North: -0.8824, East: -2.1276, Depth: 0.7168TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 29.18 
Alpha[0]	0.123000
Alpha[0]	0.999992
TNavParticleFilter::Modified Variance for beam 1 is 27.89 
Alpha[1]	0.000000
Alpha[1]	0.999940
TNavParticleFilter::Modified Variance for beam 2 is 26.73 
Alpha[2]	0.000000
Alpha[2]	0.999472
TNavParticleFilter::Modified Variance for beam 3 is 25.90 
Alpha[3]	0.000000
Alpha[3]	0.989713
TNavParticleFilter::Modified Variance for beam 4 is 24.85 
Alpha[4]	0.000000
Alpha[4]	0.991290
TNavParticleFilter::Modified Variance for beam 5 is 23.91 
Alpha[5]	0.000000
Alpha[5]	0.991925
TNavParticleFilter::Modified Variance for beam 6 is 22.97 
Alpha[6]	0.000000
Alpha[6]	0.995940
TNavParticleFilter::Modified Variance for beam 7 is 20.36 
Alpha[7]	0.000000
Alpha[7]	0.996268
TNavParticleFilter::Modified Variance for beam 8 is 19.72 
Alpha[8]	0.000000
Alpha[8]	0.995361
TNavParticleFilter::Modified Variance for beam 9 is 19.15 
Alpha[9]	0.000000
Alpha[9]	0.993171
TNavParticleFilter::Modified Variance for beam 10 is 19.52 
Alpha[10]	0.000000
Alpha[10]	0.984143
TNavParticleFilter::Modified Variance for beam 11 is 19.95 
Alpha[11]	0.000000
Alpha[11]	0.976004
TNavParticleFilter::Modified Variance for beam 12 is 19.38 
Alpha[12]	0.000000
Alpha[12]	0.976557
TNavParticleFilter::Modified Variance for beam 13 is 18.93 
Alpha[13]	0.000000
Alpha[13]	0.973406
TNavParticleFilter::Modified Variance for beam 14 is 18.82 
Alpha[14]	0.000000
Alpha[14]	0.970281
TNavParticleFilter::Modified Variance for beam 15 is 19.19 
Alpha[15]	0.000000
Alpha[15]	0.982236
TNavParticleFilter::Modified Variance for beam 16 is 18.82 
Alpha[16]	0.000000
Alpha[16]	0.981684
TNavParticleFilter::Modified Variance for beam 17 is 18.54 
Alpha[17]	0.000000
Alpha[17]	0.973490
TNavParticleFilter::Modified Variance for beam 18 is 17.93 
Alpha[18]	0.000000
Alpha[18]	0.983724
TNavParticleFilter::Modified Variance for beam 19 is 18.20 
Alpha[19]	0.000000
Alpha[19]	0.987482
TNavParticleFilter::Modified Variance for beam 20 is 18.42 
Alpha[20]	0.000000
Alpha[20]	0.988743
TNavParticleFilter::Modified Variance for beam 21 is 18.03 
Alpha[21]	0.000000
Alpha[21]	0.989514
TNavParticleFilter::Modified Variance for beam 22 is 17.68 
Alpha[22]	0.000000
Alpha[22]	0.989961
TNavParticleFilter::Modified Variance for beam 23 is 17.35 
Alpha[23]	0.000000
Alpha[23]	0.990072
TNavParticleFilter::Modified Variance for beam 24 is 17.12 
Alpha[24]	0.000000
Alpha[24]	0.985793
TNavParticleFilter::Modified Variance for beam 25 is 17.02 
Alpha[25]	0.000000
Alpha[25]	0.974443
TNavParticleFilter::Modified Variance for beam 26 is 16.74 
Alpha[26]	0.000000
Alpha[26]	0.974834
TNavParticleFilter::Modified Variance for beam 27 is 16.43 
Alpha[27]	0.000000
Alpha[27]	0.977598
TNavParticleFilter::Modified Variance for beam 28 is 16.17 
Alpha[28]	0.000000
Alpha[28]	0.978335
TNavParticleFilter::Modified Variance for beam 29 is 16.04 
Alpha[29]	0.000000
Alpha[29]	0.980772
TNavParticleFilter::Modified Variance for beam 30 is 16.91 
Alpha[30]	0.000000
Alpha[30]	0.975436
TNavParticleFilter::Modified Variance for beam 31 is 16.87 
Alpha[31]	0.000000
Alpha[31]	0.964802
TNavParticleFilter::Modified Variance for beam 32 is 16.61 
Alpha[32]	0.000000
Alpha[32]	0.972622
TNavParticleFilter::Modified Variance for beam 33 is 17.18 
Alpha[33]	0.000000
Alpha[33]	0.987796
TNavParticleFilter::Modified Variance for beam 34 is 16.90 
Alpha[34]	0.000000
Alpha[34]	0.992573
TNavParticleFilter::Modified Variance for beam 35 is 16.90 
Alpha[35]	0.000000
Alpha[35]	0.992665
TNavParticleFilter::Modified Variance for beam 36 is 17.65 
Alpha[36]	0.000000
Alpha[36]	0.992381
TNavParticleFilter::Modified Variance for beam 37 is 17.50 
Alpha[37]	0.000000
Alpha[37]	0.990793
TNavParticleFilter::Modified Variance for beam 38 is 17.38 
Alpha[38]	0.000000
Alpha[38]	0.988323
TNavParticleFilter::Modified Variance for beam 39 is 17.24 
Alpha[39]	0.000000
Alpha[39]	0.987332
TNavParticleFilter::Modified Variance for beam 40 is 17.51 
Alpha[40]	0.000000
Alpha[40]	0.989321
TNavParticleFilter::Modified Variance for beam 41 is 17.97 
Alpha[41]	0.000000
Alpha[41]	0.992523
TNavParticleFilter::Modified Variance for beam 42 is 17.80 
Alpha[42]	0.000000
Alpha[42]	0.994493
TNavParticleFilter::Modified Variance for beam 43 is 18.74 
Alpha[43]	0.000000
Alpha[43]	0.996627
TNavParticleFilter::Modified Variance for beam 44 is 18.62 
Alpha[44]	0.000000
Alpha[44]	0.996851
TNavParticleFilter::Modified Variance for beam 45 is 18.53 
Alpha[45]	0.000000
Alpha[45]	0.995618
TNavParticleFilter::Modified Variance for beam 46 is 18.43 
Alpha[46]	0.000000
Alpha[46]	0.995893
TNavParticleFilter::Modified Variance for beam 47 is 18.44 
Alpha[47]	0.000000
Alpha[47]	0.996063
TNavParticleFilter::Modified Variance for beam 48 is 20.51 
Alpha[48]	0.000000
Alpha[48]	0.996336
TNavParticleFilter::Modified Variance for beam 49 is 20.43 
Alpha[49]	0.000000
Alpha[49]	0.996139
TNavParticleFilter::Modified Variance for beam 50 is 20.38 
Alpha[50]	0.000000
Alpha[50]	0.995403
TNavParticleFilter::Modified Variance for beam 51 is 20.34 
Alpha[51]	0.000000
Alpha[51]	0.994349
TNavParticleFilter::Modified Variance for beam 52 is 21.52 
Alpha[52]	0.000000
Alpha[52]	0.991811
TNavParticleFilter::Modified Variance for beam 53 is 21.55 
Alpha[53]	0.000000
Alpha[53]	0.988551
TNavParticleFilter::Modified Variance for beam 54 is 21.55 
Alpha[54]	0.000000
Alpha[54]	0.987033
TNavParticleFilter::Modified Variance for beam 55 is 21.56 
Alpha[55]	0.000000
Alpha[55]	0.985900
TNavParticleFilter::Modified Variance for beam 56 is 21.56 
Alpha[56]	0.000000
Alpha[56]	0.985347
TNavParticleFilter::Modified Variance for beam 57 is 21.53 
Alpha[57]	0.000000
Alpha[57]	0.986731
TNavParticleFilter::Modified Variance for beam 58 is 21.52 
Alpha[58]	0.000000
Alpha[58]	0.988151
TNavParticleFilter::Modified Variance for beam 59 is 21.55 
Alpha[59]	0.000000
Alpha[59]	0.988005
TNavPF:: sumSquaredError = 36.051402 
TNavPF:: sumWeights = 0.048831 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -25.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -3.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.77. Range = 74.39 
TNavPF::Calculated measDiffMean for beam 60 as 0.33. Range = 72.44 
TNavPF::Calculated measDiffMean for beam 61 as -0.23. Range = 70.60 
TNavPF::Calculated measDiffMean for beam 62 as -0.36. Range = 68.88 
TNavPF::Calculated measDiffMean for beam 63 as 1.00. Range = 67.26 
TNavPF::Calculated measDiffMean for beam 64 as 0.30. Range = 65.73 
TNavPF::Calculated measDiffMean for beam 65 as 0.10. Range = 64.29 
TNavPF::Calculated measDiffMean for beam 66 as 1.33. Range = 62.94 
TNavPF::Calculated measDiffMean for beam 67 as 1.01. Range = 58.59 
TNavPF::Calculated measDiffMean for beam 68 as 0.87. Range = 57.43 
TNavPF::Calculated measDiffMean for beam 69 as 0.75. Range = 56.34 
TNavPF::Calculated measDiffMean for beam 70 as 1.18. Range = 56.69 
TNavPF::Calculated measDiffMean for beam 71 as 1.98. Range = 57.16 
TNavPF::Calculated measDiffMean for beam 72 as 1.69. Range = 56.18 
TNavPF::Calculated measDiffMean for beam 73 as 3.04. Range = 55.25 
TNavPF::Calculated measDiffMean for beam 74 as 2.04. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 75 as 0.67. Range = 56.03 
TNavPF::Calculated measDiffMean for beam 76 as -0.46. Range = 55.35 
TNavPF::Calculated measDiffMean for beam 77 as -0.99. Range = 54.55 
TNavPF::Calculated measDiffMean for beam 78 as 1.82. Range = 53.79 
TNavPF::Calculated measDiffMean for beam 79 as 1.26. Range = 54.41 
TNavPF::Calculated measDiffMean for beam 80 as 0.70. Range = 54.86 
TNavPF::Calculated measDiffMean for beam 81 as 0.25. Range = 54.18 
TNavPF::Calculated measDiffMean for beam 82 as 1.39. Range = 53.52 
TNavPF::Calculated measDiffMean for beam 83 as 0.91. Range = 52.90 
TNavPF::Calculated measDiffMean for beam 84 as 0.67. Range = 52.31 
TNavPF::Calculated measDiffMean for beam 85 as 0.56. Range = 51.75 
TNavPF::Calculated measDiffMean for beam 86 as 0.53. Range = 51.22 
TNavPF::Calculated measDiffMean for beam 87 as 0.35. Range = 50.71 
TNavPF::Calculated measDiffMean for beam 88 as -0.27. Range = 50.22 
TNavPF::Calculated measDiffMean for beam 89 as -0.45. Range = 50.03 
TNavPF::First Term of Map Covariance Matrix is 2603.33 
TNavPF::Calculated NIS Value : 2.52 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322315.82 sec.
INS : North: 4070283.39, East: 588955.55, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 55.92, IDT[75] = 53.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322318.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322318.62)
ARL : North: -1.9429, East: -3.0972, Depth: 1.7639ARL : Estimation Bias  (Mean)         : (t = 1488322318.62)
ARL : North: -0.9914, East: -2.2840, Depth: 0.3396TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 30.56 
Alpha[0]	0.123000
Alpha[0]	0.999987
TNavParticleFilter::Modified Variance for beam 1 is 29.05 
Alpha[1]	0.000000
Alpha[1]	0.999878
TNavParticleFilter::Modified Variance for beam 2 is 27.76 
Alpha[2]	0.000000
Alpha[2]	0.997136
TNavParticleFilter::Modified Variance for beam 3 is 26.63 
Alpha[3]	0.000000
Alpha[3]	0.992127
TNavParticleFilter::Modified Variance for beam 4 is 25.39 
Alpha[4]	0.000000
Alpha[4]	0.995707
TNavParticleFilter::Modified Variance for beam 5 is 24.30 
Alpha[5]	0.000000
Alpha[5]	0.997191
TNavParticleFilter::Modified Variance for beam 6 is 21.31 
Alpha[6]	0.000000
Alpha[6]	0.996978
TNavParticleFilter::Modified Variance for beam 7 is 20.55 
Alpha[7]	0.000000
Alpha[7]	0.995208
TNavParticleFilter::Modified Variance for beam 8 is 19.98 
Alpha[8]	0.000000
Alpha[8]	0.986644
TNavParticleFilter::Modified Variance for beam 9 is 20.54 
Alpha[9]	0.000000
Alpha[9]	0.980575
TNavParticleFilter::Modified Variance for beam 10 is 20.51 
Alpha[10]	0.000000
Alpha[10]	0.980829
TNavParticleFilter::Modified Variance for beam 11 is 19.93 
Alpha[11]	0.000000
Alpha[11]	0.976525
TNavParticleFilter::Modified Variance for beam 12 is 19.30 
Alpha[12]	0.000000
Alpha[12]	0.977506
TNavParticleFilter::Modified Variance for beam 13 is 18.74 
Alpha[13]	0.000000
Alpha[13]	0.984419
TNavParticleFilter::Modified Variance for beam 14 is 19.68 
Alpha[14]	0.000000
Alpha[14]	0.978518
TNavParticleFilter::Modified Variance for beam 15 is 19.18 
Alpha[15]	0.000000
Alpha[15]	0.979372
TNavParticleFilter::Modified Variance for beam 16 is 18.52 
Alpha[16]	0.000000
Alpha[16]	0.987308
TNavParticleFilter::Modified Variance for beam 17 is 18.38 
Alpha[17]	0.000000
Alpha[17]	0.988811
TNavParticleFilter::Modified Variance for beam 18 is 18.95 
Alpha[18]	0.000000
Alpha[18]	0.989922
TNavParticleFilter::Modified Variance for beam 19 is 18.52 
Alpha[19]	0.000000
Alpha[19]	0.990507
TNavParticleFilter::Modified Variance for beam 20 is 18.09 
Alpha[20]	0.000000
Alpha[20]	0.990904
TNavParticleFilter::Modified Variance for beam 21 is 17.74 
Alpha[21]	0.000000
Alpha[21]	0.987856
TNavParticleFilter::Modified Variance for beam 22 is 17.54 
Alpha[22]	0.000000
Alpha[22]	0.977543
TNavParticleFilter::Modified Variance for beam 23 is 17.20 
Alpha[23]	0.000000
Alpha[23]	0.976777
TNavParticleFilter::Modified Variance for beam 24 is 16.78 
Alpha[24]	0.000000
Alpha[24]	0.981412
TNavParticleFilter::Modified Variance for beam 25 is 16.46 
Alpha[25]	0.000000
Alpha[25]	0.981479
TNavParticleFilter::Modified Variance for beam 26 is 16.16 
Alpha[26]	0.000000
Alpha[26]	0.981953
TNavParticleFilter::Modified Variance for beam 27 is 16.23 
Alpha[27]	0.000000
Alpha[27]	0.975497
TNavParticleFilter::Modified Variance for beam 28 is 17.03 
Alpha[28]	0.000000
Alpha[28]	0.968234
TNavParticleFilter::Modified Variance for beam 29 is 16.65 
Alpha[29]	0.000000
Alpha[29]	0.974105
TNavParticleFilter::Modified Variance for beam 30 is 16.31 
Alpha[30]	0.000000
Alpha[30]	0.987264
TNavParticleFilter::Modified Variance for beam 31 is 17.00 
Alpha[31]	0.000000
Alpha[31]	0.992481
TNavParticleFilter::Modified Variance for beam 32 is 16.75 
Alpha[32]	0.000000
Alpha[32]	0.992905
TNavParticleFilter::Modified Variance for beam 33 is 16.62 
Alpha[33]	0.000000
Alpha[33]	0.992145
TNavParticleFilter::Modified Variance for beam 34 is 17.47 
Alpha[34]	0.000000
Alpha[34]	0.990832
TNavParticleFilter::Modified Variance for beam 35 is 17.28 
Alpha[35]	0.000000
Alpha[35]	0.989339
TNavParticleFilter::Modified Variance for beam 36 is 17.09 
Alpha[36]	0.000000
Alpha[36]	0.988013
TNavParticleFilter::Modified Variance for beam 37 is 16.89 
Alpha[37]	0.000000
Alpha[37]	0.988294
TNavParticleFilter::Modified Variance for beam 38 is 16.78 
Alpha[38]	0.000000
Alpha[38]	0.991751
TNavParticleFilter::Modified Variance for beam 39 is 17.54 
Alpha[39]	0.000000
Alpha[39]	0.994046
TNavParticleFilter::Modified Variance for beam 40 is 17.33 
Alpha[40]	0.000000
Alpha[40]	0.996045
TNavParticleFilter::Modified Variance for beam 41 is 17.62 
Alpha[41]	0.000000
Alpha[41]	0.996711
TNavParticleFilter::Modified Variance for beam 42 is 18.13 
Alpha[42]	0.000000
Alpha[42]	0.995511
TNavParticleFilter::Modified Variance for beam 43 is 17.98 
Alpha[43]	0.000000
Alpha[43]	0.995037
TNavParticleFilter::Modified Variance for beam 44 is 18.95 
Alpha[44]	0.000000
Alpha[44]	0.995839
TNavParticleFilter::Modified Variance for beam 45 is 17.70 
Alpha[45]	0.000000
Alpha[45]	0.995755
TNavParticleFilter::Modified Variance for beam 46 is 18.80 
Alpha[46]	0.000000
Alpha[46]	0.995869
TNavParticleFilter::Modified Variance for beam 47 is 19.70 
Alpha[47]	0.000000
Alpha[47]	0.995335
TNavParticleFilter::Modified Variance for beam 48 is 19.61 
Alpha[48]	0.000000
Alpha[48]	0.994313
TNavParticleFilter::Modified Variance for beam 49 is 19.55 
Alpha[49]	0.000000
Alpha[49]	0.991732
TNavParticleFilter::Modified Variance for beam 50 is 19.52 
Alpha[50]	0.000000
Alpha[50]	0.988701
TNavParticleFilter::Modified Variance for beam 51 is 20.60 
Alpha[51]	0.000000
Alpha[51]	0.988120
TNavParticleFilter::Modified Variance for beam 52 is 20.54 
Alpha[52]	0.000000
Alpha[52]	0.987165
TNavParticleFilter::Modified Variance for beam 53 is 20.48 
Alpha[53]	0.000000
Alpha[53]	0.986617
TNavParticleFilter::Modified Variance for beam 54 is 20.43 
Alpha[54]	0.000000
Alpha[54]	0.986235
TNavParticleFilter::Modified Variance for beam 55 is 20.37 
Alpha[55]	0.000000
Alpha[55]	0.987122
TNavParticleFilter::Modified Variance for beam 56 is 20.30 
Alpha[56]	0.000000
Alpha[56]	0.988617
TNavParticleFilter::Modified Variance for beam 57 is 20.28 
Alpha[57]	0.000000
Alpha[57]	0.987919
TNavParticleFilter::Modified Variance for beam 58 is 20.22 
Alpha[58]	0.000000
Alpha[58]	0.990076
TNavParticleFilter::Modified Variance for beam 59 is 20.18 
Alpha[59]	0.000000
Alpha[59]	0.992038
TNavPF:: sumSquaredError = 6.152482 
TNavPF:: sumWeights = 0.051255 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -11.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.24. Range = 76.61 
TNavPF::Calculated measDiffMean for beam 60 as -0.72. Range = 74.36 
TNavPF::Calculated measDiffMean for beam 61 as 0.47. Range = 72.26 
TNavPF::Calculated measDiffMean for beam 62 as -0.19. Range = 70.29 
TNavPF::Calculated measDiffMean for beam 63 as -0.55. Range = 68.45 
TNavPF::Calculated measDiffMean for beam 64 as 1.13. Range = 66.73 
TNavPF::Calculated measDiffMean for beam 65 as 0.98. Range = 65.10 
TNavPF::Calculated measDiffMean for beam 66 as 0.86. Range = 60.24 
TNavPF::Calculated measDiffMean for beam 67 as 0.51. Range = 58.88 
TNavPF::Calculated measDiffMean for beam 68 as 0.32. Range = 57.59 
TNavPF::Calculated measDiffMean for beam 69 as 1.83. Range = 58.34 
TNavPF::Calculated measDiffMean for beam 70 as 1.15. Range = 58.29 
TNavPF::Calculated measDiffMean for beam 71 as 0.96. Range = 57.15 
TNavPF::Calculated measDiffMean for beam 72 as 1.04. Range = 56.06 
TNavPF::Calculated measDiffMean for beam 73 as -0.11. Range = 55.31 
TNavPF::Calculated measDiffMean for beam 74 as 1.10. Range = 56.77 
TNavPF::Calculated measDiffMean for beam 75 as -1.76. Range = 55.92 
TNavPF::Calculated measDiffMean for beam 76 as -0.33. Range = 55.00 
TNavPF::Calculated measDiffMean for beam 77 as 1.01. Range = 54.79 
TNavPF::Calculated measDiffMean for beam 78 as 0.53. Range = 55.87 
TNavPF::Calculated measDiffMean for beam 79 as 0.09. Range = 55.11 
TNavPF::Calculated measDiffMean for beam 80 as -0.57. Range = 54.32 
TNavPF::Calculated measDiffMean for beam 81 as 1.06. Range = 53.57 
TNavPF::Calculated measDiffMean for beam 82 as 0.83. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 83 as 0.72. Range = 52.17 
TNavPF::Calculated measDiffMean for beam 84 as 0.68. Range = 51.52 
TNavPF::Calculated measDiffMean for beam 85 as 0.48. Range = 50.90 
TNavPF::Calculated measDiffMean for beam 86 as -0.24. Range = 50.31 
TNavPF::Calculated measDiffMean for beam 87 as -0.63. Range = 50.25 
TNavPF::Calculated measDiffMean for beam 88 as -0.59. Range = 51.56 
TNavPF::Calculated measDiffMean for beam 89 as -0.56. Range = 51.03 
TNavPF::First Term of Map Covariance Matrix is 1541.52 
TNavPF::Calculated NIS Value : 2.17 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322318.82 sec.
INS : North: 4070281.35, East: 588951.69, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 52.57, IDT[75] = 58.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322321.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322321.62)
ARL : North: -0.1918, East: -2.9744, Depth: -3.0901ARL : Estimation Bias  (Mean)         : (t = 1488322321.62)
ARL : North: -0.9128, East: -2.0997, Depth: 0.1246TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.46 
Alpha[0]	0.123000
Alpha[0]	0.978812
TNavParticleFilter::Modified Variance for beam 1 is 19.68 
Alpha[1]	0.000000
Alpha[1]	0.982543
TNavParticleFilter::Modified Variance for beam 2 is 19.45 
Alpha[2]	0.000000
Alpha[2]	0.984892
TNavParticleFilter::Modified Variance for beam 3 is 20.08 
Alpha[3]	0.000000
Alpha[3]	0.977893
TNavParticleFilter::Modified Variance for beam 4 is 20.48 
Alpha[4]	0.000000
Alpha[4]	0.984609
TNavParticleFilter::Modified Variance for beam 5 is 20.41 
Alpha[5]	0.000000
Alpha[5]	0.988978
TNavParticleFilter::Modified Variance for beam 6 is 19.81 
Alpha[6]	0.000000
Alpha[6]	0.989088
TNavParticleFilter::Modified Variance for beam 7 is 19.25 
Alpha[7]	0.000000
Alpha[7]	0.989354
TNavParticleFilter::Modified Variance for beam 8 is 18.71 
Alpha[8]	0.000000
Alpha[8]	0.990435
TNavParticleFilter::Modified Variance for beam 9 is 18.25 
Alpha[9]	0.000000
Alpha[9]	0.989392
TNavParticleFilter::Modified Variance for beam 10 is 17.97 
Alpha[10]	0.000000
Alpha[10]	0.979937
TNavParticleFilter::Modified Variance for beam 11 is 17.57 
Alpha[11]	0.000000
Alpha[11]	0.978301
TNavParticleFilter::Modified Variance for beam 12 is 17.05 
Alpha[12]	0.000000
Alpha[12]	0.984971
TNavParticleFilter::Modified Variance for beam 13 is 17.53 
Alpha[13]	0.000000
Alpha[13]	0.984121
TNavParticleFilter::Modified Variance for beam 14 is 17.63 
Alpha[14]	0.000000
Alpha[14]	0.984640
TNavParticleFilter::Modified Variance for beam 15 is 17.38 
Alpha[15]	0.000000
Alpha[15]	0.978214
TNavParticleFilter::Modified Variance for beam 16 is 17.15 
Alpha[16]	0.000000
Alpha[16]	0.972265
TNavParticleFilter::Modified Variance for beam 17 is 16.72 
Alpha[17]	0.000000
Alpha[17]	0.977863
TNavParticleFilter::Modified Variance for beam 18 is 17.24 
Alpha[18]	0.000000
Alpha[18]	0.986849
TNavParticleFilter::Modified Variance for beam 19 is 17.11 
Alpha[19]	0.000000
Alpha[19]	0.991811
TNavParticleFilter::Modified Variance for beam 20 is 16.81 
Alpha[20]	0.000000
Alpha[20]	0.992362
TNavParticleFilter::Modified Variance for beam 21 is 17.51 
Alpha[21]	0.000000
Alpha[21]	0.990988
TNavParticleFilter::Modified Variance for beam 22 is 17.49 
Alpha[22]	0.000000
Alpha[22]	0.990477
TNavParticleFilter::Modified Variance for beam 23 is 17.22 
Alpha[23]	0.000000
Alpha[23]	0.990312
TNavParticleFilter::Modified Variance for beam 24 is 16.99 
Alpha[24]	0.000000
Alpha[24]	0.989297
TNavParticleFilter::Modified Variance for beam 25 is 16.77 
Alpha[25]	0.000000
Alpha[25]	0.988401
TNavParticleFilter::Modified Variance for beam 26 is 17.63 
Alpha[26]	0.000000
Alpha[26]	0.991288
TNavParticleFilter::Modified Variance for beam 27 is 17.37 
Alpha[27]	0.000000
Alpha[27]	0.994124
TNavParticleFilter::Modified Variance for beam 28 is 17.15 
Alpha[28]	0.000000
Alpha[28]	0.995782
TNavParticleFilter::Modified Variance for beam 29 is 18.06 
Alpha[29]	0.000000
Alpha[29]	0.996252
TNavParticleFilter::Modified Variance for beam 30 is 17.87 
Alpha[30]	0.000000
Alpha[30]	0.995460
TNavParticleFilter::Modified Variance for beam 31 is 18.02 
Alpha[31]	0.000000
Alpha[31]	0.994611
TNavParticleFilter::Modified Variance for beam 32 is 18.65 
Alpha[32]	0.000000
Alpha[32]	0.995264
TNavParticleFilter::Modified Variance for beam 33 is 18.47 
Alpha[33]	0.000000
Alpha[33]	0.995257
TNavParticleFilter::Modified Variance for beam 34 is 19.29 
Alpha[34]	0.000000
Alpha[34]	0.994606
TNavParticleFilter::Modified Variance for beam 35 is 19.31 
Alpha[35]	0.000000
Alpha[35]	0.993881
TNavParticleFilter::Modified Variance for beam 36 is 19.19 
Alpha[36]	0.000000
Alpha[36]	0.992291
TNavParticleFilter::Modified Variance for beam 37 is 19.09 
Alpha[37]	0.000000
Alpha[37]	0.990007
TNavParticleFilter::Modified Variance for beam 38 is 19.03 
Alpha[38]	0.000000
Alpha[38]	0.986061
TNavParticleFilter::Modified Variance for beam 39 is 18.91 
Alpha[39]	0.000000
Alpha[39]	0.986396
TNavParticleFilter::Modified Variance for beam 40 is 18.79 
Alpha[40]	0.000000
Alpha[40]	0.986811
TNavParticleFilter::Modified Variance for beam 41 is 18.69 
Alpha[41]	0.000000
Alpha[41]	0.986616
TNavParticleFilter::Modified Variance for beam 42 is 18.60 
Alpha[42]	0.000000
Alpha[42]	0.986524
TNavParticleFilter::Modified Variance for beam 43 is 18.52 
Alpha[43]	0.000000
Alpha[43]	0.986358
TNavParticleFilter::Modified Variance for beam 44 is 18.43 
Alpha[44]	0.000000
Alpha[44]	0.987758
TNavParticleFilter::Modified Variance for beam 45 is 20.61 
Alpha[45]	0.000000
Alpha[45]	0.988800
TNavParticleFilter::Modified Variance for beam 46 is 20.56 
Alpha[46]	0.000000
Alpha[46]	0.988294
TNavParticleFilter::Modified Variance for beam 47 is 20.48 
Alpha[47]	0.000000
Alpha[47]	0.989627
TNavParticleFilter::Modified Variance for beam 48 is 20.40 
Alpha[48]	0.000000
Alpha[48]	0.991836
TNavParticleFilter::Modified Variance for beam 49 is 19.18 
Alpha[49]	0.000000
Alpha[49]	0.994689
TNavParticleFilter::Modified Variance for beam 50 is 19.14 
Alpha[50]	0.000000
Alpha[50]	0.995852
TNavParticleFilter::Modified Variance for beam 51 is 19.12 
Alpha[51]	0.000000
Alpha[51]	0.996344
TNavParticleFilter::Modified Variance for beam 52 is 19.12 
Alpha[52]	0.000000
Alpha[52]	0.996563
TNavParticleFilter::Modified Variance for beam 53 is 18.05 
Alpha[53]	0.000000
Alpha[53]	0.996371
TNavParticleFilter::Modified Variance for beam 54 is 18.07 
Alpha[54]	0.000000
Alpha[54]	0.996301
TNavParticleFilter::Modified Variance for beam 55 is 17.03 
Alpha[55]	0.000000
Alpha[55]	0.996787
TNavParticleFilter::Modified Variance for beam 56 is 17.07 
Alpha[56]	0.000000
Alpha[56]	0.996778
TNavParticleFilter::Modified Variance for beam 57 is 17.13 
Alpha[57]	0.000000
Alpha[57]	0.995734
TNavParticleFilter::Modified Variance for beam 58 is 17.21 
Alpha[58]	0.000000
Alpha[58]	0.994374
TNavParticleFilter::Modified Variance for beam 59 is 17.27 
Alpha[59]	0.000000
Alpha[59]	0.994320
TNavPF:: sumSquaredError = 23.778830 
TNavPF:: sumWeights = 0.065745 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.72. Range = 75.65 
TNavPF::Calculated measDiffMean for beam 51 as 0.63. Range = 73.33 
TNavPF::Calculated measDiffMean for beam 52 as 0.73. Range = 71.17 
TNavPF::Calculated measDiffMean for beam 53 as 0.58. Range = 69.15 
TNavPF::Calculated measDiffMean for beam 54 as 0.49. Range = 67.27 
TNavPF::Calculated measDiffMean for beam 55 as 0.20. Range = 61.90 
TNavPF::Calculated measDiffMean for beam 56 as 1.97. Range = 60.34 
TNavPF::Calculated measDiffMean for beam 57 as 1.52. Range = 60.23 
TNavPF::Calculated measDiffMean for beam 58 as 0.73. Range = 60.82 
TNavPF::Calculated measDiffMean for beam 59 as 1.66. Range = 59.44 
TNavPF::Calculated measDiffMean for beam 60 as 0.56. Range = 58.14 
TNavPF::Calculated measDiffMean for beam 61 as 0.20. Range = 56.91 
TNavPF::Calculated measDiffMean for beam 62 as 0.75. Range = 56.58 
TNavPF::Calculated measDiffMean for beam 63 as -0.01. Range = 57.46 
TNavPF::Calculated measDiffMean for beam 64 as 1.03. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 65 as 0.81. Range = 58.41 
TNavPF::Calculated measDiffMean for beam 66 as 0.42. Range = 57.38 
TNavPF::Calculated measDiffMean for beam 67 as 0.05. Range = 56.39 
TNavPF::Calculated measDiffMean for beam 68 as -0.25. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 69 as -0.60. Range = 54.57 
TNavPF::Calculated measDiffMean for beam 70 as -0.81. Range = 53.73 
TNavPF::Calculated measDiffMean for beam 71 as -0.97. Range = 52.93 
TNavPF::Calculated measDiffMean for beam 72 as -1.04. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 73 as -1.10. Range = 53.04 
TNavPF::Calculated measDiffMean for beam 74 as -1.46. Range = 53.26 
TNavPF::Calculated measDiffMean for beam 75 as 1.72. Range = 52.57 
TNavPF::Calculated measDiffMean for beam 76 as 1.34. Range = 51.91 
TNavPF::Calculated measDiffMean for beam 77 as 1.26. Range = 51.29 
TNavPF::Calculated measDiffMean for beam 78 as 1.19. Range = 52.58 
TNavPF::Calculated measDiffMean for beam 79 as -1.01. Range = 52.49 
TNavPF::Calculated measDiffMean for beam 80 as -0.96. Range = 51.93 
TNavPF::Calculated measDiffMean for beam 81 as -0.50. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 82 as 0.04. Range = 53.18 
TNavPF::Calculated measDiffMean for beam 83 as -1.08. Range = 52.67 
TNavPF::Calculated measDiffMean for beam 84 as -0.36. Range = 52.19 
TNavPF::Calculated measDiffMean for beam 85 as -1.50. Range = 51.73 
TNavPF::Calculated measDiffMean for beam 86 as -0.72. Range = 53.48 
TNavPF::Calculated measDiffMean for beam 87 as -0.13. Range = 53.08 
TNavPF::Calculated measDiffMean for beam 88 as 0.31. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 89 as 0.60. Range = 54.45 
TNavPF::First Term of Map Covariance Matrix is 0.93 
TNavPF::Calculated NIS Value : 2.25 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322321.82 sec.
INS : North: 4070279.74, East: 588947.67, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 53.64, IDT[75] = 55.18
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322324.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322324.62)
ARL : North: -0.6718, East: -3.4205, Depth: -2.3157ARL : Estimation Bias  (Mean)         : (t = 1488322324.62)
ARL : North: -0.9389, East: -2.1888, Depth: -0.0947TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.18 
Alpha[0]	0.123000
Alpha[0]	0.977878
TNavParticleFilter::Modified Variance for beam 1 is 21.49 
Alpha[1]	0.000000
Alpha[1]	0.986185
TNavParticleFilter::Modified Variance for beam 2 is 21.60 
Alpha[2]	0.000000
Alpha[2]	0.989904
TNavParticleFilter::Modified Variance for beam 3 is 20.86 
Alpha[3]	0.000000
Alpha[3]	0.990643
TNavParticleFilter::Modified Variance for beam 4 is 20.17 
Alpha[4]	0.000000
Alpha[4]	0.991170
TNavParticleFilter::Modified Variance for beam 5 is 19.54 
Alpha[5]	0.000000
Alpha[5]	0.991312
TNavParticleFilter::Modified Variance for beam 6 is 19.06 
Alpha[6]	0.000000
Alpha[6]	0.986100
TNavParticleFilter::Modified Variance for beam 7 is 18.67 
Alpha[7]	0.000000
Alpha[7]	0.977698
TNavParticleFilter::Modified Variance for beam 8 is 18.03 
Alpha[8]	0.000000
Alpha[8]	0.984736
TNavParticleFilter::Modified Variance for beam 9 is 17.56 
Alpha[9]	0.000000
Alpha[9]	0.984793
TNavParticleFilter::Modified Variance for beam 10 is 17.13 
Alpha[10]	0.000000
Alpha[10]	0.983983
TNavParticleFilter::Modified Variance for beam 11 is 17.56 
Alpha[11]	0.000000
Alpha[11]	0.977973
TNavParticleFilter::Modified Variance for beam 12 is 17.88 
Alpha[12]	0.000000
Alpha[12]	0.972930
TNavParticleFilter::Modified Variance for beam 13 is 17.40 
Alpha[13]	0.000000
Alpha[13]	0.976923
TNavParticleFilter::Modified Variance for beam 14 is 17.53 
Alpha[14]	0.000000
Alpha[14]	0.985963
TNavParticleFilter::Modified Variance for beam 15 is 17.71 
Alpha[15]	0.000000
Alpha[15]	0.991563
TNavParticleFilter::Modified Variance for beam 16 is 17.33 
Alpha[16]	0.000000
Alpha[16]	0.992592
TNavParticleFilter::Modified Variance for beam 17 is 17.64 
Alpha[17]	0.000000
Alpha[17]	0.991359
TNavParticleFilter::Modified Variance for beam 18 is 17.96 
Alpha[18]	0.000000
Alpha[18]	0.990677
TNavParticleFilter::Modified Variance for beam 19 is 17.62 
Alpha[19]	0.000000
Alpha[19]	0.990886
TNavParticleFilter::Modified Variance for beam 20 is 17.33 
Alpha[20]	0.000000
Alpha[20]	0.989630
TNavParticleFilter::Modified Variance for beam 21 is 17.05 
Alpha[21]	0.000000
Alpha[21]	0.988789
TNavParticleFilter::Modified Variance for beam 22 is 17.55 
Alpha[22]	0.000000
Alpha[22]	0.991573
TNavParticleFilter::Modified Variance for beam 23 is 17.61 
Alpha[23]	0.000000
Alpha[23]	0.993929
TNavParticleFilter::Modified Variance for beam 24 is 17.32 
Alpha[24]	0.000000
Alpha[24]	0.995464
TNavParticleFilter::Modified Variance for beam 25 is 17.99 
Alpha[25]	0.000000
Alpha[25]	0.995727
TNavParticleFilter::Modified Variance for beam 26 is 18.02 
Alpha[26]	0.000000
Alpha[26]	0.994535
TNavParticleFilter::Modified Variance for beam 27 is 17.79 
Alpha[27]	0.000000
Alpha[27]	0.993879
TNavParticleFilter::Modified Variance for beam 28 is 18.72 
Alpha[28]	0.000000
Alpha[28]	0.994883
TNavParticleFilter::Modified Variance for beam 29 is 18.48 
Alpha[29]	0.000000
Alpha[29]	0.995073
TNavParticleFilter::Modified Variance for beam 30 is 18.44 
Alpha[30]	0.000000
Alpha[30]	0.994474
TNavParticleFilter::Modified Variance for beam 31 is 19.26 
Alpha[31]	0.000000
Alpha[31]	0.993785
TNavParticleFilter::Modified Variance for beam 32 is 19.09 
Alpha[32]	0.000000
Alpha[32]	0.991853
TNavParticleFilter::Modified Variance for beam 33 is 18.95 
Alpha[33]	0.000000
Alpha[33]	0.989103
TNavParticleFilter::Modified Variance for beam 34 is 18.86 
Alpha[34]	0.000000
Alpha[34]	0.984304
TNavParticleFilter::Modified Variance for beam 35 is 18.68 
Alpha[35]	0.000000
Alpha[35]	0.985110
TNavParticleFilter::Modified Variance for beam 36 is 18.49 
Alpha[36]	0.000000
Alpha[36]	0.986853
TNavParticleFilter::Modified Variance for beam 37 is 18.34 
Alpha[37]	0.000000
Alpha[37]	0.986821
TNavParticleFilter::Modified Variance for beam 38 is 18.21 
Alpha[38]	0.000000
Alpha[38]	0.986900
TNavParticleFilter::Modified Variance for beam 39 is 18.09 
Alpha[39]	0.000000
Alpha[39]	0.986658
TNavParticleFilter::Modified Variance for beam 40 is 17.98 
Alpha[40]	0.000000
Alpha[40]	0.986090
TNavParticleFilter::Modified Variance for beam 41 is 18.97 
Alpha[41]	0.000000
Alpha[41]	0.987369
TNavParticleFilter::Modified Variance for beam 42 is 18.85 
Alpha[42]	0.000000
Alpha[42]	0.987899
TNavParticleFilter::Modified Variance for beam 43 is 18.73 
Alpha[43]	0.000000
Alpha[43]	0.989497
TNavParticleFilter::Modified Variance for beam 44 is 18.63 
Alpha[44]	0.000000
Alpha[44]	0.990781
TNavParticleFilter::Modified Variance for beam 45 is 18.51 
Alpha[45]	0.000000
Alpha[45]	0.993470
TNavParticleFilter::Modified Variance for beam 46 is 18.41 
Alpha[46]	0.000000
Alpha[46]	0.995590
TNavParticleFilter::Modified Variance for beam 47 is 18.34 
Alpha[47]	0.000000
Alpha[47]	0.996429
TNavParticleFilter::Modified Variance for beam 48 is 18.29 
Alpha[48]	0.000000
Alpha[48]	0.996664
TNavParticleFilter::Modified Variance for beam 49 is 18.26 
Alpha[49]	0.000000
Alpha[49]	0.996849
TNavParticleFilter::Modified Variance for beam 50 is 17.18 
Alpha[50]	0.000000
Alpha[50]	0.996446
TNavParticleFilter::Modified Variance for beam 51 is 17.16 
Alpha[51]	0.000000
Alpha[51]	0.996902
TNavParticleFilter::Modified Variance for beam 52 is 16.14 
Alpha[52]	0.000000
Alpha[52]	0.996983
TNavParticleFilter::Modified Variance for beam 53 is 16.15 
Alpha[53]	0.000000
Alpha[53]	0.996397
TNavParticleFilter::Modified Variance for beam 54 is 16.18 
Alpha[54]	0.000000
Alpha[54]	0.994841
TNavParticleFilter::Modified Variance for beam 55 is 16.21 
Alpha[55]	0.000000
Alpha[55]	0.994200
TNavParticleFilter::Modified Variance for beam 56 is 15.28 
Alpha[56]	0.000000
Alpha[56]	0.994825
TNavParticleFilter::Modified Variance for beam 57 is 15.27 
Alpha[57]	0.000000
Alpha[57]	0.994956
TNavParticleFilter::Modified Variance for beam 58 is 15.33 
Alpha[58]	0.000000
Alpha[58]	0.993845
TNavParticleFilter::Modified Variance for beam 59 is 15.39 
Alpha[59]	0.000000
Alpha[59]	0.992740
TNavPF:: sumSquaredError = 6.772133 
TNavPF:: sumWeights = 0.073238 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.72. Range = 76.93 
TNavPF::Calculated measDiffMean for beam 50 as 0.59. Range = 74.38 
TNavPF::Calculated measDiffMean for beam 51 as 0.27. Range = 72.01 
TNavPF::Calculated measDiffMean for beam 52 as 1.43. Range = 69.81 
TNavPF::Calculated measDiffMean for beam 53 as 1.64. Range = 63.86 
TNavPF::Calculated measDiffMean for beam 54 as 0.70. Range = 62.23 
TNavPF::Calculated measDiffMean for beam 55 as 1.21. Range = 62.92 
TNavPF::Calculated measDiffMean for beam 56 as 0.62. Range = 62.38 
TNavPF::Calculated measDiffMean for beam 57 as -0.28. Range = 60.81 
TNavPF::Calculated measDiffMean for beam 58 as 0.95. Range = 59.33 
TNavPF::Calculated measDiffMean for beam 59 as 0.13. Range = 58.54 
TNavPF::Calculated measDiffMean for beam 60 as -0.32. Range = 59.32 
TNavPF::Calculated measDiffMean for beam 61 as 0.92. Range = 60.15 
TNavPF::Calculated measDiffMean for beam 62 as 0.52. Range = 60.47 
TNavPF::Calculated measDiffMean for beam 63 as 0.15. Range = 59.24 
TNavPF::Calculated measDiffMean for beam 64 as -0.13. Range = 58.08 
TNavPF::Calculated measDiffMean for beam 65 as -0.48. Range = 56.98 
TNavPF::Calculated measDiffMean for beam 66 as -0.73. Range = 55.94 
TNavPF::Calculated measDiffMean for beam 67 as -0.93. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 68 as -1.00. Range = 54.01 
TNavPF::Calculated measDiffMean for beam 69 as -1.04. Range = 53.12 
TNavPF::Calculated measDiffMean for beam 70 as -1.26. Range = 52.27 
TNavPF::Calculated measDiffMean for beam 71 as -0.03. Range = 52.90 
TNavPF::Calculated measDiffMean for beam 72 as -0.61. Range = 53.31 
TNavPF::Calculated measDiffMean for beam 73 as -0.71. Range = 52.55 
TNavPF::Calculated measDiffMean for beam 74 as -0.75. Range = 53.11 
TNavPF::Calculated measDiffMean for beam 75 as -0.87. Range = 53.64 
TNavPF::Calculated measDiffMean for beam 76 as -1.00. Range = 52.95 
TNavPF::Calculated measDiffMean for beam 77 as -0.67. Range = 53.50 
TNavPF::Calculated measDiffMean for beam 78 as -0.19. Range = 54.08 
TNavPF::Calculated measDiffMean for beam 79 as 0.57. Range = 53.45 
TNavPF::Calculated measDiffMean for beam 80 as -0.60. Range = 52.86 
TNavPF::Calculated measDiffMean for beam 81 as 0.20. Range = 52.29 
TNavPF::Calculated measDiffMean for beam 82 as -0.95. Range = 53.33 
TNavPF::Calculated measDiffMean for beam 83 as -0.40. Range = 53.53 
TNavPF::Calculated measDiffMean for beam 84 as 0.13. Range = 53.03 
TNavPF::Calculated measDiffMean for beam 85 as 0.44. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 86 as -1.10. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 87 as -0.83. Range = 53.86 
TNavPF::Calculated measDiffMean for beam 88 as -0.44. Range = 55.62 
TNavPF::Calculated measDiffMean for beam 89 as -0.07. Range = 55.20 
TNavPF::First Term of Map Covariance Matrix is 0.89 
TNavPF::Calculated NIS Value : 1.69 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322324.82 sec.
INS : North: 4070278.09, East: 588943.64, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 52.44, IDT[75] = 51.38
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322327.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322327.62)
ARL : North: -0.8188, East: -2.3760, Depth: 0.1044ARL : Estimation Bias  (Mean)         : (t = 1488322327.62)
ARL : North: -0.9821, East: -2.1616, Depth: 0.0004TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.91 
Alpha[0]	0.123000
Alpha[0]	0.982204
TNavParticleFilter::Modified Variance for beam 1 is 19.15 
Alpha[1]	0.000000
Alpha[1]	0.987945
TNavParticleFilter::Modified Variance for beam 2 is 18.82 
Alpha[2]	0.000000
Alpha[2]	0.987087
TNavParticleFilter::Modified Variance for beam 3 is 19.37 
Alpha[3]	0.000000
Alpha[3]	0.984913
TNavParticleFilter::Modified Variance for beam 4 is 19.23 
Alpha[4]	0.000000
Alpha[4]	0.977817
TNavParticleFilter::Modified Variance for beam 5 is 18.69 
Alpha[5]	0.000000
Alpha[5]	0.978205
TNavParticleFilter::Modified Variance for beam 6 is 18.10 
Alpha[6]	0.000000
Alpha[6]	0.982474
TNavParticleFilter::Modified Variance for beam 7 is 18.33 
Alpha[7]	0.000000
Alpha[7]	0.988284
TNavParticleFilter::Modified Variance for beam 8 is 18.85 
Alpha[8]	0.000000
Alpha[8]	0.991315
TNavParticleFilter::Modified Variance for beam 9 is 19.47 
Alpha[9]	0.000000
Alpha[9]	0.991094
TNavParticleFilter::Modified Variance for beam 10 is 19.03 
Alpha[10]	0.000000
Alpha[10]	0.989879
TNavParticleFilter::Modified Variance for beam 11 is 18.57 
Alpha[11]	0.000000
Alpha[11]	0.991206
TNavParticleFilter::Modified Variance for beam 12 is 18.16 
Alpha[12]	0.000000
Alpha[12]	0.991334
TNavParticleFilter::Modified Variance for beam 13 is 17.81 
Alpha[13]	0.000000
Alpha[13]	0.989897
TNavParticleFilter::Modified Variance for beam 14 is 17.43 
Alpha[14]	0.000000
Alpha[14]	0.991053
TNavParticleFilter::Modified Variance for beam 15 is 17.05 
Alpha[15]	0.000000
Alpha[15]	0.993409
TNavParticleFilter::Modified Variance for beam 16 is 17.00 
Alpha[16]	0.000000
Alpha[16]	0.994862
TNavParticleFilter::Modified Variance for beam 17 is 17.74 
Alpha[17]	0.000000
Alpha[17]	0.995220
TNavParticleFilter::Modified Variance for beam 18 is 18.58 
Alpha[18]	0.000000
Alpha[18]	0.994274
TNavParticleFilter::Modified Variance for beam 19 is 18.29 
Alpha[19]	0.000000
Alpha[19]	0.993766
TNavParticleFilter::Modified Variance for beam 20 is 18.21 
Alpha[20]	0.000000
Alpha[20]	0.994107
TNavParticleFilter::Modified Variance for beam 21 is 18.94 
Alpha[21]	0.000000
Alpha[21]	0.994352
TNavParticleFilter::Modified Variance for beam 22 is 18.67 
Alpha[22]	0.000000
Alpha[22]	0.993646
TNavParticleFilter::Modified Variance for beam 23 is 18.88 
Alpha[23]	0.000000
Alpha[23]	0.992023
TNavParticleFilter::Modified Variance for beam 24 is 19.45 
Alpha[24]	0.000000
Alpha[24]	0.989456
TNavParticleFilter::Modified Variance for beam 25 is 19.25 
Alpha[25]	0.000000
Alpha[25]	0.986531
TNavParticleFilter::Modified Variance for beam 26 is 19.02 
Alpha[26]	0.000000
Alpha[26]	0.985764
TNavParticleFilter::Modified Variance for beam 27 is 18.82 
Alpha[27]	0.000000
Alpha[27]	0.984490
TNavParticleFilter::Modified Variance for beam 28 is 18.57 
Alpha[28]	0.000000
Alpha[28]	0.985981
TNavParticleFilter::Modified Variance for beam 29 is 18.36 
Alpha[29]	0.000000
Alpha[29]	0.986654
TNavParticleFilter::Modified Variance for beam 30 is 18.16 
Alpha[30]	0.000000
Alpha[30]	0.987233
TNavParticleFilter::Modified Variance for beam 31 is 17.99 
Alpha[31]	0.000000
Alpha[31]	0.987276
TNavParticleFilter::Modified Variance for beam 32 is 17.84 
Alpha[32]	0.000000
Alpha[32]	0.986564
TNavParticleFilter::Modified Variance for beam 33 is 17.68 
Alpha[33]	0.000000
Alpha[33]	0.986710
TNavParticleFilter::Modified Variance for beam 34 is 18.89 
Alpha[34]	0.000000
Alpha[34]	0.987290
TNavParticleFilter::Modified Variance for beam 35 is 19.63 
Alpha[35]	0.000000
Alpha[35]	0.988225
TNavParticleFilter::Modified Variance for beam 36 is 19.48 
Alpha[36]	0.000000
Alpha[36]	0.989075
TNavParticleFilter::Modified Variance for beam 37 is 19.32 
Alpha[37]	0.000000
Alpha[37]	0.990740
TNavParticleFilter::Modified Variance for beam 38 is 19.13 
Alpha[38]	0.000000
Alpha[38]	0.994146
TNavParticleFilter::Modified Variance for beam 39 is 18.99 
Alpha[39]	0.000000
Alpha[39]	0.996109
TNavParticleFilter::Modified Variance for beam 40 is 18.89 
Alpha[40]	0.000000
Alpha[40]	0.996637
TNavParticleFilter::Modified Variance for beam 41 is 18.79 
Alpha[41]	0.000000
Alpha[41]	0.996968
TNavParticleFilter::Modified Variance for beam 42 is 18.72 
Alpha[42]	0.000000
Alpha[42]	0.996983
TNavParticleFilter::Modified Variance for beam 43 is 17.57 
Alpha[43]	0.000000
Alpha[43]	0.997155
TNavParticleFilter::Modified Variance for beam 44 is 17.52 
Alpha[44]	0.000000
Alpha[44]	0.997382
TNavParticleFilter::Modified Variance for beam 45 is 16.44 
Alpha[45]	0.000000
Alpha[45]	0.997175
TNavParticleFilter::Modified Variance for beam 46 is 16.43 
Alpha[46]	0.000000
Alpha[46]	0.996357
TNavParticleFilter::Modified Variance for beam 47 is 15.43 
Alpha[47]	0.000000
Alpha[47]	0.995272
TNavParticleFilter::Modified Variance for beam 48 is 15.41 
Alpha[48]	0.000000
Alpha[48]	0.995404
TNavParticleFilter::Modified Variance for beam 49 is 14.45 
Alpha[49]	0.000000
Alpha[49]	0.995657
TNavParticleFilter::Modified Variance for beam 50 is 14.46 
Alpha[50]	0.000000
Alpha[50]	0.995271
TNavParticleFilter::Modified Variance for beam 51 is 14.48 
Alpha[51]	0.000000
Alpha[51]	0.994242
TNavParticleFilter::Modified Variance for beam 52 is 14.50 
Alpha[52]	0.000000
Alpha[52]	0.993692
TNavParticleFilter::Modified Variance for beam 53 is 14.52 
Alpha[53]	0.000000
Alpha[53]	0.993814
TNavParticleFilter::Modified Variance for beam 54 is 13.63 
Alpha[54]	0.000000
Alpha[54]	0.993694
TNavParticleFilter::Modified Variance for beam 55 is 13.67 
Alpha[55]	0.000000
Alpha[55]	0.993373
TNavParticleFilter::Modified Variance for beam 56 is 13.71 
Alpha[56]	0.000000
Alpha[56]	0.993078
TNavParticleFilter::Modified Variance for beam 57 is 13.75 
Alpha[57]	0.000000
Alpha[57]	0.992950
TNavParticleFilter::Modified Variance for beam 58 is 13.80 
Alpha[58]	0.000000
Alpha[58]	0.993364
TNavParticleFilter::Modified Variance for beam 59 is 12.95 
Alpha[59]	0.000000
Alpha[59]	0.993930
TNavPF:: sumSquaredError = 4.700402 
TNavPF:: sumWeights = 0.053317 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.14. Range = 80.11 
TNavPF::Calculated measDiffMean for beam 45 as -0.42. Range = 77.16 
TNavPF::Calculated measDiffMean for beam 46 as -0.82. Range = 74.45 
TNavPF::Calculated measDiffMean for beam 47 as -0.13. Range = 71.94 
TNavPF::Calculated measDiffMean for beam 48 as 0.77. Range = 65.43 
TNavPF::Calculated measDiffMean for beam 49 as -0.09. Range = 65.48 
TNavPF::Calculated measDiffMean for beam 50 as -0.63. Range = 65.45 
TNavPF::Calculated measDiffMean for beam 51 as 0.27. Range = 63.58 
TNavPF::Calculated measDiffMean for beam 52 as -0.46. Range = 61.83 
TNavPF::Calculated measDiffMean for beam 53 as -0.25. Range = 61.13 
TNavPF::Calculated measDiffMean for beam 54 as 0.73. Range = 61.85 
TNavPF::Calculated measDiffMean for beam 55 as 0.37. Range = 62.62 
TNavPF::Calculated measDiffMean for beam 56 as 0.08. Range = 62.57 
TNavPF::Calculated measDiffMean for beam 57 as -0.06. Range = 61.14 
TNavPF::Calculated measDiffMean for beam 58 as -0.27. Range = 59.79 
TNavPF::Calculated measDiffMean for beam 59 as -0.49. Range = 58.51 
TNavPF::Calculated measDiffMean for beam 60 as -0.64. Range = 57.31 
TNavPF::Calculated measDiffMean for beam 61 as -0.69. Range = 56.17 
TNavPF::Calculated measDiffMean for beam 62 as -0.81. Range = 55.54 
TNavPF::Calculated measDiffMean for beam 63 as -1.39. Range = 56.45 
TNavPF::Calculated measDiffMean for beam 64 as 0.23. Range = 55.95 
TNavPF::Calculated measDiffMean for beam 65 as 1.43. Range = 54.99 
TNavPF::Calculated measDiffMean for beam 66 as 1.24. Range = 54.07 
TNavPF::Calculated measDiffMean for beam 67 as 1.12. Range = 54.67 
TNavPF::Calculated measDiffMean for beam 68 as 0.83. Range = 55.74 
TNavPF::Calculated measDiffMean for beam 69 as 0.74. Range = 56.84 
TNavPF::Calculated measDiffMean for beam 70 as 1.11. Range = 56.01 
TNavPF::Calculated measDiffMean for beam 71 as 1.70. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 72 as 2.64. Range = 54.48 
TNavPF::Calculated measDiffMean for beam 73 as 1.48. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 74 as 2.32. Range = 53.09 
TNavPF::Calculated measDiffMean for beam 75 as 0.88. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 76 as 1.54. Range = 52.39 
TNavPF::Calculated measDiffMean for beam 77 as 0.02. Range = 53.82 
TNavPF::Calculated measDiffMean for beam 78 as 0.36. Range = 55.34 
TNavPF::Calculated measDiffMean for beam 79 as -1.33. Range = 54.80 
TNavPF::Calculated measDiffMean for beam 80 as -0.96. Range = 54.65 
TNavPF::Calculated measDiffMean for beam 81 as -0.48. Range = 56.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.08. Range = 55.49 
TNavPF::Calculated measDiffMean for beam 83 as 0.54. Range = 55.82 
TNavPF::Calculated measDiffMean for beam 84 as -0.93. Range = 56.75 
TNavPF::Calculated measDiffMean for beam 85 as -0.63. Range = 56.29 
TNavPF::Calculated measDiffMean for beam 86 as -0.33. Range = 55.85 
TNavPF::Calculated measDiffMean for beam 87 as -0.09. Range = 55.44 
TNavPF::Calculated measDiffMean for beam 88 as 0.25. Range = 55.05 
TNavPF::Calculated measDiffMean for beam 89 as -1.35. Range = 54.68 
TNavPF::First Term of Map Covariance Matrix is 1.11 
TNavPF::Calculated NIS Value : 2.72 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322327.82 sec.
INS : North: 4070276.71, East: 588939.52, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 56.22, IDT[75] = 44.25
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322330.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322330.62)
ARL : North: -0.6732, East: -1.0481, Depth: -1.2257ARL : Estimation Bias  (Mean)         : (t = 1488322330.62)
ARL : North: -0.8229, East: -1.9372, Depth: -0.3147TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.31 
Alpha[0]	0.123000
Alpha[0]	0.992030
TNavParticleFilter::Modified Variance for beam 1 is 18.85 
Alpha[1]	0.000000
Alpha[1]	0.991096
TNavParticleFilter::Modified Variance for beam 2 is 18.40 
Alpha[2]	0.000000
Alpha[2]	0.991220
TNavParticleFilter::Modified Variance for beam 3 is 17.94 
Alpha[3]	0.000000
Alpha[3]	0.993091
TNavParticleFilter::Modified Variance for beam 4 is 17.90 
Alpha[4]	0.000000
Alpha[4]	0.994360
TNavParticleFilter::Modified Variance for beam 5 is 18.57 
Alpha[5]	0.000000
Alpha[5]	0.994676
TNavParticleFilter::Modified Variance for beam 6 is 19.33 
Alpha[6]	0.000000
Alpha[6]	0.993530
TNavParticleFilter::Modified Variance for beam 7 is 19.09 
Alpha[7]	0.000000
Alpha[7]	0.993210
TNavParticleFilter::Modified Variance for beam 8 is 18.95 
Alpha[8]	0.000000
Alpha[8]	0.993570
TNavParticleFilter::Modified Variance for beam 9 is 19.80 
Alpha[9]	0.000000
Alpha[9]	0.993344
TNavParticleFilter::Modified Variance for beam 10 is 20.70 
Alpha[10]	0.000000
Alpha[10]	0.992322
TNavParticleFilter::Modified Variance for beam 11 is 20.40 
Alpha[11]	0.000000
Alpha[11]	0.989425
TNavParticleFilter::Modified Variance for beam 12 is 20.13 
Alpha[12]	0.000000
Alpha[12]	0.986139
TNavParticleFilter::Modified Variance for beam 13 is 19.84 
Alpha[13]	0.000000
Alpha[13]	0.984381
TNavParticleFilter::Modified Variance for beam 14 is 19.50 
Alpha[14]	0.000000
Alpha[14]	0.986443
TNavParticleFilter::Modified Variance for beam 15 is 19.21 
Alpha[15]	0.000000
Alpha[15]	0.986567
TNavParticleFilter::Modified Variance for beam 16 is 18.94 
Alpha[16]	0.000000
Alpha[16]	0.986757
TNavParticleFilter::Modified Variance for beam 17 is 18.68 
Alpha[17]	0.000000
Alpha[17]	0.986982
TNavParticleFilter::Modified Variance for beam 18 is 18.43 
Alpha[18]	0.000000
Alpha[18]	0.987559
TNavParticleFilter::Modified Variance for beam 19 is 18.21 
Alpha[19]	0.000000
Alpha[19]	0.987526
TNavParticleFilter::Modified Variance for beam 20 is 18.02 
Alpha[20]	0.000000
Alpha[20]	0.986383
TNavParticleFilter::Modified Variance for beam 21 is 17.93 
Alpha[21]	0.000000
Alpha[21]	0.985332
TNavParticleFilter::Modified Variance for beam 22 is 19.32 
Alpha[22]	0.000000
Alpha[22]	0.987152
TNavParticleFilter::Modified Variance for beam 23 is 19.75 
Alpha[23]	0.000000
Alpha[23]	0.987821
TNavParticleFilter::Modified Variance for beam 24 is 19.58 
Alpha[24]	0.000000
Alpha[24]	0.987052
TNavParticleFilter::Modified Variance for beam 25 is 19.38 
Alpha[25]	0.000000
Alpha[25]	0.988741
TNavParticleFilter::Modified Variance for beam 26 is 19.13 
Alpha[26]	0.000000
Alpha[26]	0.993314
TNavParticleFilter::Modified Variance for beam 27 is 18.93 
Alpha[27]	0.000000
Alpha[27]	0.995856
TNavParticleFilter::Modified Variance for beam 28 is 18.78 
Alpha[28]	0.000000
Alpha[28]	0.996536
TNavParticleFilter::Modified Variance for beam 29 is 18.64 
Alpha[29]	0.000000
Alpha[29]	0.997096
TNavParticleFilter::Modified Variance for beam 30 is 17.43 
Alpha[30]	0.000000
Alpha[30]	0.997378
TNavParticleFilter::Modified Variance for beam 31 is 17.33 
Alpha[31]	0.000000
Alpha[31]	0.997618
TNavParticleFilter::Modified Variance for beam 32 is 16.21 
Alpha[32]	0.000000
Alpha[32]	0.997647
TNavParticleFilter::Modified Variance for beam 33 is 16.14 
Alpha[33]	0.000000
Alpha[33]	0.997334
TNavParticleFilter::Modified Variance for beam 34 is 15.10 
Alpha[34]	0.000000
Alpha[34]	0.996540
TNavParticleFilter::Modified Variance for beam 35 is 15.06 
Alpha[35]	0.000000
Alpha[35]	0.996085
TNavParticleFilter::Modified Variance for beam 36 is 15.01 
Alpha[36]	0.000000
Alpha[36]	0.996249
TNavParticleFilter::Modified Variance for beam 37 is 14.98 
Alpha[37]	0.000000
Alpha[37]	0.996114
TNavParticleFilter::Modified Variance for beam 38 is 14.02 
Alpha[38]	0.000000
Alpha[38]	0.995564
TNavParticleFilter::Modified Variance for beam 39 is 14.01 
Alpha[39]	0.000000
Alpha[39]	0.994741
TNavParticleFilter::Modified Variance for beam 40 is 13.99 
Alpha[40]	0.000000
Alpha[40]	0.994875
TNavParticleFilter::Modified Variance for beam 41 is 13.99 
Alpha[41]	0.000000
Alpha[41]	0.994627
TNavParticleFilter::Modified Variance for beam 42 is 13.99 
Alpha[42]	0.000000
Alpha[42]	0.994178
TNavParticleFilter::Modified Variance for beam 43 is 13.48 
Alpha[43]	0.000000
Alpha[43]	0.993944
TNavParticleFilter::Modified Variance for beam 44 is 13.12 
Alpha[44]	0.000000
Alpha[44]	0.993704
TNavParticleFilter::Modified Variance for beam 45 is 13.13 
Alpha[45]	0.000000
Alpha[45]	0.994044
TNavParticleFilter::Modified Variance for beam 46 is 12.30 
Alpha[46]	0.000000
Alpha[46]	0.994468
TNavParticleFilter::Modified Variance for beam 47 is 12.32 
Alpha[47]	0.000000
Alpha[47]	0.994499
TNavParticleFilter::Modified Variance for beam 48 is 12.36 
Alpha[48]	0.000000
Alpha[48]	0.993794
TNavParticleFilter::Modified Variance for beam 49 is 12.41 
Alpha[49]	0.000000
Alpha[49]	0.992869
TNavParticleFilter::Modified Variance for beam 50 is 12.46 
Alpha[50]	0.000000
Alpha[50]	0.992272
TNavParticleFilter::Modified Variance for beam 51 is 12.51 
Alpha[51]	0.000000
Alpha[51]	0.992156
TNavParticleFilter::Modified Variance for beam 52 is 12.56 
Alpha[52]	0.000000
Alpha[52]	0.992561
TNavParticleFilter::Modified Variance for beam 53 is 12.62 
Alpha[53]	0.000000
Alpha[53]	0.992557
TNavParticleFilter::Modified Variance for beam 54 is 12.69 
Alpha[54]	0.000000
Alpha[54]	0.992311
TNavParticleFilter::Modified Variance for beam 55 is 12.76 
Alpha[55]	0.000000
Alpha[55]	0.992428
TNavParticleFilter::Modified Variance for beam 56 is 12.84 
Alpha[56]	0.000000
Alpha[56]	0.992045
TNavParticleFilter::Modified Variance for beam 57 is 12.15 
Alpha[57]	0.000000
Alpha[57]	0.991845
TNavParticleFilter::Modified Variance for beam 58 is 12.14 
Alpha[58]	0.000000
Alpha[58]	0.992139
TNavParticleFilter::Modified Variance for beam 59 is 12.23 
Alpha[59]	0.000000
Alpha[59]	0.991778
TNavPF:: sumSquaredError = 7.738054 
TNavPF:: sumWeights = 0.051096 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.71. Range = 85.18 
TNavPF::Calculated measDiffMean for beam 35 as -0.18. Range = 81.70 
TNavPF::Calculated measDiffMean for beam 36 as 0.58. Range = 78.51 
TNavPF::Calculated measDiffMean for beam 37 as -0.08. Range = 75.59 
TNavPF::Calculated measDiffMean for beam 38 as -0.66. Range = 68.36 
TNavPF::Calculated measDiffMean for beam 39 as 0.46. Range = 68.84 
TNavPF::Calculated measDiffMean for beam 40 as 1.87. Range = 68.10 
TNavPF::Calculated measDiffMean for beam 41 as 1.27. Range = 65.97 
TNavPF::Calculated measDiffMean for beam 42 as 0.85. Range = 66.20 
TNavPF::Calculated measDiffMean for beam 43 as 0.49. Range = 65.98 
TNavPF::Calculated measDiffMean for beam 44 as 0.18. Range = 65.24 
TNavPF::Calculated measDiffMean for beam 45 as 0.12. Range = 65.98 
TNavPF::Calculated measDiffMean for beam 46 as -0.03. Range = 64.37 
TNavPF::Calculated measDiffMean for beam 47 as -0.26. Range = 62.77 
TNavPF::Calculated measDiffMean for beam 48 as -0.43. Range = 61.26 
TNavPF::Calculated measDiffMean for beam 49 as -0.47. Range = 59.84 
TNavPF::Calculated measDiffMean for beam 50 as -0.61. Range = 58.51 
TNavPF::Calculated measDiffMean for beam 51 as -1.11. Range = 58.30 
TNavPF::Calculated measDiffMean for beam 52 as 0.92. Range = 59.15 
TNavPF::Calculated measDiffMean for beam 53 as 1.59. Range = 57.96 
TNavPF::Calculated measDiffMean for beam 54 as 1.30. Range = 56.84 
TNavPF::Calculated measDiffMean for beam 55 as 1.11. Range = 56.48 
TNavPF::Calculated measDiffMean for beam 56 as 0.74. Range = 57.43 
TNavPF::Calculated measDiffMean for beam 57 as 0.51. Range = 58.43 
TNavPF::Calculated measDiffMean for beam 58 as 0.86. Range = 58.44 
TNavPF::Calculated measDiffMean for beam 59 as 1.55. Range = 57.49 
TNavPF::Calculated measDiffMean for beam 60 as 0.53. Range = 56.58 
TNavPF::Calculated measDiffMean for beam 61 as 1.44. Range = 55.72 
TNavPF::Calculated measDiffMean for beam 62 as 0.07. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 63 as 0.73. Range = 54.12 
TNavPF::Calculated measDiffMean for beam 64 as -0.56. Range = 54.09 
TNavPF::Calculated measDiffMean for beam 65 as -0.11. Range = 55.34 
TNavPF::Calculated measDiffMean for beam 66 as 0.23. Range = 56.68 
TNavPF::Calculated measDiffMean for beam 67 as 0.54. Range = 56.24 
TNavPF::Calculated measDiffMean for beam 68 as -0.97. Range = 55.99 
TNavPF::Calculated measDiffMean for beam 69 as -0.48. Range = 57.50 
TNavPF::Calculated measDiffMean for beam 70 as 0.05. Range = 59.04 
TNavPF::Calculated measDiffMean for beam 71 as 0.68. Range = 58.42 
TNavPF::Calculated measDiffMean for beam 72 as 1.04. Range = 57.83 
TNavPF::Calculated measDiffMean for beam 73 as 0.18. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 74 as -0.41. Range = 56.73 
TNavPF::Calculated measDiffMean for beam 75 as -0.12. Range = 56.22 
TNavPF::Calculated measDiffMean for beam 76 as -1.70. Range = 55.73 
TNavPF::Calculated measDiffMean for beam 77 as -1.40. Range = 55.28 
TNavPF::Calculated measDiffMean for beam 78 as -1.20. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 79 as -1.05. Range = 54.43 
TNavPF::Calculated measDiffMean for beam 80 as -0.98. Range = 54.04 
TNavPF::Calculated measDiffMean for beam 81 as -0.89. Range = 53.83 
TNavPF::Calculated measDiffMean for beam 82 as -0.77. Range = 56.43 
TNavPF::Calculated measDiffMean for beam 83 as -0.48. Range = 57.23 
TNavPF::Calculated measDiffMean for beam 84 as -0.06. Range = 56.90 
TNavPF::Calculated measDiffMean for beam 85 as 0.30. Range = 56.59 
TNavPF::Calculated measDiffMean for beam 86 as 0.64. Range = 56.31 
TNavPF::Calculated measDiffMean for beam 87 as -0.81. Range = 56.04 
TNavPF::Calculated measDiffMean for beam 88 as -0.70. Range = 55.79 
TNavPF::Calculated measDiffMean for beam 89 as -0.35. Range = 55.56 
TNavPF::First Term of Map Covariance Matrix is 2.50 
TNavPF::Calculated NIS Value : 2.54 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322330.82 sec.
INS : North: 4070275.91, East: 588935.28, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 56.49, IDT[75] = 40.74
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322333.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322333.62)
ARL : North: -0.2893, East: -1.5796, Depth: -3.0200ARL : Estimation Bias  (Mean)         : (t = 1488322333.62)
ARL : North: -0.6166, East: -1.8563, Depth: 0.0266TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.97 
Alpha[0]	0.123000
Alpha[0]	0.984215
TNavParticleFilter::Modified Variance for beam 1 is 20.51 
Alpha[1]	0.000000
Alpha[1]	0.988393
TNavParticleFilter::Modified Variance for beam 2 is 20.14 
Alpha[2]	0.000000
Alpha[2]	0.988802
TNavParticleFilter::Modified Variance for beam 3 is 19.83 
Alpha[3]	0.000000
Alpha[3]	0.987882
TNavParticleFilter::Modified Variance for beam 4 is 19.51 
Alpha[4]	0.000000
Alpha[4]	0.987770
TNavParticleFilter::Modified Variance for beam 5 is 19.20 
Alpha[5]	0.000000
Alpha[5]	0.988490
TNavParticleFilter::Modified Variance for beam 6 is 18.92 
Alpha[6]	0.000000
Alpha[6]	0.988369
TNavParticleFilter::Modified Variance for beam 7 is 18.70 
Alpha[7]	0.000000
Alpha[7]	0.986388
TNavParticleFilter::Modified Variance for beam 8 is 19.22 
Alpha[8]	0.000000
Alpha[8]	0.985212
TNavParticleFilter::Modified Variance for beam 9 is 20.43 
Alpha[9]	0.000000
Alpha[9]	0.987941
TNavParticleFilter::Modified Variance for beam 10 is 20.41 
Alpha[10]	0.000000
Alpha[10]	0.986910
TNavParticleFilter::Modified Variance for beam 11 is 20.21 
Alpha[11]	0.000000
Alpha[11]	0.984889
TNavParticleFilter::Modified Variance for beam 12 is 19.93 
Alpha[12]	0.000000
Alpha[12]	0.987721
TNavParticleFilter::Modified Variance for beam 13 is 19.94 
Alpha[13]	0.000000
Alpha[13]	0.993629
TNavParticleFilter::Modified Variance for beam 14 is 20.57 
Alpha[14]	0.000000
Alpha[14]	0.995852
TNavParticleFilter::Modified Variance for beam 15 is 19.17 
Alpha[15]	0.000000
Alpha[15]	0.996746
TNavParticleFilter::Modified Variance for beam 16 is 18.98 
Alpha[16]	0.000000
Alpha[16]	0.997605
TNavParticleFilter::Modified Variance for beam 17 is 17.70 
Alpha[17]	0.000000
Alpha[17]	0.997861
TNavParticleFilter::Modified Variance for beam 18 is 17.56 
Alpha[18]	0.000000
Alpha[18]	0.997920
TNavParticleFilter::Modified Variance for beam 19 is 17.44 
Alpha[19]	0.000000
Alpha[19]	0.997728
TNavParticleFilter::Modified Variance for beam 20 is 15.28 
Alpha[20]	0.000000
Alpha[20]	0.997164
TNavParticleFilter::Modified Variance for beam 21 is 15.20 
Alpha[21]	0.000000
Alpha[21]	0.996802
TNavParticleFilter::Modified Variance for beam 22 is 15.11 
Alpha[22]	0.000000
Alpha[22]	0.996783
TNavParticleFilter::Modified Variance for beam 23 is 15.04 
Alpha[23]	0.000000
Alpha[23]	0.996685
TNavParticleFilter::Modified Variance for beam 24 is 14.04 
Alpha[24]	0.000000
Alpha[24]	0.996319
TNavParticleFilter::Modified Variance for beam 25 is 13.99 
Alpha[25]	0.000000
Alpha[25]	0.995804
TNavParticleFilter::Modified Variance for beam 26 is 13.95 
Alpha[26]	0.000000
Alpha[26]	0.995821
TNavParticleFilter::Modified Variance for beam 27 is 13.92 
Alpha[27]	0.000000
Alpha[27]	0.995171
TNavParticleFilter::Modified Variance for beam 28 is 13.89 
Alpha[28]	0.000000
Alpha[28]	0.994869
TNavParticleFilter::Modified Variance for beam 29 is 12.98 
Alpha[29]	0.000000
Alpha[29]	0.994616
TNavParticleFilter::Modified Variance for beam 30 is 12.96 
Alpha[30]	0.000000
Alpha[30]	0.994661
TNavParticleFilter::Modified Variance for beam 31 is 12.94 
Alpha[31]	0.000000
Alpha[31]	0.995050
TNavParticleFilter::Modified Variance for beam 32 is 12.93 
Alpha[32]	0.000000
Alpha[32]	0.995124
TNavParticleFilter::Modified Variance for beam 33 is 12.93 
Alpha[33]	0.000000
Alpha[33]	0.994809
TNavParticleFilter::Modified Variance for beam 34 is 12.95 
Alpha[34]	0.000000
Alpha[34]	0.994030
TNavParticleFilter::Modified Variance for beam 35 is 12.97 
Alpha[35]	0.000000
Alpha[35]	0.993343
TNavParticleFilter::Modified Variance for beam 36 is 12.99 
Alpha[36]	0.000000
Alpha[36]	0.992712
TNavParticleFilter::Modified Variance for beam 37 is 13.02 
Alpha[37]	0.000000
Alpha[37]	0.992656
TNavParticleFilter::Modified Variance for beam 38 is 13.04 
Alpha[38]	0.000000
Alpha[38]	0.992783
TNavParticleFilter::Modified Variance for beam 39 is 12.22 
Alpha[39]	0.000000
Alpha[39]	0.992795
TNavParticleFilter::Modified Variance for beam 40 is 12.26 
Alpha[40]	0.000000
Alpha[40]	0.992867
TNavParticleFilter::Modified Variance for beam 41 is 12.30 
Alpha[41]	0.000000
Alpha[41]	0.992584
TNavParticleFilter::Modified Variance for beam 42 is 12.35 
Alpha[42]	0.000000
Alpha[42]	0.992138
TNavParticleFilter::Modified Variance for beam 43 is 12.40 
Alpha[43]	0.000000
Alpha[43]	0.992316
TNavParticleFilter::Modified Variance for beam 44 is 12.47 
Alpha[44]	0.000000
Alpha[44]	0.992095
TNavParticleFilter::Modified Variance for beam 45 is 11.69 
Alpha[45]	0.000000
Alpha[45]	0.991722
TNavParticleFilter::Modified Variance for beam 46 is 11.76 
Alpha[46]	0.000000
Alpha[46]	0.991857
TNavParticleFilter::Modified Variance for beam 47 is 11.83 
Alpha[47]	0.000000
Alpha[47]	0.991240
TNavParticleFilter::Modified Variance for beam 48 is 11.54 
Alpha[48]	0.000000
Alpha[48]	0.989358
TNavParticleFilter::Modified Variance for beam 49 is 11.22 
Alpha[49]	0.000000
Alpha[49]	0.985720
TNavParticleFilter::Modified Variance for beam 50 is 11.33 
Alpha[50]	0.000000
Alpha[50]	0.983525
TNavParticleFilter::Modified Variance for beam 51 is 11.42 
Alpha[51]	0.000000
Alpha[51]	0.983678
TNavParticleFilter::Modified Variance for beam 52 is 11.51 
Alpha[52]	0.000000
Alpha[52]	0.983855
TNavParticleFilter::Modified Variance for beam 53 is 11.62 
Alpha[53]	0.000000
Alpha[53]	0.983411
TNavParticleFilter::Modified Variance for beam 54 is 11.61 
Alpha[54]	0.000000
Alpha[54]	0.984098
TNavParticleFilter::Modified Variance for beam 55 is 10.95 
Alpha[55]	0.000000
Alpha[55]	0.986194
TNavParticleFilter::Modified Variance for beam 56 is 11.05 
Alpha[56]	0.000000
Alpha[56]	0.987169
TNavParticleFilter::Modified Variance for beam 57 is 11.17 
Alpha[57]	0.000000
Alpha[57]	0.986866
TNavParticleFilter::Modified Variance for beam 58 is 11.28 
Alpha[58]	0.000000
Alpha[58]	0.988089
TNavParticleFilter::Modified Variance for beam 59 is 11.36 
Alpha[59]	0.000000
Alpha[59]	0.993040
TNavPF:: sumSquaredError = 6.516702 
TNavPF:: sumWeights = 0.048646 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.59. Range = 69.40 
TNavPF::Calculated measDiffMean for beam 31 as 0.19. Range = 69.91 
TNavPF::Calculated measDiffMean for beam 32 as 0.21. Range = 69.13 
TNavPF::Calculated measDiffMean for beam 33 as 0.13. Range = 68.97 
TNavPF::Calculated measDiffMean for beam 34 as -0.12. Range = 68.97 
TNavPF::Calculated measDiffMean for beam 35 as -0.29. Range = 67.06 
TNavPF::Calculated measDiffMean for beam 36 as -0.33. Range = 65.26 
TNavPF::Calculated measDiffMean for beam 37 as -0.54. Range = 63.58 
TNavPF::Calculated measDiffMean for beam 38 as 0.04. Range = 63.14 
TNavPF::Calculated measDiffMean for beam 39 as 1.84. Range = 60.52 
TNavPF::Calculated measDiffMean for beam 40 as 1.66. Range = 59.74 
TNavPF::Calculated measDiffMean for beam 41 as 1.25. Range = 60.55 
TNavPF::Calculated measDiffMean for beam 42 as 1.00. Range = 59.72 
TNavPF::Calculated measDiffMean for beam 43 as 1.05. Range = 59.68 
TNavPF::Calculated measDiffMean for beam 44 as 2.37. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 45 as 0.78. Range = 61.55 
TNavPF::Calculated measDiffMean for beam 46 as 1.74. Range = 60.99 
TNavPF::Calculated measDiffMean for beam 47 as 0.70. Range = 59.89 
TNavPF::Calculated measDiffMean for beam 48 as 1.41. Range = 58.84 
TNavPF::Calculated measDiffMean for beam 49 as 2.16. Range = 57.85 
TNavPF::Calculated measDiffMean for beam 50 as -0.99. Range = 56.91 
TNavPF::Calculated measDiffMean for beam 51 as -0.43. Range = 56.37 
TNavPF::Calculated measDiffMean for beam 52 as -0.11. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 53 as 0.26. Range = 58.72 
TNavPF::Calculated measDiffMean for beam 54 as -1.16. Range = 58.72 
TNavPF::Calculated measDiffMean for beam 55 as -0.58. Range = 58.05 
TNavPF::Calculated measDiffMean for beam 56 as 0.10. Range = 59.41 
TNavPF::Calculated measDiffMean for beam 57 as 0.64. Range = 60.85 
TNavPF::Calculated measDiffMean for beam 58 as 0.97. Range = 60.61 
TNavPF::Calculated measDiffMean for beam 59 as -0.72. Range = 59.89 
TNavPF::Calculated measDiffMean for beam 60 as -0.46. Range = 59.21 
TNavPF::Calculated measDiffMean for beam 61 as -0.08. Range = 58.56 
TNavPF::Calculated measDiffMean for beam 62 as 0.26. Range = 57.94 
TNavPF::Calculated measDiffMean for beam 63 as 0.49. Range = 57.36 
TNavPF::Calculated measDiffMean for beam 64 as 0.71. Range = 56.80 
TNavPF::Calculated measDiffMean for beam 65 as 0.85. Range = 56.27 
TNavPF::Calculated measDiffMean for beam 66 as 0.94. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 67 as 1.04. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 68 as 1.22. Range = 56.18 
TNavPF::Calculated measDiffMean for beam 69 as -0.42. Range = 58.42 
TNavPF::Calculated measDiffMean for beam 70 as -0.02. Range = 58.34 
TNavPF::Calculated measDiffMean for beam 71 as 0.29. Range = 57.93 
TNavPF::Calculated measDiffMean for beam 72 as 0.69. Range = 57.54 
TNavPF::Calculated measDiffMean for beam 73 as 1.08. Range = 57.76 
TNavPF::Calculated measDiffMean for beam 74 as 1.39. Range = 58.93 
TNavPF::Calculated measDiffMean for beam 75 as -0.28. Range = 56.49 
TNavPF::Calculated measDiffMean for beam 76 as 0.12. Range = 56.19 
TNavPF::Calculated measDiffMean for beam 77 as 0.54. Range = 53.83 
TNavPF::Calculated measDiffMean for beam 78 as 0.24. Range = 53.57 
TNavPF::Calculated measDiffMean for beam 79 as -0.20. Range = 53.33 
TNavPF::Calculated measDiffMean for beam 80 as 0.11. Range = 49.01 
TNavPF::Calculated measDiffMean for beam 81 as 0.20. Range = 48.83 
TNavPF::Calculated measDiffMean for beam 82 as 0.28. Range = 48.66 
TNavPF::Calculated measDiffMean for beam 83 as 0.45. Range = 48.51 
TNavPF::Calculated measDiffMean for beam 84 as 0.57. Range = 46.34 
TNavPF::Calculated measDiffMean for beam 85 as -0.76. Range = 46.23 
TNavPF::Calculated measDiffMean for beam 86 as -0.28. Range = 46.13 
TNavPF::Calculated measDiffMean for beam 87 as 0.01. Range = 46.04 
TNavPF::Calculated measDiffMean for beam 88 as 0.29. Range = 45.96 
TNavPF::Calculated measDiffMean for beam 89 as 0.55. Range = 43.90 
TNavPF::First Term of Map Covariance Matrix is 1.26 
TNavPF::Calculated NIS Value : 2.26 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322333.82 sec.
INS : North: 4070275.75, East: 588930.98, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 44.66, IDT[75] = 38.35
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322336.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322336.62)
ARL : North: -1.2323, East: 0.3554, Depth: 1.4370ARL : Estimation Bias  (Mean)         : (t = 1488322336.62)
ARL : North: -0.3442, East: -1.8387, Depth: -0.0659TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.11 
Alpha[0]	0.123000
Alpha[0]	0.986128
TNavParticleFilter::Modified Variance for beam 1 is 20.69 
Alpha[1]	0.000000
Alpha[1]	0.993049
TNavParticleFilter::Modified Variance for beam 2 is 21.65 
Alpha[2]	0.000000
Alpha[2]	0.995700
TNavParticleFilter::Modified Variance for beam 3 is 20.11 
Alpha[3]	0.000000
Alpha[3]	0.997111
TNavParticleFilter::Modified Variance for beam 4 is 19.87 
Alpha[4]	0.000000
Alpha[4]	0.997985
TNavParticleFilter::Modified Variance for beam 5 is 18.48 
Alpha[5]	0.000000
Alpha[5]	0.998116
TNavParticleFilter::Modified Variance for beam 6 is 18.29 
Alpha[6]	0.000000
Alpha[6]	0.998137
TNavParticleFilter::Modified Variance for beam 7 is 18.13 
Alpha[7]	0.000000
Alpha[7]	0.997860
TNavParticleFilter::Modified Variance for beam 8 is 16.88 
Alpha[8]	0.000000
Alpha[8]	0.997352
TNavParticleFilter::Modified Variance for beam 9 is 16.75 
Alpha[9]	0.000000
Alpha[9]	0.997302
TNavParticleFilter::Modified Variance for beam 10 is 16.62 
Alpha[10]	0.000000
Alpha[10]	0.997208
TNavParticleFilter::Modified Variance for beam 11 is 14.51 
Alpha[11]	0.000000
Alpha[11]	0.997050
TNavParticleFilter::Modified Variance for beam 12 is 14.42 
Alpha[12]	0.000000
Alpha[12]	0.996634
TNavParticleFilter::Modified Variance for beam 13 is 14.34 
Alpha[13]	0.000000
Alpha[13]	0.996360
TNavParticleFilter::Modified Variance for beam 14 is 14.28 
Alpha[14]	0.000000
Alpha[14]	0.995677
TNavParticleFilter::Modified Variance for beam 15 is 13.30 
Alpha[15]	0.000000
Alpha[15]	0.995459
TNavParticleFilter::Modified Variance for beam 16 is 13.24 
Alpha[16]	0.000000
Alpha[16]	0.995230
TNavParticleFilter::Modified Variance for beam 17 is 13.19 
Alpha[17]	0.000000
Alpha[17]	0.995540
TNavParticleFilter::Modified Variance for beam 18 is 13.15 
Alpha[18]	0.000000
Alpha[18]	0.995573
TNavParticleFilter::Modified Variance for beam 19 is 13.11 
Alpha[19]	0.000000
Alpha[19]	0.995312
TNavParticleFilter::Modified Variance for beam 20 is 13.09 
Alpha[20]	0.000000
Alpha[20]	0.994800
TNavParticleFilter::Modified Variance for beam 21 is 13.07 
Alpha[21]	0.000000
Alpha[21]	0.994126
TNavParticleFilter::Modified Variance for beam 22 is 13.06 
Alpha[22]	0.000000
Alpha[22]	0.993591
TNavParticleFilter::Modified Variance for beam 23 is 13.05 
Alpha[23]	0.000000
Alpha[23]	0.992911
TNavParticleFilter::Modified Variance for beam 24 is 13.05 
Alpha[24]	0.000000
Alpha[24]	0.992789
TNavParticleFilter::Modified Variance for beam 25 is 13.04 
Alpha[25]	0.000000
Alpha[25]	0.993218
TNavParticleFilter::Modified Variance for beam 26 is 12.19 
Alpha[26]	0.000000
Alpha[26]	0.993349
TNavParticleFilter::Modified Variance for beam 27 is 12.20 
Alpha[27]	0.000000
Alpha[27]	0.993179
TNavParticleFilter::Modified Variance for beam 28 is 12.22 
Alpha[28]	0.000000
Alpha[28]	0.992940
TNavParticleFilter::Modified Variance for beam 29 is 12.24 
Alpha[29]	0.000000
Alpha[29]	0.992727
TNavParticleFilter::Modified Variance for beam 30 is 12.27 
Alpha[30]	0.000000
Alpha[30]	0.992488
TNavParticleFilter::Modified Variance for beam 31 is 11.48 
Alpha[31]	0.000000
Alpha[31]	0.992148
TNavParticleFilter::Modified Variance for beam 32 is 11.52 
Alpha[32]	0.000000
Alpha[32]	0.992149
TNavParticleFilter::Modified Variance for beam 33 is 11.56 
Alpha[33]	0.000000
Alpha[33]	0.991965
TNavParticleFilter::Modified Variance for beam 34 is 11.29 
Alpha[34]	0.000000
Alpha[34]	0.990796
TNavParticleFilter::Modified Variance for beam 35 is 10.90 
Alpha[35]	0.000000
Alpha[35]	0.987733
TNavParticleFilter::Modified Variance for beam 36 is 10.97 
Alpha[36]	0.000000
Alpha[36]	0.985580
TNavParticleFilter::Modified Variance for beam 37 is 11.03 
Alpha[37]	0.000000
Alpha[37]	0.985397
TNavParticleFilter::Modified Variance for beam 38 is 11.09 
Alpha[38]	0.000000
Alpha[38]	0.985479
TNavParticleFilter::Modified Variance for beam 39 is 11.16 
Alpha[39]	0.000000
Alpha[39]	0.984395
TNavParticleFilter::Modified Variance for beam 40 is 11.23 
Alpha[40]	0.000000
Alpha[40]	0.984658
TNavParticleFilter::Modified Variance for beam 41 is 10.48 
Alpha[41]	0.000000
Alpha[41]	0.986994
TNavParticleFilter::Modified Variance for beam 42 is 10.54 
Alpha[42]	0.000000
Alpha[42]	0.988635
TNavParticleFilter::Modified Variance for beam 43 is 10.62 
Alpha[43]	0.000000
Alpha[43]	0.988681
TNavParticleFilter::Modified Variance for beam 44 is 10.70 
Alpha[44]	0.000000
Alpha[44]	0.988974
TNavParticleFilter::Modified Variance for beam 45 is 10.75 
Alpha[45]	0.000000
Alpha[45]	0.992651
TNavParticleFilter::Modified Variance for beam 46 is 10.81 
Alpha[46]	0.000000
Alpha[46]	0.995980
TNavParticleFilter::Modified Variance for beam 47 is 11.74 
Alpha[47]	0.000000
Alpha[47]	0.997633
TNavParticleFilter::Modified Variance for beam 48 is 11.85 
Alpha[48]	0.000000
Alpha[48]	0.998352
TNavParticleFilter::Modified Variance for beam 49 is 11.98 
Alpha[49]	0.000000
Alpha[49]	0.998679
TNavParticleFilter::Modified Variance for beam 50 is 12.11 
Alpha[50]	0.000000
Alpha[50]	0.998794
TNavParticleFilter::Modified Variance for beam 51 is 12.26 
Alpha[51]	0.000000
Alpha[51]	0.998743
TNavParticleFilter::Modified Variance for beam 52 is 12.42 
Alpha[52]	0.000000
Alpha[52]	0.998523
TNavParticleFilter::Modified Variance for beam 53 is 12.59 
Alpha[53]	0.000000
Alpha[53]	0.998248
TNavParticleFilter::Modified Variance for beam 54 is 12.04 
Alpha[54]	0.000000
Alpha[54]	0.998219
TNavParticleFilter::Modified Variance for beam 55 is 11.98 
Alpha[55]	0.000000
Alpha[55]	0.998345
TNavParticleFilter::Modified Variance for beam 56 is 12.15 
Alpha[56]	0.000000
Alpha[56]	0.998425
TNavParticleFilter::Modified Variance for beam 57 is 12.34 
Alpha[57]	0.000000
Alpha[57]	0.998407
TNavParticleFilter::Modified Variance for beam 58 is 12.54 
Alpha[58]	0.000000
Alpha[58]	0.998273
TNavParticleFilter::Modified Variance for beam 59 is 12.72 
Alpha[59]	0.000000
Alpha[59]	0.998129
TNavPF:: sumSquaredError = 17.700382 
TNavPF:: sumWeights = 0.022517 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.16. Range = 63.38 
TNavPF::Calculated measDiffMean for beam 31 as 0.57. Range = 64.18 
TNavPF::Calculated measDiffMean for beam 32 as 2.35. Range = 62.91 
TNavPF::Calculated measDiffMean for beam 33 as 0.79. Range = 63.35 
TNavPF::Calculated measDiffMean for beam 34 as 1.89. Range = 64.25 
TNavPF::Calculated measDiffMean for beam 35 as 0.74. Range = 65.13 
TNavPF::Calculated measDiffMean for beam 36 as 1.45. Range = 63.82 
TNavPF::Calculated measDiffMean for beam 37 as 2.54. Range = 62.58 
TNavPF::Calculated measDiffMean for beam 38 as 1.29. Range = 61.41 
TNavPF::Calculated measDiffMean for beam 39 as 1.62. Range = 60.29 
TNavPF::Calculated measDiffMean for beam 40 as 2.02. Range = 59.28 
TNavPF::Calculated measDiffMean for beam 41 as -1.42. Range = 60.35 
TNavPF::Calculated measDiffMean for beam 42 as -0.69. Range = 61.48 
TNavPF::Calculated measDiffMean for beam 43 as 0.05. Range = 61.75 
TNavPF::Calculated measDiffMean for beam 44 as 0.55. Range = 60.87 
TNavPF::Calculated measDiffMean for beam 45 as -1.11. Range = 62.14 
TNavPF::Calculated measDiffMean for beam 46 as -0.77. Range = 63.48 
TNavPF::Calculated measDiffMean for beam 47 as -0.43. Range = 63.32 
TNavPF::Calculated measDiffMean for beam 48 as -0.05. Range = 62.48 
TNavPF::Calculated measDiffMean for beam 49 as 0.17. Range = 61.69 
TNavPF::Calculated measDiffMean for beam 50 as 0.42. Range = 60.93 
TNavPF::Calculated measDiffMean for beam 51 as 0.62. Range = 60.21 
TNavPF::Calculated measDiffMean for beam 52 as 0.73. Range = 59.52 
TNavPF::Calculated measDiffMean for beam 53 as 0.85. Range = 58.86 
TNavPF::Calculated measDiffMean for beam 54 as 0.98. Range = 58.24 
TNavPF::Calculated measDiffMean for beam 55 as 1.32. Range = 57.65 
TNavPF::Calculated measDiffMean for beam 56 as -0.26. Range = 57.60 
TNavPF::Calculated measDiffMean for beam 57 as 0.05. Range = 59.50 
TNavPF::Calculated measDiffMean for beam 58 as 0.47. Range = 60.53 
TNavPF::Calculated measDiffMean for beam 59 as 0.87. Range = 60.01 
TNavPF::Calculated measDiffMean for beam 60 as 1.16. Range = 59.51 
TNavPF::Calculated measDiffMean for beam 61 as -0.44. Range = 59.05 
TNavPF::Calculated measDiffMean for beam 62 as -0.04. Range = 60.77 
TNavPF::Calculated measDiffMean for beam 63 as 0.38. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 64 as 0.31. Range = 57.79 
TNavPF::Calculated measDiffMean for beam 65 as -0.21. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 66 as 0.08. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 67 as 0.16. Range = 54.63 
TNavPF::Calculated measDiffMean for beam 68 as 0.22. Range = 52.25 
TNavPF::Calculated measDiffMean for beam 69 as 0.37. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 70 as 0.75. Range = 51.73 
TNavPF::Calculated measDiffMean for beam 71 as -0.76. Range = 47.38 
TNavPF::Calculated measDiffMean for beam 72 as -0.34. Range = 47.18 
TNavPF::Calculated measDiffMean for beam 73 as -0.09. Range = 47.00 
TNavPF::Calculated measDiffMean for beam 74 as 0.20. Range = 46.84 
TNavPF::Calculated measDiffMean for beam 75 as 0.46. Range = 44.66 
TNavPF::Calculated measDiffMean for beam 76 as 0.43. Range = 44.53 
TNavPF::Calculated measDiffMean for beam 77 as 2.04. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 78 as 1.27. Range = 44.32 
TNavPF::Calculated measDiffMean for beam 79 as 0.64. Range = 44.23 
TNavPF::Calculated measDiffMean for beam 80 as 0.34. Range = 44.16 
TNavPF::Calculated measDiffMean for beam 81 as 0.38. Range = 44.10 
TNavPF::Calculated measDiffMean for beam 82 as 0.36. Range = 44.05 
TNavPF::Calculated measDiffMean for beam 83 as 0.36. Range = 44.02 
TNavPF::Calculated measDiffMean for beam 84 as -1.03. Range = 44.01 
TNavPF::Calculated measDiffMean for beam 85 as -0.89. Range = 44.00 
TNavPF::Calculated measDiffMean for beam 86 as -0.20. Range = 42.01 
TNavPF::Calculated measDiffMean for beam 87 as 0.33. Range = 42.03 
TNavPF::Calculated measDiffMean for beam 88 as 0.89. Range = 42.06 
TNavPF::Calculated measDiffMean for beam 89 as 1.55. Range = 42.11 
TNavPF::First Term of Map Covariance Matrix is 1.43 
TNavPF::Calculated NIS Value : 3.05 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322336.82 sec.
INS : North: 4070276.20, East: 588926.74, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 42.91, IDT[75] = 42.37
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322339.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322339.62)
ARL : North: -1.2078, East: -2.5529, Depth: -2.0572ARL : Estimation Bias  (Mean)         : (t = 1488322339.62)
ARL : North: -0.0052, East: -1.7719, Depth: 0.2037TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.13 
Alpha[0]	0.123000
Alpha[0]	0.996616
TNavParticleFilter::Modified Variance for beam 1 is 15.03 
Alpha[1]	0.000000
Alpha[1]	0.996356
TNavParticleFilter::Modified Variance for beam 2 is 14.93 
Alpha[2]	0.000000
Alpha[2]	0.996283
TNavParticleFilter::Modified Variance for beam 3 is 14.83 
Alpha[3]	0.000000
Alpha[3]	0.996396
TNavParticleFilter::Modified Variance for beam 4 is 14.75 
Alpha[4]	0.000000
Alpha[4]	0.996095
TNavParticleFilter::Modified Variance for beam 5 is 14.68 
Alpha[5]	0.000000
Alpha[5]	0.995733
TNavParticleFilter::Modified Variance for beam 6 is 13.69 
Alpha[6]	0.000000
Alpha[6]	0.995305
TNavParticleFilter::Modified Variance for beam 7 is 13.64 
Alpha[7]	0.000000
Alpha[7]	0.994728
TNavParticleFilter::Modified Variance for beam 8 is 13.60 
Alpha[8]	0.000000
Alpha[8]	0.994175
TNavParticleFilter::Modified Variance for beam 9 is 13.57 
Alpha[9]	0.000000
Alpha[9]	0.993348
TNavParticleFilter::Modified Variance for beam 10 is 13.52 
Alpha[10]	0.000000
Alpha[10]	0.993713
TNavParticleFilter::Modified Variance for beam 11 is 13.49 
Alpha[11]	0.000000
Alpha[11]	0.993992
TNavParticleFilter::Modified Variance for beam 12 is 12.59 
Alpha[12]	0.000000
Alpha[12]	0.994039
TNavParticleFilter::Modified Variance for beam 13 is 12.58 
Alpha[13]	0.000000
Alpha[13]	0.994051
TNavParticleFilter::Modified Variance for beam 14 is 12.57 
Alpha[14]	0.000000
Alpha[14]	0.993449
TNavParticleFilter::Modified Variance for beam 15 is 12.57 
Alpha[15]	0.000000
Alpha[15]	0.993266
TNavParticleFilter::Modified Variance for beam 16 is 11.74 
Alpha[16]	0.000000
Alpha[16]	0.993275
TNavParticleFilter::Modified Variance for beam 17 is 11.75 
Alpha[17]	0.000000
Alpha[17]	0.993027
TNavParticleFilter::Modified Variance for beam 18 is 11.75 
Alpha[18]	0.000000
Alpha[18]	0.993611
TNavParticleFilter::Modified Variance for beam 19 is 10.98 
Alpha[19]	0.000000
Alpha[19]	0.992964
TNavParticleFilter::Modified Variance for beam 20 is 11.04 
Alpha[20]	0.000000
Alpha[20]	0.989701
TNavParticleFilter::Modified Variance for beam 21 is 11.08 
Alpha[21]	0.000000
Alpha[21]	0.988214
TNavParticleFilter::Modified Variance for beam 22 is 11.10 
Alpha[22]	0.000000
Alpha[22]	0.988132
TNavParticleFilter::Modified Variance for beam 23 is 11.14 
Alpha[23]	0.000000
Alpha[23]	0.988108
TNavParticleFilter::Modified Variance for beam 24 is 11.18 
Alpha[24]	0.000000
Alpha[24]	0.987725
TNavParticleFilter::Modified Variance for beam 25 is 10.44 
Alpha[25]	0.000000
Alpha[25]	0.988491
TNavParticleFilter::Modified Variance for beam 26 is 10.47 
Alpha[26]	0.000000
Alpha[26]	0.989622
TNavParticleFilter::Modified Variance for beam 27 is 10.51 
Alpha[27]	0.000000
Alpha[27]	0.990594
TNavParticleFilter::Modified Variance for beam 28 is 10.55 
Alpha[28]	0.000000
Alpha[28]	0.991476
TNavParticleFilter::Modified Variance for beam 29 is 10.59 
Alpha[29]	0.000000
Alpha[29]	0.992750
TNavParticleFilter::Modified Variance for beam 30 is 10.63 
Alpha[30]	0.000000
Alpha[30]	0.994975
TNavParticleFilter::Modified Variance for beam 31 is 11.48 
Alpha[31]	0.000000
Alpha[31]	0.996666
TNavParticleFilter::Modified Variance for beam 32 is 11.55 
Alpha[32]	0.000000
Alpha[32]	0.997499
TNavParticleFilter::Modified Variance for beam 33 is 12.49 
Alpha[33]	0.000000
Alpha[33]	0.998082
TNavParticleFilter::Modified Variance for beam 34 is 12.59 
Alpha[34]	0.000000
Alpha[34]	0.998485
TNavParticleFilter::Modified Variance for beam 35 is 12.70 
Alpha[35]	0.000000
Alpha[35]	0.998645
TNavParticleFilter::Modified Variance for beam 36 is 12.82 
Alpha[36]	0.000000
Alpha[36]	0.998483
TNavParticleFilter::Modified Variance for beam 37 is 12.95 
Alpha[37]	0.000000
Alpha[37]	0.998041
TNavParticleFilter::Modified Variance for beam 38 is 13.09 
Alpha[38]	0.000000
Alpha[38]	0.997767
TNavParticleFilter::Modified Variance for beam 39 is 13.23 
Alpha[39]	0.000000
Alpha[39]	0.998053
TNavParticleFilter::Modified Variance for beam 40 is 12.89 
Alpha[40]	0.000000
Alpha[40]	0.998311
TNavParticleFilter::Modified Variance for beam 41 is 12.58 
Alpha[41]	0.000000
Alpha[41]	0.998346
TNavParticleFilter::Modified Variance for beam 42 is 12.74 
Alpha[42]	0.000000
Alpha[42]	0.998201
TNavParticleFilter::Modified Variance for beam 43 is 12.84 
Alpha[43]	0.000000
Alpha[43]	0.997974
TNavParticleFilter::Modified Variance for beam 44 is 12.25 
Alpha[44]	0.000000
Alpha[44]	0.997834
TNavParticleFilter::Modified Variance for beam 45 is 12.29 
Alpha[45]	0.000000
Alpha[45]	0.997775
TNavParticleFilter::Modified Variance for beam 46 is 12.47 
Alpha[46]	0.000000
Alpha[46]	0.997671
TNavParticleFilter::Modified Variance for beam 47 is 12.33 
Alpha[47]	0.000000
Alpha[47]	0.997448
TNavParticleFilter::Modified Variance for beam 48 is 11.87 
Alpha[48]	0.000000
Alpha[48]	0.997218
TNavParticleFilter::Modified Variance for beam 49 is 11.41 
Alpha[49]	0.000000
Alpha[49]	0.997407
TNavParticleFilter::Modified Variance for beam 50 is 11.28 
Alpha[50]	0.000000
Alpha[50]	0.997827
TNavParticleFilter::Modified Variance for beam 51 is 11.47 
Alpha[51]	0.000000
Alpha[51]	0.998052
TNavParticleFilter::Modified Variance for beam 52 is 10.30 
Alpha[52]	0.000000
Alpha[52]	0.998027
TNavParticleFilter::Modified Variance for beam 53 is 10.00 
Alpha[53]	0.000000
Alpha[53]	0.997861
TNavParticleFilter::Modified Variance for beam 54 is 10.15 
Alpha[54]	0.000000
Alpha[54]	0.997743
TNavParticleFilter::Modified Variance for beam 55 is 10.35 
Alpha[55]	0.000000
Alpha[55]	0.997616
TNavParticleFilter::Modified Variance for beam 56 is 10.29 
Alpha[56]	0.000000
Alpha[56]	0.997435
TNavParticleFilter::Modified Variance for beam 57 is 10.03 
Alpha[57]	0.000000
Alpha[57]	0.997248
TNavParticleFilter::Modified Variance for beam 58 is 10.00 
Alpha[58]	0.000000
Alpha[58]	0.997103
TNavParticleFilter::Modified Variance for beam 59 is 10.21 
Alpha[59]	0.000000
Alpha[59]	0.997134
TNavPF:: sumSquaredError = 23.892185 
TNavPF:: sumWeights = 0.014599 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.07. Range = 64.45 
TNavPF::Calculated measDiffMean for beam 31 as 0.54. Range = 65.59 
TNavPF::Calculated measDiffMean for beam 32 as 0.92. Range = 66.79 
TNavPF::Calculated measDiffMean for beam 33 as 1.30. Range = 66.40 
TNavPF::Calculated measDiffMean for beam 34 as 1.63. Range = 66.36 
TNavPF::Calculated measDiffMean for beam 35 as 1.87. Range = 67.01 
TNavPF::Calculated measDiffMean for beam 36 as 0.14. Range = 66.03 
TNavPF::Calculated measDiffMean for beam 37 as 0.33. Range = 65.10 
TNavPF::Calculated measDiffMean for beam 38 as 0.45. Range = 65.66 
TNavPF::Calculated measDiffMean for beam 39 as 0.61. Range = 63.38 
TNavPF::Calculated measDiffMean for beam 40 as 0.91. Range = 62.58 
TNavPF::Calculated measDiffMean for beam 41 as 1.37. Range = 63.49 
TNavPF::Calculated measDiffMean for beam 42 as -0.31. Range = 63.50 
TNavPF::Calculated measDiffMean for beam 43 as 0.11. Range = 62.78 
TNavPF::Calculated measDiffMean for beam 44 as 0.57. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 45 as 0.86. Range = 61.45 
TNavPF::Calculated measDiffMean for beam 46 as -0.69. Range = 60.83 
TNavPF::Calculated measDiffMean for beam 47 as -0.26. Range = 62.52 
TNavPF::Calculated measDiffMean for beam 48 as 0.26. Range = 61.94 
TNavPF::Calculated measDiffMean for beam 49 as -0.79. Range = 62.65 
TNavPF::Calculated measDiffMean for beam 50 as -0.12. Range = 63.09 
TNavPF::Calculated measDiffMean for beam 51 as 0.06. Range = 60.38 
TNavPF::Calculated measDiffMean for beam 52 as 0.10. Range = 57.72 
TNavPF::Calculated measDiffMean for beam 53 as 0.18. Range = 57.30 
TNavPF::Calculated measDiffMean for beam 54 as 0.41. Range = 56.89 
TNavPF::Calculated measDiffMean for beam 55 as -1.07. Range = 54.37 
TNavPF::Calculated measDiffMean for beam 56 as -0.55. Range = 54.03 
TNavPF::Calculated measDiffMean for beam 57 as -0.29. Range = 53.70 
TNavPF::Calculated measDiffMean for beam 58 as -0.03. Range = 51.30 
TNavPF::Calculated measDiffMean for beam 59 as 0.29. Range = 48.94 
TNavPF::Calculated measDiffMean for beam 60 as 0.40. Range = 48.69 
TNavPF::Calculated measDiffMean for beam 61 as 2.10. Range = 48.46 
TNavPF::Calculated measDiffMean for beam 62 as 1.38. Range = 48.25 
TNavPF::Calculated measDiffMean for beam 63 as 2.74. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 64 as 2.06. Range = 47.88 
TNavPF::Calculated measDiffMean for beam 65 as 1.62. Range = 47.71 
TNavPF::Calculated measDiffMean for beam 66 as 1.46. Range = 45.54 
TNavPF::Calculated measDiffMean for beam 67 as 1.54. Range = 45.41 
TNavPF::Calculated measDiffMean for beam 68 as 1.72. Range = 45.30 
TNavPF::Calculated measDiffMean for beam 69 as 2.10. Range = 45.20 
TNavPF::Calculated measDiffMean for beam 70 as 1.57. Range = 45.12 
TNavPF::Calculated measDiffMean for beam 71 as 1.13. Range = 45.05 
TNavPF::Calculated measDiffMean for beam 72 as 1.64. Range = 42.99 
TNavPF::Calculated measDiffMean for beam 73 as 2.03. Range = 42.95 
TNavPF::Calculated measDiffMean for beam 74 as 0.98. Range = 42.92 
TNavPF::Calculated measDiffMean for beam 75 as 1.51. Range = 42.91 
TNavPF::Calculated measDiffMean for beam 76 as 2.19. Range = 40.90 
TNavPF::Calculated measDiffMean for beam 77 as 2.00. Range = 40.91 
TNavPF::Calculated measDiffMean for beam 78 as 1.20. Range = 40.94 
TNavPF::Calculated measDiffMean for beam 79 as 0.39. Range = 38.97 
TNavPF::Calculated measDiffMean for beam 80 as 0.36. Range = 39.02 
TNavPF::Calculated measDiffMean for beam 81 as 1.22. Range = 39.07 
TNavPF::Calculated measDiffMean for beam 82 as -1.18. Range = 39.15 
TNavPF::Calculated measDiffMean for beam 83 as -1.41. Range = 39.23 
TNavPF::Calculated measDiffMean for beam 84 as -0.78. Range = 39.33 
TNavPF::Calculated measDiffMean for beam 85 as -0.34. Range = 37.40 
TNavPF::Calculated measDiffMean for beam 86 as -0.58. Range = 37.52 
TNavPF::Calculated measDiffMean for beam 87 as -1.22. Range = 37.64 
TNavPF::Calculated measDiffMean for beam 88 as -1.22. Range = 37.78 
TNavPF::Calculated measDiffMean for beam 89 as -0.87. Range = 37.94 
TNavPF::First Term of Map Covariance Matrix is 5.90 
TNavPF::Calculated NIS Value : 3.87 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322339.82 sec.
INS : North: 4070277.30, East: 588922.62, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 38.53, IDT[75] = 35.08
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322342.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322342.62)
ARL : North: 0.7912, East: -1.1782, Depth: 1.4417ARL : Estimation Bias  (Mean)         : (t = 1488322342.62)
ARL : North: 0.3689, East: -1.9119, Depth: 0.2602TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.30 
Alpha[0]	0.123000
Alpha[0]	0.994609
TNavParticleFilter::Modified Variance for beam 1 is 14.24 
Alpha[1]	0.000000
Alpha[1]	0.994929
TNavParticleFilter::Modified Variance for beam 2 is 13.30 
Alpha[2]	0.000000
Alpha[2]	0.994072
TNavParticleFilter::Modified Variance for beam 3 is 13.26 
Alpha[3]	0.000000
Alpha[3]	0.994088
TNavParticleFilter::Modified Variance for beam 4 is 13.23 
Alpha[4]	0.000000
Alpha[4]	0.993943
TNavParticleFilter::Modified Variance for beam 5 is 13.20 
Alpha[5]	0.000000
Alpha[5]	0.994275
TNavParticleFilter::Modified Variance for beam 6 is 11.50 
Alpha[6]	0.000000
Alpha[6]	0.994899
TNavParticleFilter::Modified Variance for beam 7 is 11.52 
Alpha[7]	0.000000
Alpha[7]	0.992219
TNavParticleFilter::Modified Variance for beam 8 is 11.55 
Alpha[8]	0.000000
Alpha[8]	0.989444
TNavParticleFilter::Modified Variance for beam 9 is 11.55 
Alpha[9]	0.000000
Alpha[9]	0.989262
TNavParticleFilter::Modified Variance for beam 10 is 11.55 
Alpha[10]	0.000000
Alpha[10]	0.989497
TNavParticleFilter::Modified Variance for beam 11 is 11.55 
Alpha[11]	0.000000
Alpha[11]	0.990341
TNavParticleFilter::Modified Variance for beam 12 is 10.77 
Alpha[12]	0.000000
Alpha[12]	0.990822
TNavParticleFilter::Modified Variance for beam 13 is 10.80 
Alpha[13]	0.000000
Alpha[13]	0.990184
TNavParticleFilter::Modified Variance for beam 14 is 10.80 
Alpha[14]	0.000000
Alpha[14]	0.991466
TNavParticleFilter::Modified Variance for beam 15 is 10.81 
Alpha[15]	0.000000
Alpha[15]	0.993341
TNavParticleFilter::Modified Variance for beam 16 is 10.83 
Alpha[16]	0.000000
Alpha[16]	0.994685
TNavParticleFilter::Modified Variance for beam 17 is 10.85 
Alpha[17]	0.000000
Alpha[17]	0.995653
TNavParticleFilter::Modified Variance for beam 18 is 11.67 
Alpha[18]	0.000000
Alpha[18]	0.996600
TNavParticleFilter::Modified Variance for beam 19 is 11.72 
Alpha[19]	0.000000
Alpha[19]	0.997112
TNavParticleFilter::Modified Variance for beam 20 is 11.76 
Alpha[20]	0.000000
Alpha[20]	0.997825
TNavParticleFilter::Modified Variance for beam 21 is 12.67 
Alpha[21]	0.000000
Alpha[21]	0.998208
TNavParticleFilter::Modified Variance for beam 22 is 12.74 
Alpha[22]	0.000000
Alpha[22]	0.998384
TNavParticleFilter::Modified Variance for beam 23 is 12.82 
Alpha[23]	0.000000
Alpha[23]	0.998184
TNavParticleFilter::Modified Variance for beam 24 is 12.91 
Alpha[24]	0.000000
Alpha[24]	0.997806
TNavParticleFilter::Modified Variance for beam 25 is 13.01 
Alpha[25]	0.000000
Alpha[25]	0.997709
TNavParticleFilter::Modified Variance for beam 26 is 13.11 
Alpha[26]	0.000000
Alpha[26]	0.998085
TNavParticleFilter::Modified Variance for beam 27 is 13.21 
Alpha[27]	0.000000
Alpha[27]	0.998387
TNavParticleFilter::Modified Variance for beam 28 is 12.42 
Alpha[28]	0.000000
Alpha[28]	0.998435
TNavParticleFilter::Modified Variance for beam 29 is 12.53 
Alpha[29]	0.000000
Alpha[29]	0.998285
TNavParticleFilter::Modified Variance for beam 30 is 12.65 
Alpha[30]	0.000000
Alpha[30]	0.998083
TNavParticleFilter::Modified Variance for beam 31 is 12.34 
Alpha[31]	0.000000
Alpha[31]	0.997962
TNavParticleFilter::Modified Variance for beam 32 is 12.01 
Alpha[32]	0.000000
Alpha[32]	0.997821
TNavParticleFilter::Modified Variance for beam 33 is 12.14 
Alpha[33]	0.000000
Alpha[33]	0.997568
TNavParticleFilter::Modified Variance for beam 34 is 12.29 
Alpha[34]	0.000000
Alpha[34]	0.997370
TNavParticleFilter::Modified Variance for beam 35 is 11.70 
Alpha[35]	0.000000
Alpha[35]	0.997369
TNavParticleFilter::Modified Variance for beam 36 is 11.66 
Alpha[36]	0.000000
Alpha[36]	0.997586
TNavParticleFilter::Modified Variance for beam 37 is 11.81 
Alpha[37]	0.000000
Alpha[37]	0.997940
TNavParticleFilter::Modified Variance for beam 38 is 11.78 
Alpha[38]	0.000000
Alpha[38]	0.998178
TNavParticleFilter::Modified Variance for beam 39 is 11.29 
Alpha[39]	0.000000
Alpha[39]	0.998112
TNavParticleFilter::Modified Variance for beam 40 is 10.86 
Alpha[40]	0.000000
Alpha[40]	0.997811
TNavParticleFilter::Modified Variance for beam 41 is 10.64 
Alpha[41]	0.000000
Alpha[41]	0.997561
TNavParticleFilter::Modified Variance for beam 42 is 10.80 
Alpha[42]	0.000000
Alpha[42]	0.997432
TNavParticleFilter::Modified Variance for beam 43 is 10.97 
Alpha[43]	0.000000
Alpha[43]	0.997333
TNavParticleFilter::Modified Variance for beam 44 is 10.70 
Alpha[44]	0.000000
Alpha[44]	0.997182
TNavParticleFilter::Modified Variance for beam 45 is 9.52 
Alpha[45]	0.000000
Alpha[45]	0.996913
TNavParticleFilter::Modified Variance for beam 46 is 9.69 
Alpha[46]	0.000000
Alpha[46]	0.996757
TNavParticleFilter::Modified Variance for beam 47 is 9.86 
Alpha[47]	0.000000
Alpha[47]	0.996807
TNavParticleFilter::Modified Variance for beam 48 is 10.04 
Alpha[48]	0.000000
Alpha[48]	0.997004
TNavParticleFilter::Modified Variance for beam 49 is 10.23 
Alpha[49]	0.000000
Alpha[49]	0.997171
TNavParticleFilter::Modified Variance for beam 50 is 11.45 
Alpha[50]	0.000000
Alpha[50]	0.997291
TNavParticleFilter::Modified Variance for beam 51 is 11.70 
Alpha[51]	0.000000
Alpha[51]	0.997331
TNavParticleFilter::Modified Variance for beam 52 is 13.13 
Alpha[52]	0.000000
Alpha[52]	0.997646
TNavParticleFilter::Modified Variance for beam 53 is 13.46 
Alpha[53]	0.000000
Alpha[53]	0.997965
TNavParticleFilter::Modified Variance for beam 54 is 13.80 
Alpha[54]	0.000000
Alpha[54]	0.998201
TNavParticleFilter::Modified Variance for beam 55 is 14.18 
Alpha[55]	0.000000
Alpha[55]	0.998083
TNavParticleFilter::Modified Variance for beam 56 is 16.02 
Alpha[56]	0.000000
Alpha[56]	0.997731
TNavParticleFilter::Modified Variance for beam 57 is 16.33 
Alpha[57]	0.000000
Alpha[57]	0.996644
TNavParticleFilter::Modified Variance for beam 58 is 15.96 
Alpha[58]	0.000000
Alpha[58]	0.995585
TNavParticleFilter::Modified Variance for beam 59 is 16.03 
Alpha[59]	0.000000
Alpha[59]	0.996025
TNavPF:: sumSquaredError = 10.001706 
TNavPF:: sumWeights = 0.008683 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.47. Range = 67.06 
TNavPF::Calculated measDiffMean for beam 31 as 1.95. Range = 66.15 
TNavPF::Calculated measDiffMean for beam 32 as 0.41. Range = 66.93 
TNavPF::Calculated measDiffMean for beam 33 as 0.79. Range = 66.91 
TNavPF::Calculated measDiffMean for beam 34 as 1.30. Range = 66.09 
TNavPF::Calculated measDiffMean for beam 35 as 1.78. Range = 65.31 
TNavPF::Calculated measDiffMean for beam 36 as -1.28. Range = 64.57 
TNavPF::Calculated measDiffMean for beam 37 as -0.37. Range = 64.69 
TNavPF::Calculated measDiffMean for beam 38 as -0.11. Range = 65.52 
TNavPF::Calculated measDiffMean for beam 39 as -0.05. Range = 64.86 
TNavPF::Calculated measDiffMean for beam 40 as 0.00. Range = 66.51 
TNavPF::Calculated measDiffMean for beam 41 as 0.26. Range = 65.89 
TNavPF::Calculated measDiffMean for beam 42 as -1.11. Range = 65.30 
TNavPF::Calculated measDiffMean for beam 43 as -0.62. Range = 60.30 
TNavPF::Calculated measDiffMean for beam 44 as -0.39. Range = 59.80 
TNavPF::Calculated measDiffMean for beam 45 as -0.07. Range = 57.15 
TNavPF::Calculated measDiffMean for beam 46 as 0.25. Range = 56.72 
TNavPF::Calculated measDiffMean for beam 47 as 0.19. Range = 56.32 
TNavPF::Calculated measDiffMean for beam 48 as 1.61. Range = 53.80 
TNavPF::Calculated measDiffMean for beam 49 as 0.97. Range = 51.32 
TNavPF::Calculated measDiffMean for beam 50 as 0.31. Range = 51.01 
TNavPF::Calculated measDiffMean for beam 51 as 1.64. Range = 50.72 
TNavPF::Calculated measDiffMean for beam 52 as 1.05. Range = 50.45 
TNavPF::Calculated measDiffMean for beam 53 as 0.65. Range = 50.19 
TNavPF::Calculated measDiffMean for beam 54 as 0.80. Range = 49.95 
TNavPF::Calculated measDiffMean for beam 55 as 1.20. Range = 47.67 
TNavPF::Calculated measDiffMean for beam 56 as 1.62. Range = 47.48 
TNavPF::Calculated measDiffMean for beam 57 as 2.08. Range = 47.30 
TNavPF::Calculated measDiffMean for beam 58 as 0.50. Range = 47.13 
TNavPF::Calculated measDiffMean for beam 59 as 0.95. Range = 46.98 
TNavPF::Calculated measDiffMean for beam 60 as 1.51. Range = 46.85 
TNavPF::Calculated measDiffMean for beam 61 as 1.30. Range = 46.73 
TNavPF::Calculated measDiffMean for beam 62 as 1.06. Range = 44.61 
TNavPF::Calculated measDiffMean for beam 63 as 1.69. Range = 44.53 
TNavPF::Calculated measDiffMean for beam 64 as 2.28. Range = 44.46 
TNavPF::Calculated measDiffMean for beam 65 as 1.34. Range = 44.40 
TNavPF::Calculated measDiffMean for beam 66 as 1.78. Range = 40.35 
TNavPF::Calculated measDiffMean for beam 67 as 2.48. Range = 40.32 
TNavPF::Calculated measDiffMean for beam 68 as 2.85. Range = 40.30 
TNavPF::Calculated measDiffMean for beam 69 as 2.37. Range = 40.30 
TNavPF::Calculated measDiffMean for beam 70 as 1.81. Range = 40.31 
TNavPF::Calculated measDiffMean for beam 71 as 1.39. Range = 40.33 
TNavPF::Calculated measDiffMean for beam 72 as 1.76. Range = 38.36 
TNavPF::Calculated measDiffMean for beam 73 as 2.26. Range = 38.41 
TNavPF::Calculated measDiffMean for beam 74 as 1.75. Range = 38.46 
TNavPF::Calculated measDiffMean for beam 75 as -1.33. Range = 38.53 
TNavPF::Calculated measDiffMean for beam 76 as -1.07. Range = 38.61 
TNavPF::Calculated measDiffMean for beam 77 as -1.13. Range = 38.70 
TNavPF::Calculated measDiffMean for beam 78 as -1.34. Range = 40.83 
TNavPF::Calculated measDiffMean for beam 79 as -1.64. Range = 40.96 
TNavPF::Calculated measDiffMean for beam 80 as 0.48. Range = 41.09 
TNavPF::Calculated measDiffMean for beam 81 as 0.05. Range = 43.29 
TNavPF::Calculated measDiffMean for beam 82 as 2.38. Range = 43.46 
TNavPF::Calculated measDiffMean for beam 83 as 1.89. Range = 43.65 
TNavPF::Calculated measDiffMean for beam 84 as 1.10. Range = 43.85 
TNavPF::Calculated measDiffMean for beam 85 as 0.22. Range = 44.07 
TNavPF::Calculated measDiffMean for beam 86 as 2.33. Range = 44.30 
TNavPF::Calculated measDiffMean for beam 87 as 1.58. Range = 44.55 
TNavPF::Calculated measDiffMean for beam 88 as 0.04. Range = 42.72 
TNavPF::Calculated measDiffMean for beam 89 as -0.46. Range = 42.96 
TNavPF::First Term of Map Covariance Matrix is 3.70 
TNavPF::Calculated NIS Value : 4.76 	numBeams normalized NIS: 0.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322342.82 sec.
INS : North: 4070278.86, East: 588918.64, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 44.87, IDT[75] = 45.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322345.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322345.62)
ARL : North: 0.7956, East: -1.3842, Depth: -3.7941ARL : Estimation Bias  (Mean)         : (t = 1488322345.62)
ARL : North: 0.4429, East: -1.9365, Depth: -0.2362TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.27 
Alpha[0]	0.123000
Alpha[0]	0.992589
TNavParticleFilter::Modified Variance for beam 1 is 12.24 
Alpha[1]	0.000000
Alpha[1]	0.993484
TNavParticleFilter::Modified Variance for beam 2 is 11.41 
Alpha[2]	0.000000
Alpha[2]	0.993444
TNavParticleFilter::Modified Variance for beam 3 is 11.42 
Alpha[3]	0.000000
Alpha[3]	0.992365
TNavParticleFilter::Modified Variance for beam 4 is 11.40 
Alpha[4]	0.000000
Alpha[4]	0.993862
TNavParticleFilter::Modified Variance for beam 5 is 11.38 
Alpha[5]	0.000000
Alpha[5]	0.995554
TNavParticleFilter::Modified Variance for beam 6 is 11.38 
Alpha[6]	0.000000
Alpha[6]	0.996014
TNavParticleFilter::Modified Variance for beam 7 is 11.39 
Alpha[7]	0.000000
Alpha[7]	0.996006
TNavParticleFilter::Modified Variance for beam 8 is 12.22 
Alpha[8]	0.000000
Alpha[8]	0.995902
TNavParticleFilter::Modified Variance for beam 9 is 12.24 
Alpha[9]	0.000000
Alpha[9]	0.996448
TNavParticleFilter::Modified Variance for beam 10 is 13.11 
Alpha[10]	0.000000
Alpha[10]	0.997458
TNavParticleFilter::Modified Variance for beam 11 is 13.15 
Alpha[11]	0.000000
Alpha[11]	0.997597
TNavParticleFilter::Modified Variance for beam 12 is 13.19 
Alpha[12]	0.000000
Alpha[12]	0.997831
TNavParticleFilter::Modified Variance for beam 13 is 13.24 
Alpha[13]	0.000000
Alpha[13]	0.997973
TNavParticleFilter::Modified Variance for beam 14 is 13.29 
Alpha[14]	0.000000
Alpha[14]	0.997784
TNavParticleFilter::Modified Variance for beam 15 is 13.36 
Alpha[15]	0.000000
Alpha[15]	0.997681
TNavParticleFilter::Modified Variance for beam 16 is 13.42 
Alpha[16]	0.000000
Alpha[16]	0.998000
TNavParticleFilter::Modified Variance for beam 17 is 13.50 
Alpha[17]	0.000000
Alpha[17]	0.998255
TNavParticleFilter::Modified Variance for beam 18 is 12.68 
Alpha[18]	0.000000
Alpha[18]	0.998342
TNavParticleFilter::Modified Variance for beam 19 is 12.77 
Alpha[19]	0.000000
Alpha[19]	0.998283
TNavParticleFilter::Modified Variance for beam 20 is 12.86 
Alpha[20]	0.000000
Alpha[20]	0.998023
TNavParticleFilter::Modified Variance for beam 21 is 12.13 
Alpha[21]	0.000000
Alpha[21]	0.997698
TNavParticleFilter::Modified Variance for beam 22 is 12.17 
Alpha[22]	0.000000
Alpha[22]	0.997466
TNavParticleFilter::Modified Variance for beam 23 is 12.28 
Alpha[23]	0.000000
Alpha[23]	0.997248
TNavParticleFilter::Modified Variance for beam 24 is 12.04 
Alpha[24]	0.000000
Alpha[24]	0.997116
TNavParticleFilter::Modified Variance for beam 25 is 11.62 
Alpha[25]	0.000000
Alpha[25]	0.997199
TNavParticleFilter::Modified Variance for beam 26 is 11.73 
Alpha[26]	0.000000
Alpha[26]	0.997530
TNavParticleFilter::Modified Variance for beam 27 is 11.85 
Alpha[27]	0.000000
Alpha[27]	0.997927
TNavParticleFilter::Modified Variance for beam 28 is 11.34 
Alpha[28]	0.000000
Alpha[28]	0.997980
TNavParticleFilter::Modified Variance for beam 29 is 10.76 
Alpha[29]	0.000000
Alpha[29]	0.997617
TNavParticleFilter::Modified Variance for beam 30 is 10.51 
Alpha[30]	0.000000
Alpha[30]	0.997278
TNavParticleFilter::Modified Variance for beam 31 is 10.63 
Alpha[31]	0.000000
Alpha[31]	0.997210
TNavParticleFilter::Modified Variance for beam 32 is 10.76 
Alpha[32]	0.000000
Alpha[32]	0.997212
TNavParticleFilter::Modified Variance for beam 33 is 10.47 
Alpha[33]	0.000000
Alpha[33]	0.997118
TNavParticleFilter::Modified Variance for beam 34 is 10.19 
Alpha[34]	0.000000
Alpha[34]	0.996814
TNavParticleFilter::Modified Variance for beam 35 is 10.33 
Alpha[35]	0.000000
Alpha[35]	0.996601
TNavParticleFilter::Modified Variance for beam 36 is 10.48 
Alpha[36]	0.000000
Alpha[36]	0.996694
TNavParticleFilter::Modified Variance for beam 37 is 10.63 
Alpha[37]	0.000000
Alpha[37]	0.997011
TNavParticleFilter::Modified Variance for beam 38 is 10.80 
Alpha[38]	0.000000
Alpha[38]	0.997094
TNavParticleFilter::Modified Variance for beam 39 is 11.94 
Alpha[39]	0.000000
Alpha[39]	0.996765
TNavParticleFilter::Modified Variance for beam 40 is 12.16 
Alpha[40]	0.000000
Alpha[40]	0.996276
TNavParticleFilter::Modified Variance for beam 41 is 12.39 
Alpha[41]	0.000000
Alpha[41]	0.996231
TNavParticleFilter::Modified Variance for beam 42 is 12.62 
Alpha[42]	0.000000
Alpha[42]	0.996592
TNavParticleFilter::Modified Variance for beam 43 is 12.88 
Alpha[43]	0.000000
Alpha[43]	0.996670
TNavParticleFilter::Modified Variance for beam 44 is 14.32 
Alpha[44]	0.000000
Alpha[44]	0.996742
TNavParticleFilter::Modified Variance for beam 45 is 13.44 
Alpha[45]	0.000000
Alpha[45]	0.996734
TNavParticleFilter::Modified Variance for beam 46 is 15.01 
Alpha[46]	0.000000
Alpha[46]	0.996161
TNavParticleFilter::Modified Variance for beam 47 is 15.41 
Alpha[47]	0.000000
Alpha[47]	0.994659
TNavParticleFilter::Modified Variance for beam 48 is 15.53 
Alpha[48]	0.000000
Alpha[48]	0.992970
TNavParticleFilter::Modified Variance for beam 49 is 15.11 
Alpha[49]	0.000000
Alpha[49]	0.992861
TNavParticleFilter::Modified Variance for beam 50 is 15.27 
Alpha[50]	0.000000
Alpha[50]	0.994291
TNavParticleFilter::Modified Variance for beam 51 is 15.70 
Alpha[51]	0.000000
Alpha[51]	0.994930
TNavParticleFilter::Modified Variance for beam 52 is 16.15 
Alpha[52]	0.000000
Alpha[52]	0.996133
TNavParticleFilter::Modified Variance for beam 53 is 18.23 
Alpha[53]	0.000000
Alpha[53]	0.997625
TNavParticleFilter::Modified Variance for beam 54 is 20.61 
Alpha[54]	0.000000
Alpha[54]	0.997322
TNavParticleFilter::Modified Variance for beam 55 is 21.34 
Alpha[55]	0.000000
Alpha[55]	0.997360
TNavParticleFilter::Modified Variance for beam 56 is 22.13 
Alpha[56]	0.000000
Alpha[56]	0.997860
TNavParticleFilter::Modified Variance for beam 57 is 22.99 
Alpha[57]	0.000000
Alpha[57]	0.998112
TNavParticleFilter::Modified Variance for beam 58 is 23.93 
Alpha[58]	0.000000
Alpha[58]	0.998181
TNavParticleFilter::Modified Variance for beam 59 is 27.29 
Alpha[59]	0.000000
Alpha[59]	0.997440
TNavPF:: sumSquaredError = 6.916691 
TNavPF:: sumWeights = 0.014162 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.25. Range = 67.74 
TNavPF::Calculated measDiffMean for beam 31 as 0.06. Range = 69.35 
TNavPF::Calculated measDiffMean for beam 32 as -1.28. Range = 68.58 
TNavPF::Calculated measDiffMean for beam 33 as -0.81. Range = 69.53 
TNavPF::Calculated measDiffMean for beam 34 as -0.56. Range = 69.46 
TNavPF::Calculated measDiffMean for beam 35 as -0.26. Range = 68.78 
TNavPF::Calculated measDiffMean for beam 36 as -0.12. Range = 65.85 
TNavPF::Calculated measDiffMean for beam 37 as -0.46. Range = 60.75 
TNavPF::Calculated measDiffMean for beam 38 as 0.88. Range = 60.23 
TNavPF::Calculated measDiffMean for beam 39 as 0.34. Range = 59.72 
TNavPF::Calculated measDiffMean for beam 40 as 1.55. Range = 57.05 
TNavPF::Calculated measDiffMean for beam 41 as 0.76. Range = 54.44 
TNavPF::Calculated measDiffMean for beam 42 as 0.10. Range = 54.05 
TNavPF::Calculated measDiffMean for beam 43 as -0.34. Range = 53.67 
TNavPF::Calculated measDiffMean for beam 44 as -0.07. Range = 53.32 
TNavPF::Calculated measDiffMean for beam 45 as 0.54. Range = 52.99 
TNavPF::Calculated measDiffMean for beam 46 as 0.97. Range = 50.57 
TNavPF::Calculated measDiffMean for beam 47 as 1.29. Range = 50.29 
TNavPF::Calculated measDiffMean for beam 48 as -0.40. Range = 50.03 
TNavPF::Calculated measDiffMean for beam 49 as 0.07. Range = 49.79 
TNavPF::Calculated measDiffMean for beam 50 as 0.85. Range = 49.56 
TNavPF::Calculated measDiffMean for beam 51 as -0.08. Range = 49.35 
TNavPF::Calculated measDiffMean for beam 52 as 0.64. Range = 49.16 
TNavPF::Calculated measDiffMean for beam 53 as 1.30. Range = 46.94 
TNavPF::Calculated measDiffMean for beam 54 as 1.31. Range = 46.79 
TNavPF::Calculated measDiffMean for beam 55 as 1.05. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 56 as 1.82. Range = 46.53 
TNavPF::Calculated measDiffMean for beam 57 as 2.49. Range = 42.38 
TNavPF::Calculated measDiffMean for beam 58 as 1.90. Range = 42.30 
TNavPF::Calculated measDiffMean for beam 59 as 1.08. Range = 42.23 
TNavPF::Calculated measDiffMean for beam 60 as 0.67. Range = 42.17 
TNavPF::Calculated measDiffMean for beam 61 as 1.04. Range = 42.12 
TNavPF::Calculated measDiffMean for beam 62 as 1.53. Range = 40.08 
TNavPF::Calculated measDiffMean for beam 63 as 1.06. Range = 40.06 
TNavPF::Calculated measDiffMean for beam 64 as 0.55. Range = 40.05 
TNavPF::Calculated measDiffMean for beam 65 as 0.85. Range = 40.06 
TNavPF::Calculated measDiffMean for beam 66 as 0.87. Range = 40.08 
TNavPF::Calculated measDiffMean for beam 67 as 0.70. Range = 40.11 
TNavPF::Calculated measDiffMean for beam 68 as 0.45. Range = 42.15 
TNavPF::Calculated measDiffMean for beam 69 as 2.55. Range = 42.21 
TNavPF::Calculated measDiffMean for beam 70 as 2.25. Range = 44.29 
TNavPF::Calculated measDiffMean for beam 71 as 2.07. Range = 44.38 
TNavPF::Calculated measDiffMean for beam 72 as 1.77. Range = 44.48 
TNavPF::Calculated measDiffMean for beam 73 as 1.38. Range = 44.59 
TNavPF::Calculated measDiffMean for beam 74 as 3.40. Range = 44.72 
TNavPF::Calculated measDiffMean for beam 75 as 0.03. Range = 44.87 
TNavPF::Calculated measDiffMean for beam 76 as 2.10. Range = 45.02 
TNavPF::Calculated measDiffMean for beam 77 as 1.63. Range = 45.20 
TNavPF::Calculated measDiffMean for beam 78 as 0.96. Range = 43.32 
TNavPF::Calculated measDiffMean for beam 79 as -0.45. Range = 43.52 
TNavPF::Calculated measDiffMean for beam 80 as -0.63. Range = 43.73 
TNavPF::Calculated measDiffMean for beam 81 as -0.59. Range = 41.98 
TNavPF::Calculated measDiffMean for beam 82 as -0.96. Range = 42.09 
TNavPF::Calculated measDiffMean for beam 83 as 0.55. Range = 42.33 
TNavPF::Calculated measDiffMean for beam 84 as 2.25. Range = 41.75 
TNavPF::Calculated measDiffMean for beam 85 as 1.38. Range = 40.73 
TNavPF::Calculated measDiffMean for beam 86 as 0.29. Range = 41.01 
TNavPF::Calculated measDiffMean for beam 87 as -0.46. Range = 41.30 
TNavPF::Calculated measDiffMean for beam 88 as -0.89. Range = 40.03 
TNavPF::Calculated measDiffMean for beam 89 as 1.48. Range = 38.53 
TNavPF::First Term of Map Covariance Matrix is 2.69 
TNavPF::Calculated NIS Value : 3.91 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322345.82 sec.
INS : North: 4070280.73, East: 588914.77, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 42.91, IDT[75] = 48.36
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322348.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322348.62)
ARL : North: -0.4161, East: -2.5835, Depth: -0.6822ARL : Estimation Bias  (Mean)         : (t = 1488322348.62)
ARL : North: 0.7106, East: -2.0993, Depth: -0.2285TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.17 
Alpha[0]	0.123000
Alpha[0]	0.996290
TNavParticleFilter::Modified Variance for beam 1 is 13.01 
Alpha[1]	0.000000
Alpha[1]	0.995878
TNavParticleFilter::Modified Variance for beam 2 is 13.01 
Alpha[2]	0.000000
Alpha[2]	0.995371
TNavParticleFilter::Modified Variance for beam 3 is 12.99 
Alpha[3]	0.000000
Alpha[3]	0.996613
TNavParticleFilter::Modified Variance for beam 4 is 13.87 
Alpha[4]	0.000000
Alpha[4]	0.996965
TNavParticleFilter::Modified Variance for beam 5 is 13.87 
Alpha[5]	0.000000
Alpha[5]	0.997261
TNavParticleFilter::Modified Variance for beam 6 is 14.81 
Alpha[6]	0.000000
Alpha[6]	0.997940
TNavParticleFilter::Modified Variance for beam 7 is 14.83 
Alpha[7]	0.000000
Alpha[7]	0.998158
TNavParticleFilter::Modified Variance for beam 8 is 13.93 
Alpha[8]	0.000000
Alpha[8]	0.997985
TNavParticleFilter::Modified Variance for beam 9 is 13.97 
Alpha[9]	0.000000
Alpha[9]	0.997964
TNavParticleFilter::Modified Variance for beam 10 is 14.00 
Alpha[10]	0.000000
Alpha[10]	0.998217
TNavParticleFilter::Modified Variance for beam 11 is 13.77 
Alpha[11]	0.000000
Alpha[11]	0.998384
TNavParticleFilter::Modified Variance for beam 12 is 13.20 
Alpha[12]	0.000000
Alpha[12]	0.998466
TNavParticleFilter::Modified Variance for beam 13 is 13.25 
Alpha[13]	0.000000
Alpha[13]	0.998364
TNavParticleFilter::Modified Variance for beam 14 is 12.94 
Alpha[14]	0.000000
Alpha[14]	0.998063
TNavParticleFilter::Modified Variance for beam 15 is 12.51 
Alpha[15]	0.000000
Alpha[15]	0.997810
TNavParticleFilter::Modified Variance for beam 16 is 12.58 
Alpha[16]	0.000000
Alpha[16]	0.997779
TNavParticleFilter::Modified Variance for beam 17 is 12.52 
Alpha[17]	0.000000
Alpha[17]	0.997763
TNavParticleFilter::Modified Variance for beam 18 is 11.88 
Alpha[18]	0.000000
Alpha[18]	0.997691
TNavParticleFilter::Modified Variance for beam 19 is 11.96 
Alpha[19]	0.000000
Alpha[19]	0.997900
TNavParticleFilter::Modified Variance for beam 20 is 12.04 
Alpha[20]	0.000000
Alpha[20]	0.998025
TNavParticleFilter::Modified Variance for beam 21 is 11.37 
Alpha[21]	0.000000
Alpha[21]	0.997706
TNavParticleFilter::Modified Variance for beam 22 is 10.60 
Alpha[22]	0.000000
Alpha[22]	0.997258
TNavParticleFilter::Modified Variance for beam 23 is 10.67 
Alpha[23]	0.000000
Alpha[23]	0.997213
TNavParticleFilter::Modified Variance for beam 24 is 10.76 
Alpha[24]	0.000000
Alpha[24]	0.997251
TNavParticleFilter::Modified Variance for beam 25 is 10.74 
Alpha[25]	0.000000
Alpha[25]	0.997025
TNavParticleFilter::Modified Variance for beam 26 is 10.17 
Alpha[26]	0.000000
Alpha[26]	0.996545
TNavParticleFilter::Modified Variance for beam 27 is 10.27 
Alpha[27]	0.000000
Alpha[27]	0.996296
TNavParticleFilter::Modified Variance for beam 28 is 10.38 
Alpha[28]	0.000000
Alpha[28]	0.996434
TNavParticleFilter::Modified Variance for beam 29 is 10.49 
Alpha[29]	0.000000
Alpha[29]	0.996753
TNavParticleFilter::Modified Variance for beam 30 is 10.61 
Alpha[30]	0.000000
Alpha[30]	0.996738
TNavParticleFilter::Modified Variance for beam 31 is 10.75 
Alpha[31]	0.000000
Alpha[31]	0.996301
TNavParticleFilter::Modified Variance for beam 32 is 11.79 
Alpha[32]	0.000000
Alpha[32]	0.995680
TNavParticleFilter::Modified Variance for beam 33 is 11.96 
Alpha[33]	0.000000
Alpha[33]	0.995285
TNavParticleFilter::Modified Variance for beam 34 is 12.14 
Alpha[34]	0.000000
Alpha[34]	0.995419
TNavParticleFilter::Modified Variance for beam 35 is 12.32 
Alpha[35]	0.000000
Alpha[35]	0.995430
TNavParticleFilter::Modified Variance for beam 36 is 12.53 
Alpha[36]	0.000000
Alpha[36]	0.994799
TNavParticleFilter::Modified Variance for beam 37 is 12.74 
Alpha[37]	0.000000
Alpha[37]	0.995057
TNavParticleFilter::Modified Variance for beam 38 is 14.04 
Alpha[38]	0.000000
Alpha[38]	0.995361
TNavParticleFilter::Modified Variance for beam 39 is 14.32 
Alpha[39]	0.000000
Alpha[39]	0.994594
TNavParticleFilter::Modified Variance for beam 40 is 14.63 
Alpha[40]	0.000000
Alpha[40]	0.992858
TNavParticleFilter::Modified Variance for beam 41 is 14.96 
Alpha[41]	0.000000
Alpha[41]	0.990941
TNavParticleFilter::Modified Variance for beam 42 is 15.29 
Alpha[42]	0.000000
Alpha[42]	0.990062
TNavParticleFilter::Modified Variance for beam 43 is 15.61 
Alpha[43]	0.000000
Alpha[43]	0.992113
TNavParticleFilter::Modified Variance for beam 44 is 15.95 
Alpha[44]	0.000000
Alpha[44]	0.993343
TNavParticleFilter::Modified Variance for beam 45 is 15.02 
Alpha[45]	0.000000
Alpha[45]	0.993313
TNavParticleFilter::Modified Variance for beam 46 is 15.38 
Alpha[46]	0.000000
Alpha[46]	0.994410
TNavParticleFilter::Modified Variance for beam 47 is 17.15 
Alpha[47]	0.000000
Alpha[47]	0.996673
TNavParticleFilter::Modified Variance for beam 48 is 17.63 
Alpha[48]	0.000000
Alpha[48]	0.996294
TNavParticleFilter::Modified Variance for beam 49 is 19.73 
Alpha[49]	0.000000
Alpha[49]	0.996425
TNavParticleFilter::Modified Variance for beam 50 is 20.33 
Alpha[50]	0.000000
Alpha[50]	0.996419
TNavParticleFilter::Modified Variance for beam 51 is 20.97 
Alpha[51]	0.000000
Alpha[51]	0.997415
TNavParticleFilter::Modified Variance for beam 52 is 21.66 
Alpha[52]	0.000000
Alpha[52]	0.998021
TNavParticleFilter::Modified Variance for beam 53 is 22.41 
Alpha[53]	0.000000
Alpha[53]	0.997925
TNavParticleFilter::Modified Variance for beam 54 is 25.28 
Alpha[54]	0.000000
Alpha[54]	0.997140
TNavParticleFilter::Modified Variance for beam 55 is 26.33 
Alpha[55]	0.000000
Alpha[55]	0.994401
TNavParticleFilter::Modified Variance for beam 56 is 27.47 
Alpha[56]	0.000000
Alpha[56]	0.991554
TNavParticleFilter::Modified Variance for beam 57 is 28.51 
Alpha[57]	0.000000
Alpha[57]	0.995584
TNavParticleFilter::Modified Variance for beam 58 is 29.69 
Alpha[58]	0.000000
Alpha[58]	0.997939
TNavParticleFilter::Modified Variance for beam 59 is 31.04 
Alpha[59]	0.000000
Alpha[59]	0.998296
TNavPF:: sumSquaredError = 29.606026 
TNavPF:: sumWeights = 0.027350 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.70. Range = 72.92 
TNavPF::Calculated measDiffMean for beam 31 as 0.67. Range = 73.16 
TNavPF::Calculated measDiffMean for beam 32 as 0.18. Range = 72.38 
TNavPF::Calculated measDiffMean for beam 33 as -0.54. Range = 69.33 
TNavPF::Calculated measDiffMean for beam 34 as 0.50. Range = 64.06 
TNavPF::Calculated measDiffMean for beam 35 as -0.05. Range = 63.46 
TNavPF::Calculated measDiffMean for beam 36 as 1.35. Range = 62.88 
TNavPF::Calculated measDiffMean for beam 37 as 1.13. Range = 57.88 
TNavPF::Calculated measDiffMean for beam 38 as -0.34. Range = 57.39 
TNavPF::Calculated measDiffMean for beam 39 as 0.39. Range = 56.94 
TNavPF::Calculated measDiffMean for beam 40 as 0.72. Range = 56.51 
TNavPF::Calculated measDiffMean for beam 41 as 0.38. Range = 56.10 
TNavPF::Calculated measDiffMean for beam 42 as -0.64. Range = 53.57 
TNavPF::Calculated measDiffMean for beam 43 as 0.08. Range = 53.22 
TNavPF::Calculated measDiffMean for beam 44 as 0.44. Range = 52.89 
TNavPF::Calculated measDiffMean for beam 45 as 0.24. Range = 52.58 
TNavPF::Calculated measDiffMean for beam 46 as 1.00. Range = 52.29 
TNavPF::Calculated measDiffMean for beam 47 as 1.80. Range = 52.02 
TNavPF::Calculated measDiffMean for beam 48 as 1.13. Range = 49.69 
TNavPF::Calculated measDiffMean for beam 49 as 1.83. Range = 49.47 
TNavPF::Calculated measDiffMean for beam 50 as 2.61. Range = 49.26 
TNavPF::Calculated measDiffMean for beam 51 as 1.69. Range = 44.97 
TNavPF::Calculated measDiffMean for beam 52 as 0.15. Range = 44.81 
TNavPF::Calculated measDiffMean for beam 53 as 0.51. Range = 44.67 
TNavPF::Calculated measDiffMean for beam 54 as 1.00. Range = 44.54 
TNavPF::Calculated measDiffMean for beam 55 as 1.31. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 56 as 0.05. Range = 44.32 
TNavPF::Calculated measDiffMean for beam 57 as 0.31. Range = 44.23 
TNavPF::Calculated measDiffMean for beam 58 as 0.31. Range = 44.15 
TNavPF::Calculated measDiffMean for beam 59 as 0.10. Range = 42.08 
TNavPF::Calculated measDiffMean for beam 60 as -0.20. Range = 42.04 
TNavPF::Calculated measDiffMean for beam 61 as -0.53. Range = 44.01 
TNavPF::Calculated measDiffMean for beam 62 as 1.51. Range = 43.99 
TNavPF::Calculated measDiffMean for beam 63 as 1.44. Range = 43.98 
TNavPF::Calculated measDiffMean for beam 64 as 1.27. Range = 45.99 
TNavPF::Calculated measDiffMean for beam 65 as 0.93. Range = 46.01 
TNavPF::Calculated measDiffMean for beam 66 as 0.58. Range = 48.05 
TNavPF::Calculated measDiffMean for beam 67 as 0.09. Range = 48.10 
TNavPF::Calculated measDiffMean for beam 68 as 1.92. Range = 46.15 
TNavPF::Calculated measDiffMean for beam 69 as 1.48. Range = 46.23 
TNavPF::Calculated measDiffMean for beam 70 as 1.09. Range = 46.32 
TNavPF::Calculated measDiffMean for beam 71 as 0.96. Range = 45.80 
TNavPF::Calculated measDiffMean for beam 72 as 1.09. Range = 44.52 
TNavPF::Calculated measDiffMean for beam 73 as 1.44. Range = 44.65 
TNavPF::Calculated measDiffMean for beam 74 as 1.64. Range = 43.92 
TNavPF::Calculated measDiffMean for beam 75 as -1.07. Range = 42.91 
TNavPF::Calculated measDiffMean for beam 76 as -1.37. Range = 43.07 
TNavPF::Calculated measDiffMean for beam 77 as 0.17. Range = 42.93 
TNavPF::Calculated measDiffMean for beam 78 as -1.07. Range = 41.37 
TNavPF::Calculated measDiffMean for beam 79 as 1.01. Range = 41.57 
TNavPF::Calculated measDiffMean for beam 80 as 0.43. Range = 41.79 
TNavPF::Calculated measDiffMean for beam 81 as -0.34. Range = 40.11 
TNavPF::Calculated measDiffMean for beam 82 as -0.98. Range = 38.08 
TNavPF::Calculated measDiffMean for beam 83 as -1.51. Range = 38.26 
TNavPF::Calculated measDiffMean for beam 84 as 0.68. Range = 38.51 
TNavPF::Calculated measDiffMean for beam 85 as 0.36. Range = 38.44 
TNavPF::Calculated measDiffMean for beam 86 as 0.64. Range = 36.88 
TNavPF::Calculated measDiffMean for beam 87 as 0.68. Range = 37.16 
TNavPF::Calculated measDiffMean for beam 88 as 0.78. Range = 37.46 
TNavPF::Calculated measDiffMean for beam 89 as 1.21. Range = 37.77 
TNavPF::First Term of Map Covariance Matrix is 5.38 
TNavPF::Calculated NIS Value : 2.83 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322348.82 sec.
INS : North: 4070282.67, East: 588910.91, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 39.14, IDT[75] = 58.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322351.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322351.62)
ARL : North: 1.4314, East: -1.1720, Depth: 2.1800ARL : Estimation Bias  (Mean)         : (t = 1488322351.62)
ARL : North: 0.8004, East: -2.0572, Depth: -0.1948TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.75 
Alpha[0]	0.123000
Alpha[0]	0.998085
TNavParticleFilter::Modified Variance for beam 1 is 15.74 
Alpha[1]	0.000000
Alpha[1]	0.998281
TNavParticleFilter::Modified Variance for beam 2 is 14.78 
Alpha[2]	0.000000
Alpha[2]	0.998209
TNavParticleFilter::Modified Variance for beam 3 is 14.80 
Alpha[3]	0.000000
Alpha[3]	0.998154
TNavParticleFilter::Modified Variance for beam 4 is 14.81 
Alpha[4]	0.000000
Alpha[4]	0.998339
TNavParticleFilter::Modified Variance for beam 5 is 14.83 
Alpha[5]	0.000000
Alpha[5]	0.998530
TNavParticleFilter::Modified Variance for beam 6 is 13.93 
Alpha[6]	0.000000
Alpha[6]	0.998602
TNavParticleFilter::Modified Variance for beam 7 is 13.07 
Alpha[7]	0.000000
Alpha[7]	0.998471
TNavParticleFilter::Modified Variance for beam 8 is 13.11 
Alpha[8]	0.000000
Alpha[8]	0.998389
TNavParticleFilter::Modified Variance for beam 9 is 13.15 
Alpha[9]	0.000000
Alpha[9]	0.998385
TNavParticleFilter::Modified Variance for beam 10 is 12.34 
Alpha[10]	0.000000
Alpha[10]	0.998163
TNavParticleFilter::Modified Variance for beam 11 is 12.39 
Alpha[11]	0.000000
Alpha[11]	0.997989
TNavParticleFilter::Modified Variance for beam 12 is 12.45 
Alpha[12]	0.000000
Alpha[12]	0.998101
TNavParticleFilter::Modified Variance for beam 13 is 11.87 
Alpha[13]	0.000000
Alpha[13]	0.997929
TNavParticleFilter::Modified Variance for beam 14 is 10.93 
Alpha[14]	0.000000
Alpha[14]	0.997439
TNavParticleFilter::Modified Variance for beam 15 is 11.00 
Alpha[15]	0.000000
Alpha[15]	0.997341
TNavParticleFilter::Modified Variance for beam 16 is 11.07 
Alpha[16]	0.000000
Alpha[16]	0.997318
TNavParticleFilter::Modified Variance for beam 17 is 10.75 
Alpha[17]	0.000000
Alpha[17]	0.996970
TNavParticleFilter::Modified Variance for beam 18 is 10.43 
Alpha[18]	0.000000
Alpha[18]	0.996476
TNavParticleFilter::Modified Variance for beam 19 is 10.51 
Alpha[19]	0.000000
Alpha[19]	0.996264
TNavParticleFilter::Modified Variance for beam 20 is 10.59 
Alpha[20]	0.000000
Alpha[20]	0.996373
TNavParticleFilter::Modified Variance for beam 21 is 10.68 
Alpha[21]	0.000000
Alpha[21]	0.996494
TNavParticleFilter::Modified Variance for beam 22 is 10.78 
Alpha[22]	0.000000
Alpha[22]	0.996286
TNavParticleFilter::Modified Variance for beam 23 is 10.88 
Alpha[23]	0.000000
Alpha[23]	0.995865
TNavParticleFilter::Modified Variance for beam 24 is 11.85 
Alpha[24]	0.000000
Alpha[24]	0.995305
TNavParticleFilter::Modified Variance for beam 25 is 11.99 
Alpha[25]	0.000000
Alpha[25]	0.994639
TNavParticleFilter::Modified Variance for beam 26 is 12.13 
Alpha[26]	0.000000
Alpha[26]	0.994391
TNavParticleFilter::Modified Variance for beam 27 is 12.28 
Alpha[27]	0.000000
Alpha[27]	0.993894
TNavParticleFilter::Modified Variance for beam 28 is 12.45 
Alpha[28]	0.000000
Alpha[28]	0.992695
TNavParticleFilter::Modified Variance for beam 29 is 12.61 
Alpha[29]	0.000000
Alpha[29]	0.992631
TNavParticleFilter::Modified Variance for beam 30 is 13.77 
Alpha[30]	0.000000
Alpha[30]	0.994050
TNavParticleFilter::Modified Variance for beam 31 is 13.98 
Alpha[31]	0.000000
Alpha[31]	0.993586
TNavParticleFilter::Modified Variance for beam 32 is 14.22 
Alpha[32]	0.000000
Alpha[32]	0.991935
TNavParticleFilter::Modified Variance for beam 33 is 14.49 
Alpha[33]	0.000000
Alpha[33]	0.989809
TNavParticleFilter::Modified Variance for beam 34 is 14.76 
Alpha[34]	0.000000
Alpha[34]	0.987928
TNavParticleFilter::Modified Variance for beam 35 is 15.02 
Alpha[35]	0.000000
Alpha[35]	0.988020
TNavParticleFilter::Modified Variance for beam 36 is 15.26 
Alpha[36]	0.000000
Alpha[36]	0.990482
TNavParticleFilter::Modified Variance for beam 37 is 15.53 
Alpha[37]	0.000000
Alpha[37]	0.991896
TNavParticleFilter::Modified Variance for beam 38 is 15.85 
Alpha[38]	0.000000
Alpha[38]	0.991628
TNavParticleFilter::Modified Variance for beam 39 is 16.18 
Alpha[39]	0.000000
Alpha[39]	0.991798
TNavParticleFilter::Modified Variance for beam 40 is 16.49 
Alpha[40]	0.000000
Alpha[40]	0.994633
TNavParticleFilter::Modified Variance for beam 41 is 18.23 
Alpha[41]	0.000000
Alpha[41]	0.995444
TNavParticleFilter::Modified Variance for beam 42 is 18.68 
Alpha[42]	0.000000
Alpha[42]	0.994995
TNavParticleFilter::Modified Variance for beam 43 is 19.15 
Alpha[43]	0.000000
Alpha[43]	0.995514
TNavParticleFilter::Modified Variance for beam 44 is 19.66 
Alpha[44]	0.000000
Alpha[44]	0.995382
TNavParticleFilter::Modified Variance for beam 45 is 20.18 
Alpha[45]	0.000000
Alpha[45]	0.996593
TNavParticleFilter::Modified Variance for beam 46 is 20.73 
Alpha[46]	0.000000
Alpha[46]	0.997830
TNavParticleFilter::Modified Variance for beam 47 is 21.36 
Alpha[47]	0.000000
Alpha[47]	0.997694
TNavParticleFilter::Modified Variance for beam 48 is 23.85 
Alpha[48]	0.000000
Alpha[48]	0.997140
TNavParticleFilter::Modified Variance for beam 49 is 24.66 
Alpha[49]	0.000000
Alpha[49]	0.996291
TNavParticleFilter::Modified Variance for beam 50 is 25.61 
Alpha[50]	0.000000
Alpha[50]	0.992212
TNavParticleFilter::Modified Variance for beam 51 is 26.59 
Alpha[51]	0.000000
Alpha[51]	0.990115
TNavParticleFilter::Modified Variance for beam 52 is 27.44 
Alpha[52]	0.000000
Alpha[52]	0.995374
TNavParticleFilter::Modified Variance for beam 53 is 28.44 
Alpha[53]	0.000000
Alpha[53]	0.997741
TNavParticleFilter::Modified Variance for beam 54 is 29.60 
Alpha[54]	0.000000
Alpha[54]	0.997946
TNavParticleFilter::Modified Variance for beam 55 is 30.86 
Alpha[55]	0.000000
Alpha[55]	0.997800
TNavParticleFilter::Modified Variance for beam 56 is 30.51 
Alpha[56]	0.000000
Alpha[56]	0.994413
TNavParticleFilter::Modified Variance for beam 57 is 31.25 
Alpha[57]	0.000000
Alpha[57]	0.990799
TNavParticleFilter::Modified Variance for beam 58 is 32.87 
Alpha[58]	0.000000
Alpha[58]	0.986986
TNavParticleFilter::Modified Variance for beam 59 is 34.62 
Alpha[59]	0.000000
Alpha[59]	0.984086
TNavPF:: sumSquaredError = 31.883364 
TNavPF:: sumWeights = 0.038533 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.01. Range = 67.76 
TNavPF::Calculated measDiffMean for beam 31 as 0.99. Range = 67.06 
TNavPF::Calculated measDiffMean for beam 32 as -0.19. Range = 66.40 
TNavPF::Calculated measDiffMean for beam 33 as 0.44. Range = 65.77 
TNavPF::Calculated measDiffMean for beam 34 as 0.70. Range = 60.67 
TNavPF::Calculated measDiffMean for beam 35 as 1.05. Range = 60.14 
TNavPF::Calculated measDiffMean for beam 36 as -0.36. Range = 59.64 
TNavPF::Calculated measDiffMean for beam 37 as -1.03. Range = 56.97 
TNavPF::Calculated measDiffMean for beam 38 as 0.16. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 39 as 1.10. Range = 56.13 
TNavPF::Calculated measDiffMean for beam 40 as 0.42. Range = 55.75 
TNavPF::Calculated measDiffMean for beam 41 as 1.54. Range = 55.38 
TNavPF::Calculated measDiffMean for beam 42 as 2.24. Range = 52.92 
TNavPF::Calculated measDiffMean for beam 43 as 1.55. Range = 52.61 
TNavPF::Calculated measDiffMean for beam 44 as -0.10. Range = 52.32 
TNavPF::Calculated measDiffMean for beam 45 as 0.43. Range = 47.88 
TNavPF::Calculated measDiffMean for beam 46 as 0.90. Range = 47.65 
TNavPF::Calculated measDiffMean for beam 47 as 0.50. Range = 47.43 
TNavPF::Calculated measDiffMean for beam 48 as -0.01. Range = 47.23 
TNavPF::Calculated measDiffMean for beam 49 as 0.21. Range = 47.05 
TNavPF::Calculated measDiffMean for beam 50 as 0.14. Range = 46.88 
TNavPF::Calculated measDiffMean for beam 51 as -0.14. Range = 46.72 
TNavPF::Calculated measDiffMean for beam 52 as -0.46. Range = 44.56 
TNavPF::Calculated measDiffMean for beam 53 as -0.72. Range = 44.44 
TNavPF::Calculated measDiffMean for beam 54 as 1.28. Range = 44.49 
TNavPF::Calculated measDiffMean for beam 55 as 1.29. Range = 46.26 
TNavPF::Calculated measDiffMean for beam 56 as 1.18. Range = 46.18 
TNavPF::Calculated measDiffMean for beam 57 as 0.87. Range = 48.13 
TNavPF::Calculated measDiffMean for beam 58 as 0.55. Range = 48.07 
TNavPF::Calculated measDiffMean for beam 59 as 0.29. Range = 48.04 
TNavPF::Calculated measDiffMean for beam 60 as 2.07. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 61 as 1.59. Range = 50.01 
TNavPF::Calculated measDiffMean for beam 62 as 1.24. Range = 48.01 
TNavPF::Calculated measDiffMean for beam 63 as 0.99. Range = 48.03 
TNavPF::Calculated measDiffMean for beam 64 as 0.93. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 65 as 1.07. Range = 48.11 
TNavPF::Calculated measDiffMean for beam 66 as 1.38. Range = 46.17 
TNavPF::Calculated measDiffMean for beam 67 as 1.58. Range = 44.23 
TNavPF::Calculated measDiffMean for beam 68 as 1.58. Range = 44.32 
TNavPF::Calculated measDiffMean for beam 69 as 1.50. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 70 as 0.96. Range = 42.51 
TNavPF::Calculated measDiffMean for beam 71 as 2.27. Range = 42.63 
TNavPF::Calculated measDiffMean for beam 72 as 1.56. Range = 42.77 
TNavPF::Calculated measDiffMean for beam 73 as 0.98. Range = 41.36 
TNavPF::Calculated measDiffMean for beam 74 as 0.57. Range = 38.97 
TNavPF::Calculated measDiffMean for beam 75 as 0.13. Range = 39.14 
TNavPF::Calculated measDiffMean for beam 76 as -0.64. Range = 39.31 
TNavPF::Calculated measDiffMean for beam 77 as -1.24. Range = 38.48 
TNavPF::Calculated measDiffMean for beam 78 as 1.08. Range = 37.61 
TNavPF::Calculated measDiffMean for beam 79 as 0.51. Range = 37.82 
TNavPF::Calculated measDiffMean for beam 80 as 0.49. Range = 38.04 
TNavPF::Calculated measDiffMean for beam 81 as 0.89. Range = 38.27 
TNavPF::Calculated measDiffMean for beam 82 as 0.98. Range = 38.52 
TNavPF::Calculated measDiffMean for beam 83 as 0.95. Range = 38.79 
TNavPF::Calculated measDiffMean for beam 84 as 1.28. Range = 41.24 
TNavPF::Calculated measDiffMean for beam 85 as 1.57. Range = 41.55 
TNavPF::Calculated measDiffMean for beam 86 as -0.37. Range = 41.88 
TNavPF::Calculated measDiffMean for beam 87 as -0.20. Range = 42.23 
TNavPF::Calculated measDiffMean for beam 88 as 0.57. Range = 42.60 
TNavPF::Calculated measDiffMean for beam 89 as 0.93. Range = 42.99 
TNavPF::First Term of Map Covariance Matrix is 10.43 
TNavPF::Calculated NIS Value : 2.47 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322351.82 sec.
INS : North: 4070284.78, East: 588907.13, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 38.79, IDT[75] = 61.49
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322354.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322354.62)
ARL : North: 1.6924, East: -0.6676, Depth: 2.4218ARL : Estimation Bias  (Mean)         : (t = 1488322354.62)
ARL : North: 0.9708, East: -2.1690, Depth: -0.2857TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.79 
Alpha[0]	0.123000
Alpha[0]	0.998449
TNavParticleFilter::Modified Variance for beam 1 is 15.77 
Alpha[1]	0.000000
Alpha[1]	0.998249
TNavParticleFilter::Modified Variance for beam 2 is 15.76 
Alpha[2]	0.000000
Alpha[2]	0.998450
TNavParticleFilter::Modified Variance for beam 3 is 15.74 
Alpha[3]	0.000000
Alpha[3]	0.998653
TNavParticleFilter::Modified Variance for beam 4 is 15.74 
Alpha[4]	0.000000
Alpha[4]	0.998833
TNavParticleFilter::Modified Variance for beam 5 is 13.86 
Alpha[5]	0.000000
Alpha[5]	0.998842
TNavParticleFilter::Modified Variance for beam 6 is 13.88 
Alpha[6]	0.000000
Alpha[6]	0.998766
TNavParticleFilter::Modified Variance for beam 7 is 13.01 
Alpha[7]	0.000000
Alpha[7]	0.998487
TNavParticleFilter::Modified Variance for beam 8 is 13.04 
Alpha[8]	0.000000
Alpha[8]	0.998165
TNavParticleFilter::Modified Variance for beam 9 is 13.07 
Alpha[9]	0.000000
Alpha[9]	0.998097
TNavParticleFilter::Modified Variance for beam 10 is 11.78 
Alpha[10]	0.000000
Alpha[10]	0.997828
TNavParticleFilter::Modified Variance for beam 11 is 11.47 
Alpha[11]	0.000000
Alpha[11]	0.997411
TNavParticleFilter::Modified Variance for beam 12 is 11.51 
Alpha[12]	0.000000
Alpha[12]	0.997293
TNavParticleFilter::Modified Variance for beam 13 is 11.48 
Alpha[13]	0.000000
Alpha[13]	0.996999
TNavParticleFilter::Modified Variance for beam 14 is 10.82 
Alpha[14]	0.000000
Alpha[14]	0.996478
TNavParticleFilter::Modified Variance for beam 15 is 10.88 
Alpha[15]	0.000000
Alpha[15]	0.996155
TNavParticleFilter::Modified Variance for beam 16 is 10.93 
Alpha[16]	0.000000
Alpha[16]	0.996141
TNavParticleFilter::Modified Variance for beam 17 is 11.00 
Alpha[17]	0.000000
Alpha[17]	0.996055
TNavParticleFilter::Modified Variance for beam 18 is 11.07 
Alpha[18]	0.000000
Alpha[18]	0.995701
TNavParticleFilter::Modified Variance for beam 19 is 11.14 
Alpha[19]	0.000000
Alpha[19]	0.995447
TNavParticleFilter::Modified Variance for beam 20 is 12.06 
Alpha[20]	0.000000
Alpha[20]	0.994911
TNavParticleFilter::Modified Variance for beam 21 is 12.16 
Alpha[21]	0.000000
Alpha[21]	0.994021
TNavParticleFilter::Modified Variance for beam 22 is 12.28 
Alpha[22]	0.000000
Alpha[22]	0.993071
TNavParticleFilter::Modified Variance for beam 23 is 12.40 
Alpha[23]	0.000000
Alpha[23]	0.991574
TNavParticleFilter::Modified Variance for beam 24 is 12.54 
Alpha[24]	0.000000
Alpha[24]	0.989635
TNavParticleFilter::Modified Variance for beam 25 is 12.66 
Alpha[25]	0.000000
Alpha[25]	0.989842
TNavParticleFilter::Modified Variance for beam 26 is 12.76 
Alpha[26]	0.000000
Alpha[26]	0.992000
TNavParticleFilter::Modified Variance for beam 27 is 13.86 
Alpha[27]	0.000000
Alpha[27]	0.992387
TNavParticleFilter::Modified Variance for beam 28 is 14.05 
Alpha[28]	0.000000
Alpha[28]	0.990363
TNavParticleFilter::Modified Variance for beam 29 is 14.26 
Alpha[29]	0.000000
Alpha[29]	0.988064
TNavParticleFilter::Modified Variance for beam 30 is 14.50 
Alpha[30]	0.000000
Alpha[30]	0.984506
TNavParticleFilter::Modified Variance for beam 31 is 14.71 
Alpha[31]	0.000000
Alpha[31]	0.983402
TNavParticleFilter::Modified Variance for beam 32 is 14.89 
Alpha[32]	0.000000
Alpha[32]	0.985596
TNavParticleFilter::Modified Variance for beam 33 is 15.07 
Alpha[33]	0.000000
Alpha[33]	0.988528
TNavParticleFilter::Modified Variance for beam 34 is 15.28 
Alpha[34]	0.000000
Alpha[34]	0.989824
TNavParticleFilter::Modified Variance for beam 35 is 15.54 
Alpha[35]	0.000000
Alpha[35]	0.989240
TNavParticleFilter::Modified Variance for beam 36 is 15.80 
Alpha[36]	0.000000
Alpha[36]	0.989907
TNavParticleFilter::Modified Variance for beam 37 is 16.04 
Alpha[37]	0.000000
Alpha[37]	0.992130
TNavParticleFilter::Modified Variance for beam 38 is 17.56 
Alpha[38]	0.000000
Alpha[38]	0.994133
TNavParticleFilter::Modified Variance for beam 39 is 17.92 
Alpha[39]	0.000000
Alpha[39]	0.993495
TNavParticleFilter::Modified Variance for beam 40 is 18.29 
Alpha[40]	0.000000
Alpha[40]	0.993665
TNavParticleFilter::Modified Variance for beam 41 is 18.68 
Alpha[41]	0.000000
Alpha[41]	0.994065
TNavParticleFilter::Modified Variance for beam 42 is 19.09 
Alpha[42]	0.000000
Alpha[42]	0.994668
TNavParticleFilter::Modified Variance for beam 43 is 19.50 
Alpha[43]	0.000000
Alpha[43]	0.996389
TNavParticleFilter::Modified Variance for beam 44 is 21.49 
Alpha[44]	0.000000
Alpha[44]	0.997577
TNavParticleFilter::Modified Variance for beam 45 is 22.05 
Alpha[45]	0.000000
Alpha[45]	0.997260
TNavParticleFilter::Modified Variance for beam 46 is 22.66 
Alpha[46]	0.000000
Alpha[46]	0.996639
TNavParticleFilter::Modified Variance for beam 47 is 23.32 
Alpha[47]	0.000000
Alpha[47]	0.995896
TNavParticleFilter::Modified Variance for beam 48 is 24.03 
Alpha[48]	0.000000
Alpha[48]	0.994511
TNavParticleFilter::Modified Variance for beam 49 is 24.93 
Alpha[49]	0.000000
Alpha[49]	0.987906
TNavParticleFilter::Modified Variance for beam 50 is 25.66 
Alpha[50]	0.000000
Alpha[50]	0.990384
TNavParticleFilter::Modified Variance for beam 51 is 26.36 
Alpha[51]	0.000000
Alpha[51]	0.995786
TNavParticleFilter::Modified Variance for beam 52 is 27.22 
Alpha[52]	0.000000
Alpha[52]	0.997382
TNavParticleFilter::Modified Variance for beam 53 is 28.20 
Alpha[53]	0.000000
Alpha[53]	0.997359
TNavParticleFilter::Modified Variance for beam 54 is 29.27 
Alpha[54]	0.000000
Alpha[54]	0.996633
TNavParticleFilter::Modified Variance for beam 55 is 29.45 
Alpha[55]	0.000000
Alpha[55]	0.991110
TNavParticleFilter::Modified Variance for beam 56 is 29.43 
Alpha[56]	0.000000
Alpha[56]	0.990415
TNavParticleFilter::Modified Variance for beam 57 is 30.74 
Alpha[57]	0.000000
Alpha[57]	0.987855
TNavParticleFilter::Modified Variance for beam 58 is 32.26 
Alpha[58]	0.000000
Alpha[58]	0.982401
TNavParticleFilter::Modified Variance for beam 59 is 33.75 
Alpha[59]	0.000000
Alpha[59]	0.981834
TNavPF:: sumSquaredError = 1.090587 
TNavPF:: sumWeights = 0.049456 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.69. Range = 76.74 
TNavPF::Calculated measDiffMean for beam 31 as -0.01. Range = 71.13 
TNavPF::Calculated measDiffMean for beam 32 as 0.33. Range = 70.36 
TNavPF::Calculated measDiffMean for beam 33 as 0.67. Range = 69.63 
TNavPF::Calculated measDiffMean for beam 34 as 1.60. Range = 66.63 
TNavPF::Calculated measDiffMean for beam 35 as -0.72. Range = 65.99 
TNavPF::Calculated measDiffMean for beam 36 as 0.32. Range = 63.13 
TNavPF::Calculated measDiffMean for beam 37 as -0.20. Range = 60.33 
TNavPF::Calculated measDiffMean for beam 38 as 1.18. Range = 59.82 
TNavPF::Calculated measDiffMean for beam 39 as 1.90. Range = 59.34 
TNavPF::Calculated measDiffMean for beam 40 as -0.27. Range = 58.88 
TNavPF::Calculated measDiffMean for beam 41 as -0.26. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 42 as 0.21. Range = 55.89 
TNavPF::Calculated measDiffMean for beam 43 as 0.64. Range = 55.52 
TNavPF::Calculated measDiffMean for beam 44 as -0.51. Range = 50.92 
TNavPF::Calculated measDiffMean for beam 45 as -0.25. Range = 50.61 
TNavPF::Calculated measDiffMean for beam 46 as -0.34. Range = 50.33 
TNavPF::Calculated measDiffMean for beam 47 as -0.65. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 48 as -0.95. Range = 49.81 
TNavPF::Calculated measDiffMean for beam 49 as -1.18. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 50 as 0.71. Range = 47.31 
TNavPF::Calculated measDiffMean for beam 51 as 0.74. Range = 47.12 
TNavPF::Calculated measDiffMean for beam 52 as 0.68. Range = 47.04 
TNavPF::Calculated measDiffMean for beam 53 as 0.45. Range = 48.82 
TNavPF::Calculated measDiffMean for beam 54 as 0.18. Range = 48.67 
TNavPF::Calculated measDiffMean for beam 55 as 0.01. Range = 49.99 
TNavPF::Calculated measDiffMean for beam 56 as -0.35. Range = 50.44 
TNavPF::Calculated measDiffMean for beam 57 as 1.27. Range = 50.34 
TNavPF::Calculated measDiffMean for beam 58 as 0.94. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 59 as 0.70. Range = 52.18 
TNavPF::Calculated measDiffMean for beam 60 as 0.55. Range = 50.11 
TNavPF::Calculated measDiffMean for beam 61 as 0.55. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 62 as 0.69. Range = 50.03 
TNavPF::Calculated measDiffMean for beam 63 as 0.95. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 64 as 1.10. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 65 as 1.10. Range = 46.03 
TNavPF::Calculated measDiffMean for beam 66 as 1.05. Range = 46.06 
TNavPF::Calculated measDiffMean for beam 67 as 0.75. Range = 44.10 
TNavPF::Calculated measDiffMean for beam 68 as 2.16. Range = 44.15 
TNavPF::Calculated measDiffMean for beam 69 as 1.31. Range = 44.22 
TNavPF::Calculated measDiffMean for beam 70 as 0.87. Range = 41.13 
TNavPF::Calculated measDiffMean for beam 71 as 0.43. Range = 40.36 
TNavPF::Calculated measDiffMean for beam 72 as 0.17. Range = 40.46 
TNavPF::Calculated measDiffMean for beam 73 as -0.10. Range = 40.37 
TNavPF::Calculated measDiffMean for beam 74 as 1.72. Range = 38.66 
TNavPF::Calculated measDiffMean for beam 75 as 1.00. Range = 38.79 
TNavPF::Calculated measDiffMean for beam 76 as 0.65. Range = 38.93 
TNavPF::Calculated measDiffMean for beam 77 as 0.21. Range = 39.09 
TNavPF::Calculated measDiffMean for beam 78 as -0.19. Range = 39.26 
TNavPF::Calculated measDiffMean for beam 79 as 0.23. Range = 39.45 
TNavPF::Calculated measDiffMean for beam 80 as 0.58. Range = 41.74 
TNavPF::Calculated measDiffMean for beam 81 as 0.62. Range = 41.96 
TNavPF::Calculated measDiffMean for beam 82 as 0.48. Range = 42.20 
TNavPF::Calculated measDiffMean for beam 83 as 0.69. Range = 42.46 
TNavPF::Calculated measDiffMean for beam 84 as 0.86. Range = 42.73 
TNavPF::Calculated measDiffMean for beam 85 as -0.32. Range = 43.01 
TNavPF::Calculated measDiffMean for beam 86 as -0.79. Range = 43.32 
TNavPF::Calculated measDiffMean for beam 87 as 0.04. Range = 45.83 
TNavPF::Calculated measDiffMean for beam 88 as 0.49. Range = 46.19 
TNavPF::Calculated measDiffMean for beam 89 as 0.81. Range = 46.57 
TNavPF::First Term of Map Covariance Matrix is 12.88 
TNavPF::Calculated NIS Value : 2.06 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322354.82 sec.
INS : North: 4070286.58, East: 588903.23, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 40.12, IDT[75] = 58.52
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322357.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322357.62)
ARL : North: 2.0909, East: -0.2607, Depth: 3.4369ARL : Estimation Bias  (Mean)         : (t = 1488322357.62)
ARL : North: 1.0577, East: -2.2497, Depth: -0.2374TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.72 
Alpha[0]	0.123000
Alpha[0]	0.998859
TNavParticleFilter::Modified Variance for beam 1 is 15.67 
Alpha[1]	0.000000
Alpha[1]	0.999121
TNavParticleFilter::Modified Variance for beam 2 is 15.63 
Alpha[2]	0.000000
Alpha[2]	0.999112
TNavParticleFilter::Modified Variance for beam 3 is 14.65 
Alpha[3]	0.000000
Alpha[3]	0.998992
TNavParticleFilter::Modified Variance for beam 4 is 14.63 
Alpha[4]	0.000000
Alpha[4]	0.998895
TNavParticleFilter::Modified Variance for beam 5 is 13.71 
Alpha[5]	0.000000
Alpha[5]	0.998505
TNavParticleFilter::Modified Variance for beam 6 is 13.71 
Alpha[6]	0.000000
Alpha[6]	0.998325
TNavParticleFilter::Modified Variance for beam 7 is 13.71 
Alpha[7]	0.000000
Alpha[7]	0.997976
TNavParticleFilter::Modified Variance for beam 8 is 12.01 
Alpha[8]	0.000000
Alpha[8]	0.997554
TNavParticleFilter::Modified Variance for beam 9 is 12.02 
Alpha[9]	0.000000
Alpha[9]	0.997253
TNavParticleFilter::Modified Variance for beam 10 is 12.05 
Alpha[10]	0.000000
Alpha[10]	0.996562
TNavParticleFilter::Modified Variance for beam 11 is 11.27 
Alpha[11]	0.000000
Alpha[11]	0.996063
TNavParticleFilter::Modified Variance for beam 12 is 11.30 
Alpha[12]	0.000000
Alpha[12]	0.995928
TNavParticleFilter::Modified Variance for beam 13 is 11.33 
Alpha[13]	0.000000
Alpha[13]	0.995658
TNavParticleFilter::Modified Variance for beam 14 is 11.37 
Alpha[14]	0.000000
Alpha[14]	0.995333
TNavParticleFilter::Modified Variance for beam 15 is 11.41 
Alpha[15]	0.000000
Alpha[15]	0.995294
TNavParticleFilter::Modified Variance for beam 16 is 12.28 
Alpha[16]	0.000000
Alpha[16]	0.995032
TNavParticleFilter::Modified Variance for beam 17 is 12.34 
Alpha[17]	0.000000
Alpha[17]	0.994286
TNavParticleFilter::Modified Variance for beam 18 is 12.42 
Alpha[18]	0.000000
Alpha[18]	0.992857
TNavParticleFilter::Modified Variance for beam 19 is 12.53 
Alpha[19]	0.000000
Alpha[19]	0.989857
TNavParticleFilter::Modified Variance for beam 20 is 12.63 
Alpha[20]	0.000000
Alpha[20]	0.987938
TNavParticleFilter::Modified Variance for beam 21 is 12.70 
Alpha[21]	0.000000
Alpha[21]	0.988956
TNavParticleFilter::Modified Variance for beam 22 is 12.76 
Alpha[22]	0.000000
Alpha[22]	0.991079
TNavParticleFilter::Modified Variance for beam 23 is 12.84 
Alpha[23]	0.000000
Alpha[23]	0.992178
TNavParticleFilter::Modified Variance for beam 24 is 13.89 
Alpha[24]	0.000000
Alpha[24]	0.990457
TNavParticleFilter::Modified Variance for beam 25 is 14.03 
Alpha[25]	0.000000
Alpha[25]	0.988974
TNavParticleFilter::Modified Variance for beam 26 is 14.21 
Alpha[26]	0.000000
Alpha[26]	0.985905
TNavParticleFilter::Modified Variance for beam 27 is 14.38 
Alpha[27]	0.000000
Alpha[27]	0.983669
TNavParticleFilter::Modified Variance for beam 28 is 14.49 
Alpha[28]	0.000000
Alpha[28]	0.985667
TNavParticleFilter::Modified Variance for beam 29 is 14.62 
Alpha[29]	0.000000
Alpha[29]	0.987985
TNavParticleFilter::Modified Variance for beam 30 is 14.76 
Alpha[30]	0.000000
Alpha[30]	0.989520
TNavParticleFilter::Modified Variance for beam 31 is 14.95 
Alpha[31]	0.000000
Alpha[31]	0.989107
TNavParticleFilter::Modified Variance for beam 32 is 15.15 
Alpha[32]	0.000000
Alpha[32]	0.988226
TNavParticleFilter::Modified Variance for beam 33 is 15.33 
Alpha[33]	0.000000
Alpha[33]	0.989438
TNavParticleFilter::Modified Variance for beam 34 is 15.52 
Alpha[34]	0.000000
Alpha[34]	0.990952
TNavParticleFilter::Modified Variance for beam 35 is 15.72 
Alpha[35]	0.000000
Alpha[35]	0.992822
TNavParticleFilter::Modified Variance for beam 36 is 17.13 
Alpha[36]	0.000000
Alpha[36]	0.992919
TNavParticleFilter::Modified Variance for beam 37 is 16.22 
Alpha[37]	0.000000
Alpha[37]	0.992917
TNavParticleFilter::Modified Variance for beam 38 is 17.70 
Alpha[38]	0.000000
Alpha[38]	0.993140
TNavParticleFilter::Modified Variance for beam 39 is 18.02 
Alpha[39]	0.000000
Alpha[39]	0.992988
TNavParticleFilter::Modified Variance for beam 40 is 18.33 
Alpha[40]	0.000000
Alpha[40]	0.994544
TNavParticleFilter::Modified Variance for beam 41 is 18.66 
Alpha[41]	0.000000
Alpha[41]	0.996068
TNavParticleFilter::Modified Variance for beam 42 is 19.02 
Alpha[42]	0.000000
Alpha[42]	0.996749
TNavParticleFilter::Modified Variance for beam 43 is 19.43 
Alpha[43]	0.000000
Alpha[43]	0.996297
TNavParticleFilter::Modified Variance for beam 44 is 19.87 
Alpha[44]	0.000000
Alpha[44]	0.996101
TNavParticleFilter::Modified Variance for beam 45 is 20.34 
Alpha[45]	0.000000
Alpha[45]	0.995357
TNavParticleFilter::Modified Variance for beam 46 is 22.39 
Alpha[46]	0.000000
Alpha[46]	0.994791
TNavParticleFilter::Modified Variance for beam 47 is 23.07 
Alpha[47]	0.000000
Alpha[47]	0.989964
TNavParticleFilter::Modified Variance for beam 48 is 23.70 
Alpha[48]	0.000000
Alpha[48]	0.988951
TNavParticleFilter::Modified Variance for beam 49 is 24.20 
Alpha[49]	0.000000
Alpha[49]	0.995182
TNavParticleFilter::Modified Variance for beam 50 is 24.84 
Alpha[50]	0.000000
Alpha[50]	0.997186
TNavParticleFilter::Modified Variance for beam 51 is 25.57 
Alpha[51]	0.000000
Alpha[51]	0.997573
TNavParticleFilter::Modified Variance for beam 52 is 26.37 
Alpha[52]	0.000000
Alpha[52]	0.997200
TNavParticleFilter::Modified Variance for beam 53 is 27.31 
Alpha[53]	0.000000
Alpha[53]	0.993929
TNavParticleFilter::Modified Variance for beam 54 is 28.38 
Alpha[54]	0.000000
Alpha[54]	0.988237
TNavParticleFilter::Modified Variance for beam 55 is 27.98 
Alpha[55]	0.000000
Alpha[55]	0.989460
TNavParticleFilter::Modified Variance for beam 56 is 28.29 
Alpha[56]	0.000000
Alpha[56]	0.985916
TNavParticleFilter::Modified Variance for beam 57 is 29.52 
Alpha[57]	0.000000
Alpha[57]	0.980508
TNavParticleFilter::Modified Variance for beam 58 is 30.69 
Alpha[58]	0.000000
Alpha[58]	0.980032
TNavParticleFilter::Modified Variance for beam 59 is 31.70 
Alpha[59]	0.000000
Alpha[59]	0.987315
TNavPF:: sumSquaredError = 22.049283 
TNavPF:: sumWeights = 0.024862 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.92. Range = 83.97 
TNavPF::Calculated measDiffMean for beam 31 as -0.34. Range = 80.47 
TNavPF::Calculated measDiffMean for beam 32 as 1.25. Range = 74.65 
TNavPF::Calculated measDiffMean for beam 33 as 0.50. Range = 71.39 
TNavPF::Calculated measDiffMean for beam 34 as 2.08. Range = 68.23 
TNavPF::Calculated measDiffMean for beam 35 as 1.44. Range = 67.49 
TNavPF::Calculated measDiffMean for beam 36 as 2.22. Range = 66.79 
TNavPF::Calculated measDiffMean for beam 37 as 3.37. Range = 63.84 
TNavPF::Calculated measDiffMean for beam 38 as 0.02. Range = 63.23 
TNavPF::Calculated measDiffMean for beam 39 as 0.58. Range = 62.65 
TNavPF::Calculated measDiffMean for beam 40 as 1.31. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 41 as -0.42. Range = 61.58 
TNavPF::Calculated measDiffMean for beam 42 as -0.55. Range = 58.89 
TNavPF::Calculated measDiffMean for beam 43 as -0.91. Range = 58.43 
TNavPF::Calculated measDiffMean for beam 44 as -1.16. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 45 as -1.38. Range = 53.31 
TNavPF::Calculated measDiffMean for beam 46 as 0.44. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 47 as 0.44. Range = 52.62 
TNavPF::Calculated measDiffMean for beam 48 as 0.34. Range = 52.31 
TNavPF::Calculated measDiffMean for beam 49 as 0.06. Range = 49.92 
TNavPF::Calculated measDiffMean for beam 50 as -0.16. Range = 49.66 
TNavPF::Calculated measDiffMean for beam 51 as -0.31. Range = 50.32 
TNavPF::Calculated measDiffMean for beam 52 as -0.56. Range = 51.26 
TNavPF::Calculated measDiffMean for beam 53 as -1.11. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 54 as 0.60. Range = 52.88 
TNavPF::Calculated measDiffMean for beam 55 as 0.34. Range = 52.69 
TNavPF::Calculated measDiffMean for beam 56 as 0.11. Range = 52.52 
TNavPF::Calculated measDiffMean for beam 57 as 0.05. Range = 54.38 
TNavPF::Calculated measDiffMean for beam 58 as 0.10. Range = 54.24 
TNavPF::Calculated measDiffMean for beam 59 as 0.29. Range = 52.09 
TNavPF::Calculated measDiffMean for beam 60 as 0.52. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 61 as 0.56. Range = 49.88 
TNavPF::Calculated measDiffMean for beam 62 as 0.52. Range = 49.81 
TNavPF::Calculated measDiffMean for beam 63 as 0.45. Range = 47.75 
TNavPF::Calculated measDiffMean for beam 64 as 0.05. Range = 47.71 
TNavPF::Calculated measDiffMean for beam 65 as -0.84. Range = 45.68 
TNavPF::Calculated measDiffMean for beam 66 as 0.71. Range = 45.67 
TNavPF::Calculated measDiffMean for beam 67 as -2.01. Range = 45.67 
TNavPF::Calculated measDiffMean for beam 68 as -0.14. Range = 41.68 
TNavPF::Calculated measDiffMean for beam 69 as -0.41. Range = 41.71 
TNavPF::Calculated measDiffMean for beam 70 as -0.66. Range = 41.75 
TNavPF::Calculated measDiffMean for beam 71 as -1.03. Range = 39.80 
TNavPF::Calculated measDiffMean for beam 72 as -1.99. Range = 39.86 
TNavPF::Calculated measDiffMean for beam 73 as -2.46. Range = 39.94 
TNavPF::Calculated measDiffMean for beam 74 as -2.71. Range = 40.02 
TNavPF::Calculated measDiffMean for beam 75 as -3.19. Range = 40.12 
TNavPF::Calculated measDiffMean for beam 76 as -1.11. Range = 42.27 
TNavPF::Calculated measDiffMean for beam 77 as -1.00. Range = 42.40 
TNavPF::Calculated measDiffMean for beam 78 as -0.57. Range = 42.55 
TNavPF::Calculated measDiffMean for beam 79 as -0.43. Range = 42.71 
TNavPF::Calculated measDiffMean for beam 80 as -0.49. Range = 42.88 
TNavPF::Calculated measDiffMean for beam 81 as -0.62. Range = 43.07 
TNavPF::Calculated measDiffMean for beam 82 as -0.49. Range = 43.28 
TNavPF::Calculated measDiffMean for beam 83 as -0.69. Range = 43.50 
TNavPF::Calculated measDiffMean for beam 84 as -0.06. Range = 45.84 
TNavPF::Calculated measDiffMean for beam 85 as -0.95. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 86 as -1.49. Range = 46.38 
TNavPF::Calculated measDiffMean for beam 87 as -1.24. Range = 46.68 
TNavPF::Calculated measDiffMean for beam 88 as -1.05. Range = 47.00 
TNavPF::Calculated measDiffMean for beam 89 as -0.24. Range = 47.33 
TNavPF::First Term of Map Covariance Matrix is 17.52 
TNavPF::Calculated NIS Value : 3.93 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322357.82 sec.
INS : North: 4070288.45, East: 588899.37, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 48.12, IDT[75] = 70.70
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322360.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322360.62)
ARL : North: -0.1713, East: -1.9652, Depth: -0.7645ARL : Estimation Bias  (Mean)         : (t = 1488322360.62)
ARL : North: 0.7966, East: -1.9090, Depth: -0.1267TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.99 
Alpha[0]	0.123000
Alpha[0]	0.995843
TNavParticleFilter::Modified Variance for beam 1 is 13.02 
Alpha[1]	0.000000
Alpha[1]	0.995274
TNavParticleFilter::Modified Variance for beam 2 is 13.04 
Alpha[2]	0.000000
Alpha[2]	0.995099
TNavParticleFilter::Modified Variance for beam 3 is 13.08 
Alpha[3]	0.000000
Alpha[3]	0.994712
TNavParticleFilter::Modified Variance for beam 4 is 13.12 
Alpha[4]	0.000000
Alpha[4]	0.993731
TNavParticleFilter::Modified Variance for beam 5 is 13.19 
Alpha[5]	0.000000
Alpha[5]	0.991348
TNavParticleFilter::Modified Variance for beam 6 is 13.30 
Alpha[6]	0.000000
Alpha[6]	0.987033
TNavParticleFilter::Modified Variance for beam 7 is 13.37 
Alpha[7]	0.000000
Alpha[7]	0.985857
TNavParticleFilter::Modified Variance for beam 8 is 13.41 
Alpha[8]	0.000000
Alpha[8]	0.987409
TNavParticleFilter::Modified Variance for beam 9 is 13.45 
Alpha[9]	0.000000
Alpha[9]	0.988870
TNavParticleFilter::Modified Variance for beam 10 is 14.45 
Alpha[10]	0.000000
Alpha[10]	0.989457
TNavParticleFilter::Modified Variance for beam 11 is 14.59 
Alpha[11]	0.000000
Alpha[11]	0.986173
TNavParticleFilter::Modified Variance for beam 12 is 14.74 
Alpha[12]	0.000000
Alpha[12]	0.982182
TNavParticleFilter::Modified Variance for beam 13 is 14.91 
Alpha[13]	0.000000
Alpha[13]	0.977675
TNavParticleFilter::Modified Variance for beam 14 is 15.11 
Alpha[14]	0.000000
Alpha[14]	0.972562
TNavParticleFilter::Modified Variance for beam 15 is 15.21 
Alpha[15]	0.000000
Alpha[15]	0.973953
TNavParticleFilter::Modified Variance for beam 16 is 15.28 
Alpha[16]	0.000000
Alpha[16]	0.977713
TNavParticleFilter::Modified Variance for beam 17 is 15.36 
Alpha[17]	0.000000
Alpha[17]	0.981538
TNavParticleFilter::Modified Variance for beam 18 is 15.48 
Alpha[18]	0.000000
Alpha[18]	0.983465
TNavParticleFilter::Modified Variance for beam 19 is 15.64 
Alpha[19]	0.000000
Alpha[19]	0.983353
TNavParticleFilter::Modified Variance for beam 20 is 15.79 
Alpha[20]	0.000000
Alpha[20]	0.984741
TNavParticleFilter::Modified Variance for beam 21 is 15.92 
Alpha[21]	0.000000
Alpha[21]	0.987541
TNavParticleFilter::Modified Variance for beam 22 is 16.09 
Alpha[22]	0.000000
Alpha[22]	0.989303
TNavParticleFilter::Modified Variance for beam 23 is 17.40 
Alpha[23]	0.000000
Alpha[23]	0.991139
TNavParticleFilter::Modified Variance for beam 24 is 17.66 
Alpha[24]	0.000000
Alpha[24]	0.990124
TNavParticleFilter::Modified Variance for beam 25 is 17.92 
Alpha[25]	0.000000
Alpha[25]	0.989535
TNavParticleFilter::Modified Variance for beam 26 is 18.16 
Alpha[26]	0.000000
Alpha[26]	0.990874
TNavParticleFilter::Modified Variance for beam 27 is 18.38 
Alpha[27]	0.000000
Alpha[27]	0.994369
TNavParticleFilter::Modified Variance for beam 28 is 18.64 
Alpha[28]	0.000000
Alpha[28]	0.996577
TNavParticleFilter::Modified Variance for beam 29 is 20.27 
Alpha[29]	0.000000
Alpha[29]	0.997242
TNavParticleFilter::Modified Variance for beam 30 is 20.63 
Alpha[30]	0.000000
Alpha[30]	0.997295
TNavParticleFilter::Modified Variance for beam 31 is 21.05 
Alpha[31]	0.000000
Alpha[31]	0.996157
TNavParticleFilter::Modified Variance for beam 32 is 21.47 
Alpha[32]	0.000000
Alpha[32]	0.995620
TNavParticleFilter::Modified Variance for beam 33 is 21.93 
Alpha[33]	0.000000
Alpha[33]	0.995096
TNavParticleFilter::Modified Variance for beam 34 is 22.42 
Alpha[34]	0.000000
Alpha[34]	0.994104
TNavParticleFilter::Modified Variance for beam 35 is 24.02 
Alpha[35]	0.000000
Alpha[35]	0.992256
TNavParticleFilter::Modified Variance for beam 36 is 23.63 
Alpha[36]	0.000000
Alpha[36]	0.986844
TNavParticleFilter::Modified Variance for beam 37 is 24.16 
Alpha[37]	0.000000
Alpha[37]	0.988367
TNavParticleFilter::Modified Variance for beam 38 is 24.65 
Alpha[38]	0.000000
Alpha[38]	0.993346
TNavParticleFilter::Modified Variance for beam 39 is 25.25 
Alpha[39]	0.000000
Alpha[39]	0.995332
TNavParticleFilter::Modified Variance for beam 40 is 25.93 
Alpha[40]	0.000000
Alpha[40]	0.995694
TNavParticleFilter::Modified Variance for beam 41 is 26.70 
Alpha[41]	0.000000
Alpha[41]	0.994478
TNavParticleFilter::Modified Variance for beam 42 is 27.59 
Alpha[42]	0.000000
Alpha[42]	0.990694
TNavParticleFilter::Modified Variance for beam 43 is 28.50 
Alpha[43]	0.000000
Alpha[43]	0.988600
TNavParticleFilter::Modified Variance for beam 44 is 28.22 
Alpha[44]	0.000000
Alpha[44]	0.989626
TNavParticleFilter::Modified Variance for beam 45 is 28.25 
Alpha[45]	0.000000
Alpha[45]	0.989701
TNavParticleFilter::Modified Variance for beam 46 is 29.36 
Alpha[46]	0.000000
Alpha[46]	0.985177
TNavParticleFilter::Modified Variance for beam 47 is 30.60 
Alpha[47]	0.000000
Alpha[47]	0.979071
TNavParticleFilter::Modified Variance for beam 48 is 31.75 
Alpha[48]	0.000000
Alpha[48]	0.978690
TNavParticleFilter::Modified Variance for beam 49 is 32.65 
Alpha[49]	0.000000
Alpha[49]	0.988595
TNavParticleFilter::Modified Variance for beam 50 is 33.80 
Alpha[50]	0.000000
Alpha[50]	0.993723
TNavParticleFilter::Modified Variance for beam 51 is 32.11 
Alpha[51]	0.000000
Alpha[51]	0.993891
TNavParticleFilter::Modified Variance for beam 52 is 31.40 
Alpha[52]	0.000000
Alpha[52]	0.995092
TNavParticleFilter::Modified Variance for beam 53 is 35.56 
Alpha[53]	0.000000
Alpha[53]	0.995074
TNavParticleFilter::Modified Variance for beam 54 is 35.56 
Alpha[54]	0.000000
Alpha[54]	0.993945
TNavParticleFilter::Modified Variance for beam 55 is 36.12 
Alpha[55]	0.000000
Alpha[55]	0.993254
TNavParticleFilter::Modified Variance for beam 56 is 37.92 
Alpha[56]	0.000000
Alpha[56]	0.993924
TNavParticleFilter::Modified Variance for beam 57 is 37.22 
Alpha[57]	0.000000
Alpha[57]	0.993553
TNavParticleFilter::Modified Variance for beam 58 is 38.98 
Alpha[58]	0.000000
Alpha[58]	0.989338
TNavParticleFilter::Modified Variance for beam 59 is 39.81 
Alpha[59]	0.000000
Alpha[59]	0.989814
TNavPF:: sumSquaredError = 15.633374 
TNavPF:: sumWeights = 0.075213 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.02. Range = 65.47 
TNavPF::Calculated measDiffMean for beam 31 as 0.78. Range = 64.89 
TNavPF::Calculated measDiffMean for beam 32 as 0.60. Range = 62.11 
TNavPF::Calculated measDiffMean for beam 33 as 0.41. Range = 57.19 
TNavPF::Calculated measDiffMean for beam 34 as 0.41. Range = 56.74 
TNavPF::Calculated measDiffMean for beam 35 as 0.48. Range = 56.32 
TNavPF::Calculated measDiffMean for beam 36 as 0.41. Range = 55.92 
TNavPF::Calculated measDiffMean for beam 37 as 0.26. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 38 as 0.09. Range = 53.06 
TNavPF::Calculated measDiffMean for beam 39 as -0.13. Range = 52.93 
TNavPF::Calculated measDiffMean for beam 40 as 1.48. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 41 as 1.07. Range = 54.24 
TNavPF::Calculated measDiffMean for beam 42 as 0.89. Range = 55.34 
TNavPF::Calculated measDiffMean for beam 43 as 0.77. Range = 55.79 
TNavPF::Calculated measDiffMean for beam 44 as 0.71. Range = 55.54 
TNavPF::Calculated measDiffMean for beam 45 as 0.73. Range = 57.37 
TNavPF::Calculated measDiffMean for beam 46 as 0.80. Range = 57.15 
TNavPF::Calculated measDiffMean for beam 47 as 0.95. Range = 54.92 
TNavPF::Calculated measDiffMean for beam 48 as 1.05. Range = 54.74 
TNavPF::Calculated measDiffMean for beam 49 as 1.07. Range = 54.59 
TNavPF::Calculated measDiffMean for beam 50 as 1.05. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 51 as 0.89. Range = 50.30 
TNavPF::Calculated measDiffMean for beam 52 as 0.46. Range = 48.19 
TNavPF::Calculated measDiffMean for beam 53 as 1.85. Range = 48.11 
TNavPF::Calculated measDiffMean for beam 54 as 1.18. Range = 48.05 
TNavPF::Calculated measDiffMean for beam 55 as 0.85. Range = 46.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.53. Range = 45.96 
TNavPF::Calculated measDiffMean for beam 57 as 0.51. Range = 41.94 
TNavPF::Calculated measDiffMean for beam 58 as 0.52. Range = 41.94 
TNavPF::Calculated measDiffMean for beam 59 as 2.56. Range = 41.95 
TNavPF::Calculated measDiffMean for beam 60 as 1.40. Range = 43.98 
TNavPF::Calculated measDiffMean for beam 61 as 0.38. Range = 44.01 
TNavPF::Calculated measDiffMean for beam 62 as 0.20. Range = 44.06 
TNavPF::Calculated measDiffMean for beam 63 as -0.00. Range = 44.13 
TNavPF::Calculated measDiffMean for beam 64 as -0.22. Range = 44.21 
TNavPF::Calculated measDiffMean for beam 65 as 1.18. Range = 44.30 
TNavPF::Calculated measDiffMean for beam 66 as 0.10. Range = 44.41 
TNavPF::Calculated measDiffMean for beam 67 as 0.67. Range = 44.53 
TNavPF::Calculated measDiffMean for beam 68 as 0.61. Range = 44.66 
TNavPF::Calculated measDiffMean for beam 69 as 0.32. Range = 44.81 
TNavPF::Calculated measDiffMean for beam 70 as 0.08. Range = 47.02 
TNavPF::Calculated measDiffMean for beam 71 as 0.32. Range = 47.21 
TNavPF::Calculated measDiffMean for beam 72 as 0.53. Range = 47.41 
TNavPF::Calculated measDiffMean for beam 73 as 0.97. Range = 47.63 
TNavPF::Calculated measDiffMean for beam 74 as 0.31. Range = 47.87 
TNavPF::Calculated measDiffMean for beam 75 as -0.12. Range = 48.12 
TNavPF::Calculated measDiffMean for beam 76 as 0.57. Range = 48.39 
TNavPF::Calculated measDiffMean for beam 77 as 0.98. Range = 48.68 
TNavPF::Calculated measDiffMean for beam 78 as 1.30. Range = 48.99 
TNavPF::Calculated measDiffMean for beam 79 as 2.03. Range = 49.31 
TNavPF::Calculated measDiffMean for beam 80 as 2.56. Range = 49.66 
TNavPF::Calculated measDiffMean for beam 81 as -1.03. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 82 as -2.41. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 83 as 2.45. Range = 53.04 
TNavPF::Calculated measDiffMean for beam 84 as 0.93. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 85 as 0.74. Range = 53.96 
TNavPF::Calculated measDiffMean for beam 86 as 1.93. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 87 as -0.37. Range = 54.98 
TNavPF::Calculated measDiffMean for beam 88 as 0.70. Range = 55.54 
TNavPF::Calculated measDiffMean for beam 89 as 0.61. Range = 58.46 
TNavPF::First Term of Map Covariance Matrix is 4.80 
TNavPF::Calculated NIS Value : 1.82 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322360.82 sec.
INS : North: 4070290.70, East: 588895.72, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 49.17, IDT[75] = 67.99
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322363.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322363.62)
ARL : North: 0.2958, East: -0.8432, Depth: -3.6436ARL : Estimation Bias  (Mean)         : (t = 1488322363.62)
ARL : North: 1.1337, East: -2.0157, Depth: -0.0485TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.00 
Alpha[0]	0.123000
Alpha[0]	0.995941
TNavParticleFilter::Modified Variance for beam 1 is 13.00 
Alpha[1]	0.000000
Alpha[1]	0.995433
TNavParticleFilter::Modified Variance for beam 2 is 13.88 
Alpha[2]	0.000000
Alpha[2]	0.995273
TNavParticleFilter::Modified Variance for beam 3 is 13.89 
Alpha[3]	0.000000
Alpha[3]	0.995052
TNavParticleFilter::Modified Variance for beam 4 is 13.90 
Alpha[4]	0.000000
Alpha[4]	0.994328
TNavParticleFilter::Modified Variance for beam 5 is 13.95 
Alpha[5]	0.000000
Alpha[5]	0.991895
TNavParticleFilter::Modified Variance for beam 6 is 14.03 
Alpha[6]	0.000000
Alpha[6]	0.987887
TNavParticleFilter::Modified Variance for beam 7 is 14.08 
Alpha[7]	0.000000
Alpha[7]	0.986515
TNavParticleFilter::Modified Variance for beam 8 is 14.09 
Alpha[8]	0.000000
Alpha[8]	0.987767
TNavParticleFilter::Modified Variance for beam 9 is 15.06 
Alpha[9]	0.000000
Alpha[9]	0.989158
TNavParticleFilter::Modified Variance for beam 10 is 15.10 
Alpha[10]	0.000000
Alpha[10]	0.989674
TNavParticleFilter::Modified Variance for beam 11 is 15.18 
Alpha[11]	0.000000
Alpha[11]	0.987957
TNavParticleFilter::Modified Variance for beam 12 is 15.29 
Alpha[12]	0.000000
Alpha[12]	0.985611
TNavParticleFilter::Modified Variance for beam 13 is 15.41 
Alpha[13]	0.000000
Alpha[13]	0.982297
TNavParticleFilter::Modified Variance for beam 14 is 15.53 
Alpha[14]	0.000000
Alpha[14]	0.980078
TNavParticleFilter::Modified Variance for beam 15 is 15.59 
Alpha[15]	0.000000
Alpha[15]	0.982102
TNavParticleFilter::Modified Variance for beam 16 is 15.65 
Alpha[16]	0.000000
Alpha[16]	0.984624
TNavParticleFilter::Modified Variance for beam 17 is 15.74 
Alpha[17]	0.000000
Alpha[17]	0.985907
TNavParticleFilter::Modified Variance for beam 18 is 15.85 
Alpha[18]	0.000000
Alpha[18]	0.985850
TNavParticleFilter::Modified Variance for beam 19 is 15.99 
Alpha[19]	0.000000
Alpha[19]	0.985163
TNavParticleFilter::Modified Variance for beam 20 is 16.11 
Alpha[20]	0.000000
Alpha[20]	0.985858
TNavParticleFilter::Modified Variance for beam 21 is 16.24 
Alpha[21]	0.000000
Alpha[21]	0.987161
TNavParticleFilter::Modified Variance for beam 22 is 16.38 
Alpha[22]	0.000000
Alpha[22]	0.988104
TNavParticleFilter::Modified Variance for beam 23 is 17.61 
Alpha[23]	0.000000
Alpha[23]	0.990463
TNavParticleFilter::Modified Variance for beam 24 is 17.80 
Alpha[24]	0.000000
Alpha[24]	0.990810
TNavParticleFilter::Modified Variance for beam 25 is 18.01 
Alpha[25]	0.000000
Alpha[25]	0.990460
TNavParticleFilter::Modified Variance for beam 26 is 18.24 
Alpha[26]	0.000000
Alpha[26]	0.989852
TNavParticleFilter::Modified Variance for beam 27 is 18.44 
Alpha[27]	0.000000
Alpha[27]	0.991489
TNavParticleFilter::Modified Variance for beam 28 is 18.63 
Alpha[28]	0.000000
Alpha[28]	0.994530
TNavParticleFilter::Modified Variance for beam 29 is 18.87 
Alpha[29]	0.000000
Alpha[29]	0.995696
TNavParticleFilter::Modified Variance for beam 30 is 20.43 
Alpha[30]	0.000000
Alpha[30]	0.995763
TNavParticleFilter::Modified Variance for beam 31 is 20.76 
Alpha[31]	0.000000
Alpha[31]	0.995529
TNavParticleFilter::Modified Variance for beam 32 is 21.10 
Alpha[32]	0.000000
Alpha[32]	0.995423
TNavParticleFilter::Modified Variance for beam 33 is 21.47 
Alpha[33]	0.000000
Alpha[33]	0.995277
TNavParticleFilter::Modified Variance for beam 34 is 21.87 
Alpha[34]	0.000000
Alpha[34]	0.994560
TNavParticleFilter::Modified Variance for beam 35 is 23.77 
Alpha[35]	0.000000
Alpha[35]	0.993788
TNavParticleFilter::Modified Variance for beam 36 is 23.52 
Alpha[36]	0.000000
Alpha[36]	0.992457
TNavParticleFilter::Modified Variance for beam 37 is 23.29 
Alpha[37]	0.000000
Alpha[37]	0.989246
TNavParticleFilter::Modified Variance for beam 38 is 23.72 
Alpha[38]	0.000000
Alpha[38]	0.991974
TNavParticleFilter::Modified Variance for beam 39 is 24.17 
Alpha[39]	0.000000
Alpha[39]	0.995119
TNavParticleFilter::Modified Variance for beam 40 is 24.70 
Alpha[40]	0.000000
Alpha[40]	0.996239
TNavParticleFilter::Modified Variance for beam 41 is 25.28 
Alpha[41]	0.000000
Alpha[41]	0.996599
TNavParticleFilter::Modified Variance for beam 42 is 25.94 
Alpha[42]	0.000000
Alpha[42]	0.995363
TNavParticleFilter::Modified Variance for beam 43 is 26.76 
Alpha[43]	0.000000
Alpha[43]	0.989730
TNavParticleFilter::Modified Variance for beam 44 is 26.56 
Alpha[44]	0.000000
Alpha[44]	0.988067
TNavParticleFilter::Modified Variance for beam 45 is 26.39 
Alpha[45]	0.000000
Alpha[45]	0.989532
TNavParticleFilter::Modified Variance for beam 46 is 27.17 
Alpha[46]	0.000000
Alpha[46]	0.989002
TNavParticleFilter::Modified Variance for beam 47 is 28.08 
Alpha[47]	0.000000
Alpha[47]	0.985690
TNavParticleFilter::Modified Variance for beam 48 is 29.13 
Alpha[48]	0.000000
Alpha[48]	0.979982
TNavParticleFilter::Modified Variance for beam 49 is 30.11 
Alpha[49]	0.000000
Alpha[49]	0.979058
TNavParticleFilter::Modified Variance for beam 50 is 29.43 
Alpha[50]	0.000000
Alpha[50]	0.984417
TNavParticleFilter::Modified Variance for beam 51 is 29.62 
Alpha[51]	0.000000
Alpha[51]	0.990572
TNavParticleFilter::Modified Variance for beam 52 is 30.62 
Alpha[52]	0.000000
Alpha[52]	0.993234
TNavParticleFilter::Modified Variance for beam 53 is 31.78 
Alpha[53]	0.000000
Alpha[53]	0.993212
TNavParticleFilter::Modified Variance for beam 54 is 33.00 
Alpha[54]	0.000000
Alpha[54]	0.994264
TNavParticleFilter::Modified Variance for beam 55 is 32.83 
Alpha[55]	0.000000
Alpha[55]	0.994237
TNavParticleFilter::Modified Variance for beam 56 is 33.23 
Alpha[56]	0.000000
Alpha[56]	0.993214
TNavParticleFilter::Modified Variance for beam 57 is 34.71 
Alpha[57]	0.000000
Alpha[57]	0.992935
TNavParticleFilter::Modified Variance for beam 58 is 36.27 
Alpha[58]	0.000000
Alpha[58]	0.994142
TNavParticleFilter::Modified Variance for beam 59 is 35.53 
Alpha[59]	0.000000
Alpha[59]	0.994071
TNavPF:: sumSquaredError = 10.905634 
TNavPF:: sumWeights = 0.086677 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.19. Range = 73.33 
TNavPF::Calculated measDiffMean for beam 31 as -1.42. Range = 72.54 
TNavPF::Calculated measDiffMean for beam 32 as 0.41. Range = 71.79 
TNavPF::Calculated measDiffMean for beam 33 as 0.22. Range = 68.78 
TNavPF::Calculated measDiffMean for beam 34 as 0.14. Range = 65.85 
TNavPF::Calculated measDiffMean for beam 35 as 0.11. Range = 60.74 
TNavPF::Calculated measDiffMean for beam 36 as 0.03. Range = 60.21 
TNavPF::Calculated measDiffMean for beam 37 as -0.08. Range = 59.70 
TNavPF::Calculated measDiffMean for beam 38 as -0.22. Range = 59.22 
TNavPF::Calculated measDiffMean for beam 39 as 1.58. Range = 56.59 
TNavPF::Calculated measDiffMean for beam 40 as 1.15. Range = 56.17 
TNavPF::Calculated measDiffMean for beam 41 as 0.78. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 42 as 0.58. Range = 57.55 
TNavPF::Calculated measDiffMean for beam 43 as 0.43. Range = 57.19 
TNavPF::Calculated measDiffMean for beam 44 as 0.39. Range = 58.96 
TNavPF::Calculated measDiffMean for beam 45 as 0.43. Range = 58.63 
TNavPF::Calculated measDiffMean for beam 46 as 0.54. Range = 59.63 
TNavPF::Calculated measDiffMean for beam 47 as 0.71. Range = 60.11 
TNavPF::Calculated measDiffMean for beam 48 as 0.82. Range = 57.77 
TNavPF::Calculated measDiffMean for beam 49 as 0.84. Range = 57.52 
TNavPF::Calculated measDiffMean for beam 50 as 0.82. Range = 57.29 
TNavPF::Calculated measDiffMean for beam 51 as 0.64. Range = 53.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.20. Range = 52.82 
TNavPF::Calculated measDiffMean for beam 53 as 1.69. Range = 50.63 
TNavPF::Calculated measDiffMean for beam 54 as 1.13. Range = 50.50 
TNavPF::Calculated measDiffMean for beam 55 as 0.82. Range = 48.36 
TNavPF::Calculated measDiffMean for beam 56 as 0.52. Range = 48.26 
TNavPF::Calculated measDiffMean for beam 57 as 0.39. Range = 44.15 
TNavPF::Calculated measDiffMean for beam 58 as 0.30. Range = 44.09 
TNavPF::Calculated measDiffMean for beam 59 as 0.05. Range = 44.04 
TNavPF::Calculated measDiffMean for beam 60 as 1.70. Range = 44.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.90. Range = 43.97 
TNavPF::Calculated measDiffMean for beam 62 as 0.54. Range = 45.97 
TNavPF::Calculated measDiffMean for beam 63 as 0.43. Range = 45.97 
TNavPF::Calculated measDiffMean for beam 64 as 0.18. Range = 45.99 
TNavPF::Calculated measDiffMean for beam 65 as 2.33. Range = 46.02 
TNavPF::Calculated measDiffMean for beam 66 as 0.89. Range = 46.06 
TNavPF::Calculated measDiffMean for beam 67 as 0.12. Range = 46.12 
TNavPF::Calculated measDiffMean for beam 68 as 0.68. Range = 46.19 
TNavPF::Calculated measDiffMean for beam 69 as 0.81. Range = 48.30 
TNavPF::Calculated measDiffMean for beam 70 as 0.70. Range = 48.40 
TNavPF::Calculated measDiffMean for beam 71 as 0.50. Range = 48.52 
TNavPF::Calculated measDiffMean for beam 72 as 0.47. Range = 48.66 
TNavPF::Calculated measDiffMean for beam 73 as 0.55. Range = 48.82 
TNavPF::Calculated measDiffMean for beam 74 as -0.55. Range = 48.98 
TNavPF::Calculated measDiffMean for beam 75 as -1.03. Range = 49.17 
TNavPF::Calculated measDiffMean for beam 76 as -0.21. Range = 49.37 
TNavPF::Calculated measDiffMean for beam 77 as 0.35. Range = 49.59 
TNavPF::Calculated measDiffMean for beam 78 as 0.74. Range = 49.83 
TNavPF::Calculated measDiffMean for beam 79 as 1.03. Range = 50.08 
TNavPF::Calculated measDiffMean for beam 80 as -0.50. Range = 50.35 
TNavPF::Calculated measDiffMean for beam 81 as -0.54. Range = 50.64 
TNavPF::Calculated measDiffMean for beam 82 as -0.16. Range = 50.95 
TNavPF::Calculated measDiffMean for beam 83 as 0.34. Range = 53.42 
TNavPF::Calculated measDiffMean for beam 84 as 1.62. Range = 53.78 
TNavPF::Calculated measDiffMean for beam 85 as 0.77. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 86 as 0.10. Range = 54.57 
TNavPF::Calculated measDiffMean for beam 87 as 1.27. Range = 55.00 
TNavPF::Calculated measDiffMean for beam 88 as 2.48. Range = 55.45 
TNavPF::Calculated measDiffMean for beam 89 as 0.24. Range = 55.93 
TNavPF::First Term of Map Covariance Matrix is 4.92 
TNavPF::Calculated NIS Value : 1.86 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322363.82 sec.
INS : North: 4070292.53, East: 588891.89, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 49.35, IDT[75] = 62.90
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322366.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322366.62)
ARL : North: 1.1983, East: -2.5254, Depth: 0.8826ARL : Estimation Bias  (Mean)         : (t = 1488322366.62)
ARL : North: 1.3828, East: -2.1140, Depth: 0.0487TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.06 
Alpha[0]	0.123000
Alpha[0]	0.999277
TNavParticleFilter::Modified Variance for beam 1 is 14.94 
Alpha[1]	0.000000
Alpha[1]	0.998940
TNavParticleFilter::Modified Variance for beam 2 is 14.87 
Alpha[2]	0.000000
Alpha[2]	0.998505
TNavParticleFilter::Modified Variance for beam 3 is 13.87 
Alpha[3]	0.000000
Alpha[3]	0.997902
TNavParticleFilter::Modified Variance for beam 4 is 13.82 
Alpha[4]	0.000000
Alpha[4]	0.997045
TNavParticleFilter::Modified Variance for beam 5 is 13.78 
Alpha[5]	0.000000
Alpha[5]	0.996167
TNavParticleFilter::Modified Variance for beam 6 is 13.74 
Alpha[6]	0.000000
Alpha[6]	0.995613
TNavParticleFilter::Modified Variance for beam 7 is 13.70 
Alpha[7]	0.000000
Alpha[7]	0.995252
TNavParticleFilter::Modified Variance for beam 8 is 14.59 
Alpha[8]	0.000000
Alpha[8]	0.995102
TNavParticleFilter::Modified Variance for beam 9 is 14.56 
Alpha[9]	0.000000
Alpha[9]	0.994663
TNavParticleFilter::Modified Variance for beam 10 is 14.56 
Alpha[10]	0.000000
Alpha[10]	0.993051
TNavParticleFilter::Modified Variance for beam 11 is 14.60 
Alpha[11]	0.000000
Alpha[11]	0.989479
TNavParticleFilter::Modified Variance for beam 12 is 14.64 
Alpha[12]	0.000000
Alpha[12]	0.986491
TNavParticleFilter::Modified Variance for beam 13 is 14.63 
Alpha[13]	0.000000
Alpha[13]	0.986902
TNavParticleFilter::Modified Variance for beam 14 is 14.61 
Alpha[14]	0.000000
Alpha[14]	0.988446
TNavParticleFilter::Modified Variance for beam 15 is 15.56 
Alpha[15]	0.000000
Alpha[15]	0.989650
TNavParticleFilter::Modified Variance for beam 16 is 15.59 
Alpha[16]	0.000000
Alpha[16]	0.988983
TNavParticleFilter::Modified Variance for beam 17 is 15.64 
Alpha[17]	0.000000
Alpha[17]	0.987096
TNavParticleFilter::Modified Variance for beam 18 is 15.72 
Alpha[18]	0.000000
Alpha[18]	0.984614
TNavParticleFilter::Modified Variance for beam 19 is 15.78 
Alpha[19]	0.000000
Alpha[19]	0.983100
TNavParticleFilter::Modified Variance for beam 20 is 15.81 
Alpha[20]	0.000000
Alpha[20]	0.984522
TNavParticleFilter::Modified Variance for beam 21 is 15.84 
Alpha[21]	0.000000
Alpha[21]	0.986289
TNavParticleFilter::Modified Variance for beam 22 is 15.89 
Alpha[22]	0.000000
Alpha[22]	0.986736
TNavParticleFilter::Modified Variance for beam 23 is 15.98 
Alpha[23]	0.000000
Alpha[23]	0.986051
TNavParticleFilter::Modified Variance for beam 24 is 16.07 
Alpha[24]	0.000000
Alpha[24]	0.985392
TNavParticleFilter::Modified Variance for beam 25 is 16.16 
Alpha[25]	0.000000
Alpha[25]	0.985366
TNavParticleFilter::Modified Variance for beam 26 is 16.25 
Alpha[26]	0.000000
Alpha[26]	0.985895
TNavParticleFilter::Modified Variance for beam 27 is 16.35 
Alpha[27]	0.000000
Alpha[27]	0.986258
TNavParticleFilter::Modified Variance for beam 28 is 16.43 
Alpha[28]	0.000000
Alpha[28]	0.988437
TNavParticleFilter::Modified Variance for beam 29 is 17.61 
Alpha[29]	0.000000
Alpha[29]	0.990073
TNavParticleFilter::Modified Variance for beam 30 is 17.76 
Alpha[30]	0.000000
Alpha[30]	0.990003
TNavParticleFilter::Modified Variance for beam 31 is 17.93 
Alpha[31]	0.000000
Alpha[31]	0.989350
TNavParticleFilter::Modified Variance for beam 32 is 18.11 
Alpha[32]	0.000000
Alpha[32]	0.988734
TNavParticleFilter::Modified Variance for beam 33 is 18.25 
Alpha[33]	0.000000
Alpha[33]	0.991062
TNavParticleFilter::Modified Variance for beam 34 is 18.40 
Alpha[34]	0.000000
Alpha[34]	0.993471
TNavParticleFilter::Modified Variance for beam 35 is 18.60 
Alpha[35]	0.000000
Alpha[35]	0.993958
TNavParticleFilter::Modified Variance for beam 36 is 20.04 
Alpha[36]	0.000000
Alpha[36]	0.993676
TNavParticleFilter::Modified Variance for beam 37 is 20.28 
Alpha[37]	0.000000
Alpha[37]	0.994197
TNavParticleFilter::Modified Variance for beam 38 is 19.29 
Alpha[38]	0.000000
Alpha[38]	0.994744
TNavParticleFilter::Modified Variance for beam 39 is 19.56 
Alpha[39]	0.000000
Alpha[39]	0.994556
TNavParticleFilter::Modified Variance for beam 40 is 21.15 
Alpha[40]	0.000000
Alpha[40]	0.993953
TNavParticleFilter::Modified Variance for beam 41 is 21.49 
Alpha[41]	0.000000
Alpha[41]	0.993167
TNavParticleFilter::Modified Variance for beam 42 is 21.85 
Alpha[42]	0.000000
Alpha[42]	0.992570
TNavParticleFilter::Modified Variance for beam 43 is 22.25 
Alpha[43]	0.000000
Alpha[43]	0.991156
TNavParticleFilter::Modified Variance for beam 44 is 22.60 
Alpha[44]	0.000000
Alpha[44]	0.992693
TNavParticleFilter::Modified Variance for beam 45 is 22.96 
Alpha[45]	0.000000
Alpha[45]	0.995220
TNavParticleFilter::Modified Variance for beam 46 is 23.38 
Alpha[46]	0.000000
Alpha[46]	0.996169
TNavParticleFilter::Modified Variance for beam 47 is 23.83 
Alpha[47]	0.000000
Alpha[47]	0.996576
TNavParticleFilter::Modified Variance for beam 48 is 24.35 
Alpha[48]	0.000000
Alpha[48]	0.995797
TNavParticleFilter::Modified Variance for beam 49 is 24.98 
Alpha[49]	0.000000
Alpha[49]	0.991648
TNavParticleFilter::Modified Variance for beam 50 is 25.68 
Alpha[50]	0.000000
Alpha[50]	0.986112
TNavParticleFilter::Modified Variance for beam 51 is 25.86 
Alpha[51]	0.000000
Alpha[51]	0.987778
TNavParticleFilter::Modified Variance for beam 52 is 25.14 
Alpha[52]	0.000000
Alpha[52]	0.988754
TNavParticleFilter::Modified Variance for beam 53 is 25.82 
Alpha[53]	0.000000
Alpha[53]	0.986700
TNavParticleFilter::Modified Variance for beam 54 is 26.62 
Alpha[54]	0.000000
Alpha[54]	0.982392
TNavParticleFilter::Modified Variance for beam 55 is 27.47 
Alpha[55]	0.000000
Alpha[55]	0.977640
TNavParticleFilter::Modified Variance for beam 56 is 28.20 
Alpha[56]	0.000000
Alpha[56]	0.979472
TNavParticleFilter::Modified Variance for beam 57 is 28.61 
Alpha[57]	0.000000
Alpha[57]	0.985495
TNavParticleFilter::Modified Variance for beam 58 is 27.62 
Alpha[58]	0.000000
Alpha[58]	0.989632
TNavParticleFilter::Modified Variance for beam 59 is 28.42 
Alpha[59]	0.000000
Alpha[59]	0.992039
TNavPF:: sumSquaredError = 15.541621 
TNavPF:: sumWeights = 0.050608 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.11. Range = 95.12 
TNavPF::Calculated measDiffMean for beam 31 as -2.27. Range = 95.92 
TNavPF::Calculated measDiffMean for beam 32 as -0.96. Range = 95.83 
TNavPF::Calculated measDiffMean for beam 33 as -1.99. Range = 95.67 
TNavPF::Calculated measDiffMean for beam 34 as -1.45. Range = 86.58 
TNavPF::Calculated measDiffMean for beam 35 as -1.45. Range = 85.39 
TNavPF::Calculated measDiffMean for beam 36 as -1.69. Range = 84.26 
TNavPF::Calculated measDiffMean for beam 37 as -1.89. Range = 80.70 
TNavPF::Calculated measDiffMean for beam 38 as -0.08. Range = 77.27 
TNavPF::Calculated measDiffMean for beam 39 as -0.27. Range = 73.93 
TNavPF::Calculated measDiffMean for beam 40 as -0.41. Range = 73.09 
TNavPF::Calculated measDiffMean for beam 41 as -0.53. Range = 72.28 
TNavPF::Calculated measDiffMean for beam 42 as -0.62. Range = 69.18 
TNavPF::Calculated measDiffMean for beam 43 as -0.73. Range = 63.85 
TNavPF::Calculated measDiffMean for beam 44 as -0.92. Range = 63.23 
TNavPF::Calculated measDiffMean for beam 45 as 0.70. Range = 62.63 
TNavPF::Calculated measDiffMean for beam 46 as 0.28. Range = 62.06 
TNavPF::Calculated measDiffMean for beam 47 as 0.01. Range = 59.30 
TNavPF::Calculated measDiffMean for beam 48 as -0.19. Range = 58.81 
TNavPF::Calculated measDiffMean for beam 49 as -0.28. Range = 60.54 
TNavPF::Calculated measDiffMean for beam 50 as -0.25. Range = 60.08 
TNavPF::Calculated measDiffMean for beam 51 as -0.16. Range = 60.79 
TNavPF::Calculated measDiffMean for beam 52 as -0.00. Range = 61.38 
TNavPF::Calculated measDiffMean for beam 53 as 0.13. Range = 60.98 
TNavPF::Calculated measDiffMean for beam 54 as 0.17. Range = 62.72 
TNavPF::Calculated measDiffMean for beam 55 as 0.16. Range = 60.26 
TNavPF::Calculated measDiffMean for beam 56 as 0.02. Range = 59.93 
TNavPF::Calculated measDiffMean for beam 57 as -0.35. Range = 59.62 
TNavPF::Calculated measDiffMean for beam 58 as -0.89. Range = 55.19 
TNavPF::Calculated measDiffMean for beam 59 as 0.65. Range = 54.94 
TNavPF::Calculated measDiffMean for beam 60 as 0.26. Range = 52.66 
TNavPF::Calculated measDiffMean for beam 61 as -0.05. Range = 48.37 
TNavPF::Calculated measDiffMean for beam 62 as -0.29. Range = 48.20 
TNavPF::Calculated measDiffMean for beam 63 as -0.44. Range = 46.01 
TNavPF::Calculated measDiffMean for beam 64 as -0.61. Range = 45.88 
TNavPF::Calculated measDiffMean for beam 65 as -0.93. Range = 45.76 
TNavPF::Calculated measDiffMean for beam 66 as 0.69. Range = 45.65 
TNavPF::Calculated measDiffMean for beam 67 as 0.18. Range = 45.56 
TNavPF::Calculated measDiffMean for beam 68 as -2.26. Range = 47.49 
TNavPF::Calculated measDiffMean for beam 69 as -2.44. Range = 47.43 
TNavPF::Calculated measDiffMean for beam 70 as -0.47. Range = 47.38 
TNavPF::Calculated measDiffMean for beam 71 as -0.74. Range = 47.34 
TNavPF::Calculated measDiffMean for beam 72 as -1.07. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 73 as -0.88. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 74 as -0.32. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 75 as -0.06. Range = 49.35 
TNavPF::Calculated measDiffMean for beam 76 as -0.09. Range = 49.39 
TNavPF::Calculated measDiffMean for beam 77 as -0.26. Range = 49.44 
TNavPF::Calculated measDiffMean for beam 78 as -0.45. Range = 49.51 
TNavPF::Calculated measDiffMean for beam 79 as -0.57. Range = 49.59 
TNavPF::Calculated measDiffMean for beam 80 as -0.44. Range = 49.69 
TNavPF::Calculated measDiffMean for beam 81 as -0.53. Range = 49.81 
TNavPF::Calculated measDiffMean for beam 82 as -1.72. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 83 as -1.14. Range = 50.08 
TNavPF::Calculated measDiffMean for beam 84 as -0.79. Range = 50.25 
TNavPF::Calculated measDiffMean for beam 85 as -0.58. Range = 50.43 
TNavPF::Calculated measDiffMean for beam 86 as -0.32. Range = 50.62 
TNavPF::Calculated measDiffMean for beam 87 as -0.08. Range = 50.84 
TNavPF::Calculated measDiffMean for beam 88 as -1.70. Range = 51.07 
TNavPF::Calculated measDiffMean for beam 89 as -1.35. Range = 53.40 
TNavPF::First Term of Map Covariance Matrix is 27.63 
TNavPF::Calculated NIS Value : 1.81 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322366.82 sec.
INS : North: 4070293.77, East: 588887.81, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 50.41, IDT[75] = 60.88
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322369.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322369.62)
ARL : North: 0.6087, East: -2.8720, Depth: -0.9278ARL : Estimation Bias  (Mean)         : (t = 1488322369.62)
ARL : North: 1.0443, East: -2.3827, Depth: 0.3996TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.50 
Alpha[0]	0.123000
Alpha[0]	0.999514
TNavParticleFilter::Modified Variance for beam 1 is 18.18 
Alpha[1]	0.000000
Alpha[1]	0.999326
TNavParticleFilter::Modified Variance for beam 2 is 16.94 
Alpha[2]	0.000000
Alpha[2]	0.998882
TNavParticleFilter::Modified Variance for beam 3 is 14.78 
Alpha[3]	0.000000
Alpha[3]	0.998340
TNavParticleFilter::Modified Variance for beam 4 is 14.69 
Alpha[4]	0.000000
Alpha[4]	0.997532
TNavParticleFilter::Modified Variance for beam 5 is 14.61 
Alpha[5]	0.000000
Alpha[5]	0.996485
TNavParticleFilter::Modified Variance for beam 6 is 15.51 
Alpha[6]	0.000000
Alpha[6]	0.995725
TNavParticleFilter::Modified Variance for beam 7 is 15.43 
Alpha[7]	0.000000
Alpha[7]	0.995277
TNavParticleFilter::Modified Variance for beam 8 is 15.36 
Alpha[8]	0.000000
Alpha[8]	0.994977
TNavParticleFilter::Modified Variance for beam 9 is 15.29 
Alpha[9]	0.000000
Alpha[9]	0.994555
TNavParticleFilter::Modified Variance for beam 10 is 15.26 
Alpha[10]	0.000000
Alpha[10]	0.992742
TNavParticleFilter::Modified Variance for beam 11 is 15.27 
Alpha[11]	0.000000
Alpha[11]	0.988299
TNavParticleFilter::Modified Variance for beam 12 is 15.27 
Alpha[12]	0.000000
Alpha[12]	0.985297
TNavParticleFilter::Modified Variance for beam 13 is 15.21 
Alpha[13]	0.000000
Alpha[13]	0.986499
TNavParticleFilter::Modified Variance for beam 14 is 15.16 
Alpha[14]	0.000000
Alpha[14]	0.987787
TNavParticleFilter::Modified Variance for beam 15 is 16.10 
Alpha[15]	0.000000
Alpha[15]	0.988931
TNavParticleFilter::Modified Variance for beam 16 is 16.09 
Alpha[16]	0.000000
Alpha[16]	0.987965
TNavParticleFilter::Modified Variance for beam 17 is 16.11 
Alpha[17]	0.000000
Alpha[17]	0.986087
TNavParticleFilter::Modified Variance for beam 18 is 16.16 
Alpha[18]	0.000000
Alpha[18]	0.982446
TNavParticleFilter::Modified Variance for beam 19 is 16.20 
Alpha[19]	0.000000
Alpha[19]	0.980509
TNavParticleFilter::Modified Variance for beam 20 is 16.17 
Alpha[20]	0.000000
Alpha[20]	0.982616
TNavParticleFilter::Modified Variance for beam 21 is 16.16 
Alpha[21]	0.000000
Alpha[21]	0.984636
TNavParticleFilter::Modified Variance for beam 22 is 16.17 
Alpha[22]	0.000000
Alpha[22]	0.985374
TNavParticleFilter::Modified Variance for beam 23 is 16.21 
Alpha[23]	0.000000
Alpha[23]	0.984935
TNavParticleFilter::Modified Variance for beam 24 is 16.26 
Alpha[24]	0.000000
Alpha[24]	0.984574
TNavParticleFilter::Modified Variance for beam 25 is 16.31 
Alpha[25]	0.000000
Alpha[25]	0.984585
TNavParticleFilter::Modified Variance for beam 26 is 16.35 
Alpha[26]	0.000000
Alpha[26]	0.985433
TNavParticleFilter::Modified Variance for beam 27 is 16.43 
Alpha[27]	0.000000
Alpha[27]	0.984366
TNavParticleFilter::Modified Variance for beam 28 is 16.48 
Alpha[28]	0.000000
Alpha[28]	0.985945
TNavParticleFilter::Modified Variance for beam 29 is 17.57 
Alpha[29]	0.000000
Alpha[29]	0.989113
TNavParticleFilter::Modified Variance for beam 30 is 17.66 
Alpha[30]	0.000000
Alpha[30]	0.989208
TNavParticleFilter::Modified Variance for beam 31 is 17.78 
Alpha[31]	0.000000
Alpha[31]	0.988501
TNavParticleFilter::Modified Variance for beam 32 is 17.93 
Alpha[32]	0.000000
Alpha[32]	0.987171
TNavParticleFilter::Modified Variance for beam 33 is 18.02 
Alpha[33]	0.000000
Alpha[33]	0.989152
TNavParticleFilter::Modified Variance for beam 34 is 18.10 
Alpha[34]	0.000000
Alpha[34]	0.992419
TNavParticleFilter::Modified Variance for beam 35 is 18.23 
Alpha[35]	0.000000
Alpha[35]	0.993532
TNavParticleFilter::Modified Variance for beam 36 is 18.41 
Alpha[36]	0.000000
Alpha[36]	0.992541
TNavParticleFilter::Modified Variance for beam 37 is 19.77 
Alpha[37]	0.000000
Alpha[37]	0.991897
TNavParticleFilter::Modified Variance for beam 38 is 19.93 
Alpha[38]	0.000000
Alpha[38]	0.993775
TNavParticleFilter::Modified Variance for beam 39 is 20.13 
Alpha[39]	0.000000
Alpha[39]	0.994398
TNavParticleFilter::Modified Variance for beam 40 is 20.37 
Alpha[40]	0.000000
Alpha[40]	0.994119
TNavParticleFilter::Modified Variance for beam 41 is 20.63 
Alpha[41]	0.000000
Alpha[41]	0.993159
TNavParticleFilter::Modified Variance for beam 42 is 20.91 
Alpha[42]	0.000000
Alpha[42]	0.992295
TNavParticleFilter::Modified Variance for beam 43 is 21.19 
Alpha[43]	0.000000
Alpha[43]	0.991913
TNavParticleFilter::Modified Variance for beam 44 is 22.77 
Alpha[44]	0.000000
Alpha[44]	0.991074
TNavParticleFilter::Modified Variance for beam 45 is 21.79 
Alpha[45]	0.000000
Alpha[45]	0.992355
TNavParticleFilter::Modified Variance for beam 46 is 22.07 
Alpha[46]	0.000000
Alpha[46]	0.994677
TNavParticleFilter::Modified Variance for beam 47 is 22.41 
Alpha[47]	0.000000
Alpha[47]	0.995505
TNavParticleFilter::Modified Variance for beam 48 is 22.77 
Alpha[48]	0.000000
Alpha[48]	0.996019
TNavParticleFilter::Modified Variance for beam 49 is 23.18 
Alpha[49]	0.000000
Alpha[49]	0.995602
TNavParticleFilter::Modified Variance for beam 50 is 23.69 
Alpha[50]	0.000000
Alpha[50]	0.992027
TNavParticleFilter::Modified Variance for beam 51 is 24.29 
Alpha[51]	0.000000
Alpha[51]	0.985581
TNavParticleFilter::Modified Variance for beam 52 is 24.79 
Alpha[52]	0.000000
Alpha[52]	0.985160
TNavParticleFilter::Modified Variance for beam 53 is 24.58 
Alpha[53]	0.000000
Alpha[53]	0.987691
TNavParticleFilter::Modified Variance for beam 54 is 24.17 
Alpha[54]	0.000000
Alpha[54]	0.987625
TNavParticleFilter::Modified Variance for beam 55 is 24.77 
Alpha[55]	0.000000
Alpha[55]	0.984972
TNavParticleFilter::Modified Variance for beam 56 is 25.47 
Alpha[56]	0.000000
Alpha[56]	0.980244
TNavParticleFilter::Modified Variance for beam 57 is 26.21 
Alpha[57]	0.000000
Alpha[57]	0.975430
TNavParticleFilter::Modified Variance for beam 58 is 26.83 
Alpha[58]	0.000000
Alpha[58]	0.976646
TNavParticleFilter::Modified Variance for beam 59 is 27.33 
Alpha[59]	0.000000
Alpha[59]	0.983861
TNavPF:: sumSquaredError = 39.879790 
TNavPF:: sumWeights = 0.077480 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -2.41. Range = 99.82 
TNavPF::Calculated measDiffMean for beam 34 as -1.54. Range = 98.99 
TNavPF::Calculated measDiffMean for beam 35 as -1.43. Range = 99.24 
TNavPF::Calculated measDiffMean for beam 36 as 0.35. Range = 99.77 
TNavPF::Calculated measDiffMean for beam 37 as 0.16. Range = 98.80 
TNavPF::Calculated measDiffMean for beam 38 as -0.06. Range = 89.47 
TNavPF::Calculated measDiffMean for beam 39 as -0.25. Range = 88.19 
TNavPF::Calculated measDiffMean for beam 40 as -0.40. Range = 84.42 
TNavPF::Calculated measDiffMean for beam 41 as -0.48. Range = 80.77 
TNavPF::Calculated measDiffMean for beam 42 as -0.53. Range = 79.73 
TNavPF::Calculated measDiffMean for beam 43 as -0.67. Range = 78.74 
TNavPF::Calculated measDiffMean for beam 44 as -0.83. Range = 75.37 
TNavPF::Calculated measDiffMean for beam 45 as 0.75. Range = 67.32 
TNavPF::Calculated measDiffMean for beam 46 as 0.30. Range = 66.57 
TNavPF::Calculated measDiffMean for beam 47 as 0.05. Range = 65.86 
TNavPF::Calculated measDiffMean for beam 48 as -0.16. Range = 65.18 
TNavPF::Calculated measDiffMean for beam 49 as -0.23. Range = 62.24 
TNavPF::Calculated measDiffMean for beam 50 as -0.20. Range = 61.65 
TNavPF::Calculated measDiffMean for beam 51 as -0.13. Range = 63.26 
TNavPF::Calculated measDiffMean for beam 52 as 0.02. Range = 62.79 
TNavPF::Calculated measDiffMean for beam 53 as 0.16. Range = 63.22 
TNavPF::Calculated measDiffMean for beam 54 as 0.20. Range = 63.96 
TNavPF::Calculated measDiffMean for beam 55 as 0.21. Range = 63.47 
TNavPF::Calculated measDiffMean for beam 56 as 0.09. Range = 65.17 
TNavPF::Calculated measDiffMean for beam 57 as -0.26. Range = 62.57 
TNavPF::Calculated measDiffMean for beam 58 as -0.70. Range = 62.16 
TNavPF::Calculated measDiffMean for beam 59 as 0.74. Range = 61.77 
TNavPF::Calculated measDiffMean for beam 60 as 0.35. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 61 as 0.06. Range = 54.78 
TNavPF::Calculated measDiffMean for beam 62 as -0.18. Range = 52.41 
TNavPF::Calculated measDiffMean for beam 63 as -0.24. Range = 48.01 
TNavPF::Calculated measDiffMean for beam 64 as -0.36. Range = 47.79 
TNavPF::Calculated measDiffMean for beam 65 as -0.66. Range = 47.59 
TNavPF::Calculated measDiffMean for beam 66 as -1.13. Range = 49.45 
TNavPF::Calculated measDiffMean for beam 67 as 0.47. Range = 49.27 
TNavPF::Calculated measDiffMean for beam 68 as 0.09. Range = 49.11 
TNavPF::Calculated measDiffMean for beam 69 as -0.07. Range = 48.96 
TNavPF::Calculated measDiffMean for beam 70 as -0.23. Range = 48.83 
TNavPF::Calculated measDiffMean for beam 71 as -0.48. Range = 48.72 
TNavPF::Calculated measDiffMean for beam 72 as -0.68. Range = 48.62 
TNavPF::Calculated measDiffMean for beam 73 as -1.00. Range = 48.53 
TNavPF::Calculated measDiffMean for beam 74 as 1.15. Range = 48.46 
TNavPF::Calculated measDiffMean for beam 75 as -0.29. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 76 as 0.01. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 77 as -0.01. Range = 50.35 
TNavPF::Calculated measDiffMean for beam 78 as -0.16. Range = 50.34 
TNavPF::Calculated measDiffMean for beam 79 as -0.39. Range = 50.34 
TNavPF::Calculated measDiffMean for beam 80 as -0.57. Range = 50.36 
TNavPF::Calculated measDiffMean for beam 81 as -0.50. Range = 50.40 
TNavPF::Calculated measDiffMean for beam 82 as -0.26. Range = 50.45 
TNavPF::Calculated measDiffMean for beam 83 as -0.68. Range = 50.51 
TNavPF::Calculated measDiffMean for beam 84 as -1.38. Range = 50.60 
TNavPF::Calculated measDiffMean for beam 85 as -0.93. Range = 50.69 
TNavPF::Calculated measDiffMean for beam 86 as -0.65. Range = 50.81 
TNavPF::Calculated measDiffMean for beam 87 as -0.46. Range = 50.94 
TNavPF::Calculated measDiffMean for beam 88 as -0.24. Range = 51.08 
TNavPF::Calculated measDiffMean for beam 89 as 0.28. Range = 53.28 
TNavPF::First Term of Map Covariance Matrix is 41.13 
TNavPF::Calculated NIS Value : 1.26 	numBeams normalized NIS: 0.02
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322369.82 sec.
INS : North: 4070294.64, East: 588883.61, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 51.45, IDT[75] = 59.48
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322372.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322372.62)
ARL : North: 0.6255, East: -3.4426, Depth: -0.2560ARL : Estimation Bias  (Mean)         : (t = 1488322372.62)
ARL : North: 0.7801, East: -2.5685, Depth: 0.2970TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.86 
Alpha[0]	0.123000
Alpha[0]	0.999616
TNavParticleFilter::Modified Variance for beam 1 is 19.39 
Alpha[1]	0.000000
Alpha[1]	0.999543
TNavParticleFilter::Modified Variance for beam 2 is 19.19 
Alpha[2]	0.000000
Alpha[2]	0.999203
TNavParticleFilter::Modified Variance for beam 3 is 15.68 
Alpha[3]	0.000000
Alpha[3]	0.998624
TNavParticleFilter::Modified Variance for beam 4 is 15.54 
Alpha[4]	0.000000
Alpha[4]	0.997918
TNavParticleFilter::Modified Variance for beam 5 is 15.71 
Alpha[5]	0.000000
Alpha[5]	0.996844
TNavParticleFilter::Modified Variance for beam 6 is 15.31 
Alpha[6]	0.000000
Alpha[6]	0.995846
TNavParticleFilter::Modified Variance for beam 7 is 15.20 
Alpha[7]	0.000000
Alpha[7]	0.995368
TNavParticleFilter::Modified Variance for beam 8 is 16.11 
Alpha[8]	0.000000
Alpha[8]	0.994919
TNavParticleFilter::Modified Variance for beam 9 is 16.01 
Alpha[9]	0.000000
Alpha[9]	0.994192
TNavParticleFilter::Modified Variance for beam 10 is 15.96 
Alpha[10]	0.000000
Alpha[10]	0.991166
TNavParticleFilter::Modified Variance for beam 11 is 15.95 
Alpha[11]	0.000000
Alpha[11]	0.985995
TNavParticleFilter::Modified Variance for beam 12 is 15.88 
Alpha[12]	0.000000
Alpha[12]	0.984806
TNavParticleFilter::Modified Variance for beam 13 is 15.77 
Alpha[13]	0.000000
Alpha[13]	0.986639
TNavParticleFilter::Modified Variance for beam 14 is 15.69 
Alpha[14]	0.000000
Alpha[14]	0.987756
TNavParticleFilter::Modified Variance for beam 15 is 16.63 
Alpha[15]	0.000000
Alpha[15]	0.988180
TNavParticleFilter::Modified Variance for beam 16 is 16.59 
Alpha[16]	0.000000
Alpha[16]	0.986889
TNavParticleFilter::Modified Variance for beam 17 is 16.59 
Alpha[17]	0.000000
Alpha[17]	0.984023
TNavParticleFilter::Modified Variance for beam 18 is 16.62 
Alpha[18]	0.000000
Alpha[18]	0.980002
TNavParticleFilter::Modified Variance for beam 19 is 16.56 
Alpha[19]	0.000000
Alpha[19]	0.981629
TNavParticleFilter::Modified Variance for beam 20 is 16.49 
Alpha[20]	0.000000
Alpha[20]	0.984192
TNavParticleFilter::Modified Variance for beam 21 is 16.46 
Alpha[21]	0.000000
Alpha[21]	0.985053
TNavParticleFilter::Modified Variance for beam 22 is 16.46 
Alpha[22]	0.000000
Alpha[22]	0.984894
TNavParticleFilter::Modified Variance for beam 23 is 16.47 
Alpha[23]	0.000000
Alpha[23]	0.984281
TNavParticleFilter::Modified Variance for beam 24 is 16.47 
Alpha[24]	0.000000
Alpha[24]	0.984262
TNavParticleFilter::Modified Variance for beam 25 is 16.48 
Alpha[25]	0.000000
Alpha[25]	0.984538
TNavParticleFilter::Modified Variance for beam 26 is 16.52 
Alpha[26]	0.000000
Alpha[26]	0.983867
TNavParticleFilter::Modified Variance for beam 27 is 16.60 
Alpha[27]	0.000000
Alpha[27]	0.980905
TNavParticleFilter::Modified Variance for beam 28 is 16.54 
Alpha[28]	0.000000
Alpha[28]	0.986634
TNavParticleFilter::Modified Variance for beam 29 is 17.60 
Alpha[29]	0.000000
Alpha[29]	0.988729
TNavParticleFilter::Modified Variance for beam 30 is 17.66 
Alpha[30]	0.000000
Alpha[30]	0.988558
TNavParticleFilter::Modified Variance for beam 31 is 17.76 
Alpha[31]	0.000000
Alpha[31]	0.986659
TNavParticleFilter::Modified Variance for beam 32 is 17.86 
Alpha[32]	0.000000
Alpha[32]	0.985591
TNavParticleFilter::Modified Variance for beam 33 is 17.89 
Alpha[33]	0.000000
Alpha[33]	0.988808
TNavParticleFilter::Modified Variance for beam 34 is 17.94 
Alpha[34]	0.000000
Alpha[34]	0.991570
TNavParticleFilter::Modified Variance for beam 35 is 18.03 
Alpha[35]	0.000000
Alpha[35]	0.992354
TNavParticleFilter::Modified Variance for beam 36 is 18.18 
Alpha[36]	0.000000
Alpha[36]	0.990381
TNavParticleFilter::Modified Variance for beam 37 is 19.45 
Alpha[37]	0.000000
Alpha[37]	0.990256
TNavParticleFilter::Modified Variance for beam 38 is 19.54 
Alpha[38]	0.000000
Alpha[38]	0.993062
TNavParticleFilter::Modified Variance for beam 39 is 19.68 
Alpha[39]	0.000000
Alpha[39]	0.994120
TNavParticleFilter::Modified Variance for beam 40 is 19.86 
Alpha[40]	0.000000
Alpha[40]	0.993861
TNavParticleFilter::Modified Variance for beam 41 is 20.07 
Alpha[41]	0.000000
Alpha[41]	0.992864
TNavParticleFilter::Modified Variance for beam 42 is 20.28 
Alpha[42]	0.000000
Alpha[42]	0.991950
TNavParticleFilter::Modified Variance for beam 43 is 20.52 
Alpha[43]	0.000000
Alpha[43]	0.991058
TNavParticleFilter::Modified Variance for beam 44 is 20.73 
Alpha[44]	0.000000
Alpha[44]	0.991695
TNavParticleFilter::Modified Variance for beam 45 is 20.95 
Alpha[45]	0.000000
Alpha[45]	0.992677
TNavParticleFilter::Modified Variance for beam 46 is 21.18 
Alpha[46]	0.000000
Alpha[46]	0.994053
TNavParticleFilter::Modified Variance for beam 47 is 21.44 
Alpha[47]	0.000000
Alpha[47]	0.994954
TNavParticleFilter::Modified Variance for beam 48 is 21.72 
Alpha[48]	0.000000
Alpha[48]	0.995411
TNavParticleFilter::Modified Variance for beam 49 is 22.03 
Alpha[49]	0.000000
Alpha[49]	0.995514
TNavParticleFilter::Modified Variance for beam 50 is 22.41 
Alpha[50]	0.000000
Alpha[50]	0.993329
TNavParticleFilter::Modified Variance for beam 51 is 22.87 
Alpha[51]	0.000000
Alpha[51]	0.988712
TNavParticleFilter::Modified Variance for beam 52 is 23.39 
Alpha[52]	0.000000
Alpha[52]	0.982695
TNavParticleFilter::Modified Variance for beam 53 is 23.76 
Alpha[53]	0.000000
Alpha[53]	0.984098
TNavParticleFilter::Modified Variance for beam 54 is 23.43 
Alpha[54]	0.000000
Alpha[54]	0.986817
TNavParticleFilter::Modified Variance for beam 55 is 23.06 
Alpha[55]	0.000000
Alpha[55]	0.987140
TNavParticleFilter::Modified Variance for beam 56 is 23.59 
Alpha[56]	0.000000
Alpha[56]	0.983600
TNavParticleFilter::Modified Variance for beam 57 is 24.18 
Alpha[57]	0.000000
Alpha[57]	0.978899
TNavParticleFilter::Modified Variance for beam 58 is 24.83 
Alpha[58]	0.000000
Alpha[58]	0.973403
TNavParticleFilter::Modified Variance for beam 59 is 25.38 
Alpha[59]	0.000000
Alpha[59]	0.973192
TNavPF:: sumSquaredError = 23.204961 
TNavPF:: sumWeights = 0.056570 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -2.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -1.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.50. Range = 92.28 
TNavPF::Calculated measDiffMean for beam 42 as -0.54. Range = 90.89 
TNavPF::Calculated measDiffMean for beam 43 as -0.67. Range = 86.96 
TNavPF::Calculated measDiffMean for beam 44 as -0.88. Range = 83.18 
TNavPF::Calculated measDiffMean for beam 45 as 0.58. Range = 82.05 
TNavPF::Calculated measDiffMean for beam 46 as 0.21. Range = 78.48 
TNavPF::Calculated measDiffMean for beam 47 as -0.01. Range = 70.10 
TNavPF::Calculated measDiffMean for beam 48 as -0.18. Range = 69.25 
TNavPF::Calculated measDiffMean for beam 49 as -0.18. Range = 68.43 
TNavPF::Calculated measDiffMean for beam 50 as -0.12. Range = 67.66 
TNavPF::Calculated measDiffMean for beam 51 as -0.02. Range = 64.57 
TNavPF::Calculated measDiffMean for beam 52 as 0.16. Range = 65.10 
TNavPF::Calculated measDiffMean for beam 53 as 0.25. Range = 65.56 
TNavPF::Calculated measDiffMean for beam 54 as 0.28. Range = 65.04 
TNavPF::Calculated measDiffMean for beam 55 as 0.25. Range = 66.58 
TNavPF::Calculated measDiffMean for beam 56 as -0.00. Range = 65.98 
TNavPF::Calculated measDiffMean for beam 57 as -0.37. Range = 67.43 
TNavPF::Calculated measDiffMean for beam 58 as -0.82. Range = 64.89 
TNavPF::Calculated measDiffMean for beam 59 as 0.63. Range = 64.38 
TNavPF::Calculated measDiffMean for beam 60 as 0.35. Range = 59.57 
TNavPF::Calculated measDiffMean for beam 61 as 0.05. Range = 57.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.11. Range = 56.62 
TNavPF::Calculated measDiffMean for beam 63 as -0.14. Range = 49.89 
TNavPF::Calculated measDiffMean for beam 64 as -0.27. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 65 as -0.65. Range = 49.90 
TNavPF::Calculated measDiffMean for beam 66 as -1.06. Range = 49.04 
TNavPF::Calculated measDiffMean for beam 67 as 0.64. Range = 48.79 
TNavPF::Calculated measDiffMean for beam 68 as 0.32. Range = 50.63 
TNavPF::Calculated measDiffMean for beam 69 as 0.13. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 70 as 0.01. Range = 50.20 
TNavPF::Calculated measDiffMean for beam 71 as -0.26. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 72 as -0.42. Range = 49.85 
TNavPF::Calculated measDiffMean for beam 73 as -0.67. Range = 49.69 
TNavPF::Calculated measDiffMean for beam 74 as -0.92. Range = 49.55 
TNavPF::Calculated measDiffMean for beam 75 as -0.45. Range = 51.45 
TNavPF::Calculated measDiffMean for beam 76 as 0.12. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 77 as 0.20. Range = 51.24 
TNavPF::Calculated measDiffMean for beam 78 as 0.16. Range = 51.16 
TNavPF::Calculated measDiffMean for beam 79 as -0.03. Range = 51.10 
TNavPF::Calculated measDiffMean for beam 80 as -0.29. Range = 51.05 
TNavPF::Calculated measDiffMean for beam 81 as -0.39. Range = 51.01 
TNavPF::Calculated measDiffMean for beam 82 as -0.28. Range = 51.00 
TNavPF::Calculated measDiffMean for beam 83 as -0.03. Range = 51.00 
TNavPF::Calculated measDiffMean for beam 84 as -0.56. Range = 51.01 
TNavPF::Calculated measDiffMean for beam 85 as -1.13. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 86 as -0.69. Range = 51.08 
TNavPF::Calculated measDiffMean for beam 87 as -0.44. Range = 51.14 
TNavPF::Calculated measDiffMean for beam 88 as -0.28. Range = 51.22 
TNavPF::Calculated measDiffMean for beam 89 as -0.09. Range = 53.33 
TNavPF::First Term of Map Covariance Matrix is 52.06 
TNavPF::Calculated NIS Value : 1.61 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322372.82 sec.
INS : North: 4070295.15, East: 588879.34, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 50.66, IDT[75] = 57.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322375.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322375.62)
ARL : North: 2.4606, East: -3.5608, Depth: 5.5754ARL : Estimation Bias  (Mean)         : (t = 1488322375.62)
ARL : North: 0.5304, East: -2.7229, Depth: 0.3756TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 27.21 
Alpha[0]	0.123000
Alpha[0]	0.999382
TNavParticleFilter::Modified Variance for beam 1 is 25.40 
Alpha[1]	0.000000
Alpha[1]	0.999610
TNavParticleFilter::Modified Variance for beam 2 is 25.01 
Alpha[2]	0.000000
Alpha[2]	0.999679
TNavParticleFilter::Modified Variance for beam 3 is 21.88 
Alpha[3]	0.000000
Alpha[3]	0.999642
TNavParticleFilter::Modified Variance for beam 4 is 20.29 
Alpha[4]	0.000000
Alpha[4]	0.999389
TNavParticleFilter::Modified Variance for beam 5 is 16.52 
Alpha[5]	0.000000
Alpha[5]	0.998688
TNavParticleFilter::Modified Variance for beam 6 is 16.34 
Alpha[6]	0.000000
Alpha[6]	0.997692
TNavParticleFilter::Modified Variance for beam 7 is 16.97 
Alpha[7]	0.000000
Alpha[7]	0.996696
TNavParticleFilter::Modified Variance for beam 8 is 16.02 
Alpha[8]	0.000000
Alpha[8]	0.995803
TNavParticleFilter::Modified Variance for beam 9 is 16.55 
Alpha[9]	0.000000
Alpha[9]	0.995195
TNavParticleFilter::Modified Variance for beam 10 is 16.79 
Alpha[10]	0.000000
Alpha[10]	0.994410
TNavParticleFilter::Modified Variance for beam 11 is 16.67 
Alpha[11]	0.000000
Alpha[11]	0.992236
TNavParticleFilter::Modified Variance for beam 12 is 16.61 
Alpha[12]	0.000000
Alpha[12]	0.987561
TNavParticleFilter::Modified Variance for beam 13 is 16.53 
Alpha[13]	0.000000
Alpha[13]	0.984226
TNavParticleFilter::Modified Variance for beam 14 is 16.38 
Alpha[14]	0.000000
Alpha[14]	0.985877
TNavParticleFilter::Modified Variance for beam 15 is 16.25 
Alpha[15]	0.000000
Alpha[15]	0.987096
TNavParticleFilter::Modified Variance for beam 16 is 16.74 
Alpha[16]	0.000000
Alpha[16]	0.987730
TNavParticleFilter::Modified Variance for beam 17 is 17.09 
Alpha[17]	0.000000
Alpha[17]	0.987169
TNavParticleFilter::Modified Variance for beam 18 is 17.04 
Alpha[18]	0.000000
Alpha[18]	0.984324
TNavParticleFilter::Modified Variance for beam 19 is 17.03 
Alpha[19]	0.000000
Alpha[19]	0.980535
TNavParticleFilter::Modified Variance for beam 20 is 16.91 
Alpha[20]	0.000000
Alpha[20]	0.982582
TNavParticleFilter::Modified Variance for beam 21 is 16.82 
Alpha[21]	0.000000
Alpha[21]	0.984345
TNavParticleFilter::Modified Variance for beam 22 is 16.75 
Alpha[22]	0.000000
Alpha[22]	0.984765
TNavParticleFilter::Modified Variance for beam 23 is 16.70 
Alpha[23]	0.000000
Alpha[23]	0.984801
TNavParticleFilter::Modified Variance for beam 24 is 16.66 
Alpha[24]	0.000000
Alpha[24]	0.984458
TNavParticleFilter::Modified Variance for beam 25 is 16.63 
Alpha[25]	0.000000
Alpha[25]	0.984467
TNavParticleFilter::Modified Variance for beam 26 is 16.60 
Alpha[26]	0.000000
Alpha[26]	0.984483
TNavParticleFilter::Modified Variance for beam 27 is 16.61 
Alpha[27]	0.000000
Alpha[27]	0.983282
TNavParticleFilter::Modified Variance for beam 28 is 16.68 
Alpha[28]	0.000000
Alpha[28]	0.978396
TNavParticleFilter::Modified Variance for beam 29 is 16.57 
Alpha[29]	0.000000
Alpha[29]	0.984705
TNavParticleFilter::Modified Variance for beam 30 is 17.55 
Alpha[30]	0.000000
Alpha[30]	0.988470
TNavParticleFilter::Modified Variance for beam 31 is 17.57 
Alpha[31]	0.000000
Alpha[31]	0.988233
TNavParticleFilter::Modified Variance for beam 32 is 17.63 
Alpha[32]	0.000000
Alpha[32]	0.986272
TNavParticleFilter::Modified Variance for beam 33 is 17.70 
Alpha[33]	0.000000
Alpha[33]	0.984384
TNavParticleFilter::Modified Variance for beam 34 is 17.69 
Alpha[34]	0.000000
Alpha[34]	0.987174
TNavParticleFilter::Modified Variance for beam 35 is 17.69 
Alpha[35]	0.000000
Alpha[35]	0.989721
TNavParticleFilter::Modified Variance for beam 36 is 17.73 
Alpha[36]	0.000000
Alpha[36]	0.991111
TNavParticleFilter::Modified Variance for beam 37 is 17.83 
Alpha[37]	0.000000
Alpha[37]	0.989226
TNavParticleFilter::Modified Variance for beam 38 is 19.02 
Alpha[38]	0.000000
Alpha[38]	0.988555
TNavParticleFilter::Modified Variance for beam 39 is 19.08 
Alpha[39]	0.000000
Alpha[39]	0.990290
TNavParticleFilter::Modified Variance for beam 40 is 19.13 
Alpha[40]	0.000000
Alpha[40]	0.993129
TNavParticleFilter::Modified Variance for beam 41 is 19.24 
Alpha[41]	0.000000
Alpha[41]	0.993583
TNavParticleFilter::Modified Variance for beam 42 is 19.37 
Alpha[42]	0.000000
Alpha[42]	0.993068
TNavParticleFilter::Modified Variance for beam 43 is 19.53 
Alpha[43]	0.000000
Alpha[43]	0.992003
TNavParticleFilter::Modified Variance for beam 44 is 19.70 
Alpha[44]	0.000000
Alpha[44]	0.990831
TNavParticleFilter::Modified Variance for beam 45 is 19.87 
Alpha[45]	0.000000
Alpha[45]	0.990223
TNavParticleFilter::Modified Variance for beam 46 is 20.01 
Alpha[46]	0.000000
Alpha[46]	0.992157
TNavParticleFilter::Modified Variance for beam 47 is 20.16 
Alpha[47]	0.000000
Alpha[47]	0.994061
TNavParticleFilter::Modified Variance for beam 48 is 20.35 
Alpha[48]	0.000000
Alpha[48]	0.994505
TNavParticleFilter::Modified Variance for beam 49 is 20.55 
Alpha[49]	0.000000
Alpha[49]	0.994969
TNavParticleFilter::Modified Variance for beam 50 is 20.77 
Alpha[50]	0.000000
Alpha[50]	0.995269
TNavParticleFilter::Modified Variance for beam 51 is 21.02 
Alpha[51]	0.000000
Alpha[51]	0.994792
TNavParticleFilter::Modified Variance for beam 52 is 21.35 
Alpha[52]	0.000000
Alpha[52]	0.991705
TNavParticleFilter::Modified Variance for beam 53 is 21.70 
Alpha[53]	0.000000
Alpha[53]	0.988470
TNavParticleFilter::Modified Variance for beam 54 is 22.12 
Alpha[54]	0.000000
Alpha[54]	0.982769
TNavParticleFilter::Modified Variance for beam 55 is 22.47 
Alpha[55]	0.000000
Alpha[55]	0.981446
TNavParticleFilter::Modified Variance for beam 56 is 22.73 
Alpha[56]	0.000000
Alpha[56]	0.984653
TNavParticleFilter::Modified Variance for beam 57 is 21.76 
Alpha[57]	0.000000
Alpha[57]	0.986465
TNavParticleFilter::Modified Variance for beam 58 is 22.06 
Alpha[58]	0.000000
Alpha[58]	0.984158
TNavParticleFilter::Modified Variance for beam 59 is 22.53 
Alpha[59]	0.000000
Alpha[59]	0.979753
TNavPF:: sumSquaredError = 17.806793 
TNavPF:: sumWeights = 0.068406 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -2.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.82. Range = 95.76 
TNavPF::Calculated measDiffMean for beam 46 as -0.12. Range = 94.20 
TNavPF::Calculated measDiffMean for beam 47 as 0.26. Range = 90.04 
TNavPF::Calculated measDiffMean for beam 48 as 0.02. Range = 86.04 
TNavPF::Calculated measDiffMean for beam 49 as -0.17. Range = 84.78 
TNavPF::Calculated measDiffMean for beam 50 as -0.19. Range = 81.02 
TNavPF::Calculated measDiffMean for beam 51 as -0.15. Range = 72.33 
TNavPF::Calculated measDiffMean for beam 52 as -0.05. Range = 71.37 
TNavPF::Calculated measDiffMean for beam 53 as 0.14. Range = 70.47 
TNavPF::Calculated measDiffMean for beam 54 as 0.24. Range = 67.17 
TNavPF::Calculated measDiffMean for beam 55 as 0.27. Range = 67.44 
TNavPF::Calculated measDiffMean for beam 56 as 0.25. Range = 68.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.01. Range = 67.40 
TNavPF::Calculated measDiffMean for beam 58 as -0.36. Range = 68.88 
TNavPF::Calculated measDiffMean for beam 59 as -0.73. Range = 68.18 
TNavPF::Calculated measDiffMean for beam 60 as 0.70. Range = 69.58 
TNavPF::Calculated measDiffMean for beam 61 as 0.40. Range = 66.89 
TNavPF::Calculated measDiffMean for beam 62 as 0.10. Range = 66.29 
TNavPF::Calculated measDiffMean for beam 63 as -0.08. Range = 61.28 
TNavPF::Calculated measDiffMean for beam 64 as -0.14. Range = 58.58 
TNavPF::Calculated measDiffMean for beam 65 as -0.20. Range = 51.57 
TNavPF::Calculated measDiffMean for beam 66 as -0.54. Range = 51.18 
TNavPF::Calculated measDiffMean for beam 67 as -0.91. Range = 52.39 
TNavPF::Calculated measDiffMean for beam 68 as 0.79. Range = 50.48 
TNavPF::Calculated measDiffMean for beam 69 as 0.54. Range = 51.52 
TNavPF::Calculated measDiffMean for beam 70 as 0.28. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 71 as 0.14. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 72 as -0.06. Range = 51.39 
TNavPF::Calculated measDiffMean for beam 73 as -0.27. Range = 51.13 
TNavPF::Calculated measDiffMean for beam 74 as -0.43. Range = 50.88 
TNavPF::Calculated measDiffMean for beam 75 as -0.67. Range = 50.66 
TNavPF::Calculated measDiffMean for beam 76 as -0.85. Range = 51.64 
TNavPF::Calculated measDiffMean for beam 77 as -0.36. Range = 52.31 
TNavPF::Calculated measDiffMean for beam 78 as 0.17. Range = 52.12 
TNavPF::Calculated measDiffMean for beam 79 as 0.24. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 80 as 0.21. Range = 51.81 
TNavPF::Calculated measDiffMean for beam 81 as -0.01. Range = 51.68 
TNavPF::Calculated measDiffMean for beam 82 as -0.30. Range = 51.57 
TNavPF::Calculated measDiffMean for beam 83 as -0.38. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 84 as -0.37. Range = 51.39 
TNavPF::Calculated measDiffMean for beam 85 as -0.13. Range = 51.32 
TNavPF::Calculated measDiffMean for beam 86 as 0.23. Range = 51.27 
TNavPF::Calculated measDiffMean for beam 87 as -1.16. Range = 51.24 
TNavPF::Calculated measDiffMean for beam 88 as -0.87. Range = 51.22 
TNavPF::Calculated measDiffMean for beam 89 as -0.57. Range = 51.22 
TNavPF::First Term of Map Covariance Matrix is 32.35 
TNavPF::Calculated NIS Value : 1.52 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322375.82 sec.
INS : North: 4070295.22, East: 588875.03, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 51.95, IDT[75] = 56.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322378.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322378.62)
ARL : North: 0.0470, East: -2.6899, Depth: -4.2866ARL : Estimation Bias  (Mean)         : (t = 1488322378.62)
ARL : North: 0.3361, East: -2.7318, Depth: 0.3458TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 27.85 
Alpha[0]	0.123000
Alpha[0]	0.998631
TNavParticleFilter::Modified Variance for beam 1 is 27.94 
Alpha[1]	0.000000
Alpha[1]	0.999028
TNavParticleFilter::Modified Variance for beam 2 is 27.89 
Alpha[2]	0.000000
Alpha[2]	0.999367
TNavParticleFilter::Modified Variance for beam 3 is 28.48 
Alpha[3]	0.000000
Alpha[3]	0.999644
TNavParticleFilter::Modified Variance for beam 4 is 26.38 
Alpha[4]	0.000000
Alpha[4]	0.999719
TNavParticleFilter::Modified Variance for beam 5 is 22.99 
Alpha[5]	0.000000
Alpha[5]	0.999714
TNavParticleFilter::Modified Variance for beam 6 is 17.46 
Alpha[6]	0.000000
Alpha[6]	0.999513
TNavParticleFilter::Modified Variance for beam 7 is 17.21 
Alpha[7]	0.000000
Alpha[7]	0.998753
TNavParticleFilter::Modified Variance for beam 8 is 17.49 
Alpha[8]	0.000000
Alpha[8]	0.997876
TNavParticleFilter::Modified Variance for beam 9 is 17.93 
Alpha[9]	0.000000
Alpha[9]	0.996907
TNavParticleFilter::Modified Variance for beam 10 is 17.72 
Alpha[10]	0.000000
Alpha[10]	0.995917
TNavParticleFilter::Modified Variance for beam 11 is 17.52 
Alpha[11]	0.000000
Alpha[11]	0.994885
TNavParticleFilter::Modified Variance for beam 12 is 17.35 
Alpha[12]	0.000000
Alpha[12]	0.993002
TNavParticleFilter::Modified Variance for beam 13 is 17.22 
Alpha[13]	0.000000
Alpha[13]	0.989400
TNavParticleFilter::Modified Variance for beam 14 is 17.09 
Alpha[14]	0.000000
Alpha[14]	0.986209
TNavParticleFilter::Modified Variance for beam 15 is 16.91 
Alpha[15]	0.000000
Alpha[15]	0.986719
TNavParticleFilter::Modified Variance for beam 16 is 16.74 
Alpha[16]	0.000000
Alpha[16]	0.987862
TNavParticleFilter::Modified Variance for beam 17 is 17.26 
Alpha[17]	0.000000
Alpha[17]	0.987665
TNavParticleFilter::Modified Variance for beam 18 is 17.54 
Alpha[18]	0.000000
Alpha[18]	0.987175
TNavParticleFilter::Modified Variance for beam 19 is 17.46 
Alpha[19]	0.000000
Alpha[19]	0.984036
TNavParticleFilter::Modified Variance for beam 20 is 17.37 
Alpha[20]	0.000000
Alpha[20]	0.981530
TNavParticleFilter::Modified Variance for beam 21 is 17.21 
Alpha[21]	0.000000
Alpha[21]	0.984126
TNavParticleFilter::Modified Variance for beam 22 is 17.09 
Alpha[22]	0.000000
Alpha[22]	0.985128
TNavParticleFilter::Modified Variance for beam 23 is 16.99 
Alpha[23]	0.000000
Alpha[23]	0.985135
TNavParticleFilter::Modified Variance for beam 24 is 16.90 
Alpha[24]	0.000000
Alpha[24]	0.985065
TNavParticleFilter::Modified Variance for beam 25 is 16.82 
Alpha[25]	0.000000
Alpha[25]	0.984810
TNavParticleFilter::Modified Variance for beam 26 is 16.75 
Alpha[26]	0.000000
Alpha[26]	0.984766
TNavParticleFilter::Modified Variance for beam 27 is 16.70 
Alpha[27]	0.000000
Alpha[27]	0.984214
TNavParticleFilter::Modified Variance for beam 28 is 16.69 
Alpha[28]	0.000000
Alpha[28]	0.981312
TNavParticleFilter::Modified Variance for beam 29 is 16.71 
Alpha[29]	0.000000
Alpha[29]	0.977295
TNavParticleFilter::Modified Variance for beam 30 is 16.55 
Alpha[30]	0.000000
Alpha[30]	0.984820
TNavParticleFilter::Modified Variance for beam 31 is 17.49 
Alpha[31]	0.000000
Alpha[31]	0.988242
TNavParticleFilter::Modified Variance for beam 32 is 17.48 
Alpha[32]	0.000000
Alpha[32]	0.987720
TNavParticleFilter::Modified Variance for beam 33 is 17.51 
Alpha[33]	0.000000
Alpha[33]	0.985102
TNavParticleFilter::Modified Variance for beam 34 is 17.51 
Alpha[34]	0.000000
Alpha[34]	0.984855
TNavParticleFilter::Modified Variance for beam 35 is 17.45 
Alpha[35]	0.000000
Alpha[35]	0.988303
TNavParticleFilter::Modified Variance for beam 36 is 17.43 
Alpha[36]	0.000000
Alpha[36]	0.990121
TNavParticleFilter::Modified Variance for beam 37 is 17.44 
Alpha[37]	0.000000
Alpha[37]	0.990562
TNavParticleFilter::Modified Variance for beam 38 is 17.50 
Alpha[38]	0.000000
Alpha[38]	0.988398
TNavParticleFilter::Modified Variance for beam 39 is 17.54 
Alpha[39]	0.000000
Alpha[39]	0.988534
TNavParticleFilter::Modified Variance for beam 40 is 18.65 
Alpha[40]	0.000000
Alpha[40]	0.989387
TNavParticleFilter::Modified Variance for beam 41 is 18.64 
Alpha[41]	0.000000
Alpha[41]	0.992555
TNavParticleFilter::Modified Variance for beam 42 is 18.69 
Alpha[42]	0.000000
Alpha[42]	0.993587
TNavParticleFilter::Modified Variance for beam 43 is 18.77 
Alpha[43]	0.000000
Alpha[43]	0.993284
TNavParticleFilter::Modified Variance for beam 44 is 18.88 
Alpha[44]	0.000000
Alpha[44]	0.992178
TNavParticleFilter::Modified Variance for beam 45 is 18.99 
Alpha[45]	0.000000
Alpha[45]	0.991345
TNavParticleFilter::Modified Variance for beam 46 is 19.13 
Alpha[46]	0.000000
Alpha[46]	0.989822
TNavParticleFilter::Modified Variance for beam 47 is 19.22 
Alpha[47]	0.000000
Alpha[47]	0.991552
TNavParticleFilter::Modified Variance for beam 48 is 19.30 
Alpha[48]	0.000000
Alpha[48]	0.994119
TNavParticleFilter::Modified Variance for beam 49 is 19.42 
Alpha[49]	0.000000
Alpha[49]	0.994775
TNavParticleFilter::Modified Variance for beam 50 is 19.58 
Alpha[50]	0.000000
Alpha[50]	0.994589
TNavParticleFilter::Modified Variance for beam 51 is 19.73 
Alpha[51]	0.000000
Alpha[51]	0.994944
TNavParticleFilter::Modified Variance for beam 52 is 19.91 
Alpha[52]	0.000000
Alpha[52]	0.994797
TNavParticleFilter::Modified Variance for beam 53 is 20.14 
Alpha[53]	0.000000
Alpha[53]	0.992984
TNavParticleFilter::Modified Variance for beam 54 is 20.42 
Alpha[54]	0.000000
Alpha[54]	0.989364
TNavParticleFilter::Modified Variance for beam 55 is 20.67 
Alpha[55]	0.000000
Alpha[55]	0.987896
TNavParticleFilter::Modified Variance for beam 56 is 21.01 
Alpha[56]	0.000000
Alpha[56]	0.982664
TNavParticleFilter::Modified Variance for beam 57 is 21.28 
Alpha[57]	0.000000
Alpha[57]	0.981727
TNavParticleFilter::Modified Variance for beam 58 is 21.48 
Alpha[58]	0.000000
Alpha[58]	0.984758
TNavParticleFilter::Modified Variance for beam 59 is 20.50 
Alpha[59]	0.000000
Alpha[59]	0.987096
TNavPF:: sumSquaredError = 7.066244 
TNavPF:: sumWeights = 0.071826 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 2.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -4.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -2.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.10. Range = 98.16 
TNavPF::Calculated measDiffMean for beam 50 as -0.28. Range = 93.68 
TNavPF::Calculated measDiffMean for beam 51 as -0.27. Range = 89.38 
TNavPF::Calculated measDiffMean for beam 52 as -0.23. Range = 87.94 
TNavPF::Calculated measDiffMean for beam 53 as -0.12. Range = 83.92 
TNavPF::Calculated measDiffMean for beam 54 as 0.08. Range = 82.66 
TNavPF::Calculated measDiffMean for beam 55 as 0.15. Range = 76.30 
TNavPF::Calculated measDiffMean for beam 56 as 0.17. Range = 70.13 
TNavPF::Calculated measDiffMean for beam 57 as 0.13. Range = 69.19 
TNavPF::Calculated measDiffMean for beam 58 as -0.18. Range = 70.48 
TNavPF::Calculated measDiffMean for beam 59 as -0.50. Range = 69.89 
TNavPF::Calculated measDiffMean for beam 60 as -0.87. Range = 70.49 
TNavPF::Calculated measDiffMean for beam 61 as 0.54. Range = 70.64 
TNavPF::Calculated measDiffMean for beam 62 as 0.27. Range = 70.58 
TNavPF::Calculated measDiffMean for beam 63 as -0.04. Range = 71.44 
TNavPF::Calculated measDiffMean for beam 64 as -0.15. Range = 68.38 
TNavPF::Calculated measDiffMean for beam 65 as -0.16. Range = 63.11 
TNavPF::Calculated measDiffMean for beam 66 as -0.24. Range = 53.42 
TNavPF::Calculated measDiffMean for beam 67 as -0.65. Range = 52.93 
TNavPF::Calculated measDiffMean for beam 68 as -1.05. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 69 as -1.31. Range = 54.24 
TNavPF::Calculated measDiffMean for beam 70 as 0.47. Range = 53.80 
TNavPF::Calculated measDiffMean for beam 71 as 0.22. Range = 53.39 
TNavPF::Calculated measDiffMean for beam 72 as 0.03. Range = 53.00 
TNavPF::Calculated measDiffMean for beam 73 as -0.12. Range = 52.63 
TNavPF::Calculated measDiffMean for beam 74 as -0.34. Range = 52.28 
TNavPF::Calculated measDiffMean for beam 75 as -0.47. Range = 51.95 
TNavPF::Calculated measDiffMean for beam 76 as -0.66. Range = 51.64 
TNavPF::Calculated measDiffMean for beam 77 as -0.87. Range = 52.64 
TNavPF::Calculated measDiffMean for beam 78 as -0.78. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 79 as -0.14. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 80 as 0.16. Range = 52.66 
TNavPF::Calculated measDiffMean for beam 81 as 0.16. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 82 as 0.06. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 83 as -0.24. Range = 52.04 
TNavPF::Calculated measDiffMean for beam 84 as -0.43. Range = 51.87 
TNavPF::Calculated measDiffMean for beam 85 as -0.47. Range = 51.71 
TNavPF::Calculated measDiffMean for beam 86 as -0.42. Range = 51.57 
TNavPF::Calculated measDiffMean for beam 87 as -0.19. Range = 51.45 
TNavPF::Calculated measDiffMean for beam 88 as 0.15. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 89 as -1.26. Range = 51.25 
TNavPF::First Term of Map Covariance Matrix is 14.59 
TNavPF::Calculated NIS Value : 1.42 	numBeams normalized NIS: 0.02
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322378.82 sec.
INS : North: 4070294.85, East: 588870.73, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 53.49, IDT[75] = 54.57
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322381.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322381.62)
ARL : North: -0.3788, East: -1.9100, Depth: -0.1283ARL : Estimation Bias  (Mean)         : (t = 1488322381.62)
ARL : North: 0.0336, East: -2.8071, Depth: 0.4122TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 28.40 
Alpha[0]	0.123000
Alpha[0]	0.998071
TNavParticleFilter::Modified Variance for beam 1 is 29.38 
Alpha[1]	0.000000
Alpha[1]	0.997975
TNavParticleFilter::Modified Variance for beam 2 is 28.75 
Alpha[2]	0.000000
Alpha[2]	0.998925
TNavParticleFilter::Modified Variance for beam 3 is 29.33 
Alpha[3]	0.000000
Alpha[3]	0.999165
TNavParticleFilter::Modified Variance for beam 4 is 29.16 
Alpha[4]	0.000000
Alpha[4]	0.999476
TNavParticleFilter::Modified Variance for beam 5 is 29.37 
Alpha[5]	0.000000
Alpha[5]	0.999682
TNavParticleFilter::Modified Variance for beam 6 is 27.92 
Alpha[6]	0.000000
Alpha[6]	0.999741
TNavParticleFilter::Modified Variance for beam 7 is 24.19 
Alpha[7]	0.000000
Alpha[7]	0.999767
TNavParticleFilter::Modified Variance for beam 8 is 18.21 
Alpha[8]	0.000000
Alpha[8]	0.999517
TNavParticleFilter::Modified Variance for beam 9 is 17.91 
Alpha[9]	0.000000
Alpha[9]	0.998503
TNavParticleFilter::Modified Variance for beam 10 is 17.64 
Alpha[10]	0.000000
Alpha[10]	0.997395
TNavParticleFilter::Modified Variance for beam 11 is 17.37 
Alpha[11]	0.000000
Alpha[11]	0.996463
TNavParticleFilter::Modified Variance for beam 12 is 18.24 
Alpha[12]	0.000000
Alpha[12]	0.995379
TNavParticleFilter::Modified Variance for beam 13 is 18.09 
Alpha[13]	0.000000
Alpha[13]	0.993629
TNavParticleFilter::Modified Variance for beam 14 is 17.89 
Alpha[14]	0.000000
Alpha[14]	0.990468
TNavParticleFilter::Modified Variance for beam 15 is 17.72 
Alpha[15]	0.000000
Alpha[15]	0.987011
TNavParticleFilter::Modified Variance for beam 16 is 17.49 
Alpha[16]	0.000000
Alpha[16]	0.986935
TNavParticleFilter::Modified Variance for beam 17 is 17.26 
Alpha[17]	0.000000
Alpha[17]	0.987792
TNavParticleFilter::Modified Variance for beam 18 is 17.21 
Alpha[18]	0.000000
Alpha[18]	0.987317
TNavParticleFilter::Modified Variance for beam 19 is 18.00 
Alpha[19]	0.000000
Alpha[19]	0.988083
TNavParticleFilter::Modified Variance for beam 20 is 17.85 
Alpha[20]	0.000000
Alpha[20]	0.985868
TNavParticleFilter::Modified Variance for beam 21 is 17.69 
Alpha[21]	0.000000
Alpha[21]	0.984503
TNavParticleFilter::Modified Variance for beam 22 is 17.48 
Alpha[22]	0.000000
Alpha[22]	0.986943
TNavParticleFilter::Modified Variance for beam 23 is 17.33 
Alpha[23]	0.000000
Alpha[23]	0.987052
TNavParticleFilter::Modified Variance for beam 24 is 17.20 
Alpha[24]	0.000000
Alpha[24]	0.986272
TNavParticleFilter::Modified Variance for beam 25 is 17.07 
Alpha[25]	0.000000
Alpha[25]	0.985635
TNavParticleFilter::Modified Variance for beam 26 is 16.95 
Alpha[26]	0.000000
Alpha[26]	0.985401
TNavParticleFilter::Modified Variance for beam 27 is 16.84 
Alpha[27]	0.000000
Alpha[27]	0.985240
TNavParticleFilter::Modified Variance for beam 28 is 16.75 
Alpha[28]	0.000000
Alpha[28]	0.984363
TNavParticleFilter::Modified Variance for beam 29 is 16.72 
Alpha[29]	0.000000
Alpha[29]	0.980617
TNavParticleFilter::Modified Variance for beam 30 is 16.70 
Alpha[30]	0.000000
Alpha[30]	0.976342
TNavParticleFilter::Modified Variance for beam 31 is 16.49 
Alpha[31]	0.000000
Alpha[31]	0.984527
TNavParticleFilter::Modified Variance for beam 32 is 17.39 
Alpha[32]	0.000000
Alpha[32]	0.988382
TNavParticleFilter::Modified Variance for beam 33 is 17.34 
Alpha[33]	0.000000
Alpha[33]	0.987705
TNavParticleFilter::Modified Variance for beam 34 is 17.33 
Alpha[34]	0.000000
Alpha[34]	0.985168
TNavParticleFilter::Modified Variance for beam 35 is 17.26 
Alpha[35]	0.000000
Alpha[35]	0.986277
TNavParticleFilter::Modified Variance for beam 36 is 17.19 
Alpha[36]	0.000000
Alpha[36]	0.988200
TNavParticleFilter::Modified Variance for beam 37 is 17.16 
Alpha[37]	0.000000
Alpha[37]	0.987970
TNavParticleFilter::Modified Variance for beam 38 is 17.15 
Alpha[38]	0.000000
Alpha[38]	0.987441
TNavParticleFilter::Modified Variance for beam 39 is 17.15 
Alpha[39]	0.000000
Alpha[39]	0.986410
TNavParticleFilter::Modified Variance for beam 40 is 17.12 
Alpha[40]	0.000000
Alpha[40]	0.987510
TNavParticleFilter::Modified Variance for beam 41 is 17.11 
Alpha[41]	0.000000
Alpha[41]	0.988189
TNavParticleFilter::Modified Variance for beam 42 is 17.07 
Alpha[42]	0.000000
Alpha[42]	0.991060
TNavParticleFilter::Modified Variance for beam 43 is 17.06 
Alpha[43]	0.000000
Alpha[43]	0.992870
TNavParticleFilter::Modified Variance for beam 44 is 17.09 
Alpha[44]	0.000000
Alpha[44]	0.992951
TNavParticleFilter::Modified Variance for beam 45 is 18.20 
Alpha[45]	0.000000
Alpha[45]	0.992092
TNavParticleFilter::Modified Variance for beam 46 is 18.26 
Alpha[46]	0.000000
Alpha[46]	0.991235
TNavParticleFilter::Modified Variance for beam 47 is 18.34 
Alpha[47]	0.000000
Alpha[47]	0.989874
TNavParticleFilter::Modified Variance for beam 48 is 18.41 
Alpha[48]	0.000000
Alpha[48]	0.990170
TNavParticleFilter::Modified Variance for beam 49 is 18.40 
Alpha[49]	0.000000
Alpha[49]	0.994392
TNavParticleFilter::Modified Variance for beam 50 is 18.46 
Alpha[50]	0.000000
Alpha[50]	0.995860
TNavParticleFilter::Modified Variance for beam 51 is 18.56 
Alpha[51]	0.000000
Alpha[51]	0.995365
TNavParticleFilter::Modified Variance for beam 52 is 18.67 
Alpha[52]	0.000000
Alpha[52]	0.995188
TNavParticleFilter::Modified Variance for beam 53 is 18.79 
Alpha[53]	0.000000
Alpha[53]	0.995140
TNavParticleFilter::Modified Variance for beam 54 is 18.95 
Alpha[54]	0.000000
Alpha[54]	0.993482
TNavParticleFilter::Modified Variance for beam 55 is 19.16 
Alpha[55]	0.000000
Alpha[55]	0.989497
TNavParticleFilter::Modified Variance for beam 56 is 19.34 
Alpha[56]	0.000000
Alpha[56]	0.988216
TNavParticleFilter::Modified Variance for beam 57 is 19.53 
Alpha[57]	0.000000
Alpha[57]	0.986724
TNavParticleFilter::Modified Variance for beam 58 is 19.81 
Alpha[58]	0.000000
Alpha[58]	0.981219
TNavParticleFilter::Modified Variance for beam 59 is 20.00 
Alpha[59]	0.000000
Alpha[59]	0.981292
TNavPF:: sumSquaredError = 35.346700 
TNavPF:: sumWeights = 0.055871 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 3.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -3.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -2.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.05. Range = 95.99 
TNavPF::Calculated measDiffMean for beam 55 as 0.24. Range = 91.45 
TNavPF::Calculated measDiffMean for beam 56 as 0.30. Range = 89.88 
TNavPF::Calculated measDiffMean for beam 57 as 0.32. Range = 77.41 
TNavPF::Calculated measDiffMean for beam 58 as 0.25. Range = 76.17 
TNavPF::Calculated measDiffMean for beam 59 as -0.12. Range = 72.33 
TNavPF::Calculated measDiffMean for beam 60 as -0.42. Range = 71.25 
TNavPF::Calculated measDiffMean for beam 61 as -0.77. Range = 72.65 
TNavPF::Calculated measDiffMean for beam 62 as 0.69. Range = 71.80 
TNavPF::Calculated measDiffMean for beam 63 as 0.41. Range = 72.63 
TNavPF::Calculated measDiffMean for beam 64 as 0.09. Range = 72.39 
TNavPF::Calculated measDiffMean for beam 65 as 0.01. Range = 72.70 
TNavPF::Calculated measDiffMean for beam 66 as -0.08. Range = 70.63 
TNavPF::Calculated measDiffMean for beam 67 as -0.25. Range = 65.03 
TNavPF::Calculated measDiffMean for beam 68 as -0.63. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 69 as -0.92. Range = 54.25 
TNavPF::Calculated measDiffMean for beam 70 as -1.12. Range = 53.69 
TNavPF::Calculated measDiffMean for beam 71 as -1.35. Range = 53.16 
TNavPF::Calculated measDiffMean for beam 72 as -1.53. Range = 54.75 
TNavPF::Calculated measDiffMean for beam 73 as -1.73. Range = 54.42 
TNavPF::Calculated measDiffMean for beam 74 as -1.87. Range = 53.95 
TNavPF::Calculated measDiffMean for beam 75 as -0.11. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 76 as -0.24. Range = 53.06 
TNavPF::Calculated measDiffMean for beam 77 as -0.42. Range = 52.66 
TNavPF::Calculated measDiffMean for beam 78 as -0.59. Range = 52.55 
TNavPF::Calculated measDiffMean for beam 79 as -0.66. Range = 54.06 
TNavPF::Calculated measDiffMean for beam 80 as -0.28. Range = 53.70 
TNavPF::Calculated measDiffMean for beam 81 as 0.21. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 82 as 0.32. Range = 53.05 
TNavPF::Calculated measDiffMean for beam 83 as 0.27. Range = 52.76 
TNavPF::Calculated measDiffMean for beam 84 as 0.03. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 85 as -0.26. Range = 52.22 
TNavPF::Calculated measDiffMean for beam 86 as -0.32. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 87 as -0.40. Range = 51.76 
TNavPF::Calculated measDiffMean for beam 88 as -0.37. Range = 51.56 
TNavPF::Calculated measDiffMean for beam 89 as -0.13. Range = 51.37 
TNavPF::First Term of Map Covariance Matrix is 10.36 
TNavPF::Calculated NIS Value : 1.70 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322381.82 sec.
INS : North: 4070294.07, East: 588866.48, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 54.18, IDT[75] = 53.45
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322384.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322384.62)
ARL : North: 0.1572, East: -2.0385, Depth: 0.6591ARL : Estimation Bias  (Mean)         : (t = 1488322384.62)
ARL : North: -0.2204, East: -2.6541, Depth: 0.5199TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 30.43 
Alpha[0]	0.123000
Alpha[0]	0.998965
TNavParticleFilter::Modified Variance for beam 1 is 30.18 
Alpha[1]	0.000000
Alpha[1]	0.998545
TNavParticleFilter::Modified Variance for beam 2 is 30.67 
Alpha[2]	0.000000
Alpha[2]	0.998881
TNavParticleFilter::Modified Variance for beam 3 is 30.06 
Alpha[3]	0.000000
Alpha[3]	0.999101
TNavParticleFilter::Modified Variance for beam 4 is 30.93 
Alpha[4]	0.000000
Alpha[4]	0.999528
TNavParticleFilter::Modified Variance for beam 5 is 30.15 
Alpha[5]	0.000000
Alpha[5]	0.999687
TNavParticleFilter::Modified Variance for beam 6 is 31.20 
Alpha[6]	0.000000
Alpha[6]	0.999752
TNavParticleFilter::Modified Variance for beam 7 is 19.28 
Alpha[7]	0.000000
Alpha[7]	0.999804
TNavParticleFilter::Modified Variance for beam 8 is 18.88 
Alpha[8]	0.000000
Alpha[8]	0.999579
TNavParticleFilter::Modified Variance for beam 9 is 18.98 
Alpha[9]	0.000000
Alpha[9]	0.998504
TNavParticleFilter::Modified Variance for beam 10 is 19.52 
Alpha[10]	0.000000
Alpha[10]	0.997393
TNavParticleFilter::Modified Variance for beam 11 is 19.18 
Alpha[11]	0.000000
Alpha[11]	0.995857
TNavParticleFilter::Modified Variance for beam 12 is 18.87 
Alpha[12]	0.000000
Alpha[12]	0.994055
TNavParticleFilter::Modified Variance for beam 13 is 18.60 
Alpha[13]	0.000000
Alpha[13]	0.991341
TNavParticleFilter::Modified Variance for beam 14 is 18.35 
Alpha[14]	0.000000
Alpha[14]	0.988295
TNavParticleFilter::Modified Variance for beam 15 is 18.09 
Alpha[15]	0.000000
Alpha[15]	0.986594
TNavParticleFilter::Modified Variance for beam 16 is 17.80 
Alpha[16]	0.000000
Alpha[16]	0.987314
TNavParticleFilter::Modified Variance for beam 17 is 17.65 
Alpha[17]	0.000000
Alpha[17]	0.986745
TNavParticleFilter::Modified Variance for beam 18 is 18.50 
Alpha[18]	0.000000
Alpha[18]	0.987167
TNavParticleFilter::Modified Variance for beam 19 is 18.29 
Alpha[19]	0.000000
Alpha[19]	0.984937
TNavParticleFilter::Modified Variance for beam 20 is 18.07 
Alpha[20]	0.000000
Alpha[20]	0.984547
TNavParticleFilter::Modified Variance for beam 21 is 17.82 
Alpha[21]	0.000000
Alpha[21]	0.986145
TNavParticleFilter::Modified Variance for beam 22 is 17.62 
Alpha[22]	0.000000
Alpha[22]	0.986046
TNavParticleFilter::Modified Variance for beam 23 is 17.42 
Alpha[23]	0.000000
Alpha[23]	0.986363
TNavParticleFilter::Modified Variance for beam 24 is 17.25 
Alpha[24]	0.000000
Alpha[24]	0.986089
TNavParticleFilter::Modified Variance for beam 25 is 17.08 
Alpha[25]	0.000000
Alpha[25]	0.985809
TNavParticleFilter::Modified Variance for beam 26 is 16.93 
Alpha[26]	0.000000
Alpha[26]	0.985404
TNavParticleFilter::Modified Variance for beam 27 is 16.83 
Alpha[27]	0.000000
Alpha[27]	0.983014
TNavParticleFilter::Modified Variance for beam 28 is 16.80 
Alpha[28]	0.000000
Alpha[28]	0.976619
TNavParticleFilter::Modified Variance for beam 29 is 16.69 
Alpha[29]	0.000000
Alpha[29]	0.976049
TNavParticleFilter::Modified Variance for beam 30 is 16.42 
Alpha[30]	0.000000
Alpha[30]	0.984975
TNavParticleFilter::Modified Variance for beam 31 is 17.32 
Alpha[31]	0.000000
Alpha[31]	0.987977
TNavParticleFilter::Modified Variance for beam 32 is 17.24 
Alpha[32]	0.000000
Alpha[32]	0.986464
TNavParticleFilter::Modified Variance for beam 33 is 17.17 
Alpha[33]	0.000000
Alpha[33]	0.985031
TNavParticleFilter::Modified Variance for beam 34 is 17.03 
Alpha[34]	0.000000
Alpha[34]	0.987872
TNavParticleFilter::Modified Variance for beam 35 is 16.94 
Alpha[35]	0.000000
Alpha[35]	0.988814
TNavParticleFilter::Modified Variance for beam 36 is 16.89 
Alpha[36]	0.000000
Alpha[36]	0.987365
TNavParticleFilter::Modified Variance for beam 37 is 16.86 
Alpha[37]	0.000000
Alpha[37]	0.985687
TNavParticleFilter::Modified Variance for beam 38 is 16.80 
Alpha[38]	0.000000
Alpha[38]	0.986051
TNavParticleFilter::Modified Variance for beam 39 is 16.74 
Alpha[39]	0.000000
Alpha[39]	0.987327
TNavParticleFilter::Modified Variance for beam 40 is 17.74 
Alpha[40]	0.000000
Alpha[40]	0.987861
TNavParticleFilter::Modified Variance for beam 41 is 17.67 
Alpha[41]	0.000000
Alpha[41]	0.989937
TNavParticleFilter::Modified Variance for beam 42 is 17.60 
Alpha[42]	0.000000
Alpha[42]	0.992572
TNavParticleFilter::Modified Variance for beam 43 is 17.59 
Alpha[43]	0.000000
Alpha[43]	0.992851
TNavParticleFilter::Modified Variance for beam 44 is 17.60 
Alpha[44]	0.000000
Alpha[44]	0.991868
TNavParticleFilter::Modified Variance for beam 45 is 17.62 
Alpha[45]	0.000000
Alpha[45]	0.990945
TNavParticleFilter::Modified Variance for beam 46 is 17.67 
Alpha[46]	0.000000
Alpha[46]	0.989176
TNavParticleFilter::Modified Variance for beam 47 is 17.68 
Alpha[47]	0.000000
Alpha[47]	0.989555
TNavParticleFilter::Modified Variance for beam 48 is 17.63 
Alpha[48]	0.000000
Alpha[48]	0.994189
TNavParticleFilter::Modified Variance for beam 49 is 17.64 
Alpha[49]	0.000000
Alpha[49]	0.995855
TNavParticleFilter::Modified Variance for beam 50 is 17.70 
Alpha[50]	0.000000
Alpha[50]	0.995381
TNavParticleFilter::Modified Variance for beam 51 is 17.77 
Alpha[51]	0.000000
Alpha[51]	0.994673
TNavParticleFilter::Modified Variance for beam 52 is 17.84 
Alpha[52]	0.000000
Alpha[52]	0.994492
TNavParticleFilter::Modified Variance for beam 53 is 17.95 
Alpha[53]	0.000000
Alpha[53]	0.992471
TNavParticleFilter::Modified Variance for beam 54 is 18.12 
Alpha[54]	0.000000
Alpha[54]	0.988024
TNavParticleFilter::Modified Variance for beam 55 is 18.23 
Alpha[55]	0.000000
Alpha[55]	0.987115
TNavParticleFilter::Modified Variance for beam 56 is 18.34 
Alpha[56]	0.000000
Alpha[56]	0.986800
TNavParticleFilter::Modified Variance for beam 57 is 18.52 
Alpha[57]	0.000000
Alpha[57]	0.983708
TNavParticleFilter::Modified Variance for beam 58 is 18.72 
Alpha[58]	0.000000
Alpha[58]	0.979888
TNavParticleFilter::Modified Variance for beam 59 is 18.82 
Alpha[59]	0.000000
Alpha[59]	0.981831
TNavPF:: sumSquaredError = 2.780622 
TNavPF:: sumWeights = 0.076193 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 2.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 2.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 4.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -8.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -3.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.41. Range = 94.59 
TNavPF::Calculated measDiffMean for beam 57 as 0.25. Range = 92.82 
TNavPF::Calculated measDiffMean for beam 58 as -0.15. Range = 88.26 
TNavPF::Calculated measDiffMean for beam 59 as -0.38. Range = 81.07 
TNavPF::Calculated measDiffMean for beam 60 as -0.81. Range = 74.14 
TNavPF::Calculated measDiffMean for beam 61 as 0.70. Range = 73.77 
TNavPF::Calculated measDiffMean for beam 62 as 0.41. Range = 74.46 
TNavPF::Calculated measDiffMean for beam 63 as 0.13. Range = 73.64 
TNavPF::Calculated measDiffMean for beam 64 as 0.10. Range = 74.85 
TNavPF::Calculated measDiffMean for beam 65 as -0.01. Range = 73.79 
TNavPF::Calculated measDiffMean for beam 66 as -0.21. Range = 75.23 
TNavPF::Calculated measDiffMean for beam 67 as -0.59. Range = 56.81 
TNavPF::Calculated measDiffMean for beam 68 as -0.87. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 69 as -1.08. Range = 56.22 
TNavPF::Calculated measDiffMean for beam 70 as 0.70. Range = 57.14 
TNavPF::Calculated measDiffMean for beam 71 as 0.56. Range = 56.49 
TNavPF::Calculated measDiffMean for beam 72 as 0.32. Range = 55.87 
TNavPF::Calculated measDiffMean for beam 73 as 0.15. Range = 55.28 
TNavPF::Calculated measDiffMean for beam 74 as -0.10. Range = 54.71 
TNavPF::Calculated measDiffMean for beam 75 as -0.22. Range = 54.18 
TNavPF::Calculated measDiffMean for beam 76 as -0.40. Range = 53.67 
TNavPF::Calculated measDiffMean for beam 77 as -0.51. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 78 as -0.60. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 79 as -0.47. Range = 54.50 
TNavPF::Calculated measDiffMean for beam 80 as 0.00. Range = 54.07 
TNavPF::Calculated measDiffMean for beam 81 as 0.29. Range = 53.66 
TNavPF::Calculated measDiffMean for beam 82 as 0.26. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 83 as 0.06. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 84 as -0.17. Range = 52.57 
TNavPF::Calculated measDiffMean for beam 85 as -0.28. Range = 52.25 
TNavPF::Calculated measDiffMean for beam 86 as -0.33. Range = 51.95 
TNavPF::Calculated measDiffMean for beam 87 as -0.42. Range = 51.67 
TNavPF::Calculated measDiffMean for beam 88 as -0.30. Range = 51.40 
TNavPF::Calculated measDiffMean for beam 89 as -0.06. Range = 51.15 
TNavPF::First Term of Map Covariance Matrix is 19.31 
TNavPF::Calculated NIS Value : 2.33 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322384.82 sec.
INS : North: 4070293.03, East: 588862.26, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 55.94, IDT[75] = 52.34
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322387.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322387.62)
ARL : North: -1.3108, East: -1.9422, Depth: 0.5905ARL : Estimation Bias  (Mean)         : (t = 1488322387.62)
ARL : North: -0.4527, East: -2.7745, Depth: 0.4846TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 32.30 
Alpha[0]	0.123000
Alpha[0]	0.999048
TNavParticleFilter::Modified Variance for beam 1 is 31.65 
Alpha[1]	0.000000
Alpha[1]	0.999395
TNavParticleFilter::Modified Variance for beam 2 is 32.19 
Alpha[2]	0.000000
Alpha[2]	0.999652
TNavParticleFilter::Modified Variance for beam 3 is 31.82 
Alpha[3]	0.000000
Alpha[3]	0.999723
TNavParticleFilter::Modified Variance for beam 4 is 32.15 
Alpha[4]	0.000000
Alpha[4]	0.999806
TNavParticleFilter::Modified Variance for beam 5 is 19.99 
Alpha[5]	0.000000
Alpha[5]	0.999750
TNavParticleFilter::Modified Variance for beam 6 is 19.69 
Alpha[6]	0.000000
Alpha[6]	0.999331
TNavParticleFilter::Modified Variance for beam 7 is 20.44 
Alpha[7]	0.000000
Alpha[7]	0.998129
TNavParticleFilter::Modified Variance for beam 8 is 20.13 
Alpha[8]	0.000000
Alpha[8]	0.996444
TNavParticleFilter::Modified Variance for beam 9 is 19.75 
Alpha[9]	0.000000
Alpha[9]	0.993999
TNavParticleFilter::Modified Variance for beam 10 is 19.39 
Alpha[10]	0.000000
Alpha[10]	0.991541
TNavParticleFilter::Modified Variance for beam 11 is 19.07 
Alpha[11]	0.000000
Alpha[11]	0.988673
TNavParticleFilter::Modified Variance for beam 12 is 18.72 
Alpha[12]	0.000000
Alpha[12]	0.988066
TNavParticleFilter::Modified Variance for beam 13 is 18.39 
Alpha[13]	0.000000
Alpha[13]	0.987883
TNavParticleFilter::Modified Variance for beam 14 is 18.36 
Alpha[14]	0.000000
Alpha[14]	0.987182
TNavParticleFilter::Modified Variance for beam 15 is 19.05 
Alpha[15]	0.000000
Alpha[15]	0.986552
TNavParticleFilter::Modified Variance for beam 16 is 18.78 
Alpha[16]	0.000000
Alpha[16]	0.985088
TNavParticleFilter::Modified Variance for beam 17 is 18.46 
Alpha[17]	0.000000
Alpha[17]	0.986641
TNavParticleFilter::Modified Variance for beam 18 is 18.19 
Alpha[18]	0.000000
Alpha[18]	0.986432
TNavParticleFilter::Modified Variance for beam 19 is 17.94 
Alpha[19]	0.000000
Alpha[19]	0.986233
TNavParticleFilter::Modified Variance for beam 20 is 17.70 
Alpha[20]	0.000000
Alpha[20]	0.986343
TNavParticleFilter::Modified Variance for beam 21 is 17.47 
Alpha[21]	0.000000
Alpha[21]	0.986151
TNavParticleFilter::Modified Variance for beam 22 is 17.27 
Alpha[22]	0.000000
Alpha[22]	0.985833
TNavParticleFilter::Modified Variance for beam 23 is 17.11 
Alpha[23]	0.000000
Alpha[23]	0.983109
TNavParticleFilter::Modified Variance for beam 24 is 17.04 
Alpha[24]	0.000000
Alpha[24]	0.976326
TNavParticleFilter::Modified Variance for beam 25 is 16.87 
Alpha[25]	0.000000
Alpha[25]	0.975921
TNavParticleFilter::Modified Variance for beam 26 is 16.59 
Alpha[26]	0.000000
Alpha[26]	0.983047
TNavParticleFilter::Modified Variance for beam 27 is 17.02 
Alpha[27]	0.000000
Alpha[27]	0.987727
TNavParticleFilter::Modified Variance for beam 28 is 17.31 
Alpha[28]	0.000000
Alpha[28]	0.986236
TNavParticleFilter::Modified Variance for beam 29 is 17.18 
Alpha[29]	0.000000
Alpha[29]	0.985534
TNavParticleFilter::Modified Variance for beam 30 is 16.98 
Alpha[30]	0.000000
Alpha[30]	0.989604
TNavParticleFilter::Modified Variance for beam 31 is 16.84 
Alpha[31]	0.000000
Alpha[31]	0.990336
TNavParticleFilter::Modified Variance for beam 32 is 16.76 
Alpha[32]	0.000000
Alpha[32]	0.988288
TNavParticleFilter::Modified Variance for beam 33 is 16.71 
Alpha[33]	0.000000
Alpha[33]	0.985044
TNavParticleFilter::Modified Variance for beam 34 is 16.60 
Alpha[34]	0.000000
Alpha[34]	0.986134
TNavParticleFilter::Modified Variance for beam 35 is 16.49 
Alpha[35]	0.000000
Alpha[35]	0.987464
TNavParticleFilter::Modified Variance for beam 36 is 16.79 
Alpha[36]	0.000000
Alpha[36]	0.988018
TNavParticleFilter::Modified Variance for beam 37 is 17.37 
Alpha[37]	0.000000
Alpha[37]	0.988583
TNavParticleFilter::Modified Variance for beam 38 is 17.24 
Alpha[38]	0.000000
Alpha[38]	0.991937
TNavParticleFilter::Modified Variance for beam 39 is 17.16 
Alpha[39]	0.000000
Alpha[39]	0.993238
TNavParticleFilter::Modified Variance for beam 40 is 17.13 
Alpha[40]	0.000000
Alpha[40]	0.992519
TNavParticleFilter::Modified Variance for beam 41 is 17.11 
Alpha[41]	0.000000
Alpha[41]	0.991385
TNavParticleFilter::Modified Variance for beam 42 is 17.10 
Alpha[42]	0.000000
Alpha[42]	0.990010
TNavParticleFilter::Modified Variance for beam 43 is 17.10 
Alpha[43]	0.000000
Alpha[43]	0.988998
TNavParticleFilter::Modified Variance for beam 44 is 17.01 
Alpha[44]	0.000000
Alpha[44]	0.993396
TNavParticleFilter::Modified Variance for beam 45 is 16.96 
Alpha[45]	0.000000
Alpha[45]	0.995757
TNavParticleFilter::Modified Variance for beam 46 is 16.96 
Alpha[46]	0.000000
Alpha[46]	0.995859
TNavParticleFilter::Modified Variance for beam 47 is 16.99 
Alpha[47]	0.000000
Alpha[47]	0.994736
TNavParticleFilter::Modified Variance for beam 48 is 17.02 
Alpha[48]	0.000000
Alpha[48]	0.994072
TNavParticleFilter::Modified Variance for beam 49 is 17.08 
Alpha[49]	0.000000
Alpha[49]	0.992127
TNavParticleFilter::Modified Variance for beam 50 is 17.22 
Alpha[50]	0.000000
Alpha[50]	0.986507
TNavParticleFilter::Modified Variance for beam 51 is 17.27 
Alpha[51]	0.000000
Alpha[51]	0.985806
TNavParticleFilter::Modified Variance for beam 52 is 17.30 
Alpha[52]	0.000000
Alpha[52]	0.987047
TNavParticleFilter::Modified Variance for beam 53 is 17.38 
Alpha[53]	0.000000
Alpha[53]	0.986072
TNavParticleFilter::Modified Variance for beam 54 is 17.51 
Alpha[54]	0.000000
Alpha[54]	0.982934
TNavParticleFilter::Modified Variance for beam 55 is 17.64 
Alpha[55]	0.000000
Alpha[55]	0.980029
TNavParticleFilter::Modified Variance for beam 56 is 17.71 
Alpha[56]	0.000000
Alpha[56]	0.981077
TNavParticleFilter::Modified Variance for beam 57 is 17.76 
Alpha[57]	0.000000
Alpha[57]	0.983906
TNavParticleFilter::Modified Variance for beam 58 is 17.56 
Alpha[58]	0.000000
Alpha[58]	0.986330
TNavParticleFilter::Modified Variance for beam 59 is 16.89 
Alpha[59]	0.000000
Alpha[59]	0.984911
TNavPF:: sumSquaredError = 34.701105 
TNavPF:: sumWeights = 0.072254 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 2.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 3.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 8.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -4.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -2.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.50. Range = 95.43 
TNavPF::Calculated measDiffMean for beam 57 as 0.15. Range = 90.55 
TNavPF::Calculated measDiffMean for beam 58 as 0.64. Range = 82.94 
TNavPF::Calculated measDiffMean for beam 59 as 0.39. Range = 75.64 
TNavPF::Calculated measDiffMean for beam 60 as 0.40. Range = 76.67 
TNavPF::Calculated measDiffMean for beam 61 as 0.29. Range = 75.81 
TNavPF::Calculated measDiffMean for beam 62 as 0.04. Range = 76.55 
TNavPF::Calculated measDiffMean for beam 63 as -0.36. Range = 76.07 
TNavPF::Calculated measDiffMean for beam 64 as -0.70. Range = 76.51 
TNavPF::Calculated measDiffMean for beam 65 as -0.87. Range = 58.06 
TNavPF::Calculated measDiffMean for beam 66 as -0.37. Range = 57.52 
TNavPF::Calculated measDiffMean for beam 67 as 0.78. Range = 58.79 
TNavPF::Calculated measDiffMean for beam 68 as 0.54. Range = 58.19 
TNavPF::Calculated measDiffMean for beam 69 as 0.32. Range = 57.44 
TNavPF::Calculated measDiffMean for beam 70 as 0.10. Range = 56.72 
TNavPF::Calculated measDiffMean for beam 71 as -0.08. Range = 56.04 
TNavPF::Calculated measDiffMean for beam 72 as -0.22. Range = 55.39 
TNavPF::Calculated measDiffMean for beam 73 as -0.35. Range = 54.77 
TNavPF::Calculated measDiffMean for beam 74 as -0.37. Range = 54.69 
TNavPF::Calculated measDiffMean for beam 75 as -0.42. Range = 55.94 
TNavPF::Calculated measDiffMean for beam 76 as -0.20. Range = 55.39 
TNavPF::Calculated measDiffMean for beam 77 as 0.28. Range = 54.86 
TNavPF::Calculated measDiffMean for beam 78 as 0.42. Range = 54.36 
TNavPF::Calculated measDiffMean for beam 79 as 0.23. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 80 as 0.03. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 81 as -0.11. Range = 53.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.19. Range = 52.60 
TNavPF::Calculated measDiffMean for beam 83 as -0.25. Range = 52.22 
TNavPF::Calculated measDiffMean for beam 84 as -0.32. Range = 51.86 
TNavPF::Calculated measDiffMean for beam 85 as -0.16. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 86 as 0.08. Range = 51.19 
TNavPF::Calculated measDiffMean for beam 87 as 0.37. Range = 52.18 
TNavPF::Calculated measDiffMean for beam 88 as 0.42. Range = 52.70 
TNavPF::Calculated measDiffMean for beam 89 as -0.79. Range = 52.43 
TNavPF::First Term of Map Covariance Matrix is 20.99 
TNavPF::Calculated NIS Value : 2.04 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322387.82 sec.
INS : North: 4070291.91, East: 588858.05, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 54.19, IDT[75] = 51.27
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322390.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322390.62)
ARL : North: -1.1576, East: -1.6316, Depth: -3.2215ARL : Estimation Bias  (Mean)         : (t = 1488322390.62)
ARL : North: -0.3987, East: -2.3590, Depth: 0.3709TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.36 
Alpha[0]	0.123000
Alpha[0]	0.999812
TNavParticleFilter::Modified Variance for beam 1 is 20.77 
Alpha[1]	0.000000
Alpha[1]	0.999783
TNavParticleFilter::Modified Variance for beam 2 is 21.34 
Alpha[2]	0.000000
Alpha[2]	0.999534
TNavParticleFilter::Modified Variance for beam 3 is 21.27 
Alpha[3]	0.000000
Alpha[3]	0.998366
TNavParticleFilter::Modified Variance for beam 4 is 20.79 
Alpha[4]	0.000000
Alpha[4]	0.996048
TNavParticleFilter::Modified Variance for beam 5 is 20.35 
Alpha[5]	0.000000
Alpha[5]	0.993356
TNavParticleFilter::Modified Variance for beam 6 is 19.93 
Alpha[6]	0.000000
Alpha[6]	0.991267
TNavParticleFilter::Modified Variance for beam 7 is 19.53 
Alpha[7]	0.000000
Alpha[7]	0.989269
TNavParticleFilter::Modified Variance for beam 8 is 19.13 
Alpha[8]	0.000000
Alpha[8]	0.988575
TNavParticleFilter::Modified Variance for beam 9 is 19.33 
Alpha[9]	0.000000
Alpha[9]	0.986550
TNavParticleFilter::Modified Variance for beam 10 is 19.78 
Alpha[10]	0.000000
Alpha[10]	0.985580
TNavParticleFilter::Modified Variance for beam 11 is 19.43 
Alpha[11]	0.000000
Alpha[11]	0.984155
TNavParticleFilter::Modified Variance for beam 12 is 19.07 
Alpha[12]	0.000000
Alpha[12]	0.984570
TNavParticleFilter::Modified Variance for beam 13 is 18.74 
Alpha[13]	0.000000
Alpha[13]	0.984571
TNavParticleFilter::Modified Variance for beam 14 is 18.39 
Alpha[14]	0.000000
Alpha[14]	0.986204
TNavParticleFilter::Modified Variance for beam 15 is 18.09 
Alpha[15]	0.000000
Alpha[15]	0.986551
TNavParticleFilter::Modified Variance for beam 16 is 17.82 
Alpha[16]	0.000000
Alpha[16]	0.986455
TNavParticleFilter::Modified Variance for beam 17 is 17.58 
Alpha[17]	0.000000
Alpha[17]	0.985499
TNavParticleFilter::Modified Variance for beam 18 is 17.42 
Alpha[18]	0.000000
Alpha[18]	0.980246
TNavParticleFilter::Modified Variance for beam 19 is 17.29 
Alpha[19]	0.000000
Alpha[19]	0.974390
TNavParticleFilter::Modified Variance for beam 20 is 17.01 
Alpha[20]	0.000000
Alpha[20]	0.978202
TNavParticleFilter::Modified Variance for beam 21 is 16.98 
Alpha[21]	0.000000
Alpha[21]	0.985039
TNavParticleFilter::Modified Variance for beam 22 is 17.59 
Alpha[22]	0.000000
Alpha[22]	0.986673
TNavParticleFilter::Modified Variance for beam 23 is 17.41 
Alpha[23]	0.000000
Alpha[23]	0.985731
TNavParticleFilter::Modified Variance for beam 24 is 17.14 
Alpha[24]	0.000000
Alpha[24]	0.990597
TNavParticleFilter::Modified Variance for beam 25 is 16.94 
Alpha[25]	0.000000
Alpha[25]	0.992628
TNavParticleFilter::Modified Variance for beam 26 is 16.80 
Alpha[26]	0.000000
Alpha[26]	0.991541
TNavParticleFilter::Modified Variance for beam 27 is 16.71 
Alpha[27]	0.000000
Alpha[27]	0.987712
TNavParticleFilter::Modified Variance for beam 28 is 16.61 
Alpha[28]	0.000000
Alpha[28]	0.985403
TNavParticleFilter::Modified Variance for beam 29 is 16.44 
Alpha[29]	0.000000
Alpha[29]	0.987940
TNavParticleFilter::Modified Variance for beam 30 is 16.32 
Alpha[30]	0.000000
Alpha[30]	0.988539
TNavParticleFilter::Modified Variance for beam 31 is 17.26 
Alpha[31]	0.000000
Alpha[31]	0.988304
TNavParticleFilter::Modified Variance for beam 32 is 17.13 
Alpha[32]	0.000000
Alpha[32]	0.989739
TNavParticleFilter::Modified Variance for beam 33 is 16.97 
Alpha[33]	0.000000
Alpha[33]	0.992890
TNavParticleFilter::Modified Variance for beam 34 is 16.88 
Alpha[34]	0.000000
Alpha[34]	0.993356
TNavParticleFilter::Modified Variance for beam 35 is 16.82 
Alpha[35]	0.000000
Alpha[35]	0.992106
TNavParticleFilter::Modified Variance for beam 36 is 16.76 
Alpha[36]	0.000000
Alpha[36]	0.991025
TNavParticleFilter::Modified Variance for beam 37 is 16.72 
Alpha[37]	0.000000
Alpha[37]	0.989825
TNavParticleFilter::Modified Variance for beam 38 is 16.64 
Alpha[38]	0.000000
Alpha[38]	0.991749
TNavParticleFilter::Modified Variance for beam 39 is 16.54 
Alpha[39]	0.000000
Alpha[39]	0.994685
TNavParticleFilter::Modified Variance for beam 40 is 17.52 
Alpha[40]	0.000000
Alpha[40]	0.995526
TNavParticleFilter::Modified Variance for beam 41 is 17.50 
Alpha[41]	0.000000
Alpha[41]	0.995219
TNavParticleFilter::Modified Variance for beam 42 is 16.46 
Alpha[42]	0.000000
Alpha[42]	0.993860
TNavParticleFilter::Modified Variance for beam 43 is 16.48 
Alpha[43]	0.000000
Alpha[43]	0.991977
TNavParticleFilter::Modified Variance for beam 44 is 16.55 
Alpha[44]	0.000000
Alpha[44]	0.987429
TNavParticleFilter::Modified Variance for beam 45 is 16.61 
Alpha[45]	0.000000
Alpha[45]	0.984128
TNavParticleFilter::Modified Variance for beam 46 is 16.58 
Alpha[46]	0.000000
Alpha[46]	0.986592
TNavParticleFilter::Modified Variance for beam 47 is 16.58 
Alpha[47]	0.000000
Alpha[47]	0.987323
TNavParticleFilter::Modified Variance for beam 48 is 16.63 
Alpha[48]	0.000000
Alpha[48]	0.986138
TNavParticleFilter::Modified Variance for beam 49 is 16.71 
Alpha[49]	0.000000
Alpha[49]	0.983325
TNavParticleFilter::Modified Variance for beam 50 is 16.79 
Alpha[50]	0.000000
Alpha[50]	0.981247
TNavParticleFilter::Modified Variance for beam 51 is 16.84 
Alpha[51]	0.000000
Alpha[51]	0.981290
TNavParticleFilter::Modified Variance for beam 52 is 16.84 
Alpha[52]	0.000000
Alpha[52]	0.984625
TNavParticleFilter::Modified Variance for beam 53 is 15.83 
Alpha[53]	0.000000
Alpha[53]	0.987536
TNavParticleFilter::Modified Variance for beam 54 is 15.91 
Alpha[54]	0.000000
Alpha[54]	0.986898
TNavParticleFilter::Modified Variance for beam 55 is 16.07 
Alpha[55]	0.000000
Alpha[55]	0.982075
TNavParticleFilter::Modified Variance for beam 56 is 16.23 
Alpha[56]	0.000000
Alpha[56]	0.977685
TNavParticleFilter::Modified Variance for beam 57 is 16.44 
Alpha[57]	0.000000
Alpha[57]	0.971249
TNavParticleFilter::Modified Variance for beam 58 is 16.64 
Alpha[58]	0.000000
Alpha[58]	0.965673
TNavParticleFilter::Modified Variance for beam 59 is 16.74 
Alpha[59]	0.000000
Alpha[59]	0.966620
TNavPF:: sumSquaredError = 79.495491 
TNavPF:: sumWeights = 0.124159 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -8.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -6.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -2.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.43. Range = 97.93 
TNavPF::Calculated measDiffMean for beam 54 as 0.42. Range = 86.47 
TNavPF::Calculated measDiffMean for beam 55 as 0.47. Range = 81.64 
TNavPF::Calculated measDiffMean for beam 56 as 0.22. Range = 80.03 
TNavPF::Calculated measDiffMean for beam 57 as -0.21. Range = 79.87 
TNavPF::Calculated measDiffMean for beam 58 as -0.70. Range = 79.96 
TNavPF::Calculated measDiffMean for beam 59 as -0.96. Range = 79.76 
TNavPF::Calculated measDiffMean for beam 60 as -1.18. Range = 60.43 
TNavPF::Calculated measDiffMean for beam 61 as 0.64. Range = 59.42 
TNavPF::Calculated measDiffMean for beam 62 as 0.51. Range = 60.38 
TNavPF::Calculated measDiffMean for beam 63 as 0.18. Range = 60.23 
TNavPF::Calculated measDiffMean for beam 64 as -0.06. Range = 59.33 
TNavPF::Calculated measDiffMean for beam 65 as -0.29. Range = 58.47 
TNavPF::Calculated measDiffMean for beam 66 as -0.40. Range = 57.66 
TNavPF::Calculated measDiffMean for beam 67 as -0.52. Range = 56.88 
TNavPF::Calculated measDiffMean for beam 68 as -0.54. Range = 56.15 
TNavPF::Calculated measDiffMean for beam 69 as -0.58. Range = 56.44 
TNavPF::Calculated measDiffMean for beam 70 as 1.33. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 71 as 1.65. Range = 56.53 
TNavPF::Calculated measDiffMean for beam 72 as 0.13. Range = 55.90 
TNavPF::Calculated measDiffMean for beam 73 as 0.14. Range = 55.30 
TNavPF::Calculated measDiffMean for beam 74 as -0.07. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 75 as -0.19. Range = 54.19 
TNavPF::Calculated measDiffMean for beam 76 as -0.34. Range = 53.67 
TNavPF::Calculated measDiffMean for beam 77 as -0.42. Range = 53.18 
TNavPF::Calculated measDiffMean for beam 78 as -0.47. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 79 as -0.51. Range = 52.27 
TNavPF::Calculated measDiffMean for beam 80 as -0.33. Range = 51.85 
TNavPF::Calculated measDiffMean for beam 81 as -0.09. Range = 52.03 
TNavPF::Calculated measDiffMean for beam 82 as 0.19. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 83 as -1.33. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 84 as -1.01. Range = 52.52 
TNavPF::Calculated measDiffMean for beam 85 as -0.73. Range = 52.19 
TNavPF::Calculated measDiffMean for beam 86 as -0.54. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 87 as -0.41. Range = 51.59 
TNavPF::Calculated measDiffMean for beam 88 as -0.29. Range = 51.32 
TNavPF::Calculated measDiffMean for beam 89 as -0.17. Range = 51.07 
TNavPF::First Term of Map Covariance Matrix is 106.30 
TNavPF::Calculated NIS Value : 1.82 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322390.82 sec.
INS : North: 4070290.86, East: 588853.80, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 54.22, IDT[75] = 50.39
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322393.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322393.62)
ARL : North: -1.6473, East: -2.0287, Depth: -0.9184ARL : Estimation Bias  (Mean)         : (t = 1488322393.62)
ARL : North: -0.4602, East: -2.4567, Depth: 0.9177TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.06 
Alpha[0]	0.123000
Alpha[0]	0.991609
TNavParticleFilter::Modified Variance for beam 1 is 20.57 
Alpha[1]	0.000000
Alpha[1]	0.989602
TNavParticleFilter::Modified Variance for beam 2 is 20.09 
Alpha[2]	0.000000
Alpha[2]	0.988615
TNavParticleFilter::Modified Variance for beam 3 is 20.57 
Alpha[3]	0.000000
Alpha[3]	0.987047
TNavParticleFilter::Modified Variance for beam 4 is 20.66 
Alpha[4]	0.000000
Alpha[4]	0.986657
TNavParticleFilter::Modified Variance for beam 5 is 20.22 
Alpha[5]	0.000000
Alpha[5]	0.986304
TNavParticleFilter::Modified Variance for beam 6 is 19.79 
Alpha[6]	0.000000
Alpha[6]	0.986595
TNavParticleFilter::Modified Variance for beam 7 is 19.36 
Alpha[7]	0.000000
Alpha[7]	0.987964
TNavParticleFilter::Modified Variance for beam 8 is 18.98 
Alpha[8]	0.000000
Alpha[8]	0.987901
TNavParticleFilter::Modified Variance for beam 9 is 18.64 
Alpha[9]	0.000000
Alpha[9]	0.987479
TNavParticleFilter::Modified Variance for beam 10 is 18.34 
Alpha[10]	0.000000
Alpha[10]	0.985543
TNavParticleFilter::Modified Variance for beam 11 is 18.16 
Alpha[11]	0.000000
Alpha[11]	0.978566
TNavParticleFilter::Modified Variance for beam 12 is 17.92 
Alpha[12]	0.000000
Alpha[12]	0.975080
TNavParticleFilter::Modified Variance for beam 13 is 17.55 
Alpha[13]	0.000000
Alpha[13]	0.980085
TNavParticleFilter::Modified Variance for beam 14 is 17.46 
Alpha[14]	0.000000
Alpha[14]	0.985733
TNavParticleFilter::Modified Variance for beam 15 is 18.11 
Alpha[15]	0.000000
Alpha[15]	0.986876
TNavParticleFilter::Modified Variance for beam 16 is 17.82 
Alpha[16]	0.000000
Alpha[16]	0.988741
TNavParticleFilter::Modified Variance for beam 17 is 17.52 
Alpha[17]	0.000000
Alpha[17]	0.992231
TNavParticleFilter::Modified Variance for beam 18 is 17.30 
Alpha[18]	0.000000
Alpha[18]	0.992140
TNavParticleFilter::Modified Variance for beam 19 is 17.15 
Alpha[19]	0.000000
Alpha[19]	0.989255
TNavParticleFilter::Modified Variance for beam 20 is 17.03 
Alpha[20]	0.000000
Alpha[20]	0.984527
TNavParticleFilter::Modified Variance for beam 21 is 16.82 
Alpha[21]	0.000000
Alpha[21]	0.986022
TNavParticleFilter::Modified Variance for beam 22 is 16.61 
Alpha[22]	0.000000
Alpha[22]	0.988496
TNavParticleFilter::Modified Variance for beam 23 is 16.76 
Alpha[23]	0.000000
Alpha[23]	0.988904
TNavParticleFilter::Modified Variance for beam 24 is 17.37 
Alpha[24]	0.000000
Alpha[24]	0.988978
TNavParticleFilter::Modified Variance for beam 25 is 17.19 
Alpha[25]	0.000000
Alpha[25]	0.990796
TNavParticleFilter::Modified Variance for beam 26 is 17.00 
Alpha[26]	0.000000
Alpha[26]	0.993257
TNavParticleFilter::Modified Variance for beam 27 is 16.88 
Alpha[27]	0.000000
Alpha[27]	0.993041
TNavParticleFilter::Modified Variance for beam 28 is 16.78 
Alpha[28]	0.000000
Alpha[28]	0.991777
TNavParticleFilter::Modified Variance for beam 29 is 16.67 
Alpha[29]	0.000000
Alpha[29]	0.991551
TNavParticleFilter::Modified Variance for beam 30 is 16.55 
Alpha[30]	0.000000
Alpha[30]	0.992697
TNavParticleFilter::Modified Variance for beam 31 is 16.43 
Alpha[31]	0.000000
Alpha[31]	0.994598
TNavParticleFilter::Modified Variance for beam 32 is 16.33 
Alpha[32]	0.000000
Alpha[32]	0.995424
TNavParticleFilter::Modified Variance for beam 33 is 17.29 
Alpha[33]	0.000000
Alpha[33]	0.995559
TNavParticleFilter::Modified Variance for beam 34 is 17.23 
Alpha[34]	0.000000
Alpha[34]	0.994607
TNavParticleFilter::Modified Variance for beam 35 is 16.19 
Alpha[35]	0.000000
Alpha[35]	0.991874
TNavParticleFilter::Modified Variance for beam 36 is 16.22 
Alpha[36]	0.000000
Alpha[36]	0.986625
TNavParticleFilter::Modified Variance for beam 37 is 16.24 
Alpha[37]	0.000000
Alpha[37]	0.983004
TNavParticleFilter::Modified Variance for beam 38 is 16.19 
Alpha[38]	0.000000
Alpha[38]	0.984189
TNavParticleFilter::Modified Variance for beam 39 is 16.12 
Alpha[39]	0.000000
Alpha[39]	0.986592
TNavParticleFilter::Modified Variance for beam 40 is 16.10 
Alpha[40]	0.000000
Alpha[40]	0.986447
TNavParticleFilter::Modified Variance for beam 41 is 16.12 
Alpha[41]	0.000000
Alpha[41]	0.984742
TNavParticleFilter::Modified Variance for beam 42 is 16.13 
Alpha[42]	0.000000
Alpha[42]	0.983595
TNavParticleFilter::Modified Variance for beam 43 is 16.15 
Alpha[43]	0.000000
Alpha[43]	0.982665
TNavParticleFilter::Modified Variance for beam 44 is 16.15 
Alpha[44]	0.000000
Alpha[44]	0.983316
TNavParticleFilter::Modified Variance for beam 45 is 16.12 
Alpha[45]	0.000000
Alpha[45]	0.986530
TNavParticleFilter::Modified Variance for beam 46 is 15.14 
Alpha[46]	0.000000
Alpha[46]	0.988195
TNavParticleFilter::Modified Variance for beam 47 is 15.19 
Alpha[47]	0.000000
Alpha[47]	0.987150
TNavParticleFilter::Modified Variance for beam 48 is 15.30 
Alpha[48]	0.000000
Alpha[48]	0.982536
TNavParticleFilter::Modified Variance for beam 49 is 15.42 
Alpha[49]	0.000000
Alpha[49]	0.977825
TNavParticleFilter::Modified Variance for beam 50 is 15.57 
Alpha[50]	0.000000
Alpha[50]	0.971778
TNavParticleFilter::Modified Variance for beam 51 is 15.71 
Alpha[51]	0.000000
Alpha[51]	0.966894
TNavParticleFilter::Modified Variance for beam 52 is 15.73 
Alpha[52]	0.000000
Alpha[52]	0.970062
TNavParticleFilter::Modified Variance for beam 53 is 15.70 
Alpha[53]	0.000000
Alpha[53]	0.976688
TNavParticleFilter::Modified Variance for beam 54 is 15.72 
Alpha[54]	0.000000
Alpha[54]	0.981207
TNavParticleFilter::Modified Variance for beam 55 is 15.78 
Alpha[55]	0.000000
Alpha[55]	0.983333
TNavParticleFilter::Modified Variance for beam 56 is 14.86 
Alpha[56]	0.000000
Alpha[56]	0.984523
TNavParticleFilter::Modified Variance for beam 57 is 14.94 
Alpha[57]	0.000000
Alpha[57]	0.985904
TNavParticleFilter::Modified Variance for beam 58 is 15.03 
Alpha[58]	0.000000
Alpha[58]	0.987266
TNavParticleFilter::Modified Variance for beam 59 is 15.14 
Alpha[59]	0.000000
Alpha[59]	0.988370
TNavPF:: sumSquaredError = 3.299748 
TNavPF:: sumWeights = 0.169949 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.20. Range = 84.96 
TNavPF::Calculated measDiffMean for beam 51 as -0.56. Range = 83.12 
TNavPF::Calculated measDiffMean for beam 52 as -0.80. Range = 82.21 
TNavPF::Calculated measDiffMean for beam 53 as -0.45. Range = 82.78 
TNavPF::Calculated measDiffMean for beam 54 as 0.86. Range = 82.05 
TNavPF::Calculated measDiffMean for beam 55 as 0.70. Range = 62.04 
TNavPF::Calculated measDiffMean for beam 56 as 0.34. Range = 62.45 
TNavPF::Calculated measDiffMean for beam 57 as 0.05. Range = 62.66 
TNavPF::Calculated measDiffMean for beam 58 as -0.14. Range = 61.60 
TNavPF::Calculated measDiffMean for beam 59 as -0.21. Range = 60.59 
TNavPF::Calculated measDiffMean for beam 60 as -0.25. Range = 59.62 
TNavPF::Calculated measDiffMean for beam 61 as -0.23. Range = 58.71 
TNavPF::Calculated measDiffMean for beam 62 as -0.39. Range = 57.84 
TNavPF::Calculated measDiffMean for beam 63 as 1.61. Range = 58.63 
TNavPF::Calculated measDiffMean for beam 64 as 2.04. Range = 58.77 
TNavPF::Calculated measDiffMean for beam 65 as 0.30. Range = 57.99 
TNavPF::Calculated measDiffMean for beam 66 as 0.18. Range = 57.24 
TNavPF::Calculated measDiffMean for beam 67 as 0.05. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 68 as -0.04. Range = 55.86 
TNavPF::Calculated measDiffMean for beam 69 as -0.18. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 70 as -0.25. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 71 as -0.31. Range = 54.03 
TNavPF::Calculated measDiffMean for beam 72 as -0.29. Range = 53.48 
TNavPF::Calculated measDiffMean for beam 73 as -0.08. Range = 52.95 
TNavPF::Calculated measDiffMean for beam 74 as 0.16. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 75 as 0.50. Range = 54.22 
TNavPF::Calculated measDiffMean for beam 76 as -1.06. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 77 as -0.80. Range = 53.31 
TNavPF::Calculated measDiffMean for beam 78 as -0.52. Range = 52.88 
TNavPF::Calculated measDiffMean for beam 79 as -0.36. Range = 52.49 
TNavPF::Calculated measDiffMean for beam 80 as -0.23. Range = 52.11 
TNavPF::Calculated measDiffMean for beam 81 as -0.11. Range = 51.75 
TNavPF::Calculated measDiffMean for beam 82 as 0.01. Range = 51.41 
TNavPF::Calculated measDiffMean for beam 83 as 0.20. Range = 51.73 
TNavPF::Calculated measDiffMean for beam 84 as 0.44. Range = 52.90 
TNavPF::Calculated measDiffMean for beam 85 as 0.89. Range = 52.61 
TNavPF::Calculated measDiffMean for beam 86 as -0.79. Range = 52.34 
TNavPF::Calculated measDiffMean for beam 87 as -0.67. Range = 52.09 
TNavPF::Calculated measDiffMean for beam 88 as -0.60. Range = 51.85 
TNavPF::Calculated measDiffMean for beam 89 as -0.43. Range = 51.64 
TNavPF::First Term of Map Covariance Matrix is 2.37 
TNavPF::Calculated NIS Value : 1.25 	numBeams normalized NIS: 0.02
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322393.82 sec.
INS : North: 4070289.99, East: 588849.51, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 53.85, IDT[75] = 48.01
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322396.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322396.62)
ARL : North: -1.5180, East: -2.5079, Depth: -3.1667ARL : Estimation Bias  (Mean)         : (t = 1488322396.62)
ARL : North: -0.4211, East: -2.3710, Depth: 0.9907TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.05 
Alpha[0]	0.123000
Alpha[0]	0.988098
TNavParticleFilter::Modified Variance for beam 1 is 19.64 
Alpha[1]	0.000000
Alpha[1]	0.987193
TNavParticleFilter::Modified Variance for beam 2 is 19.31 
Alpha[2]	0.000000
Alpha[2]	0.982893
TNavParticleFilter::Modified Variance for beam 3 is 19.06 
Alpha[3]	0.000000
Alpha[3]	0.976062
TNavParticleFilter::Modified Variance for beam 4 is 18.63 
Alpha[4]	0.000000
Alpha[4]	0.979268
TNavParticleFilter::Modified Variance for beam 5 is 18.20 
Alpha[5]	0.000000
Alpha[5]	0.983874
TNavParticleFilter::Modified Variance for beam 6 is 18.76 
Alpha[6]	0.000000
Alpha[6]	0.987318
TNavParticleFilter::Modified Variance for beam 7 is 18.71 
Alpha[7]	0.000000
Alpha[7]	0.991001
TNavParticleFilter::Modified Variance for beam 8 is 18.35 
Alpha[8]	0.000000
Alpha[8]	0.993521
TNavParticleFilter::Modified Variance for beam 9 is 18.06 
Alpha[9]	0.000000
Alpha[9]	0.993504
TNavParticleFilter::Modified Variance for beam 10 is 17.83 
Alpha[10]	0.000000
Alpha[10]	0.991178
TNavParticleFilter::Modified Variance for beam 11 is 17.66 
Alpha[11]	0.000000
Alpha[11]	0.986831
TNavParticleFilter::Modified Variance for beam 12 is 17.61 
Alpha[12]	0.000000
Alpha[12]	0.986600
TNavParticleFilter::Modified Variance for beam 13 is 18.31 
Alpha[13]	0.000000
Alpha[13]	0.989263
TNavParticleFilter::Modified Variance for beam 14 is 18.07 
Alpha[14]	0.000000
Alpha[14]	0.989738
TNavParticleFilter::Modified Variance for beam 15 is 17.85 
Alpha[15]	0.000000
Alpha[15]	0.989752
TNavParticleFilter::Modified Variance for beam 16 is 17.63 
Alpha[16]	0.000000
Alpha[16]	0.991001
TNavParticleFilter::Modified Variance for beam 17 is 17.40 
Alpha[17]	0.000000
Alpha[17]	0.993032
TNavParticleFilter::Modified Variance for beam 18 is 17.22 
Alpha[18]	0.000000
Alpha[18]	0.993136
TNavParticleFilter::Modified Variance for beam 19 is 17.07 
Alpha[19]	0.000000
Alpha[19]	0.992406
TNavParticleFilter::Modified Variance for beam 20 is 16.90 
Alpha[20]	0.000000
Alpha[20]	0.992896
TNavParticleFilter::Modified Variance for beam 21 is 16.74 
Alpha[21]	0.000000
Alpha[21]	0.994176
TNavParticleFilter::Modified Variance for beam 22 is 16.59 
Alpha[22]	0.000000
Alpha[22]	0.994922
TNavParticleFilter::Modified Variance for beam 23 is 16.56 
Alpha[23]	0.000000
Alpha[23]	0.995296
TNavParticleFilter::Modified Variance for beam 24 is 17.40 
Alpha[24]	0.000000
Alpha[24]	0.995288
TNavParticleFilter::Modified Variance for beam 25 is 17.31 
Alpha[25]	0.000000
Alpha[25]	0.993894
TNavParticleFilter::Modified Variance for beam 26 is 16.24 
Alpha[26]	0.000000
Alpha[26]	0.989204
TNavParticleFilter::Modified Variance for beam 27 is 16.24 
Alpha[27]	0.000000
Alpha[27]	0.983770
TNavParticleFilter::Modified Variance for beam 28 is 16.16 
Alpha[28]	0.000000
Alpha[28]	0.983690
TNavParticleFilter::Modified Variance for beam 29 is 16.06 
Alpha[29]	0.000000
Alpha[29]	0.985336
TNavParticleFilter::Modified Variance for beam 30 is 15.98 
Alpha[30]	0.000000
Alpha[30]	0.986750
TNavParticleFilter::Modified Variance for beam 31 is 15.92 
Alpha[31]	0.000000
Alpha[31]	0.986451
TNavParticleFilter::Modified Variance for beam 32 is 15.90 
Alpha[32]	0.000000
Alpha[32]	0.985146
TNavParticleFilter::Modified Variance for beam 33 is 15.86 
Alpha[33]	0.000000
Alpha[33]	0.984859
TNavParticleFilter::Modified Variance for beam 34 is 15.83 
Alpha[34]	0.000000
Alpha[34]	0.984626
TNavParticleFilter::Modified Variance for beam 35 is 15.80 
Alpha[35]	0.000000
Alpha[35]	0.985314
TNavParticleFilter::Modified Variance for beam 36 is 15.73 
Alpha[36]	0.000000
Alpha[36]	0.988386
TNavParticleFilter::Modified Variance for beam 37 is 15.70 
Alpha[37]	0.000000
Alpha[37]	0.989615
TNavParticleFilter::Modified Variance for beam 38 is 15.72 
Alpha[38]	0.000000
Alpha[38]	0.988596
TNavParticleFilter::Modified Variance for beam 39 is 14.81 
Alpha[39]	0.000000
Alpha[39]	0.984766
TNavParticleFilter::Modified Variance for beam 40 is 14.89 
Alpha[40]	0.000000
Alpha[40]	0.980297
TNavParticleFilter::Modified Variance for beam 41 is 14.99 
Alpha[41]	0.000000
Alpha[41]	0.975429
TNavParticleFilter::Modified Variance for beam 42 is 15.07 
Alpha[42]	0.000000
Alpha[42]	0.971443
TNavParticleFilter::Modified Variance for beam 43 is 15.08 
Alpha[43]	0.000000
Alpha[43]	0.973159
TNavParticleFilter::Modified Variance for beam 44 is 15.05 
Alpha[44]	0.000000
Alpha[44]	0.977398
TNavParticleFilter::Modified Variance for beam 45 is 15.04 
Alpha[45]	0.000000
Alpha[45]	0.981342
TNavParticleFilter::Modified Variance for beam 46 is 15.05 
Alpha[46]	0.000000
Alpha[46]	0.984068
TNavParticleFilter::Modified Variance for beam 47 is 14.15 
Alpha[47]	0.000000
Alpha[47]	0.985099
TNavParticleFilter::Modified Variance for beam 48 is 14.20 
Alpha[48]	0.000000
Alpha[48]	0.986122
TNavParticleFilter::Modified Variance for beam 49 is 14.25 
Alpha[49]	0.000000
Alpha[49]	0.987368
TNavParticleFilter::Modified Variance for beam 50 is 14.31 
Alpha[50]	0.000000
Alpha[50]	0.988689
TNavParticleFilter::Modified Variance for beam 51 is 14.37 
Alpha[51]	0.000000
Alpha[51]	0.990375
TNavParticleFilter::Modified Variance for beam 52 is 14.45 
Alpha[52]	0.000000
Alpha[52]	0.991304
TNavParticleFilter::Modified Variance for beam 53 is 14.54 
Alpha[53]	0.000000
Alpha[53]	0.991826
TNavParticleFilter::Modified Variance for beam 54 is 14.65 
Alpha[54]	0.000000
Alpha[54]	0.991764
TNavParticleFilter::Modified Variance for beam 55 is 14.78 
Alpha[55]	0.000000
Alpha[55]	0.990776
TNavParticleFilter::Modified Variance for beam 56 is 14.80 
Alpha[56]	0.000000
Alpha[56]	0.989850
TNavParticleFilter::Modified Variance for beam 57 is 14.06 
Alpha[57]	0.000000
Alpha[57]	0.990677
TNavParticleFilter::Modified Variance for beam 58 is 14.18 
Alpha[58]	0.000000
Alpha[58]	0.991211
TNavParticleFilter::Modified Variance for beam 59 is 14.33 
Alpha[59]	0.000000
Alpha[59]	0.990856
TNavPF:: sumSquaredError = 4.057409 
TNavPF:: sumWeights = 0.108004 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.11. Range = 87.45 
TNavPF::Calculated measDiffMean for beam 45 as 0.90. Range = 85.43 
TNavPF::Calculated measDiffMean for beam 46 as 0.71. Range = 85.67 
TNavPF::Calculated measDiffMean for beam 47 as 0.34. Range = 84.88 
TNavPF::Calculated measDiffMean for beam 48 as -0.00. Range = 85.52 
TNavPF::Calculated measDiffMean for beam 49 as -0.17. Range = 69.30 
TNavPF::Calculated measDiffMean for beam 50 as -0.22. Range = 67.95 
TNavPF::Calculated measDiffMean for beam 51 as -0.21. Range = 63.76 
TNavPF::Calculated measDiffMean for beam 52 as -0.25. Range = 62.60 
TNavPF::Calculated measDiffMean for beam 53 as -0.23. Range = 61.51 
TNavPF::Calculated measDiffMean for beam 54 as 1.68. Range = 60.47 
TNavPF::Calculated measDiffMean for beam 55 as 2.10. Range = 60.70 
TNavPF::Calculated measDiffMean for beam 56 as 0.27. Range = 61.23 
TNavPF::Calculated measDiffMean for beam 57 as 0.18. Range = 60.29 
TNavPF::Calculated measDiffMean for beam 58 as 0.07. Range = 59.41 
TNavPF::Calculated measDiffMean for beam 59 as -0.04. Range = 58.57 
TNavPF::Calculated measDiffMean for beam 60 as -0.19. Range = 57.76 
TNavPF::Calculated measDiffMean for beam 61 as -0.28. Range = 57.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.32. Range = 56.27 
TNavPF::Calculated measDiffMean for beam 63 as -0.23. Range = 55.58 
TNavPF::Calculated measDiffMean for beam 64 as -0.02. Range = 54.92 
TNavPF::Calculated measDiffMean for beam 65 as 0.23. Range = 54.30 
TNavPF::Calculated measDiffMean for beam 66 as 0.58. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 67 as 0.94. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 68 as 1.22. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 69 as -0.51. Range = 54.37 
TNavPF::Calculated measDiffMean for beam 70 as -0.32. Range = 53.86 
TNavPF::Calculated measDiffMean for beam 71 as -0.15. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 72 as -0.01. Range = 53.29 
TNavPF::Calculated measDiffMean for beam 73 as 0.13. Range = 54.68 
TNavPF::Calculated measDiffMean for beam 74 as 0.30. Range = 54.25 
TNavPF::Calculated measDiffMean for beam 75 as 0.52. Range = 53.85 
TNavPF::Calculated measDiffMean for beam 76 as 0.92. Range = 53.46 
TNavPF::Calculated measDiffMean for beam 77 as -0.78. Range = 53.10 
TNavPF::Calculated measDiffMean for beam 78 as -0.67. Range = 52.76 
TNavPF::Calculated measDiffMean for beam 79 as -0.60. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 80 as -0.43. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 81 as -0.05. Range = 51.85 
TNavPF::Calculated measDiffMean for beam 82 as 0.37. Range = 51.59 
TNavPF::Calculated measDiffMean for beam 83 as 0.60. Range = 51.53 
TNavPF::Calculated measDiffMean for beam 84 as 0.72. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 85 as 0.90. Range = 52.95 
TNavPF::Calculated measDiffMean for beam 86 as 1.02. Range = 50.71 
TNavPF::Calculated measDiffMean for beam 87 as -0.39. Range = 50.53 
TNavPF::Calculated measDiffMean for beam 88 as -0.02. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 89 as 0.37. Range = 50.23 
TNavPF::First Term of Map Covariance Matrix is 1.67 
TNavPF::Calculated NIS Value : 1.56 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322396.82 sec.
INS : North: 4070289.44, East: 588845.17, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 53.89, IDT[75] = 46.37
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322399.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322399.62)
ARL : North: -0.8279, East: -1.9969, Depth: 0.7941ARL : Estimation Bias  (Mean)         : (t = 1488322399.62)
ARL : North: -0.2494, East: -2.2600, Depth: 1.0561TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.10 
Alpha[0]	0.123000
Alpha[0]	0.993903
TNavParticleFilter::Modified Variance for beam 1 is 18.82 
Alpha[1]	0.000000
Alpha[1]	0.990785
TNavParticleFilter::Modified Variance for beam 2 is 18.56 
Alpha[2]	0.000000
Alpha[2]	0.987242
TNavParticleFilter::Modified Variance for beam 3 is 18.82 
Alpha[3]	0.000000
Alpha[3]	0.988254
TNavParticleFilter::Modified Variance for beam 4 is 19.16 
Alpha[4]	0.000000
Alpha[4]	0.990288
TNavParticleFilter::Modified Variance for beam 5 is 18.87 
Alpha[5]	0.000000
Alpha[5]	0.990439
TNavParticleFilter::Modified Variance for beam 6 is 18.59 
Alpha[6]	0.000000
Alpha[6]	0.990520
TNavParticleFilter::Modified Variance for beam 7 is 18.31 
Alpha[7]	0.000000
Alpha[7]	0.992058
TNavParticleFilter::Modified Variance for beam 8 is 19.13 
Alpha[8]	0.000000
Alpha[8]	0.993260
TNavParticleFilter::Modified Variance for beam 9 is 19.01 
Alpha[9]	0.000000
Alpha[9]	0.992812
TNavParticleFilter::Modified Variance for beam 10 is 18.77 
Alpha[10]	0.000000
Alpha[10]	0.993096
TNavParticleFilter::Modified Variance for beam 11 is 18.54 
Alpha[11]	0.000000
Alpha[11]	0.993825
TNavParticleFilter::Modified Variance for beam 12 is 18.33 
Alpha[12]	0.000000
Alpha[12]	0.994416
TNavParticleFilter::Modified Variance for beam 13 is 18.13 
Alpha[13]	0.000000
Alpha[13]	0.994673
TNavParticleFilter::Modified Variance for beam 14 is 17.95 
Alpha[14]	0.000000
Alpha[14]	0.994752
TNavParticleFilter::Modified Variance for beam 15 is 17.81 
Alpha[15]	0.000000
Alpha[15]	0.993757
TNavParticleFilter::Modified Variance for beam 16 is 16.65 
Alpha[16]	0.000000
Alpha[16]	0.989179
TNavParticleFilter::Modified Variance for beam 17 is 16.59 
Alpha[17]	0.000000
Alpha[17]	0.984458
TNavParticleFilter::Modified Variance for beam 18 is 16.46 
Alpha[18]	0.000000
Alpha[18]	0.984611
TNavParticleFilter::Modified Variance for beam 19 is 16.33 
Alpha[19]	0.000000
Alpha[19]	0.985799
TNavParticleFilter::Modified Variance for beam 20 is 16.21 
Alpha[20]	0.000000
Alpha[20]	0.986963
TNavParticleFilter::Modified Variance for beam 21 is 16.11 
Alpha[21]	0.000000
Alpha[21]	0.986727
TNavParticleFilter::Modified Variance for beam 22 is 16.04 
Alpha[22]	0.000000
Alpha[22]	0.985945
TNavParticleFilter::Modified Variance for beam 23 is 15.97 
Alpha[23]	0.000000
Alpha[23]	0.985672
TNavParticleFilter::Modified Variance for beam 24 is 15.90 
Alpha[24]	0.000000
Alpha[24]	0.985393
TNavParticleFilter::Modified Variance for beam 25 is 15.82 
Alpha[25]	0.000000
Alpha[25]	0.986679
TNavParticleFilter::Modified Variance for beam 26 is 15.72 
Alpha[26]	0.000000
Alpha[26]	0.989483
TNavParticleFilter::Modified Variance for beam 27 is 15.66 
Alpha[27]	0.000000
Alpha[27]	0.990261
TNavParticleFilter::Modified Variance for beam 28 is 15.63 
Alpha[28]	0.000000
Alpha[28]	0.989360
TNavParticleFilter::Modified Variance for beam 29 is 14.69 
Alpha[29]	0.000000
Alpha[29]	0.986057
TNavParticleFilter::Modified Variance for beam 30 is 14.72 
Alpha[30]	0.000000
Alpha[30]	0.982172
TNavParticleFilter::Modified Variance for beam 31 is 14.78 
Alpha[31]	0.000000
Alpha[31]	0.977757
TNavParticleFilter::Modified Variance for beam 32 is 14.82 
Alpha[32]	0.000000
Alpha[32]	0.974465
TNavParticleFilter::Modified Variance for beam 33 is 14.80 
Alpha[33]	0.000000
Alpha[33]	0.975408
TNavParticleFilter::Modified Variance for beam 34 is 14.76 
Alpha[34]	0.000000
Alpha[34]	0.978320
TNavParticleFilter::Modified Variance for beam 35 is 14.72 
Alpha[35]	0.000000
Alpha[35]	0.982041
TNavParticleFilter::Modified Variance for beam 36 is 14.69 
Alpha[36]	0.000000
Alpha[36]	0.984914
TNavParticleFilter::Modified Variance for beam 37 is 14.71 
Alpha[37]	0.000000
Alpha[37]	0.985267
TNavParticleFilter::Modified Variance for beam 38 is 14.73 
Alpha[38]	0.000000
Alpha[38]	0.986133
TNavParticleFilter::Modified Variance for beam 39 is 14.75 
Alpha[39]	0.000000
Alpha[39]	0.987376
TNavParticleFilter::Modified Variance for beam 40 is 14.77 
Alpha[40]	0.000000
Alpha[40]	0.989224
TNavParticleFilter::Modified Variance for beam 41 is 13.68 
Alpha[41]	0.000000
Alpha[41]	0.990974
TNavParticleFilter::Modified Variance for beam 42 is 13.01 
Alpha[42]	0.000000
Alpha[42]	0.991727
TNavParticleFilter::Modified Variance for beam 43 is 13.06 
Alpha[43]	0.000000
Alpha[43]	0.991954
TNavParticleFilter::Modified Variance for beam 44 is 14.04 
Alpha[44]	0.000000
Alpha[44]	0.991705
TNavParticleFilter::Modified Variance for beam 45 is 14.13 
Alpha[45]	0.000000
Alpha[45]	0.991137
TNavParticleFilter::Modified Variance for beam 46 is 13.93 
Alpha[46]	0.000000
Alpha[46]	0.990517
TNavParticleFilter::Modified Variance for beam 47 is 13.37 
Alpha[47]	0.000000
Alpha[47]	0.990952
TNavParticleFilter::Modified Variance for beam 48 is 13.46 
Alpha[48]	0.000000
Alpha[48]	0.991327
TNavParticleFilter::Modified Variance for beam 49 is 13.56 
Alpha[49]	0.000000
Alpha[49]	0.991184
TNavParticleFilter::Modified Variance for beam 50 is 13.67 
Alpha[50]	0.000000
Alpha[50]	0.990952
TNavParticleFilter::Modified Variance for beam 51 is 13.80 
Alpha[51]	0.000000
Alpha[51]	0.989930
TNavParticleFilter::Modified Variance for beam 52 is 13.93 
Alpha[52]	0.000000
Alpha[52]	0.989002
TNavParticleFilter::Modified Variance for beam 53 is 14.07 
Alpha[53]	0.000000
Alpha[53]	0.988226
TNavParticleFilter::Modified Variance for beam 54 is 13.84 
Alpha[54]	0.000000
Alpha[54]	0.987656
TNavParticleFilter::Modified Variance for beam 55 is 13.39 
Alpha[55]	0.000000
Alpha[55]	0.987523
TNavParticleFilter::Modified Variance for beam 56 is 13.55 
Alpha[56]	0.000000
Alpha[56]	0.986565
TNavParticleFilter::Modified Variance for beam 57 is 13.72 
Alpha[57]	0.000000
Alpha[57]	0.986108
TNavParticleFilter::Modified Variance for beam 58 is 13.86 
Alpha[58]	0.000000
Alpha[58]	0.987481
TNavParticleFilter::Modified Variance for beam 59 is 14.02 
Alpha[59]	0.000000
Alpha[59]	0.988357
TNavPF:: sumSquaredError = 13.170097 
TNavPF:: sumWeights = 0.058578 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 2.03. Range = 92.42 
TNavPF::Calculated measDiffMean for beam 39 as 1.94. Range = 90.21 
TNavPF::Calculated measDiffMean for beam 40 as 1.86. Range = 88.12 
TNavPF::Calculated measDiffMean for beam 41 as 1.82. Range = 73.23 
TNavPF::Calculated measDiffMean for beam 42 as 1.76. Range = 71.65 
TNavPF::Calculated measDiffMean for beam 43 as 1.60. Range = 70.16 
TNavPF::Calculated measDiffMean for beam 44 as 1.55. Range = 65.72 
TNavPF::Calculated measDiffMean for beam 45 as 1.93. Range = 64.44 
TNavPF::Calculated measDiffMean for beam 46 as 0.16. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 47 as 0.13. Range = 64.96 
TNavPF::Calculated measDiffMean for beam 48 as 0.02. Range = 63.83 
TNavPF::Calculated measDiffMean for beam 49 as -0.10. Range = 62.75 
TNavPF::Calculated measDiffMean for beam 50 as -0.27. Range = 61.73 
TNavPF::Calculated measDiffMean for beam 51 as -0.37. Range = 60.76 
TNavPF::Calculated measDiffMean for beam 52 as -0.39. Range = 59.84 
TNavPF::Calculated measDiffMean for beam 53 as -0.29. Range = 58.96 
TNavPF::Calculated measDiffMean for beam 54 as -0.06. Range = 58.12 
TNavPF::Calculated measDiffMean for beam 55 as 0.22. Range = 57.33 
TNavPF::Calculated measDiffMean for beam 56 as 0.57. Range = 56.57 
TNavPF::Calculated measDiffMean for beam 57 as 0.88. Range = 57.50 
TNavPF::Calculated measDiffMean for beam 58 as 1.16. Range = 57.60 
TNavPF::Calculated measDiffMean for beam 59 as -0.53. Range = 56.92 
TNavPF::Calculated measDiffMean for beam 60 as -0.33. Range = 56.27 
TNavPF::Calculated measDiffMean for beam 61 as -0.13. Range = 55.66 
TNavPF::Calculated measDiffMean for beam 62 as 0.00. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 63 as 0.14. Range = 55.58 
TNavPF::Calculated measDiffMean for beam 64 as 0.31. Range = 56.26 
TNavPF::Calculated measDiffMean for beam 65 as 0.57. Range = 55.74 
TNavPF::Calculated measDiffMean for beam 66 as 0.94. Range = 55.24 
TNavPF::Calculated measDiffMean for beam 67 as 1.18. Range = 54.76 
TNavPF::Calculated measDiffMean for beam 68 as 1.26. Range = 56.31 
TNavPF::Calculated measDiffMean for beam 69 as 1.35. Range = 56.08 
TNavPF::Calculated measDiffMean for beam 70 as 1.57. Range = 55.66 
TNavPF::Calculated measDiffMean for beam 71 as -0.41. Range = 55.26 
TNavPF::Calculated measDiffMean for beam 72 as -1.71. Range = 54.89 
TNavPF::Calculated measDiffMean for beam 73 as -1.57. Range = 54.53 
TNavPF::Calculated measDiffMean for beam 74 as 0.54. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 75 as 0.74. Range = 53.89 
TNavPF::Calculated measDiffMean for beam 76 as 0.51. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 77 as -0.51. Range = 51.25 
TNavPF::Calculated measDiffMean for beam 78 as -0.18. Range = 51.00 
TNavPF::Calculated measDiffMean for beam 79 as 0.17. Range = 50.78 
TNavPF::Calculated measDiffMean for beam 80 as 0.47. Range = 50.57 
TNavPF::Calculated measDiffMean for beam 81 as 0.67. Range = 50.38 
TNavPF::Calculated measDiffMean for beam 82 as 0.81. Range = 50.20 
TNavPF::Calculated measDiffMean for beam 83 as 0.98. Range = 50.05 
TNavPF::Calculated measDiffMean for beam 84 as 0.44. Range = 49.90 
TNavPF::Calculated measDiffMean for beam 85 as -0.57. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 86 as -0.18. Range = 49.67 
TNavPF::Calculated measDiffMean for beam 87 as 0.31. Range = 49.57 
TNavPF::Calculated measDiffMean for beam 88 as 0.79. Range = 49.49 
TNavPF::Calculated measDiffMean for beam 89 as 1.18. Range = 47.42 
TNavPF::First Term of Map Covariance Matrix is 3.27 
TNavPF::Calculated NIS Value : 2.55 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322399.82 sec.
INS : North: 4070289.27, East: 588840.80, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 50.52, IDT[75] = 45.66
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322402.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322402.62)
ARL : North: -0.1000, East: -2.5906, Depth: -4.3841ARL : Estimation Bias  (Mean)         : (t = 1488322402.62)
ARL : North: -0.1191, East: -2.2148, Depth: 0.2112TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.94 
Alpha[0]	0.123000
Alpha[0]	0.992067
TNavParticleFilter::Modified Variance for beam 1 is 19.65 
Alpha[1]	0.000000
Alpha[1]	0.992354
TNavParticleFilter::Modified Variance for beam 2 is 19.37 
Alpha[2]	0.000000
Alpha[2]	0.992704
TNavParticleFilter::Modified Variance for beam 3 is 19.13 
Alpha[3]	0.000000
Alpha[3]	0.992670
TNavParticleFilter::Modified Variance for beam 4 is 18.88 
Alpha[4]	0.000000
Alpha[4]	0.993039
TNavParticleFilter::Modified Variance for beam 5 is 17.52 
Alpha[5]	0.000000
Alpha[5]	0.991935
TNavParticleFilter::Modified Variance for beam 6 is 17.40 
Alpha[6]	0.000000
Alpha[6]	0.988343
TNavParticleFilter::Modified Variance for beam 7 is 17.23 
Alpha[7]	0.000000
Alpha[7]	0.987635
TNavParticleFilter::Modified Variance for beam 8 is 17.05 
Alpha[8]	0.000000
Alpha[8]	0.988290
TNavParticleFilter::Modified Variance for beam 9 is 16.89 
Alpha[9]	0.000000
Alpha[9]	0.988124
TNavParticleFilter::Modified Variance for beam 10 is 17.85 
Alpha[10]	0.000000
Alpha[10]	0.987533
TNavParticleFilter::Modified Variance for beam 11 is 17.71 
Alpha[11]	0.000000
Alpha[11]	0.987040
TNavParticleFilter::Modified Variance for beam 12 is 17.58 
Alpha[12]	0.000000
Alpha[12]	0.987045
TNavParticleFilter::Modified Variance for beam 13 is 17.45 
Alpha[13]	0.000000
Alpha[13]	0.987297
TNavParticleFilter::Modified Variance for beam 14 is 16.26 
Alpha[14]	0.000000
Alpha[14]	0.988061
TNavParticleFilter::Modified Variance for beam 15 is 16.13 
Alpha[15]	0.000000
Alpha[15]	0.990393
TNavParticleFilter::Modified Variance for beam 16 is 16.02 
Alpha[16]	0.000000
Alpha[16]	0.991595
TNavParticleFilter::Modified Variance for beam 17 is 15.94 
Alpha[17]	0.000000
Alpha[17]	0.991670
TNavParticleFilter::Modified Variance for beam 18 is 14.91 
Alpha[18]	0.000000
Alpha[18]	0.989644
TNavParticleFilter::Modified Variance for beam 19 is 14.90 
Alpha[19]	0.000000
Alpha[19]	0.986648
TNavParticleFilter::Modified Variance for beam 20 is 14.89 
Alpha[20]	0.000000
Alpha[20]	0.983738
TNavParticleFilter::Modified Variance for beam 21 is 14.90 
Alpha[21]	0.000000
Alpha[21]	0.980409
TNavParticleFilter::Modified Variance for beam 22 is 14.89 
Alpha[22]	0.000000
Alpha[22]	0.978583
TNavParticleFilter::Modified Variance for beam 23 is 14.86 
Alpha[23]	0.000000
Alpha[23]	0.978406
TNavParticleFilter::Modified Variance for beam 24 is 14.78 
Alpha[24]	0.000000
Alpha[24]	0.981817
TNavParticleFilter::Modified Variance for beam 25 is 14.74 
Alpha[25]	0.000000
Alpha[25]	0.983811
TNavParticleFilter::Modified Variance for beam 26 is 14.72 
Alpha[26]	0.000000
Alpha[26]	0.984184
TNavParticleFilter::Modified Variance for beam 27 is 14.70 
Alpha[27]	0.000000
Alpha[27]	0.985096
TNavParticleFilter::Modified Variance for beam 28 is 14.68 
Alpha[28]	0.000000
Alpha[28]	0.987160
TNavParticleFilter::Modified Variance for beam 29 is 14.64 
Alpha[29]	0.000000
Alpha[29]	0.990542
TNavParticleFilter::Modified Variance for beam 30 is 12.82 
Alpha[30]	0.000000
Alpha[30]	0.992555
TNavParticleFilter::Modified Variance for beam 31 is 12.84 
Alpha[31]	0.000000
Alpha[31]	0.992898
TNavParticleFilter::Modified Variance for beam 32 is 12.87 
Alpha[32]	0.000000
Alpha[32]	0.992629
TNavParticleFilter::Modified Variance for beam 33 is 13.80 
Alpha[33]	0.000000
Alpha[33]	0.991932
TNavParticleFilter::Modified Variance for beam 34 is 13.85 
Alpha[34]	0.000000
Alpha[34]	0.991253
TNavParticleFilter::Modified Variance for beam 35 is 13.90 
Alpha[35]	0.000000
Alpha[35]	0.990799
TNavParticleFilter::Modified Variance for beam 36 is 13.96 
Alpha[36]	0.000000
Alpha[36]	0.990855
TNavParticleFilter::Modified Variance for beam 37 is 14.01 
Alpha[37]	0.000000
Alpha[37]	0.991424
TNavParticleFilter::Modified Variance for beam 38 is 13.16 
Alpha[38]	0.000000
Alpha[38]	0.991860
TNavParticleFilter::Modified Variance for beam 39 is 13.23 
Alpha[39]	0.000000
Alpha[39]	0.991557
TNavParticleFilter::Modified Variance for beam 40 is 13.33 
Alpha[40]	0.000000
Alpha[40]	0.990011
TNavParticleFilter::Modified Variance for beam 41 is 13.43 
Alpha[41]	0.000000
Alpha[41]	0.988651
TNavParticleFilter::Modified Variance for beam 42 is 13.54 
Alpha[42]	0.000000
Alpha[42]	0.987543
TNavParticleFilter::Modified Variance for beam 43 is 13.64 
Alpha[43]	0.000000
Alpha[43]	0.987398
TNavParticleFilter::Modified Variance for beam 44 is 13.74 
Alpha[44]	0.000000
Alpha[44]	0.987677
TNavParticleFilter::Modified Variance for beam 45 is 13.86 
Alpha[45]	0.000000
Alpha[45]	0.987174
TNavParticleFilter::Modified Variance for beam 46 is 13.04 
Alpha[46]	0.000000
Alpha[46]	0.986792
TNavParticleFilter::Modified Variance for beam 47 is 13.16 
Alpha[47]	0.000000
Alpha[47]	0.987222
TNavParticleFilter::Modified Variance for beam 48 is 13.28 
Alpha[48]	0.000000
Alpha[48]	0.987691
TNavParticleFilter::Modified Variance for beam 49 is 12.69 
Alpha[49]	0.000000
Alpha[49]	0.988820
TNavParticleFilter::Modified Variance for beam 50 is 12.58 
Alpha[50]	0.000000
Alpha[50]	0.990164
TNavParticleFilter::Modified Variance for beam 51 is 12.71 
Alpha[51]	0.000000
Alpha[51]	0.990714
TNavParticleFilter::Modified Variance for beam 52 is 12.85 
Alpha[52]	0.000000
Alpha[52]	0.991096
TNavParticleFilter::Modified Variance for beam 53 is 13.01 
Alpha[53]	0.000000
Alpha[53]	0.990944
TNavParticleFilter::Modified Variance for beam 54 is 13.19 
Alpha[54]	0.000000
Alpha[54]	0.990197
TNavParticleFilter::Modified Variance for beam 55 is 12.61 
Alpha[55]	0.000000
Alpha[55]	0.990034
TNavParticleFilter::Modified Variance for beam 56 is 12.56 
Alpha[56]	0.000000
Alpha[56]	0.990042
TNavParticleFilter::Modified Variance for beam 57 is 12.76 
Alpha[57]	0.000000
Alpha[57]	0.988539
TNavParticleFilter::Modified Variance for beam 58 is 12.69 
Alpha[58]	0.000000
Alpha[58]	0.987152
TNavParticleFilter::Modified Variance for beam 59 is 12.17 
Alpha[59]	0.000000
Alpha[59]	0.988279
TNavPF:: sumSquaredError = 7.268798 
TNavPF:: sumWeights = 0.045119 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.50. Range = 95.48 
TNavPF::Calculated measDiffMean for beam 32 as 1.40. Range = 93.08 
TNavPF::Calculated measDiffMean for beam 33 as 1.22. Range = 91.62 
TNavPF::Calculated measDiffMean for beam 34 as 1.31. Range = 75.43 
TNavPF::Calculated measDiffMean for beam 35 as -0.26. Range = 73.74 
TNavPF::Calculated measDiffMean for beam 36 as 0.02. Range = 68.96 
TNavPF::Calculated measDiffMean for beam 37 as -0.10. Range = 67.94 
TNavPF::Calculated measDiffMean for beam 38 as -0.28. Range = 68.96 
TNavPF::Calculated measDiffMean for beam 39 as -0.47. Range = 67.85 
TNavPF::Calculated measDiffMean for beam 40 as 1.46. Range = 66.57 
TNavPF::Calculated measDiffMean for beam 41 as 1.42. Range = 65.36 
TNavPF::Calculated measDiffMean for beam 42 as 1.48. Range = 64.21 
TNavPF::Calculated measDiffMean for beam 43 as 1.70. Range = 63.12 
TNavPF::Calculated measDiffMean for beam 44 as -0.08. Range = 62.08 
TNavPF::Calculated measDiffMean for beam 45 as 0.20. Range = 61.10 
TNavPF::Calculated measDiffMean for beam 46 as 0.45. Range = 60.16 
TNavPF::Calculated measDiffMean for beam 47 as 0.77. Range = 59.27 
TNavPF::Calculated measDiffMean for beam 48 as -0.82. Range = 60.41 
TNavPF::Calculated measDiffMean for beam 49 as -0.49. Range = 60.16 
TNavPF::Calculated measDiffMean for beam 50 as -0.20. Range = 59.36 
TNavPF::Calculated measDiffMean for beam 51 as -0.01. Range = 58.60 
TNavPF::Calculated measDiffMean for beam 52 as 0.12. Range = 57.88 
TNavPF::Calculated measDiffMean for beam 53 as 0.28. Range = 57.23 
TNavPF::Calculated measDiffMean for beam 54 as 0.53. Range = 58.77 
TNavPF::Calculated measDiffMean for beam 55 as 0.81. Range = 58.26 
TNavPF::Calculated measDiffMean for beam 56 as 0.97. Range = 57.64 
TNavPF::Calculated measDiffMean for beam 57 as 1.02. Range = 57.06 
TNavPF::Calculated measDiffMean for beam 58 as 1.12. Range = 57.76 
TNavPF::Calculated measDiffMean for beam 59 as 1.43. Range = 58.23 
TNavPF::Calculated measDiffMean for beam 60 as -2.14. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 61 as -1.92. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 62 as -1.92. Range = 56.73 
TNavPF::Calculated measDiffMean for beam 63 as 0.09. Range = 56.28 
TNavPF::Calculated measDiffMean for beam 64 as 0.35. Range = 55.86 
TNavPF::Calculated measDiffMean for beam 65 as 0.81. Range = 53.30 
TNavPF::Calculated measDiffMean for beam 66 as 1.16. Range = 52.93 
TNavPF::Calculated measDiffMean for beam 67 as 1.48. Range = 52.59 
TNavPF::Calculated measDiffMean for beam 68 as -0.22. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 69 as 0.05. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 70 as 0.27. Range = 53.77 
TNavPF::Calculated measDiffMean for beam 71 as 0.45. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 72 as 0.65. Range = 53.23 
TNavPF::Calculated measDiffMean for beam 73 as 0.93. Range = 52.99 
TNavPF::Calculated measDiffMean for beam 74 as 1.24. Range = 50.72 
TNavPF::Calculated measDiffMean for beam 75 as 1.66. Range = 50.52 
TNavPF::Calculated measDiffMean for beam 76 as 0.08. Range = 50.35 
TNavPF::Calculated measDiffMean for beam 77 as 0.48. Range = 50.18 
TNavPF::Calculated measDiffMean for beam 78 as 0.80. Range = 48.01 
TNavPF::Calculated measDiffMean for beam 79 as -0.49. Range = 47.89 
TNavPF::Calculated measDiffMean for beam 80 as -0.68. Range = 47.78 
TNavPF::Calculated measDiffMean for beam 81 as -0.33. Range = 47.68 
TNavPF::Calculated measDiffMean for beam 82 as 0.06. Range = 47.60 
TNavPF::Calculated measDiffMean for beam 83 as 0.47. Range = 47.54 
TNavPF::Calculated measDiffMean for beam 84 as 0.90. Range = 47.49 
TNavPF::Calculated measDiffMean for beam 85 as -0.41. Range = 47.45 
TNavPF::Calculated measDiffMean for beam 86 as -0.46. Range = 47.43 
TNavPF::Calculated measDiffMean for beam 87 as 0.15. Range = 47.42 
TNavPF::Calculated measDiffMean for beam 88 as 0.18. Range = 47.43 
TNavPF::Calculated measDiffMean for beam 89 as -0.86. Range = 47.45 
TNavPF::First Term of Map Covariance Matrix is 2.51 
TNavPF::Calculated NIS Value : 3.35 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322402.82 sec.
INS : North: 4070289.54, East: 588836.45, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 48.24, IDT[75] = 43.21
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322405.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322405.62)
ARL : North: -0.1833, East: -2.1395, Depth: -2.6771ARL : Estimation Bias  (Mean)         : (t = 1488322405.62)
ARL : North: -0.0022, East: -2.1233, Depth: -0.0558TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.83 
Alpha[0]	0.123000
Alpha[0]	0.987604
TNavParticleFilter::Modified Variance for beam 1 is 18.64 
Alpha[1]	0.000000
Alpha[1]	0.987392
TNavParticleFilter::Modified Variance for beam 2 is 18.44 
Alpha[2]	0.000000
Alpha[2]	0.988285
TNavParticleFilter::Modified Variance for beam 3 is 17.15 
Alpha[3]	0.000000
Alpha[3]	0.988812
TNavParticleFilter::Modified Variance for beam 4 is 16.97 
Alpha[4]	0.000000
Alpha[4]	0.990825
TNavParticleFilter::Modified Variance for beam 5 is 16.81 
Alpha[5]	0.000000
Alpha[5]	0.992154
TNavParticleFilter::Modified Variance for beam 6 is 16.68 
Alpha[6]	0.000000
Alpha[6]	0.992742
TNavParticleFilter::Modified Variance for beam 7 is 16.59 
Alpha[7]	0.000000
Alpha[7]	0.990841
TNavParticleFilter::Modified Variance for beam 8 is 16.52 
Alpha[8]	0.000000
Alpha[8]	0.988662
TNavParticleFilter::Modified Variance for beam 9 is 15.46 
Alpha[9]	0.000000
Alpha[9]	0.985743
TNavParticleFilter::Modified Variance for beam 10 is 15.42 
Alpha[10]	0.000000
Alpha[10]	0.982912
TNavParticleFilter::Modified Variance for beam 11 is 15.39 
Alpha[11]	0.000000
Alpha[11]	0.980253
TNavParticleFilter::Modified Variance for beam 12 is 15.31 
Alpha[12]	0.000000
Alpha[12]	0.981076
TNavParticleFilter::Modified Variance for beam 13 is 15.21 
Alpha[13]	0.000000
Alpha[13]	0.983646
TNavParticleFilter::Modified Variance for beam 14 is 15.16 
Alpha[14]	0.000000
Alpha[14]	0.983266
TNavParticleFilter::Modified Variance for beam 15 is 15.11 
Alpha[15]	0.000000
Alpha[15]	0.983607
TNavParticleFilter::Modified Variance for beam 16 is 15.05 
Alpha[16]	0.000000
Alpha[16]	0.985268
TNavParticleFilter::Modified Variance for beam 17 is 14.95 
Alpha[17]	0.000000
Alpha[17]	0.989766
TNavParticleFilter::Modified Variance for beam 18 is 13.06 
Alpha[18]	0.000000
Alpha[18]	0.992920
TNavParticleFilter::Modified Variance for beam 19 is 13.04 
Alpha[19]	0.000000
Alpha[19]	0.993392
TNavParticleFilter::Modified Variance for beam 20 is 13.05 
Alpha[20]	0.000000
Alpha[20]	0.992741
TNavParticleFilter::Modified Variance for beam 21 is 13.95 
Alpha[21]	0.000000
Alpha[21]	0.991492
TNavParticleFilter::Modified Variance for beam 22 is 13.96 
Alpha[22]	0.000000
Alpha[22]	0.991421
TNavParticleFilter::Modified Variance for beam 23 is 13.97 
Alpha[23]	0.000000
Alpha[23]	0.991389
TNavParticleFilter::Modified Variance for beam 24 is 13.99 
Alpha[24]	0.000000
Alpha[24]	0.991233
TNavParticleFilter::Modified Variance for beam 25 is 14.01 
Alpha[25]	0.000000
Alpha[25]	0.991594
TNavParticleFilter::Modified Variance for beam 26 is 13.14 
Alpha[26]	0.000000
Alpha[26]	0.992155
TNavParticleFilter::Modified Variance for beam 27 is 13.17 
Alpha[27]	0.000000
Alpha[27]	0.992019
TNavParticleFilter::Modified Variance for beam 28 is 13.23 
Alpha[28]	0.000000
Alpha[28]	0.990662
TNavParticleFilter::Modified Variance for beam 29 is 13.30 
Alpha[29]	0.000000
Alpha[29]	0.989182
TNavParticleFilter::Modified Variance for beam 30 is 13.37 
Alpha[30]	0.000000
Alpha[30]	0.987965
TNavParticleFilter::Modified Variance for beam 31 is 13.44 
Alpha[31]	0.000000
Alpha[31]	0.987359
TNavParticleFilter::Modified Variance for beam 32 is 13.50 
Alpha[32]	0.000000
Alpha[32]	0.987840
TNavParticleFilter::Modified Variance for beam 33 is 13.57 
Alpha[33]	0.000000
Alpha[33]	0.987921
TNavParticleFilter::Modified Variance for beam 34 is 12.75 
Alpha[34]	0.000000
Alpha[34]	0.987410
TNavParticleFilter::Modified Variance for beam 35 is 12.83 
Alpha[35]	0.000000
Alpha[35]	0.987611
TNavParticleFilter::Modified Variance for beam 36 is 12.92 
Alpha[36]	0.000000
Alpha[36]	0.987172
TNavParticleFilter::Modified Variance for beam 37 is 13.00 
Alpha[37]	0.000000
Alpha[37]	0.988200
TNavParticleFilter::Modified Variance for beam 38 is 13.08 
Alpha[38]	0.000000
Alpha[38]	0.989825
TNavParticleFilter::Modified Variance for beam 39 is 13.01 
Alpha[39]	0.000000
Alpha[39]	0.990164
TNavParticleFilter::Modified Variance for beam 40 is 12.39 
Alpha[40]	0.000000
Alpha[40]	0.990591
TNavParticleFilter::Modified Variance for beam 41 is 12.49 
Alpha[41]	0.000000
Alpha[41]	0.990866
TNavParticleFilter::Modified Variance for beam 42 is 12.63 
Alpha[42]	0.000000
Alpha[42]	0.989829
TNavParticleFilter::Modified Variance for beam 43 is 12.76 
Alpha[43]	0.000000
Alpha[43]	0.989241
TNavParticleFilter::Modified Variance for beam 44 is 12.90 
Alpha[44]	0.000000
Alpha[44]	0.989581
TNavParticleFilter::Modified Variance for beam 45 is 12.76 
Alpha[45]	0.000000
Alpha[45]	0.988299
TNavParticleFilter::Modified Variance for beam 46 is 12.12 
Alpha[46]	0.000000
Alpha[46]	0.985789
TNavParticleFilter::Modified Variance for beam 47 is 11.52 
Alpha[47]	0.000000
Alpha[47]	0.986733
TNavParticleFilter::Modified Variance for beam 48 is 11.64 
Alpha[48]	0.000000
Alpha[48]	0.988516
TNavParticleFilter::Modified Variance for beam 49 is 11.80 
Alpha[49]	0.000000
Alpha[49]	0.987985
TNavParticleFilter::Modified Variance for beam 50 is 11.97 
Alpha[50]	0.000000
Alpha[50]	0.987199
TNavParticleFilter::Modified Variance for beam 51 is 12.14 
Alpha[51]	0.000000
Alpha[51]	0.987254
TNavParticleFilter::Modified Variance for beam 52 is 12.26 
Alpha[52]	0.000000
Alpha[52]	0.986343
TNavParticleFilter::Modified Variance for beam 53 is 11.81 
Alpha[53]	0.000000
Alpha[53]	0.983819
TNavParticleFilter::Modified Variance for beam 54 is 11.78 
Alpha[54]	0.000000
Alpha[54]	0.982676
TNavParticleFilter::Modified Variance for beam 55 is 11.96 
Alpha[55]	0.000000
Alpha[55]	0.984365
TNavParticleFilter::Modified Variance for beam 56 is 12.13 
Alpha[56]	0.000000
Alpha[56]	0.986906
TNavParticleFilter::Modified Variance for beam 57 is 12.32 
Alpha[57]	0.000000
Alpha[57]	0.989614
TNavParticleFilter::Modified Variance for beam 58 is 12.46 
Alpha[58]	0.000000
Alpha[58]	0.991587
TNavParticleFilter::Modified Variance for beam 59 is 12.06 
Alpha[59]	0.000000
Alpha[59]	0.992690
TNavPF:: sumSquaredError = 8.267706 
TNavPF:: sumWeights = 0.045433 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.37. Range = 72.56 
TNavPF::Calculated measDiffMean for beam 31 as 1.39. Range = 71.06 
TNavPF::Calculated measDiffMean for beam 32 as 1.58. Range = 69.64 
TNavPF::Calculated measDiffMean for beam 33 as -0.19. Range = 68.30 
TNavPF::Calculated measDiffMean for beam 34 as 0.06. Range = 67.02 
TNavPF::Calculated measDiffMean for beam 35 as 0.28. Range = 65.81 
TNavPF::Calculated measDiffMean for beam 36 as 0.64. Range = 64.67 
TNavPF::Calculated measDiffMean for beam 37 as 1.18. Range = 63.58 
TNavPF::Calculated measDiffMean for beam 38 as 1.56. Range = 62.55 
TNavPF::Calculated measDiffMean for beam 39 as -0.11. Range = 63.69 
TNavPF::Calculated measDiffMean for beam 40 as 0.07. Range = 63.28 
TNavPF::Calculated measDiffMean for beam 41 as 0.24. Range = 62.35 
TNavPF::Calculated measDiffMean for beam 42 as 0.39. Range = 61.47 
TNavPF::Calculated measDiffMean for beam 43 as 0.69. Range = 60.63 
TNavPF::Calculated measDiffMean for beam 44 as 0.90. Range = 60.84 
TNavPF::Calculated measDiffMean for beam 45 as 0.96. Range = 61.54 
TNavPF::Calculated measDiffMean for beam 46 as 1.02. Range = 60.79 
TNavPF::Calculated measDiffMean for beam 47 as 1.26. Range = 60.07 
TNavPF::Calculated measDiffMean for beam 48 as -2.25. Range = 59.89 
TNavPF::Calculated measDiffMean for beam 49 as -2.02. Range = 61.10 
TNavPF::Calculated measDiffMean for beam 50 as -2.07. Range = 60.45 
TNavPF::Calculated measDiffMean for beam 51 as -0.16. Range = 59.84 
TNavPF::Calculated measDiffMean for beam 52 as 0.02. Range = 59.26 
TNavPF::Calculated measDiffMean for beam 53 as 0.52. Range = 58.71 
TNavPF::Calculated measDiffMean for beam 54 as 0.91. Range = 58.19 
TNavPF::Calculated measDiffMean for beam 55 as 1.20. Range = 55.47 
TNavPF::Calculated measDiffMean for beam 56 as -0.46. Range = 55.02 
TNavPF::Calculated measDiffMean for beam 57 as -0.21. Range = 54.59 
TNavPF::Calculated measDiffMean for beam 58 as 0.04. Range = 54.19 
TNavPF::Calculated measDiffMean for beam 59 as 0.25. Range = 54.99 
TNavPF::Calculated measDiffMean for beam 60 as 0.44. Range = 55.58 
TNavPF::Calculated measDiffMean for beam 61 as 0.76. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 62 as 1.05. Range = 54.89 
TNavPF::Calculated measDiffMean for beam 63 as 1.43. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 64 as -0.07. Range = 52.19 
TNavPF::Calculated measDiffMean for beam 65 as 0.33. Range = 51.93 
TNavPF::Calculated measDiffMean for beam 66 as 0.61. Range = 51.69 
TNavPF::Calculated measDiffMean for beam 67 as 0.95. Range = 51.46 
TNavPF::Calculated measDiffMean for beam 68 as 1.24. Range = 51.25 
TNavPF::Calculated measDiffMean for beam 69 as 1.15. Range = 49.01 
TNavPF::Calculated measDiffMean for beam 70 as -0.19. Range = 48.85 
TNavPF::Calculated measDiffMean for beam 71 as 0.18. Range = 48.69 
TNavPF::Calculated measDiffMean for beam 72 as 0.59. Range = 48.56 
TNavPF::Calculated measDiffMean for beam 73 as 1.06. Range = 48.43 
TNavPF::Calculated measDiffMean for beam 74 as 1.48. Range = 48.33 
TNavPF::Calculated measDiffMean for beam 75 as 1.34. Range = 48.24 
TNavPF::Calculated measDiffMean for beam 76 as 0.12. Range = 48.16 
TNavPF::Calculated measDiffMean for beam 77 as -1.06. Range = 48.10 
TNavPF::Calculated measDiffMean for beam 78 as -0.60. Range = 44.05 
TNavPF::Calculated measDiffMean for beam 79 as -0.13. Range = 44.02 
TNavPF::Calculated measDiffMean for beam 80 as 0.34. Range = 44.00 
TNavPF::Calculated measDiffMean for beam 81 as 0.75. Range = 46.00 
TNavPF::Calculated measDiffMean for beam 82 as 1.08. Range = 46.01 
TNavPF::Calculated measDiffMean for beam 83 as 0.12. Range = 46.04 
TNavPF::Calculated measDiffMean for beam 84 as 0.07. Range = 46.08 
TNavPF::Calculated measDiffMean for beam 85 as 0.38. Range = 46.13 
TNavPF::Calculated measDiffMean for beam 86 as 0.63. Range = 44.19 
TNavPF::Calculated measDiffMean for beam 87 as 0.93. Range = 44.27 
TNavPF::Calculated measDiffMean for beam 88 as 1.13. Range = 44.36 
TNavPF::Calculated measDiffMean for beam 89 as 0.00. Range = 44.47 
TNavPF::First Term of Map Covariance Matrix is 1.60 
TNavPF::Calculated NIS Value : 3.30 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322405.82 sec.
INS : North: 4070290.29, East: 588832.16, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 45.02, IDT[75] = 40.56
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322408.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322408.62)
ARL : North: 0.1049, East: -1.7493, Depth: -5.5899ARL : Estimation Bias  (Mean)         : (t = 1488322408.62)
ARL : North: 0.1599, East: -2.0241, Depth: -0.1904TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.31 
Alpha[0]	0.123000
Alpha[0]	0.983747
TNavParticleFilter::Modified Variance for beam 1 is 16.22 
Alpha[1]	0.000000
Alpha[1]	0.982784
TNavParticleFilter::Modified Variance for beam 2 is 16.08 
Alpha[2]	0.000000
Alpha[2]	0.984775
TNavParticleFilter::Modified Variance for beam 3 is 16.02 
Alpha[3]	0.000000
Alpha[3]	0.982932
TNavParticleFilter::Modified Variance for beam 4 is 15.94 
Alpha[4]	0.000000
Alpha[4]	0.982151
TNavParticleFilter::Modified Variance for beam 5 is 15.83 
Alpha[5]	0.000000
Alpha[5]	0.984593
TNavParticleFilter::Modified Variance for beam 6 is 15.66 
Alpha[6]	0.000000
Alpha[6]	0.990757
TNavParticleFilter::Modified Variance for beam 7 is 15.56 
Alpha[7]	0.000000
Alpha[7]	0.993235
TNavParticleFilter::Modified Variance for beam 8 is 13.62 
Alpha[8]	0.000000
Alpha[8]	0.993302
TNavParticleFilter::Modified Variance for beam 9 is 13.64 
Alpha[9]	0.000000
Alpha[9]	0.992051
TNavParticleFilter::Modified Variance for beam 10 is 14.50 
Alpha[10]	0.000000
Alpha[10]	0.990814
TNavParticleFilter::Modified Variance for beam 11 is 14.47 
Alpha[11]	0.000000
Alpha[11]	0.991554
TNavParticleFilter::Modified Variance for beam 12 is 14.45 
Alpha[12]	0.000000
Alpha[12]	0.991495
TNavParticleFilter::Modified Variance for beam 13 is 14.43 
Alpha[13]	0.000000
Alpha[13]	0.991480
TNavParticleFilter::Modified Variance for beam 14 is 14.41 
Alpha[14]	0.000000
Alpha[14]	0.992436
TNavParticleFilter::Modified Variance for beam 15 is 13.49 
Alpha[15]	0.000000
Alpha[15]	0.992739
TNavParticleFilter::Modified Variance for beam 16 is 13.51 
Alpha[16]	0.000000
Alpha[16]	0.992146
TNavParticleFilter::Modified Variance for beam 17 is 13.54 
Alpha[17]	0.000000
Alpha[17]	0.990319
TNavParticleFilter::Modified Variance for beam 18 is 13.58 
Alpha[18]	0.000000
Alpha[18]	0.989128
TNavParticleFilter::Modified Variance for beam 19 is 13.61 
Alpha[19]	0.000000
Alpha[19]	0.988386
TNavParticleFilter::Modified Variance for beam 20 is 13.65 
Alpha[20]	0.000000
Alpha[20]	0.988030
TNavParticleFilter::Modified Variance for beam 21 is 13.67 
Alpha[21]	0.000000
Alpha[21]	0.988590
TNavParticleFilter::Modified Variance for beam 22 is 12.86 
Alpha[22]	0.000000
Alpha[22]	0.988928
TNavParticleFilter::Modified Variance for beam 23 is 12.87 
Alpha[23]	0.000000
Alpha[23]	0.988502
TNavParticleFilter::Modified Variance for beam 24 is 12.93 
Alpha[24]	0.000000
Alpha[24]	0.987844
TNavParticleFilter::Modified Variance for beam 25 is 12.99 
Alpha[25]	0.000000
Alpha[25]	0.988093
TNavParticleFilter::Modified Variance for beam 26 is 13.04 
Alpha[26]	0.000000
Alpha[26]	0.989234
TNavParticleFilter::Modified Variance for beam 27 is 13.10 
Alpha[27]	0.000000
Alpha[27]	0.989737
TNavParticleFilter::Modified Variance for beam 28 is 12.29 
Alpha[28]	0.000000
Alpha[28]	0.990380
TNavParticleFilter::Modified Variance for beam 29 is 12.36 
Alpha[29]	0.000000
Alpha[29]	0.990966
TNavParticleFilter::Modified Variance for beam 30 is 12.45 
Alpha[30]	0.000000
Alpha[30]	0.989827
TNavParticleFilter::Modified Variance for beam 31 is 12.55 
Alpha[31]	0.000000
Alpha[31]	0.988958
TNavParticleFilter::Modified Variance for beam 32 is 12.64 
Alpha[32]	0.000000
Alpha[32]	0.989387
TNavParticleFilter::Modified Variance for beam 33 is 12.72 
Alpha[33]	0.000000
Alpha[33]	0.988564
TNavParticleFilter::Modified Variance for beam 34 is 12.01 
Alpha[34]	0.000000
Alpha[34]	0.986056
TNavParticleFilter::Modified Variance for beam 35 is 12.12 
Alpha[35]	0.000000
Alpha[35]	0.986032
TNavParticleFilter::Modified Variance for beam 36 is 12.21 
Alpha[36]	0.000000
Alpha[36]	0.987720
TNavParticleFilter::Modified Variance for beam 37 is 11.85 
Alpha[37]	0.000000
Alpha[37]	0.987280
TNavParticleFilter::Modified Variance for beam 38 is 11.58 
Alpha[38]	0.000000
Alpha[38]	0.986820
TNavParticleFilter::Modified Variance for beam 39 is 11.70 
Alpha[39]	0.000000
Alpha[39]	0.986921
TNavParticleFilter::Modified Variance for beam 40 is 11.85 
Alpha[40]	0.000000
Alpha[40]	0.985517
TNavParticleFilter::Modified Variance for beam 41 is 11.36 
Alpha[41]	0.000000
Alpha[41]	0.983196
TNavParticleFilter::Modified Variance for beam 42 is 11.27 
Alpha[42]	0.000000
Alpha[42]	0.982176
TNavParticleFilter::Modified Variance for beam 43 is 11.41 
Alpha[43]	0.000000
Alpha[43]	0.983061
TNavParticleFilter::Modified Variance for beam 44 is 11.55 
Alpha[44]	0.000000
Alpha[44]	0.984170
TNavParticleFilter::Modified Variance for beam 45 is 11.68 
Alpha[45]	0.000000
Alpha[45]	0.986850
TNavParticleFilter::Modified Variance for beam 46 is 11.82 
Alpha[46]	0.000000
Alpha[46]	0.989262
TNavParticleFilter::Modified Variance for beam 47 is 11.56 
Alpha[47]	0.000000
Alpha[47]	0.990744
TNavParticleFilter::Modified Variance for beam 48 is 11.20 
Alpha[48]	0.000000
Alpha[48]	0.991654
TNavParticleFilter::Modified Variance for beam 49 is 11.39 
Alpha[49]	0.000000
Alpha[49]	0.991594
TNavParticleFilter::Modified Variance for beam 50 is 11.59 
Alpha[50]	0.000000
Alpha[50]	0.991119
TNavParticleFilter::Modified Variance for beam 51 is 11.80 
Alpha[51]	0.000000
Alpha[51]	0.990767
TNavParticleFilter::Modified Variance for beam 52 is 12.03 
Alpha[52]	0.000000
Alpha[52]	0.989964
TNavParticleFilter::Modified Variance for beam 53 is 11.95 
Alpha[53]	0.000000
Alpha[53]	0.988889
TNavParticleFilter::Modified Variance for beam 54 is 11.61 
Alpha[54]	0.000000
Alpha[54]	0.987506
TNavParticleFilter::Modified Variance for beam 55 is 11.73 
Alpha[55]	0.000000
Alpha[55]	0.986575
TNavParticleFilter::Modified Variance for beam 56 is 11.99 
Alpha[56]	0.000000
Alpha[56]	0.985441
TNavParticleFilter::Modified Variance for beam 57 is 12.29 
Alpha[57]	0.000000
Alpha[57]	0.983045
TNavParticleFilter::Modified Variance for beam 58 is 12.62 
Alpha[58]	0.000000
Alpha[58]	0.979918
TNavParticleFilter::Modified Variance for beam 59 is 12.51 
Alpha[59]	0.000000
Alpha[59]	0.980095
TNavPF:: sumSquaredError = 4.942080 
TNavPF:: sumWeights = 0.048628 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.17. Range = 66.22 
TNavPF::Calculated measDiffMean for beam 31 as 0.33. Range = 67.43 
TNavPF::Calculated measDiffMean for beam 32 as 0.61. Range = 61.24 
TNavPF::Calculated measDiffMean for beam 33 as 0.89. Range = 60.98 
TNavPF::Calculated measDiffMean for beam 34 as 0.96. Range = 65.30 
TNavPF::Calculated measDiffMean for beam 35 as 1.02. Range = 66.30 
TNavPF::Calculated measDiffMean for beam 36 as 1.34. Range = 65.37 
TNavPF::Calculated measDiffMean for beam 37 as 1.79. Range = 64.47 
TNavPF::Calculated measDiffMean for beam 38 as -2.12. Range = 63.63 
TNavPF::Calculated measDiffMean for beam 39 as -2.17. Range = 62.82 
TNavPF::Calculated measDiffMean for beam 40 as -0.30. Range = 64.25 
TNavPF::Calculated measDiffMean for beam 41 as -0.03. Range = 63.73 
TNavPF::Calculated measDiffMean for beam 42 as 0.52. Range = 63.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.82. Range = 62.31 
TNavPF::Calculated measDiffMean for beam 44 as 1.15. Range = 61.66 
TNavPF::Calculated measDiffMean for beam 45 as -0.56. Range = 61.04 
TNavPF::Calculated measDiffMean for beam 46 as -0.32. Range = 58.16 
TNavPF::Calculated measDiffMean for beam 47 as -0.01. Range = 57.62 
TNavPF::Calculated measDiffMean for beam 48 as 0.19. Range = 57.11 
TNavPF::Calculated measDiffMean for beam 49 as 0.49. Range = 56.62 
TNavPF::Calculated measDiffMean for beam 50 as 0.80. Range = 58.36 
TNavPF::Calculated measDiffMean for beam 51 as 1.11. Range = 57.90 
TNavPF::Calculated measDiffMean for beam 52 as -0.25. Range = 57.47 
TNavPF::Calculated measDiffMean for beam 53 as 0.12. Range = 54.91 
TNavPF::Calculated measDiffMean for beam 54 as 0.39. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 55 as 0.73. Range = 54.19 
TNavPF::Calculated measDiffMean for beam 56 as 1.00. Range = 53.86 
TNavPF::Calculated measDiffMean for beam 57 as 1.28. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 58 as -0.40. Range = 53.27 
TNavPF::Calculated measDiffMean for beam 59 as -0.09. Range = 50.92 
TNavPF::Calculated measDiffMean for beam 60 as 0.32. Range = 50.68 
TNavPF::Calculated measDiffMean for beam 61 as 0.81. Range = 50.46 
TNavPF::Calculated measDiffMean for beam 62 as 1.20. Range = 50.25 
TNavPF::Calculated measDiffMean for beam 63 as 1.65. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 64 as 0.40. Range = 49.89 
TNavPF::Calculated measDiffMean for beam 65 as 1.04. Range = 49.73 
TNavPF::Calculated measDiffMean for beam 66 as 1.44. Range = 49.59 
TNavPF::Calculated measDiffMean for beam 67 as 0.70. Range = 49.47 
TNavPF::Calculated measDiffMean for beam 68 as 0.18. Range = 45.33 
TNavPF::Calculated measDiffMean for beam 69 as 0.55. Range = 45.32 
TNavPF::Calculated measDiffMean for beam 70 as 1.02. Range = 47.18 
TNavPF::Calculated measDiffMean for beam 71 as 0.03. Range = 47.12 
TNavPF::Calculated measDiffMean for beam 72 as -0.02. Range = 47.07 
TNavPF::Calculated measDiffMean for beam 73 as 0.26. Range = 47.04 
TNavPF::Calculated measDiffMean for beam 74 as 0.48. Range = 47.03 
TNavPF::Calculated measDiffMean for beam 75 as 0.72. Range = 45.02 
TNavPF::Calculated measDiffMean for beam 76 as 0.97. Range = 45.03 
TNavPF::Calculated measDiffMean for beam 77 as 0.22. Range = 45.06 
TNavPF::Calculated measDiffMean for beam 78 as -0.81. Range = 45.10 
TNavPF::Calculated measDiffMean for beam 79 as -0.54. Range = 45.15 
TNavPF::Calculated measDiffMean for beam 80 as -0.23. Range = 45.22 
TNavPF::Calculated measDiffMean for beam 81 as 0.20. Range = 45.30 
TNavPF::Calculated measDiffMean for beam 82 as 0.77. Range = 43.46 
TNavPF::Calculated measDiffMean for beam 83 as 0.76. Range = 43.48 
TNavPF::Calculated measDiffMean for beam 84 as 0.09. Range = 43.59 
TNavPF::Calculated measDiffMean for beam 85 as 0.25. Range = 43.73 
TNavPF::Calculated measDiffMean for beam 86 as 0.40. Range = 43.87 
TNavPF::Calculated measDiffMean for beam 87 as 0.41. Range = 44.03 
TNavPF::Calculated measDiffMean for beam 88 as 0.52. Range = 42.15 
TNavPF::Calculated measDiffMean for beam 89 as -0.04. Range = 42.33 
TNavPF::First Term of Map Covariance Matrix is 1.22 
TNavPF::Calculated NIS Value : 2.90 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322408.82 sec.
INS : North: 4070291.48, East: 588827.97, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 44.82, IDT[75] = 40.57
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322411.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322411.62)
ARL : North: -0.4572, East: -2.9356, Depth: -2.6259ARL : Estimation Bias  (Mean)         : (t = 1488322411.62)
ARL : North: 0.2952, East: -1.8647, Depth: -0.2362TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.35 
Alpha[0]	0.123000
Alpha[0]	0.992083
TNavParticleFilter::Modified Variance for beam 1 is 15.29 
Alpha[1]	0.000000
Alpha[1]	0.992455
TNavParticleFilter::Modified Variance for beam 2 is 15.24 
Alpha[2]	0.000000
Alpha[2]	0.993017
TNavParticleFilter::Modified Variance for beam 3 is 15.19 
Alpha[3]	0.000000
Alpha[3]	0.993286
TNavParticleFilter::Modified Variance for beam 4 is 15.16 
Alpha[4]	0.000000
Alpha[4]	0.993159
TNavParticleFilter::Modified Variance for beam 5 is 15.15 
Alpha[5]	0.000000
Alpha[5]	0.992294
TNavParticleFilter::Modified Variance for beam 6 is 14.20 
Alpha[6]	0.000000
Alpha[6]	0.991039
TNavParticleFilter::Modified Variance for beam 7 is 14.20 
Alpha[7]	0.000000
Alpha[7]	0.990247
TNavParticleFilter::Modified Variance for beam 8 is 14.22 
Alpha[8]	0.000000
Alpha[8]	0.989204
TNavParticleFilter::Modified Variance for beam 9 is 14.21 
Alpha[9]	0.000000
Alpha[9]	0.989732
TNavParticleFilter::Modified Variance for beam 10 is 13.73 
Alpha[10]	0.000000
Alpha[10]	0.990637
TNavParticleFilter::Modified Variance for beam 11 is 13.32 
Alpha[11]	0.000000
Alpha[11]	0.990190
TNavParticleFilter::Modified Variance for beam 12 is 13.35 
Alpha[12]	0.000000
Alpha[12]	0.989511
TNavParticleFilter::Modified Variance for beam 13 is 13.38 
Alpha[13]	0.000000
Alpha[13]	0.989399
TNavParticleFilter::Modified Variance for beam 14 is 13.41 
Alpha[14]	0.000000
Alpha[14]	0.989812
TNavParticleFilter::Modified Variance for beam 15 is 13.44 
Alpha[15]	0.000000
Alpha[15]	0.990267
TNavParticleFilter::Modified Variance for beam 16 is 12.59 
Alpha[16]	0.000000
Alpha[16]	0.990992
TNavParticleFilter::Modified Variance for beam 17 is 12.64 
Alpha[17]	0.000000
Alpha[17]	0.991161
TNavParticleFilter::Modified Variance for beam 18 is 12.70 
Alpha[18]	0.000000
Alpha[18]	0.990407
TNavParticleFilter::Modified Variance for beam 19 is 12.77 
Alpha[19]	0.000000
Alpha[19]	0.989745
TNavParticleFilter::Modified Variance for beam 20 is 12.83 
Alpha[20]	0.000000
Alpha[20]	0.989747
TNavParticleFilter::Modified Variance for beam 21 is 12.52 
Alpha[21]	0.000000
Alpha[21]	0.989060
TNavParticleFilter::Modified Variance for beam 22 is 12.14 
Alpha[22]	0.000000
Alpha[22]	0.987182
TNavParticleFilter::Modified Variance for beam 23 is 12.22 
Alpha[23]	0.000000
Alpha[23]	0.986765
TNavParticleFilter::Modified Variance for beam 24 is 12.29 
Alpha[24]	0.000000
Alpha[24]	0.987482
TNavParticleFilter::Modified Variance for beam 25 is 11.53 
Alpha[25]	0.000000
Alpha[25]	0.987586
TNavParticleFilter::Modified Variance for beam 26 is 11.62 
Alpha[26]	0.000000
Alpha[26]	0.987484
TNavParticleFilter::Modified Variance for beam 27 is 11.72 
Alpha[27]	0.000000
Alpha[27]	0.986806
TNavParticleFilter::Modified Variance for beam 28 is 11.37 
Alpha[28]	0.000000
Alpha[28]	0.985625
TNavParticleFilter::Modified Variance for beam 29 is 11.11 
Alpha[29]	0.000000
Alpha[29]	0.984029
TNavParticleFilter::Modified Variance for beam 30 is 11.22 
Alpha[30]	0.000000
Alpha[30]	0.983562
TNavParticleFilter::Modified Variance for beam 31 is 11.33 
Alpha[31]	0.000000
Alpha[31]	0.983827
TNavParticleFilter::Modified Variance for beam 32 is 11.43 
Alpha[32]	0.000000
Alpha[32]	0.985280
TNavParticleFilter::Modified Variance for beam 33 is 11.53 
Alpha[33]	0.000000
Alpha[33]	0.987222
TNavParticleFilter::Modified Variance for beam 34 is 11.65 
Alpha[34]	0.000000
Alpha[34]	0.988697
TNavParticleFilter::Modified Variance for beam 35 is 11.77 
Alpha[35]	0.000000
Alpha[35]	0.989877
TNavParticleFilter::Modified Variance for beam 36 is 11.92 
Alpha[36]	0.000000
Alpha[36]	0.990409
TNavParticleFilter::Modified Variance for beam 37 is 11.59 
Alpha[37]	0.000000
Alpha[37]	0.990404
TNavParticleFilter::Modified Variance for beam 38 is 11.31 
Alpha[38]	0.000000
Alpha[38]	0.990525
TNavParticleFilter::Modified Variance for beam 39 is 11.47 
Alpha[39]	0.000000
Alpha[39]	0.990443
TNavParticleFilter::Modified Variance for beam 40 is 11.65 
Alpha[40]	0.000000
Alpha[40]	0.989689
TNavParticleFilter::Modified Variance for beam 41 is 11.31 
Alpha[41]	0.000000
Alpha[41]	0.988288
TNavParticleFilter::Modified Variance for beam 42 is 11.11 
Alpha[42]	0.000000
Alpha[42]	0.986226
TNavParticleFilter::Modified Variance for beam 43 is 11.31 
Alpha[43]	0.000000
Alpha[43]	0.984180
TNavParticleFilter::Modified Variance for beam 44 is 11.54 
Alpha[44]	0.000000
Alpha[44]	0.981127
TNavParticleFilter::Modified Variance for beam 45 is 11.78 
Alpha[45]	0.000000
Alpha[45]	0.978482
TNavParticleFilter::Modified Variance for beam 46 is 12.03 
Alpha[46]	0.000000
Alpha[46]	0.976506
TNavParticleFilter::Modified Variance for beam 47 is 11.83 
Alpha[47]	0.000000
Alpha[47]	0.978553
TNavParticleFilter::Modified Variance for beam 48 is 11.43 
Alpha[48]	0.000000
Alpha[48]	0.983599
TNavParticleFilter::Modified Variance for beam 49 is 11.59 
Alpha[49]	0.000000
Alpha[49]	0.984650
TNavParticleFilter::Modified Variance for beam 50 is 11.87 
Alpha[50]	0.000000
Alpha[50]	0.982431
TNavParticleFilter::Modified Variance for beam 51 is 12.16 
Alpha[51]	0.000000
Alpha[51]	0.980876
TNavParticleFilter::Modified Variance for beam 52 is 12.42 
Alpha[52]	0.000000
Alpha[52]	0.982582
TNavParticleFilter::Modified Variance for beam 53 is 12.69 
Alpha[53]	0.000000
Alpha[53]	0.985480
TNavParticleFilter::Modified Variance for beam 54 is 13.02 
Alpha[54]	0.000000
Alpha[54]	0.985534
TNavParticleFilter::Modified Variance for beam 55 is 12.86 
Alpha[55]	0.000000
Alpha[55]	0.981759
TNavParticleFilter::Modified Variance for beam 56 is 12.65 
Alpha[56]	0.000000
Alpha[56]	0.975180
TNavParticleFilter::Modified Variance for beam 57 is 12.92 
Alpha[57]	0.000000
Alpha[57]	0.977360
TNavParticleFilter::Modified Variance for beam 58 is 13.24 
Alpha[58]	0.000000
Alpha[58]	0.982401
TNavParticleFilter::Modified Variance for beam 59 is 13.62 
Alpha[59]	0.000000
Alpha[59]	0.984768
TNavPF:: sumSquaredError = 7.699019 
TNavPF:: sumWeights = 0.076940 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.10. Range = 66.82 
TNavPF::Calculated measDiffMean for beam 31 as 0.53. Range = 67.24 
TNavPF::Calculated measDiffMean for beam 32 as 0.84. Range = 67.56 
TNavPF::Calculated measDiffMean for beam 33 as 1.17. Range = 66.71 
TNavPF::Calculated measDiffMean for beam 34 as 1.42. Range = 65.91 
TNavPF::Calculated measDiffMean for beam 35 as 1.75. Range = 65.15 
TNavPF::Calculated measDiffMean for beam 36 as 0.02. Range = 64.42 
TNavPF::Calculated measDiffMean for beam 37 as 0.31. Range = 61.39 
TNavPF::Calculated measDiffMean for beam 38 as 0.64. Range = 60.76 
TNavPF::Calculated measDiffMean for beam 39 as 0.97. Range = 60.16 
TNavPF::Calculated measDiffMean for beam 40 as 0.48. Range = 60.60 
TNavPF::Calculated measDiffMean for beam 41 as -0.01. Range = 61.29 
TNavPF::Calculated measDiffMean for beam 42 as 0.32. Range = 60.76 
TNavPF::Calculated measDiffMean for beam 43 as 0.66. Range = 60.25 
TNavPF::Calculated measDiffMean for beam 44 as 0.92. Range = 57.57 
TNavPF::Calculated measDiffMean for beam 45 as 1.23. Range = 57.13 
TNavPF::Calculated measDiffMean for beam 46 as -0.45. Range = 56.72 
TNavPF::Calculated measDiffMean for beam 47 as -0.11. Range = 56.32 
TNavPF::Calculated measDiffMean for beam 48 as 0.35. Range = 53.82 
TNavPF::Calculated measDiffMean for beam 49 as 0.82. Range = 53.49 
TNavPF::Calculated measDiffMean for beam 50 as 1.28. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 51 as 1.08. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 52 as 0.72. Range = 52.60 
TNavPF::Calculated measDiffMean for beam 53 as 1.21. Range = 52.34 
TNavPF::Calculated measDiffMean for beam 54 as 1.59. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 55 as -0.03. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 56 as 0.35. Range = 51.68 
TNavPF::Calculated measDiffMean for beam 57 as 0.78. Range = 51.49 
TNavPF::Calculated measDiffMean for beam 58 as 0.24. Range = 51.32 
TNavPF::Calculated measDiffMean for beam 59 as -0.16. Range = 51.17 
TNavPF::Calculated measDiffMean for beam 60 as 0.17. Range = 51.03 
TNavPF::Calculated measDiffMean for beam 61 as 0.38. Range = 48.89 
TNavPF::Calculated measDiffMean for beam 62 as 0.58. Range = 48.79 
TNavPF::Calculated measDiffMean for beam 63 as 0.80. Range = 48.71 
TNavPF::Calculated measDiffMean for beam 64 as 1.05. Range = 48.64 
TNavPF::Calculated measDiffMean for beam 65 as 1.31. Range = 48.58 
TNavPF::Calculated measDiffMean for beam 66 as 1.54. Range = 46.54 
TNavPF::Calculated measDiffMean for beam 67 as 0.59. Range = 46.52 
TNavPF::Calculated measDiffMean for beam 68 as -0.16. Range = 46.51 
TNavPF::Calculated measDiffMean for beam 69 as 0.28. Range = 46.51 
TNavPF::Calculated measDiffMean for beam 70 as 0.93. Range = 45.49 
TNavPF::Calculated measDiffMean for beam 71 as 0.35. Range = 44.56 
TNavPF::Calculated measDiffMean for beam 72 as -0.02. Range = 44.60 
TNavPF::Calculated measDiffMean for beam 73 as 0.31. Range = 44.66 
TNavPF::Calculated measDiffMean for beam 74 as 0.43. Range = 44.73 
TNavPF::Calculated measDiffMean for beam 75 as 0.48. Range = 44.82 
TNavPF::Calculated measDiffMean for beam 76 as 0.58. Range = 42.90 
TNavPF::Calculated measDiffMean for beam 77 as -0.11. Range = 43.01 
TNavPF::Calculated measDiffMean for beam 78 as -1.10. Range = 43.13 
TNavPF::Calculated measDiffMean for beam 79 as -0.76. Range = 43.27 
TNavPF::Calculated measDiffMean for beam 80 as -0.27. Range = 43.42 
TNavPF::Calculated measDiffMean for beam 81 as 0.15. Range = 42.65 
TNavPF::Calculated measDiffMean for beam 82 as 0.47. Range = 41.70 
TNavPF::Calculated measDiffMean for beam 83 as 0.71. Range = 41.89 
TNavPF::Calculated measDiffMean for beam 84 as 1.04. Range = 42.07 
TNavPF::Calculated measDiffMean for beam 85 as 0.44. Range = 40.21 
TNavPF::Calculated measDiffMean for beam 86 as -0.20. Range = 40.43 
TNavPF::Calculated measDiffMean for beam 87 as 0.20. Range = 40.67 
TNavPF::Calculated measDiffMean for beam 88 as 0.37. Range = 39.76 
TNavPF::Calculated measDiffMean for beam 89 as 0.41. Range = 39.04 
TNavPF::First Term of Map Covariance Matrix is 2.52 
TNavPF::Calculated NIS Value : 2.08 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322411.82 sec.
INS : North: 4070293.14, East: 588823.97, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 39.69, IDT[75] = 42.48
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322414.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322414.62)
ARL : North: -0.6076, East: -0.8937, Depth: -4.1418ARL : Estimation Bias  (Mean)         : (t = 1488322414.62)
ARL : North: 0.5048, East: -1.8224, Depth: -0.7038TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.19 
Alpha[0]	0.123000
Alpha[0]	0.990682
TNavParticleFilter::Modified Variance for beam 1 is 14.20 
Alpha[1]	0.000000
Alpha[1]	0.989700
TNavParticleFilter::Modified Variance for beam 2 is 14.20 
Alpha[2]	0.000000
Alpha[2]	0.989759
TNavParticleFilter::Modified Variance for beam 3 is 14.21 
Alpha[3]	0.000000
Alpha[3]	0.990387
TNavParticleFilter::Modified Variance for beam 4 is 14.22 
Alpha[4]	0.000000
Alpha[4]	0.990897
TNavParticleFilter::Modified Variance for beam 5 is 14.24 
Alpha[5]	0.000000
Alpha[5]	0.990837
TNavParticleFilter::Modified Variance for beam 6 is 13.38 
Alpha[6]	0.000000
Alpha[6]	0.989895
TNavParticleFilter::Modified Variance for beam 7 is 13.41 
Alpha[7]	0.000000
Alpha[7]	0.990207
TNavParticleFilter::Modified Variance for beam 8 is 13.32 
Alpha[8]	0.000000
Alpha[8]	0.990344
TNavParticleFilter::Modified Variance for beam 9 is 12.66 
Alpha[9]	0.000000
Alpha[9]	0.986470
TNavParticleFilter::Modified Variance for beam 10 is 12.73 
Alpha[10]	0.000000
Alpha[10]	0.984640
TNavParticleFilter::Modified Variance for beam 11 is 12.64 
Alpha[11]	0.000000
Alpha[11]	0.986058
TNavParticleFilter::Modified Variance for beam 12 is 11.96 
Alpha[12]	0.000000
Alpha[12]	0.987036
TNavParticleFilter::Modified Variance for beam 13 is 12.02 
Alpha[13]	0.000000
Alpha[13]	0.987641
TNavParticleFilter::Modified Variance for beam 14 is 12.09 
Alpha[14]	0.000000
Alpha[14]	0.987361
TNavParticleFilter::Modified Variance for beam 15 is 11.35 
Alpha[15]	0.000000
Alpha[15]	0.985591
TNavParticleFilter::Modified Variance for beam 16 is 11.43 
Alpha[16]	0.000000
Alpha[16]	0.984261
TNavParticleFilter::Modified Variance for beam 17 is 11.52 
Alpha[17]	0.000000
Alpha[17]	0.983770
TNavParticleFilter::Modified Variance for beam 18 is 11.60 
Alpha[18]	0.000000
Alpha[18]	0.983419
TNavParticleFilter::Modified Variance for beam 19 is 11.68 
Alpha[19]	0.000000
Alpha[19]	0.984370
TNavParticleFilter::Modified Variance for beam 20 is 11.78 
Alpha[20]	0.000000
Alpha[20]	0.984777
TNavParticleFilter::Modified Variance for beam 21 is 11.87 
Alpha[21]	0.000000
Alpha[21]	0.985331
TNavParticleFilter::Modified Variance for beam 22 is 11.97 
Alpha[22]	0.000000
Alpha[22]	0.986608
TNavParticleFilter::Modified Variance for beam 23 is 11.98 
Alpha[23]	0.000000
Alpha[23]	0.987358
TNavParticleFilter::Modified Variance for beam 24 is 11.31 
Alpha[24]	0.000000
Alpha[24]	0.988380
TNavParticleFilter::Modified Variance for beam 25 is 11.42 
Alpha[25]	0.000000
Alpha[25]	0.989565
TNavParticleFilter::Modified Variance for beam 26 is 11.54 
Alpha[26]	0.000000
Alpha[26]	0.989745
TNavParticleFilter::Modified Variance for beam 27 is 11.40 
Alpha[27]	0.000000
Alpha[27]	0.988190
TNavParticleFilter::Modified Variance for beam 28 is 10.98 
Alpha[28]	0.000000
Alpha[28]	0.985415
TNavParticleFilter::Modified Variance for beam 29 is 11.16 
Alpha[29]	0.000000
Alpha[29]	0.982228
TNavParticleFilter::Modified Variance for beam 30 is 11.36 
Alpha[30]	0.000000
Alpha[30]	0.977166
TNavParticleFilter::Modified Variance for beam 31 is 11.59 
Alpha[31]	0.000000
Alpha[31]	0.971203
TNavParticleFilter::Modified Variance for beam 32 is 11.78 
Alpha[32]	0.000000
Alpha[32]	0.969385
TNavParticleFilter::Modified Variance for beam 33 is 11.94 
Alpha[33]	0.000000
Alpha[33]	0.970912
TNavParticleFilter::Modified Variance for beam 34 is 12.04 
Alpha[34]	0.000000
Alpha[34]	0.977962
TNavParticleFilter::Modified Variance for beam 35 is 12.18 
Alpha[35]	0.000000
Alpha[35]	0.983192
TNavParticleFilter::Modified Variance for beam 36 is 11.89 
Alpha[36]	0.000000
Alpha[36]	0.983554
TNavParticleFilter::Modified Variance for beam 37 is 11.60 
Alpha[37]	0.000000
Alpha[37]	0.981955
TNavParticleFilter::Modified Variance for beam 38 is 11.84 
Alpha[38]	0.000000
Alpha[38]	0.980311
TNavParticleFilter::Modified Variance for beam 39 is 12.08 
Alpha[39]	0.000000
Alpha[39]	0.978958
TNavParticleFilter::Modified Variance for beam 40 is 12.30 
Alpha[40]	0.000000
Alpha[40]	0.980313
TNavParticleFilter::Modified Variance for beam 41 is 12.55 
Alpha[41]	0.000000
Alpha[41]	0.981363
TNavParticleFilter::Modified Variance for beam 42 is 12.34 
Alpha[42]	0.000000
Alpha[42]	0.979392
TNavParticleFilter::Modified Variance for beam 43 is 12.09 
Alpha[43]	0.000000
Alpha[43]	0.972724
TNavParticleFilter::Modified Variance for beam 44 is 12.37 
Alpha[44]	0.000000
Alpha[44]	0.971494
TNavParticleFilter::Modified Variance for beam 45 is 12.60 
Alpha[45]	0.000000
Alpha[45]	0.976533
TNavParticleFilter::Modified Variance for beam 46 is 12.88 
Alpha[46]	0.000000
Alpha[46]	0.979880
TNavParticleFilter::Modified Variance for beam 47 is 13.18 
Alpha[47]	0.000000
Alpha[47]	0.982869
TNavParticleFilter::Modified Variance for beam 48 is 13.54 
Alpha[48]	0.000000
Alpha[48]	0.983302
TNavParticleFilter::Modified Variance for beam 49 is 13.71 
Alpha[49]	0.000000
Alpha[49]	0.981028
TNavParticleFilter::Modified Variance for beam 50 is 13.37 
Alpha[50]	0.000000
Alpha[50]	0.982945
TNavParticleFilter::Modified Variance for beam 51 is 13.30 
Alpha[51]	0.000000
Alpha[51]	0.988804
TNavParticleFilter::Modified Variance for beam 52 is 13.69 
Alpha[52]	0.000000
Alpha[52]	0.991406
TNavParticleFilter::Modified Variance for beam 53 is 14.76 
Alpha[53]	0.000000
Alpha[53]	0.988403
TNavParticleFilter::Modified Variance for beam 54 is 14.79 
Alpha[54]	0.000000
Alpha[54]	0.981528
TNavParticleFilter::Modified Variance for beam 55 is 15.30 
Alpha[55]	0.000000
Alpha[55]	0.984075
TNavParticleFilter::Modified Variance for beam 56 is 15.86 
Alpha[56]	0.000000
Alpha[56]	0.986264
TNavParticleFilter::Modified Variance for beam 57 is 16.49 
Alpha[57]	0.000000
Alpha[57]	0.987549
TNavParticleFilter::Modified Variance for beam 58 is 17.13 
Alpha[58]	0.000000
Alpha[58]	0.991603
TNavParticleFilter::Modified Variance for beam 59 is 17.84 
Alpha[59]	0.000000
Alpha[59]	0.994795
TNavPF:: sumSquaredError = 20.975332 
TNavPF:: sumWeights = 0.077063 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.17. Range = 65.79 
TNavPF::Calculated measDiffMean for beam 31 as 0.53. Range = 65.12 
TNavPF::Calculated measDiffMean for beam 32 as 0.80. Range = 64.49 
TNavPF::Calculated measDiffMean for beam 33 as 1.16. Range = 63.88 
TNavPF::Calculated measDiffMean for beam 34 as 1.48. Range = 63.31 
TNavPF::Calculated measDiffMean for beam 35 as 1.95. Range = 62.76 
TNavPF::Calculated measDiffMean for beam 36 as 0.51. Range = 60.04 
TNavPF::Calculated measDiffMean for beam 37 as 1.02. Range = 59.57 
TNavPF::Calculated measDiffMean for beam 38 as 1.57. Range = 56.95 
TNavPF::Calculated measDiffMean for beam 39 as 0.68. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 40 as 1.12. Range = 56.16 
TNavPF::Calculated measDiffMean for beam 41 as 1.21. Range = 55.80 
TNavPF::Calculated measDiffMean for beam 42 as -0.09. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 43 as 0.31. Range = 55.14 
TNavPF::Calculated measDiffMean for beam 44 as 0.88. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 45 as -0.49. Range = 54.56 
TNavPF::Calculated measDiffMean for beam 46 as -0.07. Range = 54.30 
TNavPF::Calculated measDiffMean for beam 47 as 0.16. Range = 54.06 
TNavPF::Calculated measDiffMean for beam 48 as 0.37. Range = 53.84 
TNavPF::Calculated measDiffMean for beam 49 as 0.57. Range = 53.63 
TNavPF::Calculated measDiffMean for beam 50 as 0.78. Range = 51.41 
TNavPF::Calculated measDiffMean for beam 51 as 1.00. Range = 51.24 
TNavPF::Calculated measDiffMean for beam 52 as 1.17. Range = 51.10 
TNavPF::Calculated measDiffMean for beam 53 as 1.12. Range = 50.97 
TNavPF::Calculated measDiffMean for beam 54 as -0.53. Range = 48.84 
TNavPF::Calculated measDiffMean for beam 55 as -0.17. Range = 48.74 
TNavPF::Calculated measDiffMean for beam 56 as 0.41. Range = 48.66 
TNavPF::Calculated measDiffMean for beam 57 as 0.47. Range = 48.60 
TNavPF::Calculated measDiffMean for beam 58 as -0.29. Range = 46.54 
TNavPF::Calculated measDiffMean for beam 59 as 0.14. Range = 46.51 
TNavPF::Calculated measDiffMean for beam 60 as 0.35. Range = 46.49 
TNavPF::Calculated measDiffMean for beam 61 as 0.48. Range = 46.49 
TNavPF::Calculated measDiffMean for beam 62 as 0.57. Range = 46.50 
TNavPF::Calculated measDiffMean for beam 63 as 0.71. Range = 46.52 
TNavPF::Calculated measDiffMean for beam 64 as 0.98. Range = 46.56 
TNavPF::Calculated measDiffMean for beam 65 as 1.35. Range = 46.61 
TNavPF::Calculated measDiffMean for beam 66 as 0.62. Range = 44.67 
TNavPF::Calculated measDiffMean for beam 67 as -0.18. Range = 44.75 
TNavPF::Calculated measDiffMean for beam 68 as 0.21. Range = 44.55 
TNavPF::Calculated measDiffMean for beam 69 as 0.50. Range = 42.92 
TNavPF::Calculated measDiffMean for beam 70 as 0.73. Range = 43.03 
TNavPF::Calculated measDiffMean for beam 71 as 1.05. Range = 42.87 
TNavPF::Calculated measDiffMean for beam 72 as 0.51. Range = 41.26 
TNavPF::Calculated measDiffMean for beam 73 as -0.14. Range = 41.41 
TNavPF::Calculated measDiffMean for beam 74 as 0.34. Range = 41.58 
TNavPF::Calculated measDiffMean for beam 75 as 0.52. Range = 39.69 
TNavPF::Calculated measDiffMean for beam 76 as 0.58. Range = 39.87 
TNavPF::Calculated measDiffMean for beam 77 as 0.63. Range = 40.06 
TNavPF::Calculated measDiffMean for beam 78 as 0.73. Range = 40.27 
TNavPF::Calculated measDiffMean for beam 79 as 0.55. Range = 40.50 
TNavPF::Calculated measDiffMean for beam 80 as -0.26. Range = 40.74 
TNavPF::Calculated measDiffMean for beam 81 as -0.48. Range = 40.99 
TNavPF::Calculated measDiffMean for beam 82 as -0.26. Range = 41.27 
TNavPF::Calculated measDiffMean for beam 83 as 1.06. Range = 41.31 
TNavPF::Calculated measDiffMean for beam 84 as 0.21. Range = 39.68 
TNavPF::Calculated measDiffMean for beam 85 as 0.47. Range = 39.98 
TNavPF::Calculated measDiffMean for beam 86 as 0.57. Range = 40.31 
TNavPF::Calculated measDiffMean for beam 87 as 0.75. Range = 39.90 
TNavPF::Calculated measDiffMean for beam 88 as 1.15. Range = 38.75 
TNavPF::Calculated measDiffMean for beam 89 as 1.59. Range = 39.11 
TNavPF::First Term of Map Covariance Matrix is 2.14 
TNavPF::Calculated NIS Value : 1.91 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322414.82 sec.
INS : North: 4070295.29, East: 588820.21, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 39.61, IDT[75] = 48.76
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322417.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322417.62)
ARL : North: -0.1442, East: -1.0177, Depth: -0.3866ARL : Estimation Bias  (Mean)         : (t = 1488322417.62)
ARL : North: 0.7976, East: -1.6871, Depth: -0.4387TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.72 
Alpha[0]	0.123000
Alpha[0]	0.987871
TNavParticleFilter::Modified Variance for beam 1 is 12.75 
Alpha[1]	0.000000
Alpha[1]	0.988389
TNavParticleFilter::Modified Variance for beam 2 is 12.79 
Alpha[2]	0.000000
Alpha[2]	0.988878
TNavParticleFilter::Modified Variance for beam 3 is 12.01 
Alpha[3]	0.000000
Alpha[3]	0.986973
TNavParticleFilter::Modified Variance for beam 4 is 12.08 
Alpha[4]	0.000000
Alpha[4]	0.985172
TNavParticleFilter::Modified Variance for beam 5 is 12.14 
Alpha[5]	0.000000
Alpha[5]	0.984173
TNavParticleFilter::Modified Variance for beam 6 is 12.20 
Alpha[6]	0.000000
Alpha[6]	0.984360
TNavParticleFilter::Modified Variance for beam 7 is 12.26 
Alpha[7]	0.000000
Alpha[7]	0.984853
TNavParticleFilter::Modified Variance for beam 8 is 12.34 
Alpha[8]	0.000000
Alpha[8]	0.984576
TNavParticleFilter::Modified Variance for beam 9 is 12.40 
Alpha[9]	0.000000
Alpha[9]	0.985346
TNavParticleFilter::Modified Variance for beam 10 is 12.48 
Alpha[10]	0.000000
Alpha[10]	0.986415
TNavParticleFilter::Modified Variance for beam 11 is 12.14 
Alpha[11]	0.000000
Alpha[11]	0.987788
TNavParticleFilter::Modified Variance for beam 12 is 11.75 
Alpha[12]	0.000000
Alpha[12]	0.989708
TNavParticleFilter::Modified Variance for beam 13 is 11.83 
Alpha[13]	0.000000
Alpha[13]	0.990761
TNavParticleFilter::Modified Variance for beam 14 is 11.95 
Alpha[14]	0.000000
Alpha[14]	0.990046
TNavParticleFilter::Modified Variance for beam 15 is 11.30 
Alpha[15]	0.000000
Alpha[15]	0.986981
TNavParticleFilter::Modified Variance for beam 16 is 11.39 
Alpha[16]	0.000000
Alpha[16]	0.982358
TNavParticleFilter::Modified Variance for beam 17 is 11.58 
Alpha[17]	0.000000
Alpha[17]	0.976090
TNavParticleFilter::Modified Variance for beam 18 is 11.81 
Alpha[18]	0.000000
Alpha[18]	0.966746
TNavParticleFilter::Modified Variance for beam 19 is 11.99 
Alpha[19]	0.000000
Alpha[19]	0.962623
TNavParticleFilter::Modified Variance for beam 20 is 12.11 
Alpha[20]	0.000000
Alpha[20]	0.964557
TNavParticleFilter::Modified Variance for beam 21 is 12.13 
Alpha[21]	0.000000
Alpha[21]	0.974242
TNavParticleFilter::Modified Variance for beam 22 is 12.19 
Alpha[22]	0.000000
Alpha[22]	0.981957
TNavParticleFilter::Modified Variance for beam 23 is 12.17 
Alpha[23]	0.000000
Alpha[23]	0.983395
TNavParticleFilter::Modified Variance for beam 24 is 11.66 
Alpha[24]	0.000000
Alpha[24]	0.982389
TNavParticleFilter::Modified Variance for beam 25 is 11.75 
Alpha[25]	0.000000
Alpha[25]	0.980920
TNavParticleFilter::Modified Variance for beam 26 is 11.97 
Alpha[26]	0.000000
Alpha[26]	0.977632
TNavParticleFilter::Modified Variance for beam 27 is 12.18 
Alpha[27]	0.000000
Alpha[27]	0.976014
TNavParticleFilter::Modified Variance for beam 28 is 12.34 
Alpha[28]	0.000000
Alpha[28]	0.978624
TNavParticleFilter::Modified Variance for beam 29 is 12.44 
Alpha[29]	0.000000
Alpha[29]	0.979501
TNavParticleFilter::Modified Variance for beam 30 is 12.06 
Alpha[30]	0.000000
Alpha[30]	0.975195
TNavParticleFilter::Modified Variance for beam 31 is 12.13 
Alpha[31]	0.000000
Alpha[31]	0.964836
TNavParticleFilter::Modified Variance for beam 32 is 12.36 
Alpha[32]	0.000000
Alpha[32]	0.965326
TNavParticleFilter::Modified Variance for beam 33 is 12.54 
Alpha[33]	0.000000
Alpha[33]	0.969913
TNavParticleFilter::Modified Variance for beam 34 is 12.73 
Alpha[34]	0.000000
Alpha[34]	0.975448
TNavParticleFilter::Modified Variance for beam 35 is 12.95 
Alpha[35]	0.000000
Alpha[35]	0.979345
TNavParticleFilter::Modified Variance for beam 36 is 13.24 
Alpha[36]	0.000000
Alpha[36]	0.979288
TNavParticleFilter::Modified Variance for beam 37 is 13.39 
Alpha[37]	0.000000
Alpha[37]	0.976305
TNavParticleFilter::Modified Variance for beam 38 is 12.96 
Alpha[38]	0.000000
Alpha[38]	0.981210
TNavParticleFilter::Modified Variance for beam 39 is 12.87 
Alpha[39]	0.000000
Alpha[39]	0.987623
TNavParticleFilter::Modified Variance for beam 40 is 13.17 
Alpha[40]	0.000000
Alpha[40]	0.990746
TNavParticleFilter::Modified Variance for beam 41 is 14.35 
Alpha[41]	0.000000
Alpha[41]	0.988232
TNavParticleFilter::Modified Variance for beam 42 is 14.17 
Alpha[42]	0.000000
Alpha[42]	0.976893
TNavParticleFilter::Modified Variance for beam 43 is 14.56 
Alpha[43]	0.000000
Alpha[43]	0.975052
TNavParticleFilter::Modified Variance for beam 44 is 14.94 
Alpha[44]	0.000000
Alpha[44]	0.979698
TNavParticleFilter::Modified Variance for beam 45 is 15.41 
Alpha[45]	0.000000
Alpha[45]	0.981069
TNavParticleFilter::Modified Variance for beam 46 is 15.22 
Alpha[46]	0.000000
Alpha[46]	0.984102
TNavParticleFilter::Modified Variance for beam 47 is 14.82 
Alpha[47]	0.000000
Alpha[47]	0.990179
TNavParticleFilter::Modified Variance for beam 48 is 16.91 
Alpha[48]	0.000000
Alpha[48]	0.993621
TNavParticleFilter::Modified Variance for beam 49 is 17.57 
Alpha[49]	0.000000
Alpha[49]	0.993904
TNavParticleFilter::Modified Variance for beam 50 is 17.59 
Alpha[50]	0.000000
Alpha[50]	0.988434
TNavParticleFilter::Modified Variance for beam 51 is 17.33 
Alpha[51]	0.000000
Alpha[51]	0.984835
TNavParticleFilter::Modified Variance for beam 52 is 17.86 
Alpha[52]	0.000000
Alpha[52]	0.995654
TNavParticleFilter::Modified Variance for beam 53 is 20.86 
Alpha[53]	0.000000
Alpha[53]	0.996497
TNavParticleFilter::Modified Variance for beam 54 is 21.35 
Alpha[54]	0.000000
Alpha[54]	0.996044
TNavParticleFilter::Modified Variance for beam 55 is 19.70 
Alpha[55]	0.000000
Alpha[55]	0.995082
TNavParticleFilter::Modified Variance for beam 56 is 19.36 
Alpha[56]	0.000000
Alpha[56]	0.996989
TNavParticleFilter::Modified Variance for beam 57 is 22.97 
Alpha[57]	0.000000
Alpha[57]	0.997094
TNavParticleFilter::Modified Variance for beam 58 is 24.46 
Alpha[58]	0.000000
Alpha[58]	0.993083
TNavParticleFilter::Modified Variance for beam 59 is 26.08 
Alpha[59]	0.000000
Alpha[59]	0.991166
TNavPF:: sumSquaredError = 2.802394 
TNavPF:: sumWeights = 0.050546 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.22. Range = 62.45 
TNavPF::Calculated measDiffMean for beam 31 as 0.18. Range = 59.79 
TNavPF::Calculated measDiffMean for beam 32 as 0.81. Range = 59.35 
TNavPF::Calculated measDiffMean for beam 33 as -0.46. Range = 58.94 
TNavPF::Calculated measDiffMean for beam 34 as -0.08. Range = 58.55 
TNavPF::Calculated measDiffMean for beam 35 as 0.14. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 36 as 0.35. Range = 57.84 
TNavPF::Calculated measDiffMean for beam 37 as 0.54. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 38 as 0.76. Range = 57.21 
TNavPF::Calculated measDiffMean for beam 39 as 0.98. Range = 56.93 
TNavPF::Calculated measDiffMean for beam 40 as 1.13. Range = 54.60 
TNavPF::Calculated measDiffMean for beam 41 as 0.38. Range = 54.37 
TNavPF::Calculated measDiffMean for beam 42 as -0.44. Range = 54.15 
TNavPF::Calculated measDiffMean for beam 43 as 0.00. Range = 53.96 
TNavPF::Calculated measDiffMean for beam 44 as 0.77. Range = 51.74 
TNavPF::Calculated measDiffMean for beam 45 as -0.33. Range = 51.59 
TNavPF::Calculated measDiffMean for beam 46 as 0.02. Range = 51.45 
TNavPF::Calculated measDiffMean for beam 47 as 0.24. Range = 51.32 
TNavPF::Calculated measDiffMean for beam 48 as 0.38. Range = 49.20 
TNavPF::Calculated measDiffMean for beam 49 as 0.46. Range = 49.12 
TNavPF::Calculated measDiffMean for beam 50 as 0.56. Range = 49.04 
TNavPF::Calculated measDiffMean for beam 51 as 0.79. Range = 48.99 
TNavPF::Calculated measDiffMean for beam 52 as 1.09. Range = 48.95 
TNavPF::Calculated measDiffMean for beam 53 as 1.06. Range = 48.92 
TNavPF::Calculated measDiffMean for beam 54 as -0.15. Range = 48.91 
TNavPF::Calculated measDiffMean for beam 55 as 0.02. Range = 46.91 
TNavPF::Calculated measDiffMean for beam 56 as 0.32. Range = 46.92 
TNavPF::Calculated measDiffMean for beam 57 as 0.56. Range = 44.95 
TNavPF::Calculated measDiffMean for beam 58 as 0.78. Range = 44.99 
TNavPF::Calculated measDiffMean for beam 59 as 0.95. Range = 45.05 
TNavPF::Calculated measDiffMean for beam 60 as 0.17. Range = 43.11 
TNavPF::Calculated measDiffMean for beam 61 as 0.15. Range = 43.19 
TNavPF::Calculated measDiffMean for beam 62 as 0.40. Range = 43.29 
TNavPF::Calculated measDiffMean for beam 63 as 0.47. Range = 41.37 
TNavPF::Calculated measDiffMean for beam 64 as 0.52. Range = 41.49 
TNavPF::Calculated measDiffMean for beam 65 as 0.56. Range = 41.62 
TNavPF::Calculated measDiffMean for beam 66 as 0.64. Range = 41.76 
TNavPF::Calculated measDiffMean for beam 67 as 0.49. Range = 41.92 
TNavPF::Calculated measDiffMean for beam 68 as -0.31. Range = 42.09 
TNavPF::Calculated measDiffMean for beam 69 as -0.44. Range = 42.28 
TNavPF::Calculated measDiffMean for beam 70 as -0.34. Range = 42.48 
TNavPF::Calculated measDiffMean for beam 71 as 1.33. Range = 41.73 
TNavPF::Calculated measDiffMean for beam 72 as 0.10. Range = 40.82 
TNavPF::Calculated measDiffMean for beam 73 as 0.33. Range = 41.06 
TNavPF::Calculated measDiffMean for beam 74 as 0.43. Range = 41.31 
TNavPF::Calculated measDiffMean for beam 75 as 0.50. Range = 39.61 
TNavPF::Calculated measDiffMean for beam 76 as -0.62. Range = 39.70 
TNavPF::Calculated measDiffMean for beam 77 as -1.99. Range = 39.99 
TNavPF::Calculated measDiffMean for beam 78 as 1.46. Range = 40.29 
TNavPF::Calculated measDiffMean for beam 79 as 1.50. Range = 40.60 
TNavPF::Calculated measDiffMean for beam 80 as 0.61. Range = 40.94 
TNavPF::Calculated measDiffMean for beam 81 as -0.34. Range = 41.29 
TNavPF::Calculated measDiffMean for beam 82 as -0.44. Range = 41.67 
TNavPF::Calculated measDiffMean for beam 83 as 2.93. Range = 41.66 
TNavPF::Calculated measDiffMean for beam 84 as 3.53. Range = 40.39 
TNavPF::Calculated measDiffMean for beam 85 as 0.54. Range = 40.57 
TNavPF::Calculated measDiffMean for beam 86 as -1.77. Range = 41.00 
TNavPF::Calculated measDiffMean for beam 87 as 1.15. Range = 41.46 
TNavPF::Calculated measDiffMean for beam 88 as 0.26. Range = 41.93 
TNavPF::Calculated measDiffMean for beam 89 as 0.15. Range = 42.18 
TNavPF::First Term of Map Covariance Matrix is 1.64 
TNavPF::Calculated NIS Value : 2.57 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322417.82 sec.
INS : North: 4070297.81, East: 588816.70, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 42.43, IDT[75] = 55.44
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322420.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322420.62)
ARL : North: 0.7864, East: -0.6345, Depth: -0.8066ARL : Estimation Bias  (Mean)         : (t = 1488322420.62)
ARL : North: 0.9629, East: -1.5302, Depth: 0.4491TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.38 
Alpha[0]	0.123000
Alpha[0]	0.991169
TNavParticleFilter::Modified Variance for beam 1 is 13.44 
Alpha[1]	0.000000
Alpha[1]	0.992423
TNavParticleFilter::Modified Variance for beam 2 is 12.56 
Alpha[2]	0.000000
Alpha[2]	0.991520
TNavParticleFilter::Modified Variance for beam 3 is 11.91 
Alpha[3]	0.000000
Alpha[3]	0.986961
TNavParticleFilter::Modified Variance for beam 4 is 12.08 
Alpha[4]	0.000000
Alpha[4]	0.980052
TNavParticleFilter::Modified Variance for beam 5 is 12.30 
Alpha[5]	0.000000
Alpha[5]	0.970186
TNavParticleFilter::Modified Variance for beam 6 is 12.56 
Alpha[6]	0.000000
Alpha[6]	0.957814
TNavParticleFilter::Modified Variance for beam 7 is 12.69 
Alpha[7]	0.000000
Alpha[7]	0.955786
TNavParticleFilter::Modified Variance for beam 8 is 12.66 
Alpha[8]	0.000000
Alpha[8]	0.966712
TNavParticleFilter::Modified Variance for beam 9 is 12.62 
Alpha[9]	0.000000
Alpha[9]	0.979756
TNavParticleFilter::Modified Variance for beam 10 is 12.69 
Alpha[10]	0.000000
Alpha[10]	0.984083
TNavParticleFilter::Modified Variance for beam 11 is 12.29 
Alpha[11]	0.000000
Alpha[11]	0.983457
TNavParticleFilter::Modified Variance for beam 12 is 12.07 
Alpha[12]	0.000000
Alpha[12]	0.981780
TNavParticleFilter::Modified Variance for beam 13 is 12.23 
Alpha[13]	0.000000
Alpha[13]	0.980022
TNavParticleFilter::Modified Variance for beam 14 is 12.44 
Alpha[14]	0.000000
Alpha[14]	0.975363
TNavParticleFilter::Modified Variance for beam 15 is 12.61 
Alpha[15]	0.000000
Alpha[15]	0.974492
TNavParticleFilter::Modified Variance for beam 16 is 12.75 
Alpha[16]	0.000000
Alpha[16]	0.976925
TNavParticleFilter::Modified Variance for beam 17 is 12.43 
Alpha[17]	0.000000
Alpha[17]	0.977653
TNavParticleFilter::Modified Variance for beam 18 is 12.24 
Alpha[18]	0.000000
Alpha[18]	0.967726
TNavParticleFilter::Modified Variance for beam 19 is 12.60 
Alpha[19]	0.000000
Alpha[19]	0.954207
TNavParticleFilter::Modified Variance for beam 20 is 12.77 
Alpha[20]	0.000000
Alpha[20]	0.956391
TNavParticleFilter::Modified Variance for beam 21 is 12.90 
Alpha[21]	0.000000
Alpha[21]	0.962264
TNavParticleFilter::Modified Variance for beam 22 is 13.03 
Alpha[22]	0.000000
Alpha[22]	0.968647
TNavParticleFilter::Modified Variance for beam 23 is 13.23 
Alpha[23]	0.000000
Alpha[23]	0.971200
TNavParticleFilter::Modified Variance for beam 24 is 13.51 
Alpha[24]	0.000000
Alpha[24]	0.968778
TNavParticleFilter::Modified Variance for beam 25 is 13.29 
Alpha[25]	0.000000
Alpha[25]	0.972152
TNavParticleFilter::Modified Variance for beam 26 is 12.74 
Alpha[26]	0.000000
Alpha[26]	0.981492
TNavParticleFilter::Modified Variance for beam 27 is 12.94 
Alpha[27]	0.000000
Alpha[27]	0.986693
TNavParticleFilter::Modified Variance for beam 28 is 13.17 
Alpha[28]	0.000000
Alpha[28]	0.990340
TNavParticleFilter::Modified Variance for beam 29 is 14.20 
Alpha[29]	0.000000
Alpha[29]	0.986995
TNavParticleFilter::Modified Variance for beam 30 is 14.04 
Alpha[30]	0.000000
Alpha[30]	0.972215
TNavParticleFilter::Modified Variance for beam 31 is 14.49 
Alpha[31]	0.000000
Alpha[31]	0.965633
TNavParticleFilter::Modified Variance for beam 32 is 14.79 
Alpha[32]	0.000000
Alpha[32]	0.970129
TNavParticleFilter::Modified Variance for beam 33 is 15.17 
Alpha[33]	0.000000
Alpha[33]	0.971655
TNavParticleFilter::Modified Variance for beam 34 is 15.09 
Alpha[34]	0.000000
Alpha[34]	0.974795
TNavParticleFilter::Modified Variance for beam 35 is 14.57 
Alpha[35]	0.000000
Alpha[35]	0.985056
TNavParticleFilter::Modified Variance for beam 36 is 14.76 
Alpha[36]	0.000000
Alpha[36]	0.990562
TNavParticleFilter::Modified Variance for beam 37 is 16.71 
Alpha[37]	0.000000
Alpha[37]	0.992834
TNavParticleFilter::Modified Variance for beam 38 is 17.29 
Alpha[38]	0.000000
Alpha[38]	0.990668
TNavParticleFilter::Modified Variance for beam 39 is 17.10 
Alpha[39]	0.000000
Alpha[39]	0.979701
TNavParticleFilter::Modified Variance for beam 40 is 17.09 
Alpha[40]	0.000000
Alpha[40]	0.975672
TNavParticleFilter::Modified Variance for beam 41 is 17.39 
Alpha[41]	0.000000
Alpha[41]	0.994598
TNavParticleFilter::Modified Variance for beam 42 is 19.71 
Alpha[42]	0.000000
Alpha[42]	0.995838
TNavParticleFilter::Modified Variance for beam 43 is 17.99 
Alpha[43]	0.000000
Alpha[43]	0.996020
TNavParticleFilter::Modified Variance for beam 44 is 17.68 
Alpha[44]	0.000000
Alpha[44]	0.994560
TNavParticleFilter::Modified Variance for beam 45 is 18.61 
Alpha[45]	0.000000
Alpha[45]	0.995325
TNavParticleFilter::Modified Variance for beam 46 is 19.26 
Alpha[46]	0.000000
Alpha[46]	0.996383
TNavParticleFilter::Modified Variance for beam 47 is 22.60 
Alpha[47]	0.000000
Alpha[47]	0.993505
TNavParticleFilter::Modified Variance for beam 48 is 23.96 
Alpha[48]	0.000000
Alpha[48]	0.986422
TNavParticleFilter::Modified Variance for beam 49 is 25.29 
Alpha[49]	0.000000
Alpha[49]	0.986642
TNavParticleFilter::Modified Variance for beam 50 is 26.74 
Alpha[50]	0.000000
Alpha[50]	0.987396
TNavParticleFilter::Modified Variance for beam 51 is 27.86 
Alpha[51]	0.000000
Alpha[51]	0.989552
TNavParticleFilter::Modified Variance for beam 52 is 27.30 
Alpha[52]	0.000000
Alpha[52]	0.994944
TNavParticleFilter::Modified Variance for beam 53 is 31.57 
Alpha[53]	0.000000
Alpha[53]	0.996262
TNavParticleFilter::Modified Variance for beam 54 is 31.46 
Alpha[54]	0.000000
Alpha[54]	0.986116
TNavParticleFilter::Modified Variance for beam 55 is 31.03 
Alpha[55]	0.000000
Alpha[55]	0.986826
TNavParticleFilter::Modified Variance for beam 56 is 31.34 
Alpha[56]	0.000000
Alpha[56]	0.995696
TNavParticleFilter::Modified Variance for beam 57 is 34.16 
Alpha[57]	0.000000
Alpha[57]	0.990673
TNavParticleFilter::Modified Variance for beam 58 is 34.67 
Alpha[58]	0.000000
Alpha[58]	0.989425
TNavParticleFilter::Modified Variance for beam 59 is 35.55 
Alpha[59]	0.000000
Alpha[59]	0.992380
TNavPF:: sumSquaredError = 35.385110 
TNavPF:: sumWeights = 0.041867 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.85. Range = 60.51 
TNavPF::Calculated measDiffMean for beam 31 as 2.28. Range = 58.09 
TNavPF::Calculated measDiffMean for beam 32 as 0.86. Range = 57.80 
TNavPF::Calculated measDiffMean for beam 33 as -0.12. Range = 57.53 
TNavPF::Calculated measDiffMean for beam 34 as 0.26. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 35 as 0.42. Range = 55.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.53. Range = 54.79 
TNavPF::Calculated measDiffMean for beam 37 as 0.60. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 38 as 0.76. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 39 as 1.07. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 40 as 1.38. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 41 as 0.52. Range = 52.02 
TNavPF::Calculated measDiffMean for beam 42 as 0.07. Range = 51.92 
TNavPF::Calculated measDiffMean for beam 43 as 0.36. Range = 51.84 
TNavPF::Calculated measDiffMean for beam 44 as 0.59. Range = 49.77 
TNavPF::Calculated measDiffMean for beam 45 as 0.76. Range = 49.72 
TNavPF::Calculated measDiffMean for beam 46 as 0.97. Range = 47.69 
TNavPF::Calculated measDiffMean for beam 47 as 0.44. Range = 47.67 
TNavPF::Calculated measDiffMean for beam 48 as 0.08. Range = 47.67 
TNavPF::Calculated measDiffMean for beam 49 as 0.48. Range = 45.68 
TNavPF::Calculated measDiffMean for beam 50 as 0.57. Range = 45.71 
TNavPF::Calculated measDiffMean for beam 51 as 0.61. Range = 44.46 
TNavPF::Calculated measDiffMean for beam 52 as 0.64. Range = 43.80 
TNavPF::Calculated measDiffMean for beam 53 as 0.66. Range = 43.86 
TNavPF::Calculated measDiffMean for beam 54 as 0.73. Range = 43.94 
TNavPF::Calculated measDiffMean for beam 55 as 0.19. Range = 44.04 
TNavPF::Calculated measDiffMean for beam 56 as -0.56. Range = 44.14 
TNavPF::Calculated measDiffMean for beam 57 as -0.07. Range = 44.27 
TNavPF::Calculated measDiffMean for beam 58 as -0.20. Range = 44.40 
TNavPF::Calculated measDiffMean for beam 59 as 1.16. Range = 44.55 
TNavPF::Calculated measDiffMean for beam 60 as 0.14. Range = 44.72 
TNavPF::Calculated measDiffMean for beam 61 as 0.52. Range = 44.90 
TNavPF::Calculated measDiffMean for beam 62 as 0.60. Range = 42.83 
TNavPF::Calculated measDiffMean for beam 63 as 0.62. Range = 41.14 
TNavPF::Calculated measDiffMean for beam 64 as -0.17. Range = 41.35 
TNavPF::Calculated measDiffMean for beam 65 as -1.52. Range = 41.57 
TNavPF::Calculated measDiffMean for beam 66 as -1.53. Range = 41.81 
TNavPF::Calculated measDiffMean for beam 67 as 1.54. Range = 42.06 
TNavPF::Calculated measDiffMean for beam 68 as 1.40. Range = 42.32 
TNavPF::Calculated measDiffMean for beam 69 as 0.25. Range = 42.61 
TNavPF::Calculated measDiffMean for beam 70 as 0.06. Range = 42.91 
TNavPF::Calculated measDiffMean for beam 71 as -0.09. Range = 41.96 
TNavPF::Calculated measDiffMean for beam 72 as 2.13. Range = 41.36 
TNavPF::Calculated measDiffMean for beam 73 as -1.14. Range = 41.70 
TNavPF::Calculated measDiffMean for beam 74 as -1.54. Range = 42.06 
TNavPF::Calculated measDiffMean for beam 75 as -0.77. Range = 42.43 
TNavPF::Calculated measDiffMean for beam 76 as -1.99. Range = 42.83 
TNavPF::Calculated measDiffMean for beam 77 as 0.86. Range = 42.11 
TNavPF::Calculated measDiffMean for beam 78 as 0.58. Range = 41.35 
TNavPF::Calculated measDiffMean for beam 79 as 0.58. Range = 41.79 
TNavPF::Calculated measDiffMean for beam 80 as 0.64. Range = 42.25 
TNavPF::Calculated measDiffMean for beam 81 as 0.58. Range = 42.73 
TNavPF::Calculated measDiffMean for beam 82 as -1.12. Range = 43.23 
TNavPF::Calculated measDiffMean for beam 83 as 2.83. Range = 43.76 
TNavPF::Calculated measDiffMean for beam 84 as 0.57. Range = 44.32 
TNavPF::Calculated measDiffMean for beam 85 as -0.41. Range = 43.93 
TNavPF::Calculated measDiffMean for beam 86 as -0.72. Range = 42.96 
TNavPF::Calculated measDiffMean for beam 87 as 0.01. Range = 43.57 
TNavPF::Calculated measDiffMean for beam 88 as -0.70. Range = 44.22 
TNavPF::Calculated measDiffMean for beam 89 as -0.43. Range = 46.40 
TNavPF::First Term of Map Covariance Matrix is 2.25 
TNavPF::Calculated NIS Value : 2.99 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322420.82 sec.
INS : North: 4070300.74, East: 588813.54, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 44.97, IDT[75] = 73.45
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322423.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322423.62)
ARL : North: 1.9118, East: -1.7213, Depth: 0.3204ARL : Estimation Bias  (Mean)         : (t = 1488322423.62)
ARL : North: 1.1137, East: -1.4530, Depth: 0.3643TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.54 
Alpha[0]	0.123000
Alpha[0]	0.977384
TNavParticleFilter::Modified Variance for beam 1 is 13.53 
Alpha[1]	0.000000
Alpha[1]	0.982318
TNavParticleFilter::Modified Variance for beam 2 is 12.75 
Alpha[2]	0.000000
Alpha[2]	0.983524
TNavParticleFilter::Modified Variance for beam 3 is 12.86 
Alpha[3]	0.000000
Alpha[3]	0.983505
TNavParticleFilter::Modified Variance for beam 4 is 13.00 
Alpha[4]	0.000000
Alpha[4]	0.981934
TNavParticleFilter::Modified Variance for beam 5 is 13.21 
Alpha[5]	0.000000
Alpha[5]	0.976475
TNavParticleFilter::Modified Variance for beam 6 is 13.35 
Alpha[6]	0.000000
Alpha[6]	0.975803
TNavParticleFilter::Modified Variance for beam 7 is 13.16 
Alpha[7]	0.000000
Alpha[7]	0.978670
TNavParticleFilter::Modified Variance for beam 8 is 12.64 
Alpha[8]	0.000000
Alpha[8]	0.979486
TNavParticleFilter::Modified Variance for beam 9 is 12.98 
Alpha[9]	0.000000
Alpha[9]	0.965275
TNavParticleFilter::Modified Variance for beam 10 is 13.33 
Alpha[10]	0.000000
Alpha[10]	0.951581
TNavParticleFilter::Modified Variance for beam 11 is 13.46 
Alpha[11]	0.000000
Alpha[11]	0.954984
TNavParticleFilter::Modified Variance for beam 12 is 13.50 
Alpha[12]	0.000000
Alpha[12]	0.965509
TNavParticleFilter::Modified Variance for beam 13 is 13.61 
Alpha[13]	0.000000
Alpha[13]	0.971955
TNavParticleFilter::Modified Variance for beam 14 is 13.80 
Alpha[14]	0.000000
Alpha[14]	0.973062
TNavParticleFilter::Modified Variance for beam 15 is 13.81 
Alpha[15]	0.000000
Alpha[15]	0.968323
TNavParticleFilter::Modified Variance for beam 16 is 13.16 
Alpha[16]	0.000000
Alpha[16]	0.975782
TNavParticleFilter::Modified Variance for beam 17 is 13.26 
Alpha[17]	0.000000
Alpha[17]	0.982687
TNavParticleFilter::Modified Variance for beam 18 is 13.44 
Alpha[18]	0.000000
Alpha[18]	0.986967
TNavParticleFilter::Modified Variance for beam 19 is 14.60 
Alpha[19]	0.000000
Alpha[19]	0.989626
TNavParticleFilter::Modified Variance for beam 20 is 14.15 
Alpha[20]	0.000000
Alpha[20]	0.985581
TNavParticleFilter::Modified Variance for beam 21 is 14.47 
Alpha[21]	0.000000
Alpha[21]	0.971133
TNavParticleFilter::Modified Variance for beam 22 is 14.89 
Alpha[22]	0.000000
Alpha[22]	0.963518
TNavParticleFilter::Modified Variance for beam 23 is 15.13 
Alpha[23]	0.000000
Alpha[23]	0.968667
TNavParticleFilter::Modified Variance for beam 24 is 15.45 
Alpha[24]	0.000000
Alpha[24]	0.970423
TNavParticleFilter::Modified Variance for beam 25 is 14.98 
Alpha[25]	0.000000
Alpha[25]	0.971556
TNavParticleFilter::Modified Variance for beam 26 is 14.70 
Alpha[26]	0.000000
Alpha[26]	0.982243
TNavParticleFilter::Modified Variance for beam 27 is 14.97 
Alpha[27]	0.000000
Alpha[27]	0.988565
TNavParticleFilter::Modified Variance for beam 28 is 16.73 
Alpha[28]	0.000000
Alpha[28]	0.991342
TNavParticleFilter::Modified Variance for beam 29 is 17.16 
Alpha[29]	0.000000
Alpha[29]	0.991621
TNavParticleFilter::Modified Variance for beam 30 is 16.80 
Alpha[30]	0.000000
Alpha[30]	0.986817
TNavParticleFilter::Modified Variance for beam 31 is 17.00 
Alpha[31]	0.000000
Alpha[31]	0.973472
TNavParticleFilter::Modified Variance for beam 32 is 17.38 
Alpha[32]	0.000000
Alpha[32]	0.982510
TNavParticleFilter::Modified Variance for beam 33 is 19.43 
Alpha[33]	0.000000
Alpha[33]	0.994557
TNavParticleFilter::Modified Variance for beam 34 is 17.74 
Alpha[34]	0.000000
Alpha[34]	0.995482
TNavParticleFilter::Modified Variance for beam 35 is 17.34 
Alpha[35]	0.000000
Alpha[35]	0.995814
TNavParticleFilter::Modified Variance for beam 36 is 17.91 
Alpha[36]	0.000000
Alpha[36]	0.994361
TNavParticleFilter::Modified Variance for beam 37 is 20.51 
Alpha[37]	0.000000
Alpha[37]	0.994423
TNavParticleFilter::Modified Variance for beam 38 is 21.34 
Alpha[38]	0.000000
Alpha[38]	0.994878
TNavParticleFilter::Modified Variance for beam 39 is 22.34 
Alpha[39]	0.000000
Alpha[39]	0.991429
TNavParticleFilter::Modified Variance for beam 40 is 23.56 
Alpha[40]	0.000000
Alpha[40]	0.982696
TNavParticleFilter::Modified Variance for beam 41 is 24.68 
Alpha[41]	0.000000
Alpha[41]	0.982756
TNavParticleFilter::Modified Variance for beam 42 is 25.86 
Alpha[42]	0.000000
Alpha[42]	0.984655
TNavParticleFilter::Modified Variance for beam 43 is 27.17 
Alpha[43]	0.000000
Alpha[43]	0.986233
TNavParticleFilter::Modified Variance for beam 44 is 28.57 
Alpha[44]	0.000000
Alpha[44]	0.989431
TNavParticleFilter::Modified Variance for beam 45 is 30.08 
Alpha[45]	0.000000
Alpha[45]	0.994176
TNavParticleFilter::Modified Variance for beam 46 is 30.34 
Alpha[46]	0.000000
Alpha[46]	0.995964
TNavParticleFilter::Modified Variance for beam 47 is 30.12 
Alpha[47]	0.000000
Alpha[47]	0.987958
TNavParticleFilter::Modified Variance for beam 48 is 29.83 
Alpha[48]	0.000000
Alpha[48]	0.982758
TNavParticleFilter::Modified Variance for beam 49 is 32.26 
Alpha[49]	0.000000
Alpha[49]	0.995073
TNavParticleFilter::Modified Variance for beam 50 is 33.41 
Alpha[50]	0.000000
Alpha[50]	0.994260
TNavParticleFilter::Modified Variance for beam 51 is 33.43 
Alpha[51]	0.000000
Alpha[51]	0.983386
TNavParticleFilter::Modified Variance for beam 52 is 36.06 
Alpha[52]	0.000000
Alpha[52]	0.992553
TNavParticleFilter::Modified Variance for beam 53 is 35.79 
Alpha[53]	0.000000
Alpha[53]	0.988436
TNavParticleFilter::Modified Variance for beam 54 is 36.35 
Alpha[54]	0.000000
Alpha[54]	0.983215
TNavParticleFilter::Modified Variance for beam 55 is 38.43 
Alpha[55]	0.000000
Alpha[55]	0.988434
TNavParticleFilter::Modified Variance for beam 56 is 38.00 
Alpha[56]	0.000000
Alpha[56]	0.989676
TNavParticleFilter::Modified Variance for beam 57 is 39.35 
Alpha[57]	0.000000
Alpha[57]	0.990321
TNavParticleFilter::Modified Variance for beam 58 is 40.57 
Alpha[58]	0.000000
Alpha[58]	0.989223
TNavParticleFilter::Modified Variance for beam 59 is 40.39 
Alpha[59]	0.000000
Alpha[59]	0.991188
TNavPF:: sumSquaredError = 1.148030 
TNavPF:: sumWeights = 0.029459 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.11. Range = 58.32 
TNavPF::Calculated measDiffMean for beam 31 as 1.27. Range = 56.04 
TNavPF::Calculated measDiffMean for beam 32 as -0.33. Range = 55.83 
TNavPF::Calculated measDiffMean for beam 33 as 0.15. Range = 55.65 
TNavPF::Calculated measDiffMean for beam 34 as 0.46. Range = 55.48 
TNavPF::Calculated measDiffMean for beam 35 as 0.76. Range = 55.34 
TNavPF::Calculated measDiffMean for beam 36 as 1.01. Range = 55.21 
TNavPF::Calculated measDiffMean for beam 37 as 0.61. Range = 53.08 
TNavPF::Calculated measDiffMean for beam 38 as -0.23. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 39 as 0.51. Range = 50.90 
TNavPF::Calculated measDiffMean for beam 40 as 0.78. Range = 50.84 
TNavPF::Calculated measDiffMean for beam 41 as 0.85. Range = 48.79 
TNavPF::Calculated measDiffMean for beam 42 as 0.93. Range = 48.77 
TNavPF::Calculated measDiffMean for beam 43 as 0.99. Range = 46.75 
TNavPF::Calculated measDiffMean for beam 44 as 1.00. Range = 46.76 
TNavPF::Calculated measDiffMean for beam 45 as 0.49. Range = 46.77 
TNavPF::Calculated measDiffMean for beam 46 as -0.70. Range = 46.81 
TNavPF::Calculated measDiffMean for beam 47 as -0.01. Range = 46.85 
TNavPF::Calculated measDiffMean for beam 48 as 0.30. Range = 46.91 
TNavPF::Calculated measDiffMean for beam 49 as 2.16. Range = 46.99 
TNavPF::Calculated measDiffMean for beam 50 as 0.41. Range = 47.08 
TNavPF::Calculated measDiffMean for beam 51 as 0.59. Range = 47.19 
TNavPF::Calculated measDiffMean for beam 52 as 0.98. Range = 47.31 
TNavPF::Calculated measDiffMean for beam 53 as 1.07. Range = 45.14 
TNavPF::Calculated measDiffMean for beam 54 as 1.11. Range = 43.51 
TNavPF::Calculated measDiffMean for beam 55 as -0.46. Range = 43.66 
TNavPF::Calculated measDiffMean for beam 56 as -1.18. Range = 43.83 
TNavPF::Calculated measDiffMean for beam 57 as -0.82. Range = 44.01 
TNavPF::Calculated measDiffMean for beam 58 as 2.18. Range = 44.21 
TNavPF::Calculated measDiffMean for beam 59 as 1.97. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 60 as 0.30. Range = 44.65 
TNavPF::Calculated measDiffMean for beam 61 as 0.25. Range = 44.78 
TNavPF::Calculated measDiffMean for beam 62 as 1.02. Range = 43.03 
TNavPF::Calculated measDiffMean for beam 63 as 3.59. Range = 43.29 
TNavPF::Calculated measDiffMean for beam 64 as -0.86. Range = 43.57 
TNavPF::Calculated measDiffMean for beam 65 as -1.48. Range = 43.87 
TNavPF::Calculated measDiffMean for beam 66 as -0.52. Range = 44.19 
TNavPF::Calculated measDiffMean for beam 67 as 3.14. Range = 43.84 
TNavPF::Calculated measDiffMean for beam 68 as 2.57. Range = 42.66 
TNavPF::Calculated measDiffMean for beam 69 as 1.92. Range = 43.02 
TNavPF::Calculated measDiffMean for beam 70 as 1.75. Range = 43.39 
TNavPF::Calculated measDiffMean for beam 71 as 1.83. Range = 43.78 
TNavPF::Calculated measDiffMean for beam 72 as 1.94. Range = 44.20 
TNavPF::Calculated measDiffMean for beam 73 as 2.14. Range = 44.63 
TNavPF::Calculated measDiffMean for beam 74 as 2.76. Range = 45.09 
TNavPF::Calculated measDiffMean for beam 75 as 3.95. Range = 44.97 
TNavPF::Calculated measDiffMean for beam 76 as 2.45. Range = 43.75 
TNavPF::Calculated measDiffMean for beam 77 as 0.27. Range = 44.19 
TNavPF::Calculated measDiffMean for beam 78 as -0.70. Range = 44.72 
TNavPF::Calculated measDiffMean for beam 79 as 2.44. Range = 47.35 
TNavPF::Calculated measDiffMean for beam 80 as 1.44. Range = 46.24 
TNavPF::Calculated measDiffMean for beam 81 as -0.48. Range = 46.48 
TNavPF::Calculated measDiffMean for beam 82 as 2.55. Range = 47.12 
TNavPF::Calculated measDiffMean for beam 83 as 0.63. Range = 47.80 
TNavPF::Calculated measDiffMean for beam 84 as 0.51. Range = 48.51 
TNavPF::Calculated measDiffMean for beam 85 as 2.29. Range = 47.57 
TNavPF::Calculated measDiffMean for beam 86 as 0.74. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 87 as 1.35. Range = 48.10 
TNavPF::Calculated measDiffMean for beam 88 as 2.02. Range = 51.75 
TNavPF::Calculated measDiffMean for beam 89 as 0.95. Range = 52.60 
TNavPF::First Term of Map Covariance Matrix is 0.87 
TNavPF::Calculated NIS Value : 4.13 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322423.82 sec.
INS : North: 4070303.82, East: 588810.52, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 46.17, IDT[75] = 66.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322426.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322426.62)
ARL : North: 1.4560, East: -0.9989, Depth: 0.8090ARL : Estimation Bias  (Mean)         : (t = 1488322426.62)
ARL : North: 1.6310, East: -1.5939, Depth: 0.1357TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.45 
Alpha[0]	0.123000
Alpha[0]	0.970005
TNavParticleFilter::Modified Variance for beam 1 is 14.38 
Alpha[1]	0.000000
Alpha[1]	0.979855
TNavParticleFilter::Modified Variance for beam 2 is 14.41 
Alpha[2]	0.000000
Alpha[2]	0.983146
TNavParticleFilter::Modified Variance for beam 3 is 13.55 
Alpha[3]	0.000000
Alpha[3]	0.984212
TNavParticleFilter::Modified Variance for beam 4 is 13.64 
Alpha[4]	0.000000
Alpha[4]	0.983937
TNavParticleFilter::Modified Variance for beam 5 is 13.77 
Alpha[5]	0.000000
Alpha[5]	0.981452
TNavParticleFilter::Modified Variance for beam 6 is 13.93 
Alpha[6]	0.000000
Alpha[6]	0.977684
TNavParticleFilter::Modified Variance for beam 7 is 14.03 
Alpha[7]	0.000000
Alpha[7]	0.978624
TNavParticleFilter::Modified Variance for beam 8 is 13.65 
Alpha[8]	0.000000
Alpha[8]	0.981281
TNavParticleFilter::Modified Variance for beam 9 is 13.38 
Alpha[9]	0.000000
Alpha[9]	0.973776
TNavParticleFilter::Modified Variance for beam 10 is 13.77 
Alpha[10]	0.000000
Alpha[10]	0.955544
TNavParticleFilter::Modified Variance for beam 11 is 13.92 
Alpha[11]	0.000000
Alpha[11]	0.954433
TNavParticleFilter::Modified Variance for beam 12 is 13.93 
Alpha[12]	0.000000
Alpha[12]	0.963707
TNavParticleFilter::Modified Variance for beam 13 is 13.99 
Alpha[13]	0.000000
Alpha[13]	0.970201
TNavParticleFilter::Modified Variance for beam 14 is 14.14 
Alpha[14]	0.000000
Alpha[14]	0.971726
TNavParticleFilter::Modified Variance for beam 15 is 14.36 
Alpha[15]	0.000000
Alpha[15]	0.968539
TNavParticleFilter::Modified Variance for beam 16 is 13.96 
Alpha[16]	0.000000
Alpha[16]	0.975123
TNavParticleFilter::Modified Variance for beam 17 is 13.52 
Alpha[17]	0.000000
Alpha[17]	0.981481
TNavParticleFilter::Modified Variance for beam 18 is 13.66 
Alpha[18]	0.000000
Alpha[18]	0.984667
TNavParticleFilter::Modified Variance for beam 19 is 14.87 
Alpha[19]	0.000000
Alpha[19]	0.988854
TNavParticleFilter::Modified Variance for beam 20 is 14.90 
Alpha[20]	0.000000
Alpha[20]	0.986691
TNavParticleFilter::Modified Variance for beam 21 is 14.43 
Alpha[21]	0.000000
Alpha[21]	0.975933
TNavParticleFilter::Modified Variance for beam 22 is 14.86 
Alpha[22]	0.000000
Alpha[22]	0.963477
TNavParticleFilter::Modified Variance for beam 23 is 15.08 
Alpha[23]	0.000000
Alpha[23]	0.965791
TNavParticleFilter::Modified Variance for beam 24 is 15.31 
Alpha[24]	0.000000
Alpha[24]	0.968884
TNavParticleFilter::Modified Variance for beam 25 is 15.59 
Alpha[25]	0.000000
Alpha[25]	0.969749
TNavParticleFilter::Modified Variance for beam 26 is 14.90 
Alpha[26]	0.000000
Alpha[26]	0.978346
TNavParticleFilter::Modified Variance for beam 27 is 14.74 
Alpha[27]	0.000000
Alpha[27]	0.985781
TNavParticleFilter::Modified Variance for beam 28 is 15.01 
Alpha[28]	0.000000
Alpha[28]	0.988875
TNavParticleFilter::Modified Variance for beam 29 is 16.61 
Alpha[29]	0.000000
Alpha[29]	0.990306
TNavParticleFilter::Modified Variance for beam 30 is 17.03 
Alpha[30]	0.000000
Alpha[30]	0.988993
TNavParticleFilter::Modified Variance for beam 31 is 16.92 
Alpha[31]	0.000000
Alpha[31]	0.981621
TNavParticleFilter::Modified Variance for beam 32 is 16.77 
Alpha[32]	0.000000
Alpha[32]	0.971419
TNavParticleFilter::Modified Variance for beam 33 is 16.93 
Alpha[33]	0.000000
Alpha[33]	0.987908
TNavParticleFilter::Modified Variance for beam 34 is 18.79 
Alpha[34]	0.000000
Alpha[34]	0.994372
TNavParticleFilter::Modified Variance for beam 35 is 17.70 
Alpha[35]	0.000000
Alpha[35]	0.995190
TNavParticleFilter::Modified Variance for beam 36 is 17.23 
Alpha[36]	0.000000
Alpha[36]	0.995358
TNavParticleFilter::Modified Variance for beam 37 is 17.29 
Alpha[37]	0.000000
Alpha[37]	0.993693
TNavParticleFilter::Modified Variance for beam 38 is 19.50 
Alpha[38]	0.000000
Alpha[38]	0.993420
TNavParticleFilter::Modified Variance for beam 39 is 20.16 
Alpha[39]	0.000000
Alpha[39]	0.993641
TNavParticleFilter::Modified Variance for beam 40 is 20.95 
Alpha[40]	0.000000
Alpha[40]	0.990308
TNavParticleFilter::Modified Variance for beam 41 is 21.90 
Alpha[41]	0.000000
Alpha[41]	0.982344
TNavParticleFilter::Modified Variance for beam 42 is 22.80 
Alpha[42]	0.000000
Alpha[42]	0.980011
TNavParticleFilter::Modified Variance for beam 43 is 23.69 
Alpha[43]	0.000000
Alpha[43]	0.981422
TNavParticleFilter::Modified Variance for beam 44 is 24.64 
Alpha[44]	0.000000
Alpha[44]	0.983314
TNavParticleFilter::Modified Variance for beam 45 is 25.69 
Alpha[45]	0.000000
Alpha[45]	0.984893
TNavParticleFilter::Modified Variance for beam 46 is 26.14 
Alpha[46]	0.000000
Alpha[46]	0.988622
TNavParticleFilter::Modified Variance for beam 47 is 25.52 
Alpha[47]	0.000000
Alpha[47]	0.993045
TNavParticleFilter::Modified Variance for beam 48 is 29.30 
Alpha[48]	0.000000
Alpha[48]	0.995419
TNavParticleFilter::Modified Variance for beam 49 is 29.39 
Alpha[49]	0.000000
Alpha[49]	0.990961
TNavParticleFilter::Modified Variance for beam 50 is 29.26 
Alpha[50]	0.000000
Alpha[50]	0.978356
TNavParticleFilter::Modified Variance for beam 51 is 28.39 
Alpha[51]	0.000000
Alpha[51]	0.991576
TNavParticleFilter::Modified Variance for beam 52 is 31.04 
Alpha[52]	0.000000
Alpha[52]	0.995543
TNavParticleFilter::Modified Variance for beam 53 is 32.08 
Alpha[53]	0.000000
Alpha[53]	0.987333
TNavParticleFilter::Modified Variance for beam 54 is 32.01 
Alpha[54]	0.000000
Alpha[54]	0.986898
TNavParticleFilter::Modified Variance for beam 55 is 32.65 
Alpha[55]	0.000000
Alpha[55]	0.992079
TNavParticleFilter::Modified Variance for beam 56 is 34.58 
Alpha[56]	0.000000
Alpha[56]	0.983270
TNavParticleFilter::Modified Variance for beam 57 is 34.15 
Alpha[57]	0.000000
Alpha[57]	0.982763
TNavParticleFilter::Modified Variance for beam 58 is 36.46 
Alpha[58]	0.000000
Alpha[58]	0.988428
TNavParticleFilter::Modified Variance for beam 59 is 36.48 
Alpha[59]	0.000000
Alpha[59]	0.988842
TNavPF:: sumSquaredError = 5.475451 
TNavPF:: sumWeights = 0.068402 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.11. Range = 65.27 
TNavPF::Calculated measDiffMean for beam 31 as 0.39. Range = 64.89 
TNavPF::Calculated measDiffMean for beam 32 as 0.66. Range = 62.43 
TNavPF::Calculated measDiffMean for beam 33 as -0.94. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 34 as -0.53. Range = 61.79 
TNavPF::Calculated measDiffMean for beam 35 as -0.24. Range = 59.44 
TNavPF::Calculated measDiffMean for beam 36 as 0.06. Range = 59.19 
TNavPF::Calculated measDiffMean for beam 37 as 0.30. Range = 58.96 
TNavPF::Calculated measDiffMean for beam 38 as -0.18. Range = 58.74 
TNavPF::Calculated measDiffMean for beam 39 as -0.50. Range = 58.55 
TNavPF::Calculated measDiffMean for beam 40 as -0.11. Range = 56.34 
TNavPF::Calculated measDiffMean for beam 41 as -0.01. Range = 56.19 
TNavPF::Calculated measDiffMean for beam 42 as 0.05. Range = 54.04 
TNavPF::Calculated measDiffMean for beam 43 as 0.10. Range = 53.93 
TNavPF::Calculated measDiffMean for beam 44 as 0.11. Range = 51.82 
TNavPF::Calculated measDiffMean for beam 45 as 0.15. Range = 51.75 
TNavPF::Calculated measDiffMean for beam 46 as -0.48. Range = 49.68 
TNavPF::Calculated measDiffMean for beam 47 as -0.93. Range = 49.64 
TNavPF::Calculated measDiffMean for beam 48 as -0.60. Range = 49.61 
TNavPF::Calculated measDiffMean for beam 49 as 1.49. Range = 49.60 
TNavPF::Calculated measDiffMean for beam 50 as 0.87. Range = 49.60 
TNavPF::Calculated measDiffMean for beam 51 as -0.48. Range = 49.62 
TNavPF::Calculated measDiffMean for beam 52 as -0.06. Range = 49.66 
TNavPF::Calculated measDiffMean for beam 53 as 0.06. Range = 49.71 
TNavPF::Calculated measDiffMean for beam 54 as 0.09. Range = 49.77 
TNavPF::Calculated measDiffMean for beam 55 as 0.14. Range = 45.82 
TNavPF::Calculated measDiffMean for beam 56 as -1.39. Range = 45.91 
TNavPF::Calculated measDiffMean for beam 57 as -1.85. Range = 46.01 
TNavPF::Calculated measDiffMean for beam 58 as -1.67. Range = 46.13 
TNavPF::Calculated measDiffMean for beam 59 as 0.83. Range = 46.26 
TNavPF::Calculated measDiffMean for beam 60 as 0.74. Range = 46.41 
TNavPF::Calculated measDiffMean for beam 61 as -0.05. Range = 46.57 
TNavPF::Calculated measDiffMean for beam 62 as -0.50. Range = 46.74 
TNavPF::Calculated measDiffMean for beam 63 as -0.24. Range = 44.87 
TNavPF::Calculated measDiffMean for beam 64 as 1.90. Range = 45.07 
TNavPF::Calculated measDiffMean for beam 65 as -0.88. Range = 45.29 
TNavPF::Calculated measDiffMean for beam 66 as -1.61. Range = 45.52 
TNavPF::Calculated measDiffMean for beam 67 as -1.68. Range = 45.77 
TNavPF::Calculated measDiffMean for beam 68 as 1.53. Range = 45.02 
TNavPF::Calculated measDiffMean for beam 69 as 1.03. Range = 44.18 
TNavPF::Calculated measDiffMean for beam 70 as 0.46. Range = 44.47 
TNavPF::Calculated measDiffMean for beam 71 as 0.25. Range = 44.77 
TNavPF::Calculated measDiffMean for beam 72 as 0.25. Range = 45.09 
TNavPF::Calculated measDiffMean for beam 73 as 0.29. Range = 45.43 
TNavPF::Calculated measDiffMean for beam 74 as 0.35. Range = 45.79 
TNavPF::Calculated measDiffMean for beam 75 as 0.51. Range = 46.17 
TNavPF::Calculated measDiffMean for beam 76 as 0.12. Range = 45.50 
TNavPF::Calculated measDiffMean for beam 77 as -1.56. Range = 44.72 
TNavPF::Calculated measDiffMean for beam 78 as 2.30. Range = 45.14 
TNavPF::Calculated measDiffMean for beam 79 as 0.65. Range = 47.90 
TNavPF::Calculated measDiffMean for beam 80 as -0.39. Range = 47.88 
TNavPF::Calculated measDiffMean for beam 81 as -1.28. Range = 46.54 
TNavPF::Calculated measDiffMean for beam 82 as 0.71. Range = 47.06 
TNavPF::Calculated measDiffMean for beam 83 as -0.03. Range = 47.60 
TNavPF::Calculated measDiffMean for beam 84 as -0.96. Range = 48.17 
TNavPF::Calculated measDiffMean for beam 85 as -0.63. Range = 48.76 
TNavPF::Calculated measDiffMean for beam 86 as 0.13. Range = 47.62 
TNavPF::Calculated measDiffMean for beam 87 as -0.61. Range = 47.52 
TNavPF::Calculated measDiffMean for beam 88 as 1.28. Range = 48.18 
TNavPF::Calculated measDiffMean for beam 89 as 0.62. Range = 51.48 
TNavPF::First Term of Map Covariance Matrix is 0.66 
TNavPF::Calculated NIS Value : 2.28 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322426.82 sec.
INS : North: 4070306.61, East: 588807.23, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 45.89, IDT[75] = 65.12
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322429.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322429.62)
ARL : North: 2.4654, East: -1.2747, Depth: 0.7079ARL : Estimation Bias  (Mean)         : (t = 1488322429.62)
ARL : North: 1.7102, East: -1.8445, Depth: 0.2772TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.34 
Alpha[0]	0.123000
Alpha[0]	0.980392
TNavParticleFilter::Modified Variance for beam 1 is 15.34 
Alpha[1]	0.000000
Alpha[1]	0.983695
TNavParticleFilter::Modified Variance for beam 2 is 14.41 
Alpha[2]	0.000000
Alpha[2]	0.985397
TNavParticleFilter::Modified Variance for beam 3 is 14.48 
Alpha[3]	0.000000
Alpha[3]	0.985189
TNavParticleFilter::Modified Variance for beam 4 is 14.58 
Alpha[4]	0.000000
Alpha[4]	0.982897
TNavParticleFilter::Modified Variance for beam 5 is 14.70 
Alpha[5]	0.000000
Alpha[5]	0.979830
TNavParticleFilter::Modified Variance for beam 6 is 14.77 
Alpha[6]	0.000000
Alpha[6]	0.981417
TNavParticleFilter::Modified Variance for beam 7 is 14.21 
Alpha[7]	0.000000
Alpha[7]	0.981879
TNavParticleFilter::Modified Variance for beam 8 is 14.21 
Alpha[8]	0.000000
Alpha[8]	0.966393
TNavParticleFilter::Modified Variance for beam 9 is 14.52 
Alpha[9]	0.000000
Alpha[9]	0.952581
TNavParticleFilter::Modified Variance for beam 10 is 14.50 
Alpha[10]	0.000000
Alpha[10]	0.961003
TNavParticleFilter::Modified Variance for beam 11 is 14.50 
Alpha[11]	0.000000
Alpha[11]	0.968929
TNavParticleFilter::Modified Variance for beam 12 is 14.61 
Alpha[12]	0.000000
Alpha[12]	0.970272
TNavParticleFilter::Modified Variance for beam 13 is 14.80 
Alpha[13]	0.000000
Alpha[13]	0.966614
TNavParticleFilter::Modified Variance for beam 14 is 14.87 
Alpha[14]	0.000000
Alpha[14]	0.971841
TNavParticleFilter::Modified Variance for beam 15 is 14.05 
Alpha[15]	0.000000
Alpha[15]	0.981158
TNavParticleFilter::Modified Variance for beam 16 is 14.00 
Alpha[16]	0.000000
Alpha[16]	0.982934
TNavParticleFilter::Modified Variance for beam 17 is 14.10 
Alpha[17]	0.000000
Alpha[17]	0.986828
TNavParticleFilter::Modified Variance for beam 18 is 15.30 
Alpha[18]	0.000000
Alpha[18]	0.987567
TNavParticleFilter::Modified Variance for beam 19 is 15.19 
Alpha[19]	0.000000
Alpha[19]	0.981976
TNavParticleFilter::Modified Variance for beam 20 is 14.94 
Alpha[20]	0.000000
Alpha[20]	0.967173
TNavParticleFilter::Modified Variance for beam 21 is 15.22 
Alpha[21]	0.000000
Alpha[21]	0.962492
TNavParticleFilter::Modified Variance for beam 22 is 15.37 
Alpha[22]	0.000000
Alpha[22]	0.966600
TNavParticleFilter::Modified Variance for beam 23 is 15.59 
Alpha[23]	0.000000
Alpha[23]	0.967666
TNavParticleFilter::Modified Variance for beam 24 is 15.62 
Alpha[24]	0.000000
Alpha[24]	0.972631
TNavParticleFilter::Modified Variance for beam 25 is 14.81 
Alpha[25]	0.000000
Alpha[25]	0.982043
TNavParticleFilter::Modified Variance for beam 26 is 14.91 
Alpha[26]	0.000000
Alpha[26]	0.986114
TNavParticleFilter::Modified Variance for beam 27 is 15.14 
Alpha[27]	0.000000
Alpha[27]	0.988345
TNavParticleFilter::Modified Variance for beam 28 is 16.63 
Alpha[28]	0.000000
Alpha[28]	0.988875
TNavParticleFilter::Modified Variance for beam 29 is 17.00 
Alpha[29]	0.000000
Alpha[29]	0.986342
TNavParticleFilter::Modified Variance for beam 30 is 16.99 
Alpha[30]	0.000000
Alpha[30]	0.979220
TNavParticleFilter::Modified Variance for beam 31 is 16.68 
Alpha[31]	0.000000
Alpha[31]	0.970067
TNavParticleFilter::Modified Variance for beam 32 is 16.74 
Alpha[32]	0.000000
Alpha[32]	0.988266
TNavParticleFilter::Modified Variance for beam 33 is 18.41 
Alpha[33]	0.000000
Alpha[33]	0.993753
TNavParticleFilter::Modified Variance for beam 34 is 18.84 
Alpha[34]	0.000000
Alpha[34]	0.994815
TNavParticleFilter::Modified Variance for beam 35 is 17.11 
Alpha[35]	0.000000
Alpha[35]	0.994916
TNavParticleFilter::Modified Variance for beam 36 is 16.90 
Alpha[36]	0.000000
Alpha[36]	0.993129
TNavParticleFilter::Modified Variance for beam 37 is 17.37 
Alpha[37]	0.000000
Alpha[37]	0.992176
TNavParticleFilter::Modified Variance for beam 38 is 19.39 
Alpha[38]	0.000000
Alpha[38]	0.992195
TNavParticleFilter::Modified Variance for beam 39 is 20.04 
Alpha[39]	0.000000
Alpha[39]	0.988664
TNavParticleFilter::Modified Variance for beam 40 is 20.85 
Alpha[40]	0.000000
Alpha[40]	0.979434
TNavParticleFilter::Modified Variance for beam 41 is 21.59 
Alpha[41]	0.000000
Alpha[41]	0.976100
TNavParticleFilter::Modified Variance for beam 42 is 22.31 
Alpha[42]	0.000000
Alpha[42]	0.976240
TNavParticleFilter::Modified Variance for beam 43 is 23.01 
Alpha[43]	0.000000
Alpha[43]	0.979223
TNavParticleFilter::Modified Variance for beam 44 is 23.80 
Alpha[44]	0.000000
Alpha[44]	0.981524
TNavParticleFilter::Modified Variance for beam 45 is 24.64 
Alpha[45]	0.000000
Alpha[45]	0.983971
TNavParticleFilter::Modified Variance for beam 46 is 25.51 
Alpha[46]	0.000000
Alpha[46]	0.987864
TNavParticleFilter::Modified Variance for beam 47 is 26.46 
Alpha[47]	0.000000
Alpha[47]	0.991872
TNavParticleFilter::Modified Variance for beam 48 is 25.20 
Alpha[48]	0.000000
Alpha[48]	0.994505
TNavParticleFilter::Modified Variance for beam 49 is 28.67 
Alpha[49]	0.000000
Alpha[49]	0.992761
TNavParticleFilter::Modified Variance for beam 50 is 28.43 
Alpha[50]	0.000000
Alpha[50]	0.981031
TNavParticleFilter::Modified Variance for beam 51 is 27.73 
Alpha[51]	0.000000
Alpha[51]	0.986331
TNavParticleFilter::Modified Variance for beam 52 is 27.63 
Alpha[52]	0.000000
Alpha[52]	0.994601
TNavParticleFilter::Modified Variance for beam 53 is 29.78 
Alpha[53]	0.000000
Alpha[53]	0.993068
TNavParticleFilter::Modified Variance for beam 54 is 31.15 
Alpha[54]	0.000000
Alpha[54]	0.980680
TNavParticleFilter::Modified Variance for beam 55 is 30.50 
Alpha[55]	0.000000
Alpha[55]	0.990062
TNavParticleFilter::Modified Variance for beam 56 is 31.29 
Alpha[56]	0.000000
Alpha[56]	0.990748
TNavParticleFilter::Modified Variance for beam 57 is 33.09 
Alpha[57]	0.000000
Alpha[57]	0.982959
TNavParticleFilter::Modified Variance for beam 58 is 32.57 
Alpha[58]	0.000000
Alpha[58]	0.983906
TNavParticleFilter::Modified Variance for beam 59 is 34.22 
Alpha[59]	0.000000
Alpha[59]	0.988546
TNavPF:: sumSquaredError = 6.383348 
TNavPF:: sumWeights = 0.077786 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.15. Range = 72.10 
TNavPF::Calculated measDiffMean for beam 31 as 0.43. Range = 69.42 
TNavPF::Calculated measDiffMean for beam 32 as -1.12. Range = 68.94 
TNavPF::Calculated measDiffMean for beam 33 as -0.73. Range = 68.48 
TNavPF::Calculated measDiffMean for beam 34 as -0.42. Range = 68.06 
TNavPF::Calculated measDiffMean for beam 35 as -0.08. Range = 65.55 
TNavPF::Calculated measDiffMean for beam 36 as 0.24. Range = 63.09 
TNavPF::Calculated measDiffMean for beam 37 as -0.45. Range = 62.76 
TNavPF::Calculated measDiffMean for beam 38 as -0.49. Range = 62.45 
TNavPF::Calculated measDiffMean for beam 39 as -0.28. Range = 62.17 
TNavPF::Calculated measDiffMean for beam 40 as -0.20. Range = 61.91 
TNavPF::Calculated measDiffMean for beam 41 as -0.14. Range = 59.61 
TNavPF::Calculated measDiffMean for beam 42 as -0.14. Range = 59.40 
TNavPF::Calculated measDiffMean for beam 43 as -0.17. Range = 57.17 
TNavPF::Calculated measDiffMean for beam 44 as 0.07. Range = 54.97 
TNavPF::Calculated measDiffMean for beam 45 as -0.99. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 46 as -0.88. Range = 52.68 
TNavPF::Calculated measDiffMean for beam 47 as -0.95. Range = 52.57 
TNavPF::Calculated measDiffMean for beam 48 as 0.98. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 49 as 0.44. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 50 as -0.45. Range = 52.34 
TNavPF::Calculated measDiffMean for beam 51 as -0.25. Range = 52.30 
TNavPF::Calculated measDiffMean for beam 52 as -0.21. Range = 52.28 
TNavPF::Calculated measDiffMean for beam 53 as -0.19. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 54 as -0.34. Range = 52.27 
TNavPF::Calculated measDiffMean for beam 55 as -1.99. Range = 48.28 
TNavPF::Calculated measDiffMean for beam 56 as -1.96. Range = 48.32 
TNavPF::Calculated measDiffMean for beam 57 as -1.89. Range = 48.37 
TNavPF::Calculated measDiffMean for beam 58 as 0.41. Range = 48.43 
TNavPF::Calculated measDiffMean for beam 59 as 0.35. Range = 48.51 
TNavPF::Calculated measDiffMean for beam 60 as 0.03. Range = 48.60 
TNavPF::Calculated measDiffMean for beam 61 as -0.64. Range = 48.71 
TNavPF::Calculated measDiffMean for beam 62 as -0.62. Range = 46.81 
TNavPF::Calculated measDiffMean for beam 63 as 1.34. Range = 46.94 
TNavPF::Calculated measDiffMean for beam 64 as 1.66. Range = 47.09 
TNavPF::Calculated measDiffMean for beam 65 as -1.44. Range = 47.26 
TNavPF::Calculated measDiffMean for beam 66 as -2.04. Range = 47.44 
TNavPF::Calculated measDiffMean for beam 67 as -1.87. Range = 46.26 
TNavPF::Calculated measDiffMean for beam 68 as 0.54. Range = 45.78 
TNavPF::Calculated measDiffMean for beam 69 as 0.04. Range = 46.00 
TNavPF::Calculated measDiffMean for beam 70 as -0.19. Range = 46.23 
TNavPF::Calculated measDiffMean for beam 71 as -0.22. Range = 46.48 
TNavPF::Calculated measDiffMean for beam 72 as -0.20. Range = 46.75 
TNavPF::Calculated measDiffMean for beam 73 as -0.17. Range = 47.04 
TNavPF::Calculated measDiffMean for beam 74 as -0.13. Range = 47.35 
TNavPF::Calculated measDiffMean for beam 75 as 0.01. Range = 45.89 
TNavPF::Calculated measDiffMean for beam 76 as 0.46. Range = 45.84 
TNavPF::Calculated measDiffMean for beam 77 as 1.22. Range = 46.19 
TNavPF::Calculated measDiffMean for beam 78 as -1.95. Range = 48.76 
TNavPF::Calculated measDiffMean for beam 79 as 1.37. Range = 48.35 
TNavPF::Calculated measDiffMean for beam 80 as 0.12. Range = 47.34 
TNavPF::Calculated measDiffMean for beam 81 as -0.68. Range = 47.77 
TNavPF::Calculated measDiffMean for beam 82 as -1.42. Range = 48.23 
TNavPF::Calculated measDiffMean for beam 83 as -0.54. Range = 48.70 
TNavPF::Calculated measDiffMean for beam 84 as -0.15. Range = 48.92 
TNavPF::Calculated measDiffMean for beam 85 as -1.14. Range = 47.55 
TNavPF::Calculated measDiffMean for beam 86 as -0.95. Range = 47.89 
TNavPF::Calculated measDiffMean for beam 87 as 0.15. Range = 48.45 
TNavPF::Calculated measDiffMean for beam 88 as -0.59. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 89 as 0.55. Range = 52.11 
TNavPF::First Term of Map Covariance Matrix is 1.01 
TNavPF::Calculated NIS Value : 2.36 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322429.82 sec.
INS : North: 4070309.21, East: 588803.76, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 47.33, IDT[75] = 65.21
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322432.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322432.62)
ARL : North: 1.7725, East: -1.2610, Depth: 0.7546ARL : Estimation Bias  (Mean)         : (t = 1488322432.62)
ARL : North: 1.5590, East: -1.9388, Depth: 0.9546TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.58 
Alpha[0]	0.123000
Alpha[0]	0.986200
TNavParticleFilter::Modified Variance for beam 1 is 15.41 
Alpha[1]	0.000000
Alpha[1]	0.985852
TNavParticleFilter::Modified Variance for beam 2 is 15.48 
Alpha[2]	0.000000
Alpha[2]	0.983949
TNavParticleFilter::Modified Variance for beam 3 is 15.59 
Alpha[3]	0.000000
Alpha[3]	0.980310
TNavParticleFilter::Modified Variance for beam 4 is 15.65 
Alpha[4]	0.000000
Alpha[4]	0.979871
TNavParticleFilter::Modified Variance for beam 5 is 14.81 
Alpha[5]	0.000000
Alpha[5]	0.983708
TNavParticleFilter::Modified Variance for beam 6 is 14.92 
Alpha[6]	0.000000
Alpha[6]	0.972357
TNavParticleFilter::Modified Variance for beam 7 is 15.32 
Alpha[7]	0.000000
Alpha[7]	0.951657
TNavParticleFilter::Modified Variance for beam 8 is 15.33 
Alpha[8]	0.000000
Alpha[8]	0.956133
TNavParticleFilter::Modified Variance for beam 9 is 15.30 
Alpha[9]	0.000000
Alpha[9]	0.963759
TNavParticleFilter::Modified Variance for beam 10 is 15.38 
Alpha[10]	0.000000
Alpha[10]	0.964573
TNavParticleFilter::Modified Variance for beam 11 is 15.54 
Alpha[11]	0.000000
Alpha[11]	0.961677
TNavParticleFilter::Modified Variance for beam 12 is 15.47 
Alpha[12]	0.000000
Alpha[12]	0.973058
TNavParticleFilter::Modified Variance for beam 13 is 14.45 
Alpha[13]	0.000000
Alpha[13]	0.982145
TNavParticleFilter::Modified Variance for beam 14 is 14.58 
Alpha[14]	0.000000
Alpha[14]	0.981647
TNavParticleFilter::Modified Variance for beam 15 is 14.65 
Alpha[15]	0.000000
Alpha[15]	0.986036
TNavParticleFilter::Modified Variance for beam 16 is 15.81 
Alpha[16]	0.000000
Alpha[16]	0.986647
TNavParticleFilter::Modified Variance for beam 17 is 15.37 
Alpha[17]	0.000000
Alpha[17]	0.982110
TNavParticleFilter::Modified Variance for beam 18 is 15.39 
Alpha[18]	0.000000
Alpha[18]	0.967223
TNavParticleFilter::Modified Variance for beam 19 is 15.67 
Alpha[19]	0.000000
Alpha[19]	0.960119
TNavParticleFilter::Modified Variance for beam 20 is 15.83 
Alpha[20]	0.000000
Alpha[20]	0.961652
TNavParticleFilter::Modified Variance for beam 21 is 16.03 
Alpha[21]	0.000000
Alpha[21]	0.961832
TNavParticleFilter::Modified Variance for beam 22 is 15.69 
Alpha[22]	0.000000
Alpha[22]	0.970022
TNavParticleFilter::Modified Variance for beam 23 is 15.03 
Alpha[23]	0.000000
Alpha[23]	0.981279
TNavParticleFilter::Modified Variance for beam 24 is 15.18 
Alpha[24]	0.000000
Alpha[24]	0.984858
TNavParticleFilter::Modified Variance for beam 25 is 16.52 
Alpha[25]	0.000000
Alpha[25]	0.986595
TNavParticleFilter::Modified Variance for beam 26 is 16.79 
Alpha[26]	0.000000
Alpha[26]	0.986281
TNavParticleFilter::Modified Variance for beam 27 is 17.11 
Alpha[27]	0.000000
Alpha[27]	0.983391
TNavParticleFilter::Modified Variance for beam 28 is 17.01 
Alpha[28]	0.000000
Alpha[28]	0.978195
TNavParticleFilter::Modified Variance for beam 29 is 16.68 
Alpha[29]	0.000000
Alpha[29]	0.971483
TNavParticleFilter::Modified Variance for beam 30 is 16.79 
Alpha[30]	0.000000
Alpha[30]	0.982832
TNavParticleFilter::Modified Variance for beam 31 is 18.24 
Alpha[31]	0.000000
Alpha[31]	0.992460
TNavParticleFilter::Modified Variance for beam 32 is 18.58 
Alpha[32]	0.000000
Alpha[32]	0.993907
TNavParticleFilter::Modified Variance for beam 33 is 16.97 
Alpha[33]	0.000000
Alpha[33]	0.994789
TNavParticleFilter::Modified Variance for beam 34 is 16.67 
Alpha[34]	0.000000
Alpha[34]	0.994184
TNavParticleFilter::Modified Variance for beam 35 is 17.10 
Alpha[35]	0.000000
Alpha[35]	0.991282
TNavParticleFilter::Modified Variance for beam 36 is 18.90 
Alpha[36]	0.000000
Alpha[36]	0.991452
TNavParticleFilter::Modified Variance for beam 37 is 19.39 
Alpha[37]	0.000000
Alpha[37]	0.990502
TNavParticleFilter::Modified Variance for beam 38 is 20.05 
Alpha[38]	0.000000
Alpha[38]	0.982576
TNavParticleFilter::Modified Variance for beam 39 is 20.80 
Alpha[39]	0.000000
Alpha[39]	0.972374
TNavParticleFilter::Modified Variance for beam 40 is 21.42 
Alpha[40]	0.000000
Alpha[40]	0.970701
TNavParticleFilter::Modified Variance for beam 41 is 22.00 
Alpha[41]	0.000000
Alpha[41]	0.972427
TNavParticleFilter::Modified Variance for beam 42 is 22.61 
Alpha[42]	0.000000
Alpha[42]	0.975155
TNavParticleFilter::Modified Variance for beam 43 is 23.28 
Alpha[43]	0.000000
Alpha[43]	0.977200
TNavParticleFilter::Modified Variance for beam 44 is 24.00 
Alpha[44]	0.000000
Alpha[44]	0.979021
TNavParticleFilter::Modified Variance for beam 45 is 24.69 
Alpha[45]	0.000000
Alpha[45]	0.984246
TNavParticleFilter::Modified Variance for beam 46 is 24.19 
Alpha[46]	0.000000
Alpha[46]	0.989163
TNavParticleFilter::Modified Variance for beam 47 is 24.22 
Alpha[47]	0.000000
Alpha[47]	0.992546
TNavParticleFilter::Modified Variance for beam 48 is 27.30 
Alpha[48]	0.000000
Alpha[48]	0.993943
TNavParticleFilter::Modified Variance for beam 49 is 27.43 
Alpha[49]	0.000000
Alpha[49]	0.989443
TNavParticleFilter::Modified Variance for beam 50 is 27.20 
Alpha[50]	0.000000
Alpha[50]	0.975600
TNavParticleFilter::Modified Variance for beam 51 is 26.32 
Alpha[51]	0.000000
Alpha[51]	0.986693
TNavParticleFilter::Modified Variance for beam 52 is 27.21 
Alpha[52]	0.000000
Alpha[52]	0.993947
TNavParticleFilter::Modified Variance for beam 53 is 28.58 
Alpha[53]	0.000000
Alpha[53]	0.990861
TNavParticleFilter::Modified Variance for beam 54 is 29.93 
Alpha[54]	0.000000
Alpha[54]	0.977346
TNavParticleFilter::Modified Variance for beam 55 is 29.04 
Alpha[55]	0.000000
Alpha[55]	0.988658
TNavParticleFilter::Modified Variance for beam 56 is 31.82 
Alpha[56]	0.000000
Alpha[56]	0.990546
TNavParticleFilter::Modified Variance for beam 57 is 31.61 
Alpha[57]	0.000000
Alpha[57]	0.979861
TNavParticleFilter::Modified Variance for beam 58 is 31.10 
Alpha[58]	0.000000
Alpha[58]	0.979666
TNavParticleFilter::Modified Variance for beam 59 is 32.69 
Alpha[59]	0.000000
Alpha[59]	0.986303
TNavPF:: sumSquaredError = 6.580861 
TNavPF:: sumWeights = 0.093587 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.76. Range = 76.47 
TNavPF::Calculated measDiffMean for beam 31 as -0.65. Range = 75.84 
TNavPF::Calculated measDiffMean for beam 32 as -0.35. Range = 73.05 
TNavPF::Calculated measDiffMean for beam 33 as -0.06. Range = 72.50 
TNavPF::Calculated measDiffMean for beam 34 as 0.19. Range = 71.98 
TNavPF::Calculated measDiffMean for beam 35 as -0.94. Range = 71.49 
TNavPF::Calculated measDiffMean for beam 36 as -0.46. Range = 68.89 
TNavPF::Calculated measDiffMean for beam 37 as -0.20. Range = 66.35 
TNavPF::Calculated measDiffMean for beam 38 as -0.13. Range = 65.97 
TNavPF::Calculated measDiffMean for beam 39 as -0.09. Range = 65.61 
TNavPF::Calculated measDiffMean for beam 40 as -0.08. Range = 65.27 
TNavPF::Calculated measDiffMean for beam 41 as -0.09. Range = 62.88 
TNavPF::Calculated measDiffMean for beam 42 as 0.18. Range = 62.60 
TNavPF::Calculated measDiffMean for beam 43 as -1.14. Range = 60.28 
TNavPF::Calculated measDiffMean for beam 44 as -0.66. Range = 58.01 
TNavPF::Calculated measDiffMean for beam 45 as -0.82. Range = 57.80 
TNavPF::Calculated measDiffMean for beam 46 as 0.97. Range = 55.58 
TNavPF::Calculated measDiffMean for beam 47 as -0.07. Range = 55.42 
TNavPF::Calculated measDiffMean for beam 48 as -0.29. Range = 55.28 
TNavPF::Calculated measDiffMean for beam 49 as -0.10. Range = 55.15 
TNavPF::Calculated measDiffMean for beam 50 as -0.08. Range = 55.04 
TNavPF::Calculated measDiffMean for beam 51 as -0.06. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 52 as -0.73. Range = 54.88 
TNavPF::Calculated measDiffMean for beam 53 as -1.90. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 54 as -1.73. Range = 50.77 
TNavPF::Calculated measDiffMean for beam 55 as 0.57. Range = 50.75 
TNavPF::Calculated measDiffMean for beam 56 as 0.44. Range = 50.74 
TNavPF::Calculated measDiffMean for beam 57 as 0.35. Range = 50.75 
TNavPF::Calculated measDiffMean for beam 58 as -0.14. Range = 50.78 
TNavPF::Calculated measDiffMean for beam 59 as -0.55. Range = 50.82 
TNavPF::Calculated measDiffMean for beam 60 as -0.29. Range = 49.28 
TNavPF::Calculated measDiffMean for beam 61 as 1.51. Range = 48.93 
TNavPF::Calculated measDiffMean for beam 62 as 1.36. Range = 49.01 
TNavPF::Calculated measDiffMean for beam 63 as -1.56. Range = 49.11 
TNavPF::Calculated measDiffMean for beam 64 as -2.03. Range = 49.23 
TNavPF::Calculated measDiffMean for beam 65 as -1.45. Range = 47.61 
TNavPF::Calculated measDiffMean for beam 66 as 1.01. Range = 47.47 
TNavPF::Calculated measDiffMean for beam 67 as 0.61. Range = 47.62 
TNavPF::Calculated measDiffMean for beam 68 as 0.16. Range = 47.79 
TNavPF::Calculated measDiffMean for beam 69 as 0.07. Range = 47.98 
TNavPF::Calculated measDiffMean for beam 70 as 0.07. Range = 48.18 
TNavPF::Calculated measDiffMean for beam 71 as 0.10. Range = 48.40 
TNavPF::Calculated measDiffMean for beam 72 as 0.14. Range = 48.64 
TNavPF::Calculated measDiffMean for beam 73 as 0.18. Range = 46.79 
TNavPF::Calculated measDiffMean for beam 74 as 0.29. Range = 47.05 
TNavPF::Calculated measDiffMean for beam 75 as 0.65. Range = 47.33 
TNavPF::Calculated measDiffMean for beam 76 as -0.53. Range = 49.76 
TNavPF::Calculated measDiffMean for beam 77 as -1.23. Range = 48.73 
TNavPF::Calculated measDiffMean for beam 78 as 1.81. Range = 48.27 
TNavPF::Calculated measDiffMean for beam 79 as 0.74. Range = 48.62 
TNavPF::Calculated measDiffMean for beam 80 as -0.25. Range = 48.99 
TNavPF::Calculated measDiffMean for beam 81 as -0.95. Range = 49.38 
TNavPF::Calculated measDiffMean for beam 82 as -0.57. Range = 48.98 
TNavPF::Calculated measDiffMean for beam 83 as -0.55. Range = 47.99 
TNavPF::Calculated measDiffMean for beam 84 as -0.08. Range = 48.43 
TNavPF::Calculated measDiffMean for beam 85 as -1.10. Range = 51.18 
TNavPF::Calculated measDiffMean for beam 86 as 1.85. Range = 51.69 
TNavPF::Calculated measDiffMean for beam 87 as 0.09. Range = 52.22 
TNavPF::Calculated measDiffMean for beam 88 as -0.54. Range = 51.85 
TNavPF::Calculated measDiffMean for beam 89 as 0.84. Range = 50.99 
TNavPF::First Term of Map Covariance Matrix is 1.44 
TNavPF::Calculated NIS Value : 2.11 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322432.82 sec.
INS : North: 4070311.58, East: 588800.12, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 48.15, IDT[75] = 61.64
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322435.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322435.62)
ARL : North: 1.5617, East: -0.9074, Depth: 2.6922ARL : Estimation Bias  (Mean)         : (t = 1488322435.62)
ARL : North: 1.5309, East: -2.1312, Depth: 1.3906TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.45 
Alpha[0]	0.123000
Alpha[0]	0.984018
TNavParticleFilter::Modified Variance for beam 1 is 17.39 
Alpha[1]	0.000000
Alpha[1]	0.986728
TNavParticleFilter::Modified Variance for beam 2 is 16.36 
Alpha[2]	0.000000
Alpha[2]	0.986768
TNavParticleFilter::Modified Variance for beam 3 is 16.40 
Alpha[3]	0.000000
Alpha[3]	0.984998
TNavParticleFilter::Modified Variance for beam 4 is 16.46 
Alpha[4]	0.000000
Alpha[4]	0.981891
TNavParticleFilter::Modified Variance for beam 5 is 16.49 
Alpha[5]	0.000000
Alpha[5]	0.981565
TNavParticleFilter::Modified Variance for beam 6 is 15.80 
Alpha[6]	0.000000
Alpha[6]	0.984543
TNavParticleFilter::Modified Variance for beam 7 is 15.72 
Alpha[7]	0.000000
Alpha[7]	0.970846
TNavParticleFilter::Modified Variance for beam 8 is 16.05 
Alpha[8]	0.000000
Alpha[8]	0.953578
TNavParticleFilter::Modified Variance for beam 9 is 16.01 
Alpha[9]	0.000000
Alpha[9]	0.959038
TNavParticleFilter::Modified Variance for beam 10 is 16.01 
Alpha[10]	0.000000
Alpha[10]	0.962527
TNavParticleFilter::Modified Variance for beam 11 is 16.12 
Alpha[11]	0.000000
Alpha[11]	0.960357
TNavParticleFilter::Modified Variance for beam 12 is 16.13 
Alpha[12]	0.000000
Alpha[12]	0.963902
TNavParticleFilter::Modified Variance for beam 13 is 15.86 
Alpha[13]	0.000000
Alpha[13]	0.980957
TNavParticleFilter::Modified Variance for beam 14 is 15.01 
Alpha[14]	0.000000
Alpha[14]	0.981901
TNavParticleFilter::Modified Variance for beam 15 is 15.09 
Alpha[15]	0.000000
Alpha[15]	0.982357
TNavParticleFilter::Modified Variance for beam 16 is 16.15 
Alpha[16]	0.000000
Alpha[16]	0.986086
TNavParticleFilter::Modified Variance for beam 17 is 16.28 
Alpha[17]	0.000000
Alpha[17]	0.985121
TNavParticleFilter::Modified Variance for beam 18 is 15.56 
Alpha[18]	0.000000
Alpha[18]	0.977838
TNavParticleFilter::Modified Variance for beam 19 is 15.89 
Alpha[19]	0.000000
Alpha[19]	0.960652
TNavParticleFilter::Modified Variance for beam 20 is 16.05 
Alpha[20]	0.000000
Alpha[20]	0.959354
TNavParticleFilter::Modified Variance for beam 21 is 16.18 
Alpha[21]	0.000000
Alpha[21]	0.960780
TNavParticleFilter::Modified Variance for beam 22 is 16.29 
Alpha[22]	0.000000
Alpha[22]	0.963742
TNavParticleFilter::Modified Variance for beam 23 is 15.53 
Alpha[23]	0.000000
Alpha[23]	0.976305
TNavParticleFilter::Modified Variance for beam 24 is 15.25 
Alpha[24]	0.000000
Alpha[24]	0.982764
TNavParticleFilter::Modified Variance for beam 25 is 15.39 
Alpha[25]	0.000000
Alpha[25]	0.984555
TNavParticleFilter::Modified Variance for beam 26 is 16.68 
Alpha[26]	0.000000
Alpha[26]	0.984557
TNavParticleFilter::Modified Variance for beam 27 is 16.92 
Alpha[27]	0.000000
Alpha[27]	0.982778
TNavParticleFilter::Modified Variance for beam 28 is 17.25 
Alpha[28]	0.000000
Alpha[28]	0.977241
TNavParticleFilter::Modified Variance for beam 29 is 16.97 
Alpha[29]	0.000000
Alpha[29]	0.978570
TNavParticleFilter::Modified Variance for beam 30 is 16.67 
Alpha[30]	0.000000
Alpha[30]	0.971024
TNavParticleFilter::Modified Variance for beam 31 is 16.66 
Alpha[31]	0.000000
Alpha[31]	0.986475
TNavParticleFilter::Modified Variance for beam 32 is 18.04 
Alpha[32]	0.000000
Alpha[32]	0.992382
TNavParticleFilter::Modified Variance for beam 33 is 18.32 
Alpha[33]	0.000000
Alpha[33]	0.993620
TNavParticleFilter::Modified Variance for beam 34 is 16.78 
Alpha[34]	0.000000
Alpha[34]	0.994628
TNavParticleFilter::Modified Variance for beam 35 is 16.45 
Alpha[35]	0.000000
Alpha[35]	0.993755
TNavParticleFilter::Modified Variance for beam 36 is 16.81 
Alpha[36]	0.000000
Alpha[36]	0.990766
TNavParticleFilter::Modified Variance for beam 37 is 18.44 
Alpha[37]	0.000000
Alpha[37]	0.990406
TNavParticleFilter::Modified Variance for beam 38 is 18.85 
Alpha[38]	0.000000
Alpha[38]	0.989373
TNavParticleFilter::Modified Variance for beam 39 is 19.42 
Alpha[39]	0.000000
Alpha[39]	0.980619
TNavParticleFilter::Modified Variance for beam 40 is 20.09 
Alpha[40]	0.000000
Alpha[40]	0.969513
TNavParticleFilter::Modified Variance for beam 41 is 20.60 
Alpha[41]	0.000000
Alpha[41]	0.967296
TNavParticleFilter::Modified Variance for beam 42 is 21.09 
Alpha[42]	0.000000
Alpha[42]	0.968232
TNavParticleFilter::Modified Variance for beam 43 is 21.57 
Alpha[43]	0.000000
Alpha[43]	0.970681
TNavParticleFilter::Modified Variance for beam 44 is 22.08 
Alpha[44]	0.000000
Alpha[44]	0.973121
TNavParticleFilter::Modified Variance for beam 45 is 22.63 
Alpha[45]	0.000000
Alpha[45]	0.975474
TNavParticleFilter::Modified Variance for beam 46 is 23.24 
Alpha[46]	0.000000
Alpha[46]	0.977518
TNavParticleFilter::Modified Variance for beam 47 is 23.74 
Alpha[47]	0.000000
Alpha[47]	0.985448
TNavParticleFilter::Modified Variance for beam 48 is 23.37 
Alpha[48]	0.000000
Alpha[48]	0.989264
TNavParticleFilter::Modified Variance for beam 49 is 23.23 
Alpha[49]	0.000000
Alpha[49]	0.991517
TNavParticleFilter::Modified Variance for beam 50 is 25.93 
Alpha[50]	0.000000
Alpha[50]	0.992952
TNavParticleFilter::Modified Variance for beam 51 is 26.61 
Alpha[51]	0.000000
Alpha[51]	0.989720
TNavParticleFilter::Modified Variance for beam 52 is 26.26 
Alpha[52]	0.000000
Alpha[52]	0.977463
TNavParticleFilter::Modified Variance for beam 53 is 25.50 
Alpha[53]	0.000000
Alpha[53]	0.982433
TNavParticleFilter::Modified Variance for beam 54 is 25.54 
Alpha[54]	0.000000
Alpha[54]	0.991733
TNavParticleFilter::Modified Variance for beam 55 is 27.43 
Alpha[55]	0.000000
Alpha[55]	0.991637
TNavParticleFilter::Modified Variance for beam 56 is 28.03 
Alpha[56]	0.000000
Alpha[56]	0.980502
TNavParticleFilter::Modified Variance for beam 57 is 28.21 
Alpha[57]	0.000000
Alpha[57]	0.981554
TNavParticleFilter::Modified Variance for beam 58 is 27.77 
Alpha[58]	0.000000
Alpha[58]	0.989803
TNavParticleFilter::Modified Variance for beam 59 is 30.34 
Alpha[59]	0.000000
Alpha[59]	0.985618
TNavPF:: sumSquaredError = 10.078690 
TNavPF:: sumWeights = 0.098016 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.23. Range = 83.32 
TNavPF::Calculated measDiffMean for beam 31 as 0.61. Range = 82.45 
TNavPF::Calculated measDiffMean for beam 32 as -0.83. Range = 81.61 
TNavPF::Calculated measDiffMean for beam 33 as -0.49. Range = 80.82 
TNavPF::Calculated measDiffMean for beam 34 as -0.24. Range = 80.07 
TNavPF::Calculated measDiffMean for beam 35 as 0.02. Range = 79.35 
TNavPF::Calculated measDiffMean for beam 36 as -0.64. Range = 76.45 
TNavPF::Calculated measDiffMean for beam 37 as -0.60. Range = 75.83 
TNavPF::Calculated measDiffMean for beam 38 as -0.40. Range = 75.23 
TNavPF::Calculated measDiffMean for beam 39 as -0.34. Range = 72.50 
TNavPF::Calculated measDiffMean for beam 40 as -0.32. Range = 69.83 
TNavPF::Calculated measDiffMean for beam 41 as -0.33. Range = 69.36 
TNavPF::Calculated measDiffMean for beam 42 as -0.27. Range = 68.92 
TNavPF::Calculated measDiffMean for beam 43 as 0.10. Range = 68.50 
TNavPF::Calculated measDiffMean for beam 44 as -1.03. Range = 66.01 
TNavPF::Calculated measDiffMean for beam 45 as -0.87. Range = 63.56 
TNavPF::Calculated measDiffMean for beam 46 as 0.86. Range = 63.24 
TNavPF::Calculated measDiffMean for beam 47 as 0.77. Range = 60.87 
TNavPF::Calculated measDiffMean for beam 48 as -0.65. Range = 58.54 
TNavPF::Calculated measDiffMean for beam 49 as -0.41. Range = 58.30 
TNavPF::Calculated measDiffMean for beam 50 as -0.34. Range = 58.08 
TNavPF::Calculated measDiffMean for beam 51 as -0.33. Range = 57.88 
TNavPF::Calculated measDiffMean for beam 52 as -0.28. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 53 as -1.51. Range = 57.54 
TNavPF::Calculated measDiffMean for beam 54 as -2.05. Range = 57.39 
TNavPF::Calculated measDiffMean for beam 55 as -1.98. Range = 53.23 
TNavPF::Calculated measDiffMean for beam 56 as 0.11. Range = 53.13 
TNavPF::Calculated measDiffMean for beam 57 as -0.00. Range = 53.05 
TNavPF::Calculated measDiffMean for beam 58 as -0.01. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 59 as -0.17. Range = 52.93 
TNavPF::Calculated measDiffMean for beam 60 as -0.65. Range = 52.89 
TNavPF::Calculated measDiffMean for beam 61 as -0.73. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 62 as 0.90. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 63 as 0.99. Range = 50.88 
TNavPF::Calculated measDiffMean for beam 64 as -1.72. Range = 50.91 
TNavPF::Calculated measDiffMean for beam 65 as -2.24. Range = 50.95 
TNavPF::Calculated measDiffMean for beam 66 as -1.71. Range = 49.68 
TNavPF::Calculated measDiffMean for beam 67 as 0.57. Range = 49.08 
TNavPF::Calculated measDiffMean for beam 68 as 0.19. Range = 49.16 
TNavPF::Calculated measDiffMean for beam 69 as -0.21. Range = 49.26 
TNavPF::Calculated measDiffMean for beam 70 as -0.32. Range = 49.38 
TNavPF::Calculated measDiffMean for beam 71 as -0.32. Range = 49.52 
TNavPF::Calculated measDiffMean for beam 72 as -0.31. Range = 49.67 
TNavPF::Calculated measDiffMean for beam 73 as -0.30. Range = 49.67 
TNavPF::Calculated measDiffMean for beam 74 as -0.28. Range = 47.96 
TNavPF::Calculated measDiffMean for beam 75 as -0.24. Range = 48.15 
TNavPF::Calculated measDiffMean for beam 76 as -0.09. Range = 50.43 
TNavPF::Calculated measDiffMean for beam 77 as 0.40. Range = 50.66 
TNavPF::Calculated measDiffMean for beam 78 as -0.49. Range = 48.96 
TNavPF::Calculated measDiffMean for beam 79 as -1.53. Range = 49.08 
TNavPF::Calculated measDiffMean for beam 80 as 1.23. Range = 49.36 
TNavPF::Calculated measDiffMean for beam 81 as 1.21. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 82 as 0.10. Range = 49.97 
TNavPF::Calculated measDiffMean for beam 83 as -0.56. Range = 48.86 
TNavPF::Calculated measDiffMean for beam 84 as -0.93. Range = 48.49 
TNavPF::Calculated measDiffMean for beam 85 as 0.09. Range = 48.84 
TNavPF::Calculated measDiffMean for beam 86 as -0.45. Range = 51.42 
TNavPF::Calculated measDiffMean for beam 87 as -0.45. Range = 51.83 
TNavPF::Calculated measDiffMean for beam 88 as -1.10. Range = 52.27 
TNavPF::Calculated measDiffMean for beam 89 as 1.07. Range = 51.80 
TNavPF::First Term of Map Covariance Matrix is 1.24 
TNavPF::Calculated NIS Value : 2.06 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322435.82 sec.
INS : North: 4070313.63, East: 588796.28, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 51.52, IDT[75] = 60.81
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322438.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322438.62)
ARL : North: 1.7565, East: -1.8560, Depth: 1.3250ARL : Estimation Bias  (Mean)         : (t = 1488322438.62)
ARL : North: 1.3647, East: -2.2551, Depth: 1.1075TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.56 
Alpha[0]	0.123000
Alpha[0]	0.985861
TNavParticleFilter::Modified Variance for beam 1 is 17.40 
Alpha[1]	0.000000
Alpha[1]	0.988054
TNavParticleFilter::Modified Variance for beam 2 is 17.40 
Alpha[2]	0.000000
Alpha[2]	0.986339
TNavParticleFilter::Modified Variance for beam 3 is 17.41 
Alpha[3]	0.000000
Alpha[3]	0.984376
TNavParticleFilter::Modified Variance for beam 4 is 17.42 
Alpha[4]	0.000000
Alpha[4]	0.982879
TNavParticleFilter::Modified Variance for beam 5 is 17.36 
Alpha[5]	0.000000
Alpha[5]	0.985964
TNavParticleFilter::Modified Variance for beam 6 is 16.54 
Alpha[6]	0.000000
Alpha[6]	0.973751
TNavParticleFilter::Modified Variance for beam 7 is 16.83 
Alpha[7]	0.000000
Alpha[7]	0.957312
TNavParticleFilter::Modified Variance for beam 8 is 16.71 
Alpha[8]	0.000000
Alpha[8]	0.965153
TNavParticleFilter::Modified Variance for beam 9 is 16.72 
Alpha[9]	0.000000
Alpha[9]	0.966212
TNavParticleFilter::Modified Variance for beam 10 is 16.84 
Alpha[10]	0.000000
Alpha[10]	0.960992
TNavParticleFilter::Modified Variance for beam 11 is 16.75 
Alpha[11]	0.000000
Alpha[11]	0.969052
TNavParticleFilter::Modified Variance for beam 12 is 15.79 
Alpha[12]	0.000000
Alpha[12]	0.983664
TNavParticleFilter::Modified Variance for beam 13 is 15.62 
Alpha[13]	0.000000
Alpha[13]	0.981965
TNavParticleFilter::Modified Variance for beam 14 is 15.65 
Alpha[14]	0.000000
Alpha[14]	0.983873
TNavParticleFilter::Modified Variance for beam 15 is 16.70 
Alpha[15]	0.000000
Alpha[15]	0.986111
TNavParticleFilter::Modified Variance for beam 16 is 16.81 
Alpha[16]	0.000000
Alpha[16]	0.984914
TNavParticleFilter::Modified Variance for beam 17 is 16.03 
Alpha[17]	0.000000
Alpha[17]	0.974749
TNavParticleFilter::Modified Variance for beam 18 is 16.35 
Alpha[18]	0.000000
Alpha[18]	0.961584
TNavParticleFilter::Modified Variance for beam 19 is 16.45 
Alpha[19]	0.000000
Alpha[19]	0.961406
TNavParticleFilter::Modified Variance for beam 20 is 16.59 
Alpha[20]	0.000000
Alpha[20]	0.959938
TNavParticleFilter::Modified Variance for beam 21 is 16.57 
Alpha[21]	0.000000
Alpha[21]	0.968323
TNavParticleFilter::Modified Variance for beam 22 is 15.46 
Alpha[22]	0.000000
Alpha[22]	0.980142
TNavParticleFilter::Modified Variance for beam 23 is 15.54 
Alpha[23]	0.000000
Alpha[23]	0.983174
TNavParticleFilter::Modified Variance for beam 24 is 16.72 
Alpha[24]	0.000000
Alpha[24]	0.984559
TNavParticleFilter::Modified Variance for beam 25 is 16.89 
Alpha[25]	0.000000
Alpha[25]	0.984278
TNavParticleFilter::Modified Variance for beam 26 is 17.11 
Alpha[26]	0.000000
Alpha[26]	0.981542
TNavParticleFilter::Modified Variance for beam 27 is 17.35 
Alpha[27]	0.000000
Alpha[27]	0.978102
TNavParticleFilter::Modified Variance for beam 28 is 16.74 
Alpha[28]	0.000000
Alpha[28]	0.978285
TNavParticleFilter::Modified Variance for beam 29 is 16.73 
Alpha[29]	0.000000
Alpha[29]	0.971597
TNavParticleFilter::Modified Variance for beam 30 is 16.65 
Alpha[30]	0.000000
Alpha[30]	0.988438
TNavParticleFilter::Modified Variance for beam 31 is 17.96 
Alpha[31]	0.000000
Alpha[31]	0.992728
TNavParticleFilter::Modified Variance for beam 32 is 18.19 
Alpha[32]	0.000000
Alpha[32]	0.993918
TNavParticleFilter::Modified Variance for beam 33 is 16.43 
Alpha[33]	0.000000
Alpha[33]	0.994385
TNavParticleFilter::Modified Variance for beam 34 is 16.35 
Alpha[34]	0.000000
Alpha[34]	0.992855
TNavParticleFilter::Modified Variance for beam 35 is 16.66 
Alpha[35]	0.000000
Alpha[35]	0.989560
TNavParticleFilter::Modified Variance for beam 36 is 18.17 
Alpha[36]	0.000000
Alpha[36]	0.988818
TNavParticleFilter::Modified Variance for beam 37 is 18.52 
Alpha[37]	0.000000
Alpha[37]	0.987156
TNavParticleFilter::Modified Variance for beam 38 is 19.07 
Alpha[38]	0.000000
Alpha[38]	0.976025
TNavParticleFilter::Modified Variance for beam 39 is 19.64 
Alpha[39]	0.000000
Alpha[39]	0.965568
TNavParticleFilter::Modified Variance for beam 40 is 20.06 
Alpha[40]	0.000000
Alpha[40]	0.963884
TNavParticleFilter::Modified Variance for beam 41 is 20.44 
Alpha[41]	0.000000
Alpha[41]	0.965233
TNavParticleFilter::Modified Variance for beam 42 is 20.83 
Alpha[42]	0.000000
Alpha[42]	0.967572
TNavParticleFilter::Modified Variance for beam 43 is 21.24 
Alpha[43]	0.000000
Alpha[43]	0.969965
TNavParticleFilter::Modified Variance for beam 44 is 21.69 
Alpha[44]	0.000000
Alpha[44]	0.971783
TNavParticleFilter::Modified Variance for beam 45 is 22.17 
Alpha[45]	0.000000
Alpha[45]	0.973439
TNavParticleFilter::Modified Variance for beam 46 is 22.61 
Alpha[46]	0.000000
Alpha[46]	0.978540
TNavParticleFilter::Modified Variance for beam 47 is 23.04 
Alpha[47]	0.000000
Alpha[47]	0.985475
TNavParticleFilter::Modified Variance for beam 48 is 22.37 
Alpha[48]	0.000000
Alpha[48]	0.988823
TNavParticleFilter::Modified Variance for beam 49 is 22.47 
Alpha[49]	0.000000
Alpha[49]	0.991216
TNavParticleFilter::Modified Variance for beam 50 is 24.89 
Alpha[50]	0.000000
Alpha[50]	0.992233
TNavParticleFilter::Modified Variance for beam 51 is 25.64 
Alpha[51]	0.000000
Alpha[51]	0.989341
TNavParticleFilter::Modified Variance for beam 52 is 25.21 
Alpha[52]	0.000000
Alpha[52]	0.977693
TNavParticleFilter::Modified Variance for beam 53 is 24.41 
Alpha[53]	0.000000
Alpha[53]	0.982145
TNavParticleFilter::Modified Variance for beam 54 is 24.28 
Alpha[54]	0.000000
Alpha[54]	0.990759
TNavParticleFilter::Modified Variance for beam 55 is 26.32 
Alpha[55]	0.000000
Alpha[55]	0.992341
TNavParticleFilter::Modified Variance for beam 56 is 26.20 
Alpha[56]	0.000000
Alpha[56]	0.985714
TNavParticleFilter::Modified Variance for beam 57 is 27.20 
Alpha[57]	0.000000
Alpha[57]	0.976107
TNavParticleFilter::Modified Variance for beam 58 is 26.25 
Alpha[58]	0.000000
Alpha[58]	0.988170
TNavParticleFilter::Modified Variance for beam 59 is 27.00 
Alpha[59]	0.000000
Alpha[59]	0.989533
TNavPF:: sumSquaredError = 6.809571 
TNavPF:: sumWeights = 0.098684 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.33. Range = 94.10 
TNavPF::Calculated measDiffMean for beam 31 as -1.14. Range = 90.55 
TNavPF::Calculated measDiffMean for beam 32 as -0.69. Range = 87.10 
TNavPF::Calculated measDiffMean for beam 33 as -0.35. Range = 86.13 
TNavPF::Calculated measDiffMean for beam 34 as -0.00. Range = 85.20 
TNavPF::Calculated measDiffMean for beam 35 as 0.62. Range = 84.32 
TNavPF::Calculated measDiffMean for beam 36 as -0.60. Range = 83.48 
TNavPF::Calculated measDiffMean for beam 37 as -0.36. Range = 80.41 
TNavPF::Calculated measDiffMean for beam 38 as -0.29. Range = 79.67 
TNavPF::Calculated measDiffMean for beam 39 as -0.27. Range = 78.97 
TNavPF::Calculated measDiffMean for beam 40 as -0.30. Range = 78.31 
TNavPF::Calculated measDiffMean for beam 41 as -0.19. Range = 75.49 
TNavPF::Calculated measDiffMean for beam 42 as -1.05. Range = 74.91 
TNavPF::Calculated measDiffMean for beam 43 as -0.93. Range = 72.20 
TNavPF::Calculated measDiffMean for beam 44 as -0.97. Range = 71.69 
TNavPF::Calculated measDiffMean for beam 45 as 0.70. Range = 69.09 
TNavPF::Calculated measDiffMean for beam 46 as 0.85. Range = 66.53 
TNavPF::Calculated measDiffMean for beam 47 as -0.59. Range = 64.03 
TNavPF::Calculated measDiffMean for beam 48 as -0.33. Range = 63.67 
TNavPF::Calculated measDiffMean for beam 49 as -0.30. Range = 61.25 
TNavPF::Calculated measDiffMean for beam 50 as -0.29. Range = 60.95 
TNavPF::Calculated measDiffMean for beam 51 as -0.18. Range = 60.67 
TNavPF::Calculated measDiffMean for beam 52 as -2.01. Range = 60.41 
TNavPF::Calculated measDiffMean for beam 53 as -1.89. Range = 60.17 
TNavPF::Calculated measDiffMean for beam 54 as 0.25. Range = 59.95 
TNavPF::Calculated measDiffMean for beam 55 as 0.17. Range = 55.68 
TNavPF::Calculated measDiffMean for beam 56 as 0.03. Range = 55.52 
TNavPF::Calculated measDiffMean for beam 57 as 0.15. Range = 55.37 
TNavPF::Calculated measDiffMean for beam 58 as -0.49. Range = 55.24 
TNavPF::Calculated measDiffMean for beam 59 as -0.51. Range = 55.12 
TNavPF::Calculated measDiffMean for beam 60 as -0.81. Range = 55.02 
TNavPF::Calculated measDiffMean for beam 61 as 0.90. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 62 as 1.20. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 63 as -1.93. Range = 52.83 
TNavPF::Calculated measDiffMean for beam 64 as -2.05. Range = 52.80 
TNavPF::Calculated measDiffMean for beam 65 as -1.69. Range = 52.79 
TNavPF::Calculated measDiffMean for beam 66 as 0.46. Range = 50.79 
TNavPF::Calculated measDiffMean for beam 67 as 0.14. Range = 50.81 
TNavPF::Calculated measDiffMean for beam 68 as -0.21. Range = 50.84 
TNavPF::Calculated measDiffMean for beam 69 as -0.28. Range = 50.89 
TNavPF::Calculated measDiffMean for beam 70 as -0.28. Range = 50.96 
TNavPF::Calculated measDiffMean for beam 71 as -0.27. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 72 as -0.25. Range = 49.63 
TNavPF::Calculated measDiffMean for beam 73 as -0.24. Range = 49.23 
TNavPF::Calculated measDiffMean for beam 74 as -0.22. Range = 49.35 
TNavPF::Calculated measDiffMean for beam 75 as -0.17. Range = 51.52 
TNavPF::Calculated measDiffMean for beam 76 as 0.03. Range = 51.69 
TNavPF::Calculated measDiffMean for beam 77 as 0.46. Range = 49.82 
TNavPF::Calculated measDiffMean for beam 78 as -0.95. Range = 50.01 
TNavPF::Calculated measDiffMean for beam 79 as -1.56. Range = 50.21 
TNavPF::Calculated measDiffMean for beam 80 as 1.00. Range = 50.44 
TNavPF::Calculated measDiffMean for beam 81 as 1.23. Range = 50.68 
TNavPF::Calculated measDiffMean for beam 82 as 0.16. Range = 48.84 
TNavPF::Calculated measDiffMean for beam 83 as -0.52. Range = 49.11 
TNavPF::Calculated measDiffMean for beam 84 as -0.92. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 85 as 0.58. Range = 51.82 
TNavPF::Calculated measDiffMean for beam 86 as -0.80. Range = 52.15 
TNavPF::Calculated measDiffMean for beam 87 as -0.09. Range = 52.51 
TNavPF::Calculated measDiffMean for beam 88 as -1.10. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 89 as -0.82. Range = 51.09 
TNavPF::First Term of Map Covariance Matrix is 1.40 
TNavPF::Calculated NIS Value : 2.05 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322438.82 sec.
INS : North: 4070315.44, East: 588792.31, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 52.70, IDT[75] = 59.77
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322441.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322441.62)
ARL : North: 2.8620, East: -1.9909, Depth: 0.1249ARL : Estimation Bias  (Mean)         : (t = 1488322441.62)
ARL : North: 1.2034, East: -2.3240, Depth: 1.4317TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.71 
Alpha[0]	0.123000
Alpha[0]	0.987766
TNavParticleFilter::Modified Variance for beam 1 is 18.48 
Alpha[1]	0.000000
Alpha[1]	0.988461
TNavParticleFilter::Modified Variance for beam 2 is 18.45 
Alpha[2]	0.000000
Alpha[2]	0.986355
TNavParticleFilter::Modified Variance for beam 3 is 18.44 
Alpha[3]	0.000000
Alpha[3]	0.983911
TNavParticleFilter::Modified Variance for beam 4 is 18.36 
Alpha[4]	0.000000
Alpha[4]	0.985494
TNavParticleFilter::Modified Variance for beam 5 is 17.28 
Alpha[5]	0.000000
Alpha[5]	0.983416
TNavParticleFilter::Modified Variance for beam 6 is 17.61 
Alpha[6]	0.000000
Alpha[6]	0.963444
TNavParticleFilter::Modified Variance for beam 7 is 17.58 
Alpha[7]	0.000000
Alpha[7]	0.963773
TNavParticleFilter::Modified Variance for beam 8 is 17.53 
Alpha[8]	0.000000
Alpha[8]	0.965933
TNavParticleFilter::Modified Variance for beam 9 is 17.60 
Alpha[9]	0.000000
Alpha[9]	0.962082
TNavParticleFilter::Modified Variance for beam 10 is 17.50 
Alpha[10]	0.000000
Alpha[10]	0.967394
TNavParticleFilter::Modified Variance for beam 11 is 17.22 
Alpha[11]	0.000000
Alpha[11]	0.984035
TNavParticleFilter::Modified Variance for beam 12 is 16.23 
Alpha[12]	0.000000
Alpha[12]	0.982928
TNavParticleFilter::Modified Variance for beam 13 is 16.25 
Alpha[13]	0.000000
Alpha[13]	0.983202
TNavParticleFilter::Modified Variance for beam 14 is 17.27 
Alpha[14]	0.000000
Alpha[14]	0.985807
TNavParticleFilter::Modified Variance for beam 15 is 17.33 
Alpha[15]	0.000000
Alpha[15]	0.985370
TNavParticleFilter::Modified Variance for beam 16 is 16.46 
Alpha[16]	0.000000
Alpha[16]	0.978419
TNavParticleFilter::Modified Variance for beam 17 is 16.76 
Alpha[17]	0.000000
Alpha[17]	0.964229
TNavParticleFilter::Modified Variance for beam 18 is 16.89 
Alpha[18]	0.000000
Alpha[18]	0.960660
TNavParticleFilter::Modified Variance for beam 19 is 16.99 
Alpha[19]	0.000000
Alpha[19]	0.959317
TNavParticleFilter::Modified Variance for beam 20 is 16.90 
Alpha[20]	0.000000
Alpha[20]	0.969268
TNavParticleFilter::Modified Variance for beam 21 is 15.78 
Alpha[21]	0.000000
Alpha[21]	0.979837
TNavParticleFilter::Modified Variance for beam 22 is 15.83 
Alpha[22]	0.000000
Alpha[22]	0.982726
TNavParticleFilter::Modified Variance for beam 23 is 16.96 
Alpha[23]	0.000000
Alpha[23]	0.983428
TNavParticleFilter::Modified Variance for beam 24 is 17.09 
Alpha[24]	0.000000
Alpha[24]	0.982845
TNavParticleFilter::Modified Variance for beam 25 is 17.28 
Alpha[25]	0.000000
Alpha[25]	0.979824
TNavParticleFilter::Modified Variance for beam 26 is 17.46 
Alpha[26]	0.000000
Alpha[26]	0.977804
TNavParticleFilter::Modified Variance for beam 27 is 16.73 
Alpha[27]	0.000000
Alpha[27]	0.979900
TNavParticleFilter::Modified Variance for beam 28 is 16.76 
Alpha[28]	0.000000
Alpha[28]	0.972561
TNavParticleFilter::Modified Variance for beam 29 is 16.66 
Alpha[29]	0.000000
Alpha[29]	0.987757
TNavParticleFilter::Modified Variance for beam 30 is 17.88 
Alpha[30]	0.000000
Alpha[30]	0.992066
TNavParticleFilter::Modified Variance for beam 31 is 18.05 
Alpha[31]	0.000000
Alpha[31]	0.993322
TNavParticleFilter::Modified Variance for beam 32 is 16.24 
Alpha[32]	0.000000
Alpha[32]	0.994301
TNavParticleFilter::Modified Variance for beam 33 is 16.20 
Alpha[33]	0.000000
Alpha[33]	0.993349
TNavParticleFilter::Modified Variance for beam 34 is 16.46 
Alpha[34]	0.000000
Alpha[34]	0.990069
TNavParticleFilter::Modified Variance for beam 35 is 17.87 
Alpha[35]	0.000000
Alpha[35]	0.988297
TNavParticleFilter::Modified Variance for beam 36 is 18.15 
Alpha[36]	0.000000
Alpha[36]	0.986307
TNavParticleFilter::Modified Variance for beam 37 is 18.61 
Alpha[37]	0.000000
Alpha[37]	0.976468
TNavParticleFilter::Modified Variance for beam 38 is 19.15 
Alpha[38]	0.000000
Alpha[38]	0.963468
TNavParticleFilter::Modified Variance for beam 39 is 19.49 
Alpha[39]	0.000000
Alpha[39]	0.961637
TNavParticleFilter::Modified Variance for beam 40 is 19.81 
Alpha[40]	0.000000
Alpha[40]	0.962378
TNavParticleFilter::Modified Variance for beam 41 is 20.12 
Alpha[41]	0.000000
Alpha[41]	0.964205
TNavParticleFilter::Modified Variance for beam 42 is 20.43 
Alpha[42]	0.000000
Alpha[42]	0.966825
TNavParticleFilter::Modified Variance for beam 43 is 20.78 
Alpha[43]	0.000000
Alpha[43]	0.968971
TNavParticleFilter::Modified Variance for beam 44 is 21.15 
Alpha[44]	0.000000
Alpha[44]	0.970818
TNavParticleFilter::Modified Variance for beam 45 is 21.55 
Alpha[45]	0.000000
Alpha[45]	0.972969
TNavParticleFilter::Modified Variance for beam 46 is 21.88 
Alpha[46]	0.000000
Alpha[46]	0.978880
TNavParticleFilter::Modified Variance for beam 47 is 22.23 
Alpha[47]	0.000000
Alpha[47]	0.985546
TNavParticleFilter::Modified Variance for beam 48 is 21.49 
Alpha[48]	0.000000
Alpha[48]	0.988395
TNavParticleFilter::Modified Variance for beam 49 is 21.61 
Alpha[49]	0.000000
Alpha[49]	0.990224
TNavParticleFilter::Modified Variance for beam 50 is 23.77 
Alpha[50]	0.000000
Alpha[50]	0.991570
TNavParticleFilter::Modified Variance for beam 51 is 24.44 
Alpha[51]	0.000000
Alpha[51]	0.989848
TNavParticleFilter::Modified Variance for beam 52 is 24.22 
Alpha[52]	0.000000
Alpha[52]	0.982058
TNavParticleFilter::Modified Variance for beam 53 is 23.55 
Alpha[53]	0.000000
Alpha[53]	0.978648
TNavParticleFilter::Modified Variance for beam 54 is 23.04 
Alpha[54]	0.000000
Alpha[54]	0.986339
TNavParticleFilter::Modified Variance for beam 55 is 23.61 
Alpha[55]	0.000000
Alpha[55]	0.991715
TNavParticleFilter::Modified Variance for beam 56 is 24.78 
Alpha[56]	0.000000
Alpha[56]	0.988927
TNavParticleFilter::Modified Variance for beam 57 is 25.52 
Alpha[57]	0.000000
Alpha[57]	0.978214
TNavParticleFilter::Modified Variance for beam 58 is 25.41 
Alpha[58]	0.000000
Alpha[58]	0.980219
TNavParticleFilter::Modified Variance for beam 59 is 25.00 
Alpha[59]	0.000000
Alpha[59]	0.988247
TNavPF:: sumSquaredError = 6.298558 
TNavPF:: sumWeights = 0.107204 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.91. Range = 99.69 
TNavPF::Calculated measDiffMean for beam 32 as -0.51. Range = 98.36 
TNavPF::Calculated measDiffMean for beam 33 as -0.17. Range = 94.61 
TNavPF::Calculated measDiffMean for beam 34 as 0.25. Range = 90.99 
TNavPF::Calculated measDiffMean for beam 35 as -0.88. Range = 89.90 
TNavPF::Calculated measDiffMean for beam 36 as -0.42. Range = 88.86 
TNavPF::Calculated measDiffMean for beam 37 as -0.31. Range = 87.88 
TNavPF::Calculated measDiffMean for beam 38 as -0.28. Range = 86.94 
TNavPF::Calculated measDiffMean for beam 39 as -0.30. Range = 83.73 
TNavPF::Calculated measDiffMean for beam 40 as -0.24. Range = 82.91 
TNavPF::Calculated measDiffMean for beam 41 as 0.31. Range = 82.12 
TNavPF::Calculated measDiffMean for beam 42 as -0.95. Range = 79.13 
TNavPF::Calculated measDiffMean for beam 43 as -0.92. Range = 78.44 
TNavPF::Calculated measDiffMean for beam 44 as 0.72. Range = 75.57 
TNavPF::Calculated measDiffMean for beam 45 as 0.79. Range = 74.97 
TNavPF::Calculated measDiffMean for beam 46 as -0.63. Range = 74.40 
TNavPF::Calculated measDiffMean for beam 47 as -0.33. Range = 69.54 
TNavPF::Calculated measDiffMean for beam 48 as -0.29. Range = 66.92 
TNavPF::Calculated measDiffMean for beam 49 as -0.29. Range = 64.35 
TNavPF::Calculated measDiffMean for beam 50 as -0.16. Range = 63.95 
TNavPF::Calculated measDiffMean for beam 51 as -1.98. Range = 63.57 
TNavPF::Calculated measDiffMean for beam 52 as -1.87. Range = 63.22 
TNavPF::Calculated measDiffMean for beam 53 as 0.18. Range = 62.89 
TNavPF::Calculated measDiffMean for beam 54 as 0.11. Range = 62.59 
TNavPF::Calculated measDiffMean for beam 55 as -0.01. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 56 as 0.10. Range = 57.93 
TNavPF::Calculated measDiffMean for beam 57 as -0.64. Range = 57.71 
TNavPF::Calculated measDiffMean for beam 58 as -0.50. Range = 57.50 
TNavPF::Calculated measDiffMean for beam 59 as -0.78. Range = 57.31 
TNavPF::Calculated measDiffMean for beam 60 as 0.83. Range = 57.14 
TNavPF::Calculated measDiffMean for beam 61 as 1.04. Range = 54.97 
TNavPF::Calculated measDiffMean for beam 62 as -2.12. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 63 as -2.05. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 64 as -1.65. Range = 54.64 
TNavPF::Calculated measDiffMean for beam 65 as 0.46. Range = 52.55 
TNavPF::Calculated measDiffMean for beam 66 as 0.18. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 67 as -0.16. Range = 52.46 
TNavPF::Calculated measDiffMean for beam 68 as -0.25. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 69 as -0.26. Range = 52.42 
TNavPF::Calculated measDiffMean for beam 70 as -0.25. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 71 as -0.24. Range = 52.45 
TNavPF::Calculated measDiffMean for beam 72 as -0.22. Range = 50.48 
TNavPF::Calculated measDiffMean for beam 73 as -0.20. Range = 50.53 
TNavPF::Calculated measDiffMean for beam 74 as -0.18. Range = 52.61 
TNavPF::Calculated measDiffMean for beam 75 as -0.13. Range = 52.70 
TNavPF::Calculated measDiffMean for beam 76 as 0.12. Range = 50.79 
TNavPF::Calculated measDiffMean for beam 77 as 0.56. Range = 50.90 
TNavPF::Calculated measDiffMean for beam 78 as -0.94. Range = 51.03 
TNavPF::Calculated measDiffMean for beam 79 as -1.40. Range = 51.18 
TNavPF::Calculated measDiffMean for beam 80 as 1.05. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 81 as 1.24. Range = 49.48 
TNavPF::Calculated measDiffMean for beam 82 as 0.46. Range = 49.67 
TNavPF::Calculated measDiffMean for beam 83 as -0.30. Range = 51.94 
TNavPF::Calculated measDiffMean for beam 84 as -0.81. Range = 52.17 
TNavPF::Calculated measDiffMean for beam 85 as -0.95. Range = 52.42 
TNavPF::Calculated measDiffMean for beam 86 as -0.42. Range = 52.69 
TNavPF::Calculated measDiffMean for beam 87 as -0.29. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 88 as -0.42. Range = 51.17 
TNavPF::Calculated measDiffMean for beam 89 as -0.95. Range = 51.49 
TNavPF::First Term of Map Covariance Matrix is 1.62 
TNavPF::Calculated NIS Value : 1.92 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322441.82 sec.
INS : North: 4070316.99, East: 588788.21, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 51.81, IDT[75] = 58.62
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322444.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322444.62)
ARL : North: 0.7098, East: -3.3510, Depth: -2.5028ARL : Estimation Bias  (Mean)         : (t = 1488322444.62)
ARL : North: 1.0384, East: -2.3655, Depth: 1.4199TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.97 
Alpha[0]	0.123000
Alpha[0]	0.987912
TNavParticleFilter::Modified Variance for beam 1 is 19.62 
Alpha[1]	0.000000
Alpha[1]	0.989514
TNavParticleFilter::Modified Variance for beam 2 is 19.55 
Alpha[2]	0.000000
Alpha[2]	0.987308
TNavParticleFilter::Modified Variance for beam 3 is 19.49 
Alpha[3]	0.000000
Alpha[3]	0.985286
TNavParticleFilter::Modified Variance for beam 4 is 19.36 
Alpha[4]	0.000000
Alpha[4]	0.986851
TNavParticleFilter::Modified Variance for beam 5 is 18.26 
Alpha[5]	0.000000
Alpha[5]	0.981962
TNavParticleFilter::Modified Variance for beam 6 is 18.55 
Alpha[6]	0.000000
Alpha[6]	0.962924
TNavParticleFilter::Modified Variance for beam 7 is 18.42 
Alpha[7]	0.000000
Alpha[7]	0.966725
TNavParticleFilter::Modified Variance for beam 8 is 18.38 
Alpha[8]	0.000000
Alpha[8]	0.965980
TNavParticleFilter::Modified Variance for beam 9 is 18.40 
Alpha[9]	0.000000
Alpha[9]	0.962608
TNavParticleFilter::Modified Variance for beam 10 is 18.06 
Alpha[10]	0.000000
Alpha[10]	0.979183
TNavParticleFilter::Modified Variance for beam 11 is 16.86 
Alpha[11]	0.000000
Alpha[11]	0.985656
TNavParticleFilter::Modified Variance for beam 12 is 16.91 
Alpha[12]	0.000000
Alpha[12]	0.982460
TNavParticleFilter::Modified Variance for beam 13 is 17.90 
Alpha[13]	0.000000
Alpha[13]	0.985389
TNavParticleFilter::Modified Variance for beam 14 is 17.89 
Alpha[14]	0.000000
Alpha[14]	0.986086
TNavParticleFilter::Modified Variance for beam 15 is 16.88 
Alpha[15]	0.000000
Alpha[15]	0.984549
TNavParticleFilter::Modified Variance for beam 16 is 17.14 
Alpha[16]	0.000000
Alpha[16]	0.970617
TNavParticleFilter::Modified Variance for beam 17 is 17.34 
Alpha[17]	0.000000
Alpha[17]	0.961269
TNavParticleFilter::Modified Variance for beam 18 is 17.41 
Alpha[18]	0.000000
Alpha[18]	0.959338
TNavParticleFilter::Modified Variance for beam 19 is 17.31 
Alpha[19]	0.000000
Alpha[19]	0.967143
TNavParticleFilter::Modified Variance for beam 20 is 16.12 
Alpha[20]	0.000000
Alpha[20]	0.978860
TNavParticleFilter::Modified Variance for beam 21 is 16.12 
Alpha[21]	0.000000
Alpha[21]	0.982322
TNavParticleFilter::Modified Variance for beam 22 is 17.22 
Alpha[22]	0.000000
Alpha[22]	0.982803
TNavParticleFilter::Modified Variance for beam 23 is 17.31 
Alpha[23]	0.000000
Alpha[23]	0.982344
TNavParticleFilter::Modified Variance for beam 24 is 17.44 
Alpha[24]	0.000000
Alpha[24]	0.979912
TNavParticleFilter::Modified Variance for beam 25 is 17.60 
Alpha[25]	0.000000
Alpha[25]	0.976348
TNavParticleFilter::Modified Variance for beam 26 is 17.10 
Alpha[26]	0.000000
Alpha[26]	0.982252
TNavParticleFilter::Modified Variance for beam 27 is 16.78 
Alpha[27]	0.000000
Alpha[27]	0.974220
TNavParticleFilter::Modified Variance for beam 28 is 16.72 
Alpha[28]	0.000000
Alpha[28]	0.984518
TNavParticleFilter::Modified Variance for beam 29 is 17.82 
Alpha[29]	0.000000
Alpha[29]	0.991538
TNavParticleFilter::Modified Variance for beam 30 is 17.94 
Alpha[30]	0.000000
Alpha[30]	0.993053
TNavParticleFilter::Modified Variance for beam 31 is 16.28 
Alpha[31]	0.000000
Alpha[31]	0.993979
TNavParticleFilter::Modified Variance for beam 32 is 16.06 
Alpha[32]	0.000000
Alpha[32]	0.993774
TNavParticleFilter::Modified Variance for beam 33 is 16.26 
Alpha[33]	0.000000
Alpha[33]	0.990950
TNavParticleFilter::Modified Variance for beam 34 is 17.58 
Alpha[34]	0.000000
Alpha[34]	0.988038
TNavParticleFilter::Modified Variance for beam 35 is 17.80 
Alpha[35]	0.000000
Alpha[35]	0.986550
TNavParticleFilter::Modified Variance for beam 36 is 18.14 
Alpha[36]	0.000000
Alpha[36]	0.979719
TNavParticleFilter::Modified Variance for beam 37 is 18.64 
Alpha[37]	0.000000
Alpha[37]	0.964677
TNavParticleFilter::Modified Variance for beam 38 is 18.98 
Alpha[38]	0.000000
Alpha[38]	0.960047
TNavParticleFilter::Modified Variance for beam 39 is 19.23 
Alpha[39]	0.000000
Alpha[39]	0.960212
TNavParticleFilter::Modified Variance for beam 40 is 19.48 
Alpha[40]	0.000000
Alpha[40]	0.961267
TNavParticleFilter::Modified Variance for beam 41 is 19.72 
Alpha[41]	0.000000
Alpha[41]	0.963696
TNavParticleFilter::Modified Variance for beam 42 is 19.96 
Alpha[42]	0.000000
Alpha[42]	0.966889
TNavParticleFilter::Modified Variance for beam 43 is 20.25 
Alpha[43]	0.000000
Alpha[43]	0.968583
TNavParticleFilter::Modified Variance for beam 44 is 20.56 
Alpha[44]	0.000000
Alpha[44]	0.970191
TNavParticleFilter::Modified Variance for beam 45 is 20.88 
Alpha[45]	0.000000
Alpha[45]	0.972152
TNavParticleFilter::Modified Variance for beam 46 is 21.15 
Alpha[46]	0.000000
Alpha[46]	0.977869
TNavParticleFilter::Modified Variance for beam 47 is 21.41 
Alpha[47]	0.000000
Alpha[47]	0.984719
TNavParticleFilter::Modified Variance for beam 48 is 20.71 
Alpha[48]	0.000000
Alpha[48]	0.987663
TNavParticleFilter::Modified Variance for beam 49 is 20.71 
Alpha[49]	0.000000
Alpha[49]	0.989753
TNavParticleFilter::Modified Variance for beam 50 is 22.64 
Alpha[50]	0.000000
Alpha[50]	0.991081
TNavParticleFilter::Modified Variance for beam 51 is 23.18 
Alpha[51]	0.000000
Alpha[51]	0.989954
TNavParticleFilter::Modified Variance for beam 52 is 23.37 
Alpha[52]	0.000000
Alpha[52]	0.986234
TNavParticleFilter::Modified Variance for beam 53 is 22.72 
Alpha[53]	0.000000
Alpha[53]	0.978669
TNavParticleFilter::Modified Variance for beam 54 is 21.87 
Alpha[54]	0.000000
Alpha[54]	0.982293
TNavParticleFilter::Modified Variance for beam 55 is 22.21 
Alpha[55]	0.000000
Alpha[55]	0.989796
TNavParticleFilter::Modified Variance for beam 56 is 23.89 
Alpha[56]	0.000000
Alpha[56]	0.990567
TNavParticleFilter::Modified Variance for beam 57 is 23.56 
Alpha[57]	0.000000
Alpha[57]	0.985841
TNavParticleFilter::Modified Variance for beam 58 is 24.52 
Alpha[58]	0.000000
Alpha[58]	0.975157
TNavParticleFilter::Modified Variance for beam 59 is 23.71 
Alpha[59]	0.000000
Alpha[59]	0.983499
TNavPF:: sumSquaredError = 9.044144 
TNavPF:: sumWeights = 0.102854 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.39. Range = 95.08 
TNavPF::Calculated measDiffMean for beam 37 as -0.31. Range = 93.85 
TNavPF::Calculated measDiffMean for beam 38 as -0.30. Range = 92.68 
TNavPF::Calculated measDiffMean for beam 39 as -0.32. Range = 91.57 
TNavPF::Calculated measDiffMean for beam 40 as -0.05. Range = 90.52 
TNavPF::Calculated measDiffMean for beam 41 as -1.27. Range = 87.15 
TNavPF::Calculated measDiffMean for beam 42 as -0.87. Range = 86.22 
TNavPF::Calculated measDiffMean for beam 43 as 0.83. Range = 85.33 
TNavPF::Calculated measDiffMean for beam 44 as 0.63. Range = 82.20 
TNavPF::Calculated measDiffMean for beam 45 as -0.92. Range = 81.42 
TNavPF::Calculated measDiffMean for beam 46 as -0.40. Range = 78.43 
TNavPF::Calculated measDiffMean for beam 47 as -0.30. Range = 77.74 
TNavPF::Calculated measDiffMean for beam 48 as -0.30. Range = 74.88 
TNavPF::Calculated measDiffMean for beam 49 as -0.21. Range = 72.09 
TNavPF::Calculated measDiffMean for beam 50 as -2.00. Range = 67.19 
TNavPF::Calculated measDiffMean for beam 51 as -1.87. Range = 66.71 
TNavPF::Calculated measDiffMean for beam 52 as 0.17. Range = 66.25 
TNavPF::Calculated measDiffMean for beam 53 as 0.12. Range = 65.81 
TNavPF::Calculated measDiffMean for beam 54 as 0.00. Range = 65.40 
TNavPF::Calculated measDiffMean for beam 55 as -0.01. Range = 65.02 
TNavPF::Calculated measDiffMean for beam 56 as -0.29. Range = 60.47 
TNavPF::Calculated measDiffMean for beam 57 as -0.57. Range = 60.16 
TNavPF::Calculated measDiffMean for beam 58 as -0.63. Range = 59.86 
TNavPF::Calculated measDiffMean for beam 59 as 0.91. Range = 59.59 
TNavPF::Calculated measDiffMean for beam 60 as 0.89. Range = 59.34 
TNavPF::Calculated measDiffMean for beam 61 as -2.01. Range = 57.06 
TNavPF::Calculated measDiffMean for beam 62 as -2.23. Range = 56.86 
TNavPF::Calculated measDiffMean for beam 63 as -1.75. Range = 56.67 
TNavPF::Calculated measDiffMean for beam 64 as 0.46. Range = 56.50 
TNavPF::Calculated measDiffMean for beam 65 as 0.27. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 66 as -0.08. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 67 as -0.24. Range = 54.09 
TNavPF::Calculated measDiffMean for beam 68 as -0.25. Range = 54.00 
TNavPF::Calculated measDiffMean for beam 69 as -0.25. Range = 53.93 
TNavPF::Calculated measDiffMean for beam 70 as -0.24. Range = 53.87 
TNavPF::Calculated measDiffMean for beam 71 as -0.22. Range = 51.82 
TNavPF::Calculated measDiffMean for beam 72 as -0.20. Range = 51.79 
TNavPF::Calculated measDiffMean for beam 73 as -0.18. Range = 53.79 
TNavPF::Calculated measDiffMean for beam 74 as -0.16. Range = 53.79 
TNavPF::Calculated measDiffMean for beam 75 as -0.11. Range = 51.81 
TNavPF::Calculated measDiffMean for beam 76 as 0.11. Range = 51.85 
TNavPF::Calculated measDiffMean for beam 77 as 0.49. Range = 51.90 
TNavPF::Calculated measDiffMean for beam 78 as -0.87. Range = 51.97 
TNavPF::Calculated measDiffMean for beam 79 as -1.36. Range = 52.06 
TNavPF::Calculated measDiffMean for beam 80 as 1.01. Range = 50.14 
TNavPF::Calculated measDiffMean for beam 81 as 1.01. Range = 50.26 
TNavPF::Calculated measDiffMean for beam 82 as 0.87. Range = 52.41 
TNavPF::Calculated measDiffMean for beam 83 as -0.10. Range = 52.56 
TNavPF::Calculated measDiffMean for beam 84 as -0.93. Range = 52.73 
TNavPF::Calculated measDiffMean for beam 85 as -0.75. Range = 52.92 
TNavPF::Calculated measDiffMean for beam 86 as 0.70. Range = 52.17 
TNavPF::Calculated measDiffMean for beam 87 as -0.73. Range = 51.28 
TNavPF::Calculated measDiffMean for beam 88 as 0.05. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 89 as -0.76. Range = 53.84 
TNavPF::First Term of Map Covariance Matrix is 1.64 
TNavPF::Calculated NIS Value : 1.98 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322444.82 sec.
INS : North: 4070318.23, East: 588784.01, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 52.88, IDT[75] = 57.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322447.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322447.62)
ARL : North: 1.2028, East: -2.3158, Depth: -1.3453ARL : Estimation Bias  (Mean)         : (t = 1488322447.62)
ARL : North: 0.8805, East: -2.4904, Depth: 1.3561TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.41 
Alpha[0]	0.123000
Alpha[0]	0.986890
TNavParticleFilter::Modified Variance for beam 1 is 22.13 
Alpha[1]	0.000000
Alpha[1]	0.990204
TNavParticleFilter::Modified Variance for beam 2 is 20.73 
Alpha[2]	0.000000
Alpha[2]	0.989342
TNavParticleFilter::Modified Variance for beam 3 is 20.61 
Alpha[3]	0.000000
Alpha[3]	0.987624
TNavParticleFilter::Modified Variance for beam 4 is 20.47 
Alpha[4]	0.000000
Alpha[4]	0.987185
TNavParticleFilter::Modified Variance for beam 5 is 19.19 
Alpha[5]	0.000000
Alpha[5]	0.985777
TNavParticleFilter::Modified Variance for beam 6 is 19.42 
Alpha[6]	0.000000
Alpha[6]	0.968426
TNavParticleFilter::Modified Variance for beam 7 is 19.32 
Alpha[7]	0.000000
Alpha[7]	0.968232
TNavParticleFilter::Modified Variance for beam 8 is 19.24 
Alpha[8]	0.000000
Alpha[8]	0.967299
TNavParticleFilter::Modified Variance for beam 9 is 19.18 
Alpha[9]	0.000000
Alpha[9]	0.965769
TNavParticleFilter::Modified Variance for beam 10 is 18.78 
Alpha[10]	0.000000
Alpha[10]	0.982260
TNavParticleFilter::Modified Variance for beam 11 is 17.57 
Alpha[11]	0.000000
Alpha[11]	0.985473
TNavParticleFilter::Modified Variance for beam 12 is 17.58 
Alpha[12]	0.000000
Alpha[12]	0.982216
TNavParticleFilter::Modified Variance for beam 13 is 18.56 
Alpha[13]	0.000000
Alpha[13]	0.985270
TNavParticleFilter::Modified Variance for beam 14 is 18.50 
Alpha[14]	0.000000
Alpha[14]	0.986275
TNavParticleFilter::Modified Variance for beam 15 is 17.46 
Alpha[15]	0.000000
Alpha[15]	0.982808
TNavParticleFilter::Modified Variance for beam 16 is 17.73 
Alpha[16]	0.000000
Alpha[16]	0.967090
TNavParticleFilter::Modified Variance for beam 17 is 17.86 
Alpha[17]	0.000000
Alpha[17]	0.959747
TNavParticleFilter::Modified Variance for beam 18 is 17.83 
Alpha[18]	0.000000
Alpha[18]	0.960981
TNavParticleFilter::Modified Variance for beam 19 is 17.60 
Alpha[19]	0.000000
Alpha[19]	0.974174
TNavParticleFilter::Modified Variance for beam 20 is 16.45 
Alpha[20]	0.000000
Alpha[20]	0.981236
TNavParticleFilter::Modified Variance for beam 21 is 16.46 
Alpha[21]	0.000000
Alpha[21]	0.982522
TNavParticleFilter::Modified Variance for beam 22 is 17.53 
Alpha[22]	0.000000
Alpha[22]	0.982164
TNavParticleFilter::Modified Variance for beam 23 is 17.59 
Alpha[23]	0.000000
Alpha[23]	0.981246
TNavParticleFilter::Modified Variance for beam 24 is 17.73 
Alpha[24]	0.000000
Alpha[24]	0.976784
TNavParticleFilter::Modified Variance for beam 25 is 17.72 
Alpha[25]	0.000000
Alpha[25]	0.980244
TNavParticleFilter::Modified Variance for beam 26 is 16.71 
Alpha[26]	0.000000
Alpha[26]	0.981477
TNavParticleFilter::Modified Variance for beam 27 is 16.87 
Alpha[27]	0.000000
Alpha[27]	0.976356
TNavParticleFilter::Modified Variance for beam 28 is 17.79 
Alpha[28]	0.000000
Alpha[28]	0.989435
TNavParticleFilter::Modified Variance for beam 29 is 17.84 
Alpha[29]	0.000000
Alpha[29]	0.992201
TNavParticleFilter::Modified Variance for beam 30 is 17.92 
Alpha[30]	0.000000
Alpha[30]	0.993435
TNavParticleFilter::Modified Variance for beam 31 is 15.91 
Alpha[31]	0.000000
Alpha[31]	0.994011
TNavParticleFilter::Modified Variance for beam 32 is 16.04 
Alpha[32]	0.000000
Alpha[32]	0.992748
TNavParticleFilter::Modified Variance for beam 33 is 17.28 
Alpha[33]	0.000000
Alpha[33]	0.988874
TNavParticleFilter::Modified Variance for beam 34 is 17.46 
Alpha[34]	0.000000
Alpha[34]	0.986495
TNavParticleFilter::Modified Variance for beam 35 is 17.68 
Alpha[35]	0.000000
Alpha[35]	0.982869
TNavParticleFilter::Modified Variance for beam 36 is 18.09 
Alpha[36]	0.000000
Alpha[36]	0.969036
TNavParticleFilter::Modified Variance for beam 37 is 18.48 
Alpha[37]	0.000000
Alpha[37]	0.957887
TNavParticleFilter::Modified Variance for beam 38 is 18.69 
Alpha[38]	0.000000
Alpha[38]	0.957130
TNavParticleFilter::Modified Variance for beam 39 is 18.88 
Alpha[39]	0.000000
Alpha[39]	0.957443
TNavParticleFilter::Modified Variance for beam 40 is 19.07 
Alpha[40]	0.000000
Alpha[40]	0.958773
TNavParticleFilter::Modified Variance for beam 41 is 19.25 
Alpha[41]	0.000000
Alpha[41]	0.961399
TNavParticleFilter::Modified Variance for beam 42 is 19.44 
Alpha[42]	0.000000
Alpha[42]	0.963981
TNavParticleFilter::Modified Variance for beam 43 is 19.67 
Alpha[43]	0.000000
Alpha[43]	0.965464
TNavParticleFilter::Modified Variance for beam 44 is 19.92 
Alpha[44]	0.000000
Alpha[44]	0.966908
TNavParticleFilter::Modified Variance for beam 45 is 20.16 
Alpha[45]	0.000000
Alpha[45]	0.969232
TNavParticleFilter::Modified Variance for beam 46 is 20.35 
Alpha[46]	0.000000
Alpha[46]	0.975193
TNavParticleFilter::Modified Variance for beam 47 is 20.51 
Alpha[47]	0.000000
Alpha[47]	0.983316
TNavParticleFilter::Modified Variance for beam 48 is 20.24 
Alpha[48]	0.000000
Alpha[48]	0.985948
TNavParticleFilter::Modified Variance for beam 49 is 19.75 
Alpha[49]	0.000000
Alpha[49]	0.988560
TNavParticleFilter::Modified Variance for beam 50 is 20.08 
Alpha[50]	0.000000
Alpha[50]	0.989884
TNavParticleFilter::Modified Variance for beam 51 is 21.88 
Alpha[51]	0.000000
Alpha[51]	0.989680
TNavParticleFilter::Modified Variance for beam 52 is 22.34 
Alpha[52]	0.000000
Alpha[52]	0.988621
TNavParticleFilter::Modified Variance for beam 53 is 22.10 
Alpha[53]	0.000000
Alpha[53]	0.983235
TNavParticleFilter::Modified Variance for beam 54 is 21.29 
Alpha[54]	0.000000
Alpha[54]	0.980363
TNavParticleFilter::Modified Variance for beam 55 is 20.84 
Alpha[55]	0.000000
Alpha[55]	0.984717
TNavParticleFilter::Modified Variance for beam 56 is 21.19 
Alpha[56]	0.000000
Alpha[56]	0.990524
TNavParticleFilter::Modified Variance for beam 57 is 22.57 
Alpha[57]	0.000000
Alpha[57]	0.989175
TNavParticleFilter::Modified Variance for beam 58 is 22.37 
Alpha[58]	0.000000
Alpha[58]	0.984564
TNavParticleFilter::Modified Variance for beam 59 is 23.16 
Alpha[59]	0.000000
Alpha[59]	0.975762
TNavPF:: sumSquaredError = 7.866309 
TNavPF:: sumWeights = 0.101425 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.34. Range = 98.22 
TNavPF::Calculated measDiffMean for beam 40 as 0.01. Range = 96.89 
TNavPF::Calculated measDiffMean for beam 41 as -1.16. Range = 95.62 
TNavPF::Calculated measDiffMean for beam 42 as -0.92. Range = 94.42 
TNavPF::Calculated measDiffMean for beam 43 as 0.73. Range = 93.27 
TNavPF::Calculated measDiffMean for beam 44 as 0.67. Range = 89.78 
TNavPF::Calculated measDiffMean for beam 45 as -0.76. Range = 88.76 
TNavPF::Calculated measDiffMean for beam 46 as -0.38. Range = 85.45 
TNavPF::Calculated measDiffMean for beam 47 as -0.34. Range = 84.56 
TNavPF::Calculated measDiffMean for beam 48 as -0.32. Range = 81.41 
TNavPF::Calculated measDiffMean for beam 49 as -0.15. Range = 80.63 
TNavPF::Calculated measDiffMean for beam 50 as -1.94. Range = 77.62 
TNavPF::Calculated measDiffMean for beam 51 as -1.88. Range = 72.46 
TNavPF::Calculated measDiffMean for beam 52 as 0.10. Range = 69.63 
TNavPF::Calculated measDiffMean for beam 53 as 0.03. Range = 69.06 
TNavPF::Calculated measDiffMean for beam 54 as -0.10. Range = 68.53 
TNavPF::Calculated measDiffMean for beam 55 as 0.15. Range = 68.02 
TNavPF::Calculated measDiffMean for beam 56 as -0.95. Range = 67.54 
TNavPF::Calculated measDiffMean for beam 57 as -0.52. Range = 62.82 
TNavPF::Calculated measDiffMean for beam 58 as 1.11. Range = 62.42 
TNavPF::Calculated measDiffMean for beam 59 as 0.76. Range = 62.05 
TNavPF::Calculated measDiffMean for beam 60 as 1.08. Range = 61.69 
TNavPF::Calculated measDiffMean for beam 61 as -2.46. Range = 61.36 
TNavPF::Calculated measDiffMean for beam 62 as -2.02. Range = 58.98 
TNavPF::Calculated measDiffMean for beam 63 as 0.36. Range = 58.71 
TNavPF::Calculated measDiffMean for beam 64 as 0.31. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 65 as 0.03. Range = 56.16 
TNavPF::Calculated measDiffMean for beam 66 as -0.24. Range = 55.96 
TNavPF::Calculated measDiffMean for beam 67 as -0.29. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 68 as -0.29. Range = 55.59 
TNavPF::Calculated measDiffMean for beam 69 as -0.28. Range = 55.44 
TNavPF::Calculated measDiffMean for beam 70 as -0.27. Range = 55.30 
TNavPF::Calculated measDiffMean for beam 71 as -0.26. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 72 as -0.24. Range = 53.07 
TNavPF::Calculated measDiffMean for beam 73 as -0.23. Range = 55.00 
TNavPF::Calculated measDiffMean for beam 74 as -0.21. Range = 54.93 
TNavPF::Calculated measDiffMean for beam 75 as -0.17. Range = 52.88 
TNavPF::Calculated measDiffMean for beam 76 as 0.01. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 77 as 0.33. Range = 52.83 
TNavPF::Calculated measDiffMean for beam 78 as -0.25. Range = 52.83 
TNavPF::Calculated measDiffMean for beam 79 as -1.43. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 80 as -1.43. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 81 as 0.80. Range = 50.92 
TNavPF::Calculated measDiffMean for beam 82 as 1.06. Range = 52.99 
TNavPF::Calculated measDiffMean for beam 83 as 0.53. Range = 53.07 
TNavPF::Calculated measDiffMean for beam 84 as -0.30. Range = 53.16 
TNavPF::Calculated measDiffMean for beam 85 as -0.79. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 86 as -0.93. Range = 51.39 
TNavPF::Calculated measDiffMean for beam 87 as 0.29. Range = 51.53 
TNavPF::Calculated measDiffMean for beam 88 as -0.71. Range = 53.72 
TNavPF::Calculated measDiffMean for beam 89 as 0.10. Range = 53.90 
TNavPF::First Term of Map Covariance Matrix is 1.52 
TNavPF::Calculated NIS Value : 2.00 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322447.82 sec.
INS : North: 4070319.16, East: 588779.73, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 53.92, IDT[75] = 56.14
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322450.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322450.62)
ARL : North: 1.0148, East: -1.5001, Depth: 1.4972ARL : Estimation Bias  (Mean)         : (t = 1488322450.62)
ARL : North: 0.7027, East: -2.5346, Depth: 1.2417TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.94 
Alpha[0]	0.123000
Alpha[0]	0.985443
TNavParticleFilter::Modified Variance for beam 1 is 23.57 
Alpha[1]	0.000000
Alpha[1]	0.989539
TNavParticleFilter::Modified Variance for beam 2 is 21.97 
Alpha[2]	0.000000
Alpha[2]	0.990957
TNavParticleFilter::Modified Variance for beam 3 is 21.79 
Alpha[3]	0.000000
Alpha[3]	0.989220
TNavParticleFilter::Modified Variance for beam 4 is 21.60 
Alpha[4]	0.000000
Alpha[4]	0.988131
TNavParticleFilter::Modified Variance for beam 5 is 20.19 
Alpha[5]	0.000000
Alpha[5]	0.988029
TNavParticleFilter::Modified Variance for beam 6 is 20.33 
Alpha[6]	0.000000
Alpha[6]	0.972863
TNavParticleFilter::Modified Variance for beam 7 is 20.23 
Alpha[7]	0.000000
Alpha[7]	0.970104
TNavParticleFilter::Modified Variance for beam 8 is 20.12 
Alpha[8]	0.000000
Alpha[8]	0.968283
TNavParticleFilter::Modified Variance for beam 9 is 19.96 
Alpha[9]	0.000000
Alpha[9]	0.969566
TNavParticleFilter::Modified Variance for beam 10 is 19.52 
Alpha[10]	0.000000
Alpha[10]	0.985411
TNavParticleFilter::Modified Variance for beam 11 is 19.42 
Alpha[11]	0.000000
Alpha[11]	0.984911
TNavParticleFilter::Modified Variance for beam 12 is 18.25 
Alpha[12]	0.000000
Alpha[12]	0.982485
TNavParticleFilter::Modified Variance for beam 13 is 19.22 
Alpha[13]	0.000000
Alpha[13]	0.985568
TNavParticleFilter::Modified Variance for beam 14 is 19.11 
Alpha[14]	0.000000
Alpha[14]	0.986903
TNavParticleFilter::Modified Variance for beam 15 is 18.09 
Alpha[15]	0.000000
Alpha[15]	0.979229
TNavParticleFilter::Modified Variance for beam 16 is 18.32 
Alpha[16]	0.000000
Alpha[16]	0.964072
TNavParticleFilter::Modified Variance for beam 17 is 18.33 
Alpha[17]	0.000000
Alpha[17]	0.961076
TNavParticleFilter::Modified Variance for beam 18 is 18.11 
Alpha[18]	0.000000
Alpha[18]	0.970389
TNavParticleFilter::Modified Variance for beam 19 is 16.85 
Alpha[19]	0.000000
Alpha[19]	0.980407
TNavParticleFilter::Modified Variance for beam 20 is 16.80 
Alpha[20]	0.000000
Alpha[20]	0.982197
TNavParticleFilter::Modified Variance for beam 21 is 17.83 
Alpha[21]	0.000000
Alpha[21]	0.982619
TNavParticleFilter::Modified Variance for beam 22 is 17.84 
Alpha[22]	0.000000
Alpha[22]	0.981831
TNavParticleFilter::Modified Variance for beam 23 is 17.91 
Alpha[23]	0.000000
Alpha[23]	0.978274
TNavParticleFilter::Modified Variance for beam 24 is 17.94 
Alpha[24]	0.000000
Alpha[24]	0.977900
TNavParticleFilter::Modified Variance for beam 25 is 17.43 
Alpha[25]	0.000000
Alpha[25]	0.984636
TNavParticleFilter::Modified Variance for beam 26 is 16.96 
Alpha[26]	0.000000
Alpha[26]	0.976688
TNavParticleFilter::Modified Variance for beam 27 is 16.83 
Alpha[27]	0.000000
Alpha[27]	0.986338
TNavParticleFilter::Modified Variance for beam 28 is 17.84 
Alpha[28]	0.000000
Alpha[28]	0.991678
TNavParticleFilter::Modified Variance for beam 29 is 17.88 
Alpha[29]	0.000000
Alpha[29]	0.992983
TNavParticleFilter::Modified Variance for beam 30 is 15.85 
Alpha[30]	0.000000
Alpha[30]	0.993794
TNavParticleFilter::Modified Variance for beam 31 is 15.93 
Alpha[31]	0.000000
Alpha[31]	0.993366
TNavParticleFilter::Modified Variance for beam 32 is 16.05 
Alpha[32]	0.000000
Alpha[32]	0.990239
TNavParticleFilter::Modified Variance for beam 33 is 17.24 
Alpha[33]	0.000000
Alpha[33]	0.986408
TNavParticleFilter::Modified Variance for beam 34 is 17.39 
Alpha[34]	0.000000
Alpha[34]	0.983737
TNavParticleFilter::Modified Variance for beam 35 is 17.71 
Alpha[35]	0.000000
Alpha[35]	0.971957
TNavParticleFilter::Modified Variance for beam 36 is 18.11 
Alpha[36]	0.000000
Alpha[36]	0.957222
TNavParticleFilter::Modified Variance for beam 37 is 18.30 
Alpha[37]	0.000000
Alpha[37]	0.954055
TNavParticleFilter::Modified Variance for beam 38 is 18.44 
Alpha[38]	0.000000
Alpha[38]	0.954615
TNavParticleFilter::Modified Variance for beam 39 is 18.59 
Alpha[39]	0.000000
Alpha[39]	0.955212
TNavParticleFilter::Modified Variance for beam 40 is 18.71 
Alpha[40]	0.000000
Alpha[40]	0.957330
TNavParticleFilter::Modified Variance for beam 41 is 18.83 
Alpha[41]	0.000000
Alpha[41]	0.960740
TNavParticleFilter::Modified Variance for beam 42 is 18.99 
Alpha[42]	0.000000
Alpha[42]	0.962367
TNavParticleFilter::Modified Variance for beam 43 is 19.16 
Alpha[43]	0.000000
Alpha[43]	0.963843
TNavParticleFilter::Modified Variance for beam 44 is 19.35 
Alpha[44]	0.000000
Alpha[44]	0.965541
TNavParticleFilter::Modified Variance for beam 45 is 19.53 
Alpha[45]	0.000000
Alpha[45]	0.968212
TNavParticleFilter::Modified Variance for beam 46 is 19.63 
Alpha[46]	0.000000
Alpha[46]	0.975138
TNavParticleFilter::Modified Variance for beam 47 is 19.74 
Alpha[47]	0.000000
Alpha[47]	0.982781
TNavParticleFilter::Modified Variance for beam 48 is 19.46 
Alpha[48]	0.000000
Alpha[48]	0.985574
TNavParticleFilter::Modified Variance for beam 49 is 18.93 
Alpha[49]	0.000000
Alpha[49]	0.987946
TNavParticleFilter::Modified Variance for beam 50 is 19.20 
Alpha[50]	0.000000
Alpha[50]	0.988743
TNavParticleFilter::Modified Variance for beam 51 is 20.83 
Alpha[51]	0.000000
Alpha[51]	0.988747
TNavParticleFilter::Modified Variance for beam 52 is 21.19 
Alpha[52]	0.000000
Alpha[52]	0.988102
TNavParticleFilter::Modified Variance for beam 53 is 21.33 
Alpha[53]	0.000000
Alpha[53]	0.985540
TNavParticleFilter::Modified Variance for beam 54 is 20.43 
Alpha[54]	0.000000
Alpha[54]	0.982099
TNavParticleFilter::Modified Variance for beam 55 is 19.67 
Alpha[55]	0.000000
Alpha[55]	0.982444
TNavParticleFilter::Modified Variance for beam 56 is 19.94 
Alpha[56]	0.000000
Alpha[56]	0.988185
TNavParticleFilter::Modified Variance for beam 57 is 21.77 
Alpha[57]	0.000000
Alpha[57]	0.989293
TNavParticleFilter::Modified Variance for beam 58 is 20.98 
Alpha[58]	0.000000
Alpha[58]	0.986642
TNavParticleFilter::Modified Variance for beam 59 is 21.40 
Alpha[59]	0.000000
Alpha[59]	0.980406
TNavPF:: sumSquaredError = 8.229424 
TNavPF:: sumWeights = 0.092164 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.69. Range = 99.37 
TNavPF::Calculated measDiffMean for beam 44 as 0.83. Range = 98.02 
TNavPF::Calculated measDiffMean for beam 45 as -0.57. Range = 96.73 
TNavPF::Calculated measDiffMean for beam 46 as -0.35. Range = 93.04 
TNavPF::Calculated measDiffMean for beam 47 as -0.34. Range = 91.90 
TNavPF::Calculated measDiffMean for beam 48 as -0.24. Range = 88.41 
TNavPF::Calculated measDiffMean for beam 49 as -2.01. Range = 87.41 
TNavPF::Calculated measDiffMean for beam 50 as -1.90. Range = 84.10 
TNavPF::Calculated measDiffMean for beam 51 as 0.11. Range = 83.22 
TNavPF::Calculated measDiffMean for beam 52 as 0.08. Range = 77.77 
TNavPF::Calculated measDiffMean for beam 53 as -0.05. Range = 72.45 
TNavPF::Calculated measDiffMean for beam 54 as -0.04. Range = 71.78 
TNavPF::Calculated measDiffMean for beam 55 as -0.12. Range = 71.14 
TNavPF::Calculated measDiffMean for beam 56 as -0.59. Range = 70.53 
TNavPF::Calculated measDiffMean for beam 57 as -0.74. Range = 69.95 
TNavPF::Calculated measDiffMean for beam 58 as 0.80. Range = 65.04 
TNavPF::Calculated measDiffMean for beam 59 as 0.88. Range = 64.55 
TNavPF::Calculated measDiffMean for beam 60 as -2.59. Range = 64.10 
TNavPF::Calculated measDiffMean for beam 61 as -2.20. Range = 63.66 
TNavPF::Calculated measDiffMean for beam 62 as -1.85. Range = 61.13 
TNavPF::Calculated measDiffMean for beam 63 as 0.29. Range = 60.76 
TNavPF::Calculated measDiffMean for beam 64 as 0.11. Range = 60.41 
TNavPF::Calculated measDiffMean for beam 65 as -0.19. Range = 58.00 
TNavPF::Calculated measDiffMean for beam 66 as -0.29. Range = 57.71 
TNavPF::Calculated measDiffMean for beam 67 as -0.29. Range = 57.43 
TNavPF::Calculated measDiffMean for beam 68 as -0.29. Range = 57.18 
TNavPF::Calculated measDiffMean for beam 69 as -0.28. Range = 56.95 
TNavPF::Calculated measDiffMean for beam 70 as -0.27. Range = 56.73 
TNavPF::Calculated measDiffMean for beam 71 as -0.25. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 72 as -0.23. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 73 as -0.22. Range = 56.20 
TNavPF::Calculated measDiffMean for beam 74 as -0.20. Range = 56.06 
TNavPF::Calculated measDiffMean for beam 75 as -0.15. Range = 53.92 
TNavPF::Calculated measDiffMean for beam 76 as 0.04. Range = 53.82 
TNavPF::Calculated measDiffMean for beam 77 as 0.32. Range = 53.74 
TNavPF::Calculated measDiffMean for beam 78 as -0.24. Range = 53.67 
TNavPF::Calculated measDiffMean for beam 79 as -1.40. Range = 51.61 
TNavPF::Calculated measDiffMean for beam 80 as -1.38. Range = 51.58 
TNavPF::Calculated measDiffMean for beam 81 as 0.72. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 82 as 0.89. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 83 as 0.97. Range = 53.57 
TNavPF::Calculated measDiffMean for beam 84 as -0.09. Range = 53.60 
TNavPF::Calculated measDiffMean for beam 85 as -0.92. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 86 as -0.78. Range = 51.70 
TNavPF::Calculated measDiffMean for beam 87 as 1.34. Range = 51.78 
TNavPF::Calculated measDiffMean for beam 88 as -0.63. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 89 as -0.43. Range = 53.99 
TNavPF::First Term of Map Covariance Matrix is 1.36 
TNavPF::Calculated NIS Value : 2.26 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322450.82 sec.
INS : North: 4070319.77, East: 588775.38, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 54.97, IDT[75] = 54.97
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322453.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322453.62)
ARL : North: 0.5705, East: -0.9792, Depth: 4.0258ARL : Estimation Bias  (Mean)         : (t = 1488322453.62)
ARL : North: 0.5053, East: -2.5735, Depth: 1.0069TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 25.55 
Alpha[0]	0.123000
Alpha[0]	0.988820
TNavParticleFilter::Modified Variance for beam 1 is 25.23 
Alpha[1]	0.000000
Alpha[1]	0.987135
TNavParticleFilter::Modified Variance for beam 2 is 24.80 
Alpha[2]	0.000000
Alpha[2]	0.990922
TNavParticleFilter::Modified Variance for beam 3 is 23.09 
Alpha[3]	0.000000
Alpha[3]	0.991426
TNavParticleFilter::Modified Variance for beam 4 is 22.84 
Alpha[4]	0.000000
Alpha[4]	0.989897
TNavParticleFilter::Modified Variance for beam 5 is 22.57 
Alpha[5]	0.000000
Alpha[5]	0.990205
TNavParticleFilter::Modified Variance for beam 6 is 21.22 
Alpha[6]	0.000000
Alpha[6]	0.982027
TNavParticleFilter::Modified Variance for beam 7 is 21.19 
Alpha[7]	0.000000
Alpha[7]	0.973352
TNavParticleFilter::Modified Variance for beam 8 is 21.04 
Alpha[8]	0.000000
Alpha[8]	0.971089
TNavParticleFilter::Modified Variance for beam 9 is 20.84 
Alpha[9]	0.000000
Alpha[9]	0.971124
TNavParticleFilter::Modified Variance for beam 10 is 20.33 
Alpha[10]	0.000000
Alpha[10]	0.987074
TNavParticleFilter::Modified Variance for beam 11 is 20.20 
Alpha[11]	0.000000
Alpha[11]	0.985429
TNavParticleFilter::Modified Variance for beam 12 is 18.95 
Alpha[12]	0.000000
Alpha[12]	0.982611
TNavParticleFilter::Modified Variance for beam 13 is 19.91 
Alpha[13]	0.000000
Alpha[13]	0.985887
TNavParticleFilter::Modified Variance for beam 14 is 19.75 
Alpha[14]	0.000000
Alpha[14]	0.987340
TNavParticleFilter::Modified Variance for beam 15 is 18.71 
Alpha[15]	0.000000
Alpha[15]	0.976683
TNavParticleFilter::Modified Variance for beam 16 is 18.88 
Alpha[16]	0.000000
Alpha[16]	0.962485
TNavParticleFilter::Modified Variance for beam 17 is 18.74 
Alpha[17]	0.000000
Alpha[17]	0.965142
TNavParticleFilter::Modified Variance for beam 18 is 17.33 
Alpha[18]	0.000000
Alpha[18]	0.978328
TNavParticleFilter::Modified Variance for beam 19 is 17.19 
Alpha[19]	0.000000
Alpha[19]	0.982667
TNavParticleFilter::Modified Variance for beam 20 is 17.13 
Alpha[20]	0.000000
Alpha[20]	0.983181
TNavParticleFilter::Modified Variance for beam 21 is 18.15 
Alpha[21]	0.000000
Alpha[21]	0.982841
TNavParticleFilter::Modified Variance for beam 22 is 18.15 
Alpha[22]	0.000000
Alpha[22]	0.980856
TNavParticleFilter::Modified Variance for beam 23 is 18.19 
Alpha[23]	0.000000
Alpha[23]	0.977021
TNavParticleFilter::Modified Variance for beam 24 is 18.04 
Alpha[24]	0.000000
Alpha[24]	0.983999
TNavParticleFilter::Modified Variance for beam 25 is 16.98 
Alpha[25]	0.000000
Alpha[25]	0.983459
TNavParticleFilter::Modified Variance for beam 26 is 17.02 
Alpha[26]	0.000000
Alpha[26]	0.980698
TNavParticleFilter::Modified Variance for beam 27 is 17.91 
Alpha[27]	0.000000
Alpha[27]	0.990523
TNavParticleFilter::Modified Variance for beam 28 is 17.88 
Alpha[28]	0.000000
Alpha[28]	0.992729
TNavParticleFilter::Modified Variance for beam 29 is 16.45 
Alpha[29]	0.000000
Alpha[29]	0.993730
TNavParticleFilter::Modified Variance for beam 30 is 15.86 
Alpha[30]	0.000000
Alpha[30]	0.993677
TNavParticleFilter::Modified Variance for beam 31 is 15.92 
Alpha[31]	0.000000
Alpha[31]	0.992019
TNavParticleFilter::Modified Variance for beam 32 is 17.06 
Alpha[32]	0.000000
Alpha[32]	0.987286
TNavParticleFilter::Modified Variance for beam 33 is 17.17 
Alpha[33]	0.000000
Alpha[33]	0.983900
TNavParticleFilter::Modified Variance for beam 34 is 17.40 
Alpha[34]	0.000000
Alpha[34]	0.974355
TNavParticleFilter::Modified Variance for beam 35 is 17.79 
Alpha[35]	0.000000
Alpha[35]	0.957135
TNavParticleFilter::Modified Variance for beam 36 is 17.96 
Alpha[36]	0.000000
Alpha[36]	0.952494
TNavParticleFilter::Modified Variance for beam 37 is 18.06 
Alpha[37]	0.000000
Alpha[37]	0.952425
TNavParticleFilter::Modified Variance for beam 38 is 18.15 
Alpha[38]	0.000000
Alpha[38]	0.952775
TNavParticleFilter::Modified Variance for beam 39 is 18.25 
Alpha[39]	0.000000
Alpha[39]	0.953775
TNavParticleFilter::Modified Variance for beam 40 is 18.32 
Alpha[40]	0.000000
Alpha[40]	0.956395
TNavParticleFilter::Modified Variance for beam 41 is 18.40 
Alpha[41]	0.000000
Alpha[41]	0.959314
TNavParticleFilter::Modified Variance for beam 42 is 18.51 
Alpha[42]	0.000000
Alpha[42]	0.960939
TNavParticleFilter::Modified Variance for beam 43 is 18.64 
Alpha[43]	0.000000
Alpha[43]	0.962387
TNavParticleFilter::Modified Variance for beam 44 is 18.77 
Alpha[44]	0.000000
Alpha[44]	0.964340
TNavParticleFilter::Modified Variance for beam 45 is 18.88 
Alpha[45]	0.000000
Alpha[45]	0.967386
TNavParticleFilter::Modified Variance for beam 46 is 18.92 
Alpha[46]	0.000000
Alpha[46]	0.975377
TNavParticleFilter::Modified Variance for beam 47 is 19.00 
Alpha[47]	0.000000
Alpha[47]	0.981762
TNavParticleFilter::Modified Variance for beam 48 is 18.74 
Alpha[48]	0.000000
Alpha[48]	0.984639
TNavParticleFilter::Modified Variance for beam 49 is 18.13 
Alpha[49]	0.000000
Alpha[49]	0.987345
TNavParticleFilter::Modified Variance for beam 50 is 18.35 
Alpha[50]	0.000000
Alpha[50]	0.987858
TNavParticleFilter::Modified Variance for beam 51 is 19.83 
Alpha[51]	0.000000
Alpha[51]	0.987507
TNavParticleFilter::Modified Variance for beam 52 is 20.11 
Alpha[52]	0.000000
Alpha[52]	0.987116
TNavParticleFilter::Modified Variance for beam 53 is 20.42 
Alpha[53]	0.000000
Alpha[53]	0.986341
TNavParticleFilter::Modified Variance for beam 54 is 19.67 
Alpha[54]	0.000000
Alpha[54]	0.983906
TNavParticleFilter::Modified Variance for beam 55 is 18.70 
Alpha[55]	0.000000
Alpha[55]	0.982522
TNavParticleFilter::Modified Variance for beam 56 is 18.76 
Alpha[56]	0.000000
Alpha[56]	0.986121
TNavParticleFilter::Modified Variance for beam 57 is 20.34 
Alpha[57]	0.000000
Alpha[57]	0.989208
TNavParticleFilter::Modified Variance for beam 58 is 20.22 
Alpha[58]	0.000000
Alpha[58]	0.987069
TNavParticleFilter::Modified Variance for beam 59 is 19.80 
Alpha[59]	0.000000
Alpha[59]	0.984562
TNavPF:: sumSquaredError = 7.900124 
TNavPF:: sumWeights = 0.085333 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -2.13. Range = 96.38 
TNavPF::Calculated measDiffMean for beam 49 as -1.92. Range = 95.10 
TNavPF::Calculated measDiffMean for beam 50 as -1.86. Range = 93.88 
TNavPF::Calculated measDiffMean for beam 51 as 0.14. Range = 90.28 
TNavPF::Calculated measDiffMean for beam 52 as 0.04. Range = 86.79 
TNavPF::Calculated measDiffMean for beam 53 as -0.08. Range = 83.41 
TNavPF::Calculated measDiffMean for beam 54 as 0.24. Range = 80.13 
TNavPF::Calculated measDiffMean for beam 55 as -0.85. Range = 74.61 
TNavPF::Calculated measDiffMean for beam 56 as -0.57. Range = 73.85 
TNavPF::Calculated measDiffMean for beam 57 as 0.98. Range = 73.12 
TNavPF::Calculated measDiffMean for beam 58 as 0.80. Range = 72.43 
TNavPF::Calculated measDiffMean for beam 59 as -1.54. Range = 67.29 
TNavPF::Calculated measDiffMean for beam 60 as -2.35. Range = 66.71 
TNavPF::Calculated measDiffMean for beam 61 as -2.03. Range = 66.15 
TNavPF::Calculated measDiffMean for beam 62 as 0.24. Range = 65.63 
TNavPF::Calculated measDiffMean for beam 63 as 0.16. Range = 62.96 
TNavPF::Calculated measDiffMean for beam 64 as -0.13. Range = 62.51 
TNavPF::Calculated measDiffMean for beam 65 as -0.28. Range = 62.08 
TNavPF::Calculated measDiffMean for beam 66 as -0.30. Range = 59.55 
TNavPF::Calculated measDiffMean for beam 67 as -0.30. Range = 59.18 
TNavPF::Calculated measDiffMean for beam 68 as -0.29. Range = 58.84 
TNavPF::Calculated measDiffMean for beam 69 as -0.28. Range = 58.52 
TNavPF::Calculated measDiffMean for beam 70 as -0.27. Range = 58.21 
TNavPF::Calculated measDiffMean for beam 71 as -0.25. Range = 57.93 
TNavPF::Calculated measDiffMean for beam 72 as -0.24. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 73 as -0.23. Range = 57.43 
TNavPF::Calculated measDiffMean for beam 74 as -0.21. Range = 57.21 
TNavPF::Calculated measDiffMean for beam 75 as -0.16. Range = 54.97 
TNavPF::Calculated measDiffMean for beam 76 as 0.02. Range = 54.79 
TNavPF::Calculated measDiffMean for beam 77 as 0.26. Range = 54.63 
TNavPF::Calculated measDiffMean for beam 78 as -0.19. Range = 52.47 
TNavPF::Calculated measDiffMean for beam 79 as -1.43. Range = 52.35 
TNavPF::Calculated measDiffMean for beam 80 as -1.42. Range = 52.25 
TNavPF::Calculated measDiffMean for beam 81 as 0.58. Range = 54.17 
TNavPF::Calculated measDiffMean for beam 82 as 0.70. Range = 54.10 
TNavPF::Calculated measDiffMean for beam 83 as 1.09. Range = 54.04 
TNavPF::Calculated measDiffMean for beam 84 as 0.26. Range = 54.00 
TNavPF::Calculated measDiffMean for beam 85 as -0.83. Range = 51.97 
TNavPF::Calculated measDiffMean for beam 86 as -0.77. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 87 as 1.25. Range = 53.97 
TNavPF::Calculated measDiffMean for beam 88 as 0.31. Range = 54.00 
TNavPF::Calculated measDiffMean for beam 89 as -0.80. Range = 51.27 
TNavPF::First Term of Map Covariance Matrix is 1.78 
TNavPF::Calculated NIS Value : 2.32 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322453.82 sec.
INS : North: 4070320.05, East: 588771.00, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 55.84, IDT[75] = 54.09
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322456.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322456.62)
ARL : North: 0.3971, East: -1.9137, Depth: -0.1073ARL : Estimation Bias  (Mean)         : (t = 1488322456.62)
ARL : North: 0.3178, East: -2.6165, Depth: 0.6982TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 27.01 
Alpha[0]	0.123000
Alpha[0]	0.991132
TNavParticleFilter::Modified Variance for beam 1 is 26.63 
Alpha[1]	0.000000
Alpha[1]	0.988697
TNavParticleFilter::Modified Variance for beam 2 is 26.12 
Alpha[2]	0.000000
Alpha[2]	0.991792
TNavParticleFilter::Modified Variance for beam 3 is 24.27 
Alpha[3]	0.000000
Alpha[3]	0.991889
TNavParticleFilter::Modified Variance for beam 4 is 23.94 
Alpha[4]	0.000000
Alpha[4]	0.991125
TNavParticleFilter::Modified Variance for beam 5 is 22.29 
Alpha[5]	0.000000
Alpha[5]	0.989312
TNavParticleFilter::Modified Variance for beam 6 is 22.26 
Alpha[6]	0.000000
Alpha[6]	0.977630
TNavParticleFilter::Modified Variance for beam 7 is 22.07 
Alpha[7]	0.000000
Alpha[7]	0.974125
TNavParticleFilter::Modified Variance for beam 8 is 21.88 
Alpha[8]	0.000000
Alpha[8]	0.970985
TNavParticleFilter::Modified Variance for beam 9 is 21.30 
Alpha[9]	0.000000
Alpha[9]	0.986550
TNavParticleFilter::Modified Variance for beam 10 is 21.07 
Alpha[10]	0.000000
Alpha[10]	0.986762
TNavParticleFilter::Modified Variance for beam 11 is 20.93 
Alpha[11]	0.000000
Alpha[11]	0.983416
TNavParticleFilter::Modified Variance for beam 12 is 20.67 
Alpha[12]	0.000000
Alpha[12]	0.986433
TNavParticleFilter::Modified Variance for beam 13 is 20.46 
Alpha[13]	0.000000
Alpha[13]	0.987987
TNavParticleFilter::Modified Variance for beam 14 is 19.35 
Alpha[14]	0.000000
Alpha[14]	0.975870
TNavParticleFilter::Modified Variance for beam 15 is 19.46 
Alpha[15]	0.000000
Alpha[15]	0.963063
TNavParticleFilter::Modified Variance for beam 16 is 19.17 
Alpha[16]	0.000000
Alpha[16]	0.971057
TNavParticleFilter::Modified Variance for beam 17 is 17.73 
Alpha[17]	0.000000
Alpha[17]	0.981671
TNavParticleFilter::Modified Variance for beam 18 is 17.59 
Alpha[18]	0.000000
Alpha[18]	0.983708
TNavParticleFilter::Modified Variance for beam 19 is 17.95 
Alpha[19]	0.000000
Alpha[19]	0.983838
TNavParticleFilter::Modified Variance for beam 20 is 18.50 
Alpha[20]	0.000000
Alpha[20]	0.983264
TNavParticleFilter::Modified Variance for beam 21 is 18.48 
Alpha[21]	0.000000
Alpha[21]	0.979903
TNavParticleFilter::Modified Variance for beam 22 is 18.40 
Alpha[22]	0.000000
Alpha[22]	0.980466
TNavParticleFilter::Modified Variance for beam 23 is 18.23 
Alpha[23]	0.000000
Alpha[23]	0.986368
TNavParticleFilter::Modified Variance for beam 24 is 17.25 
Alpha[24]	0.000000
Alpha[24]	0.978464
TNavParticleFilter::Modified Variance for beam 25 is 17.05 
Alpha[25]	0.000000
Alpha[25]	0.987574
TNavParticleFilter::Modified Variance for beam 26 is 17.99 
Alpha[26]	0.000000
Alpha[26]	0.992429
TNavParticleFilter::Modified Variance for beam 27 is 17.94 
Alpha[27]	0.000000
Alpha[27]	0.993532
TNavParticleFilter::Modified Variance for beam 28 is 15.87 
Alpha[28]	0.000000
Alpha[28]	0.993580
TNavParticleFilter::Modified Variance for beam 29 is 15.88 
Alpha[29]	0.000000
Alpha[29]	0.992603
TNavParticleFilter::Modified Variance for beam 30 is 16.95 
Alpha[30]	0.000000
Alpha[30]	0.988891
TNavParticleFilter::Modified Variance for beam 31 is 17.04 
Alpha[31]	0.000000
Alpha[31]	0.984103
TNavParticleFilter::Modified Variance for beam 32 is 17.19 
Alpha[32]	0.000000
Alpha[32]	0.976695
TNavParticleFilter::Modified Variance for beam 33 is 17.55 
Alpha[33]	0.000000
Alpha[33]	0.958175
TNavParticleFilter::Modified Variance for beam 34 is 17.73 
Alpha[34]	0.000000
Alpha[34]	0.950152
TNavParticleFilter::Modified Variance for beam 35 is 17.79 
Alpha[35]	0.000000
Alpha[35]	0.949307
TNavParticleFilter::Modified Variance for beam 36 is 17.84 
Alpha[36]	0.000000
Alpha[36]	0.949563
TNavParticleFilter::Modified Variance for beam 37 is 17.88 
Alpha[37]	0.000000
Alpha[37]	0.950919
TNavParticleFilter::Modified Variance for beam 38 is 17.90 
Alpha[38]	0.000000
Alpha[38]	0.953243
TNavParticleFilter::Modified Variance for beam 39 is 17.89 
Alpha[39]	0.000000
Alpha[39]	0.957941
TNavParticleFilter::Modified Variance for beam 40 is 17.96 
Alpha[40]	0.000000
Alpha[40]	0.959134
TNavParticleFilter::Modified Variance for beam 41 is 18.05 
Alpha[41]	0.000000
Alpha[41]	0.959875
TNavParticleFilter::Modified Variance for beam 42 is 18.13 
Alpha[42]	0.000000
Alpha[42]	0.961327
TNavParticleFilter::Modified Variance for beam 43 is 18.19 
Alpha[43]	0.000000
Alpha[43]	0.964296
TNavParticleFilter::Modified Variance for beam 44 is 18.24 
Alpha[44]	0.000000
Alpha[44]	0.968259
TNavParticleFilter::Modified Variance for beam 45 is 18.24 
Alpha[45]	0.000000
Alpha[45]	0.975985
TNavParticleFilter::Modified Variance for beam 46 is 18.29 
Alpha[46]	0.000000
Alpha[46]	0.980871
TNavParticleFilter::Modified Variance for beam 47 is 18.06 
Alpha[47]	0.000000
Alpha[47]	0.984237
TNavParticleFilter::Modified Variance for beam 48 is 17.39 
Alpha[48]	0.000000
Alpha[48]	0.986653
TNavParticleFilter::Modified Variance for beam 49 is 17.55 
Alpha[49]	0.000000
Alpha[49]	0.987148
TNavParticleFilter::Modified Variance for beam 50 is 18.90 
Alpha[50]	0.000000
Alpha[50]	0.986416
TNavParticleFilter::Modified Variance for beam 51 is 19.11 
Alpha[51]	0.000000
Alpha[51]	0.986032
TNavParticleFilter::Modified Variance for beam 52 is 19.33 
Alpha[52]	0.000000
Alpha[52]	0.986538
TNavParticleFilter::Modified Variance for beam 53 is 19.01 
Alpha[53]	0.000000
Alpha[53]	0.986184
TNavParticleFilter::Modified Variance for beam 54 is 17.90 
Alpha[54]	0.000000
Alpha[54]	0.983499
TNavParticleFilter::Modified Variance for beam 55 is 17.67 
Alpha[55]	0.000000
Alpha[55]	0.984733
TNavParticleFilter::Modified Variance for beam 56 is 17.84 
Alpha[56]	0.000000
Alpha[56]	0.988709
TNavParticleFilter::Modified Variance for beam 57 is 19.36 
Alpha[57]	0.000000
Alpha[57]	0.987533
TNavParticleFilter::Modified Variance for beam 58 is 18.59 
Alpha[58]	0.000000
Alpha[58]	0.985921
TNavParticleFilter::Modified Variance for beam 59 is 18.80 
Alpha[59]	0.000000
Alpha[59]	0.981740
TNavPF:: sumSquaredError = 5.369521 
TNavPF:: sumWeights = 0.094822 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.23. Range = 98.46 
TNavPF::Calculated measDiffMean for beam 51 as 0.07. Range = 97.08 
TNavPF::Calculated measDiffMean for beam 52 as 0.06. Range = 93.25 
TNavPF::Calculated measDiffMean for beam 53 as 0.78. Range = 89.56 
TNavPF::Calculated measDiffMean for beam 54 as -0.52. Range = 85.98 
TNavPF::Calculated measDiffMean for beam 55 as -0.63. Range = 82.51 
TNavPF::Calculated measDiffMean for beam 56 as 0.95. Range = 76.76 
TNavPF::Calculated measDiffMean for beam 57 as 1.12. Range = 75.90 
TNavPF::Calculated measDiffMean for beam 58 as -2.39. Range = 75.08 
TNavPF::Calculated measDiffMean for beam 59 as -2.11. Range = 69.66 
TNavPF::Calculated measDiffMean for beam 60 as 0.14. Range = 68.97 
TNavPF::Calculated measDiffMean for beam 61 as 0.17. Range = 68.31 
TNavPF::Calculated measDiffMean for beam 62 as -0.06. Range = 67.68 
TNavPF::Calculated measDiffMean for beam 63 as -0.25. Range = 64.85 
TNavPF::Calculated measDiffMean for beam 64 as -0.28. Range = 64.30 
TNavPF::Calculated measDiffMean for beam 65 as -0.28. Range = 61.59 
TNavPF::Calculated measDiffMean for beam 66 as -0.28. Range = 61.11 
TNavPF::Calculated measDiffMean for beam 67 as -0.27. Range = 60.66 
TNavPF::Calculated measDiffMean for beam 68 as -0.26. Range = 60.24 
TNavPF::Calculated measDiffMean for beam 69 as -0.24. Range = 59.84 
TNavPF::Calculated measDiffMean for beam 70 as -0.23. Range = 59.46 
TNavPF::Calculated measDiffMean for beam 71 as -0.23. Range = 59.11 
TNavPF::Calculated measDiffMean for beam 72 as -0.21. Range = 58.78 
TNavPF::Calculated measDiffMean for beam 73 as -0.19. Range = 58.47 
TNavPF::Calculated measDiffMean for beam 74 as -0.13. Range = 56.10 
TNavPF::Calculated measDiffMean for beam 75 as 0.03. Range = 55.84 
TNavPF::Calculated measDiffMean for beam 76 as 0.21. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 77 as -0.11. Range = 53.33 
TNavPF::Calculated measDiffMean for beam 78 as -1.44. Range = 53.14 
TNavPF::Calculated measDiffMean for beam 79 as -1.47. Range = 53.83 
TNavPF::Calculated measDiffMean for beam 80 as 0.46. Range = 54.83 
TNavPF::Calculated measDiffMean for beam 81 as 0.54. Range = 54.68 
TNavPF::Calculated measDiffMean for beam 82 as 0.86. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 83 as 0.82. Range = 54.43 
TNavPF::Calculated measDiffMean for beam 84 as -0.47. Range = 52.32 
TNavPF::Calculated measDiffMean for beam 85 as -0.82. Range = 52.24 
TNavPF::Calculated measDiffMean for beam 86 as -1.08. Range = 54.19 
TNavPF::Calculated measDiffMean for beam 87 as 0.97. Range = 54.14 
TNavPF::Calculated measDiffMean for beam 88 as -0.73. Range = 50.11 
TNavPF::Calculated measDiffMean for beam 89 as -0.56. Range = 50.09 
TNavPF::First Term of Map Covariance Matrix is 2.24 
TNavPF::Calculated NIS Value : 2.12 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322456.82 sec.
INS : North: 4070320.10, East: 588766.60, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 54.19, IDT[75] = 51.57
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322459.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322459.62)
ARL : North: -0.3159, East: -1.5461, Depth: -1.9771ARL : Estimation Bias  (Mean)         : (t = 1488322459.62)
ARL : North: 0.1593, East: -2.5431, Depth: 0.6783TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 27.80 
Alpha[0]	0.123000
Alpha[0]	0.991685
TNavParticleFilter::Modified Variance for beam 1 is 25.71 
Alpha[1]	0.000000
Alpha[1]	0.993177
TNavParticleFilter::Modified Variance for beam 2 is 25.29 
Alpha[2]	0.000000
Alpha[2]	0.992512
TNavParticleFilter::Modified Variance for beam 3 is 23.47 
Alpha[3]	0.000000
Alpha[3]	0.990792
TNavParticleFilter::Modified Variance for beam 4 is 23.38 
Alpha[4]	0.000000
Alpha[4]	0.979323
TNavParticleFilter::Modified Variance for beam 5 is 23.13 
Alpha[5]	0.000000
Alpha[5]	0.975309
TNavParticleFilter::Modified Variance for beam 6 is 22.73 
Alpha[6]	0.000000
Alpha[6]	0.978712
TNavParticleFilter::Modified Variance for beam 7 is 22.18 
Alpha[7]	0.000000
Alpha[7]	0.989496
TNavParticleFilter::Modified Variance for beam 8 is 21.98 
Alpha[8]	0.000000
Alpha[8]	0.985759
TNavParticleFilter::Modified Variance for beam 9 is 21.73 
Alpha[9]	0.000000
Alpha[9]	0.985081
TNavParticleFilter::Modified Variance for beam 10 is 21.40 
Alpha[10]	0.000000
Alpha[10]	0.988812
TNavParticleFilter::Modified Variance for beam 11 is 20.01 
Alpha[11]	0.000000
Alpha[11]	0.984809
TNavParticleFilter::Modified Variance for beam 12 is 20.17 
Alpha[12]	0.000000
Alpha[12]	0.967116
TNavParticleFilter::Modified Variance for beam 13 is 19.91 
Alpha[13]	0.000000
Alpha[13]	0.970247
TNavParticleFilter::Modified Variance for beam 14 is 18.34 
Alpha[14]	0.000000
Alpha[14]	0.981764
TNavParticleFilter::Modified Variance for beam 15 is 18.13 
Alpha[15]	0.000000
Alpha[15]	0.984481
TNavParticleFilter::Modified Variance for beam 16 is 18.12 
Alpha[16]	0.000000
Alpha[16]	0.985007
TNavParticleFilter::Modified Variance for beam 17 is 18.99 
Alpha[17]	0.000000
Alpha[17]	0.984298
TNavParticleFilter::Modified Variance for beam 18 is 18.91 
Alpha[18]	0.000000
Alpha[18]	0.981312
TNavParticleFilter::Modified Variance for beam 19 is 18.78 
Alpha[19]	0.000000
Alpha[19]	0.982326
TNavParticleFilter::Modified Variance for beam 20 is 18.57 
Alpha[20]	0.000000
Alpha[20]	0.987198
TNavParticleFilter::Modified Variance for beam 21 is 17.53 
Alpha[21]	0.000000
Alpha[21]	0.979297
TNavParticleFilter::Modified Variance for beam 22 is 17.29 
Alpha[22]	0.000000
Alpha[22]	0.988429
TNavParticleFilter::Modified Variance for beam 23 is 18.20 
Alpha[23]	0.000000
Alpha[23]	0.993135
TNavParticleFilter::Modified Variance for beam 24 is 18.12 
Alpha[24]	0.000000
Alpha[24]	0.993931
TNavParticleFilter::Modified Variance for beam 25 is 15.99 
Alpha[25]	0.000000
Alpha[25]	0.993302
TNavParticleFilter::Modified Variance for beam 26 is 15.97 
Alpha[26]	0.000000
Alpha[26]	0.991721
TNavParticleFilter::Modified Variance for beam 27 is 17.03 
Alpha[27]	0.000000
Alpha[27]	0.987081
TNavParticleFilter::Modified Variance for beam 28 is 17.09 
Alpha[28]	0.000000
Alpha[28]	0.982079
TNavParticleFilter::Modified Variance for beam 29 is 17.26 
Alpha[29]	0.000000
Alpha[29]	0.971363
TNavParticleFilter::Modified Variance for beam 30 is 17.56 
Alpha[30]	0.000000
Alpha[30]	0.954078
TNavParticleFilter::Modified Variance for beam 31 is 17.63 
Alpha[31]	0.000000
Alpha[31]	0.949558
TNavParticleFilter::Modified Variance for beam 32 is 17.64 
Alpha[32]	0.000000
Alpha[32]	0.949214
TNavParticleFilter::Modified Variance for beam 33 is 17.65 
Alpha[33]	0.000000
Alpha[33]	0.949317
TNavParticleFilter::Modified Variance for beam 34 is 17.66 
Alpha[34]	0.000000
Alpha[34]	0.950360
TNavParticleFilter::Modified Variance for beam 35 is 17.63 
Alpha[35]	0.000000
Alpha[35]	0.953198
TNavParticleFilter::Modified Variance for beam 36 is 17.59 
Alpha[36]	0.000000
Alpha[36]	0.957393
TNavParticleFilter::Modified Variance for beam 37 is 17.61 
Alpha[37]	0.000000
Alpha[37]	0.958830
TNavParticleFilter::Modified Variance for beam 38 is 17.66 
Alpha[38]	0.000000
Alpha[38]	0.959286
TNavParticleFilter::Modified Variance for beam 39 is 17.69 
Alpha[39]	0.000000
Alpha[39]	0.961230
TNavParticleFilter::Modified Variance for beam 40 is 17.70 
Alpha[40]	0.000000
Alpha[40]	0.964442
TNavParticleFilter::Modified Variance for beam 41 is 17.72 
Alpha[41]	0.000000
Alpha[41]	0.967821
TNavParticleFilter::Modified Variance for beam 42 is 17.69 
Alpha[42]	0.000000
Alpha[42]	0.974421
TNavParticleFilter::Modified Variance for beam 43 is 17.69 
Alpha[43]	0.000000
Alpha[43]	0.979692
TNavParticleFilter::Modified Variance for beam 44 is 17.74 
Alpha[44]	0.000000
Alpha[44]	0.983080
TNavParticleFilter::Modified Variance for beam 45 is 16.74 
Alpha[45]	0.000000
Alpha[45]	0.985734
TNavParticleFilter::Modified Variance for beam 46 is 16.84 
Alpha[46]	0.000000
Alpha[46]	0.986410
TNavParticleFilter::Modified Variance for beam 47 is 18.08 
Alpha[47]	0.000000
Alpha[47]	0.985787
TNavParticleFilter::Modified Variance for beam 48 is 18.25 
Alpha[48]	0.000000
Alpha[48]	0.984809
TNavParticleFilter::Modified Variance for beam 49 is 18.39 
Alpha[49]	0.000000
Alpha[49]	0.985990
TNavParticleFilter::Modified Variance for beam 50 is 18.53 
Alpha[50]	0.000000
Alpha[50]	0.987617
TNavParticleFilter::Modified Variance for beam 51 is 17.35 
Alpha[51]	0.000000
Alpha[51]	0.986395
TNavParticleFilter::Modified Variance for beam 52 is 16.71 
Alpha[52]	0.000000
Alpha[52]	0.983339
TNavParticleFilter::Modified Variance for beam 53 is 16.83 
Alpha[53]	0.000000
Alpha[53]	0.987241
TNavParticleFilter::Modified Variance for beam 54 is 18.16 
Alpha[54]	0.000000
Alpha[54]	0.987754
TNavParticleFilter::Modified Variance for beam 55 is 18.13 
Alpha[55]	0.000000
Alpha[55]	0.985832
TNavParticleFilter::Modified Variance for beam 56 is 17.49 
Alpha[56]	0.000000
Alpha[56]	0.984783
TNavParticleFilter::Modified Variance for beam 57 is 17.78 
Alpha[57]	0.000000
Alpha[57]	0.981662
TNavParticleFilter::Modified Variance for beam 58 is 17.53 
Alpha[58]	0.000000
Alpha[58]	0.982566
TNavParticleFilter::Modified Variance for beam 59 is 17.03 
Alpha[59]	0.000000
Alpha[59]	0.985252
TNavPF:: sumSquaredError = 7.076342 
TNavPF:: sumWeights = 0.086799 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.35. Range = 99.44 
TNavPF::Calculated measDiffMean for beam 52 as -0.45. Range = 95.44 
TNavPF::Calculated measDiffMean for beam 53 as 1.18. Range = 91.58 
TNavPF::Calculated measDiffMean for beam 54 as 1.43. Range = 85.34 
TNavPF::Calculated measDiffMean for beam 55 as -2.16. Range = 81.76 
TNavPF::Calculated measDiffMean for beam 56 as -1.94. Range = 78.30 
TNavPF::Calculated measDiffMean for beam 57 as 0.26. Range = 77.36 
TNavPF::Calculated measDiffMean for beam 58 as 0.21. Range = 71.70 
TNavPF::Calculated measDiffMean for beam 59 as -0.05. Range = 70.90 
TNavPF::Calculated measDiffMean for beam 60 as -0.19. Range = 70.14 
TNavPF::Calculated measDiffMean for beam 61 as -0.20. Range = 67.11 
TNavPF::Calculated measDiffMean for beam 62 as -0.20. Range = 66.45 
TNavPF::Calculated measDiffMean for beam 63 as -0.20. Range = 63.55 
TNavPF::Calculated measDiffMean for beam 64 as -0.20. Range = 62.98 
TNavPF::Calculated measDiffMean for beam 65 as -0.18. Range = 62.43 
TNavPF::Calculated measDiffMean for beam 66 as -0.16. Range = 61.91 
TNavPF::Calculated measDiffMean for beam 67 as -0.16. Range = 61.42 
TNavPF::Calculated measDiffMean for beam 68 as -0.15. Range = 60.95 
TNavPF::Calculated measDiffMean for beam 69 as -0.14. Range = 60.51 
TNavPF::Calculated measDiffMean for beam 70 as -0.12. Range = 60.09 
TNavPF::Calculated measDiffMean for beam 71 as -0.07. Range = 57.57 
TNavPF::Calculated measDiffMean for beam 72 as 0.06. Range = 57.21 
TNavPF::Calculated measDiffMean for beam 73 as 0.22. Range = 56.88 
TNavPF::Calculated measDiffMean for beam 74 as 0.46. Range = 54.47 
TNavPF::Calculated measDiffMean for beam 75 as -1.38. Range = 54.19 
TNavPF::Calculated measDiffMean for beam 76 as -1.41. Range = 54.19 
TNavPF::Calculated measDiffMean for beam 77 as 0.47. Range = 55.74 
TNavPF::Calculated measDiffMean for beam 78 as 0.47. Range = 55.51 
TNavPF::Calculated measDiffMean for beam 79 as 0.68. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 80 as 1.32. Range = 55.09 
TNavPF::Calculated measDiffMean for beam 81 as 0.05. Range = 52.88 
TNavPF::Calculated measDiffMean for beam 82 as -0.82. Range = 52.73 
TNavPF::Calculated measDiffMean for beam 83 as -0.90. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 84 as 0.92. Range = 54.48 
TNavPF::Calculated measDiffMean for beam 85 as 0.49. Range = 50.35 
TNavPF::Calculated measDiffMean for beam 86 as -0.85. Range = 50.26 
TNavPF::Calculated measDiffMean for beam 87 as -0.28. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 88 as -0.23. Range = 52.14 
TNavPF::Calculated measDiffMean for beam 89 as -0.98. Range = 52.10 
TNavPF::First Term of Map Covariance Matrix is 2.39 
TNavPF::Calculated NIS Value : 2.22 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322459.82 sec.
INS : North: 4070320.03, East: 588762.19, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 56.21, IDT[75] = 53.55
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322462.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322462.62)
ARL : North: -0.2838, East: -3.0192, Depth: -0.7184ARL : Estimation Bias  (Mean)         : (t = 1488322462.62)
ARL : North: 0.0533, East: -2.4481, Depth: 0.7883TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.75 
Alpha[0]	0.123000
Alpha[0]	0.987386
TNavParticleFilter::Modified Variance for beam 1 is 24.51 
Alpha[1]	0.000000
Alpha[1]	0.979735
TNavParticleFilter::Modified Variance for beam 2 is 24.14 
Alpha[2]	0.000000
Alpha[2]	0.977977
TNavParticleFilter::Modified Variance for beam 3 is 23.46 
Alpha[3]	0.000000
Alpha[3]	0.990097
TNavParticleFilter::Modified Variance for beam 4 is 23.16 
Alpha[4]	0.000000
Alpha[4]	0.987529
TNavParticleFilter::Modified Variance for beam 5 is 22.84 
Alpha[5]	0.000000
Alpha[5]	0.986278
TNavParticleFilter::Modified Variance for beam 6 is 22.44 
Alpha[6]	0.000000
Alpha[6]	0.989852
TNavParticleFilter::Modified Variance for beam 7 is 20.93 
Alpha[7]	0.000000
Alpha[7]	0.984962
TNavParticleFilter::Modified Variance for beam 8 is 20.99 
Alpha[8]	0.000000
Alpha[8]	0.969986
TNavParticleFilter::Modified Variance for beam 9 is 20.56 
Alpha[9]	0.000000
Alpha[9]	0.978258
TNavParticleFilter::Modified Variance for beam 10 is 20.19 
Alpha[10]	0.000000
Alpha[10]	0.985150
TNavParticleFilter::Modified Variance for beam 11 is 19.95 
Alpha[11]	0.000000
Alpha[11]	0.986107
TNavParticleFilter::Modified Variance for beam 12 is 18.57 
Alpha[12]	0.000000
Alpha[12]	0.985745
TNavParticleFilter::Modified Variance for beam 13 is 18.42 
Alpha[13]	0.000000
Alpha[13]	0.984399
TNavParticleFilter::Modified Variance for beam 14 is 19.22 
Alpha[14]	0.000000
Alpha[14]	0.981882
TNavParticleFilter::Modified Variance for beam 15 is 19.18 
Alpha[15]	0.000000
Alpha[15]	0.987804
TNavParticleFilter::Modified Variance for beam 16 is 17.97 
Alpha[16]	0.000000
Alpha[16]	0.983791
TNavParticleFilter::Modified Variance for beam 17 is 17.81 
Alpha[17]	0.000000
Alpha[17]	0.985344
TNavParticleFilter::Modified Variance for beam 18 is 18.45 
Alpha[18]	0.000000
Alpha[18]	0.992627
TNavParticleFilter::Modified Variance for beam 19 is 18.52 
Alpha[19]	0.000000
Alpha[19]	0.994099
TNavParticleFilter::Modified Variance for beam 20 is 16.29 
Alpha[20]	0.000000
Alpha[20]	0.993357
TNavParticleFilter::Modified Variance for beam 21 is 16.24 
Alpha[21]	0.000000
Alpha[21]	0.991621
TNavParticleFilter::Modified Variance for beam 22 is 17.28 
Alpha[22]	0.000000
Alpha[22]	0.987101
TNavParticleFilter::Modified Variance for beam 23 is 17.29 
Alpha[23]	0.000000
Alpha[23]	0.982059
TNavParticleFilter::Modified Variance for beam 24 is 17.43 
Alpha[24]	0.000000
Alpha[24]	0.970350
TNavParticleFilter::Modified Variance for beam 25 is 17.68 
Alpha[25]	0.000000
Alpha[25]	0.953648
TNavParticleFilter::Modified Variance for beam 26 is 17.69 
Alpha[26]	0.000000
Alpha[26]	0.950438
TNavParticleFilter::Modified Variance for beam 27 is 17.66 
Alpha[27]	0.000000
Alpha[27]	0.950308
TNavParticleFilter::Modified Variance for beam 28 is 17.61 
Alpha[28]	0.000000
Alpha[28]	0.951227
TNavParticleFilter::Modified Variance for beam 29 is 17.55 
Alpha[29]	0.000000
Alpha[29]	0.952879
TNavParticleFilter::Modified Variance for beam 30 is 17.50 
Alpha[30]	0.000000
Alpha[30]	0.955022
TNavParticleFilter::Modified Variance for beam 31 is 17.44 
Alpha[31]	0.000000
Alpha[31]	0.958306
TNavParticleFilter::Modified Variance for beam 32 is 17.41 
Alpha[32]	0.000000
Alpha[32]	0.959921
TNavParticleFilter::Modified Variance for beam 33 is 17.41 
Alpha[33]	0.000000
Alpha[33]	0.960351
TNavParticleFilter::Modified Variance for beam 34 is 17.41 
Alpha[34]	0.000000
Alpha[34]	0.961710
TNavParticleFilter::Modified Variance for beam 35 is 17.38 
Alpha[35]	0.000000
Alpha[35]	0.965040
TNavParticleFilter::Modified Variance for beam 36 is 17.36 
Alpha[36]	0.000000
Alpha[36]	0.967934
TNavParticleFilter::Modified Variance for beam 37 is 17.32 
Alpha[37]	0.000000
Alpha[37]	0.972978
TNavParticleFilter::Modified Variance for beam 38 is 17.28 
Alpha[38]	0.000000
Alpha[38]	0.978184
TNavParticleFilter::Modified Variance for beam 39 is 17.26 
Alpha[39]	0.000000
Alpha[39]	0.982492
TNavParticleFilter::Modified Variance for beam 40 is 17.28 
Alpha[40]	0.000000
Alpha[40]	0.985532
TNavParticleFilter::Modified Variance for beam 41 is 17.34 
Alpha[41]	0.000000
Alpha[41]	0.986367
TNavParticleFilter::Modified Variance for beam 42 is 17.44 
Alpha[42]	0.000000
Alpha[42]	0.985705
TNavParticleFilter::Modified Variance for beam 43 is 17.57 
Alpha[43]	0.000000
Alpha[43]	0.984327
TNavParticleFilter::Modified Variance for beam 44 is 17.66 
Alpha[44]	0.000000
Alpha[44]	0.985258
TNavParticleFilter::Modified Variance for beam 45 is 17.74 
Alpha[45]	0.000000
Alpha[45]	0.987335
TNavParticleFilter::Modified Variance for beam 46 is 17.33 
Alpha[46]	0.000000
Alpha[46]	0.989328
TNavParticleFilter::Modified Variance for beam 47 is 15.89 
Alpha[47]	0.000000
Alpha[47]	0.985131
TNavParticleFilter::Modified Variance for beam 48 is 16.02 
Alpha[48]	0.000000
Alpha[48]	0.985210
TNavParticleFilter::Modified Variance for beam 49 is 16.12 
Alpha[49]	0.000000
Alpha[49]	0.987681
TNavParticleFilter::Modified Variance for beam 50 is 17.38 
Alpha[50]	0.000000
Alpha[50]	0.986083
TNavParticleFilter::Modified Variance for beam 51 is 16.80 
Alpha[51]	0.000000
Alpha[51]	0.985552
TNavParticleFilter::Modified Variance for beam 52 is 16.64 
Alpha[52]	0.000000
Alpha[52]	0.984806
TNavParticleFilter::Modified Variance for beam 53 is 16.84 
Alpha[53]	0.000000
Alpha[53]	0.983351
TNavParticleFilter::Modified Variance for beam 54 is 16.15 
Alpha[54]	0.000000
Alpha[54]	0.984208
TNavParticleFilter::Modified Variance for beam 55 is 16.08 
Alpha[55]	0.000000
Alpha[55]	0.985744
TNavParticleFilter::Modified Variance for beam 56 is 16.25 
Alpha[56]	0.000000
Alpha[56]	0.987965
TNavParticleFilter::Modified Variance for beam 57 is 17.59 
Alpha[57]	0.000000
Alpha[57]	0.988844
TNavParticleFilter::Modified Variance for beam 58 is 17.03 
Alpha[58]	0.000000
Alpha[58]	0.986839
TNavParticleFilter::Modified Variance for beam 59 is 16.22 
Alpha[59]	0.000000
Alpha[59]	0.983066
TNavPF:: sumSquaredError = 10.898269 
TNavPF:: sumWeights = 0.086186 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -2.02. Range = 98.27 
TNavPF::Calculated measDiffMean for beam 51 as -1.76. Range = 94.19 
TNavPF::Calculated measDiffMean for beam 52 as 0.41. Range = 87.68 
TNavPF::Calculated measDiffMean for beam 53 as 0.33. Range = 81.38 
TNavPF::Calculated measDiffMean for beam 54 as 0.07. Range = 80.29 
TNavPF::Calculated measDiffMean for beam 55 as -0.07. Range = 79.25 
TNavPF::Calculated measDiffMean for beam 56 as -0.09. Range = 73.37 
TNavPF::Calculated measDiffMean for beam 57 as -0.09. Range = 72.49 
TNavPF::Calculated measDiffMean for beam 58 as -0.09. Range = 69.27 
TNavPF::Calculated measDiffMean for beam 59 as -0.09. Range = 68.50 
TNavPF::Calculated measDiffMean for beam 60 as -0.08. Range = 65.43 
TNavPF::Calculated measDiffMean for beam 61 as -0.06. Range = 64.75 
TNavPF::Calculated measDiffMean for beam 62 as -0.05. Range = 64.11 
TNavPF::Calculated measDiffMean for beam 63 as -0.05. Range = 63.50 
TNavPF::Calculated measDiffMean for beam 64 as -0.04. Range = 62.93 
TNavPF::Calculated measDiffMean for beam 65 as -0.02. Range = 62.38 
TNavPF::Calculated measDiffMean for beam 66 as 0.01. Range = 61.86 
TNavPF::Calculated measDiffMean for beam 67 as 0.10. Range = 59.17 
TNavPF::Calculated measDiffMean for beam 68 as 0.23. Range = 58.72 
TNavPF::Calculated measDiffMean for beam 69 as 0.44. Range = 58.29 
TNavPF::Calculated measDiffMean for beam 70 as 0.69. Range = 57.89 
TNavPF::Calculated measDiffMean for beam 71 as 0.71. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 72 as 0.55. Range = 55.04 
TNavPF::Calculated measDiffMean for beam 73 as 0.46. Range = 54.71 
TNavPF::Calculated measDiffMean for beam 74 as 0.59. Range = 56.07 
TNavPF::Calculated measDiffMean for beam 75 as 0.92. Range = 56.21 
TNavPF::Calculated measDiffMean for beam 76 as 1.06. Range = 53.86 
TNavPF::Calculated measDiffMean for beam 77 as -0.97. Range = 53.62 
TNavPF::Calculated measDiffMean for beam 78 as -0.75. Range = 55.05 
TNavPF::Calculated measDiffMean for beam 79 as -1.10. Range = 55.23 
TNavPF::Calculated measDiffMean for beam 80 as 0.84. Range = 50.95 
TNavPF::Calculated measDiffMean for beam 81 as -0.35. Range = 50.78 
TNavPF::Calculated measDiffMean for beam 82 as -0.69. Range = 52.66 
TNavPF::Calculated measDiffMean for beam 83 as 0.03. Range = 52.52 
TNavPF::Calculated measDiffMean for beam 84 as -0.78. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 85 as -0.86. Range = 52.29 
TNavPF::Calculated measDiffMean for beam 86 as -0.78. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 87 as 1.67. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 88 as 0.96. Range = 52.07 
TNavPF::Calculated measDiffMean for beam 89 as -0.12. Range = 52.03 
TNavPF::First Term of Map Covariance Matrix is 1.58 
TNavPF::Calculated NIS Value : 2.18 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322462.82 sec.
INS : North: 4070319.97, East: 588757.78, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 53.34, IDT[75] = 52.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322465.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322465.62)
ARL : North: -0.2372, East: -3.3276, Depth: -3.4735ARL : Estimation Bias  (Mean)         : (t = 1488322465.62)
ARL : North: 0.0555, East: -2.3279, Depth: 0.9977TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.82 
Alpha[0]	0.123000
Alpha[0]	0.990523
TNavParticleFilter::Modified Variance for beam 1 is 22.13 
Alpha[1]	0.000000
Alpha[1]	0.986405
TNavParticleFilter::Modified Variance for beam 2 is 22.09 
Alpha[2]	0.000000
Alpha[2]	0.973149
TNavParticleFilter::Modified Variance for beam 3 is 21.56 
Alpha[3]	0.000000
Alpha[3]	0.982807
TNavParticleFilter::Modified Variance for beam 4 is 21.17 
Alpha[4]	0.000000
Alpha[4]	0.986705
TNavParticleFilter::Modified Variance for beam 5 is 20.88 
Alpha[5]	0.000000
Alpha[5]	0.987367
TNavParticleFilter::Modified Variance for beam 6 is 19.39 
Alpha[6]	0.000000
Alpha[6]	0.986431
TNavParticleFilter::Modified Variance for beam 7 is 19.21 
Alpha[7]	0.000000
Alpha[7]	0.983956
TNavParticleFilter::Modified Variance for beam 8 is 20.16 
Alpha[8]	0.000000
Alpha[8]	0.986631
TNavParticleFilter::Modified Variance for beam 9 is 19.90 
Alpha[9]	0.000000
Alpha[9]	0.988716
TNavParticleFilter::Modified Variance for beam 10 is 18.61 
Alpha[10]	0.000000
Alpha[10]	0.983648
TNavParticleFilter::Modified Variance for beam 11 is 17.18 
Alpha[11]	0.000000
Alpha[11]	0.991417
TNavParticleFilter::Modified Variance for beam 12 is 16.98 
Alpha[12]	0.000000
Alpha[12]	0.994124
TNavParticleFilter::Modified Variance for beam 13 is 17.92 
Alpha[13]	0.000000
Alpha[13]	0.993490
TNavParticleFilter::Modified Variance for beam 14 is 16.75 
Alpha[14]	0.000000
Alpha[14]	0.991776
TNavParticleFilter::Modified Variance for beam 15 is 17.64 
Alpha[15]	0.000000
Alpha[15]	0.986963
TNavParticleFilter::Modified Variance for beam 16 is 17.77 
Alpha[16]	0.000000
Alpha[16]	0.981391
TNavParticleFilter::Modified Variance for beam 17 is 17.89 
Alpha[17]	0.000000
Alpha[17]	0.969047
TNavParticleFilter::Modified Variance for beam 18 is 18.06 
Alpha[18]	0.000000
Alpha[18]	0.954406
TNavParticleFilter::Modified Variance for beam 19 is 18.02 
Alpha[19]	0.000000
Alpha[19]	0.951230
TNavParticleFilter::Modified Variance for beam 20 is 17.93 
Alpha[20]	0.000000
Alpha[20]	0.951570
TNavParticleFilter::Modified Variance for beam 21 is 17.84 
Alpha[21]	0.000000
Alpha[21]	0.952538
TNavParticleFilter::Modified Variance for beam 22 is 17.75 
Alpha[22]	0.000000
Alpha[22]	0.953669
TNavParticleFilter::Modified Variance for beam 23 is 17.63 
Alpha[23]	0.000000
Alpha[23]	0.957154
TNavParticleFilter::Modified Variance for beam 24 is 17.54 
Alpha[24]	0.000000
Alpha[24]	0.959627
TNavParticleFilter::Modified Variance for beam 25 is 17.48 
Alpha[25]	0.000000
Alpha[25]	0.960751
TNavParticleFilter::Modified Variance for beam 26 is 17.43 
Alpha[26]	0.000000
Alpha[26]	0.961666
TNavParticleFilter::Modified Variance for beam 27 is 17.38 
Alpha[27]	0.000000
Alpha[27]	0.963648
TNavParticleFilter::Modified Variance for beam 28 is 17.30 
Alpha[28]	0.000000
Alpha[28]	0.967014
TNavParticleFilter::Modified Variance for beam 29 is 17.25 
Alpha[29]	0.000000
Alpha[29]	0.969741
TNavParticleFilter::Modified Variance for beam 30 is 17.17 
Alpha[30]	0.000000
Alpha[30]	0.974588
TNavParticleFilter::Modified Variance for beam 31 is 17.11 
Alpha[31]	0.000000
Alpha[31]	0.978415
TNavParticleFilter::Modified Variance for beam 32 is 17.07 
Alpha[32]	0.000000
Alpha[32]	0.982192
TNavParticleFilter::Modified Variance for beam 33 is 17.05 
Alpha[33]	0.000000
Alpha[33]	0.985005
TNavParticleFilter::Modified Variance for beam 34 is 17.07 
Alpha[34]	0.000000
Alpha[34]	0.985565
TNavParticleFilter::Modified Variance for beam 35 is 17.14 
Alpha[35]	0.000000
Alpha[35]	0.984499
TNavParticleFilter::Modified Variance for beam 36 is 17.21 
Alpha[36]	0.000000
Alpha[36]	0.983635
TNavParticleFilter::Modified Variance for beam 37 is 17.25 
Alpha[37]	0.000000
Alpha[37]	0.984493
TNavParticleFilter::Modified Variance for beam 38 is 17.27 
Alpha[38]	0.000000
Alpha[38]	0.987654
TNavParticleFilter::Modified Variance for beam 39 is 17.22 
Alpha[39]	0.000000
Alpha[39]	0.990979
TNavParticleFilter::Modified Variance for beam 40 is 15.40 
Alpha[40]	0.000000
Alpha[40]	0.986435
TNavParticleFilter::Modified Variance for beam 41 is 15.50 
Alpha[41]	0.000000
Alpha[41]	0.985080
TNavParticleFilter::Modified Variance for beam 42 is 15.57 
Alpha[42]	0.000000
Alpha[42]	0.986827
TNavParticleFilter::Modified Variance for beam 43 is 16.73 
Alpha[43]	0.000000
Alpha[43]	0.985313
TNavParticleFilter::Modified Variance for beam 44 is 16.85 
Alpha[44]	0.000000
Alpha[44]	0.985169
TNavParticleFilter::Modified Variance for beam 45 is 16.97 
Alpha[45]	0.000000
Alpha[45]	0.985523
TNavParticleFilter::Modified Variance for beam 46 is 16.05 
Alpha[46]	0.000000
Alpha[46]	0.985395
TNavParticleFilter::Modified Variance for beam 47 is 15.51 
Alpha[47]	0.000000
Alpha[47]	0.984656
TNavParticleFilter::Modified Variance for beam 48 is 15.29 
Alpha[48]	0.000000
Alpha[48]	0.985368
TNavParticleFilter::Modified Variance for beam 49 is 15.41 
Alpha[49]	0.000000
Alpha[49]	0.987356
TNavParticleFilter::Modified Variance for beam 50 is 16.60 
Alpha[50]	0.000000
Alpha[50]	0.989525
TNavParticleFilter::Modified Variance for beam 51 is 16.48 
Alpha[51]	0.000000
Alpha[51]	0.989148
TNavParticleFilter::Modified Variance for beam 52 is 15.49 
Alpha[52]	0.000000
Alpha[52]	0.985827
TNavParticleFilter::Modified Variance for beam 53 is 15.09 
Alpha[53]	0.000000
Alpha[53]	0.983273
TNavParticleFilter::Modified Variance for beam 54 is 15.25 
Alpha[54]	0.000000
Alpha[54]	0.984439
TNavParticleFilter::Modified Variance for beam 55 is 15.39 
Alpha[55]	0.000000
Alpha[55]	0.988242
TNavParticleFilter::Modified Variance for beam 56 is 15.55 
Alpha[56]	0.000000
Alpha[56]	0.991120
TNavParticleFilter::Modified Variance for beam 57 is 15.56 
Alpha[57]	0.000000
Alpha[57]	0.990556
TNavParticleFilter::Modified Variance for beam 58 is 14.94 
Alpha[58]	0.000000
Alpha[58]	0.988367
TNavParticleFilter::Modified Variance for beam 59 is 15.14 
Alpha[59]	0.000000
Alpha[59]	0.989870
TNavPF:: sumSquaredError = 5.786969 
TNavPF:: sumWeights = 0.066760 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -2.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -2.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.19. Range = 97.01 
TNavPF::Calculated measDiffMean for beam 48 as 0.05. Range = 90.21 
TNavPF::Calculated measDiffMean for beam 49 as 0.03. Range = 83.65 
TNavPF::Calculated measDiffMean for beam 50 as 0.03. Range = 82.45 
TNavPF::Calculated measDiffMean for beam 51 as 0.03. Range = 76.23 
TNavPF::Calculated measDiffMean for beam 52 as 0.03. Range = 75.22 
TNavPF::Calculated measDiffMean for beam 53 as 0.04. Range = 74.25 
TNavPF::Calculated measDiffMean for beam 54 as 0.05. Range = 70.88 
TNavPF::Calculated measDiffMean for beam 55 as 0.06. Range = 67.62 
TNavPF::Calculated measDiffMean for beam 56 as 0.06. Range = 66.85 
TNavPF::Calculated measDiffMean for beam 57 as 0.07. Range = 66.10 
TNavPF::Calculated measDiffMean for beam 58 as 0.09. Range = 65.40 
TNavPF::Calculated measDiffMean for beam 59 as 0.12. Range = 64.73 
TNavPF::Calculated measDiffMean for beam 60 as 0.21. Range = 64.09 
TNavPF::Calculated measDiffMean for beam 61 as 0.31. Range = 61.22 
TNavPF::Calculated measDiffMean for beam 62 as 0.48. Range = 60.66 
TNavPF::Calculated measDiffMean for beam 63 as 0.71. Range = 60.14 
TNavPF::Calculated measDiffMean for beam 64 as 0.72. Range = 59.64 
TNavPF::Calculated measDiffMean for beam 65 as 0.56. Range = 59.16 
TNavPF::Calculated measDiffMean for beam 66 as 0.50. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 67 as 0.59. Range = 56.13 
TNavPF::Calculated measDiffMean for beam 68 as 0.90. Range = 57.89 
TNavPF::Calculated measDiffMean for beam 69 as 1.82. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 70 as -0.92. Range = 55.04 
TNavPF::Calculated measDiffMean for beam 71 as -0.74. Range = 52.62 
TNavPF::Calculated measDiffMean for beam 72 as -1.09. Range = 52.33 
TNavPF::Calculated measDiffMean for beam 73 as 0.79. Range = 54.09 
TNavPF::Calculated measDiffMean for beam 74 as 1.02. Range = 51.80 
TNavPF::Calculated measDiffMean for beam 75 as 1.34. Range = 53.34 
TNavPF::Calculated measDiffMean for beam 76 as -0.10. Range = 53.41 
TNavPF::Calculated measDiffMean for beam 77 as -0.59. Range = 53.20 
TNavPF::Calculated measDiffMean for beam 78 as -0.89. Range = 53.01 
TNavPF::Calculated measDiffMean for beam 79 as -0.77. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 80 as 1.52. Range = 52.68 
TNavPF::Calculated measDiffMean for beam 81 as 1.62. Range = 52.54 
TNavPF::Calculated measDiffMean for beam 82 as 0.26. Range = 52.42 
TNavPF::Calculated measDiffMean for beam 83 as -0.28. Range = 52.32 
TNavPF::Calculated measDiffMean for beam 84 as 0.11. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 85 as 0.60. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 86 as 1.16. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 87 as 1.40. Range = 52.06 
TNavPF::Calculated measDiffMean for beam 88 as 0.23. Range = 52.04 
TNavPF::Calculated measDiffMean for beam 89 as 0.70. Range = 52.03 
TNavPF::First Term of Map Covariance Matrix is 2.10 
TNavPF::Calculated NIS Value : 2.63 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322465.82 sec.
INS : North: 4070320.10, East: 588753.37, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 53.09, IDT[75] = 47.40
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322468.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322468.62)
ARL : North: -0.3934, East: -3.2872, Depth: 1.4205ARL : Estimation Bias  (Mean)         : (t = 1488322468.62)
ARL : North: 0.0591, East: -2.1131, Depth: 0.5462TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.14 
Alpha[0]	0.123000
Alpha[0]	0.990570
TNavParticleFilter::Modified Variance for beam 1 is 19.70 
Alpha[1]	0.000000
Alpha[1]	0.986016
TNavParticleFilter::Modified Variance for beam 2 is 18.19 
Alpha[2]	0.000000
Alpha[2]	0.990599
TNavParticleFilter::Modified Variance for beam 3 is 17.92 
Alpha[3]	0.000000
Alpha[3]	0.993928
TNavParticleFilter::Modified Variance for beam 4 is 18.75 
Alpha[4]	0.000000
Alpha[4]	0.992836
TNavParticleFilter::Modified Variance for beam 5 is 18.77 
Alpha[5]	0.000000
Alpha[5]	0.989592
TNavParticleFilter::Modified Variance for beam 6 is 18.70 
Alpha[6]	0.000000
Alpha[6]	0.983670
TNavParticleFilter::Modified Variance for beam 7 is 18.66 
Alpha[7]	0.000000
Alpha[7]	0.976808
TNavParticleFilter::Modified Variance for beam 8 is 18.76 
Alpha[8]	0.000000
Alpha[8]	0.963324
TNavParticleFilter::Modified Variance for beam 9 is 18.79 
Alpha[9]	0.000000
Alpha[9]	0.954417
TNavParticleFilter::Modified Variance for beam 10 is 18.66 
Alpha[10]	0.000000
Alpha[10]	0.953563
TNavParticleFilter::Modified Variance for beam 11 is 18.54 
Alpha[11]	0.000000
Alpha[11]	0.953260
TNavParticleFilter::Modified Variance for beam 12 is 18.41 
Alpha[12]	0.000000
Alpha[12]	0.953710
TNavParticleFilter::Modified Variance for beam 13 is 18.24 
Alpha[13]	0.000000
Alpha[13]	0.956930
TNavParticleFilter::Modified Variance for beam 14 is 18.05 
Alpha[14]	0.000000
Alpha[14]	0.961728
TNavParticleFilter::Modified Variance for beam 15 is 17.93 
Alpha[15]	0.000000
Alpha[15]	0.963380
TNavParticleFilter::Modified Variance for beam 16 is 17.85 
Alpha[16]	0.000000
Alpha[16]	0.963585
TNavParticleFilter::Modified Variance for beam 17 is 17.76 
Alpha[17]	0.000000
Alpha[17]	0.964569
TNavParticleFilter::Modified Variance for beam 18 is 17.63 
Alpha[18]	0.000000
Alpha[18]	0.968800
TNavParticleFilter::Modified Variance for beam 19 is 17.51 
Alpha[19]	0.000000
Alpha[19]	0.972275
TNavParticleFilter::Modified Variance for beam 20 is 17.46 
Alpha[20]	0.000000
Alpha[20]	0.973180
TNavParticleFilter::Modified Variance for beam 21 is 17.41 
Alpha[21]	0.000000
Alpha[21]	0.974117
TNavParticleFilter::Modified Variance for beam 22 is 17.30 
Alpha[22]	0.000000
Alpha[22]	0.978613
TNavParticleFilter::Modified Variance for beam 23 is 17.20 
Alpha[23]	0.000000
Alpha[23]	0.983388
TNavParticleFilter::Modified Variance for beam 24 is 17.17 
Alpha[24]	0.000000
Alpha[24]	0.984557
TNavParticleFilter::Modified Variance for beam 25 is 17.19 
Alpha[25]	0.000000
Alpha[25]	0.983658
TNavParticleFilter::Modified Variance for beam 26 is 17.22 
Alpha[26]	0.000000
Alpha[26]	0.982535
TNavParticleFilter::Modified Variance for beam 27 is 17.25 
Alpha[27]	0.000000
Alpha[27]	0.981887
TNavParticleFilter::Modified Variance for beam 28 is 17.24 
Alpha[28]	0.000000
Alpha[28]	0.983819
TNavParticleFilter::Modified Variance for beam 29 is 17.15 
Alpha[29]	0.000000
Alpha[29]	0.991064
TNavParticleFilter::Modified Variance for beam 30 is 15.18 
Alpha[30]	0.000000
Alpha[30]	0.990951
TNavParticleFilter::Modified Variance for beam 31 is 15.30 
Alpha[31]	0.000000
Alpha[31]	0.986230
TNavParticleFilter::Modified Variance for beam 32 is 15.35 
Alpha[32]	0.000000
Alpha[32]	0.986185
TNavParticleFilter::Modified Variance for beam 33 is 16.45 
Alpha[33]	0.000000
Alpha[33]	0.983886
TNavParticleFilter::Modified Variance for beam 34 is 16.52 
Alpha[34]	0.000000
Alpha[34]	0.983913
TNavParticleFilter::Modified Variance for beam 35 is 16.57 
Alpha[35]	0.000000
Alpha[35]	0.985940
TNavParticleFilter::Modified Variance for beam 36 is 16.63 
Alpha[36]	0.000000
Alpha[36]	0.987484
TNavParticleFilter::Modified Variance for beam 37 is 15.71 
Alpha[37]	0.000000
Alpha[37]	0.987192
TNavParticleFilter::Modified Variance for beam 38 is 15.83 
Alpha[38]	0.000000
Alpha[38]	0.985723
TNavParticleFilter::Modified Variance for beam 39 is 15.92 
Alpha[39]	0.000000
Alpha[39]	0.986969
TNavParticleFilter::Modified Variance for beam 40 is 15.99 
Alpha[40]	0.000000
Alpha[40]	0.989765
TNavParticleFilter::Modified Variance for beam 41 is 16.10 
Alpha[41]	0.000000
Alpha[41]	0.990950
TNavParticleFilter::Modified Variance for beam 42 is 15.21 
Alpha[42]	0.000000
Alpha[42]	0.989818
TNavParticleFilter::Modified Variance for beam 43 is 14.39 
Alpha[43]	0.000000
Alpha[43]	0.987009
TNavParticleFilter::Modified Variance for beam 44 is 14.54 
Alpha[44]	0.000000
Alpha[44]	0.986250
TNavParticleFilter::Modified Variance for beam 45 is 14.67 
Alpha[45]	0.000000
Alpha[45]	0.986834
TNavParticleFilter::Modified Variance for beam 46 is 13.78 
Alpha[46]	0.000000
Alpha[46]	0.989735
TNavParticleFilter::Modified Variance for beam 47 is 14.92 
Alpha[47]	0.000000
Alpha[47]	0.990950
TNavParticleFilter::Modified Variance for beam 48 is 14.33 
Alpha[48]	0.000000
Alpha[48]	0.989516
TNavParticleFilter::Modified Variance for beam 49 is 14.26 
Alpha[49]	0.000000
Alpha[49]	0.989331
TNavParticleFilter::Modified Variance for beam 50 is 14.41 
Alpha[50]	0.000000
Alpha[50]	0.990850
TNavParticleFilter::Modified Variance for beam 51 is 14.10 
Alpha[51]	0.000000
Alpha[51]	0.990324
TNavParticleFilter::Modified Variance for beam 52 is 13.79 
Alpha[52]	0.000000
Alpha[52]	0.988664
TNavParticleFilter::Modified Variance for beam 53 is 13.97 
Alpha[53]	0.000000
Alpha[53]	0.989425
TNavParticleFilter::Modified Variance for beam 54 is 14.00 
Alpha[54]	0.000000
Alpha[54]	0.989076
TNavParticleFilter::Modified Variance for beam 55 is 13.42 
Alpha[55]	0.000000
Alpha[55]	0.986709
TNavParticleFilter::Modified Variance for beam 56 is 13.58 
Alpha[56]	0.000000
Alpha[56]	0.987114
TNavParticleFilter::Modified Variance for beam 57 is 13.80 
Alpha[57]	0.000000
Alpha[57]	0.987301
TNavParticleFilter::Modified Variance for beam 58 is 13.47 
Alpha[58]	0.000000
Alpha[58]	0.984433
TNavParticleFilter::Modified Variance for beam 59 is 13.26 
Alpha[59]	0.000000
Alpha[59]	0.982332
TNavPF:: sumSquaredError = 7.990147 
TNavPF:: sumWeights = 0.090797 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.71. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.27. Range = 94.14 
TNavPF::Calculated measDiffMean for beam 42 as 0.27. Range = 87.21 
TNavPF::Calculated measDiffMean for beam 43 as 0.27. Range = 85.85 
TNavPF::Calculated measDiffMean for beam 44 as 0.29. Range = 79.31 
TNavPF::Calculated measDiffMean for beam 45 as 0.30. Range = 78.16 
TNavPF::Calculated measDiffMean for beam 46 as 0.29. Range = 77.06 
TNavPF::Calculated measDiffMean for beam 47 as 0.30. Range = 70.98 
TNavPF::Calculated measDiffMean for beam 48 as 0.33. Range = 70.06 
TNavPF::Calculated measDiffMean for beam 49 as 0.37. Range = 69.18 
TNavPF::Calculated measDiffMean for beam 50 as 0.38. Range = 65.92 
TNavPF::Calculated measDiffMean for beam 51 as 0.40. Range = 65.28 
TNavPF::Calculated measDiffMean for beam 52 as 0.50. Range = 65.98 
TNavPF::Calculated measDiffMean for beam 53 as 0.72. Range = 63.72 
TNavPF::Calculated measDiffMean for beam 54 as 0.81. Range = 63.06 
TNavPF::Calculated measDiffMean for beam 55 as 0.72. Range = 62.43 
TNavPF::Calculated measDiffMean for beam 56 as 0.62. Range = 61.83 
TNavPF::Calculated measDiffMean for beam 57 as 0.59. Range = 59.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.67. Range = 58.48 
TNavPF::Calculated measDiffMean for beam 59 as 1.33. Range = 59.22 
TNavPF::Calculated measDiffMean for beam 60 as -1.34. Range = 59.72 
TNavPF::Calculated measDiffMean for beam 61 as -0.77. Range = 57.08 
TNavPF::Calculated measDiffMean for beam 62 as -0.99. Range = 54.49 
TNavPF::Calculated measDiffMean for beam 63 as 0.72. Range = 54.11 
TNavPF::Calculated measDiffMean for beam 64 as 0.82. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 65 as 1.10. Range = 55.54 
TNavPF::Calculated measDiffMean for beam 66 as 1.56. Range = 55.21 
TNavPF::Calculated measDiffMean for beam 67 as 0.42. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 68 as 1.03. Range = 54.60 
TNavPF::Calculated measDiffMean for beam 69 as 1.28. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 70 as 1.49. Range = 54.08 
TNavPF::Calculated measDiffMean for beam 71 as 1.90. Range = 53.85 
TNavPF::Calculated measDiffMean for beam 72 as 0.74. Range = 53.63 
TNavPF::Calculated measDiffMean for beam 73 as -0.42. Range = 53.44 
TNavPF::Calculated measDiffMean for beam 74 as 0.06. Range = 53.26 
TNavPF::Calculated measDiffMean for beam 75 as 0.56. Range = 53.09 
TNavPF::Calculated measDiffMean for beam 76 as -0.99. Range = 52.95 
TNavPF::Calculated measDiffMean for beam 77 as 1.70. Range = 52.82 
TNavPF::Calculated measDiffMean for beam 78 as 0.67. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 79 as 0.66. Range = 52.61 
TNavPF::Calculated measDiffMean for beam 80 as 1.14. Range = 52.54 
TNavPF::Calculated measDiffMean for beam 81 as 0.83. Range = 52.47 
TNavPF::Calculated measDiffMean for beam 82 as 0.48. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 83 as 1.02. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 84 as 1.22. Range = 52.38 
TNavPF::Calculated measDiffMean for beam 85 as 0.12. Range = 52.38 
TNavPF::Calculated measDiffMean for beam 86 as 0.55. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 87 as 1.04. Range = 52.43 
TNavPF::Calculated measDiffMean for beam 88 as 0.51. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 89 as 0.36. Range = 52.55 
TNavPF::First Term of Map Covariance Matrix is 2.11 
TNavPF::Calculated NIS Value : 2.12 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322468.82 sec.
INS : North: 4070320.58, East: 588748.99, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 53.24, IDT[75] = 43.96
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322471.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322471.62)
ARL : North: -0.6816, East: -2.7088, Depth: 3.4212ARL : Estimation Bias  (Mean)         : (t = 1488322471.62)
ARL : North: 0.1728, East: -1.9918, Depth: 0.2793TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.63 
Alpha[0]	0.123000
Alpha[0]	0.956392
TNavParticleFilter::Modified Variance for beam 1 is 19.46 
Alpha[1]	0.000000
Alpha[1]	0.956211
TNavParticleFilter::Modified Variance for beam 2 is 19.21 
Alpha[2]	0.000000
Alpha[2]	0.960354
TNavParticleFilter::Modified Variance for beam 3 is 18.93 
Alpha[3]	0.000000
Alpha[3]	0.966890
TNavParticleFilter::Modified Variance for beam 4 is 18.76 
Alpha[4]	0.000000
Alpha[4]	0.968612
TNavParticleFilter::Modified Variance for beam 5 is 18.64 
Alpha[5]	0.000000
Alpha[5]	0.968257
TNavParticleFilter::Modified Variance for beam 6 is 18.50 
Alpha[6]	0.000000
Alpha[6]	0.969622
TNavParticleFilter::Modified Variance for beam 7 is 18.30 
Alpha[7]	0.000000
Alpha[7]	0.974733
TNavParticleFilter::Modified Variance for beam 8 is 18.16 
Alpha[8]	0.000000
Alpha[8]	0.977017
TNavParticleFilter::Modified Variance for beam 9 is 18.10 
Alpha[9]	0.000000
Alpha[9]	0.975621
TNavParticleFilter::Modified Variance for beam 10 is 18.07 
Alpha[10]	0.000000
Alpha[10]	0.973167
TNavParticleFilter::Modified Variance for beam 11 is 17.90 
Alpha[11]	0.000000
Alpha[11]	0.978744
TNavParticleFilter::Modified Variance for beam 12 is 17.75 
Alpha[12]	0.000000
Alpha[12]	0.983890
TNavParticleFilter::Modified Variance for beam 13 is 17.70 
Alpha[13]	0.000000
Alpha[13]	0.984368
TNavParticleFilter::Modified Variance for beam 14 is 17.69 
Alpha[14]	0.000000
Alpha[14]	0.982710
TNavParticleFilter::Modified Variance for beam 15 is 17.69 
Alpha[15]	0.000000
Alpha[15]	0.980731
TNavParticleFilter::Modified Variance for beam 16 is 17.70 
Alpha[16]	0.000000
Alpha[16]	0.979064
TNavParticleFilter::Modified Variance for beam 17 is 17.57 
Alpha[17]	0.000000
Alpha[17]	0.985571
TNavParticleFilter::Modified Variance for beam 18 is 17.44 
Alpha[18]	0.000000
Alpha[18]	0.993022
TNavParticleFilter::Modified Variance for beam 19 is 15.47 
Alpha[19]	0.000000
Alpha[19]	0.989522
TNavParticleFilter::Modified Variance for beam 20 is 15.54 
Alpha[20]	0.000000
Alpha[20]	0.985814
TNavParticleFilter::Modified Variance for beam 21 is 16.62 
Alpha[21]	0.000000
Alpha[21]	0.982542
TNavParticleFilter::Modified Variance for beam 22 is 16.68 
Alpha[22]	0.000000
Alpha[22]	0.980578
TNavParticleFilter::Modified Variance for beam 23 is 16.65 
Alpha[23]	0.000000
Alpha[23]	0.984646
TNavParticleFilter::Modified Variance for beam 24 is 16.65 
Alpha[24]	0.000000
Alpha[24]	0.987297
TNavParticleFilter::Modified Variance for beam 25 is 16.67 
Alpha[25]	0.000000
Alpha[25]	0.989124
TNavParticleFilter::Modified Variance for beam 26 is 15.76 
Alpha[26]	0.000000
Alpha[26]	0.986429
TNavParticleFilter::Modified Variance for beam 27 is 15.82 
Alpha[27]	0.000000
Alpha[27]	0.986541
TNavParticleFilter::Modified Variance for beam 28 is 15.84 
Alpha[28]	0.000000
Alpha[28]	0.989855
TNavParticleFilter::Modified Variance for beam 29 is 15.89 
Alpha[29]	0.000000
Alpha[29]	0.992082
TNavParticleFilter::Modified Variance for beam 30 is 15.63 
Alpha[30]	0.000000
Alpha[30]	0.991850
TNavParticleFilter::Modified Variance for beam 31 is 14.14 
Alpha[31]	0.000000
Alpha[31]	0.989483
TNavParticleFilter::Modified Variance for beam 32 is 14.25 
Alpha[32]	0.000000
Alpha[32]	0.988592
TNavParticleFilter::Modified Variance for beam 33 is 14.35 
Alpha[33]	0.000000
Alpha[33]	0.988071
TNavParticleFilter::Modified Variance for beam 34 is 13.48 
Alpha[34]	0.000000
Alpha[34]	0.989837
TNavParticleFilter::Modified Variance for beam 35 is 13.56 
Alpha[35]	0.000000
Alpha[35]	0.991655
TNavParticleFilter::Modified Variance for beam 36 is 13.68 
Alpha[36]	0.000000
Alpha[36]	0.990994
TNavParticleFilter::Modified Variance for beam 37 is 13.81 
Alpha[37]	0.000000
Alpha[37]	0.990465
TNavParticleFilter::Modified Variance for beam 38 is 13.92 
Alpha[38]	0.000000
Alpha[38]	0.991862
TNavParticleFilter::Modified Variance for beam 39 is 13.76 
Alpha[39]	0.000000
Alpha[39]	0.991827
TNavParticleFilter::Modified Variance for beam 40 is 13.26 
Alpha[40]	0.000000
Alpha[40]	0.990063
TNavParticleFilter::Modified Variance for beam 41 is 13.39 
Alpha[41]	0.000000
Alpha[41]	0.990514
TNavParticleFilter::Modified Variance for beam 42 is 13.54 
Alpha[42]	0.000000
Alpha[42]	0.990965
TNavParticleFilter::Modified Variance for beam 43 is 12.84 
Alpha[43]	0.000000
Alpha[43]	0.989227
TNavParticleFilter::Modified Variance for beam 44 is 12.92 
Alpha[44]	0.000000
Alpha[44]	0.988170
TNavParticleFilter::Modified Variance for beam 45 is 13.09 
Alpha[45]	0.000000
Alpha[45]	0.987882
TNavParticleFilter::Modified Variance for beam 46 is 12.87 
Alpha[46]	0.000000
Alpha[46]	0.985155
TNavParticleFilter::Modified Variance for beam 47 is 12.53 
Alpha[47]	0.000000
Alpha[47]	0.982483
TNavParticleFilter::Modified Variance for beam 48 is 12.69 
Alpha[48]	0.000000
Alpha[48]	0.984508
TNavParticleFilter::Modified Variance for beam 49 is 12.88 
Alpha[49]	0.000000
Alpha[49]	0.984312
TNavParticleFilter::Modified Variance for beam 50 is 12.48 
Alpha[50]	0.000000
Alpha[50]	0.977076
TNavParticleFilter::Modified Variance for beam 51 is 12.38 
Alpha[51]	0.000000
Alpha[51]	0.975656
TNavParticleFilter::Modified Variance for beam 52 is 12.51 
Alpha[52]	0.000000
Alpha[52]	0.982111
TNavParticleFilter::Modified Variance for beam 53 is 12.54 
Alpha[53]	0.000000
Alpha[53]	0.982385
TNavParticleFilter::Modified Variance for beam 54 is 12.15 
Alpha[54]	0.000000
Alpha[54]	0.978987
TNavParticleFilter::Modified Variance for beam 55 is 12.16 
Alpha[55]	0.000000
Alpha[55]	0.979702
TNavParticleFilter::Modified Variance for beam 56 is 12.40 
Alpha[56]	0.000000
Alpha[56]	0.979318
TNavParticleFilter::Modified Variance for beam 57 is 12.30 
Alpha[57]	0.000000
Alpha[57]	0.982010
TNavParticleFilter::Modified Variance for beam 58 is 11.87 
Alpha[58]	0.000000
Alpha[58]	0.987516
TNavParticleFilter::Modified Variance for beam 59 is 11.94 
Alpha[59]	0.000000
Alpha[59]	0.990510
TNavPF:: sumSquaredError = 6.575690 
TNavPF:: sumWeights = 0.102815 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.53. Range = 97.77 
TNavPF::Calculated measDiffMean for beam 34 as 0.54. Range = 93.33 
TNavPF::Calculated measDiffMean for beam 35 as 0.53. Range = 89.07 
TNavPF::Calculated measDiffMean for beam 36 as 0.53. Range = 82.27 
TNavPF::Calculated measDiffMean for beam 37 as 0.59. Range = 81.01 
TNavPF::Calculated measDiffMean for beam 38 as 0.64. Range = 77.20 
TNavPF::Calculated measDiffMean for beam 39 as 0.61. Range = 73.53 
TNavPF::Calculated measDiffMean for beam 40 as 0.57. Range = 72.52 
TNavPF::Calculated measDiffMean for beam 41 as 0.68. Range = 69.05 
TNavPF::Calculated measDiffMean for beam 42 as 0.91. Range = 68.16 
TNavPF::Calculated measDiffMean for beam 43 as 0.96. Range = 67.32 
TNavPF::Calculated measDiffMean for beam 44 as 0.84. Range = 66.52 
TNavPF::Calculated measDiffMean for beam 45 as 0.74. Range = 65.76 
TNavPF::Calculated measDiffMean for beam 46 as 0.66. Range = 65.03 
TNavPF::Calculated measDiffMean for beam 47 as 0.80. Range = 64.34 
TNavPF::Calculated measDiffMean for beam 48 as 1.88. Range = 61.37 
TNavPF::Calculated measDiffMean for beam 49 as -0.92. Range = 61.45 
TNavPF::Calculated measDiffMean for beam 50 as -0.85. Range = 62.46 
TNavPF::Calculated measDiffMean for beam 51 as 0.77. Range = 59.65 
TNavPF::Calculated measDiffMean for beam 52 as 0.69. Range = 56.91 
TNavPF::Calculated measDiffMean for beam 53 as 0.94. Range = 56.44 
TNavPF::Calculated measDiffMean for beam 54 as 1.26. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 55 as 2.04. Range = 57.74 
TNavPF::Calculated measDiffMean for beam 56 as 0.87. Range = 57.33 
TNavPF::Calculated measDiffMean for beam 57 as 1.21. Range = 56.94 
TNavPF::Calculated measDiffMean for beam 58 as 1.52. Range = 56.57 
TNavPF::Calculated measDiffMean for beam 59 as 1.87. Range = 56.22 
TNavPF::Calculated measDiffMean for beam 60 as 1.95. Range = 55.89 
TNavPF::Calculated measDiffMean for beam 61 as -0.40. Range = 55.59 
TNavPF::Calculated measDiffMean for beam 62 as 0.16. Range = 55.30 
TNavPF::Calculated measDiffMean for beam 63 as 0.68. Range = 55.03 
TNavPF::Calculated measDiffMean for beam 64 as -0.72. Range = 54.79 
TNavPF::Calculated measDiffMean for beam 65 as -0.21. Range = 54.56 
TNavPF::Calculated measDiffMean for beam 66 as 0.32. Range = 54.35 
TNavPF::Calculated measDiffMean for beam 67 as 0.86. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 68 as 1.28. Range = 53.98 
TNavPF::Calculated measDiffMean for beam 69 as 1.31. Range = 53.83 
TNavPF::Calculated measDiffMean for beam 70 as 0.62. Range = 53.69 
TNavPF::Calculated measDiffMean for beam 71 as 1.13. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 72 as 1.66. Range = 53.46 
TNavPF::Calculated measDiffMean for beam 73 as 0.39. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 74 as 0.71. Range = 53.30 
TNavPF::Calculated measDiffMean for beam 75 as 1.08. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 76 as 0.76. Range = 53.20 
TNavPF::Calculated measDiffMean for beam 77 as 0.35. Range = 53.18 
TNavPF::Calculated measDiffMean for beam 78 as 1.03. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 79 as 1.54. Range = 49.17 
TNavPF::Calculated measDiffMean for beam 80 as 0.50. Range = 49.20 
TNavPF::Calculated measDiffMean for beam 81 as 0.30. Range = 51.24 
TNavPF::Calculated measDiffMean for beam 82 as 0.76. Range = 51.29 
TNavPF::Calculated measDiffMean for beam 83 as 0.86. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 84 as -0.06. Range = 51.45 
TNavPF::Calculated measDiffMean for beam 85 as -0.15. Range = 51.56 
TNavPF::Calculated measDiffMean for beam 86 as 0.18. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 87 as -0.11. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 88 as -1.08. Range = 49.93 
TNavPF::Calculated measDiffMean for beam 89 as -1.14. Range = 50.09 
TNavPF::First Term of Map Covariance Matrix is 0.45 
TNavPF::Calculated NIS Value : 2.14 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322471.82 sec.
INS : North: 4070321.56, East: 588744.73, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 50.40, IDT[75] = 39.58
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322474.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322474.62)
ARL : North: 0.4148, East: -1.1022, Depth: 1.3087ARL : Estimation Bias  (Mean)         : (t = 1488322474.62)
ARL : North: 0.3039, East: -1.8588, Depth: 0.1683TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.78 
Alpha[0]	0.123000
Alpha[0]	0.984698
TNavParticleFilter::Modified Variance for beam 1 is 18.69 
Alpha[1]	0.000000
Alpha[1]	0.984447
TNavParticleFilter::Modified Variance for beam 2 is 18.64 
Alpha[2]	0.000000
Alpha[2]	0.983035
TNavParticleFilter::Modified Variance for beam 3 is 18.61 
Alpha[3]	0.000000
Alpha[3]	0.981128
TNavParticleFilter::Modified Variance for beam 4 is 18.58 
Alpha[4]	0.000000
Alpha[4]	0.979046
TNavParticleFilter::Modified Variance for beam 5 is 18.31 
Alpha[5]	0.000000
Alpha[5]	0.990848
TNavParticleFilter::Modified Variance for beam 6 is 17.17 
Alpha[6]	0.000000
Alpha[6]	0.992905
TNavParticleFilter::Modified Variance for beam 7 is 17.24 
Alpha[7]	0.000000
Alpha[7]	0.987012
TNavParticleFilter::Modified Variance for beam 8 is 17.29 
Alpha[8]	0.000000
Alpha[8]	0.982707
TNavParticleFilter::Modified Variance for beam 9 is 17.38 
Alpha[9]	0.000000
Alpha[9]	0.977011
TNavParticleFilter::Modified Variance for beam 10 is 17.26 
Alpha[10]	0.000000
Alpha[10]	0.983498
TNavParticleFilter::Modified Variance for beam 11 is 17.19 
Alpha[11]	0.000000
Alpha[11]	0.987354
TNavParticleFilter::Modified Variance for beam 12 is 17.15 
Alpha[12]	0.000000
Alpha[12]	0.990615
TNavParticleFilter::Modified Variance for beam 13 is 16.17 
Alpha[13]	0.000000
Alpha[13]	0.989104
TNavParticleFilter::Modified Variance for beam 14 is 16.22 
Alpha[14]	0.000000
Alpha[14]	0.987608
TNavParticleFilter::Modified Variance for beam 15 is 16.05 
Alpha[15]	0.000000
Alpha[15]	0.991526
TNavParticleFilter::Modified Variance for beam 16 is 16.20 
Alpha[16]	0.000000
Alpha[16]	0.993258
TNavParticleFilter::Modified Variance for beam 17 is 16.25 
Alpha[17]	0.000000
Alpha[17]	0.993547
TNavParticleFilter::Modified Variance for beam 18 is 14.38 
Alpha[18]	0.000000
Alpha[18]	0.991864
TNavParticleFilter::Modified Variance for beam 19 is 14.45 
Alpha[19]	0.000000
Alpha[19]	0.990835
TNavParticleFilter::Modified Variance for beam 20 is 14.51 
Alpha[20]	0.000000
Alpha[20]	0.990926
TNavParticleFilter::Modified Variance for beam 21 is 13.63 
Alpha[21]	0.000000
Alpha[21]	0.991954
TNavParticleFilter::Modified Variance for beam 22 is 13.69 
Alpha[22]	0.000000
Alpha[22]	0.992769
TNavParticleFilter::Modified Variance for beam 23 is 13.78 
Alpha[23]	0.000000
Alpha[23]	0.991968
TNavParticleFilter::Modified Variance for beam 24 is 13.86 
Alpha[24]	0.000000
Alpha[24]	0.992520
TNavParticleFilter::Modified Variance for beam 25 is 13.94 
Alpha[25]	0.000000
Alpha[25]	0.993537
TNavParticleFilter::Modified Variance for beam 26 is 13.32 
Alpha[26]	0.000000
Alpha[26]	0.992592
TNavParticleFilter::Modified Variance for beam 27 is 13.23 
Alpha[27]	0.000000
Alpha[27]	0.991648
TNavParticleFilter::Modified Variance for beam 28 is 13.33 
Alpha[28]	0.000000
Alpha[28]	0.992637
TNavParticleFilter::Modified Variance for beam 29 is 13.02 
Alpha[29]	0.000000
Alpha[29]	0.992120
TNavParticleFilter::Modified Variance for beam 30 is 12.67 
Alpha[30]	0.000000
Alpha[30]	0.989783
TNavParticleFilter::Modified Variance for beam 31 is 12.80 
Alpha[31]	0.000000
Alpha[31]	0.988939
TNavParticleFilter::Modified Variance for beam 32 is 12.90 
Alpha[32]	0.000000
Alpha[32]	0.987797
TNavParticleFilter::Modified Variance for beam 33 is 12.19 
Alpha[33]	0.000000
Alpha[33]	0.985044
TNavParticleFilter::Modified Variance for beam 34 is 12.33 
Alpha[34]	0.000000
Alpha[34]	0.984562
TNavParticleFilter::Modified Variance for beam 35 is 12.46 
Alpha[35]	0.000000
Alpha[35]	0.985317
TNavParticleFilter::Modified Variance for beam 36 is 12.24 
Alpha[36]	0.000000
Alpha[36]	0.981161
TNavParticleFilter::Modified Variance for beam 37 is 11.96 
Alpha[37]	0.000000
Alpha[37]	0.974420
TNavParticleFilter::Modified Variance for beam 38 is 12.06 
Alpha[38]	0.000000
Alpha[38]	0.979156
TNavParticleFilter::Modified Variance for beam 39 is 12.19 
Alpha[39]	0.000000
Alpha[39]	0.981699
TNavParticleFilter::Modified Variance for beam 40 is 11.80 
Alpha[40]	0.000000
Alpha[40]	0.978986
TNavParticleFilter::Modified Variance for beam 41 is 11.64 
Alpha[41]	0.000000
Alpha[41]	0.976741
TNavParticleFilter::Modified Variance for beam 42 is 11.79 
Alpha[42]	0.000000
Alpha[42]	0.978371
TNavParticleFilter::Modified Variance for beam 43 is 11.93 
Alpha[43]	0.000000
Alpha[43]	0.979441
TNavParticleFilter::Modified Variance for beam 44 is 11.45 
Alpha[44]	0.000000
Alpha[44]	0.983464
TNavParticleFilter::Modified Variance for beam 45 is 11.28 
Alpha[45]	0.000000
Alpha[45]	0.987309
TNavParticleFilter::Modified Variance for beam 46 is 11.45 
Alpha[46]	0.000000
Alpha[46]	0.989344
TNavParticleFilter::Modified Variance for beam 47 is 12.09 
Alpha[47]	0.000000
Alpha[47]	0.991291
TNavParticleFilter::Modified Variance for beam 48 is 12.91 
Alpha[48]	0.000000
Alpha[48]	0.991737
TNavParticleFilter::Modified Variance for beam 49 is 13.17 
Alpha[49]	0.000000
Alpha[49]	0.992389
TNavParticleFilter::Modified Variance for beam 50 is 13.43 
Alpha[50]	0.000000
Alpha[50]	0.993689
TNavParticleFilter::Modified Variance for beam 51 is 13.71 
Alpha[51]	0.000000
Alpha[51]	0.994993
TNavParticleFilter::Modified Variance for beam 52 is 13.60 
Alpha[52]	0.000000
Alpha[52]	0.994838
TNavParticleFilter::Modified Variance for beam 53 is 13.25 
Alpha[53]	0.000000
Alpha[53]	0.992485
TNavParticleFilter::Modified Variance for beam 54 is 12.99 
Alpha[54]	0.000000
Alpha[54]	0.985744
TNavParticleFilter::Modified Variance for beam 55 is 12.84 
Alpha[55]	0.000000
Alpha[55]	0.974762
TNavParticleFilter::Modified Variance for beam 56 is 13.18 
Alpha[56]	0.000000
Alpha[56]	0.974884
TNavParticleFilter::Modified Variance for beam 57 is 13.50 
Alpha[57]	0.000000
Alpha[57]	0.977287
TNavParticleFilter::Modified Variance for beam 58 is 13.88 
Alpha[58]	0.000000
Alpha[58]	0.977972
TNavParticleFilter::Modified Variance for beam 59 is 14.28 
Alpha[59]	0.000000
Alpha[59]	0.978537
TNavPF:: sumSquaredError = 8.461550 
TNavPF:: sumWeights = 0.063581 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.14. Range = 76.57 
TNavPF::Calculated measDiffMean for beam 31 as 1.16. Range = 75.47 
TNavPF::Calculated measDiffMean for beam 32 as 1.08. Range = 71.88 
TNavPF::Calculated measDiffMean for beam 33 as 0.97. Range = 70.91 
TNavPF::Calculated measDiffMean for beam 34 as 0.82. Range = 70.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.25. Range = 69.13 
TNavPF::Calculated measDiffMean for beam 36 as 0.66. Range = 68.30 
TNavPF::Calculated measDiffMean for beam 37 as 1.27. Range = 67.51 
TNavPF::Calculated measDiffMean for beam 38 as 0.98. Range = 66.76 
TNavPF::Calculated measDiffMean for beam 39 as 0.74. Range = 66.04 
TNavPF::Calculated measDiffMean for beam 40 as 0.93. Range = 63.05 
TNavPF::Calculated measDiffMean for beam 41 as 1.22. Range = 62.42 
TNavPF::Calculated measDiffMean for beam 42 as 1.80. Range = 59.56 
TNavPF::Calculated measDiffMean for beam 43 as 0.81. Range = 63.52 
TNavPF::Calculated measDiffMean for beam 44 as 1.26. Range = 60.73 
TNavPF::Calculated measDiffMean for beam 45 as 1.47. Range = 60.23 
TNavPF::Calculated measDiffMean for beam 46 as 2.17. Range = 59.75 
TNavPF::Calculated measDiffMean for beam 47 as 2.87. Range = 59.29 
TNavPF::Calculated measDiffMean for beam 48 as -0.08. Range = 58.86 
TNavPF::Calculated measDiffMean for beam 49 as 0.47. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 50 as 1.12. Range = 58.07 
TNavPF::Calculated measDiffMean for beam 51 as -0.09. Range = 57.71 
TNavPF::Calculated measDiffMean for beam 52 as 0.38. Range = 57.37 
TNavPF::Calculated measDiffMean for beam 53 as 0.90. Range = 57.05 
TNavPF::Calculated measDiffMean for beam 54 as 1.44. Range = 56.75 
TNavPF::Calculated measDiffMean for beam 55 as 1.87. Range = 56.48 
TNavPF::Calculated measDiffMean for beam 56 as 0.96. Range = 56.22 
TNavPF::Calculated measDiffMean for beam 57 as 1.24. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 58 as 1.70. Range = 55.76 
TNavPF::Calculated measDiffMean for beam 59 as 1.32. Range = 55.56 
TNavPF::Calculated measDiffMean for beam 60 as 0.84. Range = 55.38 
TNavPF::Calculated measDiffMean for beam 61 as 1.22. Range = 55.22 
TNavPF::Calculated measDiffMean for beam 62 as 1.54. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 63 as 0.28. Range = 54.94 
TNavPF::Calculated measDiffMean for beam 64 as 1.04. Range = 54.83 
TNavPF::Calculated measDiffMean for beam 65 as 1.51. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 66 as 0.95. Range = 52.65 
TNavPF::Calculated measDiffMean for beam 67 as 0.27. Range = 52.59 
TNavPF::Calculated measDiffMean for beam 68 as 0.67. Range = 52.55 
TNavPF::Calculated measDiffMean for beam 69 as 1.07. Range = 52.52 
TNavPF::Calculated measDiffMean for beam 70 as 0.28. Range = 52.51 
TNavPF::Calculated measDiffMean for beam 71 as 0.01. Range = 52.51 
TNavPF::Calculated measDiffMean for beam 72 as 0.34. Range = 52.54 
TNavPF::Calculated measDiffMean for beam 73 as 0.59. Range = 50.57 
TNavPF::Calculated measDiffMean for beam 74 as -0.47. Range = 50.62 
TNavPF::Calculated measDiffMean for beam 75 as -0.85. Range = 50.40 
TNavPF::Calculated measDiffMean for beam 76 as -0.67. Range = 50.77 
TNavPF::Calculated measDiffMean for beam 77 as 0.31. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 78 as 1.52. Range = 46.94 
TNavPF::Calculated measDiffMean for beam 79 as 1.41. Range = 47.06 
TNavPF::Calculated measDiffMean for beam 80 as 1.52. Range = 47.20 
TNavPF::Calculated measDiffMean for beam 81 as 2.06. Range = 45.31 
TNavPF::Calculated measDiffMean for beam 82 as 1.92. Range = 45.47 
TNavPF::Calculated measDiffMean for beam 83 as 1.32. Range = 45.64 
TNavPF::Calculated measDiffMean for beam 84 as 0.66. Range = 45.83 
TNavPF::Calculated measDiffMean for beam 85 as -0.12. Range = 46.03 
TNavPF::Calculated measDiffMean for beam 86 as 0.15. Range = 44.61 
TNavPF::Calculated measDiffMean for beam 87 as 0.20. Range = 44.40 
TNavPF::Calculated measDiffMean for beam 88 as 0.22. Range = 44.64 
TNavPF::Calculated measDiffMean for beam 89 as 0.34. Range = 43.92 
TNavPF::First Term of Map Covariance Matrix is 1.30 
TNavPF::Calculated NIS Value : 2.36 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322474.82 sec.
INS : North: 4070323.09, East: 588740.67, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 45.56, IDT[75] = 44.26
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322477.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322477.62)
ARL : North: -0.0633, East: -0.8089, Depth: -2.9233ARL : Estimation Bias  (Mean)         : (t = 1488322477.62)
ARL : North: 0.5315, East: -1.7406, Depth: 0.9321TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.14 
Alpha[0]	0.123000
Alpha[0]	0.991379
TNavParticleFilter::Modified Variance for beam 1 is 17.13 
Alpha[1]	0.000000
Alpha[1]	0.987736
TNavParticleFilter::Modified Variance for beam 2 is 17.07 
Alpha[2]	0.000000
Alpha[2]	0.991387
TNavParticleFilter::Modified Variance for beam 3 is 16.02 
Alpha[3]	0.000000
Alpha[3]	0.993182
TNavParticleFilter::Modified Variance for beam 4 is 16.02 
Alpha[4]	0.000000
Alpha[4]	0.994204
TNavParticleFilter::Modified Variance for beam 5 is 16.06 
Alpha[5]	0.000000
Alpha[5]	0.992614
TNavParticleFilter::Modified Variance for beam 6 is 16.11 
Alpha[6]	0.000000
Alpha[6]	0.991412
TNavParticleFilter::Modified Variance for beam 7 is 15.15 
Alpha[7]	0.000000
Alpha[7]	0.992666
TNavParticleFilter::Modified Variance for beam 8 is 14.23 
Alpha[8]	0.000000
Alpha[8]	0.992841
TNavParticleFilter::Modified Variance for beam 9 is 14.27 
Alpha[9]	0.000000
Alpha[9]	0.992750
TNavParticleFilter::Modified Variance for beam 10 is 13.53 
Alpha[10]	0.000000
Alpha[10]	0.992560
TNavParticleFilter::Modified Variance for beam 11 is 13.93 
Alpha[11]	0.000000
Alpha[11]	0.993450
TNavParticleFilter::Modified Variance for beam 12 is 14.38 
Alpha[12]	0.000000
Alpha[12]	0.993359
TNavParticleFilter::Modified Variance for beam 13 is 13.59 
Alpha[13]	0.000000
Alpha[13]	0.992208
TNavParticleFilter::Modified Variance for beam 14 is 13.65 
Alpha[14]	0.000000
Alpha[14]	0.992725
TNavParticleFilter::Modified Variance for beam 15 is 13.74 
Alpha[15]	0.000000
Alpha[15]	0.992509
TNavParticleFilter::Modified Variance for beam 16 is 12.95 
Alpha[16]	0.000000
Alpha[16]	0.989850
TNavParticleFilter::Modified Variance for beam 17 is 13.05 
Alpha[17]	0.000000
Alpha[17]	0.988135
TNavParticleFilter::Modified Variance for beam 18 is 13.15 
Alpha[18]	0.000000
Alpha[18]	0.987626
TNavParticleFilter::Modified Variance for beam 19 is 12.37 
Alpha[19]	0.000000
Alpha[19]	0.986316
TNavParticleFilter::Modified Variance for beam 20 is 12.49 
Alpha[20]	0.000000
Alpha[20]	0.984809
TNavParticleFilter::Modified Variance for beam 21 is 12.60 
Alpha[21]	0.000000
Alpha[21]	0.984609
TNavParticleFilter::Modified Variance for beam 22 is 12.24 
Alpha[22]	0.000000
Alpha[22]	0.980178
TNavParticleFilter::Modified Variance for beam 23 is 12.04 
Alpha[23]	0.000000
Alpha[23]	0.975704
TNavParticleFilter::Modified Variance for beam 24 is 12.11 
Alpha[24]	0.000000
Alpha[24]	0.979704
TNavParticleFilter::Modified Variance for beam 25 is 12.20 
Alpha[25]	0.000000
Alpha[25]	0.981069
TNavParticleFilter::Modified Variance for beam 26 is 11.57 
Alpha[26]	0.000000
Alpha[26]	0.978320
TNavParticleFilter::Modified Variance for beam 27 is 11.63 
Alpha[27]	0.000000
Alpha[27]	0.976782
TNavParticleFilter::Modified Variance for beam 28 is 11.75 
Alpha[28]	0.000000
Alpha[28]	0.977560
TNavParticleFilter::Modified Variance for beam 29 is 11.66 
Alpha[29]	0.000000
Alpha[29]	0.979167
TNavParticleFilter::Modified Variance for beam 30 is 11.08 
Alpha[30]	0.000000
Alpha[30]	0.984225
TNavParticleFilter::Modified Variance for beam 31 is 11.17 
Alpha[31]	0.000000
Alpha[31]	0.987192
TNavParticleFilter::Modified Variance for beam 32 is 11.31 
Alpha[32]	0.000000
Alpha[32]	0.988442
TNavParticleFilter::Modified Variance for beam 33 is 11.46 
Alpha[33]	0.000000
Alpha[33]	0.989959
TNavParticleFilter::Modified Variance for beam 34 is 11.63 
Alpha[34]	0.000000
Alpha[34]	0.990029
TNavParticleFilter::Modified Variance for beam 35 is 12.79 
Alpha[35]	0.000000
Alpha[35]	0.991160
TNavParticleFilter::Modified Variance for beam 36 is 12.80 
Alpha[36]	0.000000
Alpha[36]	0.993045
TNavParticleFilter::Modified Variance for beam 37 is 12.32 
Alpha[37]	0.000000
Alpha[37]	0.994591
TNavParticleFilter::Modified Variance for beam 38 is 11.90 
Alpha[38]	0.000000
Alpha[38]	0.994919
TNavParticleFilter::Modified Variance for beam 39 is 11.59 
Alpha[39]	0.000000
Alpha[39]	0.993388
TNavParticleFilter::Modified Variance for beam 40 is 11.88 
Alpha[40]	0.000000
Alpha[40]	0.987889
TNavParticleFilter::Modified Variance for beam 41 is 12.27 
Alpha[41]	0.000000
Alpha[41]	0.974699
TNavParticleFilter::Modified Variance for beam 42 is 12.62 
Alpha[42]	0.000000
Alpha[42]	0.967849
TNavParticleFilter::Modified Variance for beam 43 is 12.86 
Alpha[43]	0.000000
Alpha[43]	0.970279
TNavParticleFilter::Modified Variance for beam 44 is 13.14 
Alpha[44]	0.000000
Alpha[44]	0.971273
TNavParticleFilter::Modified Variance for beam 45 is 13.44 
Alpha[45]	0.000000
Alpha[45]	0.971859
TNavParticleFilter::Modified Variance for beam 46 is 13.73 
Alpha[46]	0.000000
Alpha[46]	0.975019
TNavParticleFilter::Modified Variance for beam 47 is 14.01 
Alpha[47]	0.000000
Alpha[47]	0.977935
TNavParticleFilter::Modified Variance for beam 48 is 13.69 
Alpha[48]	0.000000
Alpha[48]	0.975221
TNavParticleFilter::Modified Variance for beam 49 is 13.57 
Alpha[49]	0.000000
Alpha[49]	0.971005
TNavParticleFilter::Modified Variance for beam 50 is 13.81 
Alpha[50]	0.000000
Alpha[50]	0.981227
TNavParticleFilter::Modified Variance for beam 51 is 13.77 
Alpha[51]	0.000000
Alpha[51]	0.987549
TNavParticleFilter::Modified Variance for beam 52 is 13.45 
Alpha[52]	0.000000
Alpha[52]	0.989100
TNavParticleFilter::Modified Variance for beam 53 is 13.54 
Alpha[53]	0.000000
Alpha[53]	0.990524
TNavParticleFilter::Modified Variance for beam 54 is 13.99 
Alpha[54]	0.000000
Alpha[54]	0.990845
TNavParticleFilter::Modified Variance for beam 55 is 14.99 
Alpha[55]	0.000000
Alpha[55]	0.984013
TNavParticleFilter::Modified Variance for beam 56 is 15.23 
Alpha[56]	0.000000
Alpha[56]	0.976170
TNavParticleFilter::Modified Variance for beam 57 is 15.66 
Alpha[57]	0.000000
Alpha[57]	0.979906
TNavParticleFilter::Modified Variance for beam 58 is 15.42 
Alpha[58]	0.000000
Alpha[58]	0.976779
TNavParticleFilter::Modified Variance for beam 59 is 15.35 
Alpha[59]	0.000000
Alpha[59]	0.973271
TNavPF:: sumSquaredError = 5.982591 
TNavPF:: sumWeights = 0.033335 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.54. Range = 66.52 
TNavPF::Calculated measDiffMean for beam 31 as 1.26. Range = 65.81 
TNavPF::Calculated measDiffMean for beam 32 as 1.72. Range = 67.45 
TNavPF::Calculated measDiffMean for beam 33 as 0.17. Range = 64.50 
TNavPF::Calculated measDiffMean for beam 34 as 0.88. Range = 63.89 
TNavPF::Calculated measDiffMean for beam 35 as 2.05. Range = 63.31 
TNavPF::Calculated measDiffMean for beam 36 as 2.61. Range = 62.76 
TNavPF::Calculated measDiffMean for beam 37 as 1.46. Range = 62.24 
TNavPF::Calculated measDiffMean for beam 38 as 0.21. Range = 61.75 
TNavPF::Calculated measDiffMean for beam 39 as 0.62. Range = 61.28 
TNavPF::Calculated measDiffMean for beam 40 as -0.49. Range = 60.84 
TNavPF::Calculated measDiffMean for beam 41 as 0.78. Range = 60.42 
TNavPF::Calculated measDiffMean for beam 42 as 2.20. Range = 60.03 
TNavPF::Calculated measDiffMean for beam 43 as 1.14. Range = 59.66 
TNavPF::Calculated measDiffMean for beam 44 as 1.67. Range = 59.31 
TNavPF::Calculated measDiffMean for beam 45 as 2.20. Range = 58.99 
TNavPF::Calculated measDiffMean for beam 46 as 0.86. Range = 58.68 
TNavPF::Calculated measDiffMean for beam 47 as 1.26. Range = 58.40 
TNavPF::Calculated measDiffMean for beam 48 as 1.69. Range = 58.14 
TNavPF::Calculated measDiffMean for beam 49 as 0.46. Range = 57.89 
TNavPF::Calculated measDiffMean for beam 50 as 1.22. Range = 57.67 
TNavPF::Calculated measDiffMean for beam 51 as 1.62. Range = 57.46 
TNavPF::Calculated measDiffMean for beam 52 as 0.87. Range = 57.28 
TNavPF::Calculated measDiffMean for beam 53 as 0.52. Range = 57.11 
TNavPF::Calculated measDiffMean for beam 54 as 0.86. Range = 54.94 
TNavPF::Calculated measDiffMean for beam 55 as 1.24. Range = 54.81 
TNavPF::Calculated measDiffMean for beam 56 as -0.01. Range = 54.71 
TNavPF::Calculated measDiffMean for beam 57 as 0.28. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 58 as 0.53. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 59 as 0.35. Range = 54.48 
TNavPF::Calculated measDiffMean for beam 60 as -0.84. Range = 54.44 
TNavPF::Calculated measDiffMean for beam 61 as -0.57. Range = 52.41 
TNavPF::Calculated measDiffMean for beam 62 as -0.49. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 63 as -0.66. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 64 as -0.84. Range = 50.43 
TNavPF::Calculated measDiffMean for beam 65 as 1.43. Range = 50.47 
TNavPF::Calculated measDiffMean for beam 66 as 1.07. Range = 50.52 
TNavPF::Calculated measDiffMean for beam 67 as -0.12. Range = 48.60 
TNavPF::Calculated measDiffMean for beam 68 as -1.04. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 69 as -1.56. Range = 46.74 
TNavPF::Calculated measDiffMean for beam 70 as -0.72. Range = 45.10 
TNavPF::Calculated measDiffMean for beam 71 as -0.06. Range = 46.02 
TNavPF::Calculated measDiffMean for beam 72 as 0.27. Range = 46.99 
TNavPF::Calculated measDiffMean for beam 73 as 0.35. Range = 45.22 
TNavPF::Calculated measDiffMean for beam 74 as 0.36. Range = 45.38 
TNavPF::Calculated measDiffMean for beam 75 as 0.39. Range = 45.56 
TNavPF::Calculated measDiffMean for beam 76 as 0.53. Range = 43.68 
TNavPF::Calculated measDiffMean for beam 77 as 0.89. Range = 43.88 
TNavPF::Calculated measDiffMean for beam 78 as 0.26. Range = 44.09 
TNavPF::Calculated measDiffMean for beam 79 as 0.21. Range = 42.23 
TNavPF::Calculated measDiffMean for beam 80 as 1.25. Range = 42.46 
TNavPF::Calculated measDiffMean for beam 81 as 1.31. Range = 42.71 
TNavPF::Calculated measDiffMean for beam 82 as 0.28. Range = 41.73 
TNavPF::Calculated measDiffMean for beam 83 as -0.27. Range = 41.11 
TNavPF::Calculated measDiffMean for beam 84 as -0.38. Range = 41.39 
TNavPF::Calculated measDiffMean for beam 85 as 0.63. Range = 41.66 
TNavPF::Calculated measDiffMean for beam 86 as 0.31. Range = 40.03 
TNavPF::Calculated measDiffMean for beam 87 as 0.85. Range = 40.14 
TNavPF::Calculated measDiffMean for beam 88 as 0.24. Range = 40.47 
TNavPF::Calculated measDiffMean for beam 89 as -0.17. Range = 40.28 
TNavPF::First Term of Map Covariance Matrix is 2.31 
TNavPF::Calculated NIS Value : 3.66 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322477.82 sec.
INS : North: 4070325.17, East: 588736.88, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 41.32, IDT[75] = 47.38
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322480.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322480.62)
ARL : North: -0.9617, East: -0.9075, Depth: 2.6716ARL : Estimation Bias  (Mean)         : (t = 1488322480.62)
ARL : North: 0.7564, East: -1.6203, Depth: 0.5835TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.90 
Alpha[0]	0.123000
Alpha[0]	0.994622
TNavParticleFilter::Modified Variance for beam 1 is 13.51 
Alpha[1]	0.000000
Alpha[1]	0.994516
TNavParticleFilter::Modified Variance for beam 2 is 13.56 
Alpha[2]	0.000000
Alpha[2]	0.994162
TNavParticleFilter::Modified Variance for beam 3 is 12.84 
Alpha[3]	0.000000
Alpha[3]	0.991812
TNavParticleFilter::Modified Variance for beam 4 is 12.83 
Alpha[4]	0.000000
Alpha[4]	0.989806
TNavParticleFilter::Modified Variance for beam 5 is 12.90 
Alpha[5]	0.000000
Alpha[5]	0.989486
TNavParticleFilter::Modified Variance for beam 6 is 12.41 
Alpha[6]	0.000000
Alpha[6]	0.987623
TNavParticleFilter::Modified Variance for beam 7 is 12.54 
Alpha[7]	0.000000
Alpha[7]	0.985117
TNavParticleFilter::Modified Variance for beam 8 is 12.90 
Alpha[8]	0.000000
Alpha[8]	0.982817
TNavParticleFilter::Modified Variance for beam 9 is 12.47 
Alpha[9]	0.000000
Alpha[9]	0.976939
TNavParticleFilter::Modified Variance for beam 10 is 12.57 
Alpha[10]	0.000000
Alpha[10]	0.976031
TNavParticleFilter::Modified Variance for beam 11 is 12.61 
Alpha[11]	0.000000
Alpha[11]	0.979980
TNavParticleFilter::Modified Variance for beam 12 is 12.11 
Alpha[12]	0.000000
Alpha[12]	0.981423
TNavParticleFilter::Modified Variance for beam 13 is 11.94 
Alpha[13]	0.000000
Alpha[13]	0.978459
TNavParticleFilter::Modified Variance for beam 14 is 12.04 
Alpha[14]	0.000000
Alpha[14]	0.979149
TNavParticleFilter::Modified Variance for beam 15 is 12.06 
Alpha[15]	0.000000
Alpha[15]	0.980952
TNavParticleFilter::Modified Variance for beam 16 is 11.33 
Alpha[16]	0.000000
Alpha[16]	0.983772
TNavParticleFilter::Modified Variance for beam 17 is 11.43 
Alpha[17]	0.000000
Alpha[17]	0.985213
TNavParticleFilter::Modified Variance for beam 18 is 11.54 
Alpha[18]	0.000000
Alpha[18]	0.986161
TNavParticleFilter::Modified Variance for beam 19 is 11.65 
Alpha[19]	0.000000
Alpha[19]	0.987870
TNavParticleFilter::Modified Variance for beam 20 is 11.78 
Alpha[20]	0.000000
Alpha[20]	0.988324
TNavParticleFilter::Modified Variance for beam 21 is 11.90 
Alpha[21]	0.000000
Alpha[21]	0.990368
TNavParticleFilter::Modified Variance for beam 22 is 12.97 
Alpha[22]	0.000000
Alpha[22]	0.993443
TNavParticleFilter::Modified Variance for beam 23 is 12.56 
Alpha[23]	0.000000
Alpha[23]	0.994855
TNavParticleFilter::Modified Variance for beam 24 is 12.01 
Alpha[24]	0.000000
Alpha[24]	0.995070
TNavParticleFilter::Modified Variance for beam 25 is 11.56 
Alpha[25]	0.000000
Alpha[25]	0.994113
TNavParticleFilter::Modified Variance for beam 26 is 11.78 
Alpha[26]	0.000000
Alpha[26]	0.989877
TNavParticleFilter::Modified Variance for beam 27 is 12.12 
Alpha[27]	0.000000
Alpha[27]	0.977567
TNavParticleFilter::Modified Variance for beam 28 is 12.49 
Alpha[28]	0.000000
Alpha[28]	0.964201
TNavParticleFilter::Modified Variance for beam 29 is 12.70 
Alpha[29]	0.000000
Alpha[29]	0.964664
TNavParticleFilter::Modified Variance for beam 30 is 12.91 
Alpha[30]	0.000000
Alpha[30]	0.966000
TNavParticleFilter::Modified Variance for beam 31 is 13.14 
Alpha[31]	0.000000
Alpha[31]	0.966920
TNavParticleFilter::Modified Variance for beam 32 is 13.37 
Alpha[32]	0.000000
Alpha[32]	0.968839
TNavParticleFilter::Modified Variance for beam 33 is 13.60 
Alpha[33]	0.000000
Alpha[33]	0.972238
TNavParticleFilter::Modified Variance for beam 34 is 13.66 
Alpha[34]	0.000000
Alpha[34]	0.974265
TNavParticleFilter::Modified Variance for beam 35 is 13.25 
Alpha[35]	0.000000
Alpha[35]	0.974816
TNavParticleFilter::Modified Variance for beam 36 is 12.85 
Alpha[36]	0.000000
Alpha[36]	0.976272
TNavParticleFilter::Modified Variance for beam 37 is 12.41 
Alpha[37]	0.000000
Alpha[37]	0.983456
TNavParticleFilter::Modified Variance for beam 38 is 12.54 
Alpha[38]	0.000000
Alpha[38]	0.986156
TNavParticleFilter::Modified Variance for beam 39 is 12.83 
Alpha[39]	0.000000
Alpha[39]	0.988013
TNavParticleFilter::Modified Variance for beam 40 is 13.13 
Alpha[40]	0.000000
Alpha[40]	0.990731
TNavParticleFilter::Modified Variance for beam 41 is 13.48 
Alpha[41]	0.000000
Alpha[41]	0.990863
TNavParticleFilter::Modified Variance for beam 42 is 13.97 
Alpha[42]	0.000000
Alpha[42]	0.983529
TNavParticleFilter::Modified Variance for beam 43 is 14.54 
Alpha[43]	0.000000
Alpha[43]	0.973089
TNavParticleFilter::Modified Variance for beam 44 is 14.89 
Alpha[44]	0.000000
Alpha[44]	0.980146
TNavParticleFilter::Modified Variance for beam 45 is 14.75 
Alpha[45]	0.000000
Alpha[45]	0.980443
TNavParticleFilter::Modified Variance for beam 46 is 14.58 
Alpha[46]	0.000000
Alpha[46]	0.971214
TNavParticleFilter::Modified Variance for beam 47 is 14.92 
Alpha[47]	0.000000
Alpha[47]	0.975053
TNavParticleFilter::Modified Variance for beam 48 is 15.40 
Alpha[48]	0.000000
Alpha[48]	0.979366
TNavParticleFilter::Modified Variance for beam 49 is 15.88 
Alpha[49]	0.000000
Alpha[49]	0.984341
TNavParticleFilter::Modified Variance for beam 50 is 15.57 
Alpha[50]	0.000000
Alpha[50]	0.985243
TNavParticleFilter::Modified Variance for beam 51 is 15.45 
Alpha[51]	0.000000
Alpha[51]	0.981399
TNavParticleFilter::Modified Variance for beam 52 is 16.13 
Alpha[52]	0.000000
Alpha[52]	0.980853
TNavParticleFilter::Modified Variance for beam 53 is 15.86 
Alpha[53]	0.000000
Alpha[53]	0.989542
TNavParticleFilter::Modified Variance for beam 54 is 15.55 
Alpha[54]	0.000000
Alpha[54]	0.992786
TNavParticleFilter::Modified Variance for beam 55 is 15.35 
Alpha[55]	0.000000
Alpha[55]	0.990639
TNavParticleFilter::Modified Variance for beam 56 is 15.18 
Alpha[56]	0.000000
Alpha[56]	0.987462
TNavParticleFilter::Modified Variance for beam 57 is 15.75 
Alpha[57]	0.000000
Alpha[57]	0.990716
TNavParticleFilter::Modified Variance for beam 58 is 16.96 
Alpha[58]	0.000000
Alpha[58]	0.987944
TNavParticleFilter::Modified Variance for beam 59 is 16.81 
Alpha[59]	0.000000
Alpha[59]	0.983677
TNavPF:: sumSquaredError = 10.764696 
TNavPF:: sumWeights = 0.063798 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.44. Range = 64.48 
TNavPF::Calculated measDiffMean for beam 31 as 0.13. Range = 63.99 
TNavPF::Calculated measDiffMean for beam 32 as 0.63. Range = 63.52 
TNavPF::Calculated measDiffMean for beam 33 as -0.52. Range = 63.08 
TNavPF::Calculated measDiffMean for beam 34 as -0.34. Range = 62.67 
TNavPF::Calculated measDiffMean for beam 35 as 0.16. Range = 62.28 
TNavPF::Calculated measDiffMean for beam 36 as -0.31. Range = 61.91 
TNavPF::Calculated measDiffMean for beam 37 as 0.32. Range = 61.57 
TNavPF::Calculated measDiffMean for beam 38 as 1.26. Range = 61.25 
TNavPF::Calculated measDiffMean for beam 39 as 0.37. Range = 60.95 
TNavPF::Calculated measDiffMean for beam 40 as 0.72. Range = 59.92 
TNavPF::Calculated measDiffMean for beam 41 as 1.07. Range = 60.27 
TNavPF::Calculated measDiffMean for beam 42 as 0.43. Range = 60.17 
TNavPF::Calculated measDiffMean for beam 43 as 0.39. Range = 57.91 
TNavPF::Calculated measDiffMean for beam 44 as 0.72. Range = 57.72 
TNavPF::Calculated measDiffMean for beam 45 as 0.90. Range = 57.55 
TNavPF::Calculated measDiffMean for beam 46 as -0.63. Range = 57.40 
TNavPF::Calculated measDiffMean for beam 47 as -0.35. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 48 as -0.28. Range = 57.15 
TNavPF::Calculated measDiffMean for beam 49 as -0.41. Range = 55.03 
TNavPF::Calculated measDiffMean for beam 50 as -0.55. Range = 54.96 
TNavPF::Calculated measDiffMean for beam 51 as -0.55. Range = 52.89 
TNavPF::Calculated measDiffMean for beam 52 as 1.87. Range = 52.84 
TNavPF::Calculated measDiffMean for beam 53 as 1.00. Range = 52.82 
TNavPF::Calculated measDiffMean for beam 54 as -0.21. Range = 52.80 
TNavPF::Calculated measDiffMean for beam 55 as -1.19. Range = 48.80 
TNavPF::Calculated measDiffMean for beam 56 as -0.56. Range = 48.82 
TNavPF::Calculated measDiffMean for beam 57 as 0.00. Range = 48.85 
TNavPF::Calculated measDiffMean for beam 58 as 0.32. Range = 46.90 
TNavPF::Calculated measDiffMean for beam 59 as 0.42. Range = 46.96 
TNavPF::Calculated measDiffMean for beam 60 as 0.43. Range = 45.98 
TNavPF::Calculated measDiffMean for beam 61 as 0.43. Range = 45.11 
TNavPF::Calculated measDiffMean for beam 62 as 0.46. Range = 45.21 
TNavPF::Calculated measDiffMean for beam 63 as 0.61. Range = 43.50 
TNavPF::Calculated measDiffMean for beam 64 as 0.70. Range = 43.42 
TNavPF::Calculated measDiffMean for beam 65 as 0.19. Range = 43.56 
TNavPF::Calculated measDiffMean for beam 66 as -0.18. Range = 42.35 
TNavPF::Calculated measDiffMean for beam 67 as -0.74. Range = 42.60 
TNavPF::Calculated measDiffMean for beam 68 as -0.44. Range = 43.37 
TNavPF::Calculated measDiffMean for beam 69 as -0.16. Range = 42.18 
TNavPF::Calculated measDiffMean for beam 70 as -0.22. Range = 42.38 
TNavPF::Calculated measDiffMean for beam 71 as -0.41. Range = 42.60 
TNavPF::Calculated measDiffMean for beam 72 as -0.28. Range = 41.44 
TNavPF::Calculated measDiffMean for beam 73 as 0.32. Range = 40.96 
TNavPF::Calculated measDiffMean for beam 74 as 0.96. Range = 41.21 
TNavPF::Calculated measDiffMean for beam 75 as 0.60. Range = 41.32 
TNavPF::Calculated measDiffMean for beam 76 as -0.06. Range = 39.61 
TNavPF::Calculated measDiffMean for beam 77 as 0.28. Range = 39.89 
TNavPF::Calculated measDiffMean for beam 78 as 0.58. Range = 40.19 
TNavPF::Calculated measDiffMean for beam 79 as 1.16. Range = 40.51 
TNavPF::Calculated measDiffMean for beam 80 as 0.45. Range = 40.85 
TNavPF::Calculated measDiffMean for beam 81 as -0.17. Range = 41.20 
TNavPF::Calculated measDiffMean for beam 82 as 0.58. Range = 43.84 
TNavPF::Calculated measDiffMean for beam 83 as 0.28. Range = 42.93 
TNavPF::Calculated measDiffMean for beam 84 as 0.37. Range = 41.62 
TNavPF::Calculated measDiffMean for beam 85 as 0.42. Range = 40.48 
TNavPF::Calculated measDiffMean for beam 86 as -0.19. Range = 40.91 
TNavPF::Calculated measDiffMean for beam 87 as -0.06. Range = 41.37 
TNavPF::Calculated measDiffMean for beam 88 as 0.82. Range = 41.84 
TNavPF::Calculated measDiffMean for beam 89 as -0.23. Range = 42.34 
TNavPF::First Term of Map Covariance Matrix is 3.71 
TNavPF::Calculated NIS Value : 1.71 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322480.82 sec.
INS : North: 4070327.70, East: 588733.40, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 42.97, IDT[75] = 50.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322483.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322483.62)
ARL : North: -0.3365, East: -0.9578, Depth: 0.8546ARL : Estimation Bias  (Mean)         : (t = 1488322483.62)
ARL : North: 0.8687, East: -1.5903, Depth: 0.3709TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.71 
Alpha[0]	0.123000
Alpha[0]	0.981227
TNavParticleFilter::Modified Variance for beam 1 is 12.78 
Alpha[1]	0.000000
Alpha[1]	0.982405
TNavParticleFilter::Modified Variance for beam 2 is 12.13 
Alpha[2]	0.000000
Alpha[2]	0.983881
TNavParticleFilter::Modified Variance for beam 3 is 12.05 
Alpha[3]	0.000000
Alpha[3]	0.984459
TNavParticleFilter::Modified Variance for beam 4 is 12.14 
Alpha[4]	0.000000
Alpha[4]	0.984925
TNavParticleFilter::Modified Variance for beam 5 is 12.22 
Alpha[5]	0.000000
Alpha[5]	0.986203
TNavParticleFilter::Modified Variance for beam 6 is 12.32 
Alpha[6]	0.000000
Alpha[6]	0.987064
TNavParticleFilter::Modified Variance for beam 7 is 12.39 
Alpha[7]	0.000000
Alpha[7]	0.990933
TNavParticleFilter::Modified Variance for beam 8 is 13.40 
Alpha[8]	0.000000
Alpha[8]	0.994208
TNavParticleFilter::Modified Variance for beam 9 is 13.32 
Alpha[9]	0.000000
Alpha[9]	0.994905
TNavParticleFilter::Modified Variance for beam 10 is 12.57 
Alpha[10]	0.000000
Alpha[10]	0.994584
TNavParticleFilter::Modified Variance for beam 11 is 11.97 
Alpha[11]	0.000000
Alpha[11]	0.993379
TNavParticleFilter::Modified Variance for beam 12 is 12.18 
Alpha[12]	0.000000
Alpha[12]	0.988010
TNavParticleFilter::Modified Variance for beam 13 is 12.54 
Alpha[13]	0.000000
Alpha[13]	0.971666
TNavParticleFilter::Modified Variance for beam 14 is 12.88 
Alpha[14]	0.000000
Alpha[14]	0.958403
TNavParticleFilter::Modified Variance for beam 15 is 13.05 
Alpha[15]	0.000000
Alpha[15]	0.958485
TNavParticleFilter::Modified Variance for beam 16 is 13.23 
Alpha[16]	0.000000
Alpha[16]	0.959192
TNavParticleFilter::Modified Variance for beam 17 is 13.42 
Alpha[17]	0.000000
Alpha[17]	0.960220
TNavParticleFilter::Modified Variance for beam 18 is 13.59 
Alpha[18]	0.000000
Alpha[18]	0.962891
TNavParticleFilter::Modified Variance for beam 19 is 13.73 
Alpha[19]	0.000000
Alpha[19]	0.968460
TNavParticleFilter::Modified Variance for beam 20 is 13.89 
Alpha[20]	0.000000
Alpha[20]	0.974116
TNavParticleFilter::Modified Variance for beam 21 is 13.41 
Alpha[21]	0.000000
Alpha[21]	0.978948
TNavParticleFilter::Modified Variance for beam 22 is 12.93 
Alpha[22]	0.000000
Alpha[22]	0.980216
TNavParticleFilter::Modified Variance for beam 23 is 12.45 
Alpha[23]	0.000000
Alpha[23]	0.983639
TNavParticleFilter::Modified Variance for beam 24 is 12.55 
Alpha[24]	0.000000
Alpha[24]	0.984297
TNavParticleFilter::Modified Variance for beam 25 is 12.78 
Alpha[25]	0.000000
Alpha[25]	0.986413
TNavParticleFilter::Modified Variance for beam 26 is 13.01 
Alpha[26]	0.000000
Alpha[26]	0.989659
TNavParticleFilter::Modified Variance for beam 27 is 13.28 
Alpha[27]	0.000000
Alpha[27]	0.990768
TNavParticleFilter::Modified Variance for beam 28 is 13.66 
Alpha[28]	0.000000
Alpha[28]	0.985415
TNavParticleFilter::Modified Variance for beam 29 is 14.18 
Alpha[29]	0.000000
Alpha[29]	0.972068
TNavParticleFilter::Modified Variance for beam 30 is 14.44 
Alpha[30]	0.000000
Alpha[30]	0.978651
TNavParticleFilter::Modified Variance for beam 31 is 14.69 
Alpha[31]	0.000000
Alpha[31]	0.983576
TNavParticleFilter::Modified Variance for beam 32 is 14.43 
Alpha[32]	0.000000
Alpha[32]	0.976065
TNavParticleFilter::Modified Variance for beam 33 is 14.42 
Alpha[33]	0.000000
Alpha[33]	0.968083
TNavParticleFilter::Modified Variance for beam 34 is 14.76 
Alpha[34]	0.000000
Alpha[34]	0.973406
TNavParticleFilter::Modified Variance for beam 35 is 15.12 
Alpha[35]	0.000000
Alpha[35]	0.978756
TNavParticleFilter::Modified Variance for beam 36 is 15.44 
Alpha[36]	0.000000
Alpha[36]	0.984553
TNavParticleFilter::Modified Variance for beam 37 is 15.11 
Alpha[37]	0.000000
Alpha[37]	0.984286
TNavParticleFilter::Modified Variance for beam 38 is 15.05 
Alpha[38]	0.000000
Alpha[38]	0.980608
TNavParticleFilter::Modified Variance for beam 39 is 15.56 
Alpha[39]	0.000000
Alpha[39]	0.982060
TNavParticleFilter::Modified Variance for beam 40 is 15.28 
Alpha[40]	0.000000
Alpha[40]	0.991195
TNavParticleFilter::Modified Variance for beam 41 is 14.95 
Alpha[41]	0.000000
Alpha[41]	0.993552
TNavParticleFilter::Modified Variance for beam 42 is 14.71 
Alpha[42]	0.000000
Alpha[42]	0.991326
TNavParticleFilter::Modified Variance for beam 43 is 14.52 
Alpha[43]	0.000000
Alpha[43]	0.986848
TNavParticleFilter::Modified Variance for beam 44 is 15.01 
Alpha[44]	0.000000
Alpha[44]	0.989021
TNavParticleFilter::Modified Variance for beam 45 is 16.31 
Alpha[45]	0.000000
Alpha[45]	0.986394
TNavParticleFilter::Modified Variance for beam 46 is 16.14 
Alpha[46]	0.000000
Alpha[46]	0.980553
TNavParticleFilter::Modified Variance for beam 47 is 15.79 
Alpha[47]	0.000000
Alpha[47]	0.987117
TNavParticleFilter::Modified Variance for beam 48 is 15.97 
Alpha[48]	0.000000
Alpha[48]	0.987907
TNavParticleFilter::Modified Variance for beam 49 is 16.49 
Alpha[49]	0.000000
Alpha[49]	0.985287
TNavParticleFilter::Modified Variance for beam 50 is 16.25 
Alpha[50]	0.000000
Alpha[50]	0.986292
TNavParticleFilter::Modified Variance for beam 51 is 16.39 
Alpha[51]	0.000000
Alpha[51]	0.987214
TNavParticleFilter::Modified Variance for beam 52 is 18.02 
Alpha[52]	0.000000
Alpha[52]	0.990751
TNavParticleFilter::Modified Variance for beam 53 is 18.53 
Alpha[53]	0.000000
Alpha[53]	0.989724
TNavParticleFilter::Modified Variance for beam 54 is 19.92 
Alpha[54]	0.000000
Alpha[54]	0.986226
TNavParticleFilter::Modified Variance for beam 55 is 19.80 
Alpha[55]	0.000000
Alpha[55]	0.988382
TNavParticleFilter::Modified Variance for beam 56 is 18.41 
Alpha[56]	0.000000
Alpha[56]	0.987903
TNavParticleFilter::Modified Variance for beam 57 is 18.26 
Alpha[57]	0.000000
Alpha[57]	0.986233
TNavParticleFilter::Modified Variance for beam 58 is 19.47 
Alpha[58]	0.000000
Alpha[58]	0.986257
TNavParticleFilter::Modified Variance for beam 59 is 20.43 
Alpha[59]	0.000000
Alpha[59]	0.978221
TNavPF:: sumSquaredError = 9.823019 
TNavPF:: sumWeights = 0.069084 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.94. Range = 62.06 
TNavPF::Calculated measDiffMean for beam 31 as 1.28. Range = 63.83 
TNavPF::Calculated measDiffMean for beam 32 as 0.02. Range = 63.54 
TNavPF::Calculated measDiffMean for beam 33 as -0.15. Range = 61.22 
TNavPF::Calculated measDiffMean for beam 34 as -0.14. Range = 60.98 
TNavPF::Calculated measDiffMean for beam 35 as -0.28. Range = 60.77 
TNavPF::Calculated measDiffMean for beam 36 as -0.34. Range = 60.57 
TNavPF::Calculated measDiffMean for beam 37 as -0.16. Range = 60.39 
TNavPF::Calculated measDiffMean for beam 38 as 2.31. Range = 58.21 
TNavPF::Calculated measDiffMean for beam 39 as 2.29. Range = 58.07 
TNavPF::Calculated measDiffMean for beam 40 as 0.68. Range = 55.94 
TNavPF::Calculated measDiffMean for beam 41 as -0.66. Range = 55.85 
TNavPF::Calculated measDiffMean for beam 42 as -0.16. Range = 55.77 
TNavPF::Calculated measDiffMean for beam 43 as 0.28. Range = 55.71 
TNavPF::Calculated measDiffMean for beam 44 as 0.49. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 45 as 0.52. Range = 51.63 
TNavPF::Calculated measDiffMean for beam 46 as 0.52. Range = 49.62 
TNavPF::Calculated measDiffMean for beam 47 as 0.52. Range = 49.63 
TNavPF::Calculated measDiffMean for beam 48 as 0.54. Range = 47.64 
TNavPF::Calculated measDiffMean for beam 49 as 0.65. Range = 47.68 
TNavPF::Calculated measDiffMean for beam 50 as 1.12. Range = 47.73 
TNavPF::Calculated measDiffMean for beam 51 as 0.72. Range = 45.78 
TNavPF::Calculated measDiffMean for beam 52 as 0.30. Range = 45.86 
TNavPF::Calculated measDiffMean for beam 53 as -0.36. Range = 44.74 
TNavPF::Calculated measDiffMean for beam 54 as -0.16. Range = 44.03 
TNavPF::Calculated measDiffMean for beam 55 as -0.02. Range = 44.15 
TNavPF::Calculated measDiffMean for beam 56 as -0.15. Range = 44.27 
TNavPF::Calculated measDiffMean for beam 57 as -0.40. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 58 as -0.39. Range = 44.58 
TNavPF::Calculated measDiffMean for beam 59 as 0.22. Range = 42.69 
TNavPF::Calculated measDiffMean for beam 60 as 0.89. Range = 42.87 
TNavPF::Calculated measDiffMean for beam 61 as 1.48. Range = 43.06 
TNavPF::Calculated measDiffMean for beam 62 as 0.72. Range = 41.58 
TNavPF::Calculated measDiffMean for beam 63 as 0.23. Range = 41.40 
TNavPF::Calculated measDiffMean for beam 64 as 0.44. Range = 41.63 
TNavPF::Calculated measDiffMean for beam 65 as 0.69. Range = 41.87 
TNavPF::Calculated measDiffMean for beam 66 as 1.18. Range = 42.13 
TNavPF::Calculated measDiffMean for beam 67 as 0.44. Range = 42.41 
TNavPF::Calculated measDiffMean for beam 68 as -0.01. Range = 44.86 
TNavPF::Calculated measDiffMean for beam 69 as 0.67. Range = 44.70 
TNavPF::Calculated measDiffMean for beam 70 as 0.46. Range = 42.94 
TNavPF::Calculated measDiffMean for beam 71 as 0.47. Range = 41.47 
TNavPF::Calculated measDiffMean for beam 72 as 0.42. Range = 41.81 
TNavPF::Calculated measDiffMean for beam 73 as -0.20. Range = 42.18 
TNavPF::Calculated measDiffMean for beam 74 as -0.04. Range = 42.56 
TNavPF::Calculated measDiffMean for beam 75 as 1.26. Range = 42.97 
TNavPF::Calculated measDiffMean for beam 76 as 0.13. Range = 43.39 
TNavPF::Calculated measDiffMean for beam 77 as -0.48. Range = 43.84 
TNavPF::Calculated measDiffMean for beam 78 as -0.37. Range = 44.31 
TNavPF::Calculated measDiffMean for beam 79 as -0.00. Range = 44.81 
TNavPF::Calculated measDiffMean for beam 80 as -0.68. Range = 45.33 
TNavPF::Calculated measDiffMean for beam 81 as -0.70. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 82 as 1.17. Range = 43.35 
TNavPF::Calculated measDiffMean for beam 83 as 0.16. Range = 42.34 
TNavPF::Calculated measDiffMean for beam 84 as 1.24. Range = 42.60 
TNavPF::Calculated measDiffMean for beam 85 as 1.14. Range = 43.19 
TNavPF::Calculated measDiffMean for beam 86 as -0.91. Range = 43.82 
TNavPF::Calculated measDiffMean for beam 87 as -1.22. Range = 44.48 
TNavPF::Calculated measDiffMean for beam 88 as 0.04. Range = 45.17 
TNavPF::Calculated measDiffMean for beam 89 as 0.51. Range = 45.89 
TNavPF::First Term of Map Covariance Matrix is 1.05 
TNavPF::Calculated NIS Value : 2.12 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322483.82 sec.
INS : North: 4070330.74, East: 588730.42, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 45.54, IDT[75] = 56.52
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322486.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322486.62)
ARL : North: 1.4186, East: -1.6752, Depth: 1.9219ARL : Estimation Bias  (Mean)         : (t = 1488322486.62)
ARL : North: 1.0019, East: -1.4037, Depth: 0.8355TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.06 
Alpha[0]	0.123000
Alpha[0]	0.951235
TNavParticleFilter::Modified Variance for beam 1 is 14.22 
Alpha[1]	0.000000
Alpha[1]	0.951928
TNavParticleFilter::Modified Variance for beam 2 is 14.39 
Alpha[2]	0.000000
Alpha[2]	0.952637
TNavParticleFilter::Modified Variance for beam 3 is 14.55 
Alpha[3]	0.000000
Alpha[3]	0.954922
TNavParticleFilter::Modified Variance for beam 4 is 14.66 
Alpha[4]	0.000000
Alpha[4]	0.960827
TNavParticleFilter::Modified Variance for beam 5 is 14.57 
Alpha[5]	0.000000
Alpha[5]	0.969593
TNavParticleFilter::Modified Variance for beam 6 is 13.76 
Alpha[6]	0.000000
Alpha[6]	0.981174
TNavParticleFilter::Modified Variance for beam 7 is 13.15 
Alpha[7]	0.000000
Alpha[7]	0.983425
TNavParticleFilter::Modified Variance for beam 8 is 13.06 
Alpha[8]	0.000000
Alpha[8]	0.983617
TNavParticleFilter::Modified Variance for beam 9 is 13.28 
Alpha[9]	0.000000
Alpha[9]	0.983258
TNavParticleFilter::Modified Variance for beam 10 is 14.62 
Alpha[10]	0.000000
Alpha[10]	0.983715
TNavParticleFilter::Modified Variance for beam 11 is 14.83 
Alpha[11]	0.000000
Alpha[11]	0.987662
TNavParticleFilter::Modified Variance for beam 12 is 15.09 
Alpha[12]	0.000000
Alpha[12]	0.989986
TNavParticleFilter::Modified Variance for beam 13 is 14.74 
Alpha[13]	0.000000
Alpha[13]	0.987721
TNavParticleFilter::Modified Variance for beam 14 is 14.40 
Alpha[14]	0.000000
Alpha[14]	0.977288
TNavParticleFilter::Modified Variance for beam 15 is 13.96 
Alpha[15]	0.000000
Alpha[15]	0.975679
TNavParticleFilter::Modified Variance for beam 16 is 14.00 
Alpha[16]	0.000000
Alpha[16]	0.984085
TNavParticleFilter::Modified Variance for beam 17 is 14.37 
Alpha[17]	0.000000
Alpha[17]	0.980833
TNavParticleFilter::Modified Variance for beam 18 is 14.94 
Alpha[18]	0.000000
Alpha[18]	0.965614
TNavParticleFilter::Modified Variance for beam 19 is 15.31 
Alpha[19]	0.000000
Alpha[19]	0.965790
TNavParticleFilter::Modified Variance for beam 20 is 15.63 
Alpha[20]	0.000000
Alpha[20]	0.970772
TNavParticleFilter::Modified Variance for beam 21 is 15.56 
Alpha[21]	0.000000
Alpha[21]	0.979335
TNavParticleFilter::Modified Variance for beam 22 is 15.10 
Alpha[22]	0.000000
Alpha[22]	0.983295
TNavParticleFilter::Modified Variance for beam 23 is 15.32 
Alpha[23]	0.000000
Alpha[23]	0.982632
TNavParticleFilter::Modified Variance for beam 24 is 15.73 
Alpha[24]	0.000000
Alpha[24]	0.979030
TNavParticleFilter::Modified Variance for beam 25 is 15.25 
Alpha[25]	0.000000
Alpha[25]	0.986237
TNavParticleFilter::Modified Variance for beam 26 is 14.81 
Alpha[26]	0.000000
Alpha[26]	0.992982
TNavParticleFilter::Modified Variance for beam 27 is 14.49 
Alpha[27]	0.000000
Alpha[27]	0.993361
TNavParticleFilter::Modified Variance for beam 28 is 14.62 
Alpha[28]	0.000000
Alpha[28]	0.989629
TNavParticleFilter::Modified Variance for beam 29 is 16.42 
Alpha[29]	0.000000
Alpha[29]	0.985705
TNavParticleFilter::Modified Variance for beam 30 is 16.06 
Alpha[30]	0.000000
Alpha[30]	0.987756
TNavParticleFilter::Modified Variance for beam 31 is 16.50 
Alpha[31]	0.000000
Alpha[31]	0.979360
TNavParticleFilter::Modified Variance for beam 32 is 16.80 
Alpha[32]	0.000000
Alpha[32]	0.980282
TNavParticleFilter::Modified Variance for beam 33 is 16.37 
Alpha[33]	0.000000
Alpha[33]	0.988058
TNavParticleFilter::Modified Variance for beam 34 is 16.59 
Alpha[34]	0.000000
Alpha[34]	0.987241
TNavParticleFilter::Modified Variance for beam 35 is 17.07 
Alpha[35]	0.000000
Alpha[35]	0.984089
TNavParticleFilter::Modified Variance for beam 36 is 16.76 
Alpha[36]	0.000000
Alpha[36]	0.986204
TNavParticleFilter::Modified Variance for beam 37 is 16.97 
Alpha[37]	0.000000
Alpha[37]	0.984739
TNavParticleFilter::Modified Variance for beam 38 is 17.82 
Alpha[38]	0.000000
Alpha[38]	0.988304
TNavParticleFilter::Modified Variance for beam 39 is 18.83 
Alpha[39]	0.000000
Alpha[39]	0.987966
TNavParticleFilter::Modified Variance for beam 40 is 19.39 
Alpha[40]	0.000000
Alpha[40]	0.983745
TNavParticleFilter::Modified Variance for beam 41 is 19.09 
Alpha[41]	0.000000
Alpha[41]	0.985969
TNavParticleFilter::Modified Variance for beam 42 is 18.81 
Alpha[42]	0.000000
Alpha[42]	0.987974
TNavParticleFilter::Modified Variance for beam 43 is 18.62 
Alpha[43]	0.000000
Alpha[43]	0.986315
TNavParticleFilter::Modified Variance for beam 44 is 19.55 
Alpha[44]	0.000000
Alpha[44]	0.983171
TNavParticleFilter::Modified Variance for beam 45 is 19.47 
Alpha[45]	0.000000
Alpha[45]	0.982011
TNavParticleFilter::Modified Variance for beam 46 is 19.43 
Alpha[46]	0.000000
Alpha[46]	0.976023
TNavParticleFilter::Modified Variance for beam 47 is 20.90 
Alpha[47]	0.000000
Alpha[47]	0.985882
TNavParticleFilter::Modified Variance for beam 48 is 21.13 
Alpha[48]	0.000000
Alpha[48]	0.990189
TNavParticleFilter::Modified Variance for beam 49 is 19.67 
Alpha[49]	0.000000
Alpha[49]	0.993737
TNavParticleFilter::Modified Variance for beam 50 is 19.53 
Alpha[50]	0.000000
Alpha[50]	0.992671
TNavParticleFilter::Modified Variance for beam 51 is 25.45 
Alpha[51]	0.000000
Alpha[51]	0.996573
TNavParticleFilter::Modified Variance for beam 52 is 28.11 
Alpha[52]	0.000000
Alpha[52]	0.999345
TNavParticleFilter::Modified Variance for beam 53 is 27.93 
Alpha[53]	0.000000
Alpha[53]	0.998610
TNavParticleFilter::Modified Variance for beam 54 is 37.87 
Alpha[54]	0.000000
Alpha[54]	0.998621
TNavParticleFilter::Modified Variance for beam 55 is 44.49 
Alpha[55]	0.000000
Alpha[55]	0.999728
TNavPF:: sumSquaredError = 16.052924 
TNavPF:: sumWeights = 0.002990 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.04. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 31 as 1.06. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 32 as 1.08. Range = 54.91 
TNavPF::Calculated measDiffMean for beam 33 as 1.10. Range = 53.07 
TNavPF::Calculated measDiffMean for beam 34 as 1.17. Range = 53.04 
TNavPF::Calculated measDiffMean for beam 35 as 1.06. Range = 51.01 
TNavPF::Calculated measDiffMean for beam 36 as 0.07. Range = 51.01 
TNavPF::Calculated measDiffMean for beam 37 as -0.38. Range = 49.02 
TNavPF::Calculated measDiffMean for beam 38 as 0.01. Range = 49.04 
TNavPF::Calculated measDiffMean for beam 39 as 0.55. Range = 48.92 
TNavPF::Calculated measDiffMean for beam 40 as 3.15. Range = 47.13 
TNavPF::Calculated measDiffMean for beam 41 as 3.09. Range = 47.20 
TNavPF::Calculated measDiffMean for beam 42 as 2.88. Range = 47.29 
TNavPF::Calculated measDiffMean for beam 43 as 1.32. Range = 47.39 
TNavPF::Calculated measDiffMean for beam 44 as 0.18. Range = 47.24 
TNavPF::Calculated measDiffMean for beam 45 as -0.68. Range = 45.60 
TNavPF::Calculated measDiffMean for beam 46 as -0.37. Range = 45.73 
TNavPF::Calculated measDiffMean for beam 47 as 0.36. Range = 45.89 
TNavPF::Calculated measDiffMean for beam 48 as 1.06. Range = 46.06 
TNavPF::Calculated measDiffMean for beam 49 as 1.36. Range = 46.24 
TNavPF::Calculated measDiffMean for beam 50 as 1.51. Range = 44.37 
TNavPF::Calculated measDiffMean for beam 51 as 1.11. Range = 44.57 
TNavPF::Calculated measDiffMean for beam 52 as 0.13. Range = 44.80 
TNavPF::Calculated measDiffMean for beam 53 as 0.64. Range = 43.14 
TNavPF::Calculated measDiffMean for beam 54 as 1.11. Range = 43.17 
TNavPF::Calculated measDiffMean for beam 55 as 0.17. Range = 43.43 
TNavPF::Calculated measDiffMean for beam 56 as -0.24. Range = 43.71 
TNavPF::Calculated measDiffMean for beam 57 as -0.24. Range = 44.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.37. Range = 44.31 
TNavPF::Calculated measDiffMean for beam 59 as 3.67. Range = 44.63 
TNavPF::Calculated measDiffMean for beam 60 as 1.97. Range = 44.98 
TNavPF::Calculated measDiffMean for beam 61 as 1.63. Range = 45.34 
TNavPF::Calculated measDiffMean for beam 62 as 1.94. Range = 45.73 
TNavPF::Calculated measDiffMean for beam 63 as 1.27. Range = 46.14 
TNavPF::Calculated measDiffMean for beam 64 as 1.37. Range = 46.56 
TNavPF::Calculated measDiffMean for beam 65 as 1.73. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 66 as 1.04. Range = 45.26 
TNavPF::Calculated measDiffMean for beam 67 as 1.22. Range = 43.96 
TNavPF::Calculated measDiffMean for beam 68 as 1.88. Range = 43.76 
TNavPF::Calculated measDiffMean for beam 69 as 2.13. Range = 44.25 
TNavPF::Calculated measDiffMean for beam 70 as 1.62. Range = 47.20 
TNavPF::Calculated measDiffMean for beam 71 as 0.72. Range = 47.78 
TNavPF::Calculated measDiffMean for beam 72 as 0.83. Range = 48.39 
TNavPF::Calculated measDiffMean for beam 73 as 0.81. Range = 47.59 
TNavPF::Calculated measDiffMean for beam 74 as 2.11. Range = 46.53 
TNavPF::Calculated measDiffMean for beam 75 as 0.91. Range = 45.54 
TNavPF::Calculated measDiffMean for beam 76 as 0.28. Range = 45.87 
TNavPF::Calculated measDiffMean for beam 77 as 2.62. Range = 46.57 
TNavPF::Calculated measDiffMean for beam 78 as 1.33. Range = 47.31 
TNavPF::Calculated measDiffMean for beam 79 as -1.31. Range = 48.08 
TNavPF::Calculated measDiffMean for beam 80 as -0.04. Range = 48.89 
TNavPF::Calculated measDiffMean for beam 81 as 9.72. Range = 49.02 
TNavPF::Calculated measDiffMean for beam 82 as 8.32. Range = 48.20 
TNavPF::Calculated measDiffMean for beam 83 as 1.52. Range = 48.64 
TNavPF::Calculated measDiffMean for beam 84 as 11.75. Range = 49.35 
TNavPF::Calculated measDiffMean for beam 85 as 12.50. Range = 48.60 
TNavPF::First Term of Map Covariance Matrix is 0.40 
TNavPF::Calculated NIS Value : 8.77 	numBeams normalized NIS: 0.16
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322486.82 sec.
INS : North: 4070334.12, East: 588727.86, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 47.59, IDT[75] = 55.24
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322489.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322489.62)
ARL : North: 1.3175, East: -1.9721, Depth: -0.2742ARL : Estimation Bias  (Mean)         : (t = 1488322489.62)
ARL : North: 2.0442, East: -1.5704, Depth: -0.5522TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.50 
Alpha[0]	0.123000
Alpha[0]	0.936633
TNavParticleFilter::Modified Variance for beam 1 is 15.61 
Alpha[1]	0.000000
Alpha[1]	0.939566
TNavParticleFilter::Modified Variance for beam 2 is 15.62 
Alpha[2]	0.000000
Alpha[2]	0.949952
TNavParticleFilter::Modified Variance for beam 3 is 15.46 
Alpha[3]	0.000000
Alpha[3]	0.970980
TNavParticleFilter::Modified Variance for beam 4 is 14.56 
Alpha[4]	0.000000
Alpha[4]	0.986561
TNavParticleFilter::Modified Variance for beam 5 is 13.78 
Alpha[5]	0.000000
Alpha[5]	0.987614
TNavParticleFilter::Modified Variance for beam 6 is 13.72 
Alpha[6]	0.000000
Alpha[6]	0.984590
TNavParticleFilter::Modified Variance for beam 7 is 13.97 
Alpha[7]	0.000000
Alpha[7]	0.980377
TNavParticleFilter::Modified Variance for beam 8 is 14.13 
Alpha[8]	0.000000
Alpha[8]	0.983090
TNavParticleFilter::Modified Variance for beam 9 is 14.30 
Alpha[9]	0.000000
Alpha[9]	0.986665
TNavParticleFilter::Modified Variance for beam 10 is 14.50 
Alpha[10]	0.000000
Alpha[10]	0.988410
TNavParticleFilter::Modified Variance for beam 11 is 14.81 
Alpha[11]	0.000000
Alpha[11]	0.983738
TNavParticleFilter::Modified Variance for beam 12 is 15.17 
Alpha[12]	0.000000
Alpha[12]	0.977152
TNavParticleFilter::Modified Variance for beam 13 is 15.34 
Alpha[13]	0.000000
Alpha[13]	0.983467
TNavParticleFilter::Modified Variance for beam 14 is 15.35 
Alpha[14]	0.000000
Alpha[14]	0.984307
TNavParticleFilter::Modified Variance for beam 15 is 14.99 
Alpha[15]	0.000000
Alpha[15]	0.971352
TNavParticleFilter::Modified Variance for beam 16 is 15.53 
Alpha[16]	0.000000
Alpha[16]	0.952236
TNavParticleFilter::Modified Variance for beam 17 is 15.80 
Alpha[17]	0.000000
Alpha[17]	0.955552
TNavParticleFilter::Modified Variance for beam 18 is 15.92 
Alpha[18]	0.000000
Alpha[18]	0.969218
TNavParticleFilter::Modified Variance for beam 19 is 15.94 
Alpha[19]	0.000000
Alpha[19]	0.978200
TNavParticleFilter::Modified Variance for beam 20 is 15.38 
Alpha[20]	0.000000
Alpha[20]	0.982706
TNavParticleFilter::Modified Variance for beam 21 is 15.51 
Alpha[21]	0.000000
Alpha[21]	0.981174
TNavParticleFilter::Modified Variance for beam 22 is 15.88 
Alpha[22]	0.000000
Alpha[22]	0.982805
TNavParticleFilter::Modified Variance for beam 23 is 15.33 
Alpha[23]	0.000000
Alpha[23]	0.991337
TNavParticleFilter::Modified Variance for beam 24 is 14.89 
Alpha[24]	0.000000
Alpha[24]	0.993714
TNavParticleFilter::Modified Variance for beam 25 is 14.53 
Alpha[25]	0.000000
Alpha[25]	0.992117
TNavParticleFilter::Modified Variance for beam 26 is 14.74 
Alpha[26]	0.000000
Alpha[26]	0.985810
TNavParticleFilter::Modified Variance for beam 27 is 15.17 
Alpha[27]	0.000000
Alpha[27]	0.986199
TNavParticleFilter::Modified Variance for beam 28 is 16.21 
Alpha[28]	0.000000
Alpha[28]	0.980389
TNavParticleFilter::Modified Variance for beam 29 is 16.37 
Alpha[29]	0.000000
Alpha[29]	0.973540
TNavParticleFilter::Modified Variance for beam 30 is 16.69 
Alpha[30]	0.000000
Alpha[30]	0.986356
TNavParticleFilter::Modified Variance for beam 31 is 16.31 
Alpha[31]	0.000000
Alpha[31]	0.987743
TNavParticleFilter::Modified Variance for beam 32 is 16.25 
Alpha[32]	0.000000
Alpha[32]	0.983898
TNavParticleFilter::Modified Variance for beam 33 is 16.85 
Alpha[33]	0.000000
Alpha[33]	0.985591
TNavParticleFilter::Modified Variance for beam 34 is 16.63 
Alpha[34]	0.000000
Alpha[34]	0.984464
TNavParticleFilter::Modified Variance for beam 35 is 16.46 
Alpha[35]	0.000000
Alpha[35]	0.980249
TNavParticleFilter::Modified Variance for beam 36 is 17.09 
Alpha[36]	0.000000
Alpha[36]	0.984799
TNavParticleFilter::Modified Variance for beam 37 is 17.93 
Alpha[37]	0.000000
Alpha[37]	0.980947
TNavParticleFilter::Modified Variance for beam 38 is 18.84 
Alpha[38]	0.000000
Alpha[38]	0.978427
TNavParticleFilter::Modified Variance for beam 39 is 18.80 
Alpha[39]	0.000000
Alpha[39]	0.986809
TNavParticleFilter::Modified Variance for beam 40 is 17.25 
Alpha[40]	0.000000
Alpha[40]	0.988778
TNavParticleFilter::Modified Variance for beam 41 is 17.04 
Alpha[41]	0.000000
Alpha[41]	0.986356
TNavParticleFilter::Modified Variance for beam 42 is 18.11 
Alpha[42]	0.000000
Alpha[42]	0.976613
TNavParticleFilter::Modified Variance for beam 43 is 19.07 
Alpha[43]	0.000000
Alpha[43]	0.979202
TNavParticleFilter::Modified Variance for beam 44 is 18.84 
Alpha[44]	0.000000
Alpha[44]	0.978134
TNavParticleFilter::Modified Variance for beam 45 is 18.83 
Alpha[45]	0.000000
Alpha[45]	0.978223
TNavParticleFilter::Modified Variance for beam 46 is 19.97 
Alpha[46]	0.000000
Alpha[46]	0.986086
TNavParticleFilter::Modified Variance for beam 47 is 20.28 
Alpha[47]	0.000000
Alpha[47]	0.993662
TNavParticleFilter::Modified Variance for beam 48 is 18.84 
Alpha[48]	0.000000
Alpha[48]	0.994256
TNavParticleFilter::Modified Variance for beam 49 is 18.74 
Alpha[49]	0.000000
Alpha[49]	0.989040
TNavParticleFilter::Modified Variance for beam 50 is 19.28 
Alpha[50]	0.000000
Alpha[50]	0.998431
TNavParticleFilter::Modified Variance for beam 51 is 25.15 
Alpha[51]	0.000000
Alpha[51]	0.998132
TNavParticleFilter::Modified Variance for beam 52 is 26.97 
Alpha[52]	0.000000
Alpha[52]	0.997048
TNavParticleFilter::Modified Variance for beam 53 is 26.76 
Alpha[53]	0.000000
Alpha[53]	0.995933
TNavParticleFilter::Modified Variance for beam 54 is 28.70 
Alpha[54]	0.000000
Alpha[54]	0.998836
TNavParticleFilter::Modified Variance for beam 55 is 33.67 
Alpha[55]	0.000000
Alpha[55]	0.999021
TNavPF:: sumSquaredError = 1.568618 
TNavPF:: sumWeights = 0.072578 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.08. Range = 63.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.07. Range = 58.80 
TNavPF::Calculated measDiffMean for beam 32 as -0.02. Range = 58.67 
TNavPF::Calculated measDiffMean for beam 33 as 0.26. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 34 as -0.43. Range = 56.45 
TNavPF::Calculated measDiffMean for beam 35 as -1.06. Range = 54.37 
TNavPF::Calculated measDiffMean for beam 36 as -0.83. Range = 54.32 
TNavPF::Calculated measDiffMean for beam 37 as -0.51. Range = 52.28 
TNavPF::Calculated measDiffMean for beam 38 as -0.53. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 39 as -0.69. Range = 50.25 
TNavPF::Calculated measDiffMean for beam 40 as -1.03. Range = 50.27 
TNavPF::Calculated measDiffMean for beam 41 as -0.88. Range = 50.29 
TNavPF::Calculated measDiffMean for beam 42 as -0.04. Range = 50.34 
TNavPF::Calculated measDiffMean for beam 43 as 0.74. Range = 50.40 
TNavPF::Calculated measDiffMean for beam 44 as 0.81. Range = 48.46 
TNavPF::Calculated measDiffMean for beam 45 as -0.27. Range = 48.54 
TNavPF::Calculated measDiffMean for beam 46 as -0.03. Range = 48.65 
TNavPF::Calculated measDiffMean for beam 47 as 0.07. Range = 48.76 
TNavPF::Calculated measDiffMean for beam 48 as 0.23. Range = 48.89 
TNavPF::Calculated measDiffMean for beam 49 as 0.26. Range = 47.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.63. Range = 47.16 
TNavPF::Calculated measDiffMean for beam 51 as -0.43. Range = 47.33 
TNavPF::Calculated measDiffMean for beam 52 as 0.26. Range = 45.46 
TNavPF::Calculated measDiffMean for beam 53 as -0.40. Range = 45.66 
TNavPF::Calculated measDiffMean for beam 54 as -0.66. Range = 45.87 
TNavPF::Calculated measDiffMean for beam 55 as -0.83. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 56 as -0.52. Range = 46.34 
TNavPF::Calculated measDiffMean for beam 57 as -0.37. Range = 46.60 
TNavPF::Calculated measDiffMean for beam 58 as 0.67. Range = 46.88 
TNavPF::Calculated measDiffMean for beam 59 as 0.46. Range = 47.17 
TNavPF::Calculated measDiffMean for beam 60 as 1.43. Range = 47.49 
TNavPF::Calculated measDiffMean for beam 61 as 0.57. Range = 47.82 
TNavPF::Calculated measDiffMean for beam 62 as -0.01. Range = 48.17 
TNavPF::Calculated measDiffMean for beam 63 as 0.97. Range = 48.54 
TNavPF::Calculated measDiffMean for beam 64 as 0.54. Range = 47.17 
TNavPF::Calculated measDiffMean for beam 65 as -0.31. Range = 45.51 
TNavPF::Calculated measDiffMean for beam 66 as -0.06. Range = 45.28 
TNavPF::Calculated measDiffMean for beam 67 as 0.05. Range = 45.70 
TNavPF::Calculated measDiffMean for beam 68 as 0.59. Range = 46.14 
TNavPF::Calculated measDiffMean for beam 69 as 0.58. Range = 46.60 
TNavPF::Calculated measDiffMean for beam 70 as -1.57. Range = 47.09 
TNavPF::Calculated measDiffMean for beam 71 as -1.63. Range = 47.60 
TNavPF::Calculated measDiffMean for beam 72 as -0.13. Range = 48.14 
TNavPF::Calculated measDiffMean for beam 73 as 0.84. Range = 48.71 
TNavPF::Calculated measDiffMean for beam 74 as 0.19. Range = 48.75 
TNavPF::Calculated measDiffMean for beam 75 as -0.11. Range = 47.59 
TNavPF::Calculated measDiffMean for beam 76 as 0.61. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 77 as 0.83. Range = 48.72 
TNavPF::Calculated measDiffMean for beam 78 as -0.08. Range = 49.41 
TNavPF::Calculated measDiffMean for beam 79 as 0.20. Range = 49.74 
TNavPF::Calculated measDiffMean for beam 80 as -1.16. Range = 48.75 
TNavPF::Calculated measDiffMean for beam 81 as 2.39. Range = 48.98 
TNavPF::Calculated measDiffMean for beam 82 as 1.44. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 83 as -0.72. Range = 48.94 
TNavPF::Calculated measDiffMean for beam 84 as -0.99. Range = 48.09 
TNavPF::Calculated measDiffMean for beam 85 as -0.71. Range = 47.28 
TNavPF::First Term of Map Covariance Matrix is 0.31 
TNavPF::Calculated NIS Value : 1.73 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322489.82 sec.
INS : North: 4070337.39, East: 588725.12, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 49.79, IDT[75] = 53.86
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322492.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322492.62)
ARL : North: 0.5836, East: -0.8165, Depth: -3.6287ARL : Estimation Bias  (Mean)         : (t = 1488322492.62)
ARL : North: 2.0460, East: -1.5689, Depth: 0.2422TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.97 
Alpha[0]	0.123000
Alpha[0]	0.950360
TNavParticleFilter::Modified Variance for beam 1 is 16.24 
Alpha[1]	0.000000
Alpha[1]	0.940897
TNavParticleFilter::Modified Variance for beam 2 is 16.37 
Alpha[2]	0.000000
Alpha[2]	0.940898
TNavParticleFilter::Modified Variance for beam 3 is 16.45 
Alpha[3]	0.000000
Alpha[3]	0.944004
TNavParticleFilter::Modified Variance for beam 4 is 16.40 
Alpha[4]	0.000000
Alpha[4]	0.955638
TNavParticleFilter::Modified Variance for beam 5 is 16.25 
Alpha[5]	0.000000
Alpha[5]	0.973165
TNavParticleFilter::Modified Variance for beam 6 is 15.35 
Alpha[6]	0.000000
Alpha[6]	0.987949
TNavParticleFilter::Modified Variance for beam 7 is 14.32 
Alpha[7]	0.000000
Alpha[7]	0.988572
TNavParticleFilter::Modified Variance for beam 8 is 14.46 
Alpha[8]	0.000000
Alpha[8]	0.985077
TNavParticleFilter::Modified Variance for beam 9 is 14.67 
Alpha[9]	0.000000
Alpha[9]	0.981785
TNavParticleFilter::Modified Variance for beam 10 is 14.82 
Alpha[10]	0.000000
Alpha[10]	0.983572
TNavParticleFilter::Modified Variance for beam 11 is 14.96 
Alpha[11]	0.000000
Alpha[11]	0.986420
TNavParticleFilter::Modified Variance for beam 12 is 15.14 
Alpha[12]	0.000000
Alpha[12]	0.987596
TNavParticleFilter::Modified Variance for beam 13 is 15.42 
Alpha[13]	0.000000
Alpha[13]	0.983341
TNavParticleFilter::Modified Variance for beam 14 is 15.70 
Alpha[14]	0.000000
Alpha[14]	0.979815
TNavParticleFilter::Modified Variance for beam 15 is 15.86 
Alpha[15]	0.000000
Alpha[15]	0.984468
TNavParticleFilter::Modified Variance for beam 16 is 15.74 
Alpha[16]	0.000000
Alpha[16]	0.983148
TNavParticleFilter::Modified Variance for beam 17 is 15.48 
Alpha[17]	0.000000
Alpha[17]	0.967791
TNavParticleFilter::Modified Variance for beam 18 is 15.98 
Alpha[18]	0.000000
Alpha[18]	0.953224
TNavParticleFilter::Modified Variance for beam 19 is 16.15 
Alpha[19]	0.000000
Alpha[19]	0.959989
TNavParticleFilter::Modified Variance for beam 20 is 16.19 
Alpha[20]	0.000000
Alpha[20]	0.975225
TNavParticleFilter::Modified Variance for beam 21 is 16.11 
Alpha[21]	0.000000
Alpha[21]	0.980890
TNavParticleFilter::Modified Variance for beam 22 is 15.50 
Alpha[22]	0.000000
Alpha[22]	0.982330
TNavParticleFilter::Modified Variance for beam 23 is 15.79 
Alpha[23]	0.000000
Alpha[23]	0.982598
TNavParticleFilter::Modified Variance for beam 24 is 15.89 
Alpha[24]	0.000000
Alpha[24]	0.989426
TNavParticleFilter::Modified Variance for beam 25 is 15.31 
Alpha[25]	0.000000
Alpha[25]	0.993297
TNavParticleFilter::Modified Variance for beam 26 is 14.84 
Alpha[26]	0.000000
Alpha[26]	0.993152
TNavParticleFilter::Modified Variance for beam 27 is 14.52 
Alpha[27]	0.000000
Alpha[27]	0.989819
TNavParticleFilter::Modified Variance for beam 28 is 14.94 
Alpha[28]	0.000000
Alpha[28]	0.985430
TNavParticleFilter::Modified Variance for beam 29 is 16.46 
Alpha[29]	0.000000
Alpha[29]	0.986892
TNavParticleFilter::Modified Variance for beam 30 is 16.16 
Alpha[30]	0.000000
Alpha[30]	0.976899
TNavParticleFilter::Modified Variance for beam 31 is 16.26 
Alpha[31]	0.000000
Alpha[31]	0.979063
TNavParticleFilter::Modified Variance for beam 32 is 16.53 
Alpha[32]	0.000000
Alpha[32]	0.987159
TNavParticleFilter::Modified Variance for beam 33 is 16.14 
Alpha[33]	0.000000
Alpha[33]	0.985636
TNavParticleFilter::Modified Variance for beam 34 is 16.14 
Alpha[34]	0.000000
Alpha[34]	0.983141
TNavParticleFilter::Modified Variance for beam 35 is 16.60 
Alpha[35]	0.000000
Alpha[35]	0.986360
TNavParticleFilter::Modified Variance for beam 36 is 16.37 
Alpha[36]	0.000000
Alpha[36]	0.983032
TNavParticleFilter::Modified Variance for beam 37 is 16.18 
Alpha[37]	0.000000
Alpha[37]	0.981410
TNavParticleFilter::Modified Variance for beam 38 is 16.71 
Alpha[38]	0.000000
Alpha[38]	0.984171
TNavParticleFilter::Modified Variance for beam 39 is 17.43 
Alpha[39]	0.000000
Alpha[39]	0.979039
TNavParticleFilter::Modified Variance for beam 40 is 18.14 
Alpha[40]	0.000000
Alpha[40]	0.977713
TNavParticleFilter::Modified Variance for beam 41 is 18.41 
Alpha[41]	0.000000
Alpha[41]	0.987915
TNavParticleFilter::Modified Variance for beam 42 is 18.03 
Alpha[42]	0.000000
Alpha[42]	0.989621
TNavParticleFilter::Modified Variance for beam 43 is 17.76 
Alpha[43]	0.000000
Alpha[43]	0.986885
TNavParticleFilter::Modified Variance for beam 44 is 17.64 
Alpha[44]	0.000000
Alpha[44]	0.976628
TNavParticleFilter::Modified Variance for beam 45 is 18.07 
Alpha[45]	0.000000
Alpha[45]	0.978381
TNavParticleFilter::Modified Variance for beam 46 is 18.24 
Alpha[46]	0.000000
Alpha[46]	0.979585
TNavParticleFilter::Modified Variance for beam 47 is 18.03 
Alpha[47]	0.000000
Alpha[47]	0.975755
TNavParticleFilter::Modified Variance for beam 48 is 18.52 
Alpha[48]	0.000000
Alpha[48]	0.983797
TNavParticleFilter::Modified Variance for beam 49 is 19.44 
Alpha[49]	0.000000
Alpha[49]	0.991314
TNavParticleFilter::Modified Variance for beam 50 is 19.32 
Alpha[50]	0.000000
Alpha[50]	0.995264
TNavParticleFilter::Modified Variance for beam 51 is 17.99 
Alpha[51]	0.000000
Alpha[51]	0.989129
TNavParticleFilter::Modified Variance for beam 52 is 17.65 
Alpha[52]	0.000000
Alpha[52]	0.995587
TNavParticleFilter::Modified Variance for beam 53 is 21.74 
Alpha[53]	0.000000
Alpha[53]	0.998291
TNavParticleFilter::Modified Variance for beam 54 is 23.44 
Alpha[54]	0.000000
Alpha[54]	0.996276
TNavParticleFilter::Modified Variance for beam 55 is 25.34 
Alpha[55]	0.000000
Alpha[55]	0.996548
TNavParticleFilter::Modified Variance for beam 56 is 25.67 
Alpha[56]	0.000000
Alpha[56]	0.993498
TNavParticleFilter::Modified Variance for beam 57 is 25.72 
Alpha[57]	0.000000
Alpha[57]	0.997403
TNavParticleFilter::Modified Variance for beam 58 is 32.39 
Alpha[58]	0.000000
Alpha[58]	0.998590
TNavParticleFilter::Modified Variance for beam 59 is 32.08 
Alpha[59]	0.000000
Alpha[59]	0.998876
TNavPF:: sumSquaredError = 5.363619 
TNavPF:: sumWeights = 0.051729 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.39. Range = 71.94 
TNavPF::Calculated measDiffMean for beam 31 as -0.35. Range = 71.60 
TNavPF::Calculated measDiffMean for beam 32 as -0.35. Range = 69.24 
TNavPF::Calculated measDiffMean for beam 33 as -0.33. Range = 64.86 
TNavPF::Calculated measDiffMean for beam 34 as -0.28. Range = 63.97 
TNavPF::Calculated measDiffMean for beam 35 as -0.06. Range = 64.31 
TNavPF::Calculated measDiffMean for beam 36 as -0.71. Range = 62.17 
TNavPF::Calculated measDiffMean for beam 37 as -1.70. Range = 59.98 
TNavPF::Calculated measDiffMean for beam 38 as -1.07. Range = 59.83 
TNavPF::Calculated measDiffMean for beam 39 as -0.84. Range = 57.69 
TNavPF::Calculated measDiffMean for beam 40 as -0.85. Range = 57.58 
TNavPF::Calculated measDiffMean for beam 41 as -1.00. Range = 55.49 
TNavPF::Calculated measDiffMean for beam 42 as -1.35. Range = 55.42 
TNavPF::Calculated measDiffMean for beam 43 as -1.11. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 44 as -0.23. Range = 53.34 
TNavPF::Calculated measDiffMean for beam 45 as 0.45. Range = 53.32 
TNavPF::Calculated measDiffMean for beam 46 as 0.23. Range = 53.32 
TNavPF::Calculated measDiffMean for beam 47 as -0.63. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 48 as -0.33. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 49 as -0.22. Range = 51.42 
TNavPF::Calculated measDiffMean for beam 50 as 0.01. Range = 51.48 
TNavPF::Calculated measDiffMean for beam 51 as -0.08. Range = 51.56 
TNavPF::Calculated measDiffMean for beam 52 as -1.08. Range = 49.64 
TNavPF::Calculated measDiffMean for beam 53 as -0.50. Range = 49.75 
TNavPF::Calculated measDiffMean for beam 54 as 0.09. Range = 48.04 
TNavPF::Calculated measDiffMean for beam 55 as -0.49. Range = 47.98 
TNavPF::Calculated measDiffMean for beam 56 as -0.80. Range = 48.13 
TNavPF::Calculated measDiffMean for beam 57 as -1.22. Range = 48.29 
TNavPF::Calculated measDiffMean for beam 58 as -0.78. Range = 48.47 
TNavPF::Calculated measDiffMean for beam 59 as 1.47. Range = 48.67 
TNavPF::Calculated measDiffMean for beam 60 as 0.07. Range = 48.88 
TNavPF::Calculated measDiffMean for beam 61 as 0.34. Range = 49.11 
TNavPF::Calculated measDiffMean for beam 62 as 1.18. Range = 49.36 
TNavPF::Calculated measDiffMean for beam 63 as 0.16. Range = 49.63 
TNavPF::Calculated measDiffMean for beam 64 as -0.18. Range = 49.91 
TNavPF::Calculated measDiffMean for beam 65 as 0.81. Range = 50.21 
TNavPF::Calculated measDiffMean for beam 66 as 0.23. Range = 48.86 
TNavPF::Calculated measDiffMean for beam 67 as -0.70. Range = 46.71 
TNavPF::Calculated measDiffMean for beam 68 as -0.61. Range = 46.90 
TNavPF::Calculated measDiffMean for beam 69 as -0.52. Range = 47.25 
TNavPF::Calculated measDiffMean for beam 70 as -0.01. Range = 47.62 
TNavPF::Calculated measDiffMean for beam 71 as 0.65. Range = 48.01 
TNavPF::Calculated measDiffMean for beam 72 as 0.67. Range = 48.42 
TNavPF::Calculated measDiffMean for beam 73 as 0.51. Range = 48.85 
TNavPF::Calculated measDiffMean for beam 74 as -0.15. Range = 49.31 
TNavPF::Calculated measDiffMean for beam 75 as 0.02. Range = 49.79 
TNavPF::Calculated measDiffMean for beam 76 as 0.08. Range = 49.51 
TNavPF::Calculated measDiffMean for beam 77 as -0.48. Range = 48.48 
TNavPF::Calculated measDiffMean for beam 78 as -0.36. Range = 49.01 
TNavPF::Calculated measDiffMean for beam 79 as 0.56. Range = 49.57 
TNavPF::Calculated measDiffMean for beam 80 as 1.41. Range = 50.16 
TNavPF::Calculated measDiffMean for beam 81 as -0.00. Range = 50.17 
TNavPF::Calculated measDiffMean for beam 82 as -1.18. Range = 48.99 
TNavPF::Calculated measDiffMean for beam 83 as 1.87. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 84 as 0.69. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 85 as 0.82. Range = 48.97 
TNavPF::Calculated measDiffMean for beam 86 as -0.62. Range = 47.96 
TNavPF::Calculated measDiffMean for beam 87 as -1.79. Range = 47.17 
TNavPF::Calculated measDiffMean for beam 88 as 2.81. Range = 47.92 
TNavPF::Calculated measDiffMean for beam 89 as -1.77. Range = 51.06 
TNavPF::First Term of Map Covariance Matrix is 0.39 
TNavPF::Calculated NIS Value : 2.36 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322492.82 sec.
INS : North: 4070340.39, East: 588722.06, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 51.01, IDT[75] = 52.78
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322495.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322495.62)
ARL : North: 1.4661, East: -1.1184, Depth: 6.0028ARL : Estimation Bias  (Mean)         : (t = 1488322495.62)
ARL : North: 2.0767, East: -1.6945, Depth: 0.4153TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.92 
Alpha[0]	0.123000
Alpha[0]	0.956923
TNavParticleFilter::Modified Variance for beam 1 is 17.30 
Alpha[1]	0.000000
Alpha[1]	0.940700
TNavParticleFilter::Modified Variance for beam 2 is 17.40 
Alpha[2]	0.000000
Alpha[2]	0.940588
TNavParticleFilter::Modified Variance for beam 3 is 17.44 
Alpha[3]	0.000000
Alpha[3]	0.944695
TNavParticleFilter::Modified Variance for beam 4 is 17.31 
Alpha[4]	0.000000
Alpha[4]	0.958128
TNavParticleFilter::Modified Variance for beam 5 is 17.07 
Alpha[5]	0.000000
Alpha[5]	0.978759
TNavParticleFilter::Modified Variance for beam 6 is 15.90 
Alpha[6]	0.000000
Alpha[6]	0.990381
TNavParticleFilter::Modified Variance for beam 7 is 15.08 
Alpha[7]	0.000000
Alpha[7]	0.987972
TNavParticleFilter::Modified Variance for beam 8 is 15.28 
Alpha[8]	0.000000
Alpha[8]	0.983776
TNavParticleFilter::Modified Variance for beam 9 is 15.45 
Alpha[9]	0.000000
Alpha[9]	0.982047
TNavParticleFilter::Modified Variance for beam 10 is 15.56 
Alpha[10]	0.000000
Alpha[10]	0.984089
TNavParticleFilter::Modified Variance for beam 11 is 15.68 
Alpha[11]	0.000000
Alpha[11]	0.986929
TNavParticleFilter::Modified Variance for beam 12 is 15.87 
Alpha[12]	0.000000
Alpha[12]	0.985785
TNavParticleFilter::Modified Variance for beam 13 is 16.10 
Alpha[13]	0.000000
Alpha[13]	0.982673
TNavParticleFilter::Modified Variance for beam 14 is 16.29 
Alpha[14]	0.000000
Alpha[14]	0.982898
TNavParticleFilter::Modified Variance for beam 15 is 16.46 
Alpha[15]	0.000000
Alpha[15]	0.984717
TNavParticleFilter::Modified Variance for beam 16 is 15.99 
Alpha[16]	0.000000
Alpha[16]	0.976176
TNavParticleFilter::Modified Variance for beam 17 is 16.28 
Alpha[17]	0.000000
Alpha[17]	0.954155
TNavParticleFilter::Modified Variance for beam 18 is 16.54 
Alpha[18]	0.000000
Alpha[18]	0.952796
TNavParticleFilter::Modified Variance for beam 19 is 16.51 
Alpha[19]	0.000000
Alpha[19]	0.969049
TNavParticleFilter::Modified Variance for beam 20 is 16.60 
Alpha[20]	0.000000
Alpha[20]	0.979128
TNavParticleFilter::Modified Variance for beam 21 is 16.09 
Alpha[21]	0.000000
Alpha[21]	0.981605
TNavParticleFilter::Modified Variance for beam 22 is 15.88 
Alpha[22]	0.000000
Alpha[22]	0.983444
TNavParticleFilter::Modified Variance for beam 23 is 16.07 
Alpha[23]	0.000000
Alpha[23]	0.989386
TNavParticleFilter::Modified Variance for beam 24 is 15.73 
Alpha[24]	0.000000
Alpha[24]	0.992991
TNavParticleFilter::Modified Variance for beam 25 is 15.13 
Alpha[25]	0.000000
Alpha[25]	0.993280
TNavParticleFilter::Modified Variance for beam 26 is 14.61 
Alpha[26]	0.000000
Alpha[26]	0.990804
TNavParticleFilter::Modified Variance for beam 27 is 14.92 
Alpha[27]	0.000000
Alpha[27]	0.985171
TNavParticleFilter::Modified Variance for beam 28 is 16.45 
Alpha[28]	0.000000
Alpha[28]	0.987591
TNavParticleFilter::Modified Variance for beam 29 is 16.33 
Alpha[29]	0.000000
Alpha[29]	0.981334
TNavParticleFilter::Modified Variance for beam 30 is 16.06 
Alpha[30]	0.000000
Alpha[30]	0.976305
TNavParticleFilter::Modified Variance for beam 31 is 16.28 
Alpha[31]	0.000000
Alpha[31]	0.985858
TNavParticleFilter::Modified Variance for beam 32 is 16.25 
Alpha[32]	0.000000
Alpha[32]	0.985969
TNavParticleFilter::Modified Variance for beam 33 is 15.83 
Alpha[33]	0.000000
Alpha[33]	0.983117
TNavParticleFilter::Modified Variance for beam 34 is 16.14 
Alpha[34]	0.000000
Alpha[34]	0.985997
TNavParticleFilter::Modified Variance for beam 35 is 16.34 
Alpha[35]	0.000000
Alpha[35]	0.984655
TNavParticleFilter::Modified Variance for beam 36 is 15.98 
Alpha[36]	0.000000
Alpha[36]	0.980384
TNavParticleFilter::Modified Variance for beam 37 is 16.12 
Alpha[37]	0.000000
Alpha[37]	0.982096
TNavParticleFilter::Modified Variance for beam 38 is 16.60 
Alpha[38]	0.000000
Alpha[38]	0.982801
TNavParticleFilter::Modified Variance for beam 39 is 17.30 
Alpha[39]	0.000000
Alpha[39]	0.973250
TNavParticleFilter::Modified Variance for beam 40 is 17.71 
Alpha[40]	0.000000
Alpha[40]	0.982227
TNavParticleFilter::Modified Variance for beam 41 is 17.88 
Alpha[41]	0.000000
Alpha[41]	0.990263
TNavParticleFilter::Modified Variance for beam 42 is 17.50 
Alpha[42]	0.000000
Alpha[42]	0.989917
TNavParticleFilter::Modified Variance for beam 43 is 17.24 
Alpha[43]	0.000000
Alpha[43]	0.983880
TNavParticleFilter::Modified Variance for beam 44 is 17.10 
Alpha[44]	0.000000
Alpha[44]	0.972153
TNavParticleFilter::Modified Variance for beam 45 is 17.50 
Alpha[45]	0.000000
Alpha[45]	0.977773
TNavParticleFilter::Modified Variance for beam 46 is 17.62 
Alpha[46]	0.000000
Alpha[46]	0.977072
TNavParticleFilter::Modified Variance for beam 47 is 17.35 
Alpha[47]	0.000000
Alpha[47]	0.974408
TNavParticleFilter::Modified Variance for beam 48 is 17.72 
Alpha[48]	0.000000
Alpha[48]	0.982877
TNavParticleFilter::Modified Variance for beam 49 is 18.37 
Alpha[49]	0.000000
Alpha[49]	0.992699
TNavParticleFilter::Modified Variance for beam 50 is 18.57 
Alpha[50]	0.000000
Alpha[50]	0.995082
TNavParticleFilter::Modified Variance for beam 51 is 17.19 
Alpha[51]	0.000000
Alpha[51]	0.988244
TNavParticleFilter::Modified Variance for beam 52 is 16.83 
Alpha[52]	0.000000
Alpha[52]	0.994396
TNavParticleFilter::Modified Variance for beam 53 is 17.52 
Alpha[53]	0.000000
Alpha[53]	0.997738
TNavParticleFilter::Modified Variance for beam 54 is 21.22 
Alpha[54]	0.000000
Alpha[54]	0.994532
TNavParticleFilter::Modified Variance for beam 55 is 22.55 
Alpha[55]	0.000000
Alpha[55]	0.995681
TNavParticleFilter::Modified Variance for beam 56 is 24.13 
Alpha[56]	0.000000
Alpha[56]	0.993809
TNavParticleFilter::Modified Variance for beam 57 is 24.47 
Alpha[57]	0.000000
Alpha[57]	0.991365
TNavParticleFilter::Modified Variance for beam 58 is 24.20 
Alpha[58]	0.000000
Alpha[58]	0.996470
TNavParticleFilter::Modified Variance for beam 59 is 26.10 
Alpha[59]	0.000000
Alpha[59]	0.998217
TNavPF:: sumSquaredError = 9.937655 
TNavPF:: sumWeights = 0.056751 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.59. Range = 76.74 
TNavPF::Calculated measDiffMean for beam 31 as -0.54. Range = 76.27 
TNavPF::Calculated measDiffMean for beam 32 as -0.53. Range = 75.83 
TNavPF::Calculated measDiffMean for beam 33 as -0.51. Range = 75.42 
TNavPF::Calculated measDiffMean for beam 34 as -0.46. Range = 72.96 
TNavPF::Calculated measDiffMean for beam 35 as -0.16. Range = 68.46 
TNavPF::Calculated measDiffMean for beam 36 as -1.02. Range = 66.10 
TNavPF::Calculated measDiffMean for beam 37 as -1.60. Range = 65.82 
TNavPF::Calculated measDiffMean for beam 38 as -1.12. Range = 64.09 
TNavPF::Calculated measDiffMean for beam 39 as -1.03. Range = 63.31 
TNavPF::Calculated measDiffMean for beam 40 as -1.10. Range = 63.11 
TNavPF::Calculated measDiffMean for beam 41 as -1.37. Range = 60.90 
TNavPF::Calculated measDiffMean for beam 42 as -1.60. Range = 58.72 
TNavPF::Calculated measDiffMean for beam 43 as -0.94. Range = 58.59 
TNavPF::Calculated measDiffMean for beam 44 as -0.04. Range = 56.46 
TNavPF::Calculated measDiffMean for beam 45 as 0.48. Range = 56.37 
TNavPF::Calculated measDiffMean for beam 46 as -0.48. Range = 56.30 
TNavPF::Calculated measDiffMean for beam 47 as -0.60. Range = 56.24 
TNavPF::Calculated measDiffMean for beam 48 as -0.48. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 49 as -0.31. Range = 54.18 
TNavPF::Calculated measDiffMean for beam 50 as 0.01. Range = 54.17 
TNavPF::Calculated measDiffMean for beam 51 as -0.70. Range = 54.18 
TNavPF::Calculated measDiffMean for beam 52 as -0.89. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 53 as -0.16. Range = 52.25 
TNavPF::Calculated measDiffMean for beam 54 as -0.25. Range = 52.31 
TNavPF::Calculated measDiffMean for beam 55 as -0.74. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 56 as -1.39. Range = 50.46 
TNavPF::Calculated measDiffMean for beam 57 as -1.03. Range = 50.56 
TNavPF::Calculated measDiffMean for beam 58 as 1.39. Range = 50.68 
TNavPF::Calculated measDiffMean for beam 59 as 0.43. Range = 50.82 
TNavPF::Calculated measDiffMean for beam 60 as -0.19. Range = 50.97 
TNavPF::Calculated measDiffMean for beam 61 as 0.71. Range = 51.14 
TNavPF::Calculated measDiffMean for beam 62 as 0.56. Range = 51.32 
TNavPF::Calculated measDiffMean for beam 63 as -0.57. Range = 51.52 
TNavPF::Calculated measDiffMean for beam 64 as 0.15. Range = 51.74 
TNavPF::Calculated measDiffMean for beam 65 as 0.57. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 66 as -0.52. Range = 50.08 
TNavPF::Calculated measDiffMean for beam 67 as -0.92. Range = 48.31 
TNavPF::Calculated measDiffMean for beam 68 as -0.92. Range = 48.58 
TNavPF::Calculated measDiffMean for beam 69 as -0.66. Range = 48.87 
TNavPF::Calculated measDiffMean for beam 70 as -0.06. Range = 49.18 
TNavPF::Calculated measDiffMean for beam 71 as 0.81. Range = 49.50 
TNavPF::Calculated measDiffMean for beam 72 as 0.75. Range = 49.85 
TNavPF::Calculated measDiffMean for beam 73 as 0.37. Range = 50.21 
TNavPF::Calculated measDiffMean for beam 74 as -0.53. Range = 50.60 
TNavPF::Calculated measDiffMean for beam 75 as -0.15. Range = 51.01 
TNavPF::Calculated measDiffMean for beam 76 as -0.00. Range = 49.79 
TNavPF::Calculated measDiffMean for beam 77 as -0.70. Range = 49.64 
TNavPF::Calculated measDiffMean for beam 78 as -0.67. Range = 50.10 
TNavPF::Calculated measDiffMean for beam 79 as 0.26. Range = 50.58 
TNavPF::Calculated measDiffMean for beam 80 as 1.64. Range = 51.08 
TNavPF::Calculated measDiffMean for beam 81 as -0.08. Range = 50.17 
TNavPF::Calculated measDiffMean for beam 82 as -1.24. Range = 49.81 
TNavPF::Calculated measDiffMean for beam 83 as -3.28. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 84 as -0.05. Range = 49.80 
TNavPF::Calculated measDiffMean for beam 85 as 0.10. Range = 48.57 
TNavPF::Calculated measDiffMean for beam 86 as -0.06. Range = 47.41 
TNavPF::Calculated measDiffMean for beam 87 as -0.73. Range = 47.88 
TNavPF::Calculated measDiffMean for beam 88 as -2.11. Range = 51.08 
TNavPF::Calculated measDiffMean for beam 89 as -3.10. Range = 50.63 
TNavPF::First Term of Map Covariance Matrix is 0.45 
TNavPF::Calculated NIS Value : 2.31 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322495.82 sec.
INS : North: 4070343.11, East: 588718.73, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 50.30, IDT[75] = 51.74
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322498.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322498.62)
ARL : North: 1.3973, East: -0.8700, Depth: 4.3888ARL : Estimation Bias  (Mean)         : (t = 1488322498.62)
ARL : North: 1.7394, East: -1.7076, Depth: 0.7247TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.26 
Alpha[0]	0.123000
Alpha[0]	0.946708
TNavParticleFilter::Modified Variance for beam 1 is 18.41 
Alpha[1]	0.000000
Alpha[1]	0.941926
TNavParticleFilter::Modified Variance for beam 2 is 18.44 
Alpha[2]	0.000000
Alpha[2]	0.944135
TNavParticleFilter::Modified Variance for beam 3 is 18.25 
Alpha[3]	0.000000
Alpha[3]	0.958312
TNavParticleFilter::Modified Variance for beam 4 is 17.95 
Alpha[4]	0.000000
Alpha[4]	0.979470
TNavParticleFilter::Modified Variance for beam 5 is 16.81 
Alpha[5]	0.000000
Alpha[5]	0.991869
TNavParticleFilter::Modified Variance for beam 6 is 15.88 
Alpha[6]	0.000000
Alpha[6]	0.988490
TNavParticleFilter::Modified Variance for beam 7 is 16.06 
Alpha[7]	0.000000
Alpha[7]	0.983542
TNavParticleFilter::Modified Variance for beam 8 is 16.19 
Alpha[8]	0.000000
Alpha[8]	0.982136
TNavParticleFilter::Modified Variance for beam 9 is 16.28 
Alpha[9]	0.000000
Alpha[9]	0.983958
TNavParticleFilter::Modified Variance for beam 10 is 16.38 
Alpha[10]	0.000000
Alpha[10]	0.986312
TNavParticleFilter::Modified Variance for beam 11 is 16.53 
Alpha[11]	0.000000
Alpha[11]	0.985476
TNavParticleFilter::Modified Variance for beam 12 is 16.69 
Alpha[12]	0.000000
Alpha[12]	0.984567
TNavParticleFilter::Modified Variance for beam 13 is 16.87 
Alpha[13]	0.000000
Alpha[13]	0.983797
TNavParticleFilter::Modified Variance for beam 14 is 17.04 
Alpha[14]	0.000000
Alpha[14]	0.984152
TNavParticleFilter::Modified Variance for beam 15 is 16.29 
Alpha[15]	0.000000
Alpha[15]	0.973451
TNavParticleFilter::Modified Variance for beam 16 is 16.85 
Alpha[16]	0.000000
Alpha[16]	0.951777
TNavParticleFilter::Modified Variance for beam 17 is 16.91 
Alpha[17]	0.000000
Alpha[17]	0.959758
TNavParticleFilter::Modified Variance for beam 18 is 16.83 
Alpha[18]	0.000000
Alpha[18]	0.976213
TNavParticleFilter::Modified Variance for beam 19 is 16.96 
Alpha[19]	0.000000
Alpha[19]	0.981701
TNavParticleFilter::Modified Variance for beam 20 is 16.09 
Alpha[20]	0.000000
Alpha[20]	0.982667
TNavParticleFilter::Modified Variance for beam 21 is 16.15 
Alpha[21]	0.000000
Alpha[21]	0.988845
TNavParticleFilter::Modified Variance for beam 22 is 16.32 
Alpha[22]	0.000000
Alpha[22]	0.993063
TNavParticleFilter::Modified Variance for beam 23 is 15.61 
Alpha[23]	0.000000
Alpha[23]	0.993644
TNavParticleFilter::Modified Variance for beam 24 is 14.93 
Alpha[24]	0.000000
Alpha[24]	0.991852
TNavParticleFilter::Modified Variance for beam 25 is 14.87 
Alpha[25]	0.000000
Alpha[25]	0.987844
TNavParticleFilter::Modified Variance for beam 26 is 15.15 
Alpha[26]	0.000000
Alpha[26]	0.986489
TNavParticleFilter::Modified Variance for beam 27 is 16.61 
Alpha[27]	0.000000
Alpha[27]	0.986908
TNavParticleFilter::Modified Variance for beam 28 is 16.13 
Alpha[28]	0.000000
Alpha[28]	0.979830
TNavParticleFilter::Modified Variance for beam 29 is 16.06 
Alpha[29]	0.000000
Alpha[29]	0.983021
TNavParticleFilter::Modified Variance for beam 30 is 16.33 
Alpha[30]	0.000000
Alpha[30]	0.986309
TNavParticleFilter::Modified Variance for beam 31 is 15.98 
Alpha[31]	0.000000
Alpha[31]	0.983258
TNavParticleFilter::Modified Variance for beam 32 is 15.78 
Alpha[32]	0.000000
Alpha[32]	0.984160
TNavParticleFilter::Modified Variance for beam 33 is 16.09 
Alpha[33]	0.000000
Alpha[33]	0.986601
TNavParticleFilter::Modified Variance for beam 34 is 15.98 
Alpha[34]	0.000000
Alpha[34]	0.982533
TNavParticleFilter::Modified Variance for beam 35 is 15.60 
Alpha[35]	0.000000
Alpha[35]	0.981890
TNavParticleFilter::Modified Variance for beam 36 is 15.99 
Alpha[36]	0.000000
Alpha[36]	0.982037
TNavParticleFilter::Modified Variance for beam 37 is 16.43 
Alpha[37]	0.000000
Alpha[37]	0.980419
TNavParticleFilter::Modified Variance for beam 38 is 17.01 
Alpha[38]	0.000000
Alpha[38]	0.972938
TNavParticleFilter::Modified Variance for beam 39 is 17.26 
Alpha[39]	0.000000
Alpha[39]	0.985871
TNavParticleFilter::Modified Variance for beam 40 is 15.99 
Alpha[40]	0.000000
Alpha[40]	0.991445
TNavParticleFilter::Modified Variance for beam 41 is 15.61 
Alpha[41]	0.000000
Alpha[41]	0.990252
TNavParticleFilter::Modified Variance for beam 42 is 15.78 
Alpha[42]	0.000000
Alpha[42]	0.982788
TNavParticleFilter::Modified Variance for beam 43 is 16.48 
Alpha[43]	0.000000
Alpha[43]	0.970867
TNavParticleFilter::Modified Variance for beam 44 is 16.93 
Alpha[44]	0.000000
Alpha[44]	0.976983
TNavParticleFilter::Modified Variance for beam 45 is 16.97 
Alpha[45]	0.000000
Alpha[45]	0.977048
TNavParticleFilter::Modified Variance for beam 46 is 16.66 
Alpha[46]	0.000000
Alpha[46]	0.974687
TNavParticleFilter::Modified Variance for beam 47 is 16.97 
Alpha[47]	0.000000
Alpha[47]	0.981655
TNavParticleFilter::Modified Variance for beam 48 is 17.46 
Alpha[48]	0.000000
Alpha[48]	0.991442
TNavParticleFilter::Modified Variance for beam 49 is 17.85 
Alpha[49]	0.000000
Alpha[49]	0.995000
TNavParticleFilter::Modified Variance for beam 50 is 16.37 
Alpha[50]	0.000000
Alpha[50]	0.989872
TNavParticleFilter::Modified Variance for beam 51 is 16.08 
Alpha[51]	0.000000
Alpha[51]	0.990407
TNavParticleFilter::Modified Variance for beam 52 is 16.47 
Alpha[52]	0.000000
Alpha[52]	0.997103
TNavParticleFilter::Modified Variance for beam 53 is 19.45 
Alpha[53]	0.000000
Alpha[53]	0.994206
TNavParticleFilter::Modified Variance for beam 54 is 20.48 
Alpha[54]	0.000000
Alpha[54]	0.992945
TNavParticleFilter::Modified Variance for beam 55 is 21.55 
Alpha[55]	0.000000
Alpha[55]	0.995066
TNavParticleFilter::Modified Variance for beam 56 is 22.88 
Alpha[56]	0.000000
Alpha[56]	0.990874
TNavParticleFilter::Modified Variance for beam 57 is 23.27 
Alpha[57]	0.000000
Alpha[57]	0.989119
TNavParticleFilter::Modified Variance for beam 58 is 22.83 
Alpha[58]	0.000000
Alpha[58]	0.993971
TNavParticleFilter::Modified Variance for beam 59 is 24.18 
Alpha[59]	0.000000
Alpha[59]	0.997410
TNavPF:: sumSquaredError = 12.967336 
TNavPF:: sumWeights = 0.065137 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.37. Range = 81.40 
TNavPF::Calculated measDiffMean for beam 31 as -0.36. Range = 82.97 
TNavPF::Calculated measDiffMean for beam 32 as -0.34. Range = 80.25 
TNavPF::Calculated measDiffMean for beam 33 as -0.28. Range = 79.72 
TNavPF::Calculated measDiffMean for beam 34 as -0.02. Range = 79.22 
TNavPF::Calculated measDiffMean for beam 35 as -0.68. Range = 78.75 
TNavPF::Calculated measDiffMean for beam 36 as -1.38. Range = 72.02 
TNavPF::Calculated measDiffMean for beam 37 as -0.94. Range = 69.55 
TNavPF::Calculated measDiffMean for beam 38 as -0.88. Range = 69.82 
TNavPF::Calculated measDiffMean for beam 39 as -0.97. Range = 68.89 
TNavPF::Calculated measDiffMean for beam 40 as -1.29. Range = 66.54 
TNavPF::Calculated measDiffMean for beam 41 as -1.42. Range = 66.28 
TNavPF::Calculated measDiffMean for beam 42 as -0.64. Range = 63.99 
TNavPF::Calculated measDiffMean for beam 43 as 0.19. Range = 61.75 
TNavPF::Calculated measDiffMean for beam 44 as 0.68. Range = 61.56 
TNavPF::Calculated measDiffMean for beam 45 as -0.77. Range = 59.37 
TNavPF::Calculated measDiffMean for beam 46 as -0.40. Range = 59.23 
TNavPF::Calculated measDiffMean for beam 47 as -0.27. Range = 59.11 
TNavPF::Calculated measDiffMean for beam 48 as -0.02. Range = 56.99 
TNavPF::Calculated measDiffMean for beam 49 as 0.41. Range = 56.91 
TNavPF::Calculated measDiffMean for beam 50 as -0.92. Range = 56.84 
TNavPF::Calculated measDiffMean for beam 51 as -0.32. Range = 56.79 
TNavPF::Calculated measDiffMean for beam 52 as 0.59. Range = 54.76 
TNavPF::Calculated measDiffMean for beam 53 as -0.12. Range = 54.74 
TNavPF::Calculated measDiffMean for beam 54 as -0.88. Range = 52.75 
TNavPF::Calculated measDiffMean for beam 55 as -0.98. Range = 52.76 
TNavPF::Calculated measDiffMean for beam 56 as -0.90. Range = 52.80 
TNavPF::Calculated measDiffMean for beam 57 as 1.34. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 58 as 0.12. Range = 52.92 
TNavPF::Calculated measDiffMean for beam 59 as 0.42. Range = 53.00 
TNavPF::Calculated measDiffMean for beam 60 as 1.19. Range = 53.10 
TNavPF::Calculated measDiffMean for beam 61 as 0.26. Range = 53.22 
TNavPF::Calculated measDiffMean for beam 62 as -0.11. Range = 53.36 
TNavPF::Calculated measDiffMean for beam 63 as 0.73. Range = 53.51 
TNavPF::Calculated measDiffMean for beam 64 as 0.34. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 65 as -0.87. Range = 51.93 
TNavPF::Calculated measDiffMean for beam 66 as -0.78. Range = 49.96 
TNavPF::Calculated measDiffMean for beam 67 as -0.76. Range = 50.17 
TNavPF::Calculated measDiffMean for beam 68 as -0.42. Range = 50.39 
TNavPF::Calculated measDiffMean for beam 69 as 0.29. Range = 50.63 
TNavPF::Calculated measDiffMean for beam 70 as -1.58. Range = 50.88 
TNavPF::Calculated measDiffMean for beam 71 as -1.79. Range = 51.16 
TNavPF::Calculated measDiffMean for beam 72 as -1.46. Range = 51.45 
TNavPF::Calculated measDiffMean for beam 73 as -0.64. Range = 51.77 
TNavPF::Calculated measDiffMean for beam 74 as -0.05. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 75 as 0.04. Range = 50.30 
TNavPF::Calculated measDiffMean for beam 76 as -0.66. Range = 50.66 
TNavPF::Calculated measDiffMean for beam 77 as -0.58. Range = 51.04 
TNavPF::Calculated measDiffMean for beam 78 as 0.09. Range = 51.44 
TNavPF::Calculated measDiffMean for beam 79 as 1.58. Range = 51.87 
TNavPF::Calculated measDiffMean for beam 80 as -0.19. Range = 50.20 
TNavPF::Calculated measDiffMean for beam 81 as -0.90. Range = 50.52 
TNavPF::Calculated measDiffMean for beam 82 as -2.29. Range = 51.00 
TNavPF::Calculated measDiffMean for beam 83 as -0.05. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 84 as 0.01. Range = 48.12 
TNavPF::Calculated measDiffMean for beam 85 as -0.03. Range = 47.87 
TNavPF::Calculated measDiffMean for beam 86 as -0.29. Range = 48.40 
TNavPF::Calculated measDiffMean for beam 87 as -0.70. Range = 51.36 
TNavPF::Calculated measDiffMean for beam 88 as -1.83. Range = 50.19 
TNavPF::Calculated measDiffMean for beam 89 as -2.14. Range = 50.15 
TNavPF::First Term of Map Covariance Matrix is 0.37 
TNavPF::Calculated NIS Value : 2.25 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322498.82 sec.
INS : North: 4070345.76, East: 588715.33, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 52.93, IDT[75] = 52.95
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322501.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322501.62)
ARL : North: 1.1411, East: -0.5621, Depth: 6.0456ARL : Estimation Bias  (Mean)         : (t = 1488322501.62)
ARL : North: 1.4987, East: -1.7629, Depth: 0.8154TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.58 
Alpha[0]	0.123000
Alpha[0]	0.954348
TNavParticleFilter::Modified Variance for beam 1 is 19.25 
Alpha[1]	0.000000
Alpha[1]	0.973793
TNavParticleFilter::Modified Variance for beam 2 is 16.80 
Alpha[2]	0.000000
Alpha[2]	0.992242
TNavParticleFilter::Modified Variance for beam 3 is 16.89 
Alpha[3]	0.000000
Alpha[3]	0.991191
TNavParticleFilter::Modified Variance for beam 4 is 17.08 
Alpha[4]	0.000000
Alpha[4]	0.984604
TNavParticleFilter::Modified Variance for beam 5 is 18.30 
Alpha[5]	0.000000
Alpha[5]	0.982084
TNavParticleFilter::Modified Variance for beam 6 is 18.38 
Alpha[6]	0.000000
Alpha[6]	0.983723
TNavParticleFilter::Modified Variance for beam 7 is 18.45 
Alpha[7]	0.000000
Alpha[7]	0.985912
TNavParticleFilter::Modified Variance for beam 8 is 18.04 
Alpha[8]	0.000000
Alpha[8]	0.985699
TNavParticleFilter::Modified Variance for beam 9 is 16.49 
Alpha[9]	0.000000
Alpha[9]	0.987516
TNavParticleFilter::Modified Variance for beam 10 is 16.65 
Alpha[10]	0.000000
Alpha[10]	0.985543
TNavParticleFilter::Modified Variance for beam 11 is 16.82 
Alpha[11]	0.000000
Alpha[11]	0.983921
TNavParticleFilter::Modified Variance for beam 12 is 17.22 
Alpha[12]	0.000000
Alpha[12]	0.969574
TNavParticleFilter::Modified Variance for beam 13 is 17.75 
Alpha[13]	0.000000
Alpha[13]	0.948980
TNavParticleFilter::Modified Variance for beam 14 is 17.73 
Alpha[14]	0.000000
Alpha[14]	0.959475
TNavParticleFilter::Modified Variance for beam 15 is 17.64 
Alpha[15]	0.000000
Alpha[15]	0.974377
TNavParticleFilter::Modified Variance for beam 16 is 16.58 
Alpha[16]	0.000000
Alpha[16]	0.981634
TNavParticleFilter::Modified Variance for beam 17 is 16.70 
Alpha[17]	0.000000
Alpha[17]	0.985950
TNavParticleFilter::Modified Variance for beam 18 is 16.82 
Alpha[18]	0.000000
Alpha[18]	0.990830
TNavParticleFilter::Modified Variance for beam 19 is 15.79 
Alpha[19]	0.000000
Alpha[19]	0.993068
TNavParticleFilter::Modified Variance for beam 20 is 14.98 
Alpha[20]	0.000000
Alpha[20]	0.993762
TNavParticleFilter::Modified Variance for beam 21 is 15.21 
Alpha[21]	0.000000
Alpha[21]	0.992276
TNavParticleFilter::Modified Variance for beam 22 is 15.51 
Alpha[22]	0.000000
Alpha[22]	0.986715
TNavParticleFilter::Modified Variance for beam 23 is 16.82 
Alpha[23]	0.000000
Alpha[23]	0.986844
TNavParticleFilter::Modified Variance for beam 24 is 16.08 
Alpha[24]	0.000000
Alpha[24]	0.983598
TNavParticleFilter::Modified Variance for beam 25 is 16.36 
Alpha[25]	0.000000
Alpha[25]	0.979807
TNavParticleFilter::Modified Variance for beam 26 is 16.53 
Alpha[26]	0.000000
Alpha[26]	0.985412
TNavParticleFilter::Modified Variance for beam 27 is 15.84 
Alpha[27]	0.000000
Alpha[27]	0.985176
TNavParticleFilter::Modified Variance for beam 28 is 15.94 
Alpha[28]	0.000000
Alpha[28]	0.983601
TNavParticleFilter::Modified Variance for beam 29 is 16.19 
Alpha[29]	0.000000
Alpha[29]	0.986874
TNavParticleFilter::Modified Variance for beam 30 is 15.72 
Alpha[30]	0.000000
Alpha[30]	0.985309
TNavParticleFilter::Modified Variance for beam 31 is 15.69 
Alpha[31]	0.000000
Alpha[31]	0.980526
TNavParticleFilter::Modified Variance for beam 32 is 16.01 
Alpha[32]	0.000000
Alpha[32]	0.981194
TNavParticleFilter::Modified Variance for beam 33 is 16.30 
Alpha[33]	0.000000
Alpha[33]	0.985290
TNavParticleFilter::Modified Variance for beam 34 is 16.78 
Alpha[34]	0.000000
Alpha[34]	0.979061
TNavParticleFilter::Modified Variance for beam 35 is 17.28 
Alpha[35]	0.000000
Alpha[35]	0.973083
TNavParticleFilter::Modified Variance for beam 36 is 17.18 
Alpha[36]	0.000000
Alpha[36]	0.987699
TNavParticleFilter::Modified Variance for beam 37 is 16.60 
Alpha[37]	0.000000
Alpha[37]	0.991781
TNavParticleFilter::Modified Variance for beam 38 is 16.18 
Alpha[38]	0.000000
Alpha[38]	0.988935
TNavParticleFilter::Modified Variance for beam 39 is 16.11 
Alpha[39]	0.000000
Alpha[39]	0.976756
TNavParticleFilter::Modified Variance for beam 40 is 16.65 
Alpha[40]	0.000000
Alpha[40]	0.972078
TNavParticleFilter::Modified Variance for beam 41 is 16.43 
Alpha[41]	0.000000
Alpha[41]	0.980013
TNavParticleFilter::Modified Variance for beam 42 is 16.08 
Alpha[42]	0.000000
Alpha[42]	0.976512
TNavParticleFilter::Modified Variance for beam 43 is 16.58 
Alpha[43]	0.000000
Alpha[43]	0.974384
TNavParticleFilter::Modified Variance for beam 44 is 16.95 
Alpha[44]	0.000000
Alpha[44]	0.984436
TNavParticleFilter::Modified Variance for beam 45 is 17.30 
Alpha[45]	0.000000
Alpha[45]	0.994163
TNavParticleFilter::Modified Variance for beam 46 is 15.63 
Alpha[46]	0.000000
Alpha[46]	0.995432
TNavParticleFilter::Modified Variance for beam 47 is 15.42 
Alpha[47]	0.000000
Alpha[47]	0.988546
TNavParticleFilter::Modified Variance for beam 48 is 15.86 
Alpha[48]	0.000000
Alpha[48]	0.990118
TNavParticleFilter::Modified Variance for beam 49 is 18.20 
Alpha[49]	0.000000
Alpha[49]	0.996410
TNavParticleFilter::Modified Variance for beam 50 is 19.04 
Alpha[50]	0.000000
Alpha[50]	0.992806
TNavParticleFilter::Modified Variance for beam 51 is 19.96 
Alpha[51]	0.000000
Alpha[51]	0.988520
TNavParticleFilter::Modified Variance for beam 52 is 20.80 
Alpha[52]	0.000000
Alpha[52]	0.992844
TNavParticleFilter::Modified Variance for beam 53 is 21.83 
Alpha[53]	0.000000
Alpha[53]	0.992295
TNavParticleFilter::Modified Variance for beam 54 is 22.17 
Alpha[54]	0.000000
Alpha[54]	0.988963
TNavParticleFilter::Modified Variance for beam 55 is 21.80 
Alpha[55]	0.000000
Alpha[55]	0.989556
TNavParticleFilter::Modified Variance for beam 56 is 22.79 
Alpha[56]	0.000000
Alpha[56]	0.994071
TNavParticleFilter::Modified Variance for beam 57 is 26.96 
Alpha[57]	0.000000
Alpha[57]	0.997271
TNavParticleFilter::Modified Variance for beam 58 is 27.75 
Alpha[58]	0.000000
Alpha[58]	0.996904
TNavParticleFilter::Modified Variance for beam 59 is 27.38 
Alpha[59]	0.000000
Alpha[59]	0.996053
TNavPF:: sumSquaredError = 9.666325 
TNavPF:: sumWeights = 0.038110 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.01. Range = 86.98 
TNavPF::Calculated measDiffMean for beam 31 as 0.13. Range = 84.15 
TNavPF::Calculated measDiffMean for beam 32 as -2.93. Range = 83.54 
TNavPF::Calculated measDiffMean for beam 33 as -1.19. Range = 82.97 
TNavPF::Calculated measDiffMean for beam 34 as -0.59. Range = 82.20 
TNavPF::Calculated measDiffMean for beam 35 as 1.54. Range = 75.56 
TNavPF::Calculated measDiffMean for beam 36 as 1.47. Range = 73.02 
TNavPF::Calculated measDiffMean for beam 37 as 1.17. Range = 70.52 
TNavPF::Calculated measDiffMean for beam 38 as 0.04. Range = 68.07 
TNavPF::Calculated measDiffMean for beam 39 as -2.22. Range = 67.75 
TNavPF::Calculated measDiffMean for beam 40 as -1.28. Range = 65.37 
TNavPF::Calculated measDiffMean for beam 41 as -0.81. Range = 65.10 
TNavPF::Calculated measDiffMean for beam 42 as -0.18. Range = 64.85 
TNavPF::Calculated measDiffMean for beam 43 as 0.09. Range = 62.58 
TNavPF::Calculated measDiffMean for beam 44 as 0.21. Range = 62.38 
TNavPF::Calculated measDiffMean for beam 45 as 0.41. Range = 62.20 
TNavPF::Calculated measDiffMean for beam 46 as -1.25. Range = 58.60 
TNavPF::Calculated measDiffMean for beam 47 as -0.47. Range = 59.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.24. Range = 59.42 
TNavPF::Calculated measDiffMean for beam 49 as -1.15. Range = 59.65 
TNavPF::Calculated measDiffMean for beam 50 as -1.88. Range = 57.56 
TNavPF::Calculated measDiffMean for beam 51 as -0.85. Range = 55.50 
TNavPF::Calculated measDiffMean for beam 52 as -0.37. Range = 55.45 
TNavPF::Calculated measDiffMean for beam 53 as 1.73. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 54 as -0.19. Range = 55.42 
TNavPF::Calculated measDiffMean for beam 55 as 0.52. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 56 as 1.34. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 57 as -0.06. Range = 55.50 
TNavPF::Calculated measDiffMean for beam 58 as 0.09. Range = 55.56 
TNavPF::Calculated measDiffMean for beam 59 as 0.81. Range = 55.63 
TNavPF::Calculated measDiffMean for beam 60 as -0.05. Range = 55.73 
TNavPF::Calculated measDiffMean for beam 61 as -0.25. Range = 55.84 
TNavPF::Calculated measDiffMean for beam 62 as -0.02. Range = 51.92 
TNavPF::Calculated measDiffMean for beam 63 as -0.10. Range = 52.06 
TNavPF::Calculated measDiffMean for beam 64 as 0.01. Range = 52.21 
TNavPF::Calculated measDiffMean for beam 65 as 0.49. Range = 54.42 
TNavPF::Calculated measDiffMean for beam 66 as 0.75. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 67 as 0.35. Range = 54.83 
TNavPF::Calculated measDiffMean for beam 68 as 0.04. Range = 54.05 
TNavPF::Calculated measDiffMean for beam 69 as -0.20. Range = 51.16 
TNavPF::Calculated measDiffMean for beam 70 as 0.55. Range = 51.40 
TNavPF::Calculated measDiffMean for beam 71 as 0.07. Range = 51.67 
TNavPF::Calculated measDiffMean for beam 72 as -0.58. Range = 51.96 
TNavPF::Calculated measDiffMean for beam 73 as 0.22. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 74 as 0.73. Range = 52.59 
TNavPF::Calculated measDiffMean for beam 75 as 1.60. Range = 52.93 
TNavPF::Calculated measDiffMean for beam 76 as -0.82. Range = 51.13 
TNavPF::Calculated measDiffMean for beam 77 as -0.51. Range = 51.50 
TNavPF::Calculated measDiffMean for beam 78 as 0.06. Range = 51.90 
TNavPF::Calculated measDiffMean for beam 79 as 2.58. Range = 49.93 
TNavPF::Calculated measDiffMean for beam 80 as 1.23. Range = 48.29 
TNavPF::Calculated measDiffMean for beam 81 as 1.27. Range = 48.71 
TNavPF::Calculated measDiffMean for beam 82 as 1.52. Range = 49.16 
TNavPF::Calculated measDiffMean for beam 83 as 1.39. Range = 51.78 
TNavPF::Calculated measDiffMean for beam 84 as 0.22. Range = 50.22 
TNavPF::Calculated measDiffMean for beam 85 as -1.01. Range = 50.64 
TNavPF::Calculated measDiffMean for beam 86 as 0.08. Range = 51.16 
TNavPF::Calculated measDiffMean for beam 87 as 4.08. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 88 as 1.97. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 89 as -0.62. Range = 50.54 
TNavPF::First Term of Map Covariance Matrix is 0.43 
TNavPF::Calculated NIS Value : 3.40 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322501.82 sec.
INS : North: 4070348.18, East: 588711.78, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 54.38, IDT[75] = 49.57
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322504.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322504.62)
ARL : North: 2.8832, East: -1.6793, Depth: 4.0873ARL : Estimation Bias  (Mean)         : (t = 1488322504.62)
ARL : North: 1.7202, East: -2.1763, Depth: 0.3874TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.76 
Alpha[0]	0.123000
Alpha[0]	0.994893
TNavParticleFilter::Modified Variance for beam 1 is 19.75 
Alpha[1]	0.000000
Alpha[1]	0.993726
TNavParticleFilter::Modified Variance for beam 2 is 19.87 
Alpha[2]	0.000000
Alpha[2]	0.986520
TNavParticleFilter::Modified Variance for beam 3 is 20.48 
Alpha[3]	0.000000
Alpha[3]	0.956731
TNavParticleFilter::Modified Variance for beam 4 is 20.75 
Alpha[4]	0.000000
Alpha[4]	0.943872
TNavParticleFilter::Modified Variance for beam 5 is 20.67 
Alpha[5]	0.000000
Alpha[5]	0.947696
TNavParticleFilter::Modified Variance for beam 6 is 20.35 
Alpha[6]	0.000000
Alpha[6]	0.963326
TNavParticleFilter::Modified Variance for beam 7 is 19.84 
Alpha[7]	0.000000
Alpha[7]	0.989827
TNavParticleFilter::Modified Variance for beam 8 is 17.61 
Alpha[8]	0.000000
Alpha[8]	0.993052
TNavParticleFilter::Modified Variance for beam 9 is 17.79 
Alpha[9]	0.000000
Alpha[9]	0.985173
TNavParticleFilter::Modified Variance for beam 10 is 17.89 
Alpha[10]	0.000000
Alpha[10]	0.982392
TNavParticleFilter::Modified Variance for beam 11 is 17.93 
Alpha[11]	0.000000
Alpha[11]	0.983290
TNavParticleFilter::Modified Variance for beam 12 is 17.96 
Alpha[12]	0.000000
Alpha[12]	0.985472
TNavParticleFilter::Modified Variance for beam 13 is 18.03 
Alpha[13]	0.000000
Alpha[13]	0.985498
TNavParticleFilter::Modified Variance for beam 14 is 18.08 
Alpha[14]	0.000000
Alpha[14]	0.987664
TNavParticleFilter::Modified Variance for beam 15 is 18.23 
Alpha[15]	0.000000
Alpha[15]	0.984975
TNavParticleFilter::Modified Variance for beam 16 is 18.11 
Alpha[16]	0.000000
Alpha[16]	0.983574
TNavParticleFilter::Modified Variance for beam 17 is 17.69 
Alpha[17]	0.000000
Alpha[17]	0.965951
TNavParticleFilter::Modified Variance for beam 18 is 18.08 
Alpha[18]	0.000000
Alpha[18]	0.951436
TNavParticleFilter::Modified Variance for beam 19 is 17.85 
Alpha[19]	0.000000
Alpha[19]	0.971041
TNavParticleFilter::Modified Variance for beam 20 is 17.82 
Alpha[20]	0.000000
Alpha[20]	0.980050
TNavParticleFilter::Modified Variance for beam 21 is 17.09 
Alpha[21]	0.000000
Alpha[21]	0.984396
TNavParticleFilter::Modified Variance for beam 22 is 16.83 
Alpha[22]	0.000000
Alpha[22]	0.990928
TNavParticleFilter::Modified Variance for beam 23 is 16.94 
Alpha[23]	0.000000
Alpha[23]	0.993935
TNavParticleFilter::Modified Variance for beam 24 is 16.07 
Alpha[24]	0.000000
Alpha[24]	0.993716
TNavParticleFilter::Modified Variance for beam 25 is 15.18 
Alpha[25]	0.000000
Alpha[25]	0.991415
TNavParticleFilter::Modified Variance for beam 26 is 15.40 
Alpha[26]	0.000000
Alpha[26]	0.987571
TNavParticleFilter::Modified Variance for beam 27 is 15.59 
Alpha[27]	0.000000
Alpha[27]	0.986708
TNavParticleFilter::Modified Variance for beam 28 is 16.88 
Alpha[28]	0.000000
Alpha[28]	0.986383
TNavParticleFilter::Modified Variance for beam 29 is 16.17 
Alpha[29]	0.000000
Alpha[29]	0.983337
TNavParticleFilter::Modified Variance for beam 30 is 16.21 
Alpha[30]	0.000000
Alpha[30]	0.984815
TNavParticleFilter::Modified Variance for beam 31 is 16.44 
Alpha[31]	0.000000
Alpha[31]	0.984673
TNavParticleFilter::Modified Variance for beam 32 is 15.82 
Alpha[32]	0.000000
Alpha[32]	0.981927
TNavParticleFilter::Modified Variance for beam 33 is 14.99 
Alpha[33]	0.000000
Alpha[33]	0.986570
TNavParticleFilter::Modified Variance for beam 34 is 14.87 
Alpha[34]	0.000000
Alpha[34]	0.986245
TNavParticleFilter::Modified Variance for beam 35 is 15.18 
Alpha[35]	0.000000
Alpha[35]	0.981175
TNavParticleFilter::Modified Variance for beam 36 is 16.60 
Alpha[36]	0.000000
Alpha[36]	0.982024
TNavParticleFilter::Modified Variance for beam 37 is 16.11 
Alpha[37]	0.000000
Alpha[37]	0.980334
TNavParticleFilter::Modified Variance for beam 38 is 16.00 
Alpha[38]	0.000000
Alpha[38]	0.980462
TNavParticleFilter::Modified Variance for beam 39 is 16.42 
Alpha[39]	0.000000
Alpha[39]	0.973376
TNavParticleFilter::Modified Variance for beam 40 is 16.53 
Alpha[40]	0.000000
Alpha[40]	0.986265
TNavParticleFilter::Modified Variance for beam 41 is 15.22 
Alpha[41]	0.000000
Alpha[41]	0.992442
TNavParticleFilter::Modified Variance for beam 42 is 14.71 
Alpha[42]	0.000000
Alpha[42]	0.991424
TNavParticleFilter::Modified Variance for beam 43 is 15.08 
Alpha[43]	0.000000
Alpha[43]	0.982326
TNavParticleFilter::Modified Variance for beam 44 is 15.66 
Alpha[44]	0.000000
Alpha[44]	0.967184
TNavParticleFilter::Modified Variance for beam 45 is 15.91 
Alpha[45]	0.000000
Alpha[45]	0.974636
TNavParticleFilter::Modified Variance for beam 46 is 16.02 
Alpha[46]	0.000000
Alpha[46]	0.975971
TNavParticleFilter::Modified Variance for beam 47 is 15.65 
Alpha[47]	0.000000
Alpha[47]	0.969900
TNavParticleFilter::Modified Variance for beam 48 is 15.69 
Alpha[48]	0.000000
Alpha[48]	0.977760
TNavParticleFilter::Modified Variance for beam 49 is 15.92 
Alpha[49]	0.000000
Alpha[49]	0.990074
TNavParticleFilter::Modified Variance for beam 50 is 16.29 
Alpha[50]	0.000000
Alpha[50]	0.994598
TNavParticleFilter::Modified Variance for beam 51 is 15.04 
Alpha[51]	0.000000
Alpha[51]	0.992056
TNavParticleFilter::Modified Variance for beam 52 is 14.82 
Alpha[52]	0.000000
Alpha[52]	0.982815
TNavParticleFilter::Modified Variance for beam 53 is 14.80 
Alpha[53]	0.000000
Alpha[53]	0.993402
TNavParticleFilter::Modified Variance for beam 54 is 16.80 
Alpha[54]	0.000000
Alpha[54]	0.995052
TNavParticleFilter::Modified Variance for beam 55 is 17.57 
Alpha[55]	0.000000
Alpha[55]	0.984286
TNavParticleFilter::Modified Variance for beam 56 is 18.15 
Alpha[56]	0.000000
Alpha[56]	0.986835
TNavParticleFilter::Modified Variance for beam 57 is 18.74 
Alpha[57]	0.000000
Alpha[57]	0.992089
TNavParticleFilter::Modified Variance for beam 58 is 19.49 
Alpha[58]	0.000000
Alpha[58]	0.991199
TNavParticleFilter::Modified Variance for beam 59 is 20.42 
Alpha[59]	0.000000
Alpha[59]	0.985331
TNavPF:: sumSquaredError = 6.176362 
TNavPF:: sumWeights = 0.055106 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.05. Range = 98.02 
TNavPF::Calculated measDiffMean for beam 31 as -1.66. Range = 96.90 
TNavPF::Calculated measDiffMean for beam 32 as -1.02. Range = 95.83 
TNavPF::Calculated measDiffMean for beam 33 as -0.73. Range = 94.82 
TNavPF::Calculated measDiffMean for beam 34 as -0.70. Range = 93.85 
TNavPF::Calculated measDiffMean for beam 35 as -0.67. Range = 92.94 
TNavPF::Calculated measDiffMean for beam 36 as -0.58. Range = 92.06 
TNavPF::Calculated measDiffMean for beam 37 as -0.04. Range = 88.99 
TNavPF::Calculated measDiffMean for beam 38 as -2.12. Range = 88.80 
TNavPF::Calculated measDiffMean for beam 39 as -1.28. Range = 89.70 
TNavPF::Calculated measDiffMean for beam 40 as -1.18. Range = 86.81 
TNavPF::Calculated measDiffMean for beam 41 as -1.24. Range = 86.15 
TNavPF::Calculated measDiffMean for beam 42 as -1.57. Range = 85.54 
TNavPF::Calculated measDiffMean for beam 43 as -1.75. Range = 82.81 
TNavPF::Calculated measDiffMean for beam 44 as -0.87. Range = 80.15 
TNavPF::Calculated measDiffMean for beam 45 as -0.00. Range = 75.43 
TNavPF::Calculated measDiffMean for beam 46 as 0.06. Range = 72.89 
TNavPF::Calculated measDiffMean for beam 47 as -0.80. Range = 70.40 
TNavPF::Calculated measDiffMean for beam 48 as -0.59. Range = 67.96 
TNavPF::Calculated measDiffMean for beam 49 as -0.37. Range = 67.63 
TNavPF::Calculated measDiffMean for beam 50 as -0.10. Range = 65.27 
TNavPF::Calculated measDiffMean for beam 51 as -0.91. Range = 65.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.53. Range = 64.75 
TNavPF::Calculated measDiffMean for beam 53 as 0.28. Range = 62.49 
TNavPF::Calculated measDiffMean for beam 54 as -0.53. Range = 62.29 
TNavPF::Calculated measDiffMean for beam 55 as -1.56. Range = 62.11 
TNavPF::Calculated measDiffMean for beam 56 as -1.12. Range = 59.93 
TNavPF::Calculated measDiffMean for beam 57 as -1.20. Range = 59.79 
TNavPF::Calculated measDiffMean for beam 58 as 0.87. Range = 57.66 
TNavPF::Calculated measDiffMean for beam 59 as -0.28. Range = 57.57 
TNavPF::Calculated measDiffMean for beam 60 as 0.45. Range = 57.49 
TNavPF::Calculated measDiffMean for beam 61 as 0.98. Range = 57.43 
TNavPF::Calculated measDiffMean for beam 62 as -0.26. Range = 57.39 
TNavPF::Calculated measDiffMean for beam 63 as -1.52. Range = 57.37 
TNavPF::Calculated measDiffMean for beam 64 as -1.66. Range = 57.36 
TNavPF::Calculated measDiffMean for beam 65 as -1.18. Range = 57.37 
TNavPF::Calculated measDiffMean for beam 66 as 1.34. Range = 57.40 
TNavPF::Calculated measDiffMean for beam 67 as -0.14. Range = 57.44 
TNavPF::Calculated measDiffMean for beam 68 as -0.91. Range = 53.50 
TNavPF::Calculated measDiffMean for beam 69 as -0.56. Range = 53.57 
TNavPF::Calculated measDiffMean for beam 70 as 0.14. Range = 53.66 
TNavPF::Calculated measDiffMean for beam 71 as -1.78. Range = 53.77 
TNavPF::Calculated measDiffMean for beam 72 as -2.26. Range = 53.90 
TNavPF::Calculated measDiffMean for beam 73 as -1.42. Range = 54.04 
TNavPF::Calculated measDiffMean for beam 74 as -0.70. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 75 as -0.26. Range = 54.38 
TNavPF::Calculated measDiffMean for beam 76 as 0.06. Range = 54.11 
TNavPF::Calculated measDiffMean for beam 77 as -0.63. Range = 52.73 
TNavPF::Calculated measDiffMean for beam 78 as -0.64. Range = 52.95 
TNavPF::Calculated measDiffMean for beam 79 as -0.13. Range = 53.20 
TNavPF::Calculated measDiffMean for beam 80 as 1.07. Range = 53.46 
TNavPF::Calculated measDiffMean for beam 81 as -0.32. Range = 52.22 
TNavPF::Calculated measDiffMean for beam 82 as -0.63. Range = 51.93 
TNavPF::Calculated measDiffMean for beam 83 as -1.31. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 84 as 0.32. Range = 50.52 
TNavPF::Calculated measDiffMean for beam 85 as -0.38. Range = 48.62 
TNavPF::Calculated measDiffMean for beam 86 as -0.13. Range = 48.95 
TNavPF::Calculated measDiffMean for beam 87 as 0.05. Range = 49.31 
TNavPF::Calculated measDiffMean for beam 88 as -0.25. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 89 as -0.42. Range = 50.38 
TNavPF::First Term of Map Covariance Matrix is 3.91 
TNavPF::Calculated NIS Value : 2.78 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322504.82 sec.
INS : North: 4070350.03, East: 588707.91, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 55.23, IDT[75] = 47.80
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322507.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322507.62)
ARL : North: 1.2322, East: -0.7988, Depth: -3.6956ARL : Estimation Bias  (Mean)         : (t = 1488322507.62)
ARL : North: 1.4879, East: -2.3603, Depth: 0.4894TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.12 
Alpha[0]	0.123000
Alpha[0]	0.994733
TNavParticleFilter::Modified Variance for beam 1 is 21.01 
Alpha[1]	0.000000
Alpha[1]	0.995095
TNavParticleFilter::Modified Variance for beam 2 is 20.95 
Alpha[2]	0.000000
Alpha[2]	0.993690
TNavParticleFilter::Modified Variance for beam 3 is 20.93 
Alpha[3]	0.000000
Alpha[3]	0.991185
TNavParticleFilter::Modified Variance for beam 4 is 21.32 
Alpha[4]	0.000000
Alpha[4]	0.970099
TNavParticleFilter::Modified Variance for beam 5 is 21.83 
Alpha[5]	0.000000
Alpha[5]	0.945172
TNavParticleFilter::Modified Variance for beam 6 is 21.75 
Alpha[6]	0.000000
Alpha[6]	0.946291
TNavParticleFilter::Modified Variance for beam 7 is 21.43 
Alpha[7]	0.000000
Alpha[7]	0.959159
TNavParticleFilter::Modified Variance for beam 8 is 20.82 
Alpha[8]	0.000000
Alpha[8]	0.986157
TNavParticleFilter::Modified Variance for beam 9 is 18.38 
Alpha[9]	0.000000
Alpha[9]	0.994767
TNavParticleFilter::Modified Variance for beam 10 is 18.51 
Alpha[10]	0.000000
Alpha[10]	0.987644
TNavParticleFilter::Modified Variance for beam 11 is 18.59 
Alpha[11]	0.000000
Alpha[11]	0.983792
TNavParticleFilter::Modified Variance for beam 12 is 19.74 
Alpha[12]	0.000000
Alpha[12]	0.982902
TNavParticleFilter::Modified Variance for beam 13 is 19.73 
Alpha[13]	0.000000
Alpha[13]	0.985258
TNavParticleFilter::Modified Variance for beam 14 is 19.75 
Alpha[14]	0.000000
Alpha[14]	0.986222
TNavParticleFilter::Modified Variance for beam 15 is 18.60 
Alpha[15]	0.000000
Alpha[15]	0.990141
TNavParticleFilter::Modified Variance for beam 16 is 18.74 
Alpha[16]	0.000000
Alpha[16]	0.985644
TNavParticleFilter::Modified Variance for beam 17 is 18.84 
Alpha[17]	0.000000
Alpha[17]	0.983654
TNavParticleFilter::Modified Variance for beam 18 is 18.20 
Alpha[18]	0.000000
Alpha[18]	0.962457
TNavParticleFilter::Modified Variance for beam 19 is 18.47 
Alpha[19]	0.000000
Alpha[19]	0.952992
TNavParticleFilter::Modified Variance for beam 20 is 18.20 
Alpha[20]	0.000000
Alpha[20]	0.971745
TNavParticleFilter::Modified Variance for beam 21 is 18.13 
Alpha[21]	0.000000
Alpha[21]	0.980578
TNavParticleFilter::Modified Variance for beam 22 is 17.42 
Alpha[22]	0.000000
Alpha[22]	0.988776
TNavParticleFilter::Modified Variance for beam 23 is 17.04 
Alpha[23]	0.000000
Alpha[23]	0.993142
TNavParticleFilter::Modified Variance for beam 24 is 17.14 
Alpha[24]	0.000000
Alpha[24]	0.994283
TNavParticleFilter::Modified Variance for beam 25 is 16.02 
Alpha[25]	0.000000
Alpha[25]	0.993768
TNavParticleFilter::Modified Variance for beam 26 is 15.34 
Alpha[26]	0.000000
Alpha[26]	0.991530
TNavParticleFilter::Modified Variance for beam 27 is 15.55 
Alpha[27]	0.000000
Alpha[27]	0.986578
TNavParticleFilter::Modified Variance for beam 28 is 16.75 
Alpha[28]	0.000000
Alpha[28]	0.986253
TNavParticleFilter::Modified Variance for beam 29 is 16.94 
Alpha[29]	0.000000
Alpha[29]	0.984639
TNavParticleFilter::Modified Variance for beam 30 is 16.03 
Alpha[30]	0.000000
Alpha[30]	0.984011
TNavParticleFilter::Modified Variance for beam 31 is 16.18 
Alpha[31]	0.000000
Alpha[31]	0.984968
TNavParticleFilter::Modified Variance for beam 32 is 16.39 
Alpha[32]	0.000000
Alpha[32]	0.983379
TNavParticleFilter::Modified Variance for beam 33 is 15.44 
Alpha[33]	0.000000
Alpha[33]	0.986364
TNavParticleFilter::Modified Variance for beam 34 is 15.60 
Alpha[34]	0.000000
Alpha[34]	0.988319
TNavParticleFilter::Modified Variance for beam 35 is 15.87 
Alpha[35]	0.000000
Alpha[35]	0.983267
TNavParticleFilter::Modified Variance for beam 36 is 15.11 
Alpha[36]	0.000000
Alpha[36]	0.981366
TNavParticleFilter::Modified Variance for beam 37 is 15.24 
Alpha[37]	0.000000
Alpha[37]	0.980745
TNavParticleFilter::Modified Variance for beam 38 is 15.41 
Alpha[38]	0.000000
Alpha[38]	0.983384
TNavParticleFilter::Modified Variance for beam 39 is 15.72 
Alpha[39]	0.000000
Alpha[39]	0.978945
TNavParticleFilter::Modified Variance for beam 40 is 15.98 
Alpha[40]	0.000000
Alpha[40]	0.977546
TNavParticleFilter::Modified Variance for beam 41 is 16.04 
Alpha[41]	0.000000
Alpha[41]	0.990450
TNavParticleFilter::Modified Variance for beam 42 is 16.27 
Alpha[42]	0.000000
Alpha[42]	0.993146
TNavParticleFilter::Modified Variance for beam 43 is 15.79 
Alpha[43]	0.000000
Alpha[43]	0.989053
TNavParticleFilter::Modified Variance for beam 44 is 15.41 
Alpha[44]	0.000000
Alpha[44]	0.973768
TNavParticleFilter::Modified Variance for beam 45 is 15.09 
Alpha[45]	0.000000
Alpha[45]	0.971676
TNavParticleFilter::Modified Variance for beam 46 is 15.29 
Alpha[46]	0.000000
Alpha[46]	0.977740
TNavParticleFilter::Modified Variance for beam 47 is 15.36 
Alpha[47]	0.000000
Alpha[47]	0.974165
TNavParticleFilter::Modified Variance for beam 48 is 14.86 
Alpha[48]	0.000000
Alpha[48]	0.973642
TNavParticleFilter::Modified Variance for beam 49 is 14.87 
Alpha[49]	0.000000
Alpha[49]	0.986990
TNavParticleFilter::Modified Variance for beam 50 is 15.10 
Alpha[50]	0.000000
Alpha[50]	0.993895
TNavParticleFilter::Modified Variance for beam 51 is 15.44 
Alpha[51]	0.000000
Alpha[51]	0.994720
TNavParticleFilter::Modified Variance for beam 52 is 14.30 
Alpha[52]	0.000000
Alpha[52]	0.986924
TNavParticleFilter::Modified Variance for beam 53 is 13.94 
Alpha[53]	0.000000
Alpha[53]	0.984315
TNavParticleFilter::Modified Variance for beam 54 is 13.97 
Alpha[54]	0.000000
Alpha[54]	0.994074
TNavParticleFilter::Modified Variance for beam 55 is 14.37 
Alpha[55]	0.000000
Alpha[55]	0.992648
TNavParticleFilter::Modified Variance for beam 56 is 16.42 
Alpha[56]	0.000000
Alpha[56]	0.977546
TNavParticleFilter::Modified Variance for beam 57 is 16.82 
Alpha[57]	0.000000
Alpha[57]	0.982951
TNavParticleFilter::Modified Variance for beam 58 is 17.22 
Alpha[58]	0.000000
Alpha[58]	0.990049
TNavParticleFilter::Modified Variance for beam 59 is 17.77 
Alpha[59]	0.000000
Alpha[59]	0.990622
TNavPF:: sumSquaredError = 9.964990 
TNavPF:: sumWeights = 0.042152 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.68. Range = 99.69 
TNavPF::Calculated measDiffMean for beam 37 as -0.64. Range = 98.56 
TNavPF::Calculated measDiffMean for beam 38 as -0.35. Range = 95.14 
TNavPF::Calculated measDiffMean for beam 39 as -2.70. Range = 95.80 
TNavPF::Calculated measDiffMean for beam 40 as -1.37. Range = 95.50 
TNavPF::Calculated measDiffMean for beam 41 as -1.24. Range = 92.29 
TNavPF::Calculated measDiffMean for beam 42 as 0.76. Range = 92.29 
TNavPF::Calculated measDiffMean for beam 43 as 0.43. Range = 90.62 
TNavPF::Calculated measDiffMean for beam 44 as 0.21. Range = 89.85 
TNavPF::Calculated measDiffMean for beam 45 as -0.92. Range = 89.12 
TNavPF::Calculated measDiffMean for beam 46 as 0.07. Range = 86.24 
TNavPF::Calculated measDiffMean for beam 47 as 0.57. Range = 79.09 
TNavPF::Calculated measDiffMean for beam 48 as -0.79. Range = 76.38 
TNavPF::Calculated measDiffMean for beam 49 as -0.62. Range = 73.73 
TNavPF::Calculated measDiffMean for beam 50 as -0.45. Range = 71.13 
TNavPF::Calculated measDiffMean for beam 51 as -0.18. Range = 70.70 
TNavPF::Calculated measDiffMean for beam 52 as -0.58. Range = 68.20 
TNavPF::Calculated measDiffMean for beam 53 as -0.49. Range = 67.83 
TNavPF::Calculated measDiffMean for beam 54 as 0.37. Range = 67.49 
TNavPF::Calculated measDiffMean for beam 55 as -0.61. Range = 65.11 
TNavPF::Calculated measDiffMean for beam 56 as -1.45. Range = 64.82 
TNavPF::Calculated measDiffMean for beam 57 as -1.24. Range = 64.56 
TNavPF::Calculated measDiffMean for beam 58 as 0.67. Range = 62.27 
TNavPF::Calculated measDiffMean for beam 59 as 0.97. Range = 62.06 
TNavPF::Calculated measDiffMean for beam 60 as -0.13. Range = 59.84 
TNavPF::Calculated measDiffMean for beam 61 as 0.58. Range = 59.67 
TNavPF::Calculated measDiffMean for beam 62 as 0.99. Range = 59.52 
TNavPF::Calculated measDiffMean for beam 63 as -0.49. Range = 59.39 
TNavPF::Calculated measDiffMean for beam 64 as 0.15. Range = 59.28 
TNavPF::Calculated measDiffMean for beam 65 as 0.71. Range = 59.19 
TNavPF::Calculated measDiffMean for beam 66 as -1.00. Range = 59.11 
TNavPF::Calculated measDiffMean for beam 67 as -1.11. Range = 59.06 
TNavPF::Calculated measDiffMean for beam 68 as -1.16. Range = 59.02 
TNavPF::Calculated measDiffMean for beam 69 as -1.05. Range = 54.99 
TNavPF::Calculated measDiffMean for beam 70 as -0.53. Range = 54.99 
TNavPF::Calculated measDiffMean for beam 71 as 0.35. Range = 55.01 
TNavPF::Calculated measDiffMean for beam 72 as 1.55. Range = 57.04 
TNavPF::Calculated measDiffMean for beam 73 as 1.07. Range = 57.09 
TNavPF::Calculated measDiffMean for beam 74 as 0.17. Range = 57.16 
TNavPF::Calculated measDiffMean for beam 75 as -0.62. Range = 55.23 
TNavPF::Calculated measDiffMean for beam 76 as -0.17. Range = 55.33 
TNavPF::Calculated measDiffMean for beam 77 as 0.17. Range = 55.45 
TNavPF::Calculated measDiffMean for beam 78 as -0.78. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 79 as -0.51. Range = 53.71 
TNavPF::Calculated measDiffMean for beam 80 as 0.24. Range = 53.87 
TNavPF::Calculated measDiffMean for beam 81 as 1.71. Range = 54.05 
TNavPF::Calculated measDiffMean for beam 82 as 0.07. Range = 52.99 
TNavPF::Calculated measDiffMean for beam 83 as -0.85. Range = 52.41 
TNavPF::Calculated measDiffMean for beam 84 as -1.81. Range = 52.64 
TNavPF::Calculated measDiffMean for beam 85 as -3.19. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 86 as -0.75. Range = 48.97 
TNavPF::Calculated measDiffMean for beam 87 as -0.53. Range = 49.23 
TNavPF::Calculated measDiffMean for beam 88 as -0.34. Range = 51.62 
TNavPF::Calculated measDiffMean for beam 89 as -0.50. Range = 51.93 
TNavPF::First Term of Map Covariance Matrix is 3.79 
TNavPF::Calculated NIS Value : 3.15 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322507.82 sec.
INS : North: 4070351.55, East: 588703.88, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 54.56, IDT[75] = 46.27
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322510.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322510.62)
ARL : North: 0.3092, East: -2.1958, Depth: -2.2057ARL : Estimation Bias  (Mean)         : (t = 1488322510.62)
ARL : North: 1.1098, East: -2.3504, Depth: -0.2452TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.26 
Alpha[0]	0.123000
Alpha[0]	0.991218
TNavParticleFilter::Modified Variance for beam 1 is 22.26 
Alpha[1]	0.000000
Alpha[1]	0.985445
TNavParticleFilter::Modified Variance for beam 2 is 22.79 
Alpha[2]	0.000000
Alpha[2]	0.957895
TNavParticleFilter::Modified Variance for beam 3 is 22.89 
Alpha[3]	0.000000
Alpha[3]	0.949314
TNavParticleFilter::Modified Variance for beam 4 is 22.59 
Alpha[4]	0.000000
Alpha[4]	0.958113
TNavParticleFilter::Modified Variance for beam 5 is 22.03 
Alpha[5]	0.000000
Alpha[5]	0.979366
TNavParticleFilter::Modified Variance for beam 6 is 21.62 
Alpha[6]	0.000000
Alpha[6]	0.994786
TNavParticleFilter::Modified Variance for beam 7 is 19.32 
Alpha[7]	0.000000
Alpha[7]	0.991580
TNavParticleFilter::Modified Variance for beam 8 is 19.41 
Alpha[8]	0.000000
Alpha[8]	0.985142
TNavParticleFilter::Modified Variance for beam 9 is 20.56 
Alpha[9]	0.000000
Alpha[9]	0.983448
TNavParticleFilter::Modified Variance for beam 10 is 20.52 
Alpha[10]	0.000000
Alpha[10]	0.984950
TNavParticleFilter::Modified Variance for beam 11 is 20.48 
Alpha[11]	0.000000
Alpha[11]	0.986140
TNavParticleFilter::Modified Variance for beam 12 is 20.38 
Alpha[12]	0.000000
Alpha[12]	0.991629
TNavParticleFilter::Modified Variance for beam 13 is 18.61 
Alpha[13]	0.000000
Alpha[13]	0.988424
TNavParticleFilter::Modified Variance for beam 14 is 19.42 
Alpha[14]	0.000000
Alpha[14]	0.984047
TNavParticleFilter::Modified Variance for beam 15 is 18.67 
Alpha[15]	0.000000
Alpha[15]	0.966702
TNavParticleFilter::Modified Variance for beam 16 is 18.93 
Alpha[16]	0.000000
Alpha[16]	0.955531
TNavParticleFilter::Modified Variance for beam 17 is 18.71 
Alpha[17]	0.000000
Alpha[17]	0.969248
TNavParticleFilter::Modified Variance for beam 18 is 18.55 
Alpha[18]	0.000000
Alpha[18]	0.981134
TNavParticleFilter::Modified Variance for beam 19 is 17.60 
Alpha[19]	0.000000
Alpha[19]	0.990344
TNavParticleFilter::Modified Variance for beam 20 is 17.39 
Alpha[20]	0.000000
Alpha[20]	0.993064
TNavParticleFilter::Modified Variance for beam 21 is 17.44 
Alpha[21]	0.000000
Alpha[21]	0.994764
TNavParticleFilter::Modified Variance for beam 22 is 15.52 
Alpha[22]	0.000000
Alpha[22]	0.994340
TNavParticleFilter::Modified Variance for beam 23 is 15.59 
Alpha[23]	0.000000
Alpha[23]	0.992309
TNavParticleFilter::Modified Variance for beam 24 is 15.75 
Alpha[24]	0.000000
Alpha[24]	0.987624
TNavParticleFilter::Modified Variance for beam 25 is 16.92 
Alpha[25]	0.000000
Alpha[25]	0.986011
TNavParticleFilter::Modified Variance for beam 26 is 16.91 
Alpha[26]	0.000000
Alpha[26]	0.985787
TNavParticleFilter::Modified Variance for beam 27 is 16.12 
Alpha[27]	0.000000
Alpha[27]	0.985599
TNavParticleFilter::Modified Variance for beam 28 is 16.25 
Alpha[28]	0.000000
Alpha[28]	0.985478
TNavParticleFilter::Modified Variance for beam 29 is 15.92 
Alpha[29]	0.000000
Alpha[29]	0.986230
TNavParticleFilter::Modified Variance for beam 30 is 15.43 
Alpha[30]	0.000000
Alpha[30]	0.989044
TNavParticleFilter::Modified Variance for beam 31 is 15.61 
Alpha[31]	0.000000
Alpha[31]	0.987220
TNavParticleFilter::Modified Variance for beam 32 is 15.35 
Alpha[32]	0.000000
Alpha[32]	0.981778
TNavParticleFilter::Modified Variance for beam 33 is 14.98 
Alpha[33]	0.000000
Alpha[33]	0.980879
TNavParticleFilter::Modified Variance for beam 34 is 15.10 
Alpha[34]	0.000000
Alpha[34]	0.983699
TNavParticleFilter::Modified Variance for beam 35 is 15.26 
Alpha[35]	0.000000
Alpha[35]	0.984993
TNavParticleFilter::Modified Variance for beam 36 is 15.55 
Alpha[36]	0.000000
Alpha[36]	0.978527
TNavParticleFilter::Modified Variance for beam 37 is 15.65 
Alpha[37]	0.000000
Alpha[37]	0.984777
TNavParticleFilter::Modified Variance for beam 38 is 15.73 
Alpha[38]	0.000000
Alpha[38]	0.992646
TNavParticleFilter::Modified Variance for beam 39 is 15.81 
Alpha[39]	0.000000
Alpha[39]	0.992712
TNavParticleFilter::Modified Variance for beam 40 is 15.15 
Alpha[40]	0.000000
Alpha[40]	0.985534
TNavParticleFilter::Modified Variance for beam 41 is 14.66 
Alpha[41]	0.000000
Alpha[41]	0.971883
TNavParticleFilter::Modified Variance for beam 42 is 14.67 
Alpha[42]	0.000000
Alpha[42]	0.977038
TNavParticleFilter::Modified Variance for beam 43 is 14.88 
Alpha[43]	0.000000
Alpha[43]	0.978511
TNavParticleFilter::Modified Variance for beam 44 is 14.52 
Alpha[44]	0.000000
Alpha[44]	0.976045
TNavParticleFilter::Modified Variance for beam 45 is 14.18 
Alpha[45]	0.000000
Alpha[45]	0.984211
TNavParticleFilter::Modified Variance for beam 46 is 14.31 
Alpha[46]	0.000000
Alpha[46]	0.992712
TNavParticleFilter::Modified Variance for beam 47 is 14.55 
Alpha[47]	0.000000
Alpha[47]	0.995079
TNavParticleFilter::Modified Variance for beam 48 is 14.86 
Alpha[48]	0.000000
Alpha[48]	0.993252
TNavParticleFilter::Modified Variance for beam 49 is 13.42 
Alpha[49]	0.000000
Alpha[49]	0.984378
TNavParticleFilter::Modified Variance for beam 50 is 13.18 
Alpha[50]	0.000000
Alpha[50]	0.989108
TNavParticleFilter::Modified Variance for beam 51 is 13.40 
Alpha[51]	0.000000
Alpha[51]	0.993922
TNavParticleFilter::Modified Variance for beam 52 is 14.99 
Alpha[52]	0.000000
Alpha[52]	0.989012
TNavParticleFilter::Modified Variance for beam 53 is 15.59 
Alpha[53]	0.000000
Alpha[53]	0.973748
TNavParticleFilter::Modified Variance for beam 54 is 15.89 
Alpha[54]	0.000000
Alpha[54]	0.979151
TNavParticleFilter::Modified Variance for beam 55 is 16.18 
Alpha[55]	0.000000
Alpha[55]	0.986877
TNavParticleFilter::Modified Variance for beam 56 is 16.59 
Alpha[56]	0.000000
Alpha[56]	0.988524
TNavParticleFilter::Modified Variance for beam 57 is 17.13 
Alpha[57]	0.000000
Alpha[57]	0.984557
TNavParticleFilter::Modified Variance for beam 58 is 17.66 
Alpha[58]	0.000000
Alpha[58]	0.983280
TNavParticleFilter::Modified Variance for beam 59 is 18.21 
Alpha[59]	0.000000
Alpha[59]	0.983001
TNavPF:: sumSquaredError = 15.493096 
TNavPF:: sumWeights = 0.070232 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.94. Range = 98.49 
TNavPF::Calculated measDiffMean for beam 39 as 1.06. Range = 99.39 
TNavPF::Calculated measDiffMean for beam 40 as 0.82. Range = 96.36 
TNavPF::Calculated measDiffMean for beam 41 as 0.52. Range = 97.32 
TNavPF::Calculated measDiffMean for beam 42 as 1.23. Range = 96.71 
TNavPF::Calculated measDiffMean for beam 43 as -0.85. Range = 93.52 
TNavPF::Calculated measDiffMean for beam 44 as 0.94. Range = 92.67 
TNavPF::Calculated measDiffMean for beam 45 as -0.50. Range = 91.87 
TNavPF::Calculated measDiffMean for beam 46 as -0.33. Range = 84.47 
TNavPF::Calculated measDiffMean for beam 47 as -0.21. Range = 79.40 
TNavPF::Calculated measDiffMean for beam 48 as 0.05. Range = 76.62 
TNavPF::Calculated measDiffMean for beam 49 as -0.65. Range = 73.91 
TNavPF::Calculated measDiffMean for beam 50 as -0.40. Range = 73.40 
TNavPF::Calculated measDiffMean for beam 51 as 0.75. Range = 70.78 
TNavPF::Calculated measDiffMean for beam 52 as -1.72. Range = 70.34 
TNavPF::Calculated measDiffMean for beam 53 as -1.25. Range = 69.93 
TNavPF::Calculated measDiffMean for beam 54 as -1.08. Range = 67.45 
TNavPF::Calculated measDiffMean for beam 55 as 0.96. Range = 67.10 
TNavPF::Calculated measDiffMean for beam 56 as 1.34. Range = 66.77 
TNavPF::Calculated measDiffMean for beam 57 as 0.42. Range = 64.40 
TNavPF::Calculated measDiffMean for beam 58 as 0.84. Range = 62.07 
TNavPF::Calculated measDiffMean for beam 59 as 0.48. Range = 61.83 
TNavPF::Calculated measDiffMean for beam 60 as -0.10. Range = 61.61 
TNavPF::Calculated measDiffMean for beam 61 as 0.44. Range = 61.41 
TNavPF::Calculated measDiffMean for beam 62 as 0.07. Range = 61.22 
TNavPF::Calculated measDiffMean for beam 63 as -0.81. Range = 61.06 
TNavPF::Calculated measDiffMean for beam 64 as -0.86. Range = 60.92 
TNavPF::Calculated measDiffMean for beam 65 as -1.02. Range = 60.80 
TNavPF::Calculated measDiffMean for beam 66 as -0.69. Range = 60.69 
TNavPF::Calculated measDiffMean for beam 67 as -0.03. Range = 56.59 
TNavPF::Calculated measDiffMean for beam 68 as 0.85. Range = 56.53 
TNavPF::Calculated measDiffMean for beam 69 as 1.66. Range = 58.48 
TNavPF::Calculated measDiffMean for beam 70 as 0.82. Range = 58.46 
TNavPF::Calculated measDiffMean for beam 71 as -0.24. Range = 58.44 
TNavPF::Calculated measDiffMean for beam 72 as -0.11. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 73 as 0.48. Range = 55.21 
TNavPF::Calculated measDiffMean for beam 74 as -0.04. Range = 56.51 
TNavPF::Calculated measDiffMean for beam 75 as -0.41. Range = 54.56 
TNavPF::Calculated measDiffMean for beam 76 as 0.33. Range = 54.64 
TNavPF::Calculated measDiffMean for beam 77 as 1.29. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 78 as 2.79. Range = 54.83 
TNavPF::Calculated measDiffMean for beam 79 as -0.12. Range = 53.38 
TNavPF::Calculated measDiffMean for beam 80 as -0.98. Range = 53.07 
TNavPF::Calculated measDiffMean for beam 81 as -1.82. Range = 53.22 
TNavPF::Calculated measDiffMean for beam 82 as -0.23. Range = 49.43 
TNavPF::Calculated measDiffMean for beam 83 as -0.46. Range = 49.49 
TNavPF::Calculated measDiffMean for beam 84 as -0.31. Range = 49.68 
TNavPF::Calculated measDiffMean for beam 85 as -0.15. Range = 51.95 
TNavPF::Calculated measDiffMean for beam 86 as -0.21. Range = 51.92 
TNavPF::Calculated measDiffMean for beam 87 as -0.39. Range = 50.35 
TNavPF::Calculated measDiffMean for beam 88 as -0.41. Range = 50.61 
TNavPF::Calculated measDiffMean for beam 89 as -0.26. Range = 49.97 
TNavPF::First Term of Map Covariance Matrix is 2.27 
TNavPF::Calculated NIS Value : 2.28 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322510.82 sec.
INS : North: 4070352.99, East: 588699.78, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 54.13, IDT[75] = 43.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322513.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322513.62)
ARL : North: 0.3783, East: -3.2508, Depth: -0.6982ARL : Estimation Bias  (Mean)         : (t = 1488322513.62)
ARL : North: 0.9316, East: -2.1340, Depth: -0.1782TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.46 
Alpha[0]	0.123000
Alpha[0]	0.974383
TNavParticleFilter::Modified Variance for beam 1 is 22.89 
Alpha[1]	0.000000
Alpha[1]	0.993946
TNavParticleFilter::Modified Variance for beam 2 is 20.38 
Alpha[2]	0.000000
Alpha[2]	0.993384
TNavParticleFilter::Modified Variance for beam 3 is 20.43 
Alpha[3]	0.000000
Alpha[3]	0.987378
TNavParticleFilter::Modified Variance for beam 4 is 21.63 
Alpha[4]	0.000000
Alpha[4]	0.983170
TNavParticleFilter::Modified Variance for beam 5 is 21.56 
Alpha[5]	0.000000
Alpha[5]	0.983858
TNavParticleFilter::Modified Variance for beam 6 is 21.45 
Alpha[6]	0.000000
Alpha[6]	0.986382
TNavParticleFilter::Modified Variance for beam 7 is 21.28 
Alpha[7]	0.000000
Alpha[7]	0.992360
TNavParticleFilter::Modified Variance for beam 8 is 19.04 
Alpha[8]	0.000000
Alpha[8]	0.988205
TNavParticleFilter::Modified Variance for beam 9 is 19.11 
Alpha[9]	0.000000
Alpha[9]	0.983739
TNavParticleFilter::Modified Variance for beam 10 is 19.56 
Alpha[10]	0.000000
Alpha[10]	0.961031
TNavParticleFilter::Modified Variance for beam 11 is 19.62 
Alpha[11]	0.000000
Alpha[11]	0.958258
TNavParticleFilter::Modified Variance for beam 12 is 19.37 
Alpha[12]	0.000000
Alpha[12]	0.971030
TNavParticleFilter::Modified Variance for beam 13 is 19.09 
Alpha[13]	0.000000
Alpha[13]	0.986734
TNavParticleFilter::Modified Variance for beam 14 is 17.92 
Alpha[14]	0.000000
Alpha[14]	0.992397
TNavParticleFilter::Modified Variance for beam 15 is 17.92 
Alpha[15]	0.000000
Alpha[15]	0.994467
TNavParticleFilter::Modified Variance for beam 16 is 16.08 
Alpha[16]	0.000000
Alpha[16]	0.995428
TNavParticleFilter::Modified Variance for beam 17 is 15.95 
Alpha[17]	0.000000
Alpha[17]	0.994185
TNavParticleFilter::Modified Variance for beam 18 is 16.07 
Alpha[18]	0.000000
Alpha[18]	0.990327
TNavParticleFilter::Modified Variance for beam 19 is 17.25 
Alpha[19]	0.000000
Alpha[19]	0.985841
TNavParticleFilter::Modified Variance for beam 20 is 17.32 
Alpha[20]	0.000000
Alpha[20]	0.986520
TNavParticleFilter::Modified Variance for beam 21 is 16.36 
Alpha[21]	0.000000
Alpha[21]	0.986379
TNavParticleFilter::Modified Variance for beam 22 is 16.45 
Alpha[22]	0.000000
Alpha[22]	0.986043
TNavParticleFilter::Modified Variance for beam 23 is 16.04 
Alpha[23]	0.000000
Alpha[23]	0.986659
TNavParticleFilter::Modified Variance for beam 24 is 15.58 
Alpha[24]	0.000000
Alpha[24]	0.989182
TNavParticleFilter::Modified Variance for beam 25 is 15.70 
Alpha[25]	0.000000
Alpha[25]	0.988169
TNavParticleFilter::Modified Variance for beam 26 is 15.16 
Alpha[26]	0.000000
Alpha[26]	0.982025
TNavParticleFilter::Modified Variance for beam 27 is 15.06 
Alpha[27]	0.000000
Alpha[27]	0.979904
TNavParticleFilter::Modified Variance for beam 28 is 15.13 
Alpha[28]	0.000000
Alpha[28]	0.983147
TNavParticleFilter::Modified Variance for beam 29 is 15.23 
Alpha[29]	0.000000
Alpha[29]	0.985588
TNavParticleFilter::Modified Variance for beam 30 is 15.44 
Alpha[30]	0.000000
Alpha[30]	0.981409
TNavParticleFilter::Modified Variance for beam 31 is 15.54 
Alpha[31]	0.000000
Alpha[31]	0.984754
TNavParticleFilter::Modified Variance for beam 32 is 15.58 
Alpha[32]	0.000000
Alpha[32]	0.992827
TNavParticleFilter::Modified Variance for beam 33 is 15.55 
Alpha[33]	0.000000
Alpha[33]	0.993274
TNavParticleFilter::Modified Variance for beam 34 is 14.71 
Alpha[34]	0.000000
Alpha[34]	0.986989
TNavParticleFilter::Modified Variance for beam 35 is 14.29 
Alpha[35]	0.000000
Alpha[35]	0.974858
TNavParticleFilter::Modified Variance for beam 36 is 14.41 
Alpha[36]	0.000000
Alpha[36]	0.979106
TNavParticleFilter::Modified Variance for beam 37 is 14.57 
Alpha[37]	0.000000
Alpha[37]	0.979514
TNavParticleFilter::Modified Variance for beam 38 is 13.86 
Alpha[38]	0.000000
Alpha[38]	0.979203
TNavParticleFilter::Modified Variance for beam 39 is 13.80 
Alpha[39]	0.000000
Alpha[39]	0.989042
TNavParticleFilter::Modified Variance for beam 40 is 13.94 
Alpha[40]	0.000000
Alpha[40]	0.994180
TNavParticleFilter::Modified Variance for beam 41 is 14.14 
Alpha[41]	0.000000
Alpha[41]	0.995218
TNavParticleFilter::Modified Variance for beam 42 is 13.07 
Alpha[42]	0.000000
Alpha[42]	0.992081
TNavParticleFilter::Modified Variance for beam 43 is 12.65 
Alpha[43]	0.000000
Alpha[43]	0.985125
TNavParticleFilter::Modified Variance for beam 44 is 12.78 
Alpha[44]	0.000000
Alpha[44]	0.989104
TNavParticleFilter::Modified Variance for beam 45 is 12.95 
Alpha[45]	0.000000
Alpha[45]	0.992882
TNavParticleFilter::Modified Variance for beam 46 is 14.41 
Alpha[46]	0.000000
Alpha[46]	0.985704
TNavParticleFilter::Modified Variance for beam 47 is 14.96 
Alpha[47]	0.000000
Alpha[47]	0.967858
TNavParticleFilter::Modified Variance for beam 48 is 15.22 
Alpha[48]	0.000000
Alpha[48]	0.970789
TNavParticleFilter::Modified Variance for beam 49 is 15.37 
Alpha[49]	0.000000
Alpha[49]	0.981949
TNavParticleFilter::Modified Variance for beam 50 is 15.65 
Alpha[50]	0.000000
Alpha[50]	0.986005
TNavParticleFilter::Modified Variance for beam 51 is 16.05 
Alpha[51]	0.000000
Alpha[51]	0.984204
TNavParticleFilter::Modified Variance for beam 52 is 16.52 
Alpha[52]	0.000000
Alpha[52]	0.979446
TNavParticleFilter::Modified Variance for beam 53 is 16.88 
Alpha[53]	0.000000
Alpha[53]	0.982670
TNavParticleFilter::Modified Variance for beam 54 is 17.34 
Alpha[54]	0.000000
Alpha[54]	0.982349
TNavParticleFilter::Modified Variance for beam 55 is 17.45 
Alpha[55]	0.000000
Alpha[55]	0.982271
TNavParticleFilter::Modified Variance for beam 56 is 16.89 
Alpha[56]	0.000000
Alpha[56]	0.987737
TNavParticleFilter::Modified Variance for beam 57 is 17.14 
Alpha[57]	0.000000
Alpha[57]	0.992006
TNavParticleFilter::Modified Variance for beam 58 is 17.62 
Alpha[58]	0.000000
Alpha[58]	0.994908
TNavParticleFilter::Modified Variance for beam 59 is 18.16 
Alpha[59]	0.000000
Alpha[59]	0.995981
TNavPF:: sumSquaredError = 7.573672 
TNavPF:: sumWeights = 0.060634 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.24. Range = 99.74 
TNavPF::Calculated measDiffMean for beam 39 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.21. Range = 97.05 
TNavPF::Calculated measDiffMean for beam 41 as -0.09. Range = 96.10 
TNavPF::Calculated measDiffMean for beam 42 as 0.02. Range = 90.65 
TNavPF::Calculated measDiffMean for beam 43 as 0.44. Range = 85.33 
TNavPF::Calculated measDiffMean for beam 44 as -0.64. Range = 82.35 
TNavPF::Calculated measDiffMean for beam 45 as 0.06. Range = 77.25 
TNavPF::Calculated measDiffMean for beam 46 as -1.88. Range = 76.63 
TNavPF::Calculated measDiffMean for beam 47 as -1.34. Range = 76.05 
TNavPF::Calculated measDiffMean for beam 48 as -0.96. Range = 73.34 
TNavPF::Calculated measDiffMean for beam 49 as 1.14. Range = 68.54 
TNavPF::Calculated measDiffMean for beam 50 as 1.54. Range = 68.09 
TNavPF::Calculated measDiffMean for beam 51 as 0.46. Range = 67.67 
TNavPF::Calculated measDiffMean for beam 52 as 0.92. Range = 67.27 
TNavPF::Calculated measDiffMean for beam 53 as 0.44. Range = 66.90 
TNavPF::Calculated measDiffMean for beam 54 as -0.01. Range = 64.47 
TNavPF::Calculated measDiffMean for beam 55 as 0.48. Range = 64.16 
TNavPF::Calculated measDiffMean for beam 56 as -0.34. Range = 63.87 
TNavPF::Calculated measDiffMean for beam 57 as -0.58. Range = 63.60 
TNavPF::Calculated measDiffMean for beam 58 as -0.67. Range = 63.35 
TNavPF::Calculated measDiffMean for beam 59 as -0.91. Range = 63.12 
TNavPF::Calculated measDiffMean for beam 60 as -0.62. Range = 62.92 
TNavPF::Calculated measDiffMean for beam 61 as 0.10. Range = 62.73 
TNavPF::Calculated measDiffMean for beam 62 as 0.95. Range = 58.52 
TNavPF::Calculated measDiffMean for beam 63 as 1.52. Range = 58.39 
TNavPF::Calculated measDiffMean for beam 64 as 0.49. Range = 60.28 
TNavPF::Calculated measDiffMean for beam 65 as -0.22. Range = 60.18 
TNavPF::Calculated measDiffMean for beam 66 as 0.20. Range = 60.09 
TNavPF::Calculated measDiffMean for beam 67 as 0.71. Range = 60.03 
TNavPF::Calculated measDiffMean for beam 68 as -0.43. Range = 55.97 
TNavPF::Calculated measDiffMean for beam 69 as 0.05. Range = 55.95 
TNavPF::Calculated measDiffMean for beam 70 as 0.91. Range = 55.94 
TNavPF::Calculated measDiffMean for beam 71 as 1.81. Range = 55.94 
TNavPF::Calculated measDiffMean for beam 72 as 0.15. Range = 55.97 
TNavPF::Calculated measDiffMean for beam 73 as -0.72. Range = 56.01 
TNavPF::Calculated measDiffMean for beam 74 as -0.79. Range = 54.06 
TNavPF::Calculated measDiffMean for beam 75 as -1.61. Range = 54.13 
TNavPF::Calculated measDiffMean for beam 76 as -0.05. Range = 50.59 
TNavPF::Calculated measDiffMean for beam 77 as -0.25. Range = 50.29 
TNavPF::Calculated measDiffMean for beam 78 as -0.15. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 79 as 0.01. Range = 52.57 
TNavPF::Calculated measDiffMean for beam 80 as 0.06. Range = 52.72 
TNavPF::Calculated measDiffMean for beam 81 as -0.07. Range = 50.85 
TNavPF::Calculated measDiffMean for beam 82 as -0.14. Range = 51.03 
TNavPF::Calculated measDiffMean for beam 83 as -0.10. Range = 50.23 
TNavPF::Calculated measDiffMean for beam 84 as 0.03. Range = 49.37 
TNavPF::Calculated measDiffMean for beam 85 as -0.04. Range = 49.60 
TNavPF::Calculated measDiffMean for beam 86 as -1.02. Range = 48.27 
TNavPF::Calculated measDiffMean for beam 87 as -1.12. Range = 48.00 
TNavPF::Calculated measDiffMean for beam 88 as -1.56. Range = 48.26 
TNavPF::Calculated measDiffMean for beam 89 as -2.31. Range = 48.54 
TNavPF::First Term of Map Covariance Matrix is 0.77 
TNavPF::Calculated NIS Value : 2.29 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322513.82 sec.
INS : North: 4070354.51, East: 588695.70, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 50.70, IDT[75] = 49.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322516.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322516.62)
ARL : North: 0.0778, East: -1.8710, Depth: -1.6916ARL : Estimation Bias  (Mean)         : (t = 1488322516.62)
ARL : North: 0.7868, East: -2.0142, Depth: 0.4061TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.70 
Alpha[0]	0.123000
Alpha[0]	0.986616
TNavParticleFilter::Modified Variance for beam 1 is 22.47 
Alpha[1]	0.000000
Alpha[1]	0.993043
TNavParticleFilter::Modified Variance for beam 2 is 20.11 
Alpha[2]	0.000000
Alpha[2]	0.988534
TNavParticleFilter::Modified Variance for beam 3 is 20.16 
Alpha[3]	0.000000
Alpha[3]	0.982998
TNavParticleFilter::Modified Variance for beam 4 is 20.60 
Alpha[4]	0.000000
Alpha[4]	0.959934
TNavParticleFilter::Modified Variance for beam 5 is 20.49 
Alpha[5]	0.000000
Alpha[5]	0.963606
TNavParticleFilter::Modified Variance for beam 6 is 20.15 
Alpha[6]	0.000000
Alpha[6]	0.978730
TNavParticleFilter::Modified Variance for beam 7 is 19.86 
Alpha[7]	0.000000
Alpha[7]	0.991924
TNavParticleFilter::Modified Variance for beam 8 is 18.70 
Alpha[8]	0.000000
Alpha[8]	0.993888
TNavParticleFilter::Modified Variance for beam 9 is 18.67 
Alpha[9]	0.000000
Alpha[9]	0.996180
TNavParticleFilter::Modified Variance for beam 10 is 16.59 
Alpha[10]	0.000000
Alpha[10]	0.994990
TNavParticleFilter::Modified Variance for beam 11 is 16.64 
Alpha[11]	0.000000
Alpha[11]	0.992795
TNavParticleFilter::Modified Variance for beam 12 is 16.77 
Alpha[12]	0.000000
Alpha[12]	0.987263
TNavParticleFilter::Modified Variance for beam 13 is 16.80 
Alpha[13]	0.000000
Alpha[13]	0.987175
TNavParticleFilter::Modified Variance for beam 14 is 15.82 
Alpha[14]	0.000000
Alpha[14]	0.988194
TNavParticleFilter::Modified Variance for beam 15 is 16.29 
Alpha[15]	0.000000
Alpha[15]	0.986094
TNavParticleFilter::Modified Variance for beam 16 is 16.42 
Alpha[16]	0.000000
Alpha[16]	0.988002
TNavParticleFilter::Modified Variance for beam 17 is 15.96 
Alpha[17]	0.000000
Alpha[17]	0.989796
TNavParticleFilter::Modified Variance for beam 18 is 16.05 
Alpha[18]	0.000000
Alpha[18]	0.989050
TNavParticleFilter::Modified Variance for beam 19 is 15.22 
Alpha[19]	0.000000
Alpha[19]	0.983375
TNavParticleFilter::Modified Variance for beam 20 is 15.36 
Alpha[20]	0.000000
Alpha[20]	0.979556
TNavParticleFilter::Modified Variance for beam 21 is 15.40 
Alpha[21]	0.000000
Alpha[21]	0.983002
TNavParticleFilter::Modified Variance for beam 22 is 15.46 
Alpha[22]	0.000000
Alpha[22]	0.985316
TNavParticleFilter::Modified Variance for beam 23 is 15.60 
Alpha[23]	0.000000
Alpha[23]	0.983799
TNavParticleFilter::Modified Variance for beam 24 is 15.63 
Alpha[24]	0.000000
Alpha[24]	0.989157
TNavParticleFilter::Modified Variance for beam 25 is 15.68 
Alpha[25]	0.000000
Alpha[25]	0.993732
TNavParticleFilter::Modified Variance for beam 26 is 15.32 
Alpha[26]	0.000000
Alpha[26]	0.993249
TNavParticleFilter::Modified Variance for beam 27 is 14.26 
Alpha[27]	0.000000
Alpha[27]	0.986145
TNavParticleFilter::Modified Variance for beam 28 is 14.31 
Alpha[28]	0.000000
Alpha[28]	0.977514
TNavParticleFilter::Modified Variance for beam 29 is 14.42 
Alpha[29]	0.000000
Alpha[29]	0.979802
TNavParticleFilter::Modified Variance for beam 30 is 14.00 
Alpha[30]	0.000000
Alpha[30]	0.980835
TNavParticleFilter::Modified Variance for beam 31 is 13.64 
Alpha[31]	0.000000
Alpha[31]	0.986001
TNavParticleFilter::Modified Variance for beam 32 is 13.70 
Alpha[32]	0.000000
Alpha[32]	0.993119
TNavParticleFilter::Modified Variance for beam 33 is 13.83 
Alpha[33]	0.000000
Alpha[33]	0.995041
TNavParticleFilter::Modified Variance for beam 34 is 12.91 
Alpha[34]	0.000000
Alpha[34]	0.994189
TNavParticleFilter::Modified Variance for beam 35 is 12.35 
Alpha[35]	0.000000
Alpha[35]	0.988416
TNavParticleFilter::Modified Variance for beam 36 is 12.50 
Alpha[36]	0.000000
Alpha[36]	0.986359
TNavParticleFilter::Modified Variance for beam 37 is 12.61 
Alpha[37]	0.000000
Alpha[37]	0.991384
TNavParticleFilter::Modified Variance for beam 38 is 13.83 
Alpha[38]	0.000000
Alpha[38]	0.989560
TNavParticleFilter::Modified Variance for beam 39 is 14.31 
Alpha[39]	0.000000
Alpha[39]	0.971153
TNavParticleFilter::Modified Variance for beam 40 is 14.69 
Alpha[40]	0.000000
Alpha[40]	0.961768
TNavParticleFilter::Modified Variance for beam 41 is 14.81 
Alpha[41]	0.000000
Alpha[41]	0.970220
TNavParticleFilter::Modified Variance for beam 42 is 14.90 
Alpha[42]	0.000000
Alpha[42]	0.981122
TNavParticleFilter::Modified Variance for beam 43 is 15.12 
Alpha[43]	0.000000
Alpha[43]	0.984592
TNavParticleFilter::Modified Variance for beam 44 is 15.46 
Alpha[44]	0.000000
Alpha[44]	0.982054
TNavParticleFilter::Modified Variance for beam 45 is 15.87 
Alpha[45]	0.000000
Alpha[45]	0.975715
TNavParticleFilter::Modified Variance for beam 46 is 16.14 
Alpha[46]	0.000000
Alpha[46]	0.979859
TNavParticleFilter::Modified Variance for beam 47 is 16.46 
Alpha[47]	0.000000
Alpha[47]	0.981705
TNavParticleFilter::Modified Variance for beam 48 is 16.86 
Alpha[48]	0.000000
Alpha[48]	0.980129
TNavParticleFilter::Modified Variance for beam 49 is 16.26 
Alpha[49]	0.000000
Alpha[49]	0.984325
TNavParticleFilter::Modified Variance for beam 50 is 16.17 
Alpha[50]	0.000000
Alpha[50]	0.988290
TNavParticleFilter::Modified Variance for beam 51 is 16.53 
Alpha[51]	0.000000
Alpha[51]	0.991581
TNavParticleFilter::Modified Variance for beam 52 is 16.92 
Alpha[52]	0.000000
Alpha[52]	0.994248
TNavParticleFilter::Modified Variance for beam 53 is 18.89 
Alpha[53]	0.000000
Alpha[53]	0.995416
TNavParticleFilter::Modified Variance for beam 54 is 19.49 
Alpha[54]	0.000000
Alpha[54]	0.993479
TNavParticleFilter::Modified Variance for beam 55 is 20.17 
Alpha[55]	0.000000
Alpha[55]	0.989359
TNavParticleFilter::Modified Variance for beam 56 is 20.22 
Alpha[56]	0.000000
Alpha[56]	0.990436
TNavParticleFilter::Modified Variance for beam 57 is 19.67 
Alpha[57]	0.000000
Alpha[57]	0.993162
TNavParticleFilter::Modified Variance for beam 58 is 20.25 
Alpha[58]	0.000000
Alpha[58]	0.997867
TNavParticleFilter::Modified Variance for beam 59 is 24.89 
Alpha[59]	0.000000
Alpha[59]	0.998708
TNavPF:: sumSquaredError = 10.666876 
TNavPF:: sumWeights = 0.053154 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.06. Range = 99.82 
TNavPF::Calculated measDiffMean for beam 38 as -0.13. Range = 94.17 
TNavPF::Calculated measDiffMean for beam 39 as 1.16. Range = 84.56 
TNavPF::Calculated measDiffMean for beam 40 as -1.30. Range = 85.15 
TNavPF::Calculated measDiffMean for beam 41 as -0.90. Range = 80.31 
TNavPF::Calculated measDiffMean for beam 42 as -0.68. Range = 79.61 
TNavPF::Calculated measDiffMean for beam 43 as -0.40. Range = 76.74 
TNavPF::Calculated measDiffMean for beam 44 as -1.45. Range = 76.14 
TNavPF::Calculated measDiffMean for beam 45 as -0.12. Range = 71.21 
TNavPF::Calculated measDiffMean for beam 46 as 0.61. Range = 70.70 
TNavPF::Calculated measDiffMean for beam 47 as 0.25. Range = 70.22 
TNavPF::Calculated measDiffMean for beam 48 as 0.70. Range = 71.89 
TNavPF::Calculated measDiffMean for beam 49 as -0.60. Range = 67.21 
TNavPF::Calculated measDiffMean for beam 50 as -0.32. Range = 66.82 
TNavPF::Calculated measDiffMean for beam 51 as -0.44. Range = 66.46 
TNavPF::Calculated measDiffMean for beam 52 as -0.67. Range = 66.12 
TNavPF::Calculated measDiffMean for beam 53 as -0.33. Range = 65.80 
TNavPF::Calculated measDiffMean for beam 54 as 0.54. Range = 65.50 
TNavPF::Calculated measDiffMean for beam 55 as 1.35. Range = 65.23 
TNavPF::Calculated measDiffMean for beam 56 as 1.28. Range = 60.89 
TNavPF::Calculated measDiffMean for beam 57 as -0.11. Range = 60.67 
TNavPF::Calculated measDiffMean for beam 58 as 0.23. Range = 62.51 
TNavPF::Calculated measDiffMean for beam 59 as 0.57. Range = 62.33 
TNavPF::Calculated measDiffMean for beam 60 as 0.09. Range = 62.16 
TNavPF::Calculated measDiffMean for beam 61 as 0.01. Range = 62.02 
TNavPF::Calculated measDiffMean for beam 62 as 0.85. Range = 57.87 
TNavPF::Calculated measDiffMean for beam 63 as 1.59. Range = 57.78 
TNavPF::Calculated measDiffMean for beam 64 as 0.15. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 65 as -0.62. Range = 57.64 
TNavPF::Calculated measDiffMean for beam 66 as -0.41. Range = 57.59 
TNavPF::Calculated measDiffMean for beam 67 as -0.84. Range = 57.57 
TNavPF::Calculated measDiffMean for beam 68 as 0.48. Range = 55.56 
TNavPF::Calculated measDiffMean for beam 69 as 0.05. Range = 55.57 
TNavPF::Calculated measDiffMean for beam 70 as 0.04. Range = 51.59 
TNavPF::Calculated measDiffMean for beam 71 as 0.15. Range = 51.63 
TNavPF::Calculated measDiffMean for beam 72 as 0.30. Range = 51.68 
TNavPF::Calculated measDiffMean for beam 73 as 0.33. Range = 51.75 
TNavPF::Calculated measDiffMean for beam 74 as 0.19. Range = 49.83 
TNavPF::Calculated measDiffMean for beam 75 as 0.11. Range = 50.70 
TNavPF::Calculated measDiffMean for beam 76 as 0.17. Range = 51.03 
TNavPF::Calculated measDiffMean for beam 77 as 0.21. Range = 50.17 
TNavPF::Calculated measDiffMean for beam 78 as 0.47. Range = 50.32 
TNavPF::Calculated measDiffMean for beam 79 as -0.56. Range = 48.45 
TNavPF::Calculated measDiffMean for beam 80 as -0.79. Range = 48.62 
TNavPF::Calculated measDiffMean for beam 81 as -0.78. Range = 48.81 
TNavPF::Calculated measDiffMean for beam 82 as -1.23. Range = 49.01 
TNavPF::Calculated measDiffMean for beam 83 as 0.89. Range = 49.24 
TNavPF::Calculated measDiffMean for beam 84 as 0.54. Range = 49.48 
TNavPF::Calculated measDiffMean for beam 85 as 0.65. Range = 49.73 
TNavPF::Calculated measDiffMean for beam 86 as 0.26. Range = 48.97 
TNavPF::Calculated measDiffMean for beam 87 as -1.25. Range = 46.51 
TNavPF::Calculated measDiffMean for beam 88 as -1.84. Range = 46.35 
TNavPF::Calculated measDiffMean for beam 89 as 2.53. Range = 46.65 
TNavPF::First Term of Map Covariance Matrix is 1.48 
TNavPF::Calculated NIS Value : 2.08 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322516.82 sec.
INS : North: 4070356.17, East: 588691.66, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 50.02, IDT[75] = 50.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322519.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322519.62)
ARL : North: 0.1127, East: -2.3743, Depth: -1.6143ARL : Estimation Bias  (Mean)         : (t = 1488322519.62)
ARL : North: 0.7532, East: -1.9024, Depth: 0.3441TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.16 
Alpha[0]	0.123000
Alpha[0]	0.986190
TNavParticleFilter::Modified Variance for beam 1 is 19.81 
Alpha[1]	0.000000
Alpha[1]	0.992974
TNavParticleFilter::Modified Variance for beam 2 is 19.71 
Alpha[2]	0.000000
Alpha[2]	0.996082
TNavParticleFilter::Modified Variance for beam 3 is 17.49 
Alpha[3]	0.000000
Alpha[3]	0.996212
TNavParticleFilter::Modified Variance for beam 4 is 17.51 
Alpha[4]	0.000000
Alpha[4]	0.994171
TNavParticleFilter::Modified Variance for beam 5 is 17.58 
Alpha[5]	0.000000
Alpha[5]	0.989746
TNavParticleFilter::Modified Variance for beam 6 is 17.61 
Alpha[6]	0.000000
Alpha[6]	0.987805
TNavParticleFilter::Modified Variance for beam 7 is 16.56 
Alpha[7]	0.000000
Alpha[7]	0.989468
TNavParticleFilter::Modified Variance for beam 8 is 16.62 
Alpha[8]	0.000000
Alpha[8]	0.986735
TNavParticleFilter::Modified Variance for beam 9 is 16.60 
Alpha[9]	0.000000
Alpha[9]	0.989529
TNavParticleFilter::Modified Variance for beam 10 is 16.62 
Alpha[10]	0.000000
Alpha[10]	0.990096
TNavParticleFilter::Modified Variance for beam 11 is 16.67 
Alpha[11]	0.000000
Alpha[11]	0.989499
TNavParticleFilter::Modified Variance for beam 12 is 15.81 
Alpha[12]	0.000000
Alpha[12]	0.982965
TNavParticleFilter::Modified Variance for beam 13 is 15.93 
Alpha[13]	0.000000
Alpha[13]	0.978832
TNavParticleFilter::Modified Variance for beam 14 is 15.91 
Alpha[14]	0.000000
Alpha[14]	0.983989
TNavParticleFilter::Modified Variance for beam 15 is 15.95 
Alpha[15]	0.000000
Alpha[15]	0.985486
TNavParticleFilter::Modified Variance for beam 16 is 15.99 
Alpha[16]	0.000000
Alpha[16]	0.988004
TNavParticleFilter::Modified Variance for beam 17 is 16.00 
Alpha[17]	0.000000
Alpha[17]	0.992883
TNavParticleFilter::Modified Variance for beam 18 is 16.07 
Alpha[18]	0.000000
Alpha[18]	0.994266
TNavParticleFilter::Modified Variance for beam 19 is 14.70 
Alpha[19]	0.000000
Alpha[19]	0.992310
TNavParticleFilter::Modified Variance for beam 20 is 14.46 
Alpha[20]	0.000000
Alpha[20]	0.982245
TNavParticleFilter::Modified Variance for beam 21 is 14.59 
Alpha[21]	0.000000
Alpha[21]	0.980408
TNavParticleFilter::Modified Variance for beam 22 is 14.17 
Alpha[22]	0.000000
Alpha[22]	0.984033
TNavParticleFilter::Modified Variance for beam 23 is 13.71 
Alpha[23]	0.000000
Alpha[23]	0.990042
TNavParticleFilter::Modified Variance for beam 24 is 13.77 
Alpha[24]	0.000000
Alpha[24]	0.994266
TNavParticleFilter::Modified Variance for beam 25 is 13.88 
Alpha[25]	0.000000
Alpha[25]	0.995270
TNavParticleFilter::Modified Variance for beam 26 is 12.71 
Alpha[26]	0.000000
Alpha[26]	0.993898
TNavParticleFilter::Modified Variance for beam 27 is 12.34 
Alpha[27]	0.000000
Alpha[27]	0.989935
TNavParticleFilter::Modified Variance for beam 28 is 12.49 
Alpha[28]	0.000000
Alpha[28]	0.988290
TNavParticleFilter::Modified Variance for beam 29 is 12.59 
Alpha[29]	0.000000
Alpha[29]	0.990696
TNavParticleFilter::Modified Variance for beam 30 is 13.78 
Alpha[30]	0.000000
Alpha[30]	0.985109
TNavParticleFilter::Modified Variance for beam 31 is 14.28 
Alpha[31]	0.000000
Alpha[31]	0.961785
TNavParticleFilter::Modified Variance for beam 32 is 14.57 
Alpha[32]	0.000000
Alpha[32]	0.954736
TNavParticleFilter::Modified Variance for beam 33 is 14.65 
Alpha[33]	0.000000
Alpha[33]	0.962601
TNavParticleFilter::Modified Variance for beam 34 is 14.64 
Alpha[34]	0.000000
Alpha[34]	0.977036
TNavParticleFilter::Modified Variance for beam 35 is 14.78 
Alpha[35]	0.000000
Alpha[35]	0.981721
TNavParticleFilter::Modified Variance for beam 36 is 15.04 
Alpha[36]	0.000000
Alpha[36]	0.980240
TNavParticleFilter::Modified Variance for beam 37 is 15.44 
Alpha[37]	0.000000
Alpha[37]	0.970185
TNavParticleFilter::Modified Variance for beam 38 is 15.64 
Alpha[38]	0.000000
Alpha[38]	0.973870
TNavParticleFilter::Modified Variance for beam 39 is 15.82 
Alpha[39]	0.000000
Alpha[39]	0.979954
TNavParticleFilter::Modified Variance for beam 40 is 16.11 
Alpha[40]	0.000000
Alpha[40]	0.980488
TNavParticleFilter::Modified Variance for beam 41 is 16.16 
Alpha[41]	0.000000
Alpha[41]	0.979827
TNavParticleFilter::Modified Variance for beam 42 is 15.50 
Alpha[42]	0.000000
Alpha[42]	0.984531
TNavParticleFilter::Modified Variance for beam 43 is 15.71 
Alpha[43]	0.000000
Alpha[43]	0.987443
TNavParticleFilter::Modified Variance for beam 44 is 17.30 
Alpha[44]	0.000000
Alpha[44]	0.990577
TNavParticleFilter::Modified Variance for beam 45 is 16.31 
Alpha[45]	0.000000
Alpha[45]	0.992960
TNavParticleFilter::Modified Variance for beam 46 is 18.04 
Alpha[46]	0.000000
Alpha[46]	0.994942
TNavParticleFilter::Modified Variance for beam 47 is 18.52 
Alpha[47]	0.000000
Alpha[47]	0.993515
TNavParticleFilter::Modified Variance for beam 48 is 19.10 
Alpha[48]	0.000000
Alpha[48]	0.988009
TNavParticleFilter::Modified Variance for beam 49 is 19.58 
Alpha[49]	0.000000
Alpha[49]	0.987972
TNavParticleFilter::Modified Variance for beam 50 is 18.97 
Alpha[50]	0.000000
Alpha[50]	0.990108
TNavParticleFilter::Modified Variance for beam 51 is 19.02 
Alpha[51]	0.000000
Alpha[51]	0.993898
TNavParticleFilter::Modified Variance for beam 52 is 22.95 
Alpha[52]	0.000000
Alpha[52]	0.997876
TNavParticleFilter::Modified Variance for beam 53 is 23.69 
Alpha[53]	0.000000
Alpha[53]	0.998248
TNavParticleFilter::Modified Variance for beam 54 is 24.48 
Alpha[54]	0.000000
Alpha[54]	0.998630
TNavParticleFilter::Modified Variance for beam 55 is 24.00 
Alpha[55]	0.000000
Alpha[55]	0.999180
TNavParticleFilter::Modified Variance for beam 56 is 24.19 
Alpha[56]	0.000000
Alpha[56]	0.999651
TNavParticleFilter::Modified Variance for beam 57 is 36.86 
Alpha[57]	0.000000
Alpha[57]	0.999799
TNavParticleFilter::Modified Variance for beam 58 is 44.05 
Alpha[58]	0.000000
Alpha[58]	0.999733
TNavParticleFilter::Modified Variance for beam 59 is 46.36 
Alpha[59]	0.000000
Alpha[59]	0.999573
TNavPF:: sumSquaredError = 17.893816 
TNavPF:: sumWeights = 0.040471 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.98. Range = 97.72 
TNavPF::Calculated measDiffMean for beam 35 as -0.66. Range = 87.41 
TNavPF::Calculated measDiffMean for beam 36 as -0.32. Range = 84.52 
TNavPF::Calculated measDiffMean for beam 37 as -1.37. Range = 83.43 
TNavPF::Calculated measDiffMean for beam 38 as -0.78. Range = 82.66 
TNavPF::Calculated measDiffMean for beam 39 as -0.23. Range = 79.69 
TNavPF::Calculated measDiffMean for beam 40 as 0.35. Range = 74.58 
TNavPF::Calculated measDiffMean for beam 41 as 0.88. Range = 73.98 
TNavPF::Calculated measDiffMean for beam 42 as -0.35. Range = 73.41 
TNavPF::Calculated measDiffMean for beam 43 as -0.19. Range = 75.03 
TNavPF::Calculated measDiffMean for beam 44 as -0.46. Range = 70.20 
TNavPF::Calculated measDiffMean for beam 45 as -0.59. Range = 69.74 
TNavPF::Calculated measDiffMean for beam 46 as 0.06. Range = 69.30 
TNavPF::Calculated measDiffMean for beam 47 as 1.05. Range = 68.88 
TNavPF::Calculated measDiffMean for beam 48 as 1.77. Range = 68.49 
TNavPF::Calculated measDiffMean for beam 49 as 0.07. Range = 68.13 
TNavPF::Calculated measDiffMean for beam 50 as 0.25. Range = 67.79 
TNavPF::Calculated measDiffMean for beam 51 as 0.65. Range = 63.34 
TNavPF::Calculated measDiffMean for beam 52 as 0.25. Range = 64.19 
TNavPF::Calculated measDiffMean for beam 53 as 0.27. Range = 64.87 
TNavPF::Calculated measDiffMean for beam 54 as 1.25. Range = 64.63 
TNavPF::Calculated measDiffMean for beam 55 as 1.93. Range = 64.41 
TNavPF::Calculated measDiffMean for beam 56 as -0.04. Range = 60.15 
TNavPF::Calculated measDiffMean for beam 57 as -0.49. Range = 59.99 
TNavPF::Calculated measDiffMean for beam 58 as -0.35. Range = 59.84 
TNavPF::Calculated measDiffMean for beam 59 as -0.89. Range = 59.71 
TNavPF::Calculated measDiffMean for beam 60 as 0.43. Range = 59.60 
TNavPF::Calculated measDiffMean for beam 61 as 0.18. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 62 as 0.18. Range = 57.44 
TNavPF::Calculated measDiffMean for beam 63 as 0.26. Range = 53.38 
TNavPF::Calculated measDiffMean for beam 64 as 0.42. Range = 53.34 
TNavPF::Calculated measDiffMean for beam 65 as 0.47. Range = 53.33 
TNavPF::Calculated measDiffMean for beam 66 as 0.38. Range = 53.33 
TNavPF::Calculated measDiffMean for beam 67 as 0.25. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 68 as 0.33. Range = 51.38 
TNavPF::Calculated measDiffMean for beam 69 as 0.39. Range = 51.42 
TNavPF::Calculated measDiffMean for beam 70 as 0.43. Range = 51.49 
TNavPF::Calculated measDiffMean for beam 71 as 0.23. Range = 51.57 
TNavPF::Calculated measDiffMean for beam 72 as -0.82. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 73 as -0.52. Range = 49.75 
TNavPF::Calculated measDiffMean for beam 74 as 1.92. Range = 49.88 
TNavPF::Calculated measDiffMean for beam 75 as -1.02. Range = 50.02 
TNavPF::Calculated measDiffMean for beam 76 as 0.90. Range = 50.17 
TNavPF::Calculated measDiffMean for beam 77 as 0.47. Range = 50.34 
TNavPF::Calculated measDiffMean for beam 78 as 0.46. Range = 50.53 
TNavPF::Calculated measDiffMean for beam 79 as 0.85. Range = 47.64 
TNavPF::Calculated measDiffMean for beam 80 as -0.58. Range = 46.82 
TNavPF::Calculated measDiffMean for beam 81 as -0.99. Range = 47.04 
TNavPF::Calculated measDiffMean for beam 82 as 3.80. Range = 46.24 
TNavPF::Calculated measDiffMean for beam 83 as 2.16. Range = 45.43 
TNavPF::Calculated measDiffMean for beam 84 as 0.57. Range = 45.69 
TNavPF::Calculated measDiffMean for beam 85 as -1.40. Range = 45.96 
TNavPF::Calculated measDiffMean for beam 86 as -3.35. Range = 43.26 
TNavPF::Calculated measDiffMean for beam 87 as 4.85. Range = 42.26 
TNavPF::Calculated measDiffMean for beam 88 as 6.04. Range = 42.56 
TNavPF::Calculated measDiffMean for beam 89 as 3.10. Range = 42.88 
TNavPF::First Term of Map Covariance Matrix is 1.44 
TNavPF::Calculated NIS Value : 2.73 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322519.82 sec.
INS : North: 4070358.01, East: 588687.69, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 46.26, IDT[75] = 58.15
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322522.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322522.62)
ARL : North: -0.0055, East: -2.5125, Depth: 0.5956ARL : Estimation Bias  (Mean)         : (t = 1488322522.62)
ARL : North: 0.9134, East: -1.9857, Depth: 0.3621TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.66 
Alpha[0]	0.123000
Alpha[0]	0.990403
TNavParticleFilter::Modified Variance for beam 1 is 17.60 
Alpha[1]	0.000000
Alpha[1]	0.987803
TNavParticleFilter::Modified Variance for beam 2 is 17.56 
Alpha[2]	0.000000
Alpha[2]	0.989699
TNavParticleFilter::Modified Variance for beam 3 is 17.55 
Alpha[3]	0.000000
Alpha[3]	0.989982
TNavParticleFilter::Modified Variance for beam 4 is 17.54 
Alpha[4]	0.000000
Alpha[4]	0.990733
TNavParticleFilter::Modified Variance for beam 5 is 16.61 
Alpha[5]	0.000000
Alpha[5]	0.984706
TNavParticleFilter::Modified Variance for beam 6 is 16.74 
Alpha[6]	0.000000
Alpha[6]	0.978498
TNavParticleFilter::Modified Variance for beam 7 is 17.72 
Alpha[7]	0.000000
Alpha[7]	0.984241
TNavParticleFilter::Modified Variance for beam 8 is 17.71 
Alpha[8]	0.000000
Alpha[8]	0.986755
TNavParticleFilter::Modified Variance for beam 9 is 16.63 
Alpha[9]	0.000000
Alpha[9]	0.991374
TNavParticleFilter::Modified Variance for beam 10 is 16.65 
Alpha[10]	0.000000
Alpha[10]	0.993391
TNavParticleFilter::Modified Variance for beam 11 is 16.68 
Alpha[11]	0.000000
Alpha[11]	0.994703
TNavParticleFilter::Modified Variance for beam 12 is 14.81 
Alpha[12]	0.000000
Alpha[12]	0.991625
TNavParticleFilter::Modified Variance for beam 13 is 15.02 
Alpha[13]	0.000000
Alpha[13]	0.981766
TNavParticleFilter::Modified Variance for beam 14 is 15.02 
Alpha[14]	0.000000
Alpha[14]	0.986721
TNavParticleFilter::Modified Variance for beam 15 is 14.05 
Alpha[15]	0.000000
Alpha[15]	0.993029
TNavParticleFilter::Modified Variance for beam 16 is 14.10 
Alpha[16]	0.000000
Alpha[16]	0.995007
TNavParticleFilter::Modified Variance for beam 17 is 14.19 
Alpha[17]	0.000000
Alpha[17]	0.995248
TNavParticleFilter::Modified Variance for beam 18 is 12.88 
Alpha[18]	0.000000
Alpha[18]	0.993670
TNavParticleFilter::Modified Variance for beam 19 is 12.59 
Alpha[19]	0.000000
Alpha[19]	0.991496
TNavParticleFilter::Modified Variance for beam 20 is 12.71 
Alpha[20]	0.000000
Alpha[20]	0.989373
TNavParticleFilter::Modified Variance for beam 21 is 13.75 
Alpha[21]	0.000000
Alpha[21]	0.988868
TNavParticleFilter::Modified Variance for beam 22 is 14.08 
Alpha[22]	0.000000
Alpha[22]	0.974245
TNavParticleFilter::Modified Variance for beam 23 is 14.58 
Alpha[23]	0.000000
Alpha[23]	0.949222
TNavParticleFilter::Modified Variance for beam 24 is 14.75 
Alpha[24]	0.000000
Alpha[24]	0.947324
TNavParticleFilter::Modified Variance for beam 25 is 14.76 
Alpha[25]	0.000000
Alpha[25]	0.956843
TNavParticleFilter::Modified Variance for beam 26 is 14.69 
Alpha[26]	0.000000
Alpha[26]	0.971565
TNavParticleFilter::Modified Variance for beam 27 is 14.79 
Alpha[27]	0.000000
Alpha[27]	0.976115
TNavParticleFilter::Modified Variance for beam 28 is 15.01 
Alpha[28]	0.000000
Alpha[28]	0.973833
TNavParticleFilter::Modified Variance for beam 29 is 15.37 
Alpha[29]	0.000000
Alpha[29]	0.963314
TNavParticleFilter::Modified Variance for beam 30 is 15.46 
Alpha[30]	0.000000
Alpha[30]	0.970187
TNavParticleFilter::Modified Variance for beam 31 is 15.54 
Alpha[31]	0.000000
Alpha[31]	0.978745
TNavParticleFilter::Modified Variance for beam 32 is 15.75 
Alpha[32]	0.000000
Alpha[32]	0.980159
TNavParticleFilter::Modified Variance for beam 33 is 16.00 
Alpha[33]	0.000000
Alpha[33]	0.979497
TNavParticleFilter::Modified Variance for beam 34 is 15.59 
Alpha[34]	0.000000
Alpha[34]	0.981475
TNavParticleFilter::Modified Variance for beam 35 is 15.27 
Alpha[35]	0.000000
Alpha[35]	0.985007
TNavParticleFilter::Modified Variance for beam 36 is 15.50 
Alpha[36]	0.000000
Alpha[36]	0.987633
TNavParticleFilter::Modified Variance for beam 37 is 16.95 
Alpha[37]	0.000000
Alpha[37]	0.990530
TNavParticleFilter::Modified Variance for beam 38 is 17.24 
Alpha[38]	0.000000
Alpha[38]	0.992513
TNavParticleFilter::Modified Variance for beam 39 is 17.55 
Alpha[39]	0.000000
Alpha[39]	0.994155
TNavParticleFilter::Modified Variance for beam 40 is 17.96 
Alpha[40]	0.000000
Alpha[40]	0.992117
TNavParticleFilter::Modified Variance for beam 41 is 18.47 
Alpha[41]	0.000000
Alpha[41]	0.985644
TNavParticleFilter::Modified Variance for beam 42 is 18.89 
Alpha[42]	0.000000
Alpha[42]	0.985704
TNavParticleFilter::Modified Variance for beam 43 is 19.29 
Alpha[43]	0.000000
Alpha[43]	0.987979
TNavParticleFilter::Modified Variance for beam 44 is 19.71 
Alpha[44]	0.000000
Alpha[44]	0.990894
TNavParticleFilter::Modified Variance for beam 45 is 20.11 
Alpha[45]	0.000000
Alpha[45]	0.996180
TNavParticleFilter::Modified Variance for beam 46 is 22.25 
Alpha[46]	0.000000
Alpha[46]	0.997527
TNavParticleFilter::Modified Variance for beam 47 is 22.89 
Alpha[47]	0.000000
Alpha[47]	0.997231
TNavParticleFilter::Modified Variance for beam 48 is 23.54 
Alpha[48]	0.000000
Alpha[48]	0.998352
TNavParticleFilter::Modified Variance for beam 49 is 22.95 
Alpha[49]	0.000000
Alpha[49]	0.999221
TNavParticleFilter::Modified Variance for beam 50 is 23.14 
Alpha[50]	0.000000
Alpha[50]	0.999572
TNavParticleFilter::Modified Variance for beam 51 is 34.46 
Alpha[51]	0.000000
Alpha[51]	0.999715
TNavParticleFilter::Modified Variance for beam 52 is 35.71 
Alpha[52]	0.000000
Alpha[52]	0.999532
TNavParticleFilter::Modified Variance for beam 53 is 42.31 
Alpha[53]	0.000000
Alpha[53]	0.999265
TNavParticleFilter::Modified Variance for beam 54 is 44.81 
Alpha[54]	0.000000
Alpha[54]	0.999113
TNavParticleFilter::Modified Variance for beam 55 is 45.84 
Alpha[55]	0.000000
Alpha[55]	0.998278
TNavParticleFilter::Modified Variance for beam 56 is 48.30 
Alpha[56]	0.000000
Alpha[56]	0.988121
TNavParticleFilter::Modified Variance for beam 57 is 50.51 
Alpha[57]	0.000000
Alpha[57]	0.987083
TNavParticleFilter::Modified Variance for beam 58 is 52.19 
Alpha[58]	0.000000
Alpha[58]	0.992814
TNavParticleFilter::Modified Variance for beam 59 is 51.85 
Alpha[59]	0.000000
Alpha[59]	0.987397
TNavPF:: sumSquaredError = 31.167808 
TNavPF:: sumWeights = 0.053676 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.04. Range = 91.23 
TNavPF::Calculated measDiffMean for beam 32 as -0.56. Range = 85.58 
TNavPF::Calculated measDiffMean for beam 33 as 0.08. Range = 84.70 
TNavPF::Calculated measDiffMean for beam 34 as 0.62. Range = 83.86 
TNavPF::Calculated measDiffMean for beam 35 as -0.40. Range = 83.07 
TNavPF::Calculated measDiffMean for beam 36 as -0.25. Range = 77.82 
TNavPF::Calculated measDiffMean for beam 37 as 1.34. Range = 77.14 
TNavPF::Calculated measDiffMean for beam 38 as 1.28. Range = 77.66 
TNavPF::Calculated measDiffMean for beam 39 as 0.15. Range = 73.70 
TNavPF::Calculated measDiffMean for beam 40 as 1.03. Range = 73.14 
TNavPF::Calculated measDiffMean for beam 41 as 1.93. Range = 72.61 
TNavPF::Calculated measDiffMean for beam 42 as -0.26. Range = 72.11 
TNavPF::Calculated measDiffMean for beam 43 as 0.55. Range = 71.64 
TNavPF::Calculated measDiffMean for beam 44 as 1.05. Range = 71.20 
TNavPF::Calculated measDiffMean for beam 45 as 0.30. Range = 66.57 
TNavPF::Calculated measDiffMean for beam 46 as 1.51. Range = 66.20 
TNavPF::Calculated measDiffMean for beam 47 as 2.10. Range = 65.86 
TNavPF::Calculated measDiffMean for beam 48 as -0.18. Range = 65.54 
TNavPF::Calculated measDiffMean for beam 49 as -0.58. Range = 67.31 
TNavPF::Calculated measDiffMean for beam 50 as -0.54. Range = 62.91 
TNavPF::Calculated measDiffMean for beam 51 as 0.91. Range = 62.67 
TNavPF::Calculated measDiffMean for beam 52 as 0.22. Range = 62.45 
TNavPF::Calculated measDiffMean for beam 53 as 0.12. Range = 62.24 
TNavPF::Calculated measDiffMean for beam 54 as 0.13. Range = 62.06 
TNavPF::Calculated measDiffMean for beam 55 as 0.20. Range = 59.88 
TNavPF::Calculated measDiffMean for beam 56 as 0.32. Range = 59.74 
TNavPF::Calculated measDiffMean for beam 57 as 0.36. Range = 55.59 
TNavPF::Calculated measDiffMean for beam 58 as 0.29. Range = 55.49 
TNavPF::Calculated measDiffMean for beam 59 as 0.20. Range = 55.42 
TNavPF::Calculated measDiffMean for beam 60 as 0.31. Range = 55.36 
TNavPF::Calculated measDiffMean for beam 61 as 0.41. Range = 53.31 
TNavPF::Calculated measDiffMean for beam 62 as 0.42. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 63 as 0.52. Range = 53.27 
TNavPF::Calculated measDiffMean for beam 64 as -0.17. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 65 as -0.60. Range = 51.30 
TNavPF::Calculated measDiffMean for beam 66 as -0.52. Range = 51.34 
TNavPF::Calculated measDiffMean for beam 67 as 1.56. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 68 as 1.19. Range = 53.47 
TNavPF::Calculated measDiffMean for beam 69 as 0.43. Range = 51.55 
TNavPF::Calculated measDiffMean for beam 70 as 0.10. Range = 51.65 
TNavPF::Calculated measDiffMean for beam 71 as 0.20. Range = 51.77 
TNavPF::Calculated measDiffMean for beam 72 as 0.61. Range = 47.85 
TNavPF::Calculated measDiffMean for beam 73 as 1.08. Range = 47.99 
TNavPF::Calculated measDiffMean for beam 74 as 1.53. Range = 48.14 
TNavPF::Calculated measDiffMean for beam 75 as 1.28. Range = 46.26 
TNavPF::Calculated measDiffMean for beam 76 as 2.50. Range = 46.44 
TNavPF::Calculated measDiffMean for beam 77 as 1.03. Range = 46.64 
TNavPF::Calculated measDiffMean for beam 78 as 0.26. Range = 43.64 
TNavPF::Calculated measDiffMean for beam 79 as -1.82. Range = 42.91 
TNavPF::Calculated measDiffMean for beam 80 as -3.39. Range = 43.13 
TNavPF::Calculated measDiffMean for beam 81 as 4.18. Range = 45.47 
TNavPF::Calculated measDiffMean for beam 82 as -0.27. Range = 45.74 
TNavPF::Calculated measDiffMean for beam 83 as 3.33. Range = 46.02 
TNavPF::Calculated measDiffMean for beam 84 as 2.38. Range = 46.32 
TNavPF::Calculated measDiffMean for beam 85 as 0.56. Range = 46.64 
TNavPF::Calculated measDiffMean for beam 86 as 0.10. Range = 46.97 
TNavPF::Calculated measDiffMean for beam 87 as 0.22. Range = 47.33 
TNavPF::Calculated measDiffMean for beam 88 as 1.08. Range = 47.71 
TNavPF::Calculated measDiffMean for beam 89 as -0.58. Range = 48.11 
TNavPF::First Term of Map Covariance Matrix is 2.07 
TNavPF::Calculated NIS Value : 2.28 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322522.82 sec.
INS : North: 4070360.00, East: 588683.77, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 46.45, IDT[75] = 61.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322525.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322525.62)
ARL : North: 0.7779, East: -1.5417, Depth: 0.7614ARL : Estimation Bias  (Mean)         : (t = 1488322525.62)
ARL : North: 1.0666, East: -2.0129, Depth: 0.3735TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.67 
Alpha[0]	0.123000
Alpha[0]	0.984784
TNavParticleFilter::Modified Variance for beam 1 is 17.75 
Alpha[1]	0.000000
Alpha[1]	0.979769
TNavParticleFilter::Modified Variance for beam 2 is 18.73 
Alpha[2]	0.000000
Alpha[2]	0.984816
TNavParticleFilter::Modified Variance for beam 3 is 18.63 
Alpha[3]	0.000000
Alpha[3]	0.990621
TNavParticleFilter::Modified Variance for beam 4 is 17.51 
Alpha[4]	0.000000
Alpha[4]	0.993791
TNavParticleFilter::Modified Variance for beam 5 is 17.52 
Alpha[5]	0.000000
Alpha[5]	0.994477
TNavParticleFilter::Modified Variance for beam 6 is 15.49 
Alpha[6]	0.000000
Alpha[6]	0.995517
TNavParticleFilter::Modified Variance for beam 7 is 15.65 
Alpha[7]	0.000000
Alpha[7]	0.987850
TNavParticleFilter::Modified Variance for beam 8 is 15.65 
Alpha[8]	0.000000
Alpha[8]	0.990406
TNavParticleFilter::Modified Variance for beam 9 is 14.65 
Alpha[9]	0.000000
Alpha[9]	0.995270
TNavParticleFilter::Modified Variance for beam 10 is 14.70 
Alpha[10]	0.000000
Alpha[10]	0.995450
TNavParticleFilter::Modified Variance for beam 11 is 14.76 
Alpha[11]	0.000000
Alpha[11]	0.995193
TNavParticleFilter::Modified Variance for beam 12 is 13.01 
Alpha[12]	0.000000
Alpha[12]	0.993400
TNavParticleFilter::Modified Variance for beam 13 is 13.09 
Alpha[13]	0.000000
Alpha[13]	0.991834
TNavParticleFilter::Modified Variance for beam 14 is 13.19 
Alpha[14]	0.000000
Alpha[14]	0.989542
TNavParticleFilter::Modified Variance for beam 15 is 14.29 
Alpha[15]	0.000000
Alpha[15]	0.982058
TNavParticleFilter::Modified Variance for beam 16 is 14.76 
Alpha[16]	0.000000
Alpha[16]	0.957214
TNavParticleFilter::Modified Variance for beam 17 is 15.03 
Alpha[17]	0.000000
Alpha[17]	0.946292
TNavParticleFilter::Modified Variance for beam 18 is 15.10 
Alpha[18]	0.000000
Alpha[18]	0.948755
TNavParticleFilter::Modified Variance for beam 19 is 14.98 
Alpha[19]	0.000000
Alpha[19]	0.963591
TNavParticleFilter::Modified Variance for beam 20 is 14.96 
Alpha[20]	0.000000
Alpha[20]	0.972954
TNavParticleFilter::Modified Variance for beam 21 is 15.08 
Alpha[21]	0.000000
Alpha[21]	0.973717
TNavParticleFilter::Modified Variance for beam 22 is 15.35 
Alpha[22]	0.000000
Alpha[22]	0.965998
TNavParticleFilter::Modified Variance for beam 23 is 15.58 
Alpha[23]	0.000000
Alpha[23]	0.961137
TNavParticleFilter::Modified Variance for beam 24 is 15.54 
Alpha[24]	0.000000
Alpha[24]	0.973983
TNavParticleFilter::Modified Variance for beam 25 is 15.61 
Alpha[25]	0.000000
Alpha[25]	0.979934
TNavParticleFilter::Modified Variance for beam 26 is 15.79 
Alpha[26]	0.000000
Alpha[26]	0.980437
TNavParticleFilter::Modified Variance for beam 27 is 15.99 
Alpha[27]	0.000000
Alpha[27]	0.980190
TNavParticleFilter::Modified Variance for beam 28 is 15.49 
Alpha[28]	0.000000
Alpha[28]	0.982665
TNavParticleFilter::Modified Variance for beam 29 is 15.23 
Alpha[29]	0.000000
Alpha[29]	0.984868
TNavParticleFilter::Modified Variance for beam 30 is 15.41 
Alpha[30]	0.000000
Alpha[30]	0.986961
TNavParticleFilter::Modified Variance for beam 31 is 16.74 
Alpha[31]	0.000000
Alpha[31]	0.989480
TNavParticleFilter::Modified Variance for beam 32 is 16.97 
Alpha[32]	0.000000
Alpha[32]	0.991595
TNavParticleFilter::Modified Variance for beam 33 is 17.22 
Alpha[33]	0.000000
Alpha[33]	0.993046
TNavParticleFilter::Modified Variance for beam 34 is 17.53 
Alpha[34]	0.000000
Alpha[34]	0.992525
TNavParticleFilter::Modified Variance for beam 35 is 17.96 
Alpha[35]	0.000000
Alpha[35]	0.986250
TNavParticleFilter::Modified Variance for beam 36 is 18.32 
Alpha[36]	0.000000
Alpha[36]	0.984589
TNavParticleFilter::Modified Variance for beam 37 is 18.66 
Alpha[37]	0.000000
Alpha[37]	0.985739
TNavParticleFilter::Modified Variance for beam 38 is 18.99 
Alpha[38]	0.000000
Alpha[38]	0.988451
TNavParticleFilter::Modified Variance for beam 39 is 19.33 
Alpha[39]	0.000000
Alpha[39]	0.991783
TNavParticleFilter::Modified Variance for beam 40 is 19.66 
Alpha[40]	0.000000
Alpha[40]	0.996314
TNavParticleFilter::Modified Variance for beam 41 is 21.61 
Alpha[41]	0.000000
Alpha[41]	0.996937
TNavParticleFilter::Modified Variance for beam 42 is 22.05 
Alpha[42]	0.000000
Alpha[42]	0.996083
TNavParticleFilter::Modified Variance for beam 43 is 21.30 
Alpha[43]	0.000000
Alpha[43]	0.996507
TNavParticleFilter::Modified Variance for beam 44 is 21.61 
Alpha[44]	0.000000
Alpha[44]	0.998895
TNavParticleFilter::Modified Variance for beam 45 is 22.19 
Alpha[45]	0.000000
Alpha[45]	0.999368
TNavParticleFilter::Modified Variance for beam 46 is 32.31 
Alpha[46]	0.000000
Alpha[46]	0.999666
TNavParticleFilter::Modified Variance for beam 47 is 33.32 
Alpha[47]	0.000000
Alpha[47]	0.999384
TNavParticleFilter::Modified Variance for beam 48 is 34.41 
Alpha[48]	0.000000
Alpha[48]	0.998987
TNavParticleFilter::Modified Variance for beam 49 is 37.93 
Alpha[49]	0.000000
Alpha[49]	0.998829
TNavParticleFilter::Modified Variance for beam 50 is 43.97 
Alpha[50]	0.000000
Alpha[50]	0.998940
TNavParticleFilter::Modified Variance for beam 51 is 43.43 
Alpha[51]	0.000000
Alpha[51]	0.997052
TNavParticleFilter::Modified Variance for beam 52 is 45.69 
Alpha[52]	0.000000
Alpha[52]	0.983951
TNavParticleFilter::Modified Variance for beam 53 is 47.36 
Alpha[53]	0.000000
Alpha[53]	0.986773
TNavParticleFilter::Modified Variance for beam 54 is 49.30 
Alpha[54]	0.000000
Alpha[54]	0.987183
TNavParticleFilter::Modified Variance for beam 55 is 50.10 
Alpha[55]	0.000000
Alpha[55]	0.991097
TNavParticleFilter::Modified Variance for beam 56 is 50.48 
Alpha[56]	0.000000
Alpha[56]	0.985468
TNavParticleFilter::Modified Variance for beam 57 is 52.64 
Alpha[57]	0.000000
Alpha[57]	0.988960
TNavPF:: sumSquaredError = 9.425197 
TNavPF:: sumWeights = 0.039254 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.45. Range = 88.95 
TNavPF::Calculated measDiffMean for beam 31 as -0.41. Range = 88.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.13. Range = 87.10 
TNavPF::Calculated measDiffMean for beam 33 as 1.30. Range = 81.65 
TNavPF::Calculated measDiffMean for beam 34 as 0.43. Range = 80.88 
TNavPF::Calculated measDiffMean for beam 35 as 1.18. Range = 80.66 
TNavPF::Calculated measDiffMean for beam 36 as -1.15. Range = 77.21 
TNavPF::Calculated measDiffMean for beam 37 as 0.35. Range = 76.57 
TNavPF::Calculated measDiffMean for beam 38 as 0.97. Range = 75.96 
TNavPF::Calculated measDiffMean for beam 39 as 0.50. Range = 75.38 
TNavPF::Calculated measDiffMean for beam 40 as 1.69. Range = 74.83 
TNavPF::Calculated measDiffMean for beam 41 as 2.25. Range = 74.32 
TNavPF::Calculated measDiffMean for beam 42 as -0.98. Range = 69.56 
TNavPF::Calculated measDiffMean for beam 43 as -0.71. Range = 69.13 
TNavPF::Calculated measDiffMean for beam 44 as -0.96. Range = 68.73 
TNavPF::Calculated measDiffMean for beam 45 as 0.31. Range = 70.44 
TNavPF::Calculated measDiffMean for beam 46 as 0.01. Range = 65.91 
TNavPF::Calculated measDiffMean for beam 47 as 0.02. Range = 65.59 
TNavPF::Calculated measDiffMean for beam 48 as 0.05. Range = 65.29 
TNavPF::Calculated measDiffMean for beam 49 as 0.14. Range = 65.01 
TNavPF::Calculated measDiffMean for beam 50 as 0.23. Range = 64.76 
TNavPF::Calculated measDiffMean for beam 51 as 0.22. Range = 62.48 
TNavPF::Calculated measDiffMean for beam 52 as 0.12. Range = 58.21 
TNavPF::Calculated measDiffMean for beam 53 as 0.12. Range = 58.04 
TNavPF::Calculated measDiffMean for beam 54 as 0.27. Range = 57.89 
TNavPF::Calculated measDiffMean for beam 55 as 0.36. Range = 57.75 
TNavPF::Calculated measDiffMean for beam 56 as 0.36. Range = 55.62 
TNavPF::Calculated measDiffMean for beam 57 as 0.47. Range = 55.52 
TNavPF::Calculated measDiffMean for beam 58 as -0.30. Range = 55.45 
TNavPF::Calculated measDiffMean for beam 59 as -0.64. Range = 55.38 
TNavPF::Calculated measDiffMean for beam 60 as -0.61. Range = 53.34 
TNavPF::Calculated measDiffMean for beam 61 as 1.35. Range = 53.31 
TNavPF::Calculated measDiffMean for beam 62 as 1.00. Range = 55.30 
TNavPF::Calculated measDiffMean for beam 63 as 0.33. Range = 55.31 
TNavPF::Calculated measDiffMean for beam 64 as -0.17. Range = 53.33 
TNavPF::Calculated measDiffMean for beam 65 as -0.13. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 66 as 0.24. Range = 49.41 
TNavPF::Calculated measDiffMean for beam 67 as 0.65. Range = 49.47 
TNavPF::Calculated measDiffMean for beam 68 as 1.09. Range = 49.55 
TNavPF::Calculated measDiffMean for beam 69 as 1.38. Range = 47.63 
TNavPF::Calculated measDiffMean for beam 70 as 0.71. Range = 47.74 
TNavPF::Calculated measDiffMean for beam 71 as 1.97. Range = 47.86 
TNavPF::Calculated measDiffMean for beam 72 as 0.59. Range = 43.93 
TNavPF::Calculated measDiffMean for beam 73 as -1.88. Range = 44.08 
TNavPF::Calculated measDiffMean for beam 74 as -2.45. Range = 44.23 
TNavPF::Calculated measDiffMean for beam 75 as -2.75. Range = 46.45 
TNavPF::Calculated measDiffMean for beam 76 as 6.28. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 77 as 1.03. Range = 46.86 
TNavPF::Calculated measDiffMean for beam 78 as -1.11. Range = 47.08 
TNavPF::Calculated measDiffMean for beam 79 as 0.14. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 80 as 3.98. Range = 47.58 
TNavPF::Calculated measDiffMean for beam 81 as 0.32. Range = 47.86 
TNavPF::Calculated measDiffMean for beam 82 as 0.08. Range = 48.15 
TNavPF::Calculated measDiffMean for beam 83 as 0.10. Range = 48.47 
TNavPF::Calculated measDiffMean for beam 84 as 0.37. Range = 48.80 
TNavPF::Calculated measDiffMean for beam 85 as 0.47. Range = 49.15 
TNavPF::Calculated measDiffMean for beam 86 as -0.44. Range = 49.52 
TNavPF::Calculated measDiffMean for beam 87 as 0.03. Range = 49.92 
TNavPF::First Term of Map Covariance Matrix is 1.30 
TNavPF::Calculated NIS Value : 2.84 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322525.82 sec.
INS : North: 4070362.05, East: 588679.88, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 48.49, IDT[75] = 80.64
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322528.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322528.62)
ARL : North: 0.4368, East: -2.8852, Depth: -2.1608ARL : Estimation Bias  (Mean)         : (t = 1488322528.62)
ARL : North: 1.2602, East: -2.1791, Depth: 0.7818TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.58 
Alpha[0]	0.123000
Alpha[0]	0.995036
TNavParticleFilter::Modified Variance for beam 1 is 18.55 
Alpha[1]	0.000000
Alpha[1]	0.995667
TNavParticleFilter::Modified Variance for beam 2 is 16.45 
Alpha[2]	0.000000
Alpha[2]	0.995377
TNavParticleFilter::Modified Variance for beam 3 is 16.53 
Alpha[3]	0.000000
Alpha[3]	0.990653
TNavParticleFilter::Modified Variance for beam 4 is 16.05 
Alpha[4]	0.000000
Alpha[4]	0.996082
TNavParticleFilter::Modified Variance for beam 5 is 14.04 
Alpha[5]	0.000000
Alpha[5]	0.995700
TNavParticleFilter::Modified Variance for beam 6 is 14.47 
Alpha[6]	0.000000
Alpha[6]	0.995327
TNavParticleFilter::Modified Variance for beam 7 is 13.68 
Alpha[7]	0.000000
Alpha[7]	0.993801
TNavParticleFilter::Modified Variance for beam 8 is 13.74 
Alpha[8]	0.000000
Alpha[8]	0.991956
TNavParticleFilter::Modified Variance for beam 9 is 13.81 
Alpha[9]	0.000000
Alpha[9]	0.989415
TNavParticleFilter::Modified Variance for beam 10 is 15.00 
Alpha[10]	0.000000
Alpha[10]	0.975687
TNavParticleFilter::Modified Variance for beam 11 is 15.39 
Alpha[11]	0.000000
Alpha[11]	0.954351
TNavParticleFilter::Modified Variance for beam 12 is 15.64 
Alpha[12]	0.000000
Alpha[12]	0.943425
TNavParticleFilter::Modified Variance for beam 13 is 15.63 
Alpha[13]	0.000000
Alpha[13]	0.948601
TNavParticleFilter::Modified Variance for beam 14 is 15.44 
Alpha[14]	0.000000
Alpha[14]	0.964910
TNavParticleFilter::Modified Variance for beam 15 is 15.41 
Alpha[15]	0.000000
Alpha[15]	0.972330
TNavParticleFilter::Modified Variance for beam 16 is 15.54 
Alpha[16]	0.000000
Alpha[16]	0.970539
TNavParticleFilter::Modified Variance for beam 17 is 15.85 
Alpha[17]	0.000000
Alpha[17]	0.957685
TNavParticleFilter::Modified Variance for beam 18 is 15.95 
Alpha[18]	0.000000
Alpha[18]	0.958871
TNavParticleFilter::Modified Variance for beam 19 is 15.83 
Alpha[19]	0.000000
Alpha[19]	0.973695
TNavParticleFilter::Modified Variance for beam 20 is 15.90 
Alpha[20]	0.000000
Alpha[20]	0.977832
TNavParticleFilter::Modified Variance for beam 21 is 16.03 
Alpha[21]	0.000000
Alpha[21]	0.978069
TNavParticleFilter::Modified Variance for beam 22 is 16.17 
Alpha[22]	0.000000
Alpha[22]	0.978944
TNavParticleFilter::Modified Variance for beam 23 is 15.78 
Alpha[23]	0.000000
Alpha[23]	0.982881
TNavParticleFilter::Modified Variance for beam 24 is 15.35 
Alpha[24]	0.000000
Alpha[24]	0.984006
TNavParticleFilter::Modified Variance for beam 25 is 15.50 
Alpha[25]	0.000000
Alpha[25]	0.985554
TNavParticleFilter::Modified Variance for beam 26 is 16.74 
Alpha[26]	0.000000
Alpha[26]	0.987902
TNavParticleFilter::Modified Variance for beam 27 is 16.91 
Alpha[27]	0.000000
Alpha[27]	0.989972
TNavParticleFilter::Modified Variance for beam 28 is 17.10 
Alpha[28]	0.000000
Alpha[28]	0.991643
TNavParticleFilter::Modified Variance for beam 29 is 17.33 
Alpha[29]	0.000000
Alpha[29]	0.992174
TNavParticleFilter::Modified Variance for beam 30 is 17.67 
Alpha[30]	0.000000
Alpha[30]	0.987187
TNavParticleFilter::Modified Variance for beam 31 is 18.00 
Alpha[31]	0.000000
Alpha[31]	0.983667
TNavParticleFilter::Modified Variance for beam 32 is 18.24 
Alpha[32]	0.000000
Alpha[32]	0.985854
TNavParticleFilter::Modified Variance for beam 33 is 18.54 
Alpha[33]	0.000000
Alpha[33]	0.986245
TNavParticleFilter::Modified Variance for beam 34 is 18.79 
Alpha[34]	0.000000
Alpha[34]	0.989675
TNavParticleFilter::Modified Variance for beam 35 is 19.06 
Alpha[35]	0.000000
Alpha[35]	0.993318
TNavParticleFilter::Modified Variance for beam 36 is 19.37 
Alpha[36]	0.000000
Alpha[36]	0.996084
TNavParticleFilter::Modified Variance for beam 37 is 21.16 
Alpha[37]	0.000000
Alpha[37]	0.995556
TNavParticleFilter::Modified Variance for beam 38 is 21.63 
Alpha[38]	0.000000
Alpha[38]	0.994171
TNavParticleFilter::Modified Variance for beam 39 is 20.91 
Alpha[39]	0.000000
Alpha[39]	0.994658
TNavParticleFilter::Modified Variance for beam 40 is 21.00 
Alpha[40]	0.000000
Alpha[40]	0.998086
TNavParticleFilter::Modified Variance for beam 41 is 21.46 
Alpha[41]	0.000000
Alpha[41]	0.999159
TNavParticleFilter::Modified Variance for beam 42 is 21.97 
Alpha[42]	0.000000
Alpha[42]	0.999593
TNavParticleFilter::Modified Variance for beam 43 is 31.45 
Alpha[43]	0.000000
Alpha[43]	0.999321
TNavParticleFilter::Modified Variance for beam 44 is 32.33 
Alpha[44]	0.000000
Alpha[44]	0.998695
TNavParticleFilter::Modified Variance for beam 45 is 35.39 
Alpha[45]	0.000000
Alpha[45]	0.998408
TNavParticleFilter::Modified Variance for beam 46 is 36.43 
Alpha[46]	0.000000
Alpha[46]	0.998783
TNavParticleFilter::Modified Variance for beam 47 is 39.91 
Alpha[47]	0.000000
Alpha[47]	0.998858
TNavParticleFilter::Modified Variance for beam 48 is 42.37 
Alpha[48]	0.000000
Alpha[48]	0.994013
TNavParticleFilter::Modified Variance for beam 49 is 43.27 
Alpha[49]	0.000000
Alpha[49]	0.983424
TNavParticleFilter::Modified Variance for beam 50 is 44.68 
Alpha[50]	0.000000
Alpha[50]	0.985946
TNavParticleFilter::Modified Variance for beam 51 is 46.35 
Alpha[51]	0.000000
Alpha[51]	0.985208
TNavParticleFilter::Modified Variance for beam 52 is 48.14 
Alpha[52]	0.000000
Alpha[52]	0.984684
TNavParticleFilter::Modified Variance for beam 53 is 48.22 
Alpha[53]	0.000000
Alpha[53]	0.990610
TNavParticleFilter::Modified Variance for beam 54 is 48.94 
Alpha[54]	0.000000
Alpha[54]	0.985580
TNavParticleFilter::Modified Variance for beam 55 is 50.67 
Alpha[55]	0.000000
Alpha[55]	0.992400
TNavPF:: sumSquaredError = 12.587669 
TNavPF:: sumWeights = 0.057294 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.40. Range = 91.59 
TNavPF::Calculated measDiffMean for beam 31 as 1.36. Range = 90.61 
TNavPF::Calculated measDiffMean for beam 32 as -0.74. Range = 85.02 
TNavPF::Calculated measDiffMean for beam 33 as 0.46. Range = 84.17 
TNavPF::Calculated measDiffMean for beam 34 as 1.13. Range = 81.09 
TNavPF::Calculated measDiffMean for beam 35 as -1.68. Range = 80.35 
TNavPF::Calculated measDiffMean for beam 36 as -0.22. Range = 79.64 
TNavPF::Calculated measDiffMean for beam 37 as -1.19. Range = 78.97 
TNavPF::Calculated measDiffMean for beam 38 as -0.96. Range = 78.33 
TNavPF::Calculated measDiffMean for beam 39 as -1.41. Range = 77.73 
TNavPF::Calculated measDiffMean for beam 40 as -0.09. Range = 72.83 
TNavPF::Calculated measDiffMean for beam 41 as -0.22. Range = 72.32 
TNavPF::Calculated measDiffMean for beam 42 as -0.18. Range = 71.84 
TNavPF::Calculated measDiffMean for beam 43 as -0.15. Range = 73.51 
TNavPF::Calculated measDiffMean for beam 44 as -0.04. Range = 68.85 
TNavPF::Calculated measDiffMean for beam 45 as 0.04. Range = 68.47 
TNavPF::Calculated measDiffMean for beam 46 as 0.00. Range = 68.11 
TNavPF::Calculated measDiffMean for beam 47 as -0.12. Range = 67.77 
TNavPF::Calculated measDiffMean for beam 48 as -0.09. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 49 as 0.06. Range = 60.99 
TNavPF::Calculated measDiffMean for beam 50 as 0.12. Range = 60.75 
TNavPF::Calculated measDiffMean for beam 51 as 0.12. Range = 60.52 
TNavPF::Calculated measDiffMean for beam 52 as 0.23. Range = 58.29 
TNavPF::Calculated measDiffMean for beam 53 as -0.14. Range = 58.11 
TNavPF::Calculated measDiffMean for beam 54 as -0.79. Range = 57.95 
TNavPF::Calculated measDiffMean for beam 55 as -0.80. Range = 57.81 
TNavPF::Calculated measDiffMean for beam 56 as 1.08. Range = 55.67 
TNavPF::Calculated measDiffMean for beam 57 as 0.80. Range = 55.57 
TNavPF::Calculated measDiffMean for beam 58 as 0.23. Range = 57.50 
TNavPF::Calculated measDiffMean for beam 59 as -0.28. Range = 57.43 
TNavPF::Calculated measDiffMean for beam 60 as -0.42. Range = 55.38 
TNavPF::Calculated measDiffMean for beam 61 as -0.09. Range = 55.35 
TNavPF::Calculated measDiffMean for beam 62 as 0.30. Range = 51.33 
TNavPF::Calculated measDiffMean for beam 63 as 0.71. Range = 51.33 
TNavPF::Calculated measDiffMean for beam 64 as 1.07. Range = 50.56 
TNavPF::Calculated measDiffMean for beam 65 as 1.03. Range = 46.33 
TNavPF::Calculated measDiffMean for beam 66 as -0.12. Range = 47.24 
TNavPF::Calculated measDiffMean for beam 67 as 1.19. Range = 45.47 
TNavPF::Calculated measDiffMean for beam 68 as 0.24. Range = 45.54 
TNavPF::Calculated measDiffMean for beam 69 as -1.78. Range = 45.62 
TNavPF::Calculated measDiffMean for beam 70 as -2.20. Range = 47.74 
TNavPF::Calculated measDiffMean for beam 71 as -2.47. Range = 47.86 
TNavPF::Calculated measDiffMean for beam 72 as -6.14. Range = 48.00 
TNavPF::Calculated measDiffMean for beam 73 as 1.66. Range = 48.15 
TNavPF::Calculated measDiffMean for beam 74 as 0.01. Range = 48.31 
TNavPF::Calculated measDiffMean for beam 75 as 1.57. Range = 48.49 
TNavPF::Calculated measDiffMean for beam 76 as 0.29. Range = 48.69 
TNavPF::Calculated measDiffMean for beam 77 as 1.74. Range = 48.91 
TNavPF::Calculated measDiffMean for beam 78 as 0.89. Range = 49.14 
TNavPF::Calculated measDiffMean for beam 79 as -0.14. Range = 49.38 
TNavPF::Calculated measDiffMean for beam 80 as -0.14. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 81 as -0.10. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 82 as 0.43. Range = 50.24 
TNavPF::Calculated measDiffMean for beam 83 as 0.07. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 84 as -0.45. Range = 48.75 
TNavPF::Calculated measDiffMean for beam 85 as -0.15. Range = 49.10 
TNavPF::First Term of Map Covariance Matrix is 4.02 
TNavPF::Calculated NIS Value : 2.17 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322528.82 sec.
INS : North: 4070364.08, East: 588675.96, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 50.38, IDT[75] = 84.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322531.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322531.62)
ARL : North: -0.0141, East: -1.5323, Depth: -5.0239ARL : Estimation Bias  (Mean)         : (t = 1488322531.62)
ARL : North: 1.0508, East: -2.0199, Depth: 0.2829TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.50 
Alpha[0]	0.123000
Alpha[0]	0.996265
TNavParticleFilter::Modified Variance for beam 1 is 14.50 
Alpha[1]	0.000000
Alpha[1]	0.996717
TNavParticleFilter::Modified Variance for beam 2 is 14.50 
Alpha[2]	0.000000
Alpha[2]	0.995554
TNavParticleFilter::Modified Variance for beam 3 is 14.51 
Alpha[3]	0.000000
Alpha[3]	0.994834
TNavParticleFilter::Modified Variance for beam 4 is 14.53 
Alpha[4]	0.000000
Alpha[4]	0.993677
TNavParticleFilter::Modified Variance for beam 5 is 14.57 
Alpha[5]	0.000000
Alpha[5]	0.991203
TNavParticleFilter::Modified Variance for beam 6 is 15.78 
Alpha[6]	0.000000
Alpha[6]	0.976507
TNavParticleFilter::Modified Variance for beam 7 is 16.15 
Alpha[7]	0.000000
Alpha[7]	0.955824
TNavParticleFilter::Modified Variance for beam 8 is 16.31 
Alpha[8]	0.000000
Alpha[8]	0.948206
TNavParticleFilter::Modified Variance for beam 9 is 16.34 
Alpha[9]	0.000000
Alpha[9]	0.948671
TNavParticleFilter::Modified Variance for beam 10 is 16.16 
Alpha[10]	0.000000
Alpha[10]	0.962565
TNavParticleFilter::Modified Variance for beam 11 is 16.10 
Alpha[11]	0.000000
Alpha[11]	0.969242
TNavParticleFilter::Modified Variance for beam 12 is 16.20 
Alpha[12]	0.000000
Alpha[12]	0.967288
TNavParticleFilter::Modified Variance for beam 13 is 16.44 
Alpha[13]	0.000000
Alpha[13]	0.957088
TNavParticleFilter::Modified Variance for beam 14 is 16.41 
Alpha[14]	0.000000
Alpha[14]	0.963675
TNavParticleFilter::Modified Variance for beam 15 is 16.27 
Alpha[15]	0.000000
Alpha[15]	0.977666
TNavParticleFilter::Modified Variance for beam 16 is 16.31 
Alpha[16]	0.000000
Alpha[16]	0.980791
TNavParticleFilter::Modified Variance for beam 17 is 16.42 
Alpha[17]	0.000000
Alpha[17]	0.980886
TNavParticleFilter::Modified Variance for beam 18 is 16.52 
Alpha[18]	0.000000
Alpha[18]	0.981249
TNavParticleFilter::Modified Variance for beam 19 is 15.80 
Alpha[19]	0.000000
Alpha[19]	0.984106
TNavParticleFilter::Modified Variance for beam 20 is 15.67 
Alpha[20]	0.000000
Alpha[20]	0.984736
TNavParticleFilter::Modified Variance for beam 21 is 15.79 
Alpha[21]	0.000000
Alpha[21]	0.986110
TNavParticleFilter::Modified Variance for beam 22 is 16.97 
Alpha[22]	0.000000
Alpha[22]	0.988032
TNavParticleFilter::Modified Variance for beam 23 is 17.10 
Alpha[23]	0.000000
Alpha[23]	0.989897
TNavParticleFilter::Modified Variance for beam 24 is 17.26 
Alpha[24]	0.000000
Alpha[24]	0.991045
TNavParticleFilter::Modified Variance for beam 25 is 17.44 
Alpha[25]	0.000000
Alpha[25]	0.991689
TNavParticleFilter::Modified Variance for beam 26 is 17.68 
Alpha[26]	0.000000
Alpha[26]	0.989171
TNavParticleFilter::Modified Variance for beam 27 is 18.00 
Alpha[27]	0.000000
Alpha[27]	0.983238
TNavParticleFilter::Modified Variance for beam 28 is 18.20 
Alpha[28]	0.000000
Alpha[28]	0.985361
TNavParticleFilter::Modified Variance for beam 29 is 18.47 
Alpha[29]	0.000000
Alpha[29]	0.983751
TNavParticleFilter::Modified Variance for beam 30 is 18.66 
Alpha[30]	0.000000
Alpha[30]	0.987467
TNavParticleFilter::Modified Variance for beam 31 is 18.89 
Alpha[31]	0.000000
Alpha[31]	0.989951
TNavParticleFilter::Modified Variance for beam 32 is 19.11 
Alpha[32]	0.000000
Alpha[32]	0.993396
TNavParticleFilter::Modified Variance for beam 33 is 20.70 
Alpha[33]	0.000000
Alpha[33]	0.995500
TNavParticleFilter::Modified Variance for beam 34 is 21.07 
Alpha[34]	0.000000
Alpha[34]	0.994861
TNavParticleFilter::Modified Variance for beam 35 is 21.13 
Alpha[35]	0.000000
Alpha[35]	0.994521
TNavParticleFilter::Modified Variance for beam 36 is 20.44 
Alpha[36]	0.000000
Alpha[36]	0.994966
TNavParticleFilter::Modified Variance for beam 37 is 20.77 
Alpha[37]	0.000000
Alpha[37]	0.997858
TNavParticleFilter::Modified Variance for beam 38 is 21.16 
Alpha[38]	0.000000
Alpha[38]	0.999086
TNavParticleFilter::Modified Variance for beam 39 is 29.71 
Alpha[39]	0.000000
Alpha[39]	0.999519
TNavParticleFilter::Modified Variance for beam 40 is 30.40 
Alpha[40]	0.000000
Alpha[40]	0.999048
TNavParticleFilter::Modified Variance for beam 41 is 31.16 
Alpha[41]	0.000000
Alpha[41]	0.998005
TNavParticleFilter::Modified Variance for beam 42 is 33.92 
Alpha[42]	0.000000
Alpha[42]	0.997212
TNavParticleFilter::Modified Variance for beam 43 is 34.78 
Alpha[43]	0.000000
Alpha[43]	0.997856
TNavParticleFilter::Modified Variance for beam 44 is 35.70 
Alpha[44]	0.000000
Alpha[44]	0.998477
TNavParticleFilter::Modified Variance for beam 45 is 38.93 
Alpha[45]	0.000000
Alpha[45]	0.997915
TNavParticleFilter::Modified Variance for beam 46 is 41.43 
Alpha[46]	0.000000
Alpha[46]	0.991678
TNavParticleFilter::Modified Variance for beam 47 is 42.04 
Alpha[47]	0.000000
Alpha[47]	0.980268
TNavParticleFilter::Modified Variance for beam 48 is 43.39 
Alpha[48]	0.000000
Alpha[48]	0.980028
TNavParticleFilter::Modified Variance for beam 49 is 45.14 
Alpha[49]	0.000000
Alpha[49]	0.973031
TNavParticleFilter::Modified Variance for beam 50 is 46.57 
Alpha[50]	0.000000
Alpha[50]	0.975431
TNavParticleFilter::Modified Variance for beam 51 is 47.17 
Alpha[51]	0.000000
Alpha[51]	0.989022
TNavParticleFilter::Modified Variance for beam 52 is 46.36 
Alpha[52]	0.000000
Alpha[52]	0.991615
TNavParticleFilter::Modified Variance for beam 53 is 48.18 
Alpha[53]	0.000000
Alpha[53]	0.990666
TNavParticleFilter::Modified Variance for beam 54 is 50.43 
Alpha[54]	0.000000
Alpha[54]	0.984148
TNavParticleFilter::Modified Variance for beam 55 is 52.79 
Alpha[55]	0.000000
Alpha[55]	0.979242
TNavPF:: sumSquaredError = 14.085646 
TNavPF:: sumWeights = 0.037412 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.52. Range = 94.82 
TNavPF::Calculated measDiffMean for beam 31 as -2.58. Range = 89.03 
TNavPF::Calculated measDiffMean for beam 32 as -1.83. Range = 88.07 
TNavPF::Calculated measDiffMean for beam 33 as -1.31. Range = 88.72 
TNavPF::Calculated measDiffMean for beam 34 as -1.03. Range = 84.01 
TNavPF::Calculated measDiffMean for beam 35 as -1.35. Range = 83.21 
TNavPF::Calculated measDiffMean for beam 36 as 0.10. Range = 82.45 
TNavPF::Calculated measDiffMean for beam 37 as -0.03. Range = 81.73 
TNavPF::Calculated measDiffMean for beam 38 as -0.00. Range = 81.05 
TNavPF::Calculated measDiffMean for beam 39 as 0.02. Range = 76.01 
TNavPF::Calculated measDiffMean for beam 40 as 0.11. Range = 75.43 
TNavPF::Calculated measDiffMean for beam 41 as 0.17. Range = 75.67 
TNavPF::Calculated measDiffMean for beam 42 as 0.15. Range = 72.22 
TNavPF::Calculated measDiffMean for beam 43 as 0.07. Range = 71.74 
TNavPF::Calculated measDiffMean for beam 44 as 0.13. Range = 71.30 
TNavPF::Calculated measDiffMean for beam 45 as 0.35. Range = 70.88 
TNavPF::Calculated measDiffMean for beam 46 as 0.43. Range = 68.39 
TNavPF::Calculated measDiffMean for beam 47 as 0.43. Range = 63.86 
TNavPF::Calculated measDiffMean for beam 48 as 0.49. Range = 63.55 
TNavPF::Calculated measDiffMean for beam 49 as -0.62. Range = 63.26 
TNavPF::Calculated measDiffMean for beam 50 as -0.63. Range = 60.93 
TNavPF::Calculated measDiffMean for beam 51 as -0.65. Range = 60.70 
TNavPF::Calculated measDiffMean for beam 52 as 1.14. Range = 60.48 
TNavPF::Calculated measDiffMean for beam 53 as 0.86. Range = 58.24 
TNavPF::Calculated measDiffMean for beam 54 as 0.30. Range = 58.07 
TNavPF::Calculated measDiffMean for beam 55 as -0.24. Range = 59.86 
TNavPF::Calculated measDiffMean for beam 56 as -0.51. Range = 59.80 
TNavPF::Calculated measDiffMean for beam 57 as -0.20. Range = 57.66 
TNavPF::Calculated measDiffMean for beam 58 as 0.18. Range = 57.56 
TNavPF::Calculated measDiffMean for beam 59 as 0.54. Range = 53.46 
TNavPF::Calculated measDiffMean for beam 60 as 0.91. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 61 as 1.14. Range = 47.35 
TNavPF::Calculated measDiffMean for beam 62 as 0.76. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 63 as 2.02. Range = 47.31 
TNavPF::Calculated measDiffMean for beam 64 as 1.13. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 65 as -0.12. Range = 47.34 
TNavPF::Calculated measDiffMean for beam 66 as -2.02. Range = 49.38 
TNavPF::Calculated measDiffMean for beam 67 as -1.95. Range = 49.43 
TNavPF::Calculated measDiffMean for beam 68 as -2.52. Range = 49.49 
TNavPF::Calculated measDiffMean for beam 69 as 6.43. Range = 49.57 
TNavPF::Calculated measDiffMean for beam 70 as 1.71. Range = 49.67 
TNavPF::Calculated measDiffMean for beam 71 as 0.26. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 72 as 1.94. Range = 49.91 
TNavPF::Calculated measDiffMean for beam 73 as 1.14. Range = 50.05 
TNavPF::Calculated measDiffMean for beam 74 as -0.15. Range = 50.21 
TNavPF::Calculated measDiffMean for beam 75 as 1.35. Range = 50.38 
TNavPF::Calculated measDiffMean for beam 76 as 1.22. Range = 50.58 
TNavPF::Calculated measDiffMean for beam 77 as 0.16. Range = 50.79 
TNavPF::Calculated measDiffMean for beam 78 as 0.18. Range = 51.01 
TNavPF::Calculated measDiffMean for beam 79 as 0.19. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 80 as 0.33. Range = 49.43 
TNavPF::Calculated measDiffMean for beam 81 as 0.70. Range = 49.70 
TNavPF::Calculated measDiffMean for beam 82 as -0.80. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 83 as 0.07. Range = 52.42 
TNavPF::Calculated measDiffMean for beam 84 as 0.20. Range = 52.76 
TNavPF::Calculated measDiffMean for beam 85 as 0.26. Range = 53.12 
TNavPF::First Term of Map Covariance Matrix is 5.34 
TNavPF::Calculated NIS Value : 2.93 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322531.82 sec.
INS : North: 4070366.06, East: 588672.01, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 52.06, IDT[75] = 85.45
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322534.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322534.62)
ARL : North: 0.6269, East: -2.4132, Depth: 0.5817ARL : Estimation Bias  (Mean)         : (t = 1488322534.62)
ARL : North: 1.2241, East: -2.3120, Depth: 0.3944TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.50 
Alpha[0]	0.123000
Alpha[0]	0.994917
TNavParticleFilter::Modified Variance for beam 1 is 15.49 
Alpha[1]	0.000000
Alpha[1]	0.993768
TNavParticleFilter::Modified Variance for beam 2 is 16.33 
Alpha[2]	0.000000
Alpha[2]	0.990583
TNavParticleFilter::Modified Variance for beam 3 is 16.79 
Alpha[3]	0.000000
Alpha[3]	0.972980
TNavParticleFilter::Modified Variance for beam 4 is 17.08 
Alpha[4]	0.000000
Alpha[4]	0.955856
TNavParticleFilter::Modified Variance for beam 5 is 17.19 
Alpha[5]	0.000000
Alpha[5]	0.949948
TNavParticleFilter::Modified Variance for beam 6 is 17.07 
Alpha[6]	0.000000
Alpha[6]	0.956531
TNavParticleFilter::Modified Variance for beam 7 is 16.89 
Alpha[7]	0.000000
Alpha[7]	0.967670
TNavParticleFilter::Modified Variance for beam 8 is 16.89 
Alpha[8]	0.000000
Alpha[8]	0.968800
TNavParticleFilter::Modified Variance for beam 9 is 17.02 
Alpha[9]	0.000000
Alpha[9]	0.963068
TNavParticleFilter::Modified Variance for beam 10 is 17.13 
Alpha[10]	0.000000
Alpha[10]	0.959320
TNavParticleFilter::Modified Variance for beam 11 is 16.94 
Alpha[11]	0.000000
Alpha[11]	0.972627
TNavParticleFilter::Modified Variance for beam 12 is 16.87 
Alpha[12]	0.000000
Alpha[12]	0.980180
TNavParticleFilter::Modified Variance for beam 13 is 16.91 
Alpha[13]	0.000000
Alpha[13]	0.981081
TNavParticleFilter::Modified Variance for beam 14 is 16.98 
Alpha[14]	0.000000
Alpha[14]	0.981179
TNavParticleFilter::Modified Variance for beam 15 is 17.02 
Alpha[15]	0.000000
Alpha[15]	0.983650
TNavParticleFilter::Modified Variance for beam 16 is 16.05 
Alpha[16]	0.000000
Alpha[16]	0.984931
TNavParticleFilter::Modified Variance for beam 17 is 16.14 
Alpha[17]	0.000000
Alpha[17]	0.984755
TNavParticleFilter::Modified Variance for beam 18 is 17.27 
Alpha[18]	0.000000
Alpha[18]	0.986632
TNavParticleFilter::Modified Variance for beam 19 is 17.36 
Alpha[19]	0.000000
Alpha[19]	0.987794
TNavParticleFilter::Modified Variance for beam 20 is 17.45 
Alpha[20]	0.000000
Alpha[20]	0.990306
TNavParticleFilter::Modified Variance for beam 21 is 17.58 
Alpha[21]	0.000000
Alpha[21]	0.990286
TNavParticleFilter::Modified Variance for beam 22 is 17.73 
Alpha[22]	0.000000
Alpha[22]	0.990693
TNavParticleFilter::Modified Variance for beam 23 is 17.95 
Alpha[23]	0.000000
Alpha[23]	0.987124
TNavParticleFilter::Modified Variance for beam 24 is 18.16 
Alpha[24]	0.000000
Alpha[24]	0.985275
TNavParticleFilter::Modified Variance for beam 25 is 18.33 
Alpha[25]	0.000000
Alpha[25]	0.985993
TNavParticleFilter::Modified Variance for beam 26 is 18.54 
Alpha[26]	0.000000
Alpha[26]	0.984927
TNavParticleFilter::Modified Variance for beam 27 is 18.69 
Alpha[27]	0.000000
Alpha[27]	0.988434
TNavParticleFilter::Modified Variance for beam 28 is 18.89 
Alpha[28]	0.000000
Alpha[28]	0.989795
TNavParticleFilter::Modified Variance for beam 29 is 19.07 
Alpha[29]	0.000000
Alpha[29]	0.992400
TNavParticleFilter::Modified Variance for beam 30 is 20.54 
Alpha[30]	0.000000
Alpha[30]	0.994687
TNavParticleFilter::Modified Variance for beam 31 is 20.84 
Alpha[31]	0.000000
Alpha[31]	0.994052
TNavParticleFilter::Modified Variance for beam 32 is 21.16 
Alpha[32]	0.000000
Alpha[32]	0.993529
TNavParticleFilter::Modified Variance for beam 33 is 20.23 
Alpha[33]	0.000000
Alpha[33]	0.994160
TNavParticleFilter::Modified Variance for beam 34 is 20.43 
Alpha[34]	0.000000
Alpha[34]	0.996078
TNavParticleFilter::Modified Variance for beam 35 is 20.72 
Alpha[35]	0.000000
Alpha[35]	0.998584
TNavParticleFilter::Modified Variance for beam 36 is 21.06 
Alpha[36]	0.000000
Alpha[36]	0.999314
TNavParticleFilter::Modified Variance for beam 37 is 29.16 
Alpha[37]	0.000000
Alpha[37]	0.999216
TNavParticleFilter::Modified Variance for beam 38 is 29.79 
Alpha[38]	0.000000
Alpha[38]	0.997805
TNavParticleFilter::Modified Variance for beam 39 is 30.47 
Alpha[39]	0.000000
Alpha[39]	0.995674
TNavParticleFilter::Modified Variance for beam 40 is 31.13 
Alpha[40]	0.000000
Alpha[40]	0.995881
TNavParticleFilter::Modified Variance for beam 41 is 33.66 
Alpha[41]	0.000000
Alpha[41]	0.997427
TNavParticleFilter::Modified Variance for beam 42 is 34.44 
Alpha[42]	0.000000
Alpha[42]	0.998004
TNavParticleFilter::Modified Variance for beam 43 is 37.58 
Alpha[43]	0.000000
Alpha[43]	0.997746
TNavParticleFilter::Modified Variance for beam 44 is 38.39 
Alpha[44]	0.000000
Alpha[44]	0.995539
TNavParticleFilter::Modified Variance for beam 45 is 39.80 
Alpha[45]	0.000000
Alpha[45]	0.985907
TNavParticleFilter::Modified Variance for beam 46 is 41.14 
Alpha[46]	0.000000
Alpha[46]	0.980484
TNavParticleFilter::Modified Variance for beam 47 is 42.58 
Alpha[47]	0.000000
Alpha[47]	0.974509
TNavParticleFilter::Modified Variance for beam 48 is 43.90 
Alpha[48]	0.000000
Alpha[48]	0.973629
TNavParticleFilter::Modified Variance for beam 49 is 45.16 
Alpha[49]	0.000000
Alpha[49]	0.975959
TNavParticleFilter::Modified Variance for beam 50 is 45.71 
Alpha[50]	0.000000
Alpha[50]	0.990770
TNavParticleFilter::Modified Variance for beam 51 is 44.74 
Alpha[51]	0.000000
Alpha[51]	0.992527
TNavParticleFilter::Modified Variance for beam 52 is 46.49 
Alpha[52]	0.000000
Alpha[52]	0.988384
TNavParticleFilter::Modified Variance for beam 53 is 48.60 
Alpha[53]	0.000000
Alpha[53]	0.979746
TNavParticleFilter::Modified Variance for beam 54 is 50.58 
Alpha[54]	0.000000
Alpha[54]	0.976757
TNavParticleFilter::Modified Variance for beam 55 is 52.47 
Alpha[55]	0.000000
Alpha[55]	0.978352
TNavParticleFilter::Modified Variance for beam 56 is 52.55 
Alpha[56]	0.000000
Alpha[56]	0.989903
TNavParticleFilter::Modified Variance for beam 57 is 53.16 
Alpha[57]	0.000000
Alpha[57]	0.986225
TNavPF:: sumSquaredError = 2.896093 
TNavPF:: sumWeights = 0.119558 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.48. Range = 98.94 
TNavPF::Calculated measDiffMean for beam 31 as -1.35. Range = 92.95 
TNavPF::Calculated measDiffMean for beam 32 as -0.11. Range = 91.90 
TNavPF::Calculated measDiffMean for beam 33 as -0.20. Range = 92.26 
TNavPF::Calculated measDiffMean for beam 34 as -0.27. Range = 87.60 
TNavPF::Calculated measDiffMean for beam 35 as -0.24. Range = 86.71 
TNavPF::Calculated measDiffMean for beam 36 as -0.19. Range = 85.87 
TNavPF::Calculated measDiffMean for beam 37 as -0.10. Range = 85.06 
TNavPF::Calculated measDiffMean for beam 38 as -0.08. Range = 79.82 
TNavPF::Calculated measDiffMean for beam 39 as -0.12. Range = 79.13 
TNavPF::Calculated measDiffMean for beam 40 as -0.16. Range = 78.48 
TNavPF::Calculated measDiffMean for beam 41 as -0.01. Range = 75.68 
TNavPF::Calculated measDiffMean for beam 42 as 0.19. Range = 75.11 
TNavPF::Calculated measDiffMean for beam 43 as 0.22. Range = 74.58 
TNavPF::Calculated measDiffMean for beam 44 as 0.24. Range = 74.07 
TNavPF::Calculated measDiffMean for beam 45 as 0.44. Range = 73.59 
TNavPF::Calculated measDiffMean for beam 46 as -1.02. Range = 66.80 
TNavPF::Calculated measDiffMean for beam 47 as -0.81. Range = 66.42 
TNavPF::Calculated measDiffMean for beam 48 as 1.04. Range = 63.97 
TNavPF::Calculated measDiffMean for beam 49 as 0.77. Range = 63.64 
TNavPF::Calculated measDiffMean for beam 50 as 0.36. Range = 63.34 
TNavPF::Calculated measDiffMean for beam 51 as -0.18. Range = 63.06 
TNavPF::Calculated measDiffMean for beam 52 as -0.61. Range = 60.75 
TNavPF::Calculated measDiffMean for beam 53 as -0.75. Range = 61.24 
TNavPF::Calculated measDiffMean for beam 54 as -0.32. Range = 62.34 
TNavPF::Calculated measDiffMean for beam 55 as 0.02. Range = 60.11 
TNavPF::Calculated measDiffMean for beam 56 as 0.41. Range = 59.94 
TNavPF::Calculated measDiffMean for beam 57 as 0.74. Range = 55.75 
TNavPF::Calculated measDiffMean for beam 58 as 0.84. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 59 as 0.37. Range = 49.48 
TNavPF::Calculated measDiffMean for beam 60 as 1.65. Range = 49.40 
TNavPF::Calculated measDiffMean for beam 61 as 0.89. Range = 49.34 
TNavPF::Calculated measDiffMean for beam 62 as 0.31. Range = 50.94 
TNavPF::Calculated measDiffMean for beam 63 as -2.00. Range = 51.26 
TNavPF::Calculated measDiffMean for beam 64 as -1.89. Range = 51.24 
TNavPF::Calculated measDiffMean for beam 65 as -2.24. Range = 51.23 
TNavPF::Calculated measDiffMean for beam 66 as -4.00. Range = 51.24 
TNavPF::Calculated measDiffMean for beam 67 as 2.60. Range = 51.27 
TNavPF::Calculated measDiffMean for beam 68 as 0.76. Range = 51.31 
TNavPF::Calculated measDiffMean for beam 69 as -0.03. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 70 as -0.64. Range = 51.45 
TNavPF::Calculated measDiffMean for beam 71 as 1.19. Range = 51.54 
TNavPF::Calculated measDiffMean for beam 72 as 0.07. Range = 51.64 
TNavPF::Calculated measDiffMean for beam 73 as 1.83. Range = 51.76 
TNavPF::Calculated measDiffMean for beam 74 as 0.28. Range = 51.90 
TNavPF::Calculated measDiffMean for beam 75 as -0.14. Range = 52.06 
TNavPF::Calculated measDiffMean for beam 76 as 0.10. Range = 50.19 
TNavPF::Calculated measDiffMean for beam 77 as 0.11. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 78 as 0.13. Range = 52.63 
TNavPF::Calculated measDiffMean for beam 79 as 0.29. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 80 as 0.82. Range = 53.09 
TNavPF::Calculated measDiffMean for beam 81 as -0.87. Range = 53.36 
TNavPF::Calculated measDiffMean for beam 82 as -0.02. Range = 53.64 
TNavPF::Calculated measDiffMean for beam 83 as 0.13. Range = 53.94 
TNavPF::Calculated measDiffMean for beam 84 as 0.24. Range = 54.26 
TNavPF::Calculated measDiffMean for beam 85 as 0.43. Range = 54.60 
TNavPF::Calculated measDiffMean for beam 86 as 0.13. Range = 54.96 
TNavPF::Calculated measDiffMean for beam 87 as -0.18. Range = 55.34 
TNavPF::First Term of Map Covariance Matrix is 3.92 
TNavPF::Calculated NIS Value : 1.65 	numBeams normalized NIS: 0.03
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322534.82 sec.
INS : North: 4070367.93, East: 588668.00, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 53.02, IDT[75] = 82.62
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322537.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322537.62)
ARL : North: -0.2564, East: -2.5646, Depth: -3.6460ARL : Estimation Bias  (Mean)         : (t = 1488322537.62)
ARL : North: 1.1906, East: -2.3497, Depth: 0.6986TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.55 
Alpha[0]	0.123000
Alpha[0]	0.996024
TNavParticleFilter::Modified Variance for beam 1 is 16.51 
Alpha[1]	0.000000
Alpha[1]	0.994649
TNavParticleFilter::Modified Variance for beam 2 is 17.41 
Alpha[2]	0.000000
Alpha[2]	0.992868
TNavParticleFilter::Modified Variance for beam 3 is 17.59 
Alpha[3]	0.000000
Alpha[3]	0.985725
TNavParticleFilter::Modified Variance for beam 4 is 17.89 
Alpha[4]	0.000000
Alpha[4]	0.966553
TNavParticleFilter::Modified Variance for beam 5 is 18.02 
Alpha[5]	0.000000
Alpha[5]	0.957135
TNavParticleFilter::Modified Variance for beam 6 is 18.02 
Alpha[6]	0.000000
Alpha[6]	0.955620
TNavParticleFilter::Modified Variance for beam 7 is 17.78 
Alpha[7]	0.000000
Alpha[7]	0.967042
TNavParticleFilter::Modified Variance for beam 8 is 17.69 
Alpha[8]	0.000000
Alpha[8]	0.971317
TNavParticleFilter::Modified Variance for beam 9 is 17.77 
Alpha[9]	0.000000
Alpha[9]	0.967064
TNavParticleFilter::Modified Variance for beam 10 is 17.91 
Alpha[10]	0.000000
Alpha[10]	0.959564
TNavParticleFilter::Modified Variance for beam 11 is 17.73 
Alpha[11]	0.000000
Alpha[11]	0.969962
TNavParticleFilter::Modified Variance for beam 12 is 17.58 
Alpha[12]	0.000000
Alpha[12]	0.979189
TNavParticleFilter::Modified Variance for beam 13 is 17.59 
Alpha[13]	0.000000
Alpha[13]	0.980338
TNavParticleFilter::Modified Variance for beam 14 is 17.63 
Alpha[14]	0.000000
Alpha[14]	0.980252
TNavParticleFilter::Modified Variance for beam 15 is 17.54 
Alpha[15]	0.000000
Alpha[15]	0.983089
TNavParticleFilter::Modified Variance for beam 16 is 16.58 
Alpha[16]	0.000000
Alpha[16]	0.986190
TNavParticleFilter::Modified Variance for beam 17 is 16.66 
Alpha[17]	0.000000
Alpha[17]	0.984683
TNavParticleFilter::Modified Variance for beam 18 is 17.77 
Alpha[18]	0.000000
Alpha[18]	0.985820
TNavParticleFilter::Modified Variance for beam 19 is 17.83 
Alpha[19]	0.000000
Alpha[19]	0.987089
TNavParticleFilter::Modified Variance for beam 20 is 17.88 
Alpha[20]	0.000000
Alpha[20]	0.989366
TNavParticleFilter::Modified Variance for beam 21 is 17.98 
Alpha[21]	0.000000
Alpha[21]	0.989305
TNavParticleFilter::Modified Variance for beam 22 is 18.08 
Alpha[22]	0.000000
Alpha[22]	0.989846
TNavParticleFilter::Modified Variance for beam 23 is 18.25 
Alpha[23]	0.000000
Alpha[23]	0.987303
TNavParticleFilter::Modified Variance for beam 24 is 18.42 
Alpha[24]	0.000000
Alpha[24]	0.985279
TNavParticleFilter::Modified Variance for beam 25 is 18.55 
Alpha[25]	0.000000
Alpha[25]	0.986385
TNavParticleFilter::Modified Variance for beam 26 is 18.71 
Alpha[26]	0.000000
Alpha[26]	0.985705
TNavParticleFilter::Modified Variance for beam 27 is 18.83 
Alpha[27]	0.000000
Alpha[27]	0.988162
TNavParticleFilter::Modified Variance for beam 28 is 18.99 
Alpha[28]	0.000000
Alpha[28]	0.989642
TNavParticleFilter::Modified Variance for beam 29 is 19.16 
Alpha[29]	0.000000
Alpha[29]	0.990282
TNavParticleFilter::Modified Variance for beam 30 is 20.53 
Alpha[30]	0.000000
Alpha[30]	0.993444
TNavParticleFilter::Modified Variance for beam 31 is 20.76 
Alpha[31]	0.000000
Alpha[31]	0.993464
TNavParticleFilter::Modified Variance for beam 32 is 21.05 
Alpha[32]	0.000000
Alpha[32]	0.991682
TNavParticleFilter::Modified Variance for beam 33 is 20.08 
Alpha[33]	0.000000
Alpha[33]	0.991558
TNavParticleFilter::Modified Variance for beam 34 is 20.27 
Alpha[34]	0.000000
Alpha[34]	0.993592
TNavParticleFilter::Modified Variance for beam 35 is 20.49 
Alpha[35]	0.000000
Alpha[35]	0.996474
TNavParticleFilter::Modified Variance for beam 36 is 20.74 
Alpha[36]	0.000000
Alpha[36]	0.998587
TNavParticleFilter::Modified Variance for beam 37 is 28.32 
Alpha[37]	0.000000
Alpha[37]	0.999323
TNavParticleFilter::Modified Variance for beam 38 is 28.81 
Alpha[38]	0.000000
Alpha[38]	0.998857
TNavParticleFilter::Modified Variance for beam 39 is 29.36 
Alpha[39]	0.000000
Alpha[39]	0.997318
TNavParticleFilter::Modified Variance for beam 40 is 30.00 
Alpha[40]	0.000000
Alpha[40]	0.993589
TNavParticleFilter::Modified Variance for beam 41 is 30.53 
Alpha[41]	0.000000
Alpha[41]	0.995130
TNavParticleFilter::Modified Variance for beam 42 is 32.85 
Alpha[42]	0.000000
Alpha[42]	0.997234
TNavParticleFilter::Modified Variance for beam 43 is 33.53 
Alpha[43]	0.000000
Alpha[43]	0.997471
TNavParticleFilter::Modified Variance for beam 44 is 34.26 
Alpha[44]	0.000000
Alpha[44]	0.997311
TNavParticleFilter::Modified Variance for beam 45 is 37.01 
Alpha[45]	0.000000
Alpha[45]	0.997401
TNavParticleFilter::Modified Variance for beam 46 is 38.00 
Alpha[46]	0.000000
Alpha[46]	0.994227
TNavParticleFilter::Modified Variance for beam 47 is 39.18 
Alpha[47]	0.000000
Alpha[47]	0.988030
TNavParticleFilter::Modified Variance for beam 48 is 40.51 
Alpha[48]	0.000000
Alpha[48]	0.980042
TNavParticleFilter::Modified Variance for beam 49 is 41.83 
Alpha[49]	0.000000
Alpha[49]	0.974389
TNavParticleFilter::Modified Variance for beam 50 is 43.09 
Alpha[50]	0.000000
Alpha[50]	0.971796
TNavParticleFilter::Modified Variance for beam 51 is 43.87 
Alpha[51]	0.000000
Alpha[51]	0.981894
TNavParticleFilter::Modified Variance for beam 52 is 43.78 
Alpha[52]	0.000000
Alpha[52]	0.992308
TNavParticleFilter::Modified Variance for beam 53 is 43.52 
Alpha[53]	0.000000
Alpha[53]	0.993766
TNavParticleFilter::Modified Variance for beam 54 is 45.17 
Alpha[54]	0.000000
Alpha[54]	0.987996
TNavParticleFilter::Modified Variance for beam 55 is 47.04 
Alpha[55]	0.000000
Alpha[55]	0.980203
TNavParticleFilter::Modified Variance for beam 56 is 48.89 
Alpha[56]	0.000000
Alpha[56]	0.975767
TNavParticleFilter::Modified Variance for beam 57 is 50.57 
Alpha[57]	0.000000
Alpha[57]	0.977236
TNavParticleFilter::Modified Variance for beam 58 is 50.84 
Alpha[58]	0.000000
Alpha[58]	0.985348
TNavParticleFilter::Modified Variance for beam 59 is 50.75 
Alpha[59]	0.000000
Alpha[59]	0.989717
TNavPF:: sumSquaredError = 13.034369 
TNavPF:: sumWeights = 0.068325 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.47. Range = 96.47 
TNavPF::Calculated measDiffMean for beam 35 as -0.44. Range = 95.31 
TNavPF::Calculated measDiffMean for beam 36 as -0.38. Range = 91.82 
TNavPF::Calculated measDiffMean for beam 37 as -0.28. Range = 90.81 
TNavPF::Calculated measDiffMean for beam 38 as -0.20. Range = 89.84 
TNavPF::Calculated measDiffMean for beam 39 as -0.23. Range = 88.91 
TNavPF::Calculated measDiffMean for beam 40 as -0.30. Range = 83.46 
TNavPF::Calculated measDiffMean for beam 41 as -0.20. Range = 82.66 
TNavPF::Calculated measDiffMean for beam 42 as -0.00. Range = 81.91 
TNavPF::Calculated measDiffMean for beam 43 as 0.06. Range = 83.31 
TNavPF::Calculated measDiffMean for beam 44 as 0.07. Range = 78.32 
TNavPF::Calculated measDiffMean for beam 45 as 0.06. Range = 77.69 
TNavPF::Calculated measDiffMean for beam 46 as -1.19. Range = 77.10 
TNavPF::Calculated measDiffMean for beam 47 as -0.86. Range = 70.06 
TNavPF::Calculated measDiffMean for beam 48 as 1.01. Range = 69.58 
TNavPF::Calculated measDiffMean for beam 49 as 0.78. Range = 69.13 
TNavPF::Calculated measDiffMean for beam 50 as 0.43. Range = 66.58 
TNavPF::Calculated measDiffMean for beam 51 as -0.06. Range = 66.19 
TNavPF::Calculated measDiffMean for beam 52 as -0.43. Range = 65.82 
TNavPF::Calculated measDiffMean for beam 53 as -0.72. Range = 63.40 
TNavPF::Calculated measDiffMean for beam 54 as -0.37. Range = 63.71 
TNavPF::Calculated measDiffMean for beam 55 as 0.04. Range = 64.87 
TNavPF::Calculated measDiffMean for beam 56 as 0.39. Range = 62.54 
TNavPF::Calculated measDiffMean for beam 57 as 0.81. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 58 as 0.94. Range = 51.87 
TNavPF::Calculated measDiffMean for beam 59 as 0.60. Range = 51.71 
TNavPF::Calculated measDiffMean for beam 60 as 1.91. Range = 51.55 
TNavPF::Calculated measDiffMean for beam 61 as 1.09. Range = 51.42 
TNavPF::Calculated measDiffMean for beam 62 as 0.55. Range = 53.11 
TNavPF::Calculated measDiffMean for beam 63 as -1.94. Range = 53.21 
TNavPF::Calculated measDiffMean for beam 64 as -1.86. Range = 53.12 
TNavPF::Calculated measDiffMean for beam 65 as -1.52. Range = 53.04 
TNavPF::Calculated measDiffMean for beam 66 as -1.87. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 67 as 6.65. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 68 as 2.20. Range = 52.92 
TNavPF::Calculated measDiffMean for beam 69 as 1.00. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 70 as 0.54. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 71 as 0.11. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 72 as 2.16. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 73 as 1.50. Range = 53.03 
TNavPF::Calculated measDiffMean for beam 74 as 0.40. Range = 53.10 
TNavPF::Calculated measDiffMean for beam 75 as 1.87. Range = 53.02 
TNavPF::Calculated measDiffMean for beam 76 as 0.54. Range = 51.28 
TNavPF::Calculated measDiffMean for beam 77 as 0.33. Range = 51.39 
TNavPF::Calculated measDiffMean for beam 78 as 0.60. Range = 53.55 
TNavPF::Calculated measDiffMean for beam 79 as 0.64. Range = 53.71 
TNavPF::Calculated measDiffMean for beam 80 as 0.69. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 81 as 0.86. Range = 54.07 
TNavPF::Calculated measDiffMean for beam 82 as 0.58. Range = 54.28 
TNavPF::Calculated measDiffMean for beam 83 as -0.25. Range = 54.50 
TNavPF::Calculated measDiffMean for beam 84 as 0.59. Range = 54.75 
TNavPF::Calculated measDiffMean for beam 85 as 0.86. Range = 55.01 
TNavPF::Calculated measDiffMean for beam 86 as 1.00. Range = 55.30 
TNavPF::Calculated measDiffMean for beam 87 as 1.12. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 88 as 0.56. Range = 55.92 
TNavPF::Calculated measDiffMean for beam 89 as 0.13. Range = 56.27 
TNavPF::First Term of Map Covariance Matrix is 5.02 
TNavPF::Calculated NIS Value : 2.56 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322537.82 sec.
INS : North: 4070369.35, East: 588663.88, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 54.07, IDT[75] = 67.49
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322540.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322540.62)
ARL : North: 1.1452, East: -2.6138, Depth: 3.6834ARL : Estimation Bias  (Mean)         : (t = 1488322540.62)
ARL : North: 1.2538, East: -2.8032, Depth: 0.6478TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 26.52 
Alpha[0]	0.123000
Alpha[0]	0.994873
TNavParticleFilter::Modified Variance for beam 1 is 24.84 
Alpha[1]	0.000000
Alpha[1]	0.993732
TNavParticleFilter::Modified Variance for beam 2 is 24.71 
Alpha[2]	0.000000
Alpha[2]	0.988325
TNavParticleFilter::Modified Variance for beam 3 is 24.40 
Alpha[3]	0.000000
Alpha[3]	0.990535
TNavParticleFilter::Modified Variance for beam 4 is 24.02 
Alpha[4]	0.000000
Alpha[4]	0.996968
TNavParticleFilter::Modified Variance for beam 5 is 23.77 
Alpha[5]	0.000000
Alpha[5]	0.998381
TNavParticleFilter::Modified Variance for beam 6 is 21.05 
Alpha[6]	0.000000
Alpha[6]	0.998273
TNavParticleFilter::Modified Variance for beam 7 is 19.72 
Alpha[7]	0.000000
Alpha[7]	0.997430
TNavParticleFilter::Modified Variance for beam 8 is 17.39 
Alpha[8]	0.000000
Alpha[8]	0.995618
TNavParticleFilter::Modified Variance for beam 9 is 17.33 
Alpha[9]	0.000000
Alpha[9]	0.992921
TNavParticleFilter::Modified Variance for beam 10 is 18.38 
Alpha[10]	0.000000
Alpha[10]	0.988842
TNavParticleFilter::Modified Variance for beam 11 is 18.54 
Alpha[11]	0.000000
Alpha[11]	0.975472
TNavParticleFilter::Modified Variance for beam 12 is 18.61 
Alpha[12]	0.000000
Alpha[12]	0.966700
TNavParticleFilter::Modified Variance for beam 13 is 18.66 
Alpha[13]	0.000000
Alpha[13]	0.959946
TNavParticleFilter::Modified Variance for beam 14 is 18.39 
Alpha[14]	0.000000
Alpha[14]	0.970631
TNavParticleFilter::Modified Variance for beam 15 is 18.23 
Alpha[15]	0.000000
Alpha[15]	0.975643
TNavParticleFilter::Modified Variance for beam 16 is 18.28 
Alpha[16]	0.000000
Alpha[16]	0.970523
TNavParticleFilter::Modified Variance for beam 17 is 18.47 
Alpha[17]	0.000000
Alpha[17]	0.958316
TNavParticleFilter::Modified Variance for beam 18 is 18.28 
Alpha[18]	0.000000
Alpha[18]	0.966708
TNavParticleFilter::Modified Variance for beam 19 is 18.10 
Alpha[19]	0.000000
Alpha[19]	0.974526
TNavParticleFilter::Modified Variance for beam 20 is 18.07 
Alpha[20]	0.000000
Alpha[20]	0.975585
TNavParticleFilter::Modified Variance for beam 21 is 18.06 
Alpha[21]	0.000000
Alpha[21]	0.975701
TNavParticleFilter::Modified Variance for beam 22 is 17.94 
Alpha[22]	0.000000
Alpha[22]	0.982273
TNavParticleFilter::Modified Variance for beam 23 is 16.84 
Alpha[23]	0.000000
Alpha[23]	0.986073
TNavParticleFilter::Modified Variance for beam 24 is 16.90 
Alpha[24]	0.000000
Alpha[24]	0.983509
TNavParticleFilter::Modified Variance for beam 25 is 17.96 
Alpha[25]	0.000000
Alpha[25]	0.984452
TNavParticleFilter::Modified Variance for beam 26 is 17.98 
Alpha[26]	0.000000
Alpha[26]	0.985907
TNavParticleFilter::Modified Variance for beam 27 is 17.98 
Alpha[27]	0.000000
Alpha[27]	0.988122
TNavParticleFilter::Modified Variance for beam 28 is 18.03 
Alpha[28]	0.000000
Alpha[28]	0.988453
TNavParticleFilter::Modified Variance for beam 29 is 18.09 
Alpha[29]	0.000000
Alpha[29]	0.988643
TNavParticleFilter::Modified Variance for beam 30 is 18.22 
Alpha[30]	0.000000
Alpha[30]	0.985694
TNavParticleFilter::Modified Variance for beam 31 is 18.30 
Alpha[31]	0.000000
Alpha[31]	0.986053
TNavParticleFilter::Modified Variance for beam 32 is 18.37 
Alpha[32]	0.000000
Alpha[32]	0.987223
TNavParticleFilter::Modified Variance for beam 33 is 18.47 
Alpha[33]	0.000000
Alpha[33]	0.987437
TNavParticleFilter::Modified Variance for beam 34 is 18.55 
Alpha[34]	0.000000
Alpha[34]	0.989551
TNavParticleFilter::Modified Variance for beam 35 is 18.65 
Alpha[35]	0.000000
Alpha[35]	0.990485
TNavParticleFilter::Modified Variance for beam 36 is 18.81 
Alpha[36]	0.000000
Alpha[36]	0.989271
TNavParticleFilter::Modified Variance for beam 37 is 18.92 
Alpha[37]	0.000000
Alpha[37]	0.991524
TNavParticleFilter::Modified Variance for beam 38 is 20.26 
Alpha[38]	0.000000
Alpha[38]	0.991549
TNavParticleFilter::Modified Variance for beam 39 is 20.49 
Alpha[39]	0.000000
Alpha[39]	0.989263
TNavParticleFilter::Modified Variance for beam 40 is 20.77 
Alpha[40]	0.000000
Alpha[40]	0.985215
TNavParticleFilter::Modified Variance for beam 41 is 20.87 
Alpha[41]	0.000000
Alpha[41]	0.990374
TNavParticleFilter::Modified Variance for beam 42 is 21.05 
Alpha[42]	0.000000
Alpha[42]	0.992326
TNavParticleFilter::Modified Variance for beam 43 is 19.95 
Alpha[43]	0.000000
Alpha[43]	0.997051
TNavParticleFilter::Modified Variance for beam 44 is 20.15 
Alpha[44]	0.000000
Alpha[44]	0.998681
TNavParticleFilter::Modified Variance for beam 45 is 25.81 
Alpha[45]	0.000000
Alpha[45]	0.999139
TNavParticleFilter::Modified Variance for beam 46 is 27.67 
Alpha[46]	0.000000
Alpha[46]	0.998624
TNavParticleFilter::Modified Variance for beam 47 is 28.11 
Alpha[47]	0.000000
Alpha[47]	0.997344
TNavParticleFilter::Modified Variance for beam 48 is 28.68 
Alpha[48]	0.000000
Alpha[48]	0.992273
TNavParticleFilter::Modified Variance for beam 49 is 29.02 
Alpha[49]	0.000000
Alpha[49]	0.996500
TNavParticleFilter::Modified Variance for beam 50 is 29.47 
Alpha[50]	0.000000
Alpha[50]	0.997733
TNavParticleFilter::Modified Variance for beam 51 is 29.99 
Alpha[51]	0.000000
Alpha[51]	0.997446
TNavParticleFilter::Modified Variance for beam 52 is 32.32 
Alpha[52]	0.000000
Alpha[52]	0.995485
TNavParticleFilter::Modified Variance for beam 53 is 32.88 
Alpha[53]	0.000000
Alpha[53]	0.997224
TNavParticleFilter::Modified Variance for beam 54 is 35.39 
Alpha[54]	0.000000
Alpha[54]	0.997320
TNavParticleFilter::Modified Variance for beam 55 is 38.24 
Alpha[55]	0.000000
Alpha[55]	0.993357
TNavParticleFilter::Modified Variance for beam 56 is 37.84 
Alpha[56]	0.000000
Alpha[56]	0.981319
TNavParticleFilter::Modified Variance for beam 57 is 38.63 
Alpha[57]	0.000000
Alpha[57]	0.974843
TNavParticleFilter::Modified Variance for beam 58 is 39.62 
Alpha[58]	0.000000
Alpha[58]	0.972986
TNavParticleFilter::Modified Variance for beam 59 is 40.28 
Alpha[59]	0.000000
Alpha[59]	0.980433
TNavPF:: sumSquaredError = 3.708503 
TNavPF:: sumWeights = 0.042569 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -2.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.73. Range = 98.84 
TNavPF::Calculated measDiffMean for beam 46 as -0.78. Range = 98.63 
TNavPF::Calculated measDiffMean for beam 47 as -0.90. Range = 94.02 
TNavPF::Calculated measDiffMean for beam 48 as -0.84. Range = 92.93 
TNavPF::Calculated measDiffMean for beam 49 as -0.72. Range = 91.90 
TNavPF::Calculated measDiffMean for beam 50 as -0.68. Range = 86.23 
TNavPF::Calculated measDiffMean for beam 51 as -0.67. Range = 85.34 
TNavPF::Calculated measDiffMean for beam 52 as -0.46. Range = 86.79 
TNavPF::Calculated measDiffMean for beam 53 as -1.76. Range = 81.42 
TNavPF::Calculated measDiffMean for beam 54 as -1.46. Range = 80.68 
TNavPF::Calculated measDiffMean for beam 55 as 0.42. Range = 79.98 
TNavPF::Calculated measDiffMean for beam 56 as 0.27. Range = 79.31 
TNavPF::Calculated measDiffMean for beam 57 as -0.10. Range = 72.09 
TNavPF::Calculated measDiffMean for beam 58 as -0.48. Range = 71.54 
TNavPF::Calculated measDiffMean for beam 59 as -0.84. Range = 68.86 
TNavPF::Calculated measDiffMean for beam 60 as -1.13. Range = 68.39 
TNavPF::Calculated measDiffMean for beam 61 as -0.79. Range = 65.80 
TNavPF::Calculated measDiffMean for beam 62 as -0.37. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 63 as 0.00. Range = 65.01 
TNavPF::Calculated measDiffMean for beam 64 as 0.43. Range = 64.65 
TNavPF::Calculated measDiffMean for beam 65 as 0.40. Range = 64.31 
TNavPF::Calculated measDiffMean for beam 66 as -0.20. Range = 59.85 
TNavPF::Calculated measDiffMean for beam 67 as -1.03. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 68 as 0.33. Range = 53.16 
TNavPF::Calculated measDiffMean for beam 69 as -0.18. Range = 52.95 
TNavPF::Calculated measDiffMean for beam 70 as -0.54. Range = 54.80 
TNavPF::Calculated measDiffMean for beam 71 as -0.40. Range = 54.62 
TNavPF::Calculated measDiffMean for beam 72 as 0.03. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 73 as -1.64. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 74 as -2.54. Range = 54.18 
TNavPF::Calculated measDiffMean for beam 75 as 1.90. Range = 54.07 
TNavPF::Calculated measDiffMean for beam 76 as 1.36. Range = 53.98 
TNavPF::Calculated measDiffMean for beam 77 as 0.40. Range = 53.90 
TNavPF::Calculated measDiffMean for beam 78 as -0.06. Range = 53.84 
TNavPF::Calculated measDiffMean for beam 79 as -0.04. Range = 53.79 
TNavPF::Calculated measDiffMean for beam 80 as -0.12. Range = 53.77 
TNavPF::Calculated measDiffMean for beam 81 as -0.79. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 82 as 0.58. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 83 as 0.04. Range = 51.78 
TNavPF::Calculated measDiffMean for beam 84 as 0.93. Range = 51.82 
TNavPF::Calculated measDiffMean for beam 85 as 1.83. Range = 53.87 
TNavPF::Calculated measDiffMean for beam 86 as -0.19. Range = 53.94 
TNavPF::Calculated measDiffMean for beam 87 as -0.41. Range = 54.03 
TNavPF::Calculated measDiffMean for beam 88 as -0.39. Range = 54.13 
TNavPF::Calculated measDiffMean for beam 89 as -0.34. Range = 54.26 
TNavPF::First Term of Map Covariance Matrix is 3.89 
TNavPF::Calculated NIS Value : 2.50 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322540.82 sec.
INS : North: 4070369.95, East: 588659.60, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 55.82, IDT[75] = 57.05
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322543.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322543.62)
ARL : North: 1.9681, East: -3.3940, Depth: 2.9149ARL : Estimation Bias  (Mean)         : (t = 1488322543.62)
ARL : North: 0.9485, East: -2.9222, Depth: 0.8135TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 37.40 
Alpha[0]	0.123000
Alpha[0]	0.994080
TNavParticleFilter::Modified Variance for beam 1 is 36.73 
Alpha[1]	0.000000
Alpha[1]	0.994182
TNavParticleFilter::Modified Variance for beam 2 is 30.77 
Alpha[2]	0.000000
Alpha[2]	0.998240
TNavParticleFilter::Modified Variance for beam 3 is 30.29 
Alpha[3]	0.000000
Alpha[3]	0.997960
TNavParticleFilter::Modified Variance for beam 4 is 28.33 
Alpha[4]	0.000000
Alpha[4]	0.995435
TNavParticleFilter::Modified Variance for beam 5 is 27.93 
Alpha[5]	0.000000
Alpha[5]	0.995360
TNavParticleFilter::Modified Variance for beam 6 is 27.57 
Alpha[6]	0.000000
Alpha[6]	0.994356
TNavParticleFilter::Modified Variance for beam 7 is 25.89 
Alpha[7]	0.000000
Alpha[7]	0.988909
TNavParticleFilter::Modified Variance for beam 8 is 26.04 
Alpha[8]	0.000000
Alpha[8]	0.993205
TNavParticleFilter::Modified Variance for beam 9 is 26.46 
Alpha[9]	0.000000
Alpha[9]	0.998284
TNavParticleFilter::Modified Variance for beam 10 is 22.09 
Alpha[10]	0.000000
Alpha[10]	0.998928
TNavParticleFilter::Modified Variance for beam 11 is 20.63 
Alpha[11]	0.000000
Alpha[11]	0.998056
TNavParticleFilter::Modified Variance for beam 12 is 18.13 
Alpha[12]	0.000000
Alpha[12]	0.996094
TNavParticleFilter::Modified Variance for beam 13 is 18.01 
Alpha[13]	0.000000
Alpha[13]	0.994180
TNavParticleFilter::Modified Variance for beam 14 is 18.68 
Alpha[14]	0.000000
Alpha[14]	0.990536
TNavParticleFilter::Modified Variance for beam 15 is 19.22 
Alpha[15]	0.000000
Alpha[15]	0.974742
TNavParticleFilter::Modified Variance for beam 16 is 19.23 
Alpha[16]	0.000000
Alpha[16]	0.967007
TNavParticleFilter::Modified Variance for beam 17 is 19.19 
Alpha[17]	0.000000
Alpha[17]	0.962648
TNavParticleFilter::Modified Variance for beam 18 is 18.88 
Alpha[18]	0.000000
Alpha[18]	0.972112
TNavParticleFilter::Modified Variance for beam 19 is 18.73 
Alpha[19]	0.000000
Alpha[19]	0.974633
TNavParticleFilter::Modified Variance for beam 20 is 18.76 
Alpha[20]	0.000000
Alpha[20]	0.968098
TNavParticleFilter::Modified Variance for beam 21 is 18.81 
Alpha[21]	0.000000
Alpha[21]	0.961082
TNavParticleFilter::Modified Variance for beam 22 is 18.51 
Alpha[22]	0.000000
Alpha[22]	0.972822
TNavParticleFilter::Modified Variance for beam 23 is 18.33 
Alpha[23]	0.000000
Alpha[23]	0.978347
TNavParticleFilter::Modified Variance for beam 24 is 18.28 
Alpha[24]	0.000000
Alpha[24]	0.978396
TNavParticleFilter::Modified Variance for beam 25 is 18.21 
Alpha[25]	0.000000
Alpha[25]	0.979473
TNavParticleFilter::Modified Variance for beam 26 is 18.06 
Alpha[26]	0.000000
Alpha[26]	0.985586
TNavParticleFilter::Modified Variance for beam 27 is 16.98 
Alpha[27]	0.000000
Alpha[27]	0.985193
TNavParticleFilter::Modified Variance for beam 28 is 16.99 
Alpha[28]	0.000000
Alpha[28]	0.983746
TNavParticleFilter::Modified Variance for beam 29 is 18.01 
Alpha[29]	0.000000
Alpha[29]	0.984949
TNavParticleFilter::Modified Variance for beam 30 is 17.98 
Alpha[30]	0.000000
Alpha[30]	0.986346
TNavParticleFilter::Modified Variance for beam 31 is 17.95 
Alpha[31]	0.000000
Alpha[31]	0.988266
TNavParticleFilter::Modified Variance for beam 32 is 17.97 
Alpha[32]	0.000000
Alpha[32]	0.987886
TNavParticleFilter::Modified Variance for beam 33 is 18.01 
Alpha[33]	0.000000
Alpha[33]	0.987091
TNavParticleFilter::Modified Variance for beam 34 is 18.07 
Alpha[34]	0.000000
Alpha[34]	0.985747
TNavParticleFilter::Modified Variance for beam 35 is 18.09 
Alpha[35]	0.000000
Alpha[35]	0.987134
TNavParticleFilter::Modified Variance for beam 36 is 18.13 
Alpha[36]	0.000000
Alpha[36]	0.987415
TNavParticleFilter::Modified Variance for beam 37 is 18.18 
Alpha[37]	0.000000
Alpha[37]	0.988181
TNavParticleFilter::Modified Variance for beam 38 is 18.23 
Alpha[38]	0.000000
Alpha[38]	0.989296
TNavParticleFilter::Modified Variance for beam 39 is 18.30 
Alpha[39]	0.000000
Alpha[39]	0.989681
TNavParticleFilter::Modified Variance for beam 40 is 18.44 
Alpha[40]	0.000000
Alpha[40]	0.986751
TNavParticleFilter::Modified Variance for beam 41 is 18.46 
Alpha[41]	0.000000
Alpha[41]	0.991205
TNavParticleFilter::Modified Variance for beam 42 is 19.70 
Alpha[42]	0.000000
Alpha[42]	0.991222
TNavParticleFilter::Modified Variance for beam 43 is 19.87 
Alpha[43]	0.000000
Alpha[43]	0.989131
TNavParticleFilter::Modified Variance for beam 44 is 20.14 
Alpha[44]	0.000000
Alpha[44]	0.982860
TNavParticleFilter::Modified Variance for beam 45 is 19.61 
Alpha[45]	0.000000
Alpha[45]	0.989660
TNavParticleFilter::Modified Variance for beam 46 is 19.09 
Alpha[46]	0.000000
Alpha[46]	0.991982
TNavParticleFilter::Modified Variance for beam 47 is 19.19 
Alpha[47]	0.000000
Alpha[47]	0.995237
TNavParticleFilter::Modified Variance for beam 48 is 19.31 
Alpha[48]	0.000000
Alpha[48]	0.998322
TNavParticleFilter::Modified Variance for beam 49 is 19.49 
Alpha[49]	0.000000
Alpha[49]	0.998864
TNavParticleFilter::Modified Variance for beam 50 is 24.86 
Alpha[50]	0.000000
Alpha[50]	0.998562
TNavParticleFilter::Modified Variance for beam 51 is 26.59 
Alpha[51]	0.000000
Alpha[51]	0.997743
TNavParticleFilter::Modified Variance for beam 52 is 27.01 
Alpha[52]	0.000000
Alpha[52]	0.994065
TNavParticleFilter::Modified Variance for beam 53 is 27.40 
Alpha[53]	0.000000
Alpha[53]	0.992355
TNavParticleFilter::Modified Variance for beam 54 is 27.66 
Alpha[54]	0.000000
Alpha[54]	0.996598
TNavParticleFilter::Modified Variance for beam 55 is 28.02 
Alpha[55]	0.000000
Alpha[55]	0.997391
TNavParticleFilter::Modified Variance for beam 56 is 28.47 
Alpha[56]	0.000000
Alpha[56]	0.996435
TNavParticleFilter::Modified Variance for beam 57 is 28.97 
Alpha[57]	0.000000
Alpha[57]	0.994278
TNavParticleFilter::Modified Variance for beam 58 is 31.03 
Alpha[58]	0.000000
Alpha[58]	0.996257
TNavParticleFilter::Modified Variance for beam 59 is 31.52 
Alpha[59]	0.000000
Alpha[59]	0.997543
TNavPF:: sumSquaredError = 9.343422 
TNavPF:: sumWeights = 0.013302 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -6.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -3.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -3.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -2.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -2.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.73. Range = 97.38 
TNavPF::Calculated measDiffMean for beam 54 as -0.71. Range = 96.14 
TNavPF::Calculated measDiffMean for beam 55 as -0.67. Range = 94.96 
TNavPF::Calculated measDiffMean for beam 56 as -0.29. Range = 93.84 
TNavPF::Calculated measDiffMean for beam 57 as -1.63. Range = 88.01 
TNavPF::Calculated measDiffMean for beam 58 as -1.56. Range = 89.40 
TNavPF::Calculated measDiffMean for beam 59 as 0.22. Range = 83.79 
TNavPF::Calculated measDiffMean for beam 60 as 0.03. Range = 82.94 
TNavPF::Calculated measDiffMean for beam 61 as -0.44. Range = 82.13 
TNavPF::Calculated measDiffMean for beam 62 as -0.73. Range = 74.58 
TNavPF::Calculated measDiffMean for beam 63 as -1.15. Range = 73.91 
TNavPF::Calculated measDiffMean for beam 64 as -1.29. Range = 71.06 
TNavPF::Calculated measDiffMean for beam 65 as -0.84. Range = 70.47 
TNavPF::Calculated measDiffMean for beam 66 as -0.49. Range = 69.92 
TNavPF::Calculated measDiffMean for beam 67 as -0.09. Range = 67.22 
TNavPF::Calculated measDiffMean for beam 68 as 0.25. Range = 67.62 
TNavPF::Calculated measDiffMean for beam 69 as 0.07. Range = 68.43 
TNavPF::Calculated measDiffMean for beam 70 as -0.48. Range = 61.61 
TNavPF::Calculated measDiffMean for beam 71 as -1.18. Range = 59.12 
TNavPF::Calculated measDiffMean for beam 72 as 0.13. Range = 54.58 
TNavPF::Calculated measDiffMean for beam 73 as -0.33. Range = 54.28 
TNavPF::Calculated measDiffMean for beam 74 as -0.69. Range = 55.41 
TNavPF::Calculated measDiffMean for beam 75 as -1.56. Range = 55.82 
TNavPF::Calculated measDiffMean for beam 76 as -2.39. Range = 55.57 
TNavPF::Calculated measDiffMean for beam 77 as -1.76. Range = 55.34 
TNavPF::Calculated measDiffMean for beam 78 as -2.30. Range = 55.13 
TNavPF::Calculated measDiffMean for beam 79 as -5.10. Range = 54.94 
TNavPF::Calculated measDiffMean for beam 80 as 0.07. Range = 54.77 
TNavPF::Calculated measDiffMean for beam 81 as 0.53. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 82 as -0.14. Range = 54.47 
TNavPF::Calculated measDiffMean for beam 83 as -0.27. Range = 54.35 
TNavPF::Calculated measDiffMean for beam 84 as -0.23. Range = 54.24 
TNavPF::Calculated measDiffMean for beam 85 as -0.40. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 86 as -1.09. Range = 54.09 
TNavPF::Calculated measDiffMean for beam 87 as -1.85. Range = 52.03 
TNavPF::Calculated measDiffMean for beam 88 as -0.06. Range = 51.99 
TNavPF::Calculated measDiffMean for beam 89 as -1.14. Range = 53.97 
TNavPF::First Term of Map Covariance Matrix is 3.37 
TNavPF::Calculated NIS Value : 3.99 	numBeams normalized NIS: 0.07
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322543.82 sec.
INS : North: 4070369.94, East: 588655.28, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 55.25, IDT[75] = 56.42
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322546.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322546.62)
ARL : North: -0.2141, East: -2.4595, Depth: -0.0213ARL : Estimation Bias  (Mean)         : (t = 1488322546.62)
ARL : North: 0.2428, East: -2.8909, Depth: 0.9992TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 43.92 
Alpha[0]	0.123000
Alpha[0]	0.997457
TNavParticleFilter::Modified Variance for beam 1 is 43.84 
Alpha[1]	0.000000
Alpha[1]	0.991745
TNavParticleFilter::Modified Variance for beam 2 is 44.37 
Alpha[2]	0.000000
Alpha[2]	0.991945
TNavParticleFilter::Modified Variance for beam 3 is 39.21 
Alpha[3]	0.000000
Alpha[3]	0.995275
TNavParticleFilter::Modified Variance for beam 4 is 38.38 
Alpha[4]	0.000000
Alpha[4]	0.996495
TNavParticleFilter::Modified Variance for beam 5 is 32.10 
Alpha[5]	0.000000
Alpha[5]	0.998536
TNavParticleFilter::Modified Variance for beam 6 is 31.56 
Alpha[6]	0.000000
Alpha[6]	0.997460
TNavParticleFilter::Modified Variance for beam 7 is 29.41 
Alpha[7]	0.000000
Alpha[7]	0.996015
TNavParticleFilter::Modified Variance for beam 8 is 28.94 
Alpha[8]	0.000000
Alpha[8]	0.995507
TNavParticleFilter::Modified Variance for beam 9 is 27.03 
Alpha[9]	0.000000
Alpha[9]	0.992247
TNavParticleFilter::Modified Variance for beam 10 is 26.57 
Alpha[10]	0.000000
Alpha[10]	0.994506
TNavParticleFilter::Modified Variance for beam 11 is 27.57 
Alpha[11]	0.000000
Alpha[11]	0.998819
TNavParticleFilter::Modified Variance for beam 12 is 22.93 
Alpha[12]	0.000000
Alpha[12]	0.998916
TNavParticleFilter::Modified Variance for beam 13 is 21.36 
Alpha[13]	0.000000
Alpha[13]	0.997967
TNavParticleFilter::Modified Variance for beam 14 is 18.72 
Alpha[14]	0.000000
Alpha[14]	0.994754
TNavParticleFilter::Modified Variance for beam 15 is 18.55 
Alpha[15]	0.000000
Alpha[15]	0.992920
TNavParticleFilter::Modified Variance for beam 16 is 19.72 
Alpha[16]	0.000000
Alpha[16]	0.983355
TNavParticleFilter::Modified Variance for beam 17 is 19.76 
Alpha[17]	0.000000
Alpha[17]	0.971824
TNavParticleFilter::Modified Variance for beam 18 is 19.72 
Alpha[18]	0.000000
Alpha[18]	0.964769
TNavParticleFilter::Modified Variance for beam 19 is 19.38 
Alpha[19]	0.000000
Alpha[19]	0.972957
TNavParticleFilter::Modified Variance for beam 20 is 19.13 
Alpha[20]	0.000000
Alpha[20]	0.977431
TNavParticleFilter::Modified Variance for beam 21 is 19.08 
Alpha[21]	0.000000
Alpha[21]	0.972591
TNavParticleFilter::Modified Variance for beam 22 is 19.20 
Alpha[22]	0.000000
Alpha[22]	0.959382
TNavParticleFilter::Modified Variance for beam 23 is 18.89 
Alpha[23]	0.000000
Alpha[23]	0.968771
TNavParticleFilter::Modified Variance for beam 24 is 18.65 
Alpha[24]	0.000000
Alpha[24]	0.975233
TNavParticleFilter::Modified Variance for beam 25 is 18.55 
Alpha[25]	0.000000
Alpha[25]	0.975227
TNavParticleFilter::Modified Variance for beam 26 is 18.44 
Alpha[26]	0.000000
Alpha[26]	0.975986
TNavParticleFilter::Modified Variance for beam 27 is 18.20 
Alpha[27]	0.000000
Alpha[27]	0.984587
TNavParticleFilter::Modified Variance for beam 28 is 17.03 
Alpha[28]	0.000000
Alpha[28]	0.985868
TNavParticleFilter::Modified Variance for beam 29 is 17.01 
Alpha[29]	0.000000
Alpha[29]	0.983550
TNavParticleFilter::Modified Variance for beam 30 is 17.98 
Alpha[30]	0.000000
Alpha[30]	0.984332
TNavParticleFilter::Modified Variance for beam 31 is 17.94 
Alpha[31]	0.000000
Alpha[31]	0.985382
TNavParticleFilter::Modified Variance for beam 32 is 17.87 
Alpha[32]	0.000000
Alpha[32]	0.987239
TNavParticleFilter::Modified Variance for beam 33 is 17.84 
Alpha[33]	0.000000
Alpha[33]	0.987604
TNavParticleFilter::Modified Variance for beam 34 is 17.83 
Alpha[34]	0.000000
Alpha[34]	0.986936
TNavParticleFilter::Modified Variance for beam 35 is 17.85 
Alpha[35]	0.000000
Alpha[35]	0.985104
TNavParticleFilter::Modified Variance for beam 36 is 17.81 
Alpha[36]	0.000000
Alpha[36]	0.987278
TNavParticleFilter::Modified Variance for beam 37 is 17.81 
Alpha[37]	0.000000
Alpha[37]	0.987630
TNavParticleFilter::Modified Variance for beam 38 is 17.80 
Alpha[38]	0.000000
Alpha[38]	0.988889
TNavParticleFilter::Modified Variance for beam 39 is 17.81 
Alpha[39]	0.000000
Alpha[39]	0.989892
TNavParticleFilter::Modified Variance for beam 40 is 17.84 
Alpha[40]	0.000000
Alpha[40]	0.990299
TNavParticleFilter::Modified Variance for beam 41 is 17.94 
Alpha[41]	0.000000
Alpha[41]	0.986702
TNavParticleFilter::Modified Variance for beam 42 is 18.00 
Alpha[42]	0.000000
Alpha[42]	0.986721
TNavParticleFilter::Modified Variance for beam 43 is 19.09 
Alpha[43]	0.000000
Alpha[43]	0.990199
TNavParticleFilter::Modified Variance for beam 44 is 19.19 
Alpha[44]	0.000000
Alpha[44]	0.989160
TNavParticleFilter::Modified Variance for beam 45 is 19.38 
Alpha[45]	0.000000
Alpha[45]	0.983503
TNavParticleFilter::Modified Variance for beam 46 is 19.53 
Alpha[46]	0.000000
Alpha[46]	0.981003
TNavParticleFilter::Modified Variance for beam 47 is 19.48 
Alpha[47]	0.000000
Alpha[47]	0.989014
TNavParticleFilter::Modified Variance for beam 48 is 19.55 
Alpha[48]	0.000000
Alpha[48]	0.991422
TNavParticleFilter::Modified Variance for beam 49 is 18.47 
Alpha[49]	0.000000
Alpha[49]	0.994880
TNavParticleFilter::Modified Variance for beam 50 is 18.54 
Alpha[50]	0.000000
Alpha[50]	0.998053
TNavParticleFilter::Modified Variance for beam 51 is 22.25 
Alpha[51]	0.000000
Alpha[51]	0.998635
TNavParticleFilter::Modified Variance for beam 52 is 23.74 
Alpha[52]	0.000000
Alpha[52]	0.998383
TNavParticleFilter::Modified Variance for beam 53 is 25.31 
Alpha[53]	0.000000
Alpha[53]	0.998020
TNavParticleFilter::Modified Variance for beam 54 is 25.62 
Alpha[54]	0.000000
Alpha[54]	0.995533
TNavParticleFilter::Modified Variance for beam 55 is 25.94 
Alpha[55]	0.000000
Alpha[55]	0.993338
TNavParticleFilter::Modified Variance for beam 56 is 26.14 
Alpha[56]	0.000000
Alpha[56]	0.996529
TNavParticleFilter::Modified Variance for beam 57 is 26.42 
Alpha[57]	0.000000
Alpha[57]	0.997534
TNavParticleFilter::Modified Variance for beam 58 is 26.76 
Alpha[58]	0.000000
Alpha[58]	0.996929
TNavParticleFilter::Modified Variance for beam 59 is 27.16 
Alpha[59]	0.000000
Alpha[59]	0.994692
TNavPF:: sumSquaredError = 12.320673 
TNavPF:: sumWeights = 0.041611 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -4.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -1.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -2.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 3.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.06. Range = 99.54 
TNavPF::Calculated measDiffMean for beam 58 as -1.25. Range = 98.18 
TNavPF::Calculated measDiffMean for beam 59 as -1.07. Range = 96.89 
TNavPF::Calculated measDiffMean for beam 60 as 0.72. Range = 90.74 
TNavPF::Calculated measDiffMean for beam 61 as 0.62. Range = 90.37 
TNavPF::Calculated measDiffMean for beam 62 as 0.22. Range = 90.97 
TNavPF::Calculated measDiffMean for beam 63 as -0.10. Range = 85.19 
TNavPF::Calculated measDiffMean for beam 64 as -0.47. Range = 84.25 
TNavPF::Calculated measDiffMean for beam 65 as -0.76. Range = 76.39 
TNavPF::Calculated measDiffMean for beam 66 as -0.45. Range = 75.62 
TNavPF::Calculated measDiffMean for beam 67 as 0.02. Range = 72.60 
TNavPF::Calculated measDiffMean for beam 68 as 0.36. Range = 71.93 
TNavPF::Calculated measDiffMean for beam 69 as 0.78. Range = 69.05 
TNavPF::Calculated measDiffMean for beam 70 as 0.67. Range = 68.46 
TNavPF::Calculated measDiffMean for beam 71 as 0.07. Range = 70.10 
TNavPF::Calculated measDiffMean for beam 72 as -0.44. Range = 63.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.79. Range = 60.36 
TNavPF::Calculated measDiffMean for beam 74 as 0.34. Range = 55.62 
TNavPF::Calculated measDiffMean for beam 75 as -0.14. Range = 55.25 
TNavPF::Calculated measDiffMean for beam 76 as -0.28. Range = 57.02 
TNavPF::Calculated measDiffMean for beam 77 as -0.09. Range = 56.67 
TNavPF::Calculated measDiffMean for beam 78 as 0.32. Range = 56.35 
TNavPF::Calculated measDiffMean for beam 79 as -1.00. Range = 56.05 
TNavPF::Calculated measDiffMean for beam 80 as -1.56. Range = 55.76 
TNavPF::Calculated measDiffMean for beam 81 as 2.01. Range = 55.50 
TNavPF::Calculated measDiffMean for beam 82 as 1.46. Range = 55.25 
TNavPF::Calculated measDiffMean for beam 83 as 1.56. Range = 55.03 
TNavPF::Calculated measDiffMean for beam 84 as 0.62. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 85 as 0.34. Range = 54.63 
TNavPF::Calculated measDiffMean for beam 86 as 0.56. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 87 as 0.57. Range = 54.31 
TNavPF::Calculated measDiffMean for beam 88 as 0.18. Range = 52.15 
TNavPF::Calculated measDiffMean for beam 89 as -0.54. Range = 52.04 
TNavPF::First Term of Map Covariance Matrix is 7.85 
TNavPF::Calculated NIS Value : 2.57 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322546.82 sec.
INS : North: 4070369.50, East: 588650.97, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 56.97, IDT[75] = 55.32
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322549.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322549.62)
ARL : North: 0.0561, East: -3.1863, Depth: -0.5463ARL : Estimation Bias  (Mean)         : (t = 1488322549.62)
ARL : North: 0.0257, East: -2.9657, Depth: 0.9019TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 53.00 
Alpha[0]	0.123000
Alpha[0]	0.989829
TNavParticleFilter::Modified Variance for beam 1 is 51.27 
Alpha[1]	0.000000
Alpha[1]	0.996528
TNavParticleFilter::Modified Variance for beam 2 is 45.31 
Alpha[2]	0.000000
Alpha[2]	0.995664
TNavParticleFilter::Modified Variance for beam 3 is 44.46 
Alpha[3]	0.000000
Alpha[3]	0.990422
TNavParticleFilter::Modified Variance for beam 4 is 41.08 
Alpha[4]	0.000000
Alpha[4]	0.995150
TNavParticleFilter::Modified Variance for beam 5 is 40.10 
Alpha[5]	0.000000
Alpha[5]	0.996782
TNavParticleFilter::Modified Variance for beam 6 is 33.40 
Alpha[6]	0.000000
Alpha[6]	0.998541
TNavParticleFilter::Modified Variance for beam 7 is 32.77 
Alpha[7]	0.000000
Alpha[7]	0.997382
TNavParticleFilter::Modified Variance for beam 8 is 30.43 
Alpha[8]	0.000000
Alpha[8]	0.996259
TNavParticleFilter::Modified Variance for beam 9 is 29.90 
Alpha[9]	0.000000
Alpha[9]	0.995252
TNavParticleFilter::Modified Variance for beam 10 is 27.72 
Alpha[10]	0.000000
Alpha[10]	0.996462
TNavParticleFilter::Modified Variance for beam 11 is 27.84 
Alpha[11]	0.000000
Alpha[11]	0.999219
TNavParticleFilter::Modified Variance for beam 12 is 19.75 
Alpha[12]	0.000000
Alpha[12]	0.998992
TNavParticleFilter::Modified Variance for beam 13 is 19.50 
Alpha[13]	0.000000
Alpha[13]	0.997078
TNavParticleFilter::Modified Variance for beam 14 is 19.27 
Alpha[14]	0.000000
Alpha[14]	0.995164
TNavParticleFilter::Modified Variance for beam 15 is 19.56 
Alpha[15]	0.000000
Alpha[15]	0.990163
TNavParticleFilter::Modified Variance for beam 16 is 20.48 
Alpha[16]	0.000000
Alpha[16]	0.971155
TNavParticleFilter::Modified Variance for beam 17 is 20.37 
Alpha[17]	0.000000
Alpha[17]	0.964526
TNavParticleFilter::Modified Variance for beam 18 is 20.02 
Alpha[18]	0.000000
Alpha[18]	0.970232
TNavParticleFilter::Modified Variance for beam 19 is 19.67 
Alpha[19]	0.000000
Alpha[19]	0.976809
TNavParticleFilter::Modified Variance for beam 20 is 19.54 
Alpha[20]	0.000000
Alpha[20]	0.973106
TNavParticleFilter::Modified Variance for beam 21 is 19.59 
Alpha[21]	0.000000
Alpha[21]	0.961085
TNavParticleFilter::Modified Variance for beam 22 is 19.20 
Alpha[22]	0.000000
Alpha[22]	0.971374
TNavParticleFilter::Modified Variance for beam 23 is 18.91 
Alpha[23]	0.000000
Alpha[23]	0.977832
TNavParticleFilter::Modified Variance for beam 24 is 18.76 
Alpha[24]	0.000000
Alpha[24]	0.977702
TNavParticleFilter::Modified Variance for beam 25 is 18.60 
Alpha[25]	0.000000
Alpha[25]	0.978638
TNavParticleFilter::Modified Variance for beam 26 is 18.32 
Alpha[26]	0.000000
Alpha[26]	0.986138
TNavParticleFilter::Modified Variance for beam 27 is 17.14 
Alpha[27]	0.000000
Alpha[27]	0.984984
TNavParticleFilter::Modified Variance for beam 28 is 17.07 
Alpha[28]	0.000000
Alpha[28]	0.983012
TNavParticleFilter::Modified Variance for beam 29 is 17.31 
Alpha[29]	0.000000
Alpha[29]	0.984858
TNavParticleFilter::Modified Variance for beam 30 is 17.92 
Alpha[30]	0.000000
Alpha[30]	0.985540
TNavParticleFilter::Modified Variance for beam 31 is 17.82 
Alpha[31]	0.000000
Alpha[31]	0.986530
TNavParticleFilter::Modified Variance for beam 32 is 17.73 
Alpha[32]	0.000000
Alpha[32]	0.987493
TNavParticleFilter::Modified Variance for beam 33 is 17.70 
Alpha[33]	0.000000
Alpha[33]	0.986042
TNavParticleFilter::Modified Variance for beam 34 is 17.66 
Alpha[34]	0.000000
Alpha[34]	0.985247
TNavParticleFilter::Modified Variance for beam 35 is 17.56 
Alpha[35]	0.000000
Alpha[35]	0.988227
TNavParticleFilter::Modified Variance for beam 36 is 17.53 
Alpha[36]	0.000000
Alpha[36]	0.987988
TNavParticleFilter::Modified Variance for beam 37 is 17.47 
Alpha[37]	0.000000
Alpha[37]	0.989838
TNavParticleFilter::Modified Variance for beam 38 is 17.45 
Alpha[38]	0.000000
Alpha[38]	0.989986
TNavParticleFilter::Modified Variance for beam 39 is 17.45 
Alpha[39]	0.000000
Alpha[39]	0.989330
TNavParticleFilter::Modified Variance for beam 40 is 17.55 
Alpha[40]	0.000000
Alpha[40]	0.983807
TNavParticleFilter::Modified Variance for beam 41 is 17.53 
Alpha[41]	0.000000
Alpha[41]	0.985546
TNavParticleFilter::Modified Variance for beam 42 is 17.46 
Alpha[42]	0.000000
Alpha[42]	0.990363
TNavParticleFilter::Modified Variance for beam 43 is 18.58 
Alpha[43]	0.000000
Alpha[43]	0.989272
TNavParticleFilter::Modified Variance for beam 44 is 18.70 
Alpha[44]	0.000000
Alpha[44]	0.984596
TNavParticleFilter::Modified Variance for beam 45 is 18.92 
Alpha[45]	0.000000
Alpha[45]	0.975878
TNavParticleFilter::Modified Variance for beam 46 is 18.75 
Alpha[46]	0.000000
Alpha[46]	0.987504
TNavParticleFilter::Modified Variance for beam 47 is 18.76 
Alpha[47]	0.000000
Alpha[47]	0.990532
TNavParticleFilter::Modified Variance for beam 48 is 18.78 
Alpha[48]	0.000000
Alpha[48]	0.993142
TNavParticleFilter::Modified Variance for beam 49 is 17.71 
Alpha[49]	0.000000
Alpha[49]	0.996555
TNavParticleFilter::Modified Variance for beam 50 is 17.76 
Alpha[50]	0.000000
Alpha[50]	0.998381
TNavParticleFilter::Modified Variance for beam 51 is 21.31 
Alpha[51]	0.000000
Alpha[51]	0.997915
TNavParticleFilter::Modified Variance for beam 52 is 22.68 
Alpha[52]	0.000000
Alpha[52]	0.997677
TNavParticleFilter::Modified Variance for beam 53 is 24.14 
Alpha[53]	0.000000
Alpha[53]	0.997084
TNavParticleFilter::Modified Variance for beam 54 is 24.39 
Alpha[54]	0.000000
Alpha[54]	0.994011
TNavParticleFilter::Modified Variance for beam 55 is 24.63 
Alpha[55]	0.000000
Alpha[55]	0.992234
TNavParticleFilter::Modified Variance for beam 56 is 24.76 
Alpha[56]	0.000000
Alpha[56]	0.995670
TNavParticleFilter::Modified Variance for beam 57 is 24.96 
Alpha[57]	0.000000
Alpha[57]	0.996757
TNavParticleFilter::Modified Variance for beam 58 is 25.22 
Alpha[58]	0.000000
Alpha[58]	0.995970
TNavParticleFilter::Modified Variance for beam 59 is 25.55 
Alpha[59]	0.000000
Alpha[59]	0.993479
TNavPF:: sumSquaredError = 18.040855 
TNavPF:: sumWeights = 0.026573 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -1.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -3.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 4.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -4.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -1.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.59. Range = 99.99 
TNavPF::Calculated measDiffMean for beam 61 as 0.15. Range = 98.58 
TNavPF::Calculated measDiffMean for beam 62 as -0.18. Range = 92.20 
TNavPF::Calculated measDiffMean for beam 63 as -0.54. Range = 90.99 
TNavPF::Calculated measDiffMean for beam 64 as -0.83. Range = 87.38 
TNavPF::Calculated measDiffMean for beam 65 as -0.48. Range = 86.32 
TNavPF::Calculated measDiffMean for beam 66 as -0.05. Range = 78.10 
TNavPF::Calculated measDiffMean for beam 67 as 0.31. Range = 77.22 
TNavPF::Calculated measDiffMean for beam 68 as 0.72. Range = 74.03 
TNavPF::Calculated measDiffMean for beam 69 as 0.56. Range = 73.26 
TNavPF::Calculated measDiffMean for beam 70 as 0.02. Range = 70.22 
TNavPF::Calculated measDiffMean for beam 71 as -0.35. Range = 70.50 
TNavPF::Calculated measDiffMean for beam 72 as -1.18. Range = 57.62 
TNavPF::Calculated measDiffMean for beam 73 as 0.41. Range = 57.10 
TNavPF::Calculated measDiffMean for beam 74 as -0.04. Range = 56.62 
TNavPF::Calculated measDiffMean for beam 75 as -0.27. Range = 56.97 
TNavPF::Calculated measDiffMean for beam 76 as -0.14. Range = 57.90 
TNavPF::Calculated measDiffMean for beam 77 as 0.07. Range = 57.48 
TNavPF::Calculated measDiffMean for beam 78 as 0.77. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 79 as -1.06. Range = 56.69 
TNavPF::Calculated measDiffMean for beam 80 as -2.94. Range = 56.33 
TNavPF::Calculated measDiffMean for beam 81 as 0.62. Range = 55.99 
TNavPF::Calculated measDiffMean for beam 82 as 0.93. Range = 55.67 
TNavPF::Calculated measDiffMean for beam 83 as 1.16. Range = 55.37 
TNavPF::Calculated measDiffMean for beam 84 as 0.45. Range = 55.09 
TNavPF::Calculated measDiffMean for beam 85 as 0.22. Range = 54.84 
TNavPF::Calculated measDiffMean for beam 86 as 0.38. Range = 54.60 
TNavPF::Calculated measDiffMean for beam 87 as 0.37. Range = 52.33 
TNavPF::Calculated measDiffMean for beam 88 as 0.07. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 89 as -0.47. Range = 52.64 
TNavPF::First Term of Map Covariance Matrix is 1.96 
TNavPF::Calculated NIS Value : 3.16 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322549.82 sec.
INS : North: 4070368.78, East: 588646.68, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 58.50, IDT[75] = 54.34
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322552.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322552.62)
ARL : North: 0.4224, East: -2.7382, Depth: 1.4493ARL : Estimation Bias  (Mean)         : (t = 1488322552.62)
ARL : North: -0.1974, East: -2.7329, Depth: 0.6705TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 32 33 34 35 
TNavParticleFilter::Modified Variance for beam 0 is 46.93 
Alpha[0]	0.123000
Alpha[0]	0.995125
TNavParticleFilter::Modified Variance for beam 1 is 45.91 
Alpha[1]	0.000000
Alpha[1]	0.994987
TNavParticleFilter::Modified Variance for beam 2 is 42.25 
Alpha[2]	0.000000
Alpha[2]	0.996657
TNavParticleFilter::Modified Variance for beam 3 is 34.99 
Alpha[3]	0.000000
Alpha[3]	0.998684
TNavParticleFilter::Modified Variance for beam 4 is 34.20 
Alpha[4]	0.000000
Alpha[4]	0.998496
TNavParticleFilter::Modified Variance for beam 5 is 31.67 
Alpha[5]	0.000000
Alpha[5]	0.996710
TNavParticleFilter::Modified Variance for beam 6 is 30.99 
Alpha[6]	0.000000
Alpha[6]	0.997551
TNavParticleFilter::Modified Variance for beam 7 is 28.62 
Alpha[7]	0.000000
Alpha[7]	0.999213
TNavParticleFilter::Modified Variance for beam 8 is 20.58 
Alpha[8]	0.000000
Alpha[8]	0.999293
TNavParticleFilter::Modified Variance for beam 9 is 20.24 
Alpha[9]	0.000000
Alpha[9]	0.998247
TNavParticleFilter::Modified Variance for beam 10 is 19.96 
Alpha[10]	0.000000
Alpha[10]	0.995462
TNavParticleFilter::Modified Variance for beam 11 is 20.20 
Alpha[11]	0.000000
Alpha[11]	0.993516
TNavParticleFilter::Modified Variance for beam 12 is 21.01 
Alpha[12]	0.000000
Alpha[12]	0.977418
TNavParticleFilter::Modified Variance for beam 13 is 20.91 
Alpha[13]	0.000000
Alpha[13]	0.967514
TNavParticleFilter::Modified Variance for beam 14 is 20.48 
Alpha[14]	0.000000
Alpha[14]	0.973860
TNavParticleFilter::Modified Variance for beam 15 is 20.16 
Alpha[15]	0.000000
Alpha[15]	0.976120
TNavParticleFilter::Modified Variance for beam 16 is 20.03 
Alpha[16]	0.000000
Alpha[16]	0.969947
TNavParticleFilter::Modified Variance for beam 17 is 19.92 
Alpha[17]	0.000000
Alpha[17]	0.963297
TNavParticleFilter::Modified Variance for beam 18 is 19.42 
Alpha[18]	0.000000
Alpha[18]	0.976529
TNavParticleFilter::Modified Variance for beam 19 is 19.13 
Alpha[19]	0.000000
Alpha[19]	0.980278
TNavParticleFilter::Modified Variance for beam 20 is 18.94 
Alpha[20]	0.000000
Alpha[20]	0.980191
TNavParticleFilter::Modified Variance for beam 21 is 18.68 
Alpha[21]	0.000000
Alpha[21]	0.983658
TNavParticleFilter::Modified Variance for beam 22 is 18.43 
Alpha[22]	0.000000
Alpha[22]	0.987806
TNavParticleFilter::Modified Variance for beam 23 is 17.22 
Alpha[23]	0.000000
Alpha[23]	0.984742
TNavParticleFilter::Modified Variance for beam 24 is 17.09 
Alpha[24]	0.000000
Alpha[24]	0.984090
TNavParticleFilter::Modified Variance for beam 25 is 18.02 
Alpha[25]	0.000000
Alpha[25]	0.985782
TNavParticleFilter::Modified Variance for beam 26 is 17.89 
Alpha[26]	0.000000
Alpha[26]	0.985728
TNavParticleFilter::Modified Variance for beam 27 is 17.77 
Alpha[27]	0.000000
Alpha[27]	0.986050
TNavParticleFilter::Modified Variance for beam 28 is 17.66 
Alpha[28]	0.000000
Alpha[28]	0.986331
TNavParticleFilter::Modified Variance for beam 29 is 17.58 
Alpha[29]	0.000000
Alpha[29]	0.985347
TNavParticleFilter::Modified Variance for beam 30 is 17.43 
Alpha[30]	0.000000
Alpha[30]	0.988911
TNavParticleFilter::Modified Variance for beam 31 is 17.33 
Alpha[31]	0.000000
Alpha[31]	0.990103
TNavParticleFilter::Modified Variance for beam 32 is 17.26 
Alpha[32]	0.000000
Alpha[32]	0.990237
TNavParticleFilter::Modified Variance for beam 33 is 17.18 
Alpha[33]	0.000000
Alpha[33]	0.990984
TNavParticleFilter::Modified Variance for beam 34 is 17.16 
Alpha[34]	0.000000
Alpha[34]	0.989154
TNavParticleFilter::Modified Variance for beam 35 is 17.18 
Alpha[35]	0.000000
Alpha[35]	0.985501
TNavParticleFilter::Modified Variance for beam 36 is 17.23 
Alpha[36]	0.000000
Alpha[36]	0.980786
TNavParticleFilter::Modified Variance for beam 37 is 17.08 
Alpha[37]	0.000000
Alpha[37]	0.987664
TNavParticleFilter::Modified Variance for beam 38 is 18.08 
Alpha[38]	0.000000
Alpha[38]	0.990260
TNavParticleFilter::Modified Variance for beam 39 is 18.09 
Alpha[39]	0.000000
Alpha[39]	0.988620
TNavParticleFilter::Modified Variance for beam 40 is 18.23 
Alpha[40]	0.000000
Alpha[40]	0.981280
TNavParticleFilter::Modified Variance for beam 41 is 18.28 
Alpha[41]	0.000000
Alpha[41]	0.978786
TNavParticleFilter::Modified Variance for beam 42 is 17.39 
Alpha[42]	0.000000
Alpha[42]	0.988873
TNavParticleFilter::Modified Variance for beam 43 is 18.08 
Alpha[43]	0.000000
Alpha[43]	0.992123
TNavParticleFilter::Modified Variance for beam 44 is 18.07 
Alpha[44]	0.000000
Alpha[44]	0.994220
TNavParticleFilter::Modified Variance for beam 45 is 17.01 
Alpha[45]	0.000000
Alpha[45]	0.996590
TNavParticleFilter::Modified Variance for beam 46 is 17.04 
Alpha[46]	0.000000
Alpha[46]	0.998176
TNavParticleFilter::Modified Variance for beam 47 is 20.41 
Alpha[47]	0.000000
Alpha[47]	0.997532
TNavParticleFilter::Modified Variance for beam 48 is 21.70 
Alpha[48]	0.000000
Alpha[48]	0.996938
TNavParticleFilter::Modified Variance for beam 49 is 21.80 
Alpha[49]	0.000000
Alpha[49]	0.996529
TNavParticleFilter::Modified Variance for beam 50 is 23.20 
Alpha[50]	0.000000
Alpha[50]	0.994831
TNavParticleFilter::Modified Variance for beam 51 is 23.37 
Alpha[51]	0.000000
Alpha[51]	0.993108
TNavParticleFilter::Modified Variance for beam 52 is 23.47 
Alpha[52]	0.000000
Alpha[52]	0.994810
TNavParticleFilter::Modified Variance for beam 53 is 23.60 
Alpha[53]	0.000000
Alpha[53]	0.996045
TNavParticleFilter::Modified Variance for beam 54 is 23.79 
Alpha[54]	0.000000
Alpha[54]	0.995484
TNavParticleFilter::Modified Variance for beam 55 is 24.04 
Alpha[55]	0.000000
Alpha[55]	0.992869
TNavParticleFilter::Modified Variance for beam 56 is 24.25 
Alpha[56]	0.000000
Alpha[56]	0.992642
TNavParticleFilter::Modified Variance for beam 57 is 24.46 
Alpha[57]	0.000000
Alpha[57]	0.993015
TNavPF:: sumSquaredError = 12.518297 
TNavPF:: sumWeights = 0.023375 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 32 as -1.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -5.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -2.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -4.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -1.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.16. Range = 93.93 
TNavPF::Calculated measDiffMean for beam 65 as 0.55. Range = 92.82 
TNavPF::Calculated measDiffMean for beam 66 as 0.69. Range = 88.81 
TNavPF::Calculated measDiffMean for beam 67 as 0.38. Range = 80.16 
TNavPF::Calculated measDiffMean for beam 68 as 0.04. Range = 79.14 
TNavPF::Calculated measDiffMean for beam 69 as -0.39. Range = 75.74 
TNavPF::Calculated measDiffMean for beam 70 as 0.78. Range = 74.84 
TNavPF::Calculated measDiffMean for beam 71 as 0.38. Range = 71.61 
TNavPF::Calculated measDiffMean for beam 72 as -0.03. Range = 59.07 
TNavPF::Calculated measDiffMean for beam 73 as -0.12. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 74 as -1.33. Range = 57.86 
TNavPF::Calculated measDiffMean for beam 75 as 0.29. Range = 58.21 
TNavPF::Calculated measDiffMean for beam 76 as 0.88. Range = 59.02 
TNavPF::Calculated measDiffMean for beam 77 as -1.14. Range = 58.50 
TNavPF::Calculated measDiffMean for beam 78 as -3.00. Range = 58.00 
TNavPF::Calculated measDiffMean for beam 79 as 0.91. Range = 57.52 
TNavPF::Calculated measDiffMean for beam 80 as 1.41. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 81 as -0.09. Range = 56.65 
TNavPF::Calculated measDiffMean for beam 82 as 0.69. Range = 56.24 
TNavPF::Calculated measDiffMean for beam 83 as 0.40. Range = 55.86 
TNavPF::Calculated measDiffMean for beam 84 as 0.40. Range = 55.51 
TNavPF::Calculated measDiffMean for beam 85 as 0.49. Range = 55.17 
TNavPF::Calculated measDiffMean for beam 86 as 0.29. Range = 54.85 
TNavPF::Calculated measDiffMean for beam 87 as -0.05. Range = 52.47 
TNavPF::Calculated measDiffMean for beam 88 as -0.45. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 89 as -0.82. Range = 54.02 
TNavPF::First Term of Map Covariance Matrix is 4.09 
TNavPF::Calculated NIS Value : 3.26 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322552.82 sec.
INS : North: 4070367.90, East: 588642.40, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 58.16, IDT[75] = 51.34
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322555.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322555.62)
ARL : North: -0.1148, East: -3.7215, Depth: 5.7688ARL : Estimation Bias  (Mean)         : (t = 1488322555.62)
ARL : North: -0.3977, East: -2.5076, Depth: 0.4169TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 48.88 
Alpha[0]	0.123000
Alpha[0]	0.996693
TNavParticleFilter::Modified Variance for beam 1 is 47.74 
Alpha[1]	0.000000
Alpha[1]	0.995720
TNavParticleFilter::Modified Variance for beam 2 is 43.80 
Alpha[2]	0.000000
Alpha[2]	0.997514
TNavParticleFilter::Modified Variance for beam 3 is 42.60 
Alpha[3]	0.000000
Alpha[3]	0.998824
TNavParticleFilter::Modified Variance for beam 4 is 33.26 
Alpha[4]	0.000000
Alpha[4]	0.998254
TNavParticleFilter::Modified Variance for beam 5 is 32.45 
Alpha[5]	0.000000
Alpha[5]	0.998881
TNavParticleFilter::Modified Variance for beam 6 is 21.72 
Alpha[6]	0.000000
Alpha[6]	0.999525
TNavParticleFilter::Modified Variance for beam 7 is 21.28 
Alpha[7]	0.000000
Alpha[7]	0.999235
TNavParticleFilter::Modified Variance for beam 8 is 20.90 
Alpha[8]	0.000000
Alpha[8]	0.996913
TNavParticleFilter::Modified Variance for beam 9 is 20.63 
Alpha[9]	0.000000
Alpha[9]	0.996329
TNavParticleFilter::Modified Variance for beam 10 is 21.66 
Alpha[10]	0.000000
Alpha[10]	0.989946
TNavParticleFilter::Modified Variance for beam 11 is 21.71 
Alpha[11]	0.000000
Alpha[11]	0.969800
TNavParticleFilter::Modified Variance for beam 12 is 21.31 
Alpha[12]	0.000000
Alpha[12]	0.971183
TNavParticleFilter::Modified Variance for beam 13 is 20.89 
Alpha[13]	0.000000
Alpha[13]	0.974606
TNavParticleFilter::Modified Variance for beam 14 is 20.61 
Alpha[14]	0.000000
Alpha[14]	0.972198
TNavParticleFilter::Modified Variance for beam 15 is 20.35 
Alpha[15]	0.000000
Alpha[15]	0.969873
TNavParticleFilter::Modified Variance for beam 16 is 19.83 
Alpha[16]	0.000000
Alpha[16]	0.981484
TNavParticleFilter::Modified Variance for beam 17 is 19.50 
Alpha[17]	0.000000
Alpha[17]	0.984143
TNavParticleFilter::Modified Variance for beam 18 is 19.25 
Alpha[18]	0.000000
Alpha[18]	0.984121
TNavParticleFilter::Modified Variance for beam 19 is 18.97 
Alpha[19]	0.000000
Alpha[19]	0.986435
TNavParticleFilter::Modified Variance for beam 20 is 17.55 
Alpha[20]	0.000000
Alpha[20]	0.988305
TNavParticleFilter::Modified Variance for beam 21 is 17.41 
Alpha[21]	0.000000
Alpha[21]	0.985169
TNavParticleFilter::Modified Variance for beam 22 is 17.49 
Alpha[22]	0.000000
Alpha[22]	0.984719
TNavParticleFilter::Modified Variance for beam 23 is 18.16 
Alpha[23]	0.000000
Alpha[23]	0.986160
TNavParticleFilter::Modified Variance for beam 24 is 18.01 
Alpha[24]	0.000000
Alpha[24]	0.984885
TNavParticleFilter::Modified Variance for beam 25 is 17.84 
Alpha[25]	0.000000
Alpha[25]	0.985567
TNavParticleFilter::Modified Variance for beam 26 is 17.68 
Alpha[26]	0.000000
Alpha[26]	0.986460
TNavParticleFilter::Modified Variance for beam 27 is 17.54 
Alpha[27]	0.000000
Alpha[27]	0.986421
TNavParticleFilter::Modified Variance for beam 28 is 17.35 
Alpha[28]	0.000000
Alpha[28]	0.990158
TNavParticleFilter::Modified Variance for beam 29 is 17.22 
Alpha[29]	0.000000
Alpha[29]	0.990771
TNavParticleFilter::Modified Variance for beam 30 is 17.11 
Alpha[30]	0.000000
Alpha[30]	0.990841
TNavParticleFilter::Modified Variance for beam 31 is 17.03 
Alpha[31]	0.000000
Alpha[31]	0.990193
TNavParticleFilter::Modified Variance for beam 32 is 16.99 
Alpha[32]	0.000000
Alpha[32]	0.987172
TNavParticleFilter::Modified Variance for beam 33 is 16.98 
Alpha[33]	0.000000
Alpha[33]	0.983126
TNavParticleFilter::Modified Variance for beam 34 is 16.93 
Alpha[34]	0.000000
Alpha[34]	0.981799
TNavParticleFilter::Modified Variance for beam 35 is 16.75 
Alpha[35]	0.000000
Alpha[35]	0.988597
TNavParticleFilter::Modified Variance for beam 36 is 17.71 
Alpha[36]	0.000000
Alpha[36]	0.990769
TNavParticleFilter::Modified Variance for beam 37 is 17.70 
Alpha[37]	0.000000
Alpha[37]	0.988587
TNavParticleFilter::Modified Variance for beam 38 is 17.82 
Alpha[38]	0.000000
Alpha[38]	0.979687
TNavParticleFilter::Modified Variance for beam 39 is 17.78 
Alpha[39]	0.000000
Alpha[39]	0.980463
TNavParticleFilter::Modified Variance for beam 40 is 16.54 
Alpha[40]	0.000000
Alpha[40]	0.990168
TNavParticleFilter::Modified Variance for beam 41 is 16.48 
Alpha[41]	0.000000
Alpha[41]	0.993157
TNavParticleFilter::Modified Variance for beam 42 is 16.45 
Alpha[42]	0.000000
Alpha[42]	0.994766
TNavParticleFilter::Modified Variance for beam 43 is 16.43 
Alpha[43]	0.000000
Alpha[43]	0.996295
TNavParticleFilter::Modified Variance for beam 44 is 16.41 
Alpha[44]	0.000000
Alpha[44]	0.997967
TNavParticleFilter::Modified Variance for beam 45 is 19.66 
Alpha[45]	0.000000
Alpha[45]	0.997079
TNavParticleFilter::Modified Variance for beam 46 is 20.85 
Alpha[46]	0.000000
Alpha[46]	0.996431
TNavParticleFilter::Modified Variance for beam 47 is 20.94 
Alpha[47]	0.000000
Alpha[47]	0.994664
TNavParticleFilter::Modified Variance for beam 48 is 22.18 
Alpha[48]	0.000000
Alpha[48]	0.995239
TNavParticleFilter::Modified Variance for beam 49 is 22.31 
Alpha[49]	0.000000
Alpha[49]	0.992813
TNavParticleFilter::Modified Variance for beam 50 is 22.39 
Alpha[50]	0.000000
Alpha[50]	0.992983
TNavParticleFilter::Modified Variance for beam 51 is 22.46 
Alpha[51]	0.000000
Alpha[51]	0.994359
TNavParticleFilter::Modified Variance for beam 52 is 22.57 
Alpha[52]	0.000000
Alpha[52]	0.994239
TNavParticleFilter::Modified Variance for beam 53 is 22.74 
Alpha[53]	0.000000
Alpha[53]	0.992508
TNavParticleFilter::Modified Variance for beam 54 is 22.92 
Alpha[54]	0.000000
Alpha[54]	0.990407
TNavParticleFilter::Modified Variance for beam 55 is 23.03 
Alpha[55]	0.000000
Alpha[55]	0.991908
TNavParticleFilter::Modified Variance for beam 56 is 23.21 
Alpha[56]	0.000000
Alpha[56]	0.991553
TNavParticleFilter::Modified Variance for beam 57 is 24.69 
Alpha[57]	0.000000
Alpha[57]	0.992257
TNavParticleFilter::Modified Variance for beam 58 is 24.86 
Alpha[58]	0.000000
Alpha[58]	0.993400
TNavPF:: sumSquaredError = 21.246655 
TNavPF:: sumWeights = 0.033494 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 31 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 3.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -2.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -7.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -3.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.61. Range = 96.10 
TNavPF::Calculated measDiffMean for beam 63 as 0.67. Range = 94.84 
TNavPF::Calculated measDiffMean for beam 64 as 0.43. Range = 90.61 
TNavPF::Calculated measDiffMean for beam 65 as 0.19. Range = 89.31 
TNavPF::Calculated measDiffMean for beam 66 as -0.28. Range = 77.91 
TNavPF::Calculated measDiffMean for beam 67 as 0.87. Range = 76.87 
TNavPF::Calculated measDiffMean for beam 68 as 0.49. Range = 61.02 
TNavPF::Calculated measDiffMean for beam 69 as 0.11. Range = 60.27 
TNavPF::Calculated measDiffMean for beam 70 as 0.06. Range = 59.55 
TNavPF::Calculated measDiffMean for beam 71 as -1.82. Range = 59.06 
TNavPF::Calculated measDiffMean for beam 72 as -1.64. Range = 60.57 
TNavPF::Calculated measDiffMean for beam 73 as -1.22. Range = 59.92 
TNavPF::Calculated measDiffMean for beam 74 as -1.22. Range = 59.30 
TNavPF::Calculated measDiffMean for beam 75 as -2.94. Range = 58.72 
TNavPF::Calculated measDiffMean for beam 76 as 1.01. Range = 58.16 
TNavPF::Calculated measDiffMean for beam 77 as 1.85. Range = 57.64 
TNavPF::Calculated measDiffMean for beam 78 as 0.66. Range = 57.13 
TNavPF::Calculated measDiffMean for beam 79 as 1.29. Range = 56.66 
TNavPF::Calculated measDiffMean for beam 80 as 0.55. Range = 56.21 
TNavPF::Calculated measDiffMean for beam 81 as 0.41. Range = 55.78 
TNavPF::Calculated measDiffMean for beam 82 as 0.43. Range = 53.22 
TNavPF::Calculated measDiffMean for beam 83 as 0.41. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 84 as 0.15. Range = 52.99 
TNavPF::Calculated measDiffMean for beam 85 as -0.11. Range = 54.30 
TNavPF::Calculated measDiffMean for beam 86 as -0.45. Range = 53.98 
TNavPF::Calculated measDiffMean for beam 87 as -0.80. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 88 as 0.89. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 89 as 0.66. Range = 53.14 
TNavPF::First Term of Map Covariance Matrix is 6.04 
TNavPF::Calculated NIS Value : 3.35 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322555.82 sec.
INS : North: 4070366.91, East: 588638.14, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 57.71, IDT[75] = 58.25
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322558.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322558.62)
ARL : North: -1.2968, East: -2.0386, Depth: 3.2724ARL : Estimation Bias  (Mean)         : (t = 1488322558.62)
ARL : North: -0.6246, East: -2.5031, Depth: -0.0973TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 51.05 
Alpha[0]	0.123000
Alpha[0]	0.997827
TNavParticleFilter::Modified Variance for beam 1 is 49.71 
Alpha[1]	0.000000
Alpha[1]	0.993875
TNavParticleFilter::Modified Variance for beam 2 is 45.52 
Alpha[2]	0.000000
Alpha[2]	0.997440
TNavParticleFilter::Modified Variance for beam 3 is 44.15 
Alpha[3]	0.000000
Alpha[3]	0.998919
TNavParticleFilter::Modified Variance for beam 4 is 34.21 
Alpha[4]	0.000000
Alpha[4]	0.999343
TNavParticleFilter::Modified Variance for beam 5 is 22.61 
Alpha[5]	0.000000
Alpha[5]	0.999689
TNavParticleFilter::Modified Variance for beam 6 is 22.09 
Alpha[6]	0.000000
Alpha[6]	0.999090
TNavParticleFilter::Modified Variance for beam 7 is 21.66 
Alpha[7]	0.000000
Alpha[7]	0.996066
TNavParticleFilter::Modified Variance for beam 8 is 22.04 
Alpha[8]	0.000000
Alpha[8]	0.996454
TNavParticleFilter::Modified Variance for beam 9 is 22.44 
Alpha[9]	0.000000
Alpha[9]	0.985617
TNavParticleFilter::Modified Variance for beam 10 is 22.40 
Alpha[10]	0.000000
Alpha[10]	0.967226
TNavParticleFilter::Modified Variance for beam 11 is 21.85 
Alpha[11]	0.000000
Alpha[11]	0.972237
TNavParticleFilter::Modified Variance for beam 12 is 21.41 
Alpha[12]	0.000000
Alpha[12]	0.973517
TNavParticleFilter::Modified Variance for beam 13 is 21.05 
Alpha[13]	0.000000
Alpha[13]	0.972524
TNavParticleFilter::Modified Variance for beam 14 is 20.43 
Alpha[14]	0.000000
Alpha[14]	0.984816
TNavParticleFilter::Modified Variance for beam 15 is 20.04 
Alpha[15]	0.000000
Alpha[15]	0.987145
TNavParticleFilter::Modified Variance for beam 16 is 19.74 
Alpha[16]	0.000000
Alpha[16]	0.986685
TNavParticleFilter::Modified Variance for beam 17 is 19.42 
Alpha[17]	0.000000
Alpha[17]	0.987799
TNavParticleFilter::Modified Variance for beam 18 is 17.89 
Alpha[18]	0.000000
Alpha[18]	0.989005
TNavParticleFilter::Modified Variance for beam 19 is 17.70 
Alpha[19]	0.000000
Alpha[19]	0.986267
TNavParticleFilter::Modified Variance for beam 20 is 18.14 
Alpha[20]	0.000000
Alpha[20]	0.986192
TNavParticleFilter::Modified Variance for beam 21 is 18.41 
Alpha[21]	0.000000
Alpha[21]	0.986830
TNavParticleFilter::Modified Variance for beam 22 is 18.25 
Alpha[22]	0.000000
Alpha[22]	0.983938
TNavParticleFilter::Modified Variance for beam 23 is 18.01 
Alpha[23]	0.000000
Alpha[23]	0.985303
TNavParticleFilter::Modified Variance for beam 24 is 17.80 
Alpha[24]	0.000000
Alpha[24]	0.986314
TNavParticleFilter::Modified Variance for beam 25 is 17.61 
Alpha[25]	0.000000
Alpha[25]	0.986994
TNavParticleFilter::Modified Variance for beam 26 is 17.38 
Alpha[26]	0.000000
Alpha[26]	0.990431
TNavParticleFilter::Modified Variance for beam 27 is 17.24 
Alpha[27]	0.000000
Alpha[27]	0.989874
TNavParticleFilter::Modified Variance for beam 28 is 17.07 
Alpha[28]	0.000000
Alpha[28]	0.990794
TNavParticleFilter::Modified Variance for beam 29 is 16.97 
Alpha[29]	0.000000
Alpha[29]	0.988850
TNavParticleFilter::Modified Variance for beam 30 is 16.91 
Alpha[30]	0.000000
Alpha[30]	0.985265
TNavParticleFilter::Modified Variance for beam 31 is 16.84 
Alpha[31]	0.000000
Alpha[31]	0.982315
TNavParticleFilter::Modified Variance for beam 32 is 16.72 
Alpha[32]	0.000000
Alpha[32]	0.983582
TNavParticleFilter::Modified Variance for beam 33 is 17.13 
Alpha[33]	0.000000
Alpha[33]	0.990802
TNavParticleFilter::Modified Variance for beam 34 is 17.44 
Alpha[34]	0.000000
Alpha[34]	0.991709
TNavParticleFilter::Modified Variance for beam 35 is 17.43 
Alpha[35]	0.000000
Alpha[35]	0.987599
TNavParticleFilter::Modified Variance for beam 36 is 17.51 
Alpha[36]	0.000000
Alpha[36]	0.979014
TNavParticleFilter::Modified Variance for beam 37 is 17.34 
Alpha[37]	0.000000
Alpha[37]	0.984316
TNavParticleFilter::Modified Variance for beam 38 is 16.13 
Alpha[38]	0.000000
Alpha[38]	0.991476
TNavParticleFilter::Modified Variance for beam 39 is 16.05 
Alpha[39]	0.000000
Alpha[39]	0.993648
TNavParticleFilter::Modified Variance for beam 40 is 15.99 
Alpha[40]	0.000000
Alpha[40]	0.994969
TNavParticleFilter::Modified Variance for beam 41 is 15.95 
Alpha[41]	0.000000
Alpha[41]	0.995867
TNavParticleFilter::Modified Variance for beam 42 is 17.96 
Alpha[42]	0.000000
Alpha[42]	0.997524
TNavParticleFilter::Modified Variance for beam 43 is 17.96 
Alpha[43]	0.000000
Alpha[43]	0.996432
TNavParticleFilter::Modified Variance for beam 44 is 17.97 
Alpha[44]	0.000000
Alpha[44]	0.995574
TNavParticleFilter::Modified Variance for beam 45 is 20.25 
Alpha[45]	0.000000
Alpha[45]	0.992168
TNavParticleFilter::Modified Variance for beam 46 is 20.23 
Alpha[46]	0.000000
Alpha[46]	0.993848
TNavParticleFilter::Modified Variance for beam 47 is 21.47 
Alpha[47]	0.000000
Alpha[47]	0.991289
TNavParticleFilter::Modified Variance for beam 48 is 21.56 
Alpha[48]	0.000000
Alpha[48]	0.988939
TNavParticleFilter::Modified Variance for beam 49 is 21.58 
Alpha[49]	0.000000
Alpha[49]	0.989870
TNavParticleFilter::Modified Variance for beam 50 is 21.62 
Alpha[50]	0.000000
Alpha[50]	0.990745
TNavParticleFilter::Modified Variance for beam 51 is 21.77 
Alpha[51]	0.000000
Alpha[51]	0.987115
TNavParticleFilter::Modified Variance for beam 52 is 21.85 
Alpha[52]	0.000000
Alpha[52]	0.986796
TNavParticleFilter::Modified Variance for beam 53 is 21.91 
Alpha[53]	0.000000
Alpha[53]	0.988433
TNavParticleFilter::Modified Variance for beam 54 is 21.97 
Alpha[54]	0.000000
Alpha[54]	0.990106
TNavParticleFilter::Modified Variance for beam 55 is 22.10 
Alpha[55]	0.000000
Alpha[55]	0.989638
TNavParticleFilter::Modified Variance for beam 56 is 23.47 
Alpha[56]	0.000000
Alpha[56]	0.990308
TNavParticleFilter::Modified Variance for beam 57 is 23.58 
Alpha[57]	0.000000
Alpha[57]	0.992008
TNavParticleFilter::Modified Variance for beam 58 is 23.68 
Alpha[58]	0.000000
Alpha[58]	0.994756
TNavParticleFilter::Modified Variance for beam 59 is 25.14 
Alpha[59]	0.000000
Alpha[59]	0.996685
TNavPF:: sumSquaredError = 27.751983 
TNavPF:: sumWeights = 0.045997 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -0.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 3.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -1.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -7.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -2.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.69. Range = 98.43 
TNavPF::Calculated measDiffMean for beam 61 as 0.51. Range = 96.82 
TNavPF::Calculated measDiffMean for beam 62 as 0.36. Range = 92.51 
TNavPF::Calculated measDiffMean for beam 63 as 0.92. Range = 91.07 
TNavPF::Calculated measDiffMean for beam 64 as 0.93. Range = 79.19 
TNavPF::Calculated measDiffMean for beam 65 as 0.54. Range = 62.50 
TNavPF::Calculated measDiffMean for beam 66 as 0.22. Range = 61.62 
TNavPF::Calculated measDiffMean for beam 67 as 0.26. Range = 60.79 
TNavPF::Calculated measDiffMean for beam 68 as -1.68. Range = 61.43 
TNavPF::Calculated measDiffMean for beam 69 as -1.54. Range = 61.69 
TNavPF::Calculated measDiffMean for beam 70 as -1.18. Range = 60.95 
TNavPF::Calculated measDiffMean for beam 71 as -1.25. Range = 60.23 
TNavPF::Calculated measDiffMean for beam 72 as 0.89. Range = 59.56 
TNavPF::Calculated measDiffMean for beam 73 as -1.08. Range = 58.91 
TNavPF::Calculated measDiffMean for beam 74 as -2.00. Range = 58.30 
TNavPF::Calculated measDiffMean for beam 75 as 0.92. Range = 57.71 
TNavPF::Calculated measDiffMean for beam 76 as -0.03. Range = 57.16 
TNavPF::Calculated measDiffMean for beam 77 as 0.72. Range = 56.63 
TNavPF::Calculated measDiffMean for beam 78 as 0.47. Range = 53.90 
TNavPF::Calculated measDiffMean for beam 79 as 0.38. Range = 53.44 
TNavPF::Calculated measDiffMean for beam 80 as 0.39. Range = 54.26 
TNavPF::Calculated measDiffMean for beam 81 as 0.32. Range = 54.78 
TNavPF::Calculated measDiffMean for beam 82 as 0.04. Range = 54.38 
TNavPF::Calculated measDiffMean for beam 83 as -0.14. Range = 53.99 
TNavPF::Calculated measDiffMean for beam 84 as -0.50. Range = 53.63 
TNavPF::Calculated measDiffMean for beam 85 as -0.79. Range = 53.30 
TNavPF::Calculated measDiffMean for beam 86 as 0.87. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 87 as 0.65. Range = 52.68 
TNavPF::Calculated measDiffMean for beam 88 as 0.33. Range = 52.40 
TNavPF::Calculated measDiffMean for beam 89 as 0.93. Range = 52.14 
TNavPF::First Term of Map Covariance Matrix is 9.19 
TNavPF::Calculated NIS Value : 2.54 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322558.82 sec.
INS : North: 4070365.78, East: 588633.91, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 59.61, IDT[75] = 55.09
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322561.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322561.62)
ARL : North: -0.6433, East: -1.3422, Depth: 0.5301ARL : Estimation Bias  (Mean)         : (t = 1488322561.62)
ARL : North: -0.7124, East: -2.5573, Depth: 0.0437TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 34 35 36 37 
TNavParticleFilter::Modified Variance for beam 0 is 51.68 
Alpha[0]	0.123000
Alpha[0]	0.996350
TNavParticleFilter::Modified Variance for beam 1 is 47.27 
Alpha[1]	0.000000
Alpha[1]	0.997945
TNavParticleFilter::Modified Variance for beam 2 is 38.48 
Alpha[2]	0.000000
Alpha[2]	0.999533
TNavParticleFilter::Modified Variance for beam 3 is 23.55 
Alpha[3]	0.000000
Alpha[3]	0.999795
TNavParticleFilter::Modified Variance for beam 4 is 22.93 
Alpha[4]	0.000000
Alpha[4]	0.999408
TNavParticleFilter::Modified Variance for beam 5 is 22.43 
Alpha[5]	0.000000
Alpha[5]	0.995564
TNavParticleFilter::Modified Variance for beam 6 is 23.21 
Alpha[6]	0.000000
Alpha[6]	0.996401
TNavParticleFilter::Modified Variance for beam 7 is 23.10 
Alpha[7]	0.000000
Alpha[7]	0.987157
TNavParticleFilter::Modified Variance for beam 8 is 22.88 
Alpha[8]	0.000000
Alpha[8]	0.973735
TNavParticleFilter::Modified Variance for beam 9 is 22.29 
Alpha[9]	0.000000
Alpha[9]	0.977088
TNavParticleFilter::Modified Variance for beam 10 is 21.84 
Alpha[10]	0.000000
Alpha[10]	0.975995
TNavParticleFilter::Modified Variance for beam 11 is 21.30 
Alpha[11]	0.000000
Alpha[11]	0.980375
TNavParticleFilter::Modified Variance for beam 12 is 20.73 
Alpha[12]	0.000000
Alpha[12]	0.987466
TNavParticleFilter::Modified Variance for beam 13 is 20.34 
Alpha[13]	0.000000
Alpha[13]	0.987228
TNavParticleFilter::Modified Variance for beam 14 is 19.95 
Alpha[14]	0.000000
Alpha[14]	0.987983
TNavParticleFilter::Modified Variance for beam 15 is 18.27 
Alpha[15]	0.000000
Alpha[15]	0.990471
TNavParticleFilter::Modified Variance for beam 16 is 18.03 
Alpha[16]	0.000000
Alpha[16]	0.987252
TNavParticleFilter::Modified Variance for beam 17 is 18.55 
Alpha[17]	0.000000
Alpha[17]	0.986266
TNavParticleFilter::Modified Variance for beam 18 is 18.69 
Alpha[18]	0.000000
Alpha[18]	0.987526
TNavParticleFilter::Modified Variance for beam 19 is 18.48 
Alpha[19]	0.000000
Alpha[19]	0.984335
TNavParticleFilter::Modified Variance for beam 20 is 18.22 
Alpha[20]	0.000000
Alpha[20]	0.984782
TNavParticleFilter::Modified Variance for beam 21 is 17.96 
Alpha[21]	0.000000
Alpha[21]	0.985695
TNavParticleFilter::Modified Variance for beam 22 is 17.69 
Alpha[22]	0.000000
Alpha[22]	0.987709
TNavParticleFilter::Modified Variance for beam 23 is 17.41 
Alpha[23]	0.000000
Alpha[23]	0.991896
TNavParticleFilter::Modified Variance for beam 24 is 17.21 
Alpha[24]	0.000000
Alpha[24]	0.991663
TNavParticleFilter::Modified Variance for beam 25 is 17.02 
Alpha[25]	0.000000
Alpha[25]	0.991782
TNavParticleFilter::Modified Variance for beam 26 is 16.90 
Alpha[26]	0.000000
Alpha[26]	0.989031
TNavParticleFilter::Modified Variance for beam 27 is 16.80 
Alpha[27]	0.000000
Alpha[27]	0.984776
TNavParticleFilter::Modified Variance for beam 28 is 16.69 
Alpha[28]	0.000000
Alpha[28]	0.982406
TNavParticleFilter::Modified Variance for beam 29 is 16.52 
Alpha[29]	0.000000
Alpha[29]	0.984029
TNavParticleFilter::Modified Variance for beam 30 is 17.35 
Alpha[30]	0.000000
Alpha[30]	0.990370
TNavParticleFilter::Modified Variance for beam 31 is 17.22 
Alpha[31]	0.000000
Alpha[31]	0.990310
TNavParticleFilter::Modified Variance for beam 32 is 17.21 
Alpha[32]	0.000000
Alpha[32]	0.983934
TNavParticleFilter::Modified Variance for beam 33 is 17.19 
Alpha[33]	0.000000
Alpha[33]	0.978179
TNavParticleFilter::Modified Variance for beam 34 is 15.92 
Alpha[34]	0.000000
Alpha[34]	0.985910
TNavParticleFilter::Modified Variance for beam 35 is 15.74 
Alpha[35]	0.000000
Alpha[35]	0.991949
TNavParticleFilter::Modified Variance for beam 36 is 15.62 
Alpha[36]	0.000000
Alpha[36]	0.994289
TNavParticleFilter::Modified Variance for beam 37 is 15.54 
Alpha[37]	0.000000
Alpha[37]	0.995000
TNavParticleFilter::Modified Variance for beam 38 is 15.47 
Alpha[38]	0.000000
Alpha[38]	0.995501
TNavParticleFilter::Modified Variance for beam 39 is 17.43 
Alpha[39]	0.000000
Alpha[39]	0.996532
TNavParticleFilter::Modified Variance for beam 40 is 18.46 
Alpha[40]	0.000000
Alpha[40]	0.996010
TNavParticleFilter::Modified Variance for beam 41 is 18.42 
Alpha[41]	0.000000
Alpha[41]	0.995384
TNavParticleFilter::Modified Variance for beam 42 is 19.54 
Alpha[42]	0.000000
Alpha[42]	0.992648
TNavParticleFilter::Modified Variance for beam 43 is 19.52 
Alpha[43]	0.000000
Alpha[43]	0.992021
TNavParticleFilter::Modified Variance for beam 44 is 20.62 
Alpha[44]	0.000000
Alpha[44]	0.993132
TNavParticleFilter::Modified Variance for beam 45 is 20.64 
Alpha[45]	0.000000
Alpha[45]	0.991326
TNavParticleFilter::Modified Variance for beam 46 is 20.61 
Alpha[46]	0.000000
Alpha[46]	0.992597
TNavParticleFilter::Modified Variance for beam 47 is 20.62 
Alpha[47]	0.000000
Alpha[47]	0.992422
TNavParticleFilter::Modified Variance for beam 48 is 20.73 
Alpha[48]	0.000000
Alpha[48]	0.987872
TNavParticleFilter::Modified Variance for beam 49 is 20.88 
Alpha[49]	0.000000
Alpha[49]	0.981930
TNavParticleFilter::Modified Variance for beam 50 is 20.82 
Alpha[50]	0.000000
Alpha[50]	0.986787
TNavParticleFilter::Modified Variance for beam 51 is 20.82 
Alpha[51]	0.000000
Alpha[51]	0.989046
TNavParticleFilter::Modified Variance for beam 52 is 20.86 
Alpha[52]	0.000000
Alpha[52]	0.989736
TNavParticleFilter::Modified Variance for beam 53 is 20.94 
Alpha[53]	0.000000
Alpha[53]	0.989606
TNavParticleFilter::Modified Variance for beam 54 is 22.21 
Alpha[54]	0.000000
Alpha[54]	0.990176
TNavParticleFilter::Modified Variance for beam 55 is 22.28 
Alpha[55]	0.000000
Alpha[55]	0.991472
TNavPF:: sumSquaredError = 32.955688 
TNavPF:: sumWeights = 0.049608 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 34 as -2.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -2.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -4.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -10.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -3.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 1.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -1.86. Range = 99.00 
TNavPF::Calculated measDiffMean for beam 69 as -1.78. Range = 94.44 
TNavPF::Calculated measDiffMean for beam 70 as -1.52. Range = 84.51 
TNavPF::Calculated measDiffMean for beam 71 as -1.13. Range = 64.01 
TNavPF::Calculated measDiffMean for beam 72 as -1.40. Range = 63.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.80. Range = 62.06 
TNavPF::Calculated measDiffMean for beam 74 as 0.96. Range = 63.34 
TNavPF::Calculated measDiffMean for beam 75 as 0.18. Range = 62.82 
TNavPF::Calculated measDiffMean for beam 76 as 1.01. Range = 61.96 
TNavPF::Calculated measDiffMean for beam 77 as 0.41. Range = 61.14 
TNavPF::Calculated measDiffMean for beam 78 as 1.03. Range = 60.36 
TNavPF::Calculated measDiffMean for beam 79 as 0.45. Range = 59.61 
TNavPF::Calculated measDiffMean for beam 80 as 0.35. Range = 58.91 
TNavPF::Calculated measDiffMean for beam 81 as 0.32. Range = 58.23 
TNavPF::Calculated measDiffMean for beam 82 as 0.25. Range = 57.59 
TNavPF::Calculated measDiffMean for beam 83 as 0.15. Range = 54.65 
TNavPF::Calculated measDiffMean for beam 84 as -0.06. Range = 54.09 
TNavPF::Calculated measDiffMean for beam 85 as -0.20. Range = 55.02 
TNavPF::Calculated measDiffMean for beam 86 as -0.59. Range = 55.32 
TNavPF::Calculated measDiffMean for beam 87 as -0.84. Range = 54.82 
TNavPF::Calculated measDiffMean for beam 88 as 0.81. Range = 54.35 
TNavPF::Calculated measDiffMean for beam 89 as 0.66. Range = 53.90 
TNavPF::First Term of Map Covariance Matrix is 5.47 
TNavPF::Calculated NIS Value : 2.49 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322561.82 sec.
INS : North: 4070364.20, East: 588629.86, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 64.58, IDT[75] = 48.29
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322564.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322564.62)
ARL : North: -0.3422, East: -2.9412, Depth: 3.7588ARL : Estimation Bias  (Mean)         : (t = 1488322564.62)
ARL : North: -0.9510, East: -2.6901, Depth: 0.2648TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 71 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 41 42 43 44 
TNavParticleFilter::Modified Variance for beam 0 is 40.81 
Alpha[0]	0.123000
Alpha[0]	0.999854
TNavParticleFilter::Modified Variance for beam 1 is 24.38 
Alpha[1]	0.000000
Alpha[1]	0.999789
TNavParticleFilter::Modified Variance for beam 2 is 23.66 
Alpha[2]	0.000000
Alpha[2]	0.998786
TNavParticleFilter::Modified Variance for beam 3 is 23.28 
Alpha[3]	0.000000
Alpha[3]	0.995444
TNavParticleFilter::Modified Variance for beam 4 is 24.10 
Alpha[4]	0.000000
Alpha[4]	0.991829
TNavParticleFilter::Modified Variance for beam 5 is 23.79 
Alpha[5]	0.000000
Alpha[5]	0.981230
TNavParticleFilter::Modified Variance for beam 6 is 23.12 
Alpha[6]	0.000000
Alpha[6]	0.983117
TNavParticleFilter::Modified Variance for beam 7 is 22.62 
Alpha[7]	0.000000
Alpha[7]	0.979348
TNavParticleFilter::Modified Variance for beam 8 is 21.98 
Alpha[8]	0.000000
Alpha[8]	0.983257
TNavParticleFilter::Modified Variance for beam 9 is 21.39 
Alpha[9]	0.000000
Alpha[9]	0.986741
TNavParticleFilter::Modified Variance for beam 10 is 20.92 
Alpha[10]	0.000000
Alpha[10]	0.986545
TNavParticleFilter::Modified Variance for beam 11 is 20.37 
Alpha[11]	0.000000
Alpha[11]	0.991249
TNavParticleFilter::Modified Variance for beam 12 is 18.59 
Alpha[12]	0.000000
Alpha[12]	0.990258
TNavParticleFilter::Modified Variance for beam 13 is 18.29 
Alpha[13]	0.000000
Alpha[13]	0.986602
TNavParticleFilter::Modified Variance for beam 14 is 18.59 
Alpha[14]	0.000000
Alpha[14]	0.987402
TNavParticleFilter::Modified Variance for beam 15 is 18.91 
Alpha[15]	0.000000
Alpha[15]	0.986578
TNavParticleFilter::Modified Variance for beam 16 is 18.61 
Alpha[16]	0.000000
Alpha[16]	0.984675
TNavParticleFilter::Modified Variance for beam 17 is 18.29 
Alpha[17]	0.000000
Alpha[17]	0.985028
TNavParticleFilter::Modified Variance for beam 18 is 17.97 
Alpha[18]	0.000000
Alpha[18]	0.986887
TNavParticleFilter::Modified Variance for beam 19 is 17.59 
Alpha[19]	0.000000
Alpha[19]	0.992596
TNavParticleFilter::Modified Variance for beam 20 is 17.31 
Alpha[20]	0.000000
Alpha[20]	0.993363
TNavParticleFilter::Modified Variance for beam 21 is 17.08 
Alpha[21]	0.000000
Alpha[21]	0.992884
TNavParticleFilter::Modified Variance for beam 22 is 16.90 
Alpha[22]	0.000000
Alpha[22]	0.989991
TNavParticleFilter::Modified Variance for beam 23 is 16.78 
Alpha[23]	0.000000
Alpha[23]	0.984452
TNavParticleFilter::Modified Variance for beam 24 is 16.61 
Alpha[24]	0.000000
Alpha[24]	0.981986
TNavParticleFilter::Modified Variance for beam 25 is 16.43 
Alpha[25]	0.000000
Alpha[25]	0.981238
TNavParticleFilter::Modified Variance for beam 26 is 16.14 
Alpha[26]	0.000000
Alpha[26]	0.987869
TNavParticleFilter::Modified Variance for beam 27 is 17.05 
Alpha[27]	0.000000
Alpha[27]	0.988611
TNavParticleFilter::Modified Variance for beam 28 is 16.99 
Alpha[28]	0.000000
Alpha[28]	0.981882
TNavParticleFilter::Modified Variance for beam 29 is 16.93 
Alpha[29]	0.000000
Alpha[29]	0.975865
TNavParticleFilter::Modified Variance for beam 30 is 16.62 
Alpha[30]	0.000000
Alpha[30]	0.985392
TNavParticleFilter::Modified Variance for beam 31 is 16.38 
Alpha[31]	0.000000
Alpha[31]	0.991294
TNavParticleFilter::Modified Variance for beam 32 is 16.20 
Alpha[32]	0.000000
Alpha[32]	0.994340
TNavParticleFilter::Modified Variance for beam 33 is 15.07 
Alpha[33]	0.000000
Alpha[33]	0.994553
TNavParticleFilter::Modified Variance for beam 34 is 14.97 
Alpha[34]	0.000000
Alpha[34]	0.994523
TNavParticleFilter::Modified Variance for beam 35 is 14.87 
Alpha[35]	0.000000
Alpha[35]	0.995240
TNavParticleFilter::Modified Variance for beam 36 is 16.82 
Alpha[36]	0.000000
Alpha[36]	0.995341
TNavParticleFilter::Modified Variance for beam 37 is 17.77 
Alpha[37]	0.000000
Alpha[37]	0.994972
TNavParticleFilter::Modified Variance for beam 38 is 17.70 
Alpha[38]	0.000000
Alpha[38]	0.993674
TNavParticleFilter::Modified Variance for beam 39 is 18.75 
Alpha[39]	0.000000
Alpha[39]	0.991860
TNavParticleFilter::Modified Variance for beam 40 is 18.65 
Alpha[40]	0.000000
Alpha[40]	0.992840
TNavParticleFilter::Modified Variance for beam 41 is 19.05 
Alpha[41]	0.000000
Alpha[41]	0.993932
TNavParticleFilter::Modified Variance for beam 42 is 19.61 
Alpha[42]	0.000000
Alpha[42]	0.994824
TNavParticleFilter::Modified Variance for beam 43 is 19.57 
Alpha[43]	0.000000
Alpha[43]	0.994203
TNavParticleFilter::Modified Variance for beam 44 is 19.60 
Alpha[44]	0.000000
Alpha[44]	0.990824
TNavParticleFilter::Modified Variance for beam 45 is 19.73 
Alpha[45]	0.000000
Alpha[45]	0.982881
TNavParticleFilter::Modified Variance for beam 46 is 19.72 
Alpha[46]	0.000000
Alpha[46]	0.982231
TNavParticleFilter::Modified Variance for beam 47 is 19.62 
Alpha[47]	0.000000
Alpha[47]	0.987027
TNavParticleFilter::Modified Variance for beam 48 is 19.58 
Alpha[48]	0.000000
Alpha[48]	0.988818
TNavPF:: sumSquaredError = 11.925792 
TNavPF:: sumWeights = 0.038158 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 41 as -0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -7.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -1.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as 0.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as 0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as 0.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as -0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -2.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 0.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as -0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as -0.26. Range = 87.29 
TNavPF::Calculated measDiffMean for beam 83 as 0.56. Range = 65.32 
TNavPF::Calculated measDiffMean for beam 84 as 0.40. Range = 64.15 
TNavPF::Calculated measDiffMean for beam 85 as 0.27. Range = 63.43 
TNavPF::Calculated measDiffMean for beam 86 as 0.18. Range = 64.58 
TNavPF::Calculated measDiffMean for beam 87 as 0.14. Range = 63.70 
TNavPF::Calculated measDiffMean for beam 88 as 0.00. Range = 62.71 
TNavPF::Calculated measDiffMean for beam 89 as -0.13. Range = 61.76 
TNavPF::First Term of Map Covariance Matrix is 137.18 
TNavPF::Calculated NIS Value : 2.17 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322564.82 sec.
INS : North: 4070362.11, East: 588626.06, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 62.50, IDT[75] = 52.43
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322567.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322567.62)
ARL : North: 0.1290, East: -2.4898, Depth: 1.2193ARL : Estimation Bias  (Mean)         : (t = 1488322567.62)
ARL : North: -1.0999, East: -2.5226, Depth: -0.0453TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 39 40 41 42 
TNavParticleFilter::Modified Variance for beam 0 is 25.39 
Alpha[0]	0.123000
Alpha[0]	0.999195
TNavParticleFilter::Modified Variance for beam 1 is 24.60 
Alpha[1]	0.000000
Alpha[1]	0.995486
TNavParticleFilter::Modified Variance for beam 2 is 24.16 
Alpha[2]	0.000000
Alpha[2]	0.994772
TNavParticleFilter::Modified Variance for beam 3 is 25.08 
Alpha[3]	0.000000
Alpha[3]	0.985017
TNavParticleFilter::Modified Variance for beam 4 is 24.42 
Alpha[4]	0.000000
Alpha[4]	0.982820
TNavParticleFilter::Modified Variance for beam 5 is 23.69 
Alpha[5]	0.000000
Alpha[5]	0.982664
TNavParticleFilter::Modified Variance for beam 6 is 22.84 
Alpha[6]	0.000000
Alpha[6]	0.989685
TNavParticleFilter::Modified Variance for beam 7 is 22.19 
Alpha[7]	0.000000
Alpha[7]	0.990292
TNavParticleFilter::Modified Variance for beam 8 is 21.57 
Alpha[8]	0.000000
Alpha[8]	0.991687
TNavParticleFilter::Modified Variance for beam 9 is 21.00 
Alpha[9]	0.000000
Alpha[9]	0.992607
TNavParticleFilter::Modified Variance for beam 10 is 19.06 
Alpha[10]	0.000000
Alpha[10]	0.989393
TNavParticleFilter::Modified Variance for beam 11 is 18.64 
Alpha[11]	0.000000
Alpha[11]	0.988336
TNavParticleFilter::Modified Variance for beam 12 is 18.73 
Alpha[12]	0.000000
Alpha[12]	0.988368
TNavParticleFilter::Modified Variance for beam 13 is 19.28 
Alpha[13]	0.000000
Alpha[13]	0.984308
TNavParticleFilter::Modified Variance for beam 14 is 18.86 
Alpha[14]	0.000000
Alpha[14]	0.985096
TNavParticleFilter::Modified Variance for beam 15 is 18.38 
Alpha[15]	0.000000
Alpha[15]	0.990164
TNavParticleFilter::Modified Variance for beam 16 is 17.96 
Alpha[16]	0.000000
Alpha[16]	0.993893
TNavParticleFilter::Modified Variance for beam 17 is 17.61 
Alpha[17]	0.000000
Alpha[17]	0.994835
TNavParticleFilter::Modified Variance for beam 18 is 17.32 
Alpha[18]	0.000000
Alpha[18]	0.993923
TNavParticleFilter::Modified Variance for beam 19 is 17.07 
Alpha[19]	0.000000
Alpha[19]	0.991169
TNavParticleFilter::Modified Variance for beam 20 is 16.88 
Alpha[20]	0.000000
Alpha[20]	0.985711
TNavParticleFilter::Modified Variance for beam 21 is 16.65 
Alpha[21]	0.000000
Alpha[21]	0.984064
TNavParticleFilter::Modified Variance for beam 22 is 16.38 
Alpha[22]	0.000000
Alpha[22]	0.985042
TNavParticleFilter::Modified Variance for beam 23 is 16.07 
Alpha[23]	0.000000
Alpha[23]	0.990094
TNavParticleFilter::Modified Variance for beam 24 is 16.05 
Alpha[24]	0.000000
Alpha[24]	0.990712
TNavParticleFilter::Modified Variance for beam 25 is 16.84 
Alpha[25]	0.000000
Alpha[25]	0.984693
TNavParticleFilter::Modified Variance for beam 26 is 16.66 
Alpha[26]	0.000000
Alpha[26]	0.983049
TNavParticleFilter::Modified Variance for beam 27 is 16.35 
Alpha[27]	0.000000
Alpha[27]	0.989417
TNavParticleFilter::Modified Variance for beam 28 is 16.11 
Alpha[28]	0.000000
Alpha[28]	0.993069
TNavParticleFilter::Modified Variance for beam 29 is 14.87 
Alpha[29]	0.000000
Alpha[29]	0.994995
TNavParticleFilter::Modified Variance for beam 30 is 14.71 
Alpha[30]	0.000000
Alpha[30]	0.995289
TNavParticleFilter::Modified Variance for beam 31 is 14.57 
Alpha[31]	0.000000
Alpha[31]	0.995212
TNavParticleFilter::Modified Variance for beam 32 is 14.46 
Alpha[32]	0.000000
Alpha[32]	0.994418
TNavParticleFilter::Modified Variance for beam 33 is 14.89 
Alpha[33]	0.000000
Alpha[33]	0.993978
TNavParticleFilter::Modified Variance for beam 34 is 16.28 
Alpha[34]	0.000000
Alpha[34]	0.994855
TNavParticleFilter::Modified Variance for beam 35 is 17.16 
Alpha[35]	0.000000
Alpha[35]	0.994101
TNavParticleFilter::Modified Variance for beam 36 is 17.07 
Alpha[36]	0.000000
Alpha[36]	0.991790
TNavParticleFilter::Modified Variance for beam 37 is 17.65 
Alpha[37]	0.000000
Alpha[37]	0.990963
TNavParticleFilter::Modified Variance for beam 38 is 17.89 
Alpha[38]	0.000000
Alpha[38]	0.993588
TNavParticleFilter::Modified Variance for beam 39 is 17.78 
Alpha[39]	0.000000
Alpha[39]	0.994426
TNavParticleFilter::Modified Variance for beam 40 is 18.80 
Alpha[40]	0.000000
Alpha[40]	0.993196
TNavParticleFilter::Modified Variance for beam 41 is 18.79 
Alpha[41]	0.000000
Alpha[41]	0.988872
TNavParticleFilter::Modified Variance for beam 42 is 18.84 
Alpha[42]	0.000000
Alpha[42]	0.981870
TNavParticleFilter::Modified Variance for beam 43 is 18.81 
Alpha[43]	0.000000
Alpha[43]	0.979707
TNavParticleFilter::Modified Variance for beam 44 is 18.71 
Alpha[44]	0.000000
Alpha[44]	0.981851
TNavParticleFilter::Modified Variance for beam 45 is 18.55 
Alpha[45]	0.000000
Alpha[45]	0.987496
TNavParticleFilter::Modified Variance for beam 46 is 18.49 
Alpha[46]	0.000000
Alpha[46]	0.988542
TNavParticleFilter::Modified Variance for beam 47 is 18.45 
Alpha[47]	0.000000
Alpha[47]	0.989052
TNavParticleFilter::Modified Variance for beam 48 is 18.42 
Alpha[48]	0.000000
Alpha[48]	0.989214
TNavParticleFilter::Modified Variance for beam 49 is 18.38 
Alpha[49]	0.000000
Alpha[49]	0.990443
TNavParticleFilter::Modified Variance for beam 50 is 18.37 
Alpha[50]	0.000000
Alpha[50]	0.990558
TNavPF:: sumSquaredError = 7.077445 
TNavPF:: sumWeights = 0.056132 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 39 as -0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 1.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 2.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 1.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 1.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as 0.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -0.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as 0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as 0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as 1.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -0.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -2.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -2.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as -0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 0.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as -0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as 0.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as -0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as -1.08. Range = 66.87 
TNavPF::Calculated measDiffMean for beam 79 as 0.64. Range = 65.51 
TNavPF::Calculated measDiffMean for beam 80 as 0.41. Range = 64.80 
TNavPF::Calculated measDiffMean for beam 81 as 0.32. Range = 65.83 
TNavPF::Calculated measDiffMean for beam 82 as 0.30. Range = 64.74 
TNavPF::Calculated measDiffMean for beam 83 as 0.25. Range = 63.59 
TNavPF::Calculated measDiffMean for beam 84 as 0.00. Range = 62.50 
TNavPF::Calculated measDiffMean for beam 85 as -0.23. Range = 61.47 
TNavPF::Calculated measDiffMean for beam 86 as -0.59. Range = 60.49 
TNavPF::Calculated measDiffMean for beam 87 as -0.84. Range = 59.56 
TNavPF::Calculated measDiffMean for beam 88 as -1.17. Range = 56.05 
TNavPF::Calculated measDiffMean for beam 89 as -1.38. Range = 55.25 
TNavPF::First Term of Map Covariance Matrix is 24.82 
TNavPF::Calculated NIS Value : 2.58 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322567.82 sec.
INS : North: 4070360.15, East: 588622.24, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 49.16, IDT[75] = 55.42
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322570.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322570.62)
ARL : North: -1.8207, East: -2.0707, Depth: 1.9933ARL : Estimation Bias  (Mean)         : (t = 1488322570.62)
ARL : North: -1.0378, East: -2.2105, Depth: 0.6293TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.01 
Alpha[0]	0.123000
Alpha[0]	0.991790
TNavParticleFilter::Modified Variance for beam 1 is 23.21 
Alpha[1]	0.000000
Alpha[1]	0.993561
TNavParticleFilter::Modified Variance for beam 2 is 22.51 
Alpha[2]	0.000000
Alpha[2]	0.993293
TNavParticleFilter::Modified Variance for beam 3 is 21.85 
Alpha[3]	0.000000
Alpha[3]	0.993675
TNavParticleFilter::Modified Variance for beam 4 is 21.28 
Alpha[4]	0.000000
Alpha[4]	0.991326
TNavParticleFilter::Modified Variance for beam 5 is 20.74 
Alpha[5]	0.000000
Alpha[5]	0.989736
TNavParticleFilter::Modified Variance for beam 6 is 20.21 
Alpha[6]	0.000000
Alpha[6]	0.989605
TNavParticleFilter::Modified Variance for beam 7 is 19.76 
Alpha[7]	0.000000
Alpha[7]	0.986666
TNavParticleFilter::Modified Variance for beam 8 is 19.29 
Alpha[8]	0.000000
Alpha[8]	0.986433
TNavParticleFilter::Modified Variance for beam 9 is 18.76 
Alpha[9]	0.000000
Alpha[9]	0.991451
TNavParticleFilter::Modified Variance for beam 10 is 19.05 
Alpha[10]	0.000000
Alpha[10]	0.994531
TNavParticleFilter::Modified Variance for beam 11 is 17.88 
Alpha[11]	0.000000
Alpha[11]	0.995309
TNavParticleFilter::Modified Variance for beam 12 is 17.54 
Alpha[12]	0.000000
Alpha[12]	0.994263
TNavParticleFilter::Modified Variance for beam 13 is 17.25 
Alpha[13]	0.000000
Alpha[13]	0.991399
TNavParticleFilter::Modified Variance for beam 14 is 15.77 
Alpha[14]	0.000000
Alpha[14]	0.987874
TNavParticleFilter::Modified Variance for beam 15 is 15.49 
Alpha[15]	0.000000
Alpha[15]	0.987893
TNavParticleFilter::Modified Variance for beam 16 is 15.95 
Alpha[16]	0.000000
Alpha[16]	0.989423
TNavParticleFilter::Modified Variance for beam 17 is 16.65 
Alpha[17]	0.000000
Alpha[17]	0.991941
TNavParticleFilter::Modified Variance for beam 18 is 17.00 
Alpha[18]	0.000000
Alpha[18]	0.990136
TNavParticleFilter::Modified Variance for beam 19 is 16.80 
Alpha[19]	0.000000
Alpha[19]	0.986295
TNavParticleFilter::Modified Variance for beam 20 is 16.50 
Alpha[20]	0.000000
Alpha[20]	0.989406
TNavParticleFilter::Modified Variance for beam 21 is 15.12 
Alpha[21]	0.000000
Alpha[21]	0.992618
TNavParticleFilter::Modified Variance for beam 22 is 14.89 
Alpha[22]	0.000000
Alpha[22]	0.994716
TNavParticleFilter::Modified Variance for beam 23 is 14.69 
Alpha[23]	0.000000
Alpha[23]	0.995645
TNavParticleFilter::Modified Variance for beam 24 is 14.51 
Alpha[24]	0.000000
Alpha[24]	0.995779
TNavParticleFilter::Modified Variance for beam 25 is 14.58 
Alpha[25]	0.000000
Alpha[25]	0.995142
TNavParticleFilter::Modified Variance for beam 26 is 15.59 
Alpha[26]	0.000000
Alpha[26]	0.994127
TNavParticleFilter::Modified Variance for beam 27 is 16.12 
Alpha[27]	0.000000
Alpha[27]	0.994388
TNavParticleFilter::Modified Variance for beam 28 is 15.95 
Alpha[28]	0.000000
Alpha[28]	0.994801
TNavParticleFilter::Modified Variance for beam 29 is 16.26 
Alpha[29]	0.000000
Alpha[29]	0.993476
TNavParticleFilter::Modified Variance for beam 30 is 17.87 
Alpha[30]	0.000000
Alpha[30]	0.990917
TNavParticleFilter::Modified Variance for beam 31 is 17.73 
Alpha[31]	0.000000
Alpha[31]	0.990366
TNavParticleFilter::Modified Variance for beam 32 is 17.54 
Alpha[32]	0.000000
Alpha[32]	0.992789
TNavParticleFilter::Modified Variance for beam 33 is 18.50 
Alpha[33]	0.000000
Alpha[33]	0.993133
TNavParticleFilter::Modified Variance for beam 34 is 18.42 
Alpha[34]	0.000000
Alpha[34]	0.990825
TNavParticleFilter::Modified Variance for beam 35 is 18.44 
Alpha[35]	0.000000
Alpha[35]	0.983051
TNavParticleFilter::Modified Variance for beam 36 is 18.42 
Alpha[36]	0.000000
Alpha[36]	0.977957
TNavParticleFilter::Modified Variance for beam 37 is 18.34 
Alpha[37]	0.000000
Alpha[37]	0.976641
TNavParticleFilter::Modified Variance for beam 38 is 18.20 
Alpha[38]	0.000000
Alpha[38]	0.979235
TNavParticleFilter::Modified Variance for beam 39 is 17.99 
Alpha[39]	0.000000
Alpha[39]	0.986041
TNavParticleFilter::Modified Variance for beam 40 is 17.87 
Alpha[40]	0.000000
Alpha[40]	0.988816
TNavParticleFilter::Modified Variance for beam 41 is 17.89 
Alpha[41]	0.000000
Alpha[41]	0.989064
TNavParticleFilter::Modified Variance for beam 42 is 18.83 
Alpha[42]	0.000000
Alpha[42]	0.989397
TNavParticleFilter::Modified Variance for beam 43 is 18.77 
Alpha[43]	0.000000
Alpha[43]	0.989936
TNavParticleFilter::Modified Variance for beam 44 is 18.72 
Alpha[44]	0.000000
Alpha[44]	0.990447
TNavParticleFilter::Modified Variance for beam 45 is 18.67 
Alpha[45]	0.000000
Alpha[45]	0.991626
TNavParticleFilter::Modified Variance for beam 46 is 18.61 
Alpha[46]	0.000000
Alpha[46]	0.993631
TNavParticleFilter::Modified Variance for beam 47 is 18.57 
Alpha[47]	0.000000
Alpha[47]	0.995405
TNavParticleFilter::Modified Variance for beam 48 is 20.85 
Alpha[48]	0.000000
Alpha[48]	0.994323
TNavParticleFilter::Modified Variance for beam 49 is 20.95 
Alpha[49]	0.000000
Alpha[49]	0.989676
TNavParticleFilter::Modified Variance for beam 50 is 19.95 
Alpha[50]	0.000000
Alpha[50]	0.982773
TNavParticleFilter::Modified Variance for beam 51 is 20.04 
Alpha[51]	0.000000
Alpha[51]	0.979965
TNavParticleFilter::Modified Variance for beam 52 is 21.21 
Alpha[52]	0.000000
Alpha[52]	0.981810
TNavParticleFilter::Modified Variance for beam 53 is 21.33 
Alpha[53]	0.000000
Alpha[53]	0.978880
TNavParticleFilter::Modified Variance for beam 54 is 20.52 
Alpha[54]	0.000000
Alpha[54]	0.963902
TNavParticleFilter::Modified Variance for beam 55 is 20.83 
Alpha[55]	0.000000
Alpha[55]	0.952654
TNavParticleFilter::Modified Variance for beam 56 is 20.93 
Alpha[56]	0.000000
Alpha[56]	0.951945
TNavParticleFilter::Modified Variance for beam 57 is 21.02 
Alpha[57]	0.000000
Alpha[57]	0.952369
TNavParticleFilter::Modified Variance for beam 58 is 21.10 
Alpha[58]	0.000000
Alpha[58]	0.953540
TNavParticleFilter::Modified Variance for beam 59 is 21.10 
Alpha[59]	0.000000
Alpha[59]	0.958590
TNavPF:: sumSquaredError = 18.558602 
TNavPF:: sumWeights = 0.052688 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 2.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 2.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 2.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 1.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 1.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.21. Range = 69.89 
TNavPF::Calculated measDiffMean for beam 55 as -1.48. Range = 68.43 
TNavPF::Calculated measDiffMean for beam 56 as -0.25. Range = 69.36 
TNavPF::Calculated measDiffMean for beam 57 as -0.18. Range = 72.93 
TNavPF::Calculated measDiffMean for beam 58 as -1.36. Range = 67.06 
TNavPF::Calculated measDiffMean for beam 59 as -1.33. Range = 65.72 
TNavPF::Calculated measDiffMean for beam 60 as 1.38. Range = 64.45 
TNavPF::Calculated measDiffMean for beam 61 as 0.96. Range = 63.24 
TNavPF::Calculated measDiffMean for beam 62 as 0.16. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 63 as 1.29. Range = 61.02 
TNavPF::Calculated measDiffMean for beam 64 as 0.85. Range = 59.99 
TNavPF::Calculated measDiffMean for beam 65 as 0.61. Range = 59.02 
TNavPF::Calculated measDiffMean for beam 66 as 0.53. Range = 58.09 
TNavPF::Calculated measDiffMean for beam 67 as 0.52. Range = 57.21 
TNavPF::Calculated measDiffMean for beam 68 as 0.46. Range = 56.37 
TNavPF::Calculated measDiffMean for beam 69 as 0.20. Range = 55.57 
TNavPF::Calculated measDiffMean for beam 70 as -0.12. Range = 56.20 
TNavPF::Calculated measDiffMean for beam 71 as -0.27. Range = 54.09 
TNavPF::Calculated measDiffMean for beam 72 as 1.29. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 73 as 1.03. Range = 52.75 
TNavPF::Calculated measDiffMean for beam 74 as 0.76. Range = 49.72 
TNavPF::Calculated measDiffMean for beam 75 as 0.58. Range = 49.16 
TNavPF::Calculated measDiffMean for beam 76 as 0.28. Range = 50.14 
TNavPF::Calculated measDiffMean for beam 77 as -0.59. Range = 51.60 
TNavPF::Calculated measDiffMean for beam 78 as 2.04. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 79 as 1.72. Range = 51.72 
TNavPF::Calculated measDiffMean for beam 80 as 0.03. Range = 51.24 
TNavPF::Calculated measDiffMean for beam 81 as 0.05. Range = 48.54 
TNavPF::Calculated measDiffMean for beam 82 as 1.89. Range = 48.13 
TNavPF::Calculated measDiffMean for beam 83 as 1.98. Range = 47.73 
TNavPF::Calculated measDiffMean for beam 84 as 0.23. Range = 47.36 
TNavPF::Calculated measDiffMean for beam 85 as 0.31. Range = 47.47 
TNavPF::Calculated measDiffMean for beam 86 as 0.31. Range = 49.55 
TNavPF::Calculated measDiffMean for beam 87 as 0.31. Range = 50.63 
TNavPF::Calculated measDiffMean for beam 88 as 0.32. Range = 50.31 
TNavPF::Calculated measDiffMean for beam 89 as 0.35. Range = 50.89 
TNavPF::First Term of Map Covariance Matrix is 2.43 
TNavPF::Calculated NIS Value : 2.90 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322570.82 sec.
INS : North: 4070358.87, East: 588618.18, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 52.17, IDT[75] = 56.14
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322573.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322573.62)
ARL : North: -1.2420, East: -2.4759, Depth: -0.5803ARL : Estimation Bias  (Mean)         : (t = 1488322573.62)
ARL : North: -0.8025, East: -2.1409, Depth: 1.0455TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.48 
Alpha[0]	0.123000
Alpha[0]	0.994225
TNavParticleFilter::Modified Variance for beam 1 is 21.86 
Alpha[1]	0.000000
Alpha[1]	0.991156
TNavParticleFilter::Modified Variance for beam 2 is 21.23 
Alpha[2]	0.000000
Alpha[2]	0.990092
TNavParticleFilter::Modified Variance for beam 3 is 20.67 
Alpha[3]	0.000000
Alpha[3]	0.988053
TNavParticleFilter::Modified Variance for beam 4 is 20.16 
Alpha[4]	0.000000
Alpha[4]	0.985303
TNavParticleFilter::Modified Variance for beam 5 is 19.60 
Alpha[5]	0.000000
Alpha[5]	0.990477
TNavParticleFilter::Modified Variance for beam 6 is 20.15 
Alpha[6]	0.000000
Alpha[6]	0.994808
TNavParticleFilter::Modified Variance for beam 7 is 18.47 
Alpha[7]	0.000000
Alpha[7]	0.995844
TNavParticleFilter::Modified Variance for beam 8 is 18.07 
Alpha[8]	0.000000
Alpha[8]	0.994591
TNavParticleFilter::Modified Variance for beam 9 is 16.40 
Alpha[9]	0.000000
Alpha[9]	0.991172
TNavParticleFilter::Modified Variance for beam 10 is 16.11 
Alpha[10]	0.000000
Alpha[10]	0.987979
TNavParticleFilter::Modified Variance for beam 11 is 16.58 
Alpha[11]	0.000000
Alpha[11]	0.986991
TNavParticleFilter::Modified Variance for beam 12 is 17.21 
Alpha[12]	0.000000
Alpha[12]	0.988018
TNavParticleFilter::Modified Variance for beam 13 is 17.61 
Alpha[13]	0.000000
Alpha[13]	0.989653
TNavParticleFilter::Modified Variance for beam 14 is 17.34 
Alpha[14]	0.000000
Alpha[14]	0.986558
TNavParticleFilter::Modified Variance for beam 15 is 17.02 
Alpha[15]	0.000000
Alpha[15]	0.987168
TNavParticleFilter::Modified Variance for beam 16 is 15.49 
Alpha[16]	0.000000
Alpha[16]	0.991807
TNavParticleFilter::Modified Variance for beam 17 is 15.20 
Alpha[17]	0.000000
Alpha[17]	0.994058
TNavParticleFilter::Modified Variance for beam 18 is 14.95 
Alpha[18]	0.000000
Alpha[18]	0.995371
TNavParticleFilter::Modified Variance for beam 19 is 14.73 
Alpha[19]	0.000000
Alpha[19]	0.995697
TNavParticleFilter::Modified Variance for beam 20 is 15.18 
Alpha[20]	0.000000
Alpha[20]	0.994979
TNavParticleFilter::Modified Variance for beam 21 is 16.05 
Alpha[21]	0.000000
Alpha[21]	0.992747
TNavParticleFilter::Modified Variance for beam 22 is 16.34 
Alpha[22]	0.000000
Alpha[22]	0.991525
TNavParticleFilter::Modified Variance for beam 23 is 16.11 
Alpha[23]	0.000000
Alpha[23]	0.993316
TNavParticleFilter::Modified Variance for beam 24 is 16.53 
Alpha[24]	0.000000
Alpha[24]	0.993730
TNavParticleFilter::Modified Variance for beam 25 is 17.98 
Alpha[25]	0.000000
Alpha[25]	0.991965
TNavParticleFilter::Modified Variance for beam 26 is 17.79 
Alpha[26]	0.000000
Alpha[26]	0.991230
TNavParticleFilter::Modified Variance for beam 27 is 17.58 
Alpha[27]	0.000000
Alpha[27]	0.992122
TNavParticleFilter::Modified Variance for beam 28 is 18.50 
Alpha[28]	0.000000
Alpha[28]	0.994146
TNavParticleFilter::Modified Variance for beam 29 is 18.34 
Alpha[29]	0.000000
Alpha[29]	0.993528
TNavParticleFilter::Modified Variance for beam 30 is 18.27 
Alpha[30]	0.000000
Alpha[30]	0.988217
TNavParticleFilter::Modified Variance for beam 31 is 18.25 
Alpha[31]	0.000000
Alpha[31]	0.980597
TNavParticleFilter::Modified Variance for beam 32 is 18.13 
Alpha[32]	0.000000
Alpha[32]	0.979251
TNavParticleFilter::Modified Variance for beam 33 is 17.99 
Alpha[33]	0.000000
Alpha[33]	0.979774
TNavParticleFilter::Modified Variance for beam 34 is 17.85 
Alpha[34]	0.000000
Alpha[34]	0.980797
TNavParticleFilter::Modified Variance for beam 35 is 17.63 
Alpha[35]	0.000000
Alpha[35]	0.986426
TNavParticleFilter::Modified Variance for beam 36 is 17.51 
Alpha[36]	0.000000
Alpha[36]	0.987709
TNavParticleFilter::Modified Variance for beam 37 is 18.50 
Alpha[37]	0.000000
Alpha[37]	0.988092
TNavParticleFilter::Modified Variance for beam 38 is 18.39 
Alpha[38]	0.000000
Alpha[38]	0.988888
TNavParticleFilter::Modified Variance for beam 39 is 18.30 
Alpha[39]	0.000000
Alpha[39]	0.989573
TNavParticleFilter::Modified Variance for beam 40 is 18.22 
Alpha[40]	0.000000
Alpha[40]	0.990132
TNavParticleFilter::Modified Variance for beam 41 is 18.13 
Alpha[41]	0.000000
Alpha[41]	0.991283
TNavParticleFilter::Modified Variance for beam 42 is 18.05 
Alpha[42]	0.000000
Alpha[42]	0.993223
TNavParticleFilter::Modified Variance for beam 43 is 19.67 
Alpha[43]	0.000000
Alpha[43]	0.995040
TNavParticleFilter::Modified Variance for beam 44 is 19.06 
Alpha[44]	0.000000
Alpha[44]	0.993176
TNavParticleFilter::Modified Variance for beam 45 is 19.14 
Alpha[45]	0.000000
Alpha[45]	0.987757
TNavParticleFilter::Modified Variance for beam 46 is 19.37 
Alpha[46]	0.000000
Alpha[46]	0.975234
TNavParticleFilter::Modified Variance for beam 47 is 19.40 
Alpha[47]	0.000000
Alpha[47]	0.973345
TNavParticleFilter::Modified Variance for beam 48 is 20.38 
Alpha[48]	0.000000
Alpha[48]	0.981656
TNavParticleFilter::Modified Variance for beam 49 is 20.27 
Alpha[49]	0.000000
Alpha[49]	0.980761
TNavParticleFilter::Modified Variance for beam 50 is 19.60 
Alpha[50]	0.000000
Alpha[50]	0.965250
TNavParticleFilter::Modified Variance for beam 51 is 19.92 
Alpha[51]	0.000000
Alpha[51]	0.951235
TNavParticleFilter::Modified Variance for beam 52 is 19.99 
Alpha[52]	0.000000
Alpha[52]	0.949636
TNavParticleFilter::Modified Variance for beam 53 is 20.05 
Alpha[53]	0.000000
Alpha[53]	0.949416
TNavParticleFilter::Modified Variance for beam 54 is 20.09 
Alpha[54]	0.000000
Alpha[54]	0.950557
TNavParticleFilter::Modified Variance for beam 55 is 20.07 
Alpha[55]	0.000000
Alpha[55]	0.954552
TNavParticleFilter::Modified Variance for beam 56 is 19.96 
Alpha[56]	0.000000
Alpha[56]	0.963991
TNavParticleFilter::Modified Variance for beam 57 is 19.82 
Alpha[57]	0.000000
Alpha[57]	0.975094
TNavParticleFilter::Modified Variance for beam 58 is 19.75 
Alpha[58]	0.000000
Alpha[58]	0.983921
TNavParticleFilter::Modified Variance for beam 59 is 19.81 
Alpha[59]	0.000000
Alpha[59]	0.986200
TNavPF:: sumSquaredError = 7.353036 
TNavPF:: sumWeights = 0.058628 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -0.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 0.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.43. Range = 72.29 
TNavPF::Calculated measDiffMean for beam 52 as 0.07. Range = 71.10 
TNavPF::Calculated measDiffMean for beam 53 as -1.10. Range = 69.51 
TNavPF::Calculated measDiffMean for beam 54 as -0.78. Range = 70.40 
TNavPF::Calculated measDiffMean for beam 55 as 1.42. Range = 68.86 
TNavPF::Calculated measDiffMean for beam 56 as 0.89. Range = 67.35 
TNavPF::Calculated measDiffMean for beam 57 as 0.47. Range = 65.92 
TNavPF::Calculated measDiffMean for beam 58 as 1.59. Range = 64.57 
TNavPF::Calculated measDiffMean for beam 59 as 0.73. Range = 63.30 
TNavPF::Calculated measDiffMean for beam 60 as 0.40. Range = 62.09 
TNavPF::Calculated measDiffMean for beam 61 as 0.27. Range = 60.95 
TNavPF::Calculated measDiffMean for beam 62 as 0.26. Range = 59.86 
TNavPF::Calculated measDiffMean for beam 63 as 0.27. Range = 58.83 
TNavPF::Calculated measDiffMean for beam 64 as 0.20. Range = 57.85 
TNavPF::Calculated measDiffMean for beam 65 as -0.03. Range = 57.06 
TNavPF::Calculated measDiffMean for beam 66 as -0.27. Range = 58.18 
TNavPF::Calculated measDiffMean for beam 67 as 1.43. Range = 55.21 
TNavPF::Calculated measDiffMean for beam 68 as 1.18. Range = 54.41 
TNavPF::Calculated measDiffMean for beam 69 as 0.90. Range = 51.10 
TNavPF::Calculated measDiffMean for beam 70 as 0.70. Range = 50.41 
TNavPF::Calculated measDiffMean for beam 71 as 0.57. Range = 51.31 
TNavPF::Calculated measDiffMean for beam 72 as 0.33. Range = 52.57 
TNavPF::Calculated measDiffMean for beam 73 as 2.47. Range = 53.39 
TNavPF::Calculated measDiffMean for beam 74 as -0.14. Range = 52.76 
TNavPF::Calculated measDiffMean for beam 75 as -0.38. Range = 52.17 
TNavPF::Calculated measDiffMean for beam 76 as -0.10. Range = 49.27 
TNavPF::Calculated measDiffMean for beam 77 as -0.08. Range = 48.76 
TNavPF::Calculated measDiffMean for beam 78 as 1.68. Range = 48.28 
TNavPF::Calculated measDiffMean for beam 79 as 1.48. Range = 47.81 
TNavPF::Calculated measDiffMean for beam 80 as 0.02. Range = 48.74 
TNavPF::Calculated measDiffMean for beam 81 as 0.13. Range = 50.45 
TNavPF::Calculated measDiffMean for beam 82 as 0.14. Range = 50.99 
TNavPF::Calculated measDiffMean for beam 83 as 0.15. Range = 50.58 
TNavPF::Calculated measDiffMean for beam 84 as 0.16. Range = 51.44 
TNavPF::Calculated measDiffMean for beam 85 as 0.18. Range = 54.15 
TNavPF::Calculated measDiffMean for beam 86 as 0.26. Range = 53.77 
TNavPF::Calculated measDiffMean for beam 87 as 0.42. Range = 53.42 
TNavPF::Calculated measDiffMean for beam 88 as 0.87. Range = 55.20 
TNavPF::Calculated measDiffMean for beam 89 as 1.22. Range = 54.87 
TNavPF::First Term of Map Covariance Matrix is 3.45 
TNavPF::Calculated NIS Value : 2.76 	numBeams normalized NIS: 0.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322573.82 sec.
INS : North: 4070357.50, East: 588614.13, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 50.56, IDT[75] = 54.91
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322576.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322576.62)
ARL : North: -2.0847, East: -1.8358, Depth: -7.5452ARL : Estimation Bias  (Mean)         : (t = 1488322576.62)
ARL : North: -0.7709, East: -2.2889, Depth: 0.8594TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.54 
Alpha[0]	0.123000
Alpha[0]	0.995436
TNavParticleFilter::Modified Variance for beam 1 is 23.70 
Alpha[1]	0.000000
Alpha[1]	0.993144
TNavParticleFilter::Modified Variance for beam 2 is 22.92 
Alpha[2]	0.000000
Alpha[2]	0.991023
TNavParticleFilter::Modified Variance for beam 3 is 22.19 
Alpha[3]	0.000000
Alpha[3]	0.989132
TNavParticleFilter::Modified Variance for beam 4 is 21.53 
Alpha[4]	0.000000
Alpha[4]	0.986590
TNavParticleFilter::Modified Variance for beam 5 is 20.74 
Alpha[5]	0.000000
Alpha[5]	0.992523
TNavParticleFilter::Modified Variance for beam 6 is 20.74 
Alpha[6]	0.000000
Alpha[6]	0.995790
TNavParticleFilter::Modified Variance for beam 7 is 19.48 
Alpha[7]	0.000000
Alpha[7]	0.996223
TNavParticleFilter::Modified Variance for beam 8 is 18.97 
Alpha[8]	0.000000
Alpha[8]	0.994694
TNavParticleFilter::Modified Variance for beam 9 is 17.10 
Alpha[9]	0.000000
Alpha[9]	0.990771
TNavParticleFilter::Modified Variance for beam 10 is 16.72 
Alpha[10]	0.000000
Alpha[10]	0.989467
TNavParticleFilter::Modified Variance for beam 11 is 17.27 
Alpha[11]	0.000000
Alpha[11]	0.988609
TNavParticleFilter::Modified Variance for beam 12 is 17.82 
Alpha[12]	0.000000
Alpha[12]	0.990133
TNavParticleFilter::Modified Variance for beam 13 is 18.23 
Alpha[13]	0.000000
Alpha[13]	0.988578
TNavParticleFilter::Modified Variance for beam 14 is 17.82 
Alpha[14]	0.000000
Alpha[14]	0.988949
TNavParticleFilter::Modified Variance for beam 15 is 16.11 
Alpha[15]	0.000000
Alpha[15]	0.992876
TNavParticleFilter::Modified Variance for beam 16 is 15.76 
Alpha[16]	0.000000
Alpha[16]	0.994573
TNavParticleFilter::Modified Variance for beam 17 is 15.45 
Alpha[17]	0.000000
Alpha[17]	0.995563
TNavParticleFilter::Modified Variance for beam 18 is 15.16 
Alpha[18]	0.000000
Alpha[18]	0.995961
TNavParticleFilter::Modified Variance for beam 19 is 15.19 
Alpha[19]	0.000000
Alpha[19]	0.994981
TNavParticleFilter::Modified Variance for beam 20 is 15.90 
Alpha[20]	0.000000
Alpha[20]	0.992392
TNavParticleFilter::Modified Variance for beam 21 is 16.66 
Alpha[21]	0.000000
Alpha[21]	0.991046
TNavParticleFilter::Modified Variance for beam 22 is 16.47 
Alpha[22]	0.000000
Alpha[22]	0.992723
TNavParticleFilter::Modified Variance for beam 23 is 16.20 
Alpha[23]	0.000000
Alpha[23]	0.993547
TNavParticleFilter::Modified Variance for beam 24 is 17.02 
Alpha[24]	0.000000
Alpha[24]	0.992404
TNavParticleFilter::Modified Variance for beam 25 is 18.07 
Alpha[25]	0.000000
Alpha[25]	0.992227
TNavParticleFilter::Modified Variance for beam 26 is 17.82 
Alpha[26]	0.000000
Alpha[26]	0.992300
TNavParticleFilter::Modified Variance for beam 27 is 17.57 
Alpha[27]	0.000000
Alpha[27]	0.993365
TNavParticleFilter::Modified Variance for beam 28 is 18.53 
Alpha[28]	0.000000
Alpha[28]	0.992312
TNavParticleFilter::Modified Variance for beam 29 is 18.43 
Alpha[29]	0.000000
Alpha[29]	0.985822
TNavParticleFilter::Modified Variance for beam 30 is 18.33 
Alpha[30]	0.000000
Alpha[30]	0.979626
TNavParticleFilter::Modified Variance for beam 31 is 18.16 
Alpha[31]	0.000000
Alpha[31]	0.978491
TNavParticleFilter::Modified Variance for beam 32 is 17.99 
Alpha[32]	0.000000
Alpha[32]	0.977407
TNavParticleFilter::Modified Variance for beam 33 is 17.79 
Alpha[33]	0.000000
Alpha[33]	0.978855
TNavParticleFilter::Modified Variance for beam 34 is 17.51 
Alpha[34]	0.000000
Alpha[34]	0.985507
TNavParticleFilter::Modified Variance for beam 35 is 17.32 
Alpha[35]	0.000000
Alpha[35]	0.987679
TNavParticleFilter::Modified Variance for beam 36 is 17.37 
Alpha[36]	0.000000
Alpha[36]	0.987836
TNavParticleFilter::Modified Variance for beam 37 is 18.12 
Alpha[37]	0.000000
Alpha[37]	0.988907
TNavParticleFilter::Modified Variance for beam 38 is 17.98 
Alpha[38]	0.000000
Alpha[38]	0.989547
TNavParticleFilter::Modified Variance for beam 39 is 17.84 
Alpha[39]	0.000000
Alpha[39]	0.990600
TNavParticleFilter::Modified Variance for beam 40 is 17.72 
Alpha[40]	0.000000
Alpha[40]	0.991614
TNavParticleFilter::Modified Variance for beam 41 is 17.60 
Alpha[41]	0.000000
Alpha[41]	0.992790
TNavParticleFilter::Modified Variance for beam 42 is 17.50 
Alpha[42]	0.000000
Alpha[42]	0.993437
TNavParticleFilter::Modified Variance for beam 43 is 18.30 
Alpha[43]	0.000000
Alpha[43]	0.992776
TNavParticleFilter::Modified Variance for beam 44 is 19.63 
Alpha[44]	0.000000
Alpha[44]	0.988671
TNavParticleFilter::Modified Variance for beam 45 is 18.56 
Alpha[45]	0.000000
Alpha[45]	0.982505
TNavParticleFilter::Modified Variance for beam 46 is 18.69 
Alpha[46]	0.000000
Alpha[46]	0.972937
TNavParticleFilter::Modified Variance for beam 47 is 18.54 
Alpha[47]	0.000000
Alpha[47]	0.978387
TNavParticleFilter::Modified Variance for beam 48 is 19.55 
Alpha[48]	0.000000
Alpha[48]	0.981705
TNavParticleFilter::Modified Variance for beam 49 is 19.62 
Alpha[49]	0.000000
Alpha[49]	0.976506
TNavParticleFilter::Modified Variance for beam 50 is 18.83 
Alpha[50]	0.000000
Alpha[50]	0.958765
TNavParticleFilter::Modified Variance for beam 51 is 18.96 
Alpha[51]	0.000000
Alpha[51]	0.951190
TNavParticleFilter::Modified Variance for beam 52 is 18.98 
Alpha[52]	0.000000
Alpha[52]	0.950514
TNavParticleFilter::Modified Variance for beam 53 is 18.98 
Alpha[53]	0.000000
Alpha[53]	0.950614
TNavParticleFilter::Modified Variance for beam 54 is 18.97 
Alpha[54]	0.000000
Alpha[54]	0.951902
TNavParticleFilter::Modified Variance for beam 55 is 18.89 
Alpha[55]	0.000000
Alpha[55]	0.957570
TNavParticleFilter::Modified Variance for beam 56 is 18.76 
Alpha[56]	0.000000
Alpha[56]	0.965970
TNavParticleFilter::Modified Variance for beam 57 is 18.58 
Alpha[57]	0.000000
Alpha[57]	0.977360
TNavParticleFilter::Modified Variance for beam 58 is 18.51 
Alpha[58]	0.000000
Alpha[58]	0.984197
TNavParticleFilter::Modified Variance for beam 59 is 18.54 
Alpha[59]	0.000000
Alpha[59]	0.985899
TNavPF:: sumSquaredError = 10.682739 
TNavPF:: sumWeights = 0.057916 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 2.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -1.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -2.17. Range = 74.19 
TNavPF::Calculated measDiffMean for beam 54 as -0.97. Range = 73.87 
TNavPF::Calculated measDiffMean for beam 55 as 1.00. Range = 77.49 
TNavPF::Calculated measDiffMean for beam 56 as 0.58. Range = 71.95 
TNavPF::Calculated measDiffMean for beam 57 as -0.37. Range = 70.16 
TNavPF::Calculated measDiffMean for beam 58 as 0.81. Range = 68.48 
TNavPF::Calculated measDiffMean for beam 59 as 0.37. Range = 66.90 
TNavPF::Calculated measDiffMean for beam 60 as 0.21. Range = 65.41 
TNavPF::Calculated measDiffMean for beam 61 as 0.18. Range = 64.01 
TNavPF::Calculated measDiffMean for beam 62 as 0.17. Range = 62.68 
TNavPF::Calculated measDiffMean for beam 63 as 0.12. Range = 61.43 
TNavPF::Calculated measDiffMean for beam 64 as -0.15. Range = 60.24 
TNavPF::Calculated measDiffMean for beam 65 as -0.44. Range = 59.11 
TNavPF::Calculated measDiffMean for beam 66 as -0.40. Range = 59.23 
TNavPF::Calculated measDiffMean for beam 67 as 1.05. Range = 57.04 
TNavPF::Calculated measDiffMean for beam 68 as 0.78. Range = 56.07 
TNavPF::Calculated measDiffMean for beam 69 as 0.52. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 70 as 0.38. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 71 as 0.17. Range = 52.70 
TNavPF::Calculated measDiffMean for beam 72 as -0.48. Range = 53.80 
TNavPF::Calculated measDiffMean for beam 73 as -0.34. Range = 54.51 
TNavPF::Calculated measDiffMean for beam 74 as 1.37. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 75 as -0.43. Range = 50.56 
TNavPF::Calculated measDiffMean for beam 76 as -0.25. Range = 49.92 
TNavPF::Calculated measDiffMean for beam 77 as -0.41. Range = 49.31 
TNavPF::Calculated measDiffMean for beam 78 as 1.48. Range = 48.73 
TNavPF::Calculated measDiffMean for beam 79 as 1.67. Range = 48.76 
TNavPF::Calculated measDiffMean for beam 80 as -0.12. Range = 50.13 
TNavPF::Calculated measDiffMean for beam 81 as -0.09. Range = 51.60 
TNavPF::Calculated measDiffMean for beam 82 as -0.09. Range = 51.27 
TNavPF::Calculated measDiffMean for beam 83 as -0.10. Range = 50.78 
TNavPF::Calculated measDiffMean for beam 84 as -0.09. Range = 52.35 
TNavPF::Calculated measDiffMean for beam 85 as -0.07. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 86 as 0.00. Range = 53.87 
TNavPF::Calculated measDiffMean for beam 87 as 0.20. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 88 as 0.62. Range = 55.19 
TNavPF::Calculated measDiffMean for beam 89 as 0.90. Range = 54.78 
TNavPF::First Term of Map Covariance Matrix is 4.37 
TNavPF::Calculated NIS Value : 2.67 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322576.82 sec.
INS : North: 4070355.91, East: 588610.14, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 51.63, IDT[75] = 53.18
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322579.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322579.62)
ARL : North: -2.9913, East: -2.1670, Depth: -4.8966ARL : Estimation Bias  (Mean)         : (t = 1488322579.62)
ARL : North: -0.7699, East: -2.1432, Depth: 0.9417TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.50 
Alpha[0]	0.123000
Alpha[0]	0.996169
TNavParticleFilter::Modified Variance for beam 1 is 18.27 
Alpha[1]	0.000000
Alpha[1]	0.993524
TNavParticleFilter::Modified Variance for beam 2 is 17.77 
Alpha[2]	0.000000
Alpha[2]	0.991324
TNavParticleFilter::Modified Variance for beam 3 is 17.94 
Alpha[3]	0.000000
Alpha[3]	0.989548
TNavParticleFilter::Modified Variance for beam 4 is 18.45 
Alpha[4]	0.000000
Alpha[4]	0.989876
TNavParticleFilter::Modified Variance for beam 5 is 19.01 
Alpha[5]	0.000000
Alpha[5]	0.989587
TNavParticleFilter::Modified Variance for beam 6 is 18.77 
Alpha[6]	0.000000
Alpha[6]	0.991648
TNavParticleFilter::Modified Variance for beam 7 is 18.26 
Alpha[7]	0.000000
Alpha[7]	0.994123
TNavParticleFilter::Modified Variance for beam 8 is 17.80 
Alpha[8]	0.000000
Alpha[8]	0.994865
TNavParticleFilter::Modified Variance for beam 9 is 16.06 
Alpha[9]	0.000000
Alpha[9]	0.995775
TNavParticleFilter::Modified Variance for beam 10 is 15.70 
Alpha[10]	0.000000
Alpha[10]	0.996094
TNavParticleFilter::Modified Variance for beam 11 is 15.85 
Alpha[11]	0.000000
Alpha[11]	0.994338
TNavParticleFilter::Modified Variance for beam 12 is 16.50 
Alpha[12]	0.000000
Alpha[12]	0.990732
TNavParticleFilter::Modified Variance for beam 13 is 17.16 
Alpha[13]	0.000000
Alpha[13]	0.989696
TNavParticleFilter::Modified Variance for beam 14 is 16.94 
Alpha[14]	0.000000
Alpha[14]	0.992341
TNavParticleFilter::Modified Variance for beam 15 is 16.63 
Alpha[15]	0.000000
Alpha[15]	0.993462
TNavParticleFilter::Modified Variance for beam 16 is 17.37 
Alpha[16]	0.000000
Alpha[16]	0.992872
TNavParticleFilter::Modified Variance for beam 17 is 18.51 
Alpha[17]	0.000000
Alpha[17]	0.992348
TNavParticleFilter::Modified Variance for beam 18 is 18.23 
Alpha[18]	0.000000
Alpha[18]	0.990613
TNavParticleFilter::Modified Variance for beam 19 is 17.95 
Alpha[19]	0.000000
Alpha[19]	0.990053
TNavParticleFilter::Modified Variance for beam 20 is 18.80 
Alpha[20]	0.000000
Alpha[20]	0.988026
TNavParticleFilter::Modified Variance for beam 21 is 18.78 
Alpha[21]	0.000000
Alpha[21]	0.981542
TNavParticleFilter::Modified Variance for beam 22 is 18.58 
Alpha[22]	0.000000
Alpha[22]	0.977816
TNavParticleFilter::Modified Variance for beam 23 is 18.34 
Alpha[23]	0.000000
Alpha[23]	0.977033
TNavParticleFilter::Modified Variance for beam 24 is 18.12 
Alpha[24]	0.000000
Alpha[24]	0.976599
TNavParticleFilter::Modified Variance for beam 25 is 17.83 
Alpha[25]	0.000000
Alpha[25]	0.979772
TNavParticleFilter::Modified Variance for beam 26 is 17.51 
Alpha[26]	0.000000
Alpha[26]	0.986350
TNavParticleFilter::Modified Variance for beam 27 is 17.28 
Alpha[27]	0.000000
Alpha[27]	0.988049
TNavParticleFilter::Modified Variance for beam 28 is 17.30 
Alpha[28]	0.000000
Alpha[28]	0.988804
TNavParticleFilter::Modified Variance for beam 29 is 18.01 
Alpha[29]	0.000000
Alpha[29]	0.990193
TNavParticleFilter::Modified Variance for beam 30 is 17.83 
Alpha[30]	0.000000
Alpha[30]	0.990404
TNavParticleFilter::Modified Variance for beam 31 is 17.66 
Alpha[31]	0.000000
Alpha[31]	0.990760
TNavParticleFilter::Modified Variance for beam 32 is 17.51 
Alpha[32]	0.000000
Alpha[32]	0.991100
TNavParticleFilter::Modified Variance for beam 33 is 17.36 
Alpha[33]	0.000000
Alpha[33]	0.991855
TNavParticleFilter::Modified Variance for beam 34 is 17.23 
Alpha[34]	0.000000
Alpha[34]	0.992051
TNavParticleFilter::Modified Variance for beam 35 is 17.60 
Alpha[35]	0.000000
Alpha[35]	0.991005
TNavParticleFilter::Modified Variance for beam 36 is 19.28 
Alpha[36]	0.000000
Alpha[36]	0.987821
TNavParticleFilter::Modified Variance for beam 37 is 19.26 
Alpha[37]	0.000000
Alpha[37]	0.982932
TNavParticleFilter::Modified Variance for beam 38 is 18.22 
Alpha[38]	0.000000
Alpha[38]	0.973384
TNavParticleFilter::Modified Variance for beam 39 is 18.04 
Alpha[39]	0.000000
Alpha[39]	0.978103
TNavParticleFilter::Modified Variance for beam 40 is 17.89 
Alpha[40]	0.000000
Alpha[40]	0.982391
TNavParticleFilter::Modified Variance for beam 41 is 19.00 
Alpha[41]	0.000000
Alpha[41]	0.977944
TNavParticleFilter::Modified Variance for beam 42 is 18.17 
Alpha[42]	0.000000
Alpha[42]	0.960263
TNavParticleFilter::Modified Variance for beam 43 is 18.27 
Alpha[43]	0.000000
Alpha[43]	0.952111
TNavParticleFilter::Modified Variance for beam 44 is 18.24 
Alpha[44]	0.000000
Alpha[44]	0.951378
TNavParticleFilter::Modified Variance for beam 45 is 18.20 
Alpha[45]	0.000000
Alpha[45]	0.951712
TNavParticleFilter::Modified Variance for beam 46 is 18.08 
Alpha[46]	0.000000
Alpha[46]	0.956472
TNavParticleFilter::Modified Variance for beam 47 is 17.99 
Alpha[47]	0.000000
Alpha[47]	0.960256
TNavParticleFilter::Modified Variance for beam 48 is 17.80 
Alpha[48]	0.000000
Alpha[48]	0.970330
TNavParticleFilter::Modified Variance for beam 49 is 17.67 
Alpha[49]	0.000000
Alpha[49]	0.977515
TNavParticleFilter::Modified Variance for beam 50 is 17.56 
Alpha[50]	0.000000
Alpha[50]	0.984427
TNavParticleFilter::Modified Variance for beam 51 is 17.54 
Alpha[51]	0.000000
Alpha[51]	0.986116
TNavParticleFilter::Modified Variance for beam 52 is 17.58 
Alpha[52]	0.000000
Alpha[52]	0.985548
TNavParticleFilter::Modified Variance for beam 53 is 16.60 
Alpha[53]	0.000000
Alpha[53]	0.983739
TNavParticleFilter::Modified Variance for beam 54 is 16.73 
Alpha[54]	0.000000
Alpha[54]	0.978684
TNavParticleFilter::Modified Variance for beam 55 is 17.02 
Alpha[55]	0.000000
Alpha[55]	0.965145
TNavParticleFilter::Modified Variance for beam 56 is 17.15 
Alpha[56]	0.000000
Alpha[56]	0.961110
TNavParticleFilter::Modified Variance for beam 57 is 17.22 
Alpha[57]	0.000000
Alpha[57]	0.960610
TNavParticleFilter::Modified Variance for beam 58 is 17.34 
Alpha[58]	0.000000
Alpha[58]	0.958321
TNavParticleFilter::Modified Variance for beam 59 is 17.50 
Alpha[59]	0.000000
Alpha[59]	0.954522
TNavPF:: sumSquaredError = 10.373133 
TNavPF:: sumWeights = 0.057311 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -1.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -1.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -1.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -2.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 1.29. Range = 77.39 
TNavPF::Calculated measDiffMean for beam 48 as 0.76. Range = 76.52 
TNavPF::Calculated measDiffMean for beam 49 as -0.31. Range = 80.63 
TNavPF::Calculated measDiffMean for beam 50 as 0.79. Range = 74.52 
TNavPF::Calculated measDiffMean for beam 51 as 0.66. Range = 72.48 
TNavPF::Calculated measDiffMean for beam 52 as 0.52. Range = 70.57 
TNavPF::Calculated measDiffMean for beam 53 as 0.49. Range = 68.77 
TNavPF::Calculated measDiffMean for beam 54 as 0.47. Range = 67.09 
TNavPF::Calculated measDiffMean for beam 55 as 0.34. Range = 65.50 
TNavPF::Calculated measDiffMean for beam 56 as -0.01. Range = 64.01 
TNavPF::Calculated measDiffMean for beam 57 as -0.33. Range = 62.60 
TNavPF::Calculated measDiffMean for beam 58 as -0.26. Range = 61.27 
TNavPF::Calculated measDiffMean for beam 59 as 1.20. Range = 61.21 
TNavPF::Calculated measDiffMean for beam 60 as 0.88. Range = 58.83 
TNavPF::Calculated measDiffMean for beam 61 as 0.63. Range = 54.75 
TNavPF::Calculated measDiffMean for beam 62 as 0.48. Range = 53.74 
TNavPF::Calculated measDiffMean for beam 63 as 0.18. Range = 54.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.56. Range = 54.96 
TNavPF::Calculated measDiffMean for beam 65 as -1.07. Range = 55.96 
TNavPF::Calculated measDiffMean for beam 66 as 1.50. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 67 as 1.79. Range = 54.74 
TNavPF::Calculated measDiffMean for beam 68 as -0.05. Range = 53.92 
TNavPF::Calculated measDiffMean for beam 69 as -0.20. Range = 50.56 
TNavPF::Calculated measDiffMean for beam 70 as -0.35. Range = 49.85 
TNavPF::Calculated measDiffMean for beam 71 as 1.85. Range = 50.10 
TNavPF::Calculated measDiffMean for beam 72 as 0.05. Range = 51.27 
TNavPF::Calculated measDiffMean for beam 73 as 0.08. Range = 52.53 
TNavPF::Calculated measDiffMean for beam 74 as 0.07. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 75 as 0.06. Range = 51.63 
TNavPF::Calculated measDiffMean for beam 76 as 0.06. Range = 53.04 
TNavPF::Calculated measDiffMean for beam 77 as 0.07. Range = 55.14 
TNavPF::Calculated measDiffMean for beam 78 as 0.12. Range = 54.57 
TNavPF::Calculated measDiffMean for beam 79 as 0.25. Range = 54.03 
TNavPF::Calculated measDiffMean for beam 80 as 0.61. Range = 55.54 
TNavPF::Calculated measDiffMean for beam 81 as 0.86. Range = 55.27 
TNavPF::Calculated measDiffMean for beam 82 as 1.13. Range = 54.78 
TNavPF::Calculated measDiffMean for beam 83 as -0.64. Range = 54.32 
TNavPF::Calculated measDiffMean for beam 84 as -0.38. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 85 as -0.15. Range = 53.47 
TNavPF::Calculated measDiffMean for beam 86 as -0.11. Range = 53.08 
TNavPF::Calculated measDiffMean for beam 87 as -0.12. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 88 as -0.11. Range = 52.77 
TNavPF::Calculated measDiffMean for beam 89 as -0.09. Range = 54.15 
TNavPF::First Term of Map Covariance Matrix is 5.21 
TNavPF::Calculated NIS Value : 2.56 	numBeams normalized NIS: 0.04
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322579.82 sec.
INS : North: 4070354.71, East: 588606.05, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 55.36, IDT[75] = 50.49
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322582.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322582.62)
ARL : North: -0.8169, East: -0.4908, Depth: 1.0565ARL : Estimation Bias  (Mean)         : (t = 1488322582.62)
ARL : North: -0.6104, East: -1.9017, Depth: 1.4836TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.42 
Alpha[0]	0.123000
Alpha[0]	0.991940
TNavParticleFilter::Modified Variance for beam 1 is 18.71 
Alpha[1]	0.000000
Alpha[1]	0.991333
TNavParticleFilter::Modified Variance for beam 2 is 19.37 
Alpha[2]	0.000000
Alpha[2]	0.992970
TNavParticleFilter::Modified Variance for beam 3 is 19.94 
Alpha[3]	0.000000
Alpha[3]	0.993165
TNavParticleFilter::Modified Variance for beam 4 is 19.54 
Alpha[4]	0.000000
Alpha[4]	0.992505
TNavParticleFilter::Modified Variance for beam 5 is 19.18 
Alpha[5]	0.000000
Alpha[5]	0.990758
TNavParticleFilter::Modified Variance for beam 6 is 18.87 
Alpha[6]	0.000000
Alpha[6]	0.987470
TNavParticleFilter::Modified Variance for beam 7 is 19.51 
Alpha[7]	0.000000
Alpha[7]	0.987849
TNavParticleFilter::Modified Variance for beam 8 is 19.55 
Alpha[8]	0.000000
Alpha[8]	0.984939
TNavParticleFilter::Modified Variance for beam 9 is 19.38 
Alpha[9]	0.000000
Alpha[9]	0.976456
TNavParticleFilter::Modified Variance for beam 10 is 19.10 
Alpha[10]	0.000000
Alpha[10]	0.974611
TNavParticleFilter::Modified Variance for beam 11 is 18.80 
Alpha[11]	0.000000
Alpha[11]	0.974098
TNavParticleFilter::Modified Variance for beam 12 is 18.48 
Alpha[12]	0.000000
Alpha[12]	0.976204
TNavParticleFilter::Modified Variance for beam 13 is 18.53 
Alpha[13]	0.000000
Alpha[13]	0.984432
TNavParticleFilter::Modified Variance for beam 14 is 18.93 
Alpha[14]	0.000000
Alpha[14]	0.989416
TNavParticleFilter::Modified Variance for beam 15 is 18.66 
Alpha[15]	0.000000
Alpha[15]	0.990214
TNavParticleFilter::Modified Variance for beam 16 is 18.41 
Alpha[16]	0.000000
Alpha[16]	0.990880
TNavParticleFilter::Modified Variance for beam 17 is 18.20 
Alpha[17]	0.000000
Alpha[17]	0.990558
TNavParticleFilter::Modified Variance for beam 18 is 18.00 
Alpha[18]	0.000000
Alpha[18]	0.990182
TNavParticleFilter::Modified Variance for beam 19 is 17.79 
Alpha[19]	0.000000
Alpha[19]	0.990860
TNavParticleFilter::Modified Variance for beam 20 is 18.62 
Alpha[20]	0.000000
Alpha[20]	0.992025
TNavParticleFilter::Modified Variance for beam 21 is 18.54 
Alpha[21]	0.000000
Alpha[21]	0.992102
TNavParticleFilter::Modified Variance for beam 22 is 18.40 
Alpha[22]	0.000000
Alpha[22]	0.990663
TNavParticleFilter::Modified Variance for beam 23 is 19.44 
Alpha[23]	0.000000
Alpha[23]	0.987955
TNavParticleFilter::Modified Variance for beam 24 is 19.30 
Alpha[24]	0.000000
Alpha[24]	0.987139
TNavParticleFilter::Modified Variance for beam 25 is 18.10 
Alpha[25]	0.000000
Alpha[25]	0.982387
TNavParticleFilter::Modified Variance for beam 26 is 18.01 
Alpha[26]	0.000000
Alpha[26]	0.980149
TNavParticleFilter::Modified Variance for beam 27 is 17.85 
Alpha[27]	0.000000
Alpha[27]	0.982710
TNavParticleFilter::Modified Variance for beam 28 is 17.76 
Alpha[28]	0.000000
Alpha[28]	0.981429
TNavParticleFilter::Modified Variance for beam 29 is 17.87 
Alpha[29]	0.000000
Alpha[29]	0.970348
TNavParticleFilter::Modified Variance for beam 30 is 17.98 
Alpha[30]	0.000000
Alpha[30]	0.959612
TNavParticleFilter::Modified Variance for beam 31 is 17.88 
Alpha[31]	0.000000
Alpha[31]	0.960607
TNavParticleFilter::Modified Variance for beam 32 is 17.77 
Alpha[32]	0.000000
Alpha[32]	0.962689
TNavParticleFilter::Modified Variance for beam 33 is 17.70 
Alpha[33]	0.000000
Alpha[33]	0.962863
TNavParticleFilter::Modified Variance for beam 34 is 17.58 
Alpha[34]	0.000000
Alpha[34]	0.966351
TNavParticleFilter::Modified Variance for beam 35 is 17.57 
Alpha[35]	0.000000
Alpha[35]	0.964841
TNavParticleFilter::Modified Variance for beam 36 is 17.43 
Alpha[36]	0.000000
Alpha[36]	0.970190
TNavParticleFilter::Modified Variance for beam 37 is 17.23 
Alpha[37]	0.000000
Alpha[37]	0.980172
TNavParticleFilter::Modified Variance for beam 38 is 17.16 
Alpha[38]	0.000000
Alpha[38]	0.983276
TNavParticleFilter::Modified Variance for beam 39 is 17.12 
Alpha[39]	0.000000
Alpha[39]	0.984643
TNavParticleFilter::Modified Variance for beam 40 is 17.12 
Alpha[40]	0.000000
Alpha[40]	0.984815
TNavParticleFilter::Modified Variance for beam 41 is 17.14 
Alpha[41]	0.000000
Alpha[41]	0.983686
TNavParticleFilter::Modified Variance for beam 42 is 16.24 
Alpha[42]	0.000000
Alpha[42]	0.977303
TNavParticleFilter::Modified Variance for beam 43 is 16.36 
Alpha[43]	0.000000
Alpha[43]	0.971236
TNavParticleFilter::Modified Variance for beam 44 is 16.41 
Alpha[44]	0.000000
Alpha[44]	0.970020
TNavParticleFilter::Modified Variance for beam 45 is 16.48 
Alpha[45]	0.000000
Alpha[45]	0.968013
TNavParticleFilter::Modified Variance for beam 46 is 16.64 
Alpha[46]	0.000000
Alpha[46]	0.961526
TNavParticleFilter::Modified Variance for beam 47 is 16.79 
Alpha[47]	0.000000
Alpha[47]	0.956028
TNavParticleFilter::Modified Variance for beam 48 is 16.84 
Alpha[48]	0.000000
Alpha[48]	0.956804
TNavParticleFilter::Modified Variance for beam 49 is 16.85 
Alpha[49]	0.000000
Alpha[49]	0.960359
TNavParticleFilter::Modified Variance for beam 50 is 16.79 
Alpha[50]	0.000000
Alpha[50]	0.968566
TNavParticleFilter::Modified Variance for beam 51 is 16.68 
Alpha[51]	0.000000
Alpha[51]	0.979910
TNavParticleFilter::Modified Variance for beam 52 is 16.71 
Alpha[52]	0.000000
Alpha[52]	0.983892
TNavParticleFilter::Modified Variance for beam 53 is 16.79 
Alpha[53]	0.000000
Alpha[53]	0.985276
TNavParticleFilter::Modified Variance for beam 54 is 15.86 
Alpha[54]	0.000000
Alpha[54]	0.985465
TNavParticleFilter::Modified Variance for beam 55 is 16.03 
Alpha[55]	0.000000
Alpha[55]	0.981964
TNavParticleFilter::Modified Variance for beam 56 is 16.27 
Alpha[56]	0.000000
Alpha[56]	0.974954
TNavParticleFilter::Modified Variance for beam 57 is 16.42 
Alpha[57]	0.000000
Alpha[57]	0.973708
TNavParticleFilter::Modified Variance for beam 58 is 16.47 
Alpha[58]	0.000000
Alpha[58]	0.979477
TNavParticleFilter::Modified Variance for beam 59 is 16.54 
Alpha[59]	0.000000
Alpha[59]	0.984157
TNavPF:: sumSquaredError = 5.868257 
TNavPF:: sumWeights = 0.144009 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 2.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.10. Range = 79.67 
TNavPF::Calculated measDiffMean for beam 38 as 0.97. Range = 80.41 
TNavPF::Calculated measDiffMean for beam 39 as 0.64. Range = 78.29 
TNavPF::Calculated measDiffMean for beam 40 as 0.55. Range = 75.93 
TNavPF::Calculated measDiffMean for beam 41 as 0.52. Range = 69.88 
TNavPF::Calculated measDiffMean for beam 42 as 0.43. Range = 67.94 
TNavPF::Calculated measDiffMean for beam 43 as 0.90. Range = 66.13 
TNavPF::Calculated measDiffMean for beam 44 as 1.77. Range = 64.42 
TNavPF::Calculated measDiffMean for beam 45 as 1.40. Range = 64.63 
TNavPF::Calculated measDiffMean for beam 46 as 1.05. Range = 65.45 
TNavPF::Calculated measDiffMean for beam 47 as 0.74. Range = 66.31 
TNavPF::Calculated measDiffMean for beam 48 as 0.44. Range = 65.03 
TNavPF::Calculated measDiffMean for beam 49 as 0.25. Range = 63.63 
TNavPF::Calculated measDiffMean for beam 50 as 1.89. Range = 59.22 
TNavPF::Calculated measDiffMean for beam 51 as 1.50. Range = 55.91 
TNavPF::Calculated measDiffMean for beam 52 as 0.38. Range = 56.38 
TNavPF::Calculated measDiffMean for beam 53 as 1.50. Range = 56.87 
TNavPF::Calculated measDiffMean for beam 54 as 1.58. Range = 57.39 
TNavPF::Calculated measDiffMean for beam 55 as -0.11. Range = 56.69 
TNavPF::Calculated measDiffMean for beam 56 as -0.07. Range = 56.02 
TNavPF::Calculated measDiffMean for beam 57 as -0.16. Range = 57.07 
TNavPF::Calculated measDiffMean for beam 58 as -0.06. Range = 56.65 
TNavPF::Calculated measDiffMean for beam 59 as 0.17. Range = 55.79 
TNavPF::Calculated measDiffMean for beam 60 as 0.24. Range = 54.97 
TNavPF::Calculated measDiffMean for beam 61 as 0.25. Range = 55.49 
TNavPF::Calculated measDiffMean for beam 62 as 0.24. Range = 56.74 
TNavPF::Calculated measDiffMean for beam 63 as 0.24. Range = 57.74 
TNavPF::Calculated measDiffMean for beam 64 as 0.25. Range = 57.01 
TNavPF::Calculated measDiffMean for beam 65 as 0.27. Range = 56.31 
TNavPF::Calculated measDiffMean for beam 66 as 0.35. Range = 55.65 
TNavPF::Calculated measDiffMean for beam 67 as 0.59. Range = 56.81 
TNavPF::Calculated measDiffMean for beam 68 as 0.81. Range = 56.76 
TNavPF::Calculated measDiffMean for beam 69 as 1.02. Range = 56.17 
TNavPF::Calculated measDiffMean for beam 70 as 1.27. Range = 55.60 
TNavPF::Calculated measDiffMean for beam 71 as 1.53. Range = 55.06 
TNavPF::Calculated measDiffMean for beam 72 as -0.12. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 73 as 0.02. Range = 54.91 
TNavPF::Calculated measDiffMean for beam 74 as 0.04. Range = 55.81 
TNavPF::Calculated measDiffMean for beam 75 as 0.06. Range = 55.36 
TNavPF::Calculated measDiffMean for beam 76 as 0.12. Range = 54.92 
TNavPF::Calculated measDiffMean for beam 77 as 0.17. Range = 54.51 
TNavPF::Calculated measDiffMean for beam 78 as 0.19. Range = 54.13 
TNavPF::Calculated measDiffMean for beam 79 as 0.21. Range = 53.76 
TNavPF::Calculated measDiffMean for beam 80 as 0.31. Range = 55.35 
TNavPF::Calculated measDiffMean for beam 81 as 0.57. Range = 55.20 
TNavPF::Calculated measDiffMean for beam 82 as 0.82. Range = 54.89 
TNavPF::Calculated measDiffMean for beam 83 as 1.18. Range = 56.68 
TNavPF::Calculated measDiffMean for beam 84 as -0.53. Range = 56.39 
TNavPF::Calculated measDiffMean for beam 85 as -0.25. Range = 54.06 
TNavPF::Calculated measDiffMean for beam 86 as 0.03. Range = 53.82 
TNavPF::Calculated measDiffMean for beam 87 as 0.18. Range = 53.60 
TNavPF::Calculated measDiffMean for beam 88 as 0.41. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 89 as 0.60. Range = 53.21 
TNavPF::First Term of Map Covariance Matrix is 2.47 
TNavPF::Calculated NIS Value : 1.45 	numBeams normalized NIS: 0.02
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322582.82 sec.
INS : North: 4070353.98, East: 588601.83, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 57.26, IDT[75] = 48.46
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322585.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322585.62)
ARL : North: -0.7294, East: 0.1504, Depth: 3.7801ARL : Estimation Bias  (Mean)         : (t = 1488322585.62)
ARL : North: -0.3990, East: -1.9794, Depth: 0.4112TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 20.62 
Alpha[0]	0.123000
Alpha[0]	0.978654
TNavParticleFilter::Modified Variance for beam 1 is 20.27 
Alpha[1]	0.000000
Alpha[1]	0.975729
TNavParticleFilter::Modified Variance for beam 2 is 19.88 
Alpha[2]	0.000000
Alpha[2]	0.975920
TNavParticleFilter::Modified Variance for beam 3 is 19.44 
Alpha[3]	0.000000
Alpha[3]	0.980328
TNavParticleFilter::Modified Variance for beam 4 is 18.99 
Alpha[4]	0.000000
Alpha[4]	0.986613
TNavParticleFilter::Modified Variance for beam 5 is 19.88 
Alpha[5]	0.000000
Alpha[5]	0.989416
TNavParticleFilter::Modified Variance for beam 6 is 19.56 
Alpha[6]	0.000000
Alpha[6]	0.990352
TNavParticleFilter::Modified Variance for beam 7 is 19.24 
Alpha[7]	0.000000
Alpha[7]	0.991091
TNavParticleFilter::Modified Variance for beam 8 is 18.95 
Alpha[8]	0.000000
Alpha[8]	0.991107
TNavParticleFilter::Modified Variance for beam 9 is 18.68 
Alpha[9]	0.000000
Alpha[9]	0.991572
TNavParticleFilter::Modified Variance for beam 10 is 18.41 
Alpha[10]	0.000000
Alpha[10]	0.992029
TNavParticleFilter::Modified Variance for beam 11 is 18.91 
Alpha[11]	0.000000
Alpha[11]	0.992440
TNavParticleFilter::Modified Variance for beam 12 is 17.96 
Alpha[12]	0.000000
Alpha[12]	0.991641
TNavParticleFilter::Modified Variance for beam 13 is 18.68 
Alpha[13]	0.000000
Alpha[13]	0.988750
TNavParticleFilter::Modified Variance for beam 14 is 19.99 
Alpha[14]	0.000000
Alpha[14]	0.987663
TNavParticleFilter::Modified Variance for beam 15 is 19.77 
Alpha[15]	0.000000
Alpha[15]	0.987707
TNavParticleFilter::Modified Variance for beam 16 is 18.45 
Alpha[16]	0.000000
Alpha[16]	0.984819
TNavParticleFilter::Modified Variance for beam 17 is 18.29 
Alpha[17]	0.000000
Alpha[17]	0.983898
TNavParticleFilter::Modified Variance for beam 18 is 18.12 
Alpha[18]	0.000000
Alpha[18]	0.984150
TNavParticleFilter::Modified Variance for beam 19 is 18.04 
Alpha[19]	0.000000
Alpha[19]	0.980740
TNavParticleFilter::Modified Variance for beam 20 is 18.04 
Alpha[20]	0.000000
Alpha[20]	0.972578
TNavParticleFilter::Modified Variance for beam 21 is 17.97 
Alpha[21]	0.000000
Alpha[21]	0.969365
TNavParticleFilter::Modified Variance for beam 22 is 17.85 
Alpha[22]	0.000000
Alpha[22]	0.969412
TNavParticleFilter::Modified Variance for beam 23 is 17.82 
Alpha[23]	0.000000
Alpha[23]	0.964786
TNavParticleFilter::Modified Variance for beam 24 is 17.71 
Alpha[24]	0.000000
Alpha[24]	0.965309
TNavParticleFilter::Modified Variance for beam 25 is 17.58 
Alpha[25]	0.000000
Alpha[25]	0.967357
TNavParticleFilter::Modified Variance for beam 26 is 17.44 
Alpha[26]	0.000000
Alpha[26]	0.970828
TNavParticleFilter::Modified Variance for beam 27 is 17.22 
Alpha[27]	0.000000
Alpha[27]	0.978894
TNavParticleFilter::Modified Variance for beam 28 is 17.10 
Alpha[28]	0.000000
Alpha[28]	0.982286
TNavParticleFilter::Modified Variance for beam 29 is 17.01 
Alpha[29]	0.000000
Alpha[29]	0.984232
TNavParticleFilter::Modified Variance for beam 30 is 16.94 
Alpha[30]	0.000000
Alpha[30]	0.985285
TNavParticleFilter::Modified Variance for beam 31 is 16.90 
Alpha[31]	0.000000
Alpha[31]	0.985413
TNavParticleFilter::Modified Variance for beam 32 is 15.91 
Alpha[32]	0.000000
Alpha[32]	0.982557
TNavParticleFilter::Modified Variance for beam 33 is 15.96 
Alpha[33]	0.000000
Alpha[33]	0.978041
TNavParticleFilter::Modified Variance for beam 34 is 15.97 
Alpha[34]	0.000000
Alpha[34]	0.976486
TNavParticleFilter::Modified Variance for beam 35 is 15.99 
Alpha[35]	0.000000
Alpha[35]	0.974900
TNavParticleFilter::Modified Variance for beam 36 is 16.08 
Alpha[36]	0.000000
Alpha[36]	0.969692
TNavParticleFilter::Modified Variance for beam 37 is 16.24 
Alpha[37]	0.000000
Alpha[37]	0.960853
TNavParticleFilter::Modified Variance for beam 38 is 16.31 
Alpha[38]	0.000000
Alpha[38]	0.957928
TNavParticleFilter::Modified Variance for beam 39 is 16.29 
Alpha[39]	0.000000
Alpha[39]	0.960479
TNavParticleFilter::Modified Variance for beam 40 is 16.20 
Alpha[40]	0.000000
Alpha[40]	0.967598
TNavParticleFilter::Modified Variance for beam 41 is 16.09 
Alpha[41]	0.000000
Alpha[41]	0.976797
TNavParticleFilter::Modified Variance for beam 42 is 16.06 
Alpha[42]	0.000000
Alpha[42]	0.981793
TNavParticleFilter::Modified Variance for beam 43 is 16.07 
Alpha[43]	0.000000
Alpha[43]	0.984676
TNavParticleFilter::Modified Variance for beam 44 is 15.12 
Alpha[44]	0.000000
Alpha[44]	0.985867
TNavParticleFilter::Modified Variance for beam 45 is 15.20 
Alpha[45]	0.000000
Alpha[45]	0.984846
TNavParticleFilter::Modified Variance for beam 46 is 15.34 
Alpha[46]	0.000000
Alpha[46]	0.980633
TNavParticleFilter::Modified Variance for beam 47 is 15.49 
Alpha[47]	0.000000
Alpha[47]	0.976674
TNavParticleFilter::Modified Variance for beam 48 is 15.56 
Alpha[48]	0.000000
Alpha[48]	0.977758
TNavParticleFilter::Modified Variance for beam 49 is 15.61 
Alpha[49]	0.000000
Alpha[49]	0.981109
TNavParticleFilter::Modified Variance for beam 50 is 15.70 
Alpha[50]	0.000000
Alpha[50]	0.982186
TNavParticleFilter::Modified Variance for beam 51 is 15.81 
Alpha[51]	0.000000
Alpha[51]	0.982749
TNavParticleFilter::Modified Variance for beam 52 is 15.92 
Alpha[52]	0.000000
Alpha[52]	0.983397
TNavParticleFilter::Modified Variance for beam 53 is 16.03 
Alpha[53]	0.000000
Alpha[53]	0.985059
TNavParticleFilter::Modified Variance for beam 54 is 16.15 
Alpha[54]	0.000000
Alpha[54]	0.986652
TNavParticleFilter::Modified Variance for beam 55 is 16.31 
Alpha[55]	0.000000
Alpha[55]	0.986734
TNavParticleFilter::Modified Variance for beam 56 is 15.47 
Alpha[56]	0.000000
Alpha[56]	0.982944
TNavParticleFilter::Modified Variance for beam 57 is 15.61 
Alpha[57]	0.000000
Alpha[57]	0.984596
TNavParticleFilter::Modified Variance for beam 58 is 15.70 
Alpha[58]	0.000000
Alpha[58]	0.989550
TNavParticleFilter::Modified Variance for beam 59 is 15.84 
Alpha[59]	0.000000
Alpha[59]	0.992532
TNavPF:: sumSquaredError = 3.612395 
TNavPF:: sumWeights = 0.167383 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 0.88. Range = 83.35 
TNavPF::Calculated measDiffMean for beam 32 as 0.81. Range = 88.05 
TNavPF::Calculated measDiffMean for beam 33 as 0.61. Range = 80.84 
TNavPF::Calculated measDiffMean for beam 34 as 0.07. Range = 74.12 
TNavPF::Calculated measDiffMean for beam 35 as 1.74. Range = 71.85 
TNavPF::Calculated measDiffMean for beam 36 as 1.35. Range = 69.74 
TNavPF::Calculated measDiffMean for beam 37 as 0.96. Range = 67.77 
TNavPF::Calculated measDiffMean for beam 38 as 0.60. Range = 67.80 
TNavPF::Calculated measDiffMean for beam 39 as 0.31. Range = 68.58 
TNavPF::Calculated measDiffMean for beam 40 as 0.05. Range = 69.41 
TNavPF::Calculated measDiffMean for beam 41 as 0.95. Range = 67.89 
TNavPF::Calculated measDiffMean for beam 42 as -1.20. Range = 59.63 
TNavPF::Calculated measDiffMean for beam 43 as -0.67. Range = 59.43 
TNavPF::Calculated measDiffMean for beam 44 as 1.53. Range = 60.26 
TNavPF::Calculated measDiffMean for beam 45 as 1.85. Range = 61.13 
TNavPF::Calculated measDiffMean for beam 46 as -0.04. Range = 60.79 
TNavPF::Calculated measDiffMean for beam 47 as -0.02. Range = 59.59 
TNavPF::Calculated measDiffMean for beam 48 as 0.00. Range = 58.54 
TNavPF::Calculated measDiffMean for beam 49 as 0.21. Range = 59.51 
TNavPF::Calculated measDiffMean for beam 50 as 0.33. Range = 59.21 
TNavPF::Calculated measDiffMean for beam 51 as 0.33. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 52 as 0.33. Range = 57.24 
TNavPF::Calculated measDiffMean for beam 53 as 0.31. Range = 57.98 
TNavPF::Calculated measDiffMean for beam 54 as 0.31. Range = 59.13 
TNavPF::Calculated measDiffMean for beam 55 as 0.32. Range = 59.86 
TNavPF::Calculated measDiffMean for beam 56 as 0.37. Range = 59.00 
TNavPF::Calculated measDiffMean for beam 57 as 0.53. Range = 58.19 
TNavPF::Calculated measDiffMean for beam 58 as 0.69. Range = 57.79 
TNavPF::Calculated measDiffMean for beam 59 as 0.87. Range = 59.14 
TNavPF::Calculated measDiffMean for beam 60 as 1.11. Range = 58.41 
TNavPF::Calculated measDiffMean for beam 61 as 1.36. Range = 57.71 
TNavPF::Calculated measDiffMean for beam 62 as -0.28. Range = 57.04 
TNavPF::Calculated measDiffMean for beam 63 as -0.10. Range = 56.40 
TNavPF::Calculated measDiffMean for beam 64 as -0.07. Range = 55.84 
TNavPF::Calculated measDiffMean for beam 65 as -0.05. Range = 57.51 
TNavPF::Calculated measDiffMean for beam 66 as 0.03. Range = 56.97 
TNavPF::Calculated measDiffMean for beam 67 as 0.11. Range = 56.43 
TNavPF::Calculated measDiffMean for beam 68 as 0.13. Range = 55.92 
TNavPF::Calculated measDiffMean for beam 69 as 0.14. Range = 55.43 
TNavPF::Calculated measDiffMean for beam 70 as 0.20. Range = 54.96 
TNavPF::Calculated measDiffMean for beam 71 as 0.36. Range = 55.89 
TNavPF::Calculated measDiffMean for beam 72 as 0.55. Range = 54.11 
TNavPF::Calculated measDiffMean for beam 73 as 0.81. Range = 55.33 
TNavPF::Calculated measDiffMean for beam 74 as -0.90. Range = 57.64 
TNavPF::Calculated measDiffMean for beam 75 as -0.62. Range = 57.26 
TNavPF::Calculated measDiffMean for beam 76 as -0.29. Range = 54.78 
TNavPF::Calculated measDiffMean for beam 77 as -0.07. Range = 54.46 
TNavPF::Calculated measDiffMean for beam 78 as 0.10. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 79 as 0.26. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 80 as 0.34. Range = 53.62 
TNavPF::Calculated measDiffMean for beam 81 as 0.36. Range = 53.37 
TNavPF::Calculated measDiffMean for beam 82 as 0.37. Range = 53.14 
TNavPF::Calculated measDiffMean for beam 83 as 0.40. Range = 52.94 
TNavPF::Calculated measDiffMean for beam 84 as 0.59. Range = 52.75 
TNavPF::Calculated measDiffMean for beam 85 as 1.19. Range = 52.57 
TNavPF::Calculated measDiffMean for beam 86 as -0.31. Range = 52.42 
TNavPF::Calculated measDiffMean for beam 87 as -0.01. Range = 52.28 
TNavPF::Calculated measDiffMean for beam 88 as 0.41. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 89 as 1.03. Range = 52.05 
TNavPF::First Term of Map Covariance Matrix is 0.93 
TNavPF::Calculated NIS Value : 1.44 	numBeams normalized NIS: 0.02
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322585.82 sec.
INS : North: 4070353.70, East: 588597.60, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 50.55, IDT[75] = 47.49
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322588.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322588.62)
ARL : North: -1.2168, East: -3.2853, Depth: -1.8029ARL : Estimation Bias  (Mean)         : (t = 1488322588.62)
ARL : North: -0.2726, East: -1.8678, Depth: -0.3305TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.32 
Alpha[0]	0.123000
Alpha[0]	0.990850
TNavParticleFilter::Modified Variance for beam 1 is 19.10 
Alpha[1]	0.000000
Alpha[1]	0.990430
TNavParticleFilter::Modified Variance for beam 2 is 18.91 
Alpha[2]	0.000000
Alpha[2]	0.989307
TNavParticleFilter::Modified Variance for beam 3 is 18.76 
Alpha[3]	0.000000
Alpha[3]	0.986668
TNavParticleFilter::Modified Variance for beam 4 is 18.61 
Alpha[4]	0.000000
Alpha[4]	0.984434
TNavParticleFilter::Modified Variance for beam 5 is 18.50 
Alpha[5]	0.000000
Alpha[5]	0.981248
TNavParticleFilter::Modified Variance for beam 6 is 18.37 
Alpha[6]	0.000000
Alpha[6]	0.979175
TNavParticleFilter::Modified Variance for beam 7 is 18.24 
Alpha[7]	0.000000
Alpha[7]	0.977898
TNavParticleFilter::Modified Variance for beam 8 is 18.11 
Alpha[8]	0.000000
Alpha[8]	0.977255
TNavParticleFilter::Modified Variance for beam 9 is 17.98 
Alpha[9]	0.000000
Alpha[9]	0.977539
TNavParticleFilter::Modified Variance for beam 10 is 17.83 
Alpha[10]	0.000000
Alpha[10]	0.979167
TNavParticleFilter::Modified Variance for beam 11 is 17.69 
Alpha[11]	0.000000
Alpha[11]	0.980511
TNavParticleFilter::Modified Variance for beam 12 is 17.57 
Alpha[12]	0.000000
Alpha[12]	0.981880
TNavParticleFilter::Modified Variance for beam 13 is 17.45 
Alpha[13]	0.000000
Alpha[13]	0.983362
TNavParticleFilter::Modified Variance for beam 14 is 17.33 
Alpha[14]	0.000000
Alpha[14]	0.985769
TNavParticleFilter::Modified Variance for beam 15 is 16.21 
Alpha[15]	0.000000
Alpha[15]	0.986149
TNavParticleFilter::Modified Variance for beam 16 is 16.17 
Alpha[16]	0.000000
Alpha[16]	0.985202
TNavParticleFilter::Modified Variance for beam 17 is 16.13 
Alpha[17]	0.000000
Alpha[17]	0.984220
TNavParticleFilter::Modified Variance for beam 18 is 16.11 
Alpha[18]	0.000000
Alpha[18]	0.982839
TNavParticleFilter::Modified Variance for beam 19 is 16.15 
Alpha[19]	0.000000
Alpha[19]	0.978596
TNavParticleFilter::Modified Variance for beam 20 is 16.26 
Alpha[20]	0.000000
Alpha[20]	0.970492
TNavParticleFilter::Modified Variance for beam 21 is 16.28 
Alpha[21]	0.000000
Alpha[21]	0.967634
TNavParticleFilter::Modified Variance for beam 22 is 16.27 
Alpha[22]	0.000000
Alpha[22]	0.967871
TNavParticleFilter::Modified Variance for beam 23 is 16.22 
Alpha[23]	0.000000
Alpha[23]	0.970565
TNavParticleFilter::Modified Variance for beam 24 is 16.15 
Alpha[24]	0.000000
Alpha[24]	0.975121
TNavParticleFilter::Modified Variance for beam 25 is 16.09 
Alpha[25]	0.000000
Alpha[25]	0.978925
TNavParticleFilter::Modified Variance for beam 26 is 16.05 
Alpha[26]	0.000000
Alpha[26]	0.982631
TNavParticleFilter::Modified Variance for beam 27 is 16.04 
Alpha[27]	0.000000
Alpha[27]	0.985067
TNavParticleFilter::Modified Variance for beam 28 is 16.06 
Alpha[28]	0.000000
Alpha[28]	0.985780
TNavParticleFilter::Modified Variance for beam 29 is 15.14 
Alpha[29]	0.000000
Alpha[29]	0.984184
TNavParticleFilter::Modified Variance for beam 30 is 15.22 
Alpha[30]	0.000000
Alpha[30]	0.982125
TNavParticleFilter::Modified Variance for beam 31 is 15.32 
Alpha[31]	0.000000
Alpha[31]	0.979097
TNavParticleFilter::Modified Variance for beam 32 is 15.41 
Alpha[32]	0.000000
Alpha[32]	0.977428
TNavParticleFilter::Modified Variance for beam 33 is 15.53 
Alpha[33]	0.000000
Alpha[33]	0.974337
TNavParticleFilter::Modified Variance for beam 34 is 15.66 
Alpha[34]	0.000000
Alpha[34]	0.971108
TNavParticleFilter::Modified Variance for beam 35 is 15.75 
Alpha[35]	0.000000
Alpha[35]	0.970584
TNavParticleFilter::Modified Variance for beam 36 is 15.82 
Alpha[36]	0.000000
Alpha[36]	0.972200
TNavParticleFilter::Modified Variance for beam 37 is 15.83 
Alpha[37]	0.000000
Alpha[37]	0.977757
TNavParticleFilter::Modified Variance for beam 38 is 15.86 
Alpha[38]	0.000000
Alpha[38]	0.982616
TNavParticleFilter::Modified Variance for beam 39 is 14.96 
Alpha[39]	0.000000
Alpha[39]	0.982968
TNavParticleFilter::Modified Variance for beam 40 is 15.06 
Alpha[40]	0.000000
Alpha[40]	0.984314
TNavParticleFilter::Modified Variance for beam 41 is 15.13 
Alpha[41]	0.000000
Alpha[41]	0.988049
TNavParticleFilter::Modified Variance for beam 42 is 15.22 
Alpha[42]	0.000000
Alpha[42]	0.990911
TNavParticleFilter::Modified Variance for beam 43 is 15.35 
Alpha[43]	0.000000
Alpha[43]	0.991729
TNavParticleFilter::Modified Variance for beam 44 is 14.55 
Alpha[44]	0.000000
Alpha[44]	0.991811
TNavParticleFilter::Modified Variance for beam 45 is 14.64 
Alpha[45]	0.000000
Alpha[45]	0.991937
TNavParticleFilter::Modified Variance for beam 46 is 14.80 
Alpha[46]	0.000000
Alpha[46]	0.991740
TNavParticleFilter::Modified Variance for beam 47 is 14.23 
Alpha[47]	0.000000
Alpha[47]	0.991729
TNavParticleFilter::Modified Variance for beam 48 is 14.12 
Alpha[48]	0.000000
Alpha[48]	0.992115
TNavParticleFilter::Modified Variance for beam 49 is 14.29 
Alpha[49]	0.000000
Alpha[49]	0.992146
TNavParticleFilter::Modified Variance for beam 50 is 14.48 
Alpha[50]	0.000000
Alpha[50]	0.992123
TNavParticleFilter::Modified Variance for beam 51 is 14.68 
Alpha[51]	0.000000
Alpha[51]	0.992276
TNavParticleFilter::Modified Variance for beam 52 is 14.58 
Alpha[52]	0.000000
Alpha[52]	0.992667
TNavParticleFilter::Modified Variance for beam 53 is 14.02 
Alpha[53]	0.000000
Alpha[53]	0.993829
TNavParticleFilter::Modified Variance for beam 54 is 14.23 
Alpha[54]	0.000000
Alpha[54]	0.994624
TNavParticleFilter::Modified Variance for beam 55 is 14.45 
Alpha[55]	0.000000
Alpha[55]	0.995394
TNavParticleFilter::Modified Variance for beam 56 is 14.68 
Alpha[56]	0.000000
Alpha[56]	0.996172
TNavParticleFilter::Modified Variance for beam 57 is 14.94 
Alpha[57]	0.000000
Alpha[57]	0.996623
TNavParticleFilter::Modified Variance for beam 58 is 15.21 
Alpha[58]	0.000000
Alpha[58]	0.996610
TNavParticleFilter::Modified Variance for beam 59 is 15.44 
Alpha[59]	0.000000
Alpha[59]	0.996766
TNavPF:: sumSquaredError = 5.332316 
TNavPF:: sumWeights = 0.147215 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.05. Range = 61.60 
TNavPF::Calculated measDiffMean for beam 31 as 0.21. Range = 61.85 
TNavPF::Calculated measDiffMean for beam 32 as 0.40. Range = 60.51 
TNavPF::Calculated measDiffMean for beam 33 as 0.60. Range = 59.24 
TNavPF::Calculated measDiffMean for beam 34 as 0.64. Range = 59.87 
TNavPF::Calculated measDiffMean for beam 35 as 0.65. Range = 62.89 
TNavPF::Calculated measDiffMean for beam 36 as 0.65. Range = 61.70 
TNavPF::Calculated measDiffMean for beam 37 as 0.64. Range = 60.58 
TNavPF::Calculated measDiffMean for beam 38 as 0.63. Range = 61.08 
TNavPF::Calculated measDiffMean for beam 39 as 0.64. Range = 62.18 
TNavPF::Calculated measDiffMean for beam 40 as 0.70. Range = 60.27 
TNavPF::Calculated measDiffMean for beam 41 as 0.78. Range = 59.31 
TNavPF::Calculated measDiffMean for beam 42 as 0.90. Range = 59.73 
TNavPF::Calculated measDiffMean for beam 43 as 1.10. Range = 60.15 
TNavPF::Calculated measDiffMean for beam 44 as 1.40. Range = 59.29 
TNavPF::Calculated measDiffMean for beam 45 as -0.27. Range = 60.40 
TNavPF::Calculated measDiffMean for beam 46 as -0.12. Range = 60.20 
TNavPF::Calculated measDiffMean for beam 47 as -0.08. Range = 59.43 
TNavPF::Calculated measDiffMean for beam 48 as 0.03. Range = 58.69 
TNavPF::Calculated measDiffMean for beam 49 as 0.25. Range = 59.33 
TNavPF::Calculated measDiffMean for beam 50 as 0.42. Range = 59.71 
TNavPF::Calculated measDiffMean for beam 51 as 0.45. Range = 59.05 
TNavPF::Calculated measDiffMean for beam 52 as 0.45. Range = 58.42 
TNavPF::Calculated measDiffMean for beam 53 as 0.48. Range = 57.82 
TNavPF::Calculated measDiffMean for beam 54 as 0.55. Range = 57.25 
TNavPF::Calculated measDiffMean for beam 55 as 0.63. Range = 57.87 
TNavPF::Calculated measDiffMean for beam 56 as 0.78. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 57 as 1.00. Range = 57.94 
TNavPF::Calculated measDiffMean for beam 58 as 1.33. Range = 59.56 
TNavPF::Calculated measDiffMean for beam 59 as -0.28. Range = 59.19 
TNavPF::Calculated measDiffMean for beam 60 as -0.04. Range = 56.57 
TNavPF::Calculated measDiffMean for beam 61 as 0.15. Range = 56.16 
TNavPF::Calculated measDiffMean for beam 62 as 0.28. Range = 55.78 
TNavPF::Calculated measDiffMean for beam 63 as 0.38. Range = 55.41 
TNavPF::Calculated measDiffMean for beam 64 as 0.44. Range = 55.07 
TNavPF::Calculated measDiffMean for beam 65 as 0.46. Range = 54.75 
TNavPF::Calculated measDiffMean for beam 66 as 0.49. Range = 54.45 
TNavPF::Calculated measDiffMean for beam 67 as 0.69. Range = 54.17 
TNavPF::Calculated measDiffMean for beam 68 as 1.22. Range = 53.90 
TNavPF::Calculated measDiffMean for beam 69 as -0.33. Range = 53.66 
TNavPF::Calculated measDiffMean for beam 70 as -0.11. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 71 as 0.10. Range = 53.23 
TNavPF::Calculated measDiffMean for beam 72 as 0.52. Range = 53.04 
TNavPF::Calculated measDiffMean for beam 73 as 1.25. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 74 as 0.12. Range = 52.71 
TNavPF::Calculated measDiffMean for beam 75 as 0.62. Range = 50.55 
TNavPF::Calculated measDiffMean for beam 76 as 1.04. Range = 50.44 
TNavPF::Calculated measDiffMean for beam 77 as -0.18. Range = 50.33 
TNavPF::Calculated measDiffMean for beam 78 as -0.53. Range = 50.25 
TNavPF::Calculated measDiffMean for beam 79 as -0.30. Range = 50.18 
TNavPF::Calculated measDiffMean for beam 80 as -0.14. Range = 50.13 
TNavPF::Calculated measDiffMean for beam 81 as 0.11. Range = 50.09 
TNavPF::Calculated measDiffMean for beam 82 as -0.03. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 83 as -1.18. Range = 50.05 
TNavPF::Calculated measDiffMean for beam 84 as -0.97. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 85 as -0.74. Range = 50.08 
TNavPF::Calculated measDiffMean for beam 86 as -0.39. Range = 50.12 
TNavPF::Calculated measDiffMean for beam 87 as -0.11. Range = 50.17 
TNavPF::Calculated measDiffMean for beam 88 as 0.11. Range = 50.24 
TNavPF::Calculated measDiffMean for beam 89 as 0.33. Range = 48.31 
TNavPF::First Term of Map Covariance Matrix is 2.18 
TNavPF::Calculated NIS Value : 1.36 	numBeams normalized NIS: 0.02
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488322588.82 sec.
INS : North: 4070354.32, East: 588593.52, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 49.85, IDT[75] = 49.76
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322591.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322591.62)
ARL : North: -0.1133, East: -2.4494, Depth: 2.5460ARL : Estimation Bias  (Mean)         : (t = 1488322591.62)
ARL : North: 0.0166, East: -1.7133, Depth: -0.0402
TerrainNav::measUpdate() - IDT[45] = 50.11, IDT[75] = 49.20
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322592.02 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488322591.62)
ARL : North: -0.1133, East: -2.4494, Depth: 2.5460ARL : Estimation Bias  (Mean)         : (t = 1488322591.62)
ARL : North: 0.0166, East: -1.7133, Depth: -0.0402TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TerrainNav::Measurement type 5 not incorporated from time = 1488322591.82 sec.; No relevant navigation data available
TerrainNav::Measurement type 5 not incorporated from time = 1488322592.02 sec.; No relevant navigation data available
INS : North: 4070358.47, East: 588586.85, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 55.84, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322597.82 sec.; waiting for more recent INS data...

TerrainNav::measUpdate() - IDT[45] = 55.84, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488322597.82 sec.; waiting for more recent INS data...
TerrainNav::No valid bottom velocity measurements for the past 100.0 seconds.  Re-initializing the filter.
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070365.22, East: 588583.51, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322603.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322603.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070372.56, East: 588584.11, Depth: 889.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322609.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322609.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070378.49, East: 588588.26, Depth: 889.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322615.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322615.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070381.54, East: 588594.75, Depth: 889.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322621.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322621.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070380.98, East: 588601.86, Depth: 889.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322627.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322627.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070377.15, East: 588608.06, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322633.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322633.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070372.19, East: 588613.97, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322639.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322639.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070368.31, East: 588620.91, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322645.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322645.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070366.55, East: 588628.81, Depth: 890.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322651.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322651.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070366.64, East: 588637.11, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322657.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322657.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070367.88, East: 588645.51, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322663.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322663.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070369.84, East: 588653.91, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322669.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322669.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070372.27, East: 588662.29, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322675.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322675.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070374.95, East: 588670.68, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322681.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322681.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070377.73, East: 588679.08, Depth: 890.10
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322687.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322687.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070380.48, East: 588687.52, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322693.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322693.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070383.11, East: 588696.03, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322699.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322699.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070385.60, East: 588704.58, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322705.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322705.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070387.97, East: 588713.18, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322711.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322711.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070390.24, East: 588721.81, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322717.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322717.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070392.48, East: 588730.45, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322723.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322723.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070394.73, East: 588739.09, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322729.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322729.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070397.00, East: 588747.72, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322735.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322735.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070399.32, East: 588756.34, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322741.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322741.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070401.68, East: 588764.95, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322747.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322747.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070404.07, East: 588773.55, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322753.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322753.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070406.47, East: 588782.14, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322759.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322759.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070408.87, East: 588790.73, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322765.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322765.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070411.27, East: 588799.33, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322771.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322771.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070413.66, East: 588807.93, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322777.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322777.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070416.04, East: 588816.53, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322783.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322783.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070418.40, East: 588825.14, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322789.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322789.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070420.76, East: 588833.74, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322795.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322795.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070423.12, East: 588842.35, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322801.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322801.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070425.47, East: 588850.96, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322807.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322807.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070427.84, East: 588859.56, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322813.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322813.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070430.20, East: 588868.17, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322819.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322819.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070432.57, East: 588876.77, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322825.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322825.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070434.94, East: 588885.38, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322831.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322831.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070437.31, East: 588893.98, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322837.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322837.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070439.68, East: 588902.58, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322843.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322843.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070442.05, East: 588911.18, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322849.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322849.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070444.42, East: 588919.79, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322855.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322855.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070446.79, East: 588928.39, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322861.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322861.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070449.16, East: 588937.00, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322867.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322867.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070451.52, East: 588945.60, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322873.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322873.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070453.89, East: 588954.20, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322879.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322879.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070456.26, East: 588962.81, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322885.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322885.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070458.63, East: 588971.41, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322891.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322891.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070460.99, East: 588980.02, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322897.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322897.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070463.36, East: 588988.62, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322903.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322903.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070465.73, East: 588997.22, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322909.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322909.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070468.10, East: 589005.83, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322915.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322915.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070470.47, East: 589014.43, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322921.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322921.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070472.83, East: 589023.03, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322927.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322927.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070475.20, East: 589031.64, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322933.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322933.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070477.57, East: 589040.24, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322939.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322939.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070479.94, East: 589048.84, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322945.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322945.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070482.31, East: 589057.45, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322951.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322951.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070484.67, East: 589066.05, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322957.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322957.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070487.04, East: 589074.65, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322963.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322963.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070489.41, East: 589083.26, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322969.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322969.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070491.78, East: 589091.86, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322975.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322975.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070494.14, East: 589100.47, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322981.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322981.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070496.51, East: 589109.07, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322987.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322987.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070498.88, East: 589117.67, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322993.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322993.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070501.25, East: 589126.28, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322999.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488322999.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070503.62, East: 589134.88, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323005.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323005.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070505.98, East: 589143.48, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323011.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323011.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070508.35, East: 589152.09, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323017.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323017.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070510.72, East: 589160.69, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323023.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323023.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070513.09, East: 589169.29, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323029.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323029.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070515.46, East: 589177.89, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323035.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070516.40, East: 589182.19, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323038.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070516.41, East: 589186.45, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323041.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070515.33, East: 589190.43, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323044.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070513.24, East: 589193.85, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323047.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070510.40, East: 589196.67, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323050.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070507.14, East: 589199.08, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323053.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070503.68, East: 589201.31, Depth: 889.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323056.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070500.19, East: 589203.60, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323059.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070496.78, East: 589206.08, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323062.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070493.54, East: 589208.82, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323065.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070490.49, East: 589211.82, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323068.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070487.64, East: 589215.03, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323071.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070484.95, East: 589218.42, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323074.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070482.39, East: 589221.93, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323077.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070479.90, East: 589225.53, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323080.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070477.46, East: 589229.18, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323083.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070475.03, East: 589232.85, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323086.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070472.60, East: 589236.54, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323089.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070470.17, East: 589240.24, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323092.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070467.71, East: 589243.93, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323095.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070465.25, East: 589247.62, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323098.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070462.77, East: 589251.31, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323101.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070460.28, East: 589255.00, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323104.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070457.79, East: 589258.69, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323107.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070455.29, East: 589262.38, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323110.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070452.80, East: 589266.07, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323113.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070450.30, East: 589269.77, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323116.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070447.80, East: 589273.46, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323119.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070445.30, East: 589277.16, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323122.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070442.81, East: 589280.85, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323125.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070440.31, East: 589284.55, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323128.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070437.81, East: 589288.25, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323131.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070435.32, East: 589291.94, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323134.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070432.82, East: 589295.64, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323137.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070430.32, East: 589299.34, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323140.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070427.82, East: 589303.04, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323143.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070425.33, East: 589306.73, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323146.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070422.83, East: 589310.43, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323149.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070420.33, East: 589314.13, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323152.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070417.84, East: 589317.83, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323155.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070415.34, East: 589321.52, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323158.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070412.84, East: 589325.22, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323161.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070410.35, East: 589328.92, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323164.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070407.85, East: 589332.62, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323167.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070405.35, East: 589336.31, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323170.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070402.85, East: 589340.01, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323173.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070400.36, East: 589343.71, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323176.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070397.86, East: 589347.40, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323179.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070395.36, East: 589351.10, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323182.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070392.87, East: 589354.80, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323185.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070390.37, East: 589358.50, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323188.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070387.87, East: 589362.19, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323191.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070385.38, East: 589365.89, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323194.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070382.88, East: 589369.59, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323197.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070380.38, East: 589373.29, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323200.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070377.88, East: 589376.98, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323203.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070375.39, East: 589380.68, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323206.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070372.89, East: 589384.38, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323209.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070370.39, East: 589388.08, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323212.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070367.90, East: 589391.77, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323215.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070365.40, East: 589395.47, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323218.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070362.90, East: 589399.17, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323221.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070360.40, East: 589402.87, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323224.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070357.91, East: 589406.56, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323227.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070355.41, East: 589410.26, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323230.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070352.91, East: 589413.96, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323233.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070350.42, East: 589417.66, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323236.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070347.92, East: 589421.35, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323239.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070345.42, East: 589425.05, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323242.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070342.92, East: 589428.75, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323245.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070340.43, East: 589432.45, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323248.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070337.93, East: 589436.14, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323251.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070335.43, East: 589439.84, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323254.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070332.94, East: 589443.54, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323257.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070330.44, East: 589447.24, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323260.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070327.94, East: 589450.93, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323263.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070325.45, East: 589454.63, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323266.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070322.95, East: 589458.33, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323269.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070320.45, East: 589462.03, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323272.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070317.95, East: 589465.72, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323275.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070315.46, East: 589469.42, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323278.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070312.96, East: 589473.12, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323281.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070310.46, East: 589476.82, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323284.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070307.97, East: 589480.51, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323287.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070305.47, East: 589484.21, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323290.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070302.97, East: 589487.91, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323293.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070300.47, East: 589491.61, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323296.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070297.98, East: 589495.30, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323299.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070295.48, East: 589499.00, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323302.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070292.98, East: 589502.70, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323305.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070290.49, East: 589506.40, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323308.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070287.99, East: 589510.09, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323311.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070285.49, East: 589513.79, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323314.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070282.99, East: 589517.49, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323317.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070280.50, East: 589521.19, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323320.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070278.00, East: 589524.88, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323323.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070275.50, East: 589528.58, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323326.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070273.00, East: 589532.26, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323329.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070270.14, East: 589535.53, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323332.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070266.69, East: 589537.93, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323335.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070262.84, East: 589539.25, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323338.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070258.90, East: 589539.43, Depth: 889.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323341.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070255.14, East: 589538.52, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323344.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070251.83, East: 589536.67, Depth: 889.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323347.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070249.16, East: 589534.01, Depth: 889.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 71.41
TerrainNav::Measurement type 5 from time = 1488323350.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070246.96, East: 589530.88, Depth: 889.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 70.23
TerrainNav::Measurement type 5 from time = 1488323353.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070244.56, East: 589527.82, Depth: 889.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 80.71
TerrainNav::Measurement type 5 from time = 1488323356.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070241.67, East: 589525.23, Depth: 889.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323359.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070238.25, East: 589523.40, Depth: 889.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323362.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070234.62, East: 589521.89, Depth: 889.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488323365.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070231.15, East: 589519.98, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 61.56
TerrainNav::Measurement type 5 from time = 1488323368.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070228.20, East: 589517.42, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 65.02
TerrainNav::Measurement type 5 from time = 1488323371.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070225.88, East: 589514.27, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 61.79
TerrainNav::Measurement type 5 from time = 1488323374.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070223.54, East: 589511.06, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 61.13
TerrainNav::Measurement type 5 from time = 1488323377.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070220.72, East: 589508.27, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 62.17
TerrainNav::Measurement type 5 from time = 1488323380.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070217.40, East: 589506.06, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 63.75
TerrainNav::Measurement type 5 from time = 1488323383.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070214.09, East: 589503.77, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 54.34
TerrainNav::Measurement type 5 from time = 1488323386.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070211.26, East: 589500.95, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 64.34, IDT[75] = 54.35
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323389.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 27.99 
Alpha[0]	0.123000
Alpha[0]	0.999999
TNavParticleFilter::Modified Variance for beam 1 is 27.92 
Alpha[1]	0.000000
Alpha[1]	0.999999
TNavParticleFilter::Modified Variance for beam 2 is 27.79 
Alpha[2]	0.000000
Alpha[2]	0.999999
TNavParticleFilter::Modified Variance for beam 3 is 26.42 
Alpha[3]	0.000000
Alpha[3]	0.999998
TNavParticleFilter::Modified Variance for beam 4 is 22.82 
Alpha[4]	0.000000
Alpha[4]	0.999998
TNavParticleFilter::Modified Variance for beam 5 is 22.12 
Alpha[5]	0.000000
Alpha[5]	0.999998
TNavParticleFilter::Modified Variance for beam 6 is 22.56 
Alpha[6]	0.000000
Alpha[6]	0.999998
TNavParticleFilter::Modified Variance for beam 7 is 23.04 
Alpha[7]	0.000000
Alpha[7]	0.999997
TNavParticleFilter::Modified Variance for beam 8 is 23.54 
Alpha[8]	0.000000
Alpha[8]	0.999997
TNavParticleFilter::Modified Variance for beam 9 is 24.08 
Alpha[9]	0.000000
Alpha[9]	0.999997
TNavParticleFilter::Modified Variance for beam 10 is 23.47 
Alpha[10]	0.000000
Alpha[10]	0.999996
TNavParticleFilter::Modified Variance for beam 11 is 23.59 
Alpha[11]	0.000000
Alpha[11]	0.999996
TNavParticleFilter::Modified Variance for beam 12 is 23.74 
Alpha[12]	0.000000
Alpha[12]	0.999995
TNavParticleFilter::Modified Variance for beam 13 is 23.12 
Alpha[13]	0.000000
Alpha[13]	0.999994
TNavParticleFilter::Modified Variance for beam 14 is 23.75 
Alpha[14]	0.000000
Alpha[14]	0.999993
TNavParticleFilter::Modified Variance for beam 15 is 23.29 
Alpha[15]	0.000000
Alpha[15]	0.999992
TNavParticleFilter::Modified Variance for beam 16 is 22.59 
Alpha[16]	0.000000
Alpha[16]	0.999991
TNavParticleFilter::Modified Variance for beam 17 is 21.94 
Alpha[17]	0.000000
Alpha[17]	0.999990
TNavParticleFilter::Modified Variance for beam 18 is 21.33 
Alpha[18]	0.000000
Alpha[18]	0.999989
TNavParticleFilter::Modified Variance for beam 19 is 20.76 
Alpha[19]	0.000000
Alpha[19]	0.999989
TNavParticleFilter::Modified Variance for beam 20 is 20.22 
Alpha[20]	0.000000
Alpha[20]	0.999988
TNavParticleFilter::Modified Variance for beam 21 is 19.72 
Alpha[21]	0.000000
Alpha[21]	0.999987
TNavParticleFilter::Modified Variance for beam 22 is 20.40 
Alpha[22]	0.000000
Alpha[22]	0.999986
TNavParticleFilter::Modified Variance for beam 23 is 20.25 
Alpha[23]	0.000000
Alpha[23]	0.999985
TNavParticleFilter::Modified Variance for beam 24 is 20.03 
Alpha[24]	0.000000
Alpha[24]	0.999984
TNavParticleFilter::Modified Variance for beam 25 is 20.79 
Alpha[25]	0.000000
Alpha[25]	0.999983
TNavParticleFilter::Modified Variance for beam 26 is 18.98 
Alpha[26]	0.000000
Alpha[26]	0.999982
TNavParticleFilter::Modified Variance for beam 27 is 18.61 
Alpha[27]	0.000000
Alpha[27]	0.999980
TNavParticleFilter::Modified Variance for beam 28 is 19.30 
Alpha[28]	0.000000
Alpha[28]	0.999979
TNavParticleFilter::Modified Variance for beam 29 is 20.17 
Alpha[29]	0.000000
Alpha[29]	0.999977
TNavParticleFilter::Modified Variance for beam 30 is 20.19 
Alpha[30]	0.000000
Alpha[30]	0.999976
TNavParticleFilter::Modified Variance for beam 31 is 19.84 
Alpha[31]	0.000000
Alpha[31]	0.999974
TNavParticleFilter::Modified Variance for beam 32 is 19.52 
Alpha[32]	0.000000
Alpha[32]	0.999973
TNavParticleFilter::Modified Variance for beam 33 is 19.58 
Alpha[33]	0.000000
Alpha[33]	0.999971
TNavParticleFilter::Modified Variance for beam 34 is 20.19 
Alpha[34]	0.000000
Alpha[34]	0.999969
TNavParticleFilter::Modified Variance for beam 35 is 19.90 
Alpha[35]	0.000000
Alpha[35]	0.999967
TNavParticleFilter::Modified Variance for beam 36 is 19.62 
Alpha[36]	0.000000
Alpha[36]	0.999965
TNavParticleFilter::Modified Variance for beam 37 is 19.36 
Alpha[37]	0.000000
Alpha[37]	0.999963
TNavParticleFilter::Modified Variance for beam 38 is 19.12 
Alpha[38]	0.000000
Alpha[38]	0.999961
TNavParticleFilter::Modified Variance for beam 39 is 18.89 
Alpha[39]	0.000000
Alpha[39]	0.999958
TNavParticleFilter::Modified Variance for beam 40 is 18.67 
Alpha[40]	0.000000
Alpha[40]	0.999956
TNavParticleFilter::Modified Variance for beam 41 is 17.34 
Alpha[41]	0.000000
Alpha[41]	0.999954
TNavParticleFilter::Modified Variance for beam 42 is 17.16 
Alpha[42]	0.000000
Alpha[42]	0.999952
TNavParticleFilter::Modified Variance for beam 43 is 18.07 
Alpha[43]	0.000000
Alpha[43]	0.999949
TNavParticleFilter::Modified Variance for beam 44 is 17.94 
Alpha[44]	0.000000
Alpha[44]	0.999947
TNavParticleFilter::Modified Variance for beam 45 is 17.79 
Alpha[45]	0.000000
Alpha[45]	0.999944
TNavParticleFilter::Modified Variance for beam 46 is 17.65 
Alpha[46]	0.000000
Alpha[46]	0.999942
TNavParticleFilter::Modified Variance for beam 47 is 17.30 
Alpha[47]	0.000000
Alpha[47]	0.999939
TNavParticleFilter::Modified Variance for beam 48 is 17.40 
Alpha[48]	0.000000
Alpha[48]	0.999936
TNavParticleFilter::Modified Variance for beam 49 is 17.28 
Alpha[49]	0.000000
Alpha[49]	0.999933
TNavParticleFilter::Modified Variance for beam 50 is 18.26 
Alpha[50]	0.000000
Alpha[50]	0.999930
TNavParticleFilter::Modified Variance for beam 51 is 18.16 
Alpha[51]	0.000000
Alpha[51]	0.999927
TNavParticleFilter::Modified Variance for beam 52 is 18.07 
Alpha[52]	0.000000
Alpha[52]	0.999924
TNavParticleFilter::Modified Variance for beam 53 is 17.99 
Alpha[53]	0.000000
Alpha[53]	0.999921
TNavParticleFilter::Modified Variance for beam 54 is 18.72 
Alpha[54]	0.000000
Alpha[54]	0.999918
TNavParticleFilter::Modified Variance for beam 55 is 18.95 
Alpha[55]	0.000000
Alpha[55]	0.999915
TNavParticleFilter::Modified Variance for beam 56 is 16.77 
Alpha[56]	0.000000
Alpha[56]	0.999912
TNavParticleFilter::Modified Variance for beam 57 is 16.73 
Alpha[57]	0.000000
Alpha[57]	0.999910
TNavParticleFilter::Modified Variance for beam 58 is 17.49 
Alpha[58]	0.000000
Alpha[58]	0.999908
TNavPF:Sum of squared error for particle 615 beam 17 is nan 
INS : North: 4070209.21, East: 589497.57, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 59.08, IDT[75] = 52.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323392.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 24.71 
Alpha[0]	0.123000
Alpha[0]	0.999998
TNavParticleFilter::Modified Variance for beam 1 is 24.90 
Alpha[1]	0.000000
Alpha[1]	0.999998
TNavParticleFilter::Modified Variance for beam 2 is 23.96 
Alpha[2]	0.000000
Alpha[2]	0.999997
TNavParticleFilter::Modified Variance for beam 3 is 23.67 
Alpha[3]	0.000000
Alpha[3]	0.999997
TNavParticleFilter::Modified Variance for beam 4 is 24.21 
Alpha[4]	0.000000
Alpha[4]	0.999996
TNavParticleFilter::Modified Variance for beam 5 is 23.39 
Alpha[5]	0.000000
Alpha[5]	0.999996
TNavParticleFilter::Modified Variance for beam 6 is 22.63 
Alpha[6]	0.000000
Alpha[6]	0.999995
TNavParticleFilter::Modified Variance for beam 7 is 21.92 
Alpha[7]	0.000000
Alpha[7]	0.999994
TNavParticleFilter::Modified Variance for beam 8 is 21.27 
Alpha[8]	0.000000
Alpha[8]	0.999994
TNavParticleFilter::Modified Variance for beam 9 is 20.65 
Alpha[9]	0.000000
Alpha[9]	0.999993
TNavParticleFilter::Modified Variance for beam 10 is 20.74 
Alpha[10]	0.000000
Alpha[10]	0.999992
TNavParticleFilter::Modified Variance for beam 11 is 21.11 
Alpha[11]	0.000000
Alpha[11]	0.999991
TNavParticleFilter::Modified Variance for beam 12 is 20.56 
Alpha[12]	0.000000
Alpha[12]	0.999990
TNavParticleFilter::Modified Variance for beam 13 is 21.01 
Alpha[13]	0.000000
Alpha[13]	0.999989
TNavParticleFilter::Modified Variance for beam 14 is 21.06 
Alpha[14]	0.000000
Alpha[14]	0.999988
TNavParticleFilter::Modified Variance for beam 15 is 20.57 
Alpha[15]	0.000000
Alpha[15]	0.999987
TNavParticleFilter::Modified Variance for beam 16 is 20.10 
Alpha[16]	0.000000
Alpha[16]	0.999986
TNavParticleFilter::Modified Variance for beam 17 is 19.67 
Alpha[17]	0.000000
Alpha[17]	0.999985
TNavParticleFilter::Modified Variance for beam 18 is 19.26 
Alpha[18]	0.000000
Alpha[18]	0.999984
TNavParticleFilter::Modified Variance for beam 19 is 19.93 
Alpha[19]	0.000000
Alpha[19]	0.999983
TNavParticleFilter::Modified Variance for beam 20 is 19.85 
Alpha[20]	0.000000
Alpha[20]	0.999982
TNavParticleFilter::Modified Variance for beam 21 is 19.48 
Alpha[21]	0.000000
Alpha[21]	0.999981
TNavParticleFilter::Modified Variance for beam 22 is 19.14 
Alpha[22]	0.000000
Alpha[22]	0.999979
TNavParticleFilter::Modified Variance for beam 23 is 18.81 
Alpha[23]	0.000000
Alpha[23]	0.999978
TNavParticleFilter::Modified Variance for beam 24 is 18.50 
Alpha[24]	0.000000
Alpha[24]	0.999976
TNavParticleFilter::Modified Variance for beam 25 is 19.46 
Alpha[25]	0.000000
Alpha[25]	0.999974
TNavParticleFilter::Modified Variance for beam 26 is 19.17 
Alpha[26]	0.000000
Alpha[26]	0.999973
TNavParticleFilter::Modified Variance for beam 27 is 18.89 
Alpha[27]	0.000000
Alpha[27]	0.999971
TNavParticleFilter::Modified Variance for beam 28 is 18.63 
Alpha[28]	0.000000
Alpha[28]	0.999969
TNavParticleFilter::Modified Variance for beam 29 is 17.22 
Alpha[29]	0.000000
Alpha[29]	0.999967
TNavParticleFilter::Modified Variance for beam 30 is 17.00 
Alpha[30]	0.000000
Alpha[30]	0.999965
TNavParticleFilter::Modified Variance for beam 31 is 17.92 
Alpha[31]	0.000000
Alpha[31]	0.999963
TNavParticleFilter::Modified Variance for beam 32 is 17.73 
Alpha[32]	0.000000
Alpha[32]	0.999960
TNavParticleFilter::Modified Variance for beam 33 is 17.54 
Alpha[33]	0.000000
Alpha[33]	0.999958
TNavParticleFilter::Modified Variance for beam 34 is 17.36 
Alpha[34]	0.000000
Alpha[34]	0.999956
TNavParticleFilter::Modified Variance for beam 35 is 17.19 
Alpha[35]	0.000000
Alpha[35]	0.999954
TNavParticleFilter::Modified Variance for beam 36 is 18.14 
Alpha[36]	0.000000
Alpha[36]	0.999952
TNavParticleFilter::Modified Variance for beam 37 is 17.98 
Alpha[37]	0.000000
Alpha[37]	0.999949
TNavParticleFilter::Modified Variance for beam 38 is 18.39 
Alpha[38]	0.000000
Alpha[38]	0.999947
TNavParticleFilter::Modified Variance for beam 39 is 18.82 
Alpha[39]	0.000000
Alpha[39]	0.999944
TNavParticleFilter::Modified Variance for beam 40 is 17.58 
Alpha[40]	0.000000
Alpha[40]	0.999942
TNavParticleFilter::Modified Variance for beam 41 is 17.46 
Alpha[41]	0.000000
Alpha[41]	0.999939
TNavParticleFilter::Modified Variance for beam 42 is 17.36 
Alpha[42]	0.000000
Alpha[42]	0.999936
TNavParticleFilter::Modified Variance for beam 43 is 17.26 
Alpha[43]	0.000000
Alpha[43]	0.999934
TNavParticleFilter::Modified Variance for beam 44 is 17.18 
Alpha[44]	0.000000
Alpha[44]	0.999932
TNavParticleFilter::Modified Variance for beam 45 is 17.10 
Alpha[45]	0.000000
Alpha[45]	0.999929
TNavParticleFilter::Modified Variance for beam 46 is 17.03 
Alpha[46]	0.000000
Alpha[46]	0.999927
TNavParticleFilter::Modified Variance for beam 47 is 16.98 
Alpha[47]	0.000000
Alpha[47]	0.999924
TNavParticleFilter::Modified Variance for beam 48 is 16.92 
Alpha[48]	0.000000
Alpha[48]	0.999922
TNavParticleFilter::Modified Variance for beam 49 is 17.93 
Alpha[49]	0.000000
Alpha[49]	0.999920
TNavParticleFilter::Modified Variance for beam 50 is 17.90 
Alpha[50]	0.000000
Alpha[50]	0.999918
TNavParticleFilter::Modified Variance for beam 51 is 16.82 
Alpha[51]	0.000000
Alpha[51]	0.999917
TNavParticleFilter::Modified Variance for beam 52 is 16.81 
Alpha[52]	0.000000
Alpha[52]	0.999916
TNavParticleFilter::Modified Variance for beam 53 is 16.80 
Alpha[53]	0.000000
Alpha[53]	0.999915
TNavParticleFilter::Modified Variance for beam 54 is 16.80 
Alpha[54]	0.000000
Alpha[54]	0.999915
TNavParticleFilter::Modified Variance for beam 55 is 17.85 
Alpha[55]	0.000000
Alpha[55]	0.999915
TNavParticleFilter::Modified Variance for beam 56 is 17.86 
Alpha[56]	0.000000
Alpha[56]	0.999915
TNavParticleFilter::Modified Variance for beam 57 is 17.89 
Alpha[57]	0.000000
Alpha[57]	0.999915
TNavParticleFilter::Modified Variance for beam 58 is 13.08 
Alpha[58]	0.000000
Alpha[58]	0.999915
TNavParticleFilter::Modified Variance for beam 59 is 13.10 
Alpha[59]	0.000000
Alpha[59]	0.999915
TNavPF:Sum of squared error for particle 2514 beam 24 is nan 
INS : North: 4070207.48, East: 589493.96, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 59.92, IDT[75] = 54.02
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323395.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 25.77 
Alpha[0]	0.123000
Alpha[0]	0.999998
TNavParticleFilter::Modified Variance for beam 1 is 26.23 
Alpha[1]	0.000000
Alpha[1]	0.999998
TNavParticleFilter::Modified Variance for beam 2 is 26.26 
Alpha[2]	0.000000
Alpha[2]	0.999998
TNavParticleFilter::Modified Variance for beam 3 is 25.64 
Alpha[3]	0.000000
Alpha[3]	0.999998
TNavParticleFilter::Modified Variance for beam 4 is 26.16 
Alpha[4]	0.000000
Alpha[4]	0.999998
TNavParticleFilter::Modified Variance for beam 5 is 25.14 
Alpha[5]	0.000000
Alpha[5]	0.999997
TNavParticleFilter::Modified Variance for beam 6 is 25.63 
Alpha[6]	0.000000
Alpha[6]	0.999997
TNavParticleFilter::Modified Variance for beam 7 is 25.27 
Alpha[7]	0.000000
Alpha[7]	0.999996
TNavParticleFilter::Modified Variance for beam 8 is 24.31 
Alpha[8]	0.000000
Alpha[8]	0.999996
TNavParticleFilter::Modified Variance for beam 9 is 23.41 
Alpha[9]	0.000000
Alpha[9]	0.999995
TNavParticleFilter::Modified Variance for beam 10 is 22.59 
Alpha[10]	0.000000
Alpha[10]	0.999995
TNavParticleFilter::Modified Variance for beam 11 is 21.82 
Alpha[11]	0.000000
Alpha[11]	0.999994
TNavParticleFilter::Modified Variance for beam 12 is 21.11 
Alpha[12]	0.000000
Alpha[12]	0.999993
TNavParticleFilter::Modified Variance for beam 13 is 21.51 
Alpha[13]	0.000000
Alpha[13]	0.999992
TNavParticleFilter::Modified Variance for beam 14 is 21.51 
Alpha[14]	0.000000
Alpha[14]	0.999991
TNavParticleFilter::Modified Variance for beam 15 is 21.06 
Alpha[15]	0.000000
Alpha[15]	0.999990
TNavParticleFilter::Modified Variance for beam 16 is 21.69 
Alpha[16]	0.000000
Alpha[16]	0.999990
TNavParticleFilter::Modified Variance for beam 17 is 19.75 
Alpha[17]	0.000000
Alpha[17]	0.999989
TNavParticleFilter::Modified Variance for beam 18 is 19.57 
Alpha[18]	0.000000
Alpha[18]	0.999988
TNavParticleFilter::Modified Variance for beam 19 is 20.21 
Alpha[19]	0.000000
Alpha[19]	0.999987
TNavParticleFilter::Modified Variance for beam 20 is 20.91 
Alpha[20]	0.000000
Alpha[20]	0.999986
TNavParticleFilter::Modified Variance for beam 21 is 20.75 
Alpha[21]	0.000000
Alpha[21]	0.999985
TNavParticleFilter::Modified Variance for beam 22 is 20.28 
Alpha[22]	0.000000
Alpha[22]	0.999984
TNavParticleFilter::Modified Variance for beam 23 is 19.84 
Alpha[23]	0.000000
Alpha[23]	0.999983
TNavParticleFilter::Modified Variance for beam 24 is 20.19 
Alpha[24]	0.000000
Alpha[24]	0.999982
TNavParticleFilter::Modified Variance for beam 25 is 20.41 
Alpha[25]	0.000000
Alpha[25]	0.999980
TNavParticleFilter::Modified Variance for beam 26 is 20.01 
Alpha[26]	0.000000
Alpha[26]	0.999979
TNavParticleFilter::Modified Variance for beam 27 is 19.63 
Alpha[27]	0.000000
Alpha[27]	0.999977
TNavParticleFilter::Modified Variance for beam 28 is 19.27 
Alpha[28]	0.000000
Alpha[28]	0.999976
TNavParticleFilter::Modified Variance for beam 29 is 18.94 
Alpha[29]	0.000000
Alpha[29]	0.999974
TNavParticleFilter::Modified Variance for beam 30 is 18.62 
Alpha[30]	0.000000
Alpha[30]	0.999973
TNavParticleFilter::Modified Variance for beam 31 is 17.12 
Alpha[31]	0.000000
Alpha[31]	0.999971
TNavParticleFilter::Modified Variance for beam 32 is 16.86 
Alpha[32]	0.000000
Alpha[32]	0.999969
TNavParticleFilter::Modified Variance for beam 33 is 17.51 
Alpha[33]	0.000000
Alpha[33]	0.999967
TNavParticleFilter::Modified Variance for beam 34 is 17.54 
Alpha[34]	0.000000
Alpha[34]	0.999965
TNavParticleFilter::Modified Variance for beam 35 is 17.31 
Alpha[35]	0.000000
Alpha[35]	0.999963
TNavParticleFilter::Modified Variance for beam 36 is 17.09 
Alpha[36]	0.000000
Alpha[36]	0.999961
TNavParticleFilter::Modified Variance for beam 37 is 16.89 
Alpha[37]	0.000000
Alpha[37]	0.999959
TNavParticleFilter::Modified Variance for beam 38 is 17.82 
Alpha[38]	0.000000
Alpha[38]	0.999957
TNavParticleFilter::Modified Variance for beam 39 is 16.51 
Alpha[39]	0.000000
Alpha[39]	0.999955
TNavParticleFilter::Modified Variance for beam 40 is 17.44 
Alpha[40]	0.000000
Alpha[40]	0.999952
TNavParticleFilter::Modified Variance for beam 41 is 17.27 
Alpha[41]	0.000000
Alpha[41]	0.999950
TNavParticleFilter::Modified Variance for beam 42 is 17.11 
Alpha[42]	0.000000
Alpha[42]	0.999948
TNavParticleFilter::Modified Variance for beam 43 is 16.96 
Alpha[43]	0.000000
Alpha[43]	0.999946
TNavParticleFilter::Modified Variance for beam 44 is 16.82 
Alpha[44]	0.000000
Alpha[44]	0.999943
TNavParticleFilter::Modified Variance for beam 45 is 17.77 
Alpha[45]	0.000000
Alpha[45]	0.999940
TNavParticleFilter::Modified Variance for beam 46 is 15.55 
Alpha[46]	0.000000
Alpha[46]	0.999938
TNavParticleFilter::Modified Variance for beam 47 is 15.45 
Alpha[47]	0.000000
Alpha[47]	0.999935
TNavParticleFilter::Modified Variance for beam 48 is 15.42 
Alpha[48]	0.000000
Alpha[48]	0.999933
TNavParticleFilter::Modified Variance for beam 49 is 16.27 
Alpha[49]	0.000000
Alpha[49]	0.999931
TNavParticleFilter::Modified Variance for beam 50 is 16.19 
Alpha[50]	0.000000
Alpha[50]	0.999929
TNavParticleFilter::Modified Variance for beam 51 is 17.12 
Alpha[51]	0.000000
Alpha[51]	0.999926
TNavParticleFilter::Modified Variance for beam 52 is 17.07 
Alpha[52]	0.000000
Alpha[52]	0.999925
TNavParticleFilter::Modified Variance for beam 53 is 15.99 
Alpha[53]	0.000000
Alpha[53]	0.999923
TNavParticleFilter::Modified Variance for beam 54 is 15.94 
Alpha[54]	0.000000
Alpha[54]	0.999921
TNavParticleFilter::Modified Variance for beam 55 is 15.90 
Alpha[55]	0.000000
Alpha[55]	0.999920
TNavParticleFilter::Modified Variance for beam 56 is 15.87 
Alpha[56]	0.000000
Alpha[56]	0.999919
TNavParticleFilter::Modified Variance for beam 57 is 15.84 
Alpha[57]	0.000000
Alpha[57]	0.999919
TNavParticleFilter::Modified Variance for beam 58 is 16.83 
Alpha[58]	0.000000
Alpha[58]	0.999918
TNavParticleFilter::Modified Variance for beam 59 is 16.82 
Alpha[59]	0.000000
Alpha[59]	0.999918
TNavPF:Sum of squared error for particle 615 beam 13 is nan 
INS : North: 4070205.36, East: 589490.56, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 67.94, IDT[75] = 50.22
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323398.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 32 33 34 35 
TNavParticleFilter::Modified Variance for beam 0 is 28.31 
Alpha[0]	0.123000
Alpha[0]	0.999999
TNavParticleFilter::Modified Variance for beam 1 is 27.34 
Alpha[1]	0.000000
Alpha[1]	0.999999
TNavParticleFilter::Modified Variance for beam 2 is 27.65 
Alpha[2]	0.000000
Alpha[2]	0.999999
TNavParticleFilter::Modified Variance for beam 3 is 29.27 
Alpha[3]	0.000000
Alpha[3]	0.999998
TNavParticleFilter::Modified Variance for beam 4 is 27.22 
Alpha[4]	0.000000
Alpha[4]	0.999998
TNavParticleFilter::Modified Variance for beam 5 is 25.74 
Alpha[5]	0.000000
Alpha[5]	0.999998
TNavParticleFilter::Modified Variance for beam 6 is 26.10 
Alpha[6]	0.000000
Alpha[6]	0.999998
TNavParticleFilter::Modified Variance for beam 7 is 26.48 
Alpha[7]	0.000000
Alpha[7]	0.999998
TNavParticleFilter::Modified Variance for beam 8 is 26.89 
Alpha[8]	0.000000
Alpha[8]	0.999998
TNavParticleFilter::Modified Variance for beam 9 is 27.33 
Alpha[9]	0.000000
Alpha[9]	0.999998
TNavParticleFilter::Modified Variance for beam 10 is 26.49 
Alpha[10]	0.000000
Alpha[10]	0.999998
TNavParticleFilter::Modified Variance for beam 11 is 26.68 
Alpha[11]	0.000000
Alpha[11]	0.999998
TNavParticleFilter::Modified Variance for beam 12 is 26.41 
Alpha[12]	0.000000
Alpha[12]	0.999997
TNavParticleFilter::Modified Variance for beam 13 is 26.08 
Alpha[13]	0.000000
Alpha[13]	0.999997
TNavParticleFilter::Modified Variance for beam 14 is 25.01 
Alpha[14]	0.000000
Alpha[14]	0.999997
TNavParticleFilter::Modified Variance for beam 15 is 25.23 
Alpha[15]	0.000000
Alpha[15]	0.999996
TNavParticleFilter::Modified Variance for beam 16 is 24.16 
Alpha[16]	0.000000
Alpha[16]	0.999996
TNavParticleFilter::Modified Variance for beam 17 is 23.19 
Alpha[17]	0.000000
Alpha[17]	0.999995
TNavParticleFilter::Modified Variance for beam 18 is 22.29 
Alpha[18]	0.000000
Alpha[18]	0.999995
TNavParticleFilter::Modified Variance for beam 19 is 21.46 
Alpha[19]	0.000000
Alpha[19]	0.999994
TNavParticleFilter::Modified Variance for beam 20 is 21.85 
Alpha[20]	0.000000
Alpha[20]	0.999993
TNavParticleFilter::Modified Variance for beam 21 is 21.80 
Alpha[21]	0.000000
Alpha[21]	0.999992
TNavParticleFilter::Modified Variance for beam 22 is 21.36 
Alpha[22]	0.000000
Alpha[22]	0.999991
TNavParticleFilter::Modified Variance for beam 23 is 21.92 
Alpha[23]	0.000000
Alpha[23]	0.999991
TNavParticleFilter::Modified Variance for beam 24 is 19.78 
Alpha[24]	0.000000
Alpha[24]	0.999990
TNavParticleFilter::Modified Variance for beam 25 is 19.85 
Alpha[25]	0.000000
Alpha[25]	0.999989
TNavParticleFilter::Modified Variance for beam 26 is 20.43 
Alpha[26]	0.000000
Alpha[26]	0.999988
TNavParticleFilter::Modified Variance for beam 27 is 21.05 
Alpha[27]	0.000000
Alpha[27]	0.999987
TNavParticleFilter::Modified Variance for beam 28 is 20.69 
Alpha[28]	0.000000
Alpha[28]	0.999986
TNavParticleFilter::Modified Variance for beam 29 is 20.16 
Alpha[29]	0.000000
Alpha[29]	0.999986
TNavParticleFilter::Modified Variance for beam 30 is 19.65 
Alpha[30]	0.000000
Alpha[30]	0.999984
TNavParticleFilter::Modified Variance for beam 31 is 20.24 
Alpha[31]	0.000000
Alpha[31]	0.999983
TNavParticleFilter::Modified Variance for beam 32 is 20.18 
Alpha[32]	0.000000
Alpha[32]	0.999982
TNavParticleFilter::Modified Variance for beam 33 is 19.73 
Alpha[33]	0.000000
Alpha[33]	0.999981
TNavParticleFilter::Modified Variance for beam 34 is 19.30 
Alpha[34]	0.000000
Alpha[34]	0.999980
TNavParticleFilter::Modified Variance for beam 35 is 18.90 
Alpha[35]	0.000000
Alpha[35]	0.999978
TNavParticleFilter::Modified Variance for beam 36 is 18.53 
Alpha[36]	0.000000
Alpha[36]	0.999977
TNavParticleFilter::Modified Variance for beam 37 is 16.91 
Alpha[37]	0.000000
Alpha[37]	0.999975
TNavParticleFilter::Modified Variance for beam 38 is 16.61 
Alpha[38]	0.000000
Alpha[38]	0.999974
TNavParticleFilter::Modified Variance for beam 39 is 16.74 
Alpha[39]	0.000000
Alpha[39]	0.999972
TNavParticleFilter::Modified Variance for beam 40 is 17.24 
Alpha[40]	0.000000
Alpha[40]	0.999970
TNavParticleFilter::Modified Variance for beam 41 is 15.80 
Alpha[41]	0.000000
Alpha[41]	0.999968
TNavParticleFilter::Modified Variance for beam 42 is 15.57 
Alpha[42]	0.000000
Alpha[42]	0.999966
TNavParticleFilter::Modified Variance for beam 43 is 15.82 
Alpha[43]	0.000000
Alpha[43]	0.999964
TNavParticleFilter::Modified Variance for beam 44 is 16.23 
Alpha[44]	0.000000
Alpha[44]	0.999962
TNavParticleFilter::Modified Variance for beam 45 is 16.01 
Alpha[45]	0.000000
Alpha[45]	0.999960
TNavParticleFilter::Modified Variance for beam 46 is 16.24 
Alpha[46]	0.000000
Alpha[46]	0.999958
TNavParticleFilter::Modified Variance for beam 47 is 16.70 
Alpha[47]	0.000000
Alpha[47]	0.999956
TNavParticleFilter::Modified Variance for beam 48 is 16.51 
Alpha[48]	0.000000
Alpha[48]	0.999954
TNavParticleFilter::Modified Variance for beam 49 is 16.32 
Alpha[49]	0.000000
Alpha[49]	0.999952
TNavParticleFilter::Modified Variance for beam 50 is 16.15 
Alpha[50]	0.000000
Alpha[50]	0.999950
TNavParticleFilter::Modified Variance for beam 51 is 16.41 
Alpha[51]	0.000000
Alpha[51]	0.999947
TNavParticleFilter::Modified Variance for beam 52 is 16.90 
Alpha[52]	0.000000
Alpha[52]	0.999945
TNavParticleFilter::Modified Variance for beam 53 is 14.69 
Alpha[53]	0.000000
Alpha[53]	0.999943
TNavParticleFilter::Modified Variance for beam 54 is 14.57 
Alpha[54]	0.000000
Alpha[54]	0.999940
TNavParticleFilter::Modified Variance for beam 55 is 15.34 
Alpha[55]	0.000000
Alpha[55]	0.999938
TNavParticleFilter::Modified Variance for beam 56 is 15.33 
Alpha[56]	0.000000
Alpha[56]	0.999936
TNavParticleFilter::Modified Variance for beam 57 is 15.23 
Alpha[57]	0.000000
Alpha[57]	0.999934
TNavPF:Sum of squared error for particle 98 beam 13 is nan 
INS : North: 4070202.57, East: 589487.71, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 68.56, IDT[75] = 54.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323401.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 71 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 41 42 43 44 
TNavParticleFilter::Modified Variance for beam 0 is 2809862.54 
Alpha[0]	0.123000
Alpha[0]	0.000010
TNavParticleFilter::Modified Variance for beam 1 is 2836779.93 
Alpha[1]	0.000000
Alpha[1]	0.000010
TNavParticleFilter::Modified Variance for beam 2 is 3016516.57 
Alpha[2]	0.000000
Alpha[2]	0.000010
TNavParticleFilter::Modified Variance for beam 3 is 2874752.66 
Alpha[3]	0.000000
Alpha[3]	0.000010
TNavParticleFilter::Modified Variance for beam 4 is 26.49 
Alpha[4]	0.000000
Alpha[4]	0.999998
TNavParticleFilter::Modified Variance for beam 5 is 26.66 
Alpha[5]	0.000000
Alpha[5]	0.999998
TNavParticleFilter::Modified Variance for beam 6 is 26.12 
Alpha[6]	0.000000
Alpha[6]	0.999998
TNavParticleFilter::Modified Variance for beam 7 is 25.88 
Alpha[7]	0.000000
Alpha[7]	0.999998
TNavParticleFilter::Modified Variance for beam 8 is 26.24 
Alpha[8]	0.000000
Alpha[8]	0.999998
TNavParticleFilter::Modified Variance for beam 9 is 26.61 
Alpha[9]	0.000000
Alpha[9]	0.999998
TNavParticleFilter::Modified Variance for beam 10 is 27.02 
Alpha[10]	0.000000
Alpha[10]	0.999998
TNavParticleFilter::Modified Variance for beam 11 is 27.05 
Alpha[11]	0.000000
Alpha[11]	0.999997
TNavParticleFilter::Modified Variance for beam 12 is 25.58 
Alpha[12]	0.000000
Alpha[12]	0.999997
TNavParticleFilter::Modified Variance for beam 13 is 25.26 
Alpha[13]	0.000000
Alpha[13]	0.999997
TNavParticleFilter::Modified Variance for beam 14 is 25.54 
Alpha[14]	0.000000
Alpha[14]	0.999996
TNavParticleFilter::Modified Variance for beam 15 is 24.32 
Alpha[15]	0.000000
Alpha[15]	0.999996
TNavParticleFilter::Modified Variance for beam 16 is 23.20 
Alpha[16]	0.000000
Alpha[16]	0.999995
TNavParticleFilter::Modified Variance for beam 17 is 22.18 
Alpha[17]	0.000000
Alpha[17]	0.999994
TNavParticleFilter::Modified Variance for beam 18 is 21.54 
Alpha[18]	0.000000
Alpha[18]	0.999994
TNavParticleFilter::Modified Variance for beam 19 is 21.99 
Alpha[19]	0.000000
Alpha[19]	0.999993
TNavParticleFilter::Modified Variance for beam 20 is 21.55 
Alpha[20]	0.000000
Alpha[20]	0.999992
TNavParticleFilter::Modified Variance for beam 21 is 21.45 
Alpha[21]	0.000000
Alpha[21]	0.999992
TNavParticleFilter::Modified Variance for beam 22 is 20.00 
Alpha[22]	0.000000
Alpha[22]	0.999991
TNavParticleFilter::Modified Variance for beam 23 is 19.43 
Alpha[23]	0.000000
Alpha[23]	0.999990
TNavParticleFilter::Modified Variance for beam 24 is 19.91 
Alpha[24]	0.000000
Alpha[24]	0.999989
TNavParticleFilter::Modified Variance for beam 25 is 19.73 
Alpha[25]	0.000000
Alpha[25]	0.999988
TNavParticleFilter::Modified Variance for beam 26 is 19.41 
Alpha[26]	0.000000
Alpha[26]	0.999988
TNavParticleFilter::Modified Variance for beam 27 is 19.95 
Alpha[27]	0.000000
Alpha[27]	0.999987
TNavParticleFilter::Modified Variance for beam 28 is 19.58 
Alpha[28]	0.000000
Alpha[28]	0.999986
TNavParticleFilter::Modified Variance for beam 29 is 19.04 
Alpha[29]	0.000000
Alpha[29]	0.999985
TNavParticleFilter::Modified Variance for beam 30 is 18.53 
Alpha[30]	0.000000
Alpha[30]	0.999984
TNavParticleFilter::Modified Variance for beam 31 is 19.03 
Alpha[31]	0.000000
Alpha[31]	0.999983
TNavParticleFilter::Modified Variance for beam 32 is 19.04 
Alpha[32]	0.000000
Alpha[32]	0.999981
TNavParticleFilter::Modified Variance for beam 33 is 18.58 
Alpha[33]	0.000000
Alpha[33]	0.999980
TNavParticleFilter::Modified Variance for beam 34 is 18.15 
Alpha[34]	0.000000
Alpha[34]	0.999979
TNavParticleFilter::Modified Variance for beam 35 is 16.44 
Alpha[35]	0.000000
Alpha[35]	0.999977
TNavParticleFilter::Modified Variance for beam 36 is 16.09 
Alpha[36]	0.000000
Alpha[36]	0.999976
TNavParticleFilter::Modified Variance for beam 37 is 15.98 
Alpha[37]	0.000000
Alpha[37]	0.999974
TNavParticleFilter::Modified Variance for beam 38 is 16.60 
Alpha[38]	0.000000
Alpha[38]	0.999972
TNavParticleFilter::Modified Variance for beam 39 is 15.18 
Alpha[39]	0.000000
Alpha[39]	0.999971
TNavParticleFilter::Modified Variance for beam 40 is 14.91 
Alpha[40]	0.000000
Alpha[40]	0.999969
TNavParticleFilter::Modified Variance for beam 41 is 14.99 
Alpha[41]	0.000000
Alpha[41]	0.999967
TNavParticleFilter::Modified Variance for beam 42 is 15.53 
Alpha[42]	0.000000
Alpha[42]	0.999965
TNavParticleFilter::Modified Variance for beam 43 is 15.29 
Alpha[43]	0.000000
Alpha[43]	0.999963
TNavParticleFilter::Modified Variance for beam 44 is 15.16 
Alpha[44]	0.000000
Alpha[44]	0.999961
TNavParticleFilter::Modified Variance for beam 45 is 15.93 
Alpha[45]	0.000000
Alpha[45]	0.999960
TNavParticleFilter::Modified Variance for beam 46 is 15.71 
Alpha[46]	0.000000
Alpha[46]	0.999958
TNavParticleFilter::Modified Variance for beam 47 is 15.50 
Alpha[47]	0.000000
Alpha[47]	0.999955
TNavParticleFilter::Modified Variance for beam 48 is 15.30 
Alpha[48]	0.000000
Alpha[48]	0.999953
TNavPF:: sumSquaredError = 2155.310725 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 41 as -112.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -93.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -78.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -71.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -70.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -68.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -67.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -66.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -62.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -56.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -50.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -45.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -42.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -37.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -32.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -30.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -28.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -26.09. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -23.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -19.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -17.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -15.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as -15.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -14.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -11.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -9.74. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -8.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -5.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 69 as -4.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 70 as -3.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 71 as -2.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 72 as -0.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 73 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 74 as 1.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 75 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 76 as -0.19. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 77 as 0.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 78 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 79 as 3.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 80 as 1.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 81 as 1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 82 as 2.85. Range = 70.92 
TNavPF::Calculated measDiffMean for beam 83 as 4.85. Range = 71.31 
TNavPF::Calculated measDiffMean for beam 84 as 5.12. Range = 73.83 
TNavPF::Calculated measDiffMean for beam 85 as 5.61. Range = 71.85 
TNavPF::Calculated measDiffMean for beam 86 as 7.87. Range = 68.56 
TNavPF::Calculated measDiffMean for beam 87 as 8.05. Range = 68.81 
TNavPF::Calculated measDiffMean for beam 88 as 8.26. Range = 68.00 
TNavPF::Calculated measDiffMean for beam 89 as 8.45. Range = 67.64 
TNavPF::First Term of Map Covariance Matrix is 30662.42 
TNavPF::Calculated NIS Value : 2.70 	numBeams normalized NIS: 0.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323401.82 sec.
INS : North: 4070199.36, East: 589485.27, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 69.21, IDT[75] = 49.60
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323404.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323404.62)
ARL : North: 17.4330, East: -385.4155, Depth: -20.2657ARL : Estimation Bias  (Mean)         : (t = 1488323404.62)
ARL : North: 33.7110, East: -407.6346, Depth: -25.1381TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 34 35 36 37 
TNavParticleFilter::Modified Variance for beam 0 is 29.38 
Alpha[0]	0.123000
Alpha[0]	1.000000
TNavParticleFilter::Modified Variance for beam 1 is 29.61 
Alpha[1]	0.000000
Alpha[1]	0.999999
TNavParticleFilter::Modified Variance for beam 2 is 34.56 
Alpha[2]	0.000000
Alpha[2]	0.999997
TNavParticleFilter::Modified Variance for beam 3 is 29.29 
Alpha[3]	0.000000
Alpha[3]	0.999993
TNavParticleFilter::Modified Variance for beam 4 is 27.46 
Alpha[4]	0.000000
Alpha[4]	0.999988
TNavParticleFilter::Modified Variance for beam 5 is 27.74 
Alpha[5]	0.000000
Alpha[5]	0.999971
TNavParticleFilter::Modified Variance for beam 6 is 28.04 
Alpha[6]	0.000000
Alpha[6]	0.999955
TNavParticleFilter::Modified Variance for beam 7 is 28.37 
Alpha[7]	0.000000
Alpha[7]	0.999888
TNavParticleFilter::Modified Variance for beam 8 is 28.71 
Alpha[8]	0.000000
Alpha[8]	0.999825
TNavParticleFilter::Modified Variance for beam 9 is 27.57 
Alpha[9]	0.000000
Alpha[9]	0.999452
TNavParticleFilter::Modified Variance for beam 10 is 27.95 
Alpha[10]	0.000000
Alpha[10]	0.999142
TNavParticleFilter::Modified Variance for beam 11 is 26.97 
Alpha[11]	0.000000
Alpha[11]	0.998638
TNavParticleFilter::Modified Variance for beam 12 is 27.23 
Alpha[12]	0.000000
Alpha[12]	0.998210
TNavParticleFilter::Modified Variance for beam 13 is 26.73 
Alpha[13]	0.000000
Alpha[13]	0.998161
TNavParticleFilter::Modified Variance for beam 14 is 25.24 
Alpha[14]	0.000000
Alpha[14]	0.997844
TNavParticleFilter::Modified Variance for beam 15 is 23.89 
Alpha[15]	0.000000
Alpha[15]	0.997730
TNavParticleFilter::Modified Variance for beam 16 is 22.68 
Alpha[16]	0.000000
Alpha[16]	0.997653
TNavParticleFilter::Modified Variance for beam 17 is 21.91 
Alpha[17]	0.000000
Alpha[17]	0.997406
TNavParticleFilter::Modified Variance for beam 18 is 22.30 
Alpha[18]	0.000000
Alpha[18]	0.997703
TNavParticleFilter::Modified Variance for beam 19 is 21.80 
Alpha[19]	0.000000
Alpha[19]	0.997970
TNavParticleFilter::Modified Variance for beam 20 is 21.69 
Alpha[20]	0.000000
Alpha[20]	0.998042
TNavParticleFilter::Modified Variance for beam 21 is 20.00 
Alpha[21]	0.000000
Alpha[21]	0.998070
TNavParticleFilter::Modified Variance for beam 22 is 19.68 
Alpha[22]	0.000000
Alpha[22]	0.998206
TNavParticleFilter::Modified Variance for beam 23 is 20.11 
Alpha[23]	0.000000
Alpha[23]	0.998316
TNavParticleFilter::Modified Variance for beam 24 is 20.55 
Alpha[24]	0.000000
Alpha[24]	0.998561
TNavParticleFilter::Modified Variance for beam 25 is 20.69 
Alpha[25]	0.000000
Alpha[25]	0.998827
TNavParticleFilter::Modified Variance for beam 26 is 19.98 
Alpha[26]	0.000000
Alpha[26]	0.998924
TNavParticleFilter::Modified Variance for beam 27 is 19.32 
Alpha[27]	0.000000
Alpha[27]	0.998817
TNavParticleFilter::Modified Variance for beam 28 is 19.51 
Alpha[28]	0.000000
Alpha[28]	0.998320
TNavParticleFilter::Modified Variance for beam 29 is 19.78 
Alpha[29]	0.000000
Alpha[29]	0.997654
TNavParticleFilter::Modified Variance for beam 30 is 19.21 
Alpha[30]	0.000000
Alpha[30]	0.997099
TNavParticleFilter::Modified Variance for beam 31 is 18.66 
Alpha[31]	0.000000
Alpha[31]	0.996921
TNavParticleFilter::Modified Variance for beam 32 is 18.16 
Alpha[32]	0.000000
Alpha[32]	0.996738
TNavParticleFilter::Modified Variance for beam 33 is 17.67 
Alpha[33]	0.000000
Alpha[33]	0.997286
TNavParticleFilter::Modified Variance for beam 34 is 15.85 
Alpha[34]	0.000000
Alpha[34]	0.997932
TNavParticleFilter::Modified Variance for beam 35 is 15.49 
Alpha[35]	0.000000
Alpha[35]	0.998007
TNavParticleFilter::Modified Variance for beam 36 is 15.99 
Alpha[36]	0.000000
Alpha[36]	0.998013
TNavParticleFilter::Modified Variance for beam 37 is 16.04 
Alpha[37]	0.000000
Alpha[37]	0.997949
TNavParticleFilter::Modified Variance for beam 38 is 15.70 
Alpha[38]	0.000000
Alpha[38]	0.997833
TNavParticleFilter::Modified Variance for beam 39 is 15.37 
Alpha[39]	0.000000
Alpha[39]	0.998211
TNavParticleFilter::Modified Variance for beam 40 is 15.07 
Alpha[40]	0.000000
Alpha[40]	0.998630
TNavParticleFilter::Modified Variance for beam 41 is 15.54 
Alpha[41]	0.000000
Alpha[41]	0.998748
TNavParticleFilter::Modified Variance for beam 42 is 15.66 
Alpha[42]	0.000000
Alpha[42]	0.998772
TNavParticleFilter::Modified Variance for beam 43 is 15.04 
Alpha[43]	0.000000
Alpha[43]	0.998636
TNavParticleFilter::Modified Variance for beam 44 is 15.13 
Alpha[44]	0.000000
Alpha[44]	0.998492
TNavParticleFilter::Modified Variance for beam 45 is 14.88 
Alpha[45]	0.000000
Alpha[45]	0.998580
TNavParticleFilter::Modified Variance for beam 46 is 14.65 
Alpha[46]	0.000000
Alpha[46]	0.998818
TNavParticleFilter::Modified Variance for beam 47 is 14.43 
Alpha[47]	0.000000
Alpha[47]	0.998964
TNavParticleFilter::Modified Variance for beam 48 is 14.67 
Alpha[48]	0.000000
Alpha[48]	0.998961
TNavParticleFilter::Modified Variance for beam 49 is 13.03 
Alpha[49]	0.000000
Alpha[49]	0.998918
TNavParticleFilter::Modified Variance for beam 50 is 12.87 
Alpha[50]	0.000000
Alpha[50]	0.998955
TNavParticleFilter::Modified Variance for beam 51 is 12.79 
Alpha[51]	0.000000
Alpha[51]	0.999010
TNavParticleFilter::Modified Variance for beam 52 is 13.52 
Alpha[52]	0.000000
Alpha[52]	0.999037
TNavParticleFilter::Modified Variance for beam 53 is 13.37 
Alpha[53]	0.000000
Alpha[53]	0.999038
TNavParticleFilter::Modified Variance for beam 54 is 13.23 
Alpha[54]	0.000000
Alpha[54]	0.999058
TNavParticleFilter::Modified Variance for beam 55 is 13.76 
Alpha[55]	0.000000
Alpha[55]	0.999070
TNavPF:: sumSquaredError = 7407.220432 
TNavPF:: sumWeights = 0.000001 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 34 as -118.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -70.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -28.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -16.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -13.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -8.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -3.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -0.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 2.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 2.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.65. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -2.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -2.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -1.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 0.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -1.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -0.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 63 as 0.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 64 as -0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 65 as -0.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 66 as -1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 67 as -1.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 68 as -4.15. Range = 72.72 
TNavPF::Calculated measDiffMean for beam 69 as -4.15. Range = 73.05 
TNavPF::Calculated measDiffMean for beam 70 as -2.64. Range = 79.66 
TNavPF::Calculated measDiffMean for beam 71 as -2.02. Range = 72.60 
TNavPF::Calculated measDiffMean for beam 72 as -2.00. Range = 69.98 
TNavPF::Calculated measDiffMean for beam 73 as -1.56. Range = 70.39 
TNavPF::Calculated measDiffMean for beam 74 as -1.26. Range = 70.82 
TNavPF::Calculated measDiffMean for beam 75 as 0.45. Range = 71.28 
TNavPF::Calculated measDiffMean for beam 76 as 1.37. Range = 71.77 
TNavPF::Calculated measDiffMean for beam 77 as 0.90. Range = 70.12 
TNavPF::Calculated measDiffMean for beam 78 as 1.79. Range = 70.65 
TNavPF::Calculated measDiffMean for beam 79 as 1.99. Range = 69.21 
TNavPF::Calculated measDiffMean for beam 80 as 2.30. Range = 69.58 
TNavPF::Calculated measDiffMean for beam 81 as 2.56. Range = 68.84 
TNavPF::Calculated measDiffMean for beam 82 as 3.74. Range = 66.58 
TNavPF::Calculated measDiffMean for beam 83 as 0.94. Range = 64.48 
TNavPF::Calculated measDiffMean for beam 84 as 1.25. Range = 62.54 
TNavPF::Calculated measDiffMean for beam 85 as 1.47. Range = 61.26 
TNavPF::Calculated measDiffMean for beam 86 as 3.37. Range = 61.92 
TNavPF::Calculated measDiffMean for beam 87 as 3.19. Range = 61.10 
TNavPF::Calculated measDiffMean for beam 88 as 2.90. Range = 60.92 
TNavPF::Calculated measDiffMean for beam 89 as 4.12. Range = 58.03 
TNavPF::First Term of Map Covariance Matrix is 54665.07 
TNavPF::Calculated NIS Value : 5.98 	numBeams normalized NIS: 0.11
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323404.82 sec.
INS : North: 4070196.36, East: 589482.57, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 57.34, IDT[75] = 42.02
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323407.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323407.62)
ARL : North: 53.5338, East: -562.1145, Depth: -29.4267ARL : Estimation Bias  (Mean)         : (t = 1488323407.62)
ARL : North: 41.2288, East: -520.9092, Depth: -29.3950TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 27.86 
Alpha[0]	0.123000
Alpha[0]	0.996970
TNavParticleFilter::Modified Variance for beam 1 is 27.10 
Alpha[1]	0.000000
Alpha[1]	0.996319
TNavParticleFilter::Modified Variance for beam 2 is 27.45 
Alpha[2]	0.000000
Alpha[2]	0.997036
TNavParticleFilter::Modified Variance for beam 3 is 25.70 
Alpha[3]	0.000000
Alpha[3]	0.996717
TNavParticleFilter::Modified Variance for beam 4 is 24.15 
Alpha[4]	0.000000
Alpha[4]	0.996943
TNavParticleFilter::Modified Variance for beam 5 is 22.77 
Alpha[5]	0.000000
Alpha[5]	0.997027
TNavParticleFilter::Modified Variance for beam 6 is 23.08 
Alpha[6]	0.000000
Alpha[6]	0.997295
TNavParticleFilter::Modified Variance for beam 7 is 22.87 
Alpha[7]	0.000000
Alpha[7]	0.996866
TNavParticleFilter::Modified Variance for beam 8 is 22.47 
Alpha[8]	0.000000
Alpha[8]	0.995184
TNavParticleFilter::Modified Variance for beam 9 is 22.89 
Alpha[9]	0.000000
Alpha[9]	0.994015
TNavParticleFilter::Modified Variance for beam 10 is 21.99 
Alpha[10]	0.000000
Alpha[10]	0.994101
TNavParticleFilter::Modified Variance for beam 11 is 20.99 
Alpha[11]	0.000000
Alpha[11]	0.995492
TNavParticleFilter::Modified Variance for beam 12 is 20.09 
Alpha[12]	0.000000
Alpha[12]	0.996059
TNavParticleFilter::Modified Variance for beam 13 is 20.21 
Alpha[13]	0.000000
Alpha[13]	0.995984
TNavParticleFilter::Modified Variance for beam 14 is 20.43 
Alpha[14]	0.000000
Alpha[14]	0.995828
TNavParticleFilter::Modified Variance for beam 15 is 19.66 
Alpha[15]	0.000000
Alpha[15]	0.995883
TNavParticleFilter::Modified Variance for beam 16 is 18.94 
Alpha[16]	0.000000
Alpha[16]	0.996113
TNavParticleFilter::Modified Variance for beam 17 is 18.29 
Alpha[17]	0.000000
Alpha[17]	0.995873
TNavParticleFilter::Modified Variance for beam 18 is 18.12 
Alpha[18]	0.000000
Alpha[18]	0.994657
TNavParticleFilter::Modified Variance for beam 19 is 18.57 
Alpha[19]	0.000000
Alpha[19]	0.994382
TNavParticleFilter::Modified Variance for beam 20 is 18.16 
Alpha[20]	0.000000
Alpha[20]	0.995353
TNavParticleFilter::Modified Variance for beam 21 is 16.11 
Alpha[21]	0.000000
Alpha[21]	0.996255
TNavParticleFilter::Modified Variance for beam 22 is 15.65 
Alpha[22]	0.000000
Alpha[22]	0.996757
TNavParticleFilter::Modified Variance for beam 23 is 16.03 
Alpha[23]	0.000000
Alpha[23]	0.996625
TNavParticleFilter::Modified Variance for beam 24 is 16.19 
Alpha[24]	0.000000
Alpha[24]	0.996448
TNavParticleFilter::Modified Variance for beam 25 is 15.78 
Alpha[25]	0.000000
Alpha[25]	0.996474
TNavParticleFilter::Modified Variance for beam 26 is 15.40 
Alpha[26]	0.000000
Alpha[26]	0.995796
TNavParticleFilter::Modified Variance for beam 27 is 15.04 
Alpha[27]	0.000000
Alpha[27]	0.996090
TNavParticleFilter::Modified Variance for beam 28 is 15.44 
Alpha[28]	0.000000
Alpha[28]	0.997488
TNavParticleFilter::Modified Variance for beam 29 is 15.58 
Alpha[29]	0.000000
Alpha[29]	0.998358
TNavParticleFilter::Modified Variance for beam 30 is 15.24 
Alpha[30]	0.000000
Alpha[30]	0.998612
TNavParticleFilter::Modified Variance for beam 31 is 15.44 
Alpha[31]	0.000000
Alpha[31]	0.998684
TNavParticleFilter::Modified Variance for beam 32 is 15.83 
Alpha[32]	0.000000
Alpha[32]	0.998645
TNavParticleFilter::Modified Variance for beam 33 is 14.38 
Alpha[33]	0.000000
Alpha[33]	0.998478
TNavParticleFilter::Modified Variance for beam 34 is 14.13 
Alpha[34]	0.000000
Alpha[34]	0.998261
TNavParticleFilter::Modified Variance for beam 35 is 13.89 
Alpha[35]	0.000000
Alpha[35]	0.998085
TNavParticleFilter::Modified Variance for beam 36 is 13.66 
Alpha[36]	0.000000
Alpha[36]	0.997949
TNavParticleFilter::Modified Variance for beam 37 is 13.45 
Alpha[37]	0.000000
Alpha[37]	0.997863
TNavParticleFilter::Modified Variance for beam 38 is 13.25 
Alpha[38]	0.000000
Alpha[38]	0.997782
TNavParticleFilter::Modified Variance for beam 39 is 13.06 
Alpha[39]	0.000000
Alpha[39]	0.997816
TNavParticleFilter::Modified Variance for beam 40 is 12.88 
Alpha[40]	0.000000
Alpha[40]	0.998011
TNavParticleFilter::Modified Variance for beam 41 is 12.71 
Alpha[41]	0.000000
Alpha[41]	0.998266
TNavParticleFilter::Modified Variance for beam 42 is 12.55 
Alpha[42]	0.000000
Alpha[42]	0.998493
TNavParticleFilter::Modified Variance for beam 43 is 12.40 
Alpha[43]	0.000000
Alpha[43]	0.998626
TNavParticleFilter::Modified Variance for beam 44 is 12.26 
Alpha[44]	0.000000
Alpha[44]	0.998624
TNavParticleFilter::Modified Variance for beam 45 is 12.13 
Alpha[45]	0.000000
Alpha[45]	0.998582
TNavParticleFilter::Modified Variance for beam 46 is 12.01 
Alpha[46]	0.000000
Alpha[46]	0.998536
TNavParticleFilter::Modified Variance for beam 47 is 11.90 
Alpha[47]	0.000000
Alpha[47]	0.998476
TNavParticleFilter::Modified Variance for beam 48 is 8.71 
Alpha[48]	0.000000
Alpha[48]	0.998465
TNavParticleFilter::Modified Variance for beam 49 is 8.65 
Alpha[49]	0.000000
Alpha[49]	0.998401
TNavParticleFilter::Modified Variance for beam 50 is 8.59 
Alpha[50]	0.000000
Alpha[50]	0.998261
TNavParticleFilter::Modified Variance for beam 51 is 8.80 
Alpha[51]	0.000000
Alpha[51]	0.998233
TNavParticleFilter::Modified Variance for beam 52 is 9.87 
Alpha[52]	0.000000
Alpha[52]	0.998402
TNavParticleFilter::Modified Variance for beam 53 is 10.29 
Alpha[53]	0.000000
Alpha[53]	0.998550
TNavParticleFilter::Modified Variance for beam 54 is 11.30 
Alpha[54]	0.000000
Alpha[54]	0.998319
TNavParticleFilter::Modified Variance for beam 55 is 12.05 
Alpha[55]	0.000000
Alpha[55]	0.997752
TNavParticleFilter::Modified Variance for beam 56 is 11.99 
Alpha[56]	0.000000
Alpha[56]	0.997345
TNavParticleFilter::Modified Variance for beam 57 is 11.94 
Alpha[57]	0.000000
Alpha[57]	0.997153
TNavParticleFilter::Modified Variance for beam 58 is 11.88 
Alpha[58]	0.000000
Alpha[58]	0.997081
TNavParticleFilter::Modified Variance for beam 59 is 11.84 
Alpha[59]	0.000000
Alpha[59]	0.997124
TNavPF:: sumSquaredError = 111.166412 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 3.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 3.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 4.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 3.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 2.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 3.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 4.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 4.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 5.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 3.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 2.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 1.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 1.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -2.48. Range = 81.92 
TNavPF::Calculated measDiffMean for beam 52 as -3.63. Range = 82.27 
TNavPF::Calculated measDiffMean for beam 53 as -3.27. Range = 78.53 
TNavPF::Calculated measDiffMean for beam 54 as -2.91. Range = 74.70 
TNavPF::Calculated measDiffMean for beam 55 as -3.21. Range = 75.09 
TNavPF::Calculated measDiffMean for beam 56 as -3.40. Range = 73.40 
TNavPF::Calculated measDiffMean for beam 57 as -3.71. Range = 73.83 
TNavPF::Calculated measDiffMean for beam 58 as -2.36. Range = 72.16 
TNavPF::Calculated measDiffMean for beam 59 as -1.39. Range = 72.63 
TNavPF::Calculated measDiffMean for beam 60 as -1.29. Range = 70.45 
TNavPF::Calculated measDiffMean for beam 61 as -0.12. Range = 69.31 
TNavPF::Calculated measDiffMean for beam 62 as 1.61. Range = 69.84 
TNavPF::Calculated measDiffMean for beam 63 as -0.47. Range = 67.24 
TNavPF::Calculated measDiffMean for beam 64 as -0.20. Range = 64.86 
TNavPF::Calculated measDiffMean for beam 65 as 0.23. Range = 62.66 
TNavPF::Calculated measDiffMean for beam 66 as 0.66. Range = 63.18 
TNavPF::Calculated measDiffMean for beam 67 as 0.85. Range = 62.81 
TNavPF::Calculated measDiffMean for beam 68 as 0.95. Range = 62.10 
TNavPF::Calculated measDiffMean for beam 69 as 1.19. Range = 62.75 
TNavPF::Calculated measDiffMean for beam 70 as 1.41. Range = 61.27 
TNavPF::Calculated measDiffMean for beam 71 as 1.59. Range = 59.64 
TNavPF::Calculated measDiffMean for beam 72 as 1.76. Range = 58.11 
TNavPF::Calculated measDiffMean for beam 73 as 2.08. Range = 58.32 
TNavPF::Calculated measDiffMean for beam 74 as 2.52. Range = 58.69 
TNavPF::Calculated measDiffMean for beam 75 as 2.82. Range = 57.34 
TNavPF::Calculated measDiffMean for beam 76 as 3.06. Range = 56.07 
TNavPF::Calculated measDiffMean for beam 77 as 3.28. Range = 54.86 
TNavPF::Calculated measDiffMean for beam 78 as -5.21. Range = 54.51 
TNavPF::Calculated measDiffMean for beam 79 as -5.31. Range = 55.33 
TNavPF::Calculated measDiffMean for beam 80 as -5.37. Range = 54.61 
TNavPF::Calculated measDiffMean for beam 81 as -4.54. Range = 50.67 
TNavPF::Calculated measDiffMean for beam 82 as -1.42. Range = 49.76 
TNavPF::Calculated measDiffMean for beam 83 as -0.52. Range = 50.54 
TNavPF::Calculated measDiffMean for beam 84 as 1.89. Range = 50.84 
TNavPF::Calculated measDiffMean for beam 85 as 3.91. Range = 50.01 
TNavPF::Calculated measDiffMean for beam 86 as 4.05. Range = 49.23 
TNavPF::Calculated measDiffMean for beam 87 as 4.24. Range = 48.48 
TNavPF::Calculated measDiffMean for beam 88 as 4.49. Range = 49.37 
TNavPF::Calculated measDiffMean for beam 89 as 4.85. Range = 49.66 
TNavPF::First Term of Map Covariance Matrix is 6.59 
TNavPF::Calculated NIS Value : 28.91 	numBeams normalized NIS: 0.48
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323407.82 sec.
INS : North: 4070194.01, East: 589479.35, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 46.79, IDT[75] = 43.39
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323410.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323410.62)
ARL : North: 53.7871, East: -563.3191, Depth: -26.9267ARL : Estimation Bias  (Mean)         : (t = 1488323410.62)
ARL : North: 52.5813, East: -565.8975, Depth: -29.0968TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.58 
Alpha[0]	0.123000
Alpha[0]	0.984402
TNavParticleFilter::Modified Variance for beam 1 is 19.37 
Alpha[1]	0.000000
Alpha[1]	0.987343
TNavParticleFilter::Modified Variance for beam 2 is 18.64 
Alpha[2]	0.000000
Alpha[2]	0.990393
TNavParticleFilter::Modified Variance for beam 3 is 17.98 
Alpha[3]	0.000000
Alpha[3]	0.992355
TNavParticleFilter::Modified Variance for beam 4 is 17.39 
Alpha[4]	0.000000
Alpha[4]	0.992991
TNavParticleFilter::Modified Variance for beam 5 is 16.87 
Alpha[5]	0.000000
Alpha[5]	0.992710
TNavParticleFilter::Modified Variance for beam 6 is 16.37 
Alpha[6]	0.000000
Alpha[6]	0.992510
TNavParticleFilter::Modified Variance for beam 7 is 16.81 
Alpha[7]	0.000000
Alpha[7]	0.991783
TNavParticleFilter::Modified Variance for beam 8 is 16.88 
Alpha[8]	0.000000
Alpha[8]	0.993175
TNavParticleFilter::Modified Variance for beam 9 is 16.37 
Alpha[9]	0.000000
Alpha[9]	0.996831
TNavParticleFilter::Modified Variance for beam 10 is 16.65 
Alpha[10]	0.000000
Alpha[10]	0.998336
TNavParticleFilter::Modified Variance for beam 11 is 16.87 
Alpha[11]	0.000000
Alpha[11]	0.998832
TNavParticleFilter::Modified Variance for beam 12 is 16.47 
Alpha[12]	0.000000
Alpha[12]	0.999050
TNavParticleFilter::Modified Variance for beam 13 is 16.09 
Alpha[13]	0.000000
Alpha[13]	0.999111
TNavParticleFilter::Modified Variance for beam 14 is 15.73 
Alpha[14]	0.000000
Alpha[14]	0.999000
TNavParticleFilter::Modified Variance for beam 15 is 14.21 
Alpha[15]	0.000000
Alpha[15]	0.998828
TNavParticleFilter::Modified Variance for beam 16 is 13.93 
Alpha[16]	0.000000
Alpha[16]	0.998563
TNavParticleFilter::Modified Variance for beam 17 is 13.67 
Alpha[17]	0.000000
Alpha[17]	0.998119
TNavParticleFilter::Modified Variance for beam 18 is 13.43 
Alpha[18]	0.000000
Alpha[18]	0.997602
TNavParticleFilter::Modified Variance for beam 19 is 13.20 
Alpha[19]	0.000000
Alpha[19]	0.997433
TNavParticleFilter::Modified Variance for beam 20 is 12.98 
Alpha[20]	0.000000
Alpha[20]	0.997798
TNavParticleFilter::Modified Variance for beam 21 is 12.76 
Alpha[21]	0.000000
Alpha[21]	0.998129
TNavParticleFilter::Modified Variance for beam 22 is 12.57 
Alpha[22]	0.000000
Alpha[22]	0.998354
TNavParticleFilter::Modified Variance for beam 23 is 12.38 
Alpha[23]	0.000000
Alpha[23]	0.998409
TNavParticleFilter::Modified Variance for beam 24 is 12.21 
Alpha[24]	0.000000
Alpha[24]	0.998305
TNavParticleFilter::Modified Variance for beam 25 is 11.15 
Alpha[25]	0.000000
Alpha[25]	0.998215
TNavParticleFilter::Modified Variance for beam 26 is 11.01 
Alpha[26]	0.000000
Alpha[26]	0.998214
TNavParticleFilter::Modified Variance for beam 27 is 11.08 
Alpha[27]	0.000000
Alpha[27]	0.998221
TNavParticleFilter::Modified Variance for beam 28 is 12.52 
Alpha[28]	0.000000
Alpha[28]	0.998238
TNavParticleFilter::Modified Variance for beam 29 is 9.85 
Alpha[29]	0.000000
Alpha[29]	0.998127
TNavParticleFilter::Modified Variance for beam 30 is 9.76 
Alpha[30]	0.000000
Alpha[30]	0.997903
TNavParticleFilter::Modified Variance for beam 31 is 9.67 
Alpha[31]	0.000000
Alpha[31]	0.997939
TNavParticleFilter::Modified Variance for beam 32 is 10.17 
Alpha[32]	0.000000
Alpha[32]	0.998192
TNavParticleFilter::Modified Variance for beam 33 is 12.78 
Alpha[33]	0.000000
Alpha[33]	0.998222
TNavParticleFilter::Modified Variance for beam 34 is 12.68 
Alpha[34]	0.000000
Alpha[34]	0.997605
TNavParticleFilter::Modified Variance for beam 35 is 11.72 
Alpha[35]	0.000000
Alpha[35]	0.996126
TNavParticleFilter::Modified Variance for beam 36 is 11.64 
Alpha[36]	0.000000
Alpha[36]	0.995826
TNavParticleFilter::Modified Variance for beam 37 is 11.67 
Alpha[37]	0.000000
Alpha[37]	0.996523
TNavParticleFilter::Modified Variance for beam 38 is 12.31 
Alpha[38]	0.000000
Alpha[38]	0.997149
TNavParticleFilter::Modified Variance for beam 39 is 12.23 
Alpha[39]	0.000000
Alpha[39]	0.997210
TNavParticleFilter::Modified Variance for beam 40 is 12.16 
Alpha[40]	0.000000
Alpha[40]	0.997058
TNavParticleFilter::Modified Variance for beam 41 is 12.95 
Alpha[41]	0.000000
Alpha[41]	0.997052
TNavParticleFilter::Modified Variance for beam 42 is 12.89 
Alpha[42]	0.000000
Alpha[42]	0.996917
TNavParticleFilter::Modified Variance for beam 43 is 12.83 
Alpha[43]	0.000000
Alpha[43]	0.996799
TNavParticleFilter::Modified Variance for beam 44 is 12.78 
Alpha[44]	0.000000
Alpha[44]	0.996980
TNavParticleFilter::Modified Variance for beam 45 is 12.72 
Alpha[45]	0.000000
Alpha[45]	0.997449
TNavParticleFilter::Modified Variance for beam 46 is 12.67 
Alpha[46]	0.000000
Alpha[46]	0.998206
TNavParticleFilter::Modified Variance for beam 47 is 12.63 
Alpha[47]	0.000000
Alpha[47]	0.998818
TNavParticleFilter::Modified Variance for beam 48 is 11.77 
Alpha[48]	0.000000
Alpha[48]	0.999100
TNavParticleFilter::Modified Variance for beam 49 is 10.96 
Alpha[49]	0.000000
Alpha[49]	0.999125
TNavParticleFilter::Modified Variance for beam 50 is 10.94 
Alpha[50]	0.000000
Alpha[50]	0.999039
TNavParticleFilter::Modified Variance for beam 51 is 10.93 
Alpha[51]	0.000000
Alpha[51]	0.998957
TNavParticleFilter::Modified Variance for beam 52 is 10.93 
Alpha[52]	0.000000
Alpha[52]	0.998909
TNavParticleFilter::Modified Variance for beam 53 is 10.93 
Alpha[53]	0.000000
Alpha[53]	0.998835
TNavParticleFilter::Modified Variance for beam 54 is 10.93 
Alpha[54]	0.000000
Alpha[54]	0.998641
TNavParticleFilter::Modified Variance for beam 55 is 8.82 
Alpha[55]	0.000000
Alpha[55]	0.998466
TNavParticleFilter::Modified Variance for beam 56 is 8.83 
Alpha[56]	0.000000
Alpha[56]	0.998451
TNavParticleFilter::Modified Variance for beam 57 is 8.84 
Alpha[57]	0.000000
Alpha[57]	0.998483
TNavParticleFilter::Modified Variance for beam 58 is 10.99 
Alpha[58]	0.000000
Alpha[58]	0.998548
TNavParticleFilter::Modified Variance for beam 59 is 11.02 
Alpha[59]	0.000000
Alpha[59]	0.998635
TNavPF:: sumSquaredError = 381.543642 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -1.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -2.90. Range = 85.32 
TNavPF::Calculated measDiffMean for beam 36 as -3.80. Range = 89.78 
TNavPF::Calculated measDiffMean for beam 37 as -2.60. Range = 85.35 
TNavPF::Calculated measDiffMean for beam 38 as -2.14. Range = 82.26 
TNavPF::Calculated measDiffMean for beam 39 as -2.69. Range = 82.23 
TNavPF::Calculated measDiffMean for beam 40 as -1.70. Range = 77.59 
TNavPF::Calculated measDiffMean for beam 41 as -0.50. Range = 75.10 
TNavPF::Calculated measDiffMean for beam 42 as -0.38. Range = 75.55 
TNavPF::Calculated measDiffMean for beam 43 as 0.15. Range = 72.25 
TNavPF::Calculated measDiffMean for beam 44 as 0.72. Range = 72.22 
TNavPF::Calculated measDiffMean for beam 45 as -1.11. Range = 72.72 
TNavPF::Calculated measDiffMean for beam 46 as -0.14. Range = 68.89 
TNavPF::Calculated measDiffMean for beam 47 as 0.58. Range = 69.42 
TNavPF::Calculated measDiffMean for beam 48 as 0.86. Range = 68.00 
TNavPF::Calculated measDiffMean for beam 49 as 1.08. Range = 66.09 
TNavPF::Calculated measDiffMean for beam 50 as 1.36. Range = 66.68 
TNavPF::Calculated measDiffMean for beam 51 as 1.66. Range = 65.51 
TNavPF::Calculated measDiffMean for beam 52 as 2.02. Range = 63.45 
TNavPF::Calculated measDiffMean for beam 53 as 2.43. Range = 63.97 
TNavPF::Calculated measDiffMean for beam 54 as 2.78. Range = 63.62 
TNavPF::Calculated measDiffMean for beam 55 as 0.72. Range = 62.96 
TNavPF::Calculated measDiffMean for beam 56 as 0.93. Range = 60.19 
TNavPF::Calculated measDiffMean for beam 57 as 1.50. Range = 58.64 
TNavPF::Calculated measDiffMean for beam 58 as 5.13. Range = 57.18 
TNavPF::Calculated measDiffMean for beam 59 as -1.71. Range = 56.07 
TNavPF::Calculated measDiffMean for beam 60 as -1.78. Range = 56.81 
TNavPF::Calculated measDiffMean for beam 61 as -2.00. Range = 56.54 
TNavPF::Calculated measDiffMean for beam 62 as -0.97. Range = 55.32 
TNavPF::Calculated measDiffMean for beam 63 as 5.11. Range = 54.17 
TNavPF::Calculated measDiffMean for beam 64 as 4.90. Range = 53.09 
TNavPF::Calculated measDiffMean for beam 65 as 3.10. Range = 52.06 
TNavPF::Calculated measDiffMean for beam 66 as 3.48. Range = 51.08 
TNavPF::Calculated measDiffMean for beam 67 as 4.31. Range = 51.91 
TNavPF::Calculated measDiffMean for beam 68 as 6.78. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 69 as 7.38. Range = 51.22 
TNavPF::Calculated measDiffMean for beam 70 as 7.84. Range = 51.82 
TNavPF::Calculated measDiffMean for beam 71 as 10.37. Range = 52.28 
TNavPF::Calculated measDiffMean for beam 72 as 10.90. Range = 51.48 
TNavPF::Calculated measDiffMean for beam 73 as 11.27. Range = 50.73 
TNavPF::Calculated measDiffMean for beam 74 as 11.51. Range = 50.01 
TNavPF::Calculated measDiffMean for beam 75 as 11.71. Range = 46.79 
TNavPF::Calculated measDiffMean for beam 76 as 11.96. Range = 46.18 
TNavPF::Calculated measDiffMean for beam 77 as 12.60. Range = 45.59 
TNavPF::Calculated measDiffMean for beam 78 as 11.69. Range = 45.03 
TNavPF::Calculated measDiffMean for beam 79 as 10.89. Range = 44.50 
TNavPF::Calculated measDiffMean for beam 80 as 11.68. Range = 43.99 
TNavPF::Calculated measDiffMean for beam 81 as 11.85. Range = 43.51 
TNavPF::Calculated measDiffMean for beam 82 as 11.50. Range = 43.05 
TNavPF::Calculated measDiffMean for beam 83 as 10.83. Range = 42.61 
TNavPF::Calculated measDiffMean for beam 84 as 10.22. Range = 42.20 
TNavPF::Calculated measDiffMean for beam 85 as 3.88. Range = 39.55 
TNavPF::Calculated measDiffMean for beam 86 as 3.76. Range = 39.19 
TNavPF::Calculated measDiffMean for beam 87 as 3.75. Range = 39.37 
TNavPF::Calculated measDiffMean for beam 88 as 9.78. Range = 42.94 
TNavPF::Calculated measDiffMean for beam 89 as 9.67. Range = 36.05 
TNavPF::First Term of Map Covariance Matrix is 1.27 
TNavPF::Calculated NIS Value : 86.33 	numBeams normalized NIS: 1.44
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323410.82 sec.
INS : North: 4070192.56, East: 589475.72, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 41.30, IDT[75] = 37.43
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323413.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323413.62)
ARL : North: 53.7955, East: -561.9938, Depth: -30.0571ARL : Estimation Bias  (Mean)         : (t = 1488323413.62)
ARL : North: 51.7927, East: -554.9527, Depth: -30.1043TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.77 
Alpha[0]	0.123000
Alpha[0]	0.998975
TNavParticleFilter::Modified Variance for beam 1 is 13.36 
Alpha[1]	0.000000
Alpha[1]	0.998749
TNavParticleFilter::Modified Variance for beam 2 is 13.12 
Alpha[2]	0.000000
Alpha[2]	0.998619
TNavParticleFilter::Modified Variance for beam 3 is 13.20 
Alpha[3]	0.000000
Alpha[3]	0.998451
TNavParticleFilter::Modified Variance for beam 4 is 13.72 
Alpha[4]	0.000000
Alpha[4]	0.998168
TNavParticleFilter::Modified Variance for beam 5 is 13.49 
Alpha[5]	0.000000
Alpha[5]	0.998282
TNavParticleFilter::Modified Variance for beam 6 is 13.28 
Alpha[6]	0.000000
Alpha[6]	0.998507
TNavParticleFilter::Modified Variance for beam 7 is 10.30 
Alpha[7]	0.000000
Alpha[7]	0.998611
TNavParticleFilter::Modified Variance for beam 8 is 10.16 
Alpha[8]	0.000000
Alpha[8]	0.998601
TNavParticleFilter::Modified Variance for beam 9 is 10.04 
Alpha[9]	0.000000
Alpha[9]	0.998544
TNavParticleFilter::Modified Variance for beam 10 is 10.25 
Alpha[10]	0.000000
Alpha[10]	0.998546
TNavParticleFilter::Modified Variance for beam 11 is 13.34 
Alpha[11]	0.000000
Alpha[11]	0.998520
TNavParticleFilter::Modified Variance for beam 12 is 13.26 
Alpha[12]	0.000000
Alpha[12]	0.998469
TNavParticleFilter::Modified Variance for beam 13 is 13.99 
Alpha[13]	0.000000
Alpha[13]	0.998534
TNavParticleFilter::Modified Variance for beam 14 is 11.96 
Alpha[14]	0.000000
Alpha[14]	0.998676
TNavParticleFilter::Modified Variance for beam 15 is 11.84 
Alpha[15]	0.000000
Alpha[15]	0.998660
TNavParticleFilter::Modified Variance for beam 16 is 11.91 
Alpha[16]	0.000000
Alpha[16]	0.998156
TNavParticleFilter::Modified Variance for beam 17 is 12.50 
Alpha[17]	0.000000
Alpha[17]	0.997973
TNavParticleFilter::Modified Variance for beam 18 is 12.38 
Alpha[18]	0.000000
Alpha[18]	0.998406
TNavParticleFilter::Modified Variance for beam 19 is 12.27 
Alpha[19]	0.000000
Alpha[19]	0.998540
TNavParticleFilter::Modified Variance for beam 20 is 12.95 
Alpha[20]	0.000000
Alpha[20]	0.998165
TNavParticleFilter::Modified Variance for beam 21 is 12.97 
Alpha[21]	0.000000
Alpha[21]	0.997810
TNavParticleFilter::Modified Variance for beam 22 is 12.88 
Alpha[22]	0.000000
Alpha[22]	0.997904
TNavParticleFilter::Modified Variance for beam 23 is 12.79 
Alpha[23]	0.000000
Alpha[23]	0.997941
TNavParticleFilter::Modified Variance for beam 24 is 12.71 
Alpha[24]	0.000000
Alpha[24]	0.997984
TNavParticleFilter::Modified Variance for beam 25 is 12.64 
Alpha[25]	0.000000
Alpha[25]	0.998073
TNavParticleFilter::Modified Variance for beam 26 is 12.57 
Alpha[26]	0.000000
Alpha[26]	0.998246
TNavParticleFilter::Modified Variance for beam 27 is 12.51 
Alpha[27]	0.000000
Alpha[27]	0.998472
TNavParticleFilter::Modified Variance for beam 28 is 12.46 
Alpha[28]	0.000000
Alpha[28]	0.998574
TNavParticleFilter::Modified Variance for beam 29 is 12.41 
Alpha[29]	0.000000
Alpha[29]	0.998574
TNavParticleFilter::Modified Variance for beam 30 is 12.37 
Alpha[30]	0.000000
Alpha[30]	0.998553
TNavParticleFilter::Modified Variance for beam 31 is 12.33 
Alpha[31]	0.000000
Alpha[31]	0.998545
TNavParticleFilter::Modified Variance for beam 32 is 12.30 
Alpha[32]	0.000000
Alpha[32]	0.998568
TNavParticleFilter::Modified Variance for beam 33 is 11.46 
Alpha[33]	0.000000
Alpha[33]	0.998651
TNavParticleFilter::Modified Variance for beam 34 is 11.44 
Alpha[34]	0.000000
Alpha[34]	0.998823
TNavParticleFilter::Modified Variance for beam 35 is 11.42 
Alpha[35]	0.000000
Alpha[35]	0.998890
TNavParticleFilter::Modified Variance for beam 36 is 11.42 
Alpha[36]	0.000000
Alpha[36]	0.998923
TNavParticleFilter::Modified Variance for beam 37 is 11.41 
Alpha[37]	0.000000
Alpha[37]	0.998983
TNavParticleFilter::Modified Variance for beam 38 is 11.41 
Alpha[38]	0.000000
Alpha[38]	0.999007
TNavParticleFilter::Modified Variance for beam 39 is 11.42 
Alpha[39]	0.000000
Alpha[39]	0.999031
TNavParticleFilter::Modified Variance for beam 40 is 11.43 
Alpha[40]	0.000000
Alpha[40]	0.999101
TNavParticleFilter::Modified Variance for beam 41 is 11.45 
Alpha[41]	0.000000
Alpha[41]	0.999136
TNavParticleFilter::Modified Variance for beam 42 is 10.69 
Alpha[42]	0.000000
Alpha[42]	0.999156
TNavParticleFilter::Modified Variance for beam 43 is 10.71 
Alpha[43]	0.000000
Alpha[43]	0.999231
TNavParticleFilter::Modified Variance for beam 44 is 10.74 
Alpha[44]	0.000000
Alpha[44]	0.999362
TNavParticleFilter::Modified Variance for beam 45 is 10.33 
Alpha[45]	0.000000
Alpha[45]	0.999505
TNavParticleFilter::Modified Variance for beam 46 is 10.06 
Alpha[46]	0.000000
Alpha[46]	0.999586
TNavParticleFilter::Modified Variance for beam 47 is 10.10 
Alpha[47]	0.000000
Alpha[47]	0.999597
TNavParticleFilter::Modified Variance for beam 48 is 10.14 
Alpha[48]	0.000000
Alpha[48]	0.999584
TNavParticleFilter::Modified Variance for beam 49 is 9.47 
Alpha[49]	0.000000
Alpha[49]	0.999571
TNavParticleFilter::Modified Variance for beam 50 is 9.51 
Alpha[50]	0.000000
Alpha[50]	0.999554
TNavParticleFilter::Modified Variance for beam 51 is 9.56 
Alpha[51]	0.000000
Alpha[51]	0.999512
TNavParticleFilter::Modified Variance for beam 52 is 9.62 
Alpha[52]	0.000000
Alpha[52]	0.999440
TNavParticleFilter::Modified Variance for beam 53 is 9.68 
Alpha[53]	0.000000
Alpha[53]	0.999346
TNavParticleFilter::Modified Variance for beam 54 is 9.74 
Alpha[54]	0.000000
Alpha[54]	0.999257
TNavParticleFilter::Modified Variance for beam 55 is 9.81 
Alpha[55]	0.000000
Alpha[55]	0.999219
TNavParticleFilter::Modified Variance for beam 56 is 10.66 
Alpha[56]	0.000000
Alpha[56]	0.999187
TNavParticleFilter::Modified Variance for beam 57 is 10.75 
Alpha[57]	0.000000
Alpha[57]	0.999130
TNavParticleFilter::Modified Variance for beam 58 is 10.84 
Alpha[58]	0.000000
Alpha[58]	0.999099
TNavParticleFilter::Modified Variance for beam 59 is 10.94 
Alpha[59]	0.000000
Alpha[59]	0.999110
TNavPF:: sumSquaredError = 236.318766 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.19. Range = 72.85 
TNavPF::Calculated measDiffMean for beam 31 as -2.92. Range = 69.96 
TNavPF::Calculated measDiffMean for beam 32 as -2.33. Range = 69.57 
TNavPF::Calculated measDiffMean for beam 33 as -1.33. Range = 69.46 
TNavPF::Calculated measDiffMean for beam 34 as 0.71. Range = 67.05 
TNavPF::Calculated measDiffMean for beam 35 as 1.13. Range = 66.86 
TNavPF::Calculated measDiffMean for beam 36 as 1.44. Range = 66.91 
TNavPF::Calculated measDiffMean for beam 37 as -5.21. Range = 65.85 
TNavPF::Calculated measDiffMean for beam 38 as -4.85. Range = 62.95 
TNavPF::Calculated measDiffMean for beam 39 as -4.68. Range = 61.17 
TNavPF::Calculated measDiffMean for beam 40 as -3.71. Range = 60.82 
TNavPF::Calculated measDiffMean for beam 41 as 4.48. Range = 61.52 
TNavPF::Calculated measDiffMean for beam 42 as 4.70. Range = 59.99 
TNavPF::Calculated measDiffMean for beam 43 as 6.19. Range = 58.53 
TNavPF::Calculated measDiffMean for beam 44 as 1.21. Range = 57.15 
TNavPF::Calculated measDiffMean for beam 45 as 1.45. Range = 57.08 
TNavPF::Calculated measDiffMean for beam 46 as 2.66. Range = 54.64 
TNavPF::Calculated measDiffMean for beam 47 as 4.51. Range = 53.48 
TNavPF::Calculated measDiffMean for beam 48 as 4.26. Range = 54.28 
TNavPF::Calculated measDiffMean for beam 49 as 4.31. Range = 54.37 
TNavPF::Calculated measDiffMean for beam 50 as 6.70. Range = 53.33 
TNavPF::Calculated measDiffMean for beam 51 as 7.48. Range = 54.15 
TNavPF::Calculated measDiffMean for beam 52 as 8.02. Range = 54.27 
TNavPF::Calculated measDiffMean for beam 53 as 8.54. Range = 53.34 
TNavPF::Calculated measDiffMean for beam 54 as 8.97. Range = 52.45 
TNavPF::Calculated measDiffMean for beam 55 as 9.29. Range = 48.92 
TNavPF::Calculated measDiffMean for beam 56 as 9.50. Range = 48.16 
TNavPF::Calculated measDiffMean for beam 57 as 9.83. Range = 47.44 
TNavPF::Calculated measDiffMean for beam 58 as 10.24. Range = 46.76 
TNavPF::Calculated measDiffMean for beam 59 as 10.51. Range = 46.97 
TNavPF::Calculated measDiffMean for beam 60 as 10.82. Range = 48.01 
TNavPF::Calculated measDiffMean for beam 61 as 11.12. Range = 44.91 
TNavPF::Calculated measDiffMean for beam 62 as 11.27. Range = 44.35 
TNavPF::Calculated measDiffMean for beam 63 as 9.32. Range = 44.53 
TNavPF::Calculated measDiffMean for beam 64 as 9.51. Range = 45.70 
TNavPF::Calculated measDiffMean for beam 65 as 9.67. Range = 45.19 
TNavPF::Calculated measDiffMean for beam 66 as 9.59. Range = 44.71 
TNavPF::Calculated measDiffMean for beam 67 as 9.42. Range = 37.30 
TNavPF::Calculated measDiffMean for beam 68 as 9.20. Range = 36.93 
TNavPF::Calculated measDiffMean for beam 69 as 8.83. Range = 36.58 
TNavPF::Calculated measDiffMean for beam 70 as 8.38. Range = 37.18 
TNavPF::Calculated measDiffMean for beam 71 as 8.08. Range = 44.85 
TNavPF::Calculated measDiffMean for beam 72 as 5.83. Range = 44.66 
TNavPF::Calculated measDiffMean for beam 73 as 5.34. Range = 46.31 
TNavPF::Calculated measDiffMean for beam 74 as 4.48. Range = 41.61 
TNavPF::Calculated measDiffMean for beam 75 as 2.26. Range = 41.30 
TNavPF::Calculated measDiffMean for beam 76 as 0.41. Range = 41.47 
TNavPF::Calculated measDiffMean for beam 77 as -0.31. Range = 42.88 
TNavPF::Calculated measDiffMean for beam 78 as -0.94. Range = 42.61 
TNavPF::Calculated measDiffMean for beam 79 as -3.87. Range = 42.36 
TNavPF::Calculated measDiffMean for beam 80 as -4.97. Range = 43.95 
TNavPF::Calculated measDiffMean for beam 81 as -5.46. Range = 43.99 
TNavPF::Calculated measDiffMean for beam 82 as -5.16. Range = 43.77 
TNavPF::Calculated measDiffMean for beam 83 as -4.76. Range = 43.57 
TNavPF::Calculated measDiffMean for beam 84 as -4.40. Range = 43.39 
TNavPF::Calculated measDiffMean for beam 85 as -3.74. Range = 43.22 
TNavPF::Calculated measDiffMean for beam 86 as -0.75. Range = 43.06 
TNavPF::Calculated measDiffMean for beam 87 as 0.24. Range = 42.92 
TNavPF::Calculated measDiffMean for beam 88 as 1.40. Range = 42.79 
TNavPF::Calculated measDiffMean for beam 89 as 2.73. Range = 42.68 
TNavPF::First Term of Map Covariance Matrix is 19.49 
TNavPF::Calculated NIS Value : 86.18 	numBeams normalized NIS: 1.44
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323413.82 sec.
INS : North: 4070192.11, East: 589471.86, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 45.77, IDT[75] = 37.30
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323416.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323416.62)
ARL : North: 53.6788, East: -562.5955, Depth: -33.8880ARL : Estimation Bias  (Mean)         : (t = 1488323416.62)
ARL : North: 57.2032, East: -564.0821, Depth: -25.7391TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.10 
Alpha[0]	0.123000
Alpha[0]	0.998828
TNavParticleFilter::Modified Variance for beam 1 is 14.11 
Alpha[1]	0.000000
Alpha[1]	0.998603
TNavParticleFilter::Modified Variance for beam 2 is 14.74 
Alpha[2]	0.000000
Alpha[2]	0.998360
TNavParticleFilter::Modified Variance for beam 3 is 14.53 
Alpha[3]	0.000000
Alpha[3]	0.998360
TNavParticleFilter::Modified Variance for beam 4 is 14.33 
Alpha[4]	0.000000
Alpha[4]	0.998364
TNavParticleFilter::Modified Variance for beam 5 is 14.15 
Alpha[5]	0.000000
Alpha[5]	0.998297
TNavParticleFilter::Modified Variance for beam 6 is 13.98 
Alpha[6]	0.000000
Alpha[6]	0.998448
TNavParticleFilter::Modified Variance for beam 7 is 14.52 
Alpha[7]	0.000000
Alpha[7]	0.998660
TNavParticleFilter::Modified Variance for beam 8 is 12.72 
Alpha[8]	0.000000
Alpha[8]	0.998566
TNavParticleFilter::Modified Variance for beam 9 is 12.59 
Alpha[9]	0.000000
Alpha[9]	0.998129
TNavParticleFilter::Modified Variance for beam 10 is 12.48 
Alpha[10]	0.000000
Alpha[10]	0.997585
TNavParticleFilter::Modified Variance for beam 11 is 13.27 
Alpha[11]	0.000000
Alpha[11]	0.997454
TNavParticleFilter::Modified Variance for beam 12 is 14.10 
Alpha[12]	0.000000
Alpha[12]	0.997181
TNavParticleFilter::Modified Variance for beam 13 is 13.99 
Alpha[13]	0.000000
Alpha[13]	0.996762
TNavParticleFilter::Modified Variance for beam 14 is 13.87 
Alpha[14]	0.000000
Alpha[14]	0.997088
TNavParticleFilter::Modified Variance for beam 15 is 13.76 
Alpha[15]	0.000000
Alpha[15]	0.998085
TNavParticleFilter::Modified Variance for beam 16 is 12.75 
Alpha[16]	0.000000
Alpha[16]	0.998658
TNavParticleFilter::Modified Variance for beam 17 is 12.67 
Alpha[17]	0.000000
Alpha[17]	0.998685
TNavParticleFilter::Modified Variance for beam 18 is 12.60 
Alpha[18]	0.000000
Alpha[18]	0.998602
TNavParticleFilter::Modified Variance for beam 19 is 12.53 
Alpha[19]	0.000000
Alpha[19]	0.998525
TNavParticleFilter::Modified Variance for beam 20 is 12.47 
Alpha[20]	0.000000
Alpha[20]	0.998429
TNavParticleFilter::Modified Variance for beam 21 is 11.59 
Alpha[21]	0.000000
Alpha[21]	0.998357
TNavParticleFilter::Modified Variance for beam 22 is 11.54 
Alpha[22]	0.000000
Alpha[22]	0.998323
TNavParticleFilter::Modified Variance for beam 23 is 11.50 
Alpha[23]	0.000000
Alpha[23]	0.998328
TNavParticleFilter::Modified Variance for beam 24 is 11.47 
Alpha[24]	0.000000
Alpha[24]	0.998299
TNavParticleFilter::Modified Variance for beam 25 is 11.44 
Alpha[25]	0.000000
Alpha[25]	0.998120
TNavParticleFilter::Modified Variance for beam 26 is 11.42 
Alpha[26]	0.000000
Alpha[26]	0.997897
TNavParticleFilter::Modified Variance for beam 27 is 11.40 
Alpha[27]	0.000000
Alpha[27]	0.997830
TNavParticleFilter::Modified Variance for beam 28 is 11.39 
Alpha[28]	0.000000
Alpha[28]	0.997860
TNavParticleFilter::Modified Variance for beam 29 is 11.38 
Alpha[29]	0.000000
Alpha[29]	0.997954
TNavParticleFilter::Modified Variance for beam 30 is 10.60 
Alpha[30]	0.000000
Alpha[30]	0.998143
TNavParticleFilter::Modified Variance for beam 31 is 10.60 
Alpha[31]	0.000000
Alpha[31]	0.998186
TNavParticleFilter::Modified Variance for beam 32 is 10.60 
Alpha[32]	0.000000
Alpha[32]	0.998380
TNavParticleFilter::Modified Variance for beam 33 is 9.88 
Alpha[33]	0.000000
Alpha[33]	0.998872
TNavParticleFilter::Modified Variance for beam 34 is 9.89 
Alpha[34]	0.000000
Alpha[34]	0.999021
TNavParticleFilter::Modified Variance for beam 35 is 9.90 
Alpha[35]	0.000000
Alpha[35]	0.999032
TNavParticleFilter::Modified Variance for beam 36 is 9.92 
Alpha[36]	0.000000
Alpha[36]	0.999168
TNavParticleFilter::Modified Variance for beam 37 is 9.94 
Alpha[37]	0.000000
Alpha[37]	0.999199
TNavParticleFilter::Modified Variance for beam 38 is 9.97 
Alpha[38]	0.000000
Alpha[38]	0.999234
TNavParticleFilter::Modified Variance for beam 39 is 10.00 
Alpha[39]	0.000000
Alpha[39]	0.999335
TNavParticleFilter::Modified Variance for beam 40 is 10.04 
Alpha[40]	0.000000
Alpha[40]	0.999296
TNavParticleFilter::Modified Variance for beam 41 is 10.08 
Alpha[41]	0.000000
Alpha[41]	0.999146
TNavParticleFilter::Modified Variance for beam 42 is 10.13 
Alpha[42]	0.000000
Alpha[42]	0.999065
TNavParticleFilter::Modified Variance for beam 43 is 10.18 
Alpha[43]	0.000000
Alpha[43]	0.999079
TNavParticleFilter::Modified Variance for beam 44 is 10.23 
Alpha[44]	0.000000
Alpha[44]	0.998998
TNavParticleFilter::Modified Variance for beam 45 is 10.29 
Alpha[45]	0.000000
Alpha[45]	0.998926
TNavParticleFilter::Modified Variance for beam 46 is 10.36 
Alpha[46]	0.000000
Alpha[46]	0.998743
TNavParticleFilter::Modified Variance for beam 47 is 10.43 
Alpha[47]	0.000000
Alpha[47]	0.998303
TNavParticleFilter::Modified Variance for beam 48 is 10.51 
Alpha[48]	0.000000
Alpha[48]	0.998178
TNavParticleFilter::Modified Variance for beam 49 is 10.58 
Alpha[49]	0.000000
Alpha[49]	0.998475
TNavParticleFilter::Modified Variance for beam 50 is 10.67 
Alpha[50]	0.000000
Alpha[50]	0.998724
TNavParticleFilter::Modified Variance for beam 51 is 10.76 
Alpha[51]	0.000000
Alpha[51]	0.998916
TNavParticleFilter::Modified Variance for beam 52 is 10.85 
Alpha[52]	0.000000
Alpha[52]	0.999108
TNavParticleFilter::Modified Variance for beam 53 is 10.96 
Alpha[53]	0.000000
Alpha[53]	0.999217
TNavParticleFilter::Modified Variance for beam 54 is 11.07 
Alpha[54]	0.000000
Alpha[54]	0.999191
TNavParticleFilter::Modified Variance for beam 55 is 11.19 
Alpha[55]	0.000000
Alpha[55]	0.999067
TNavParticleFilter::Modified Variance for beam 56 is 12.21 
Alpha[56]	0.000000
Alpha[56]	0.998932
TNavParticleFilter::Modified Variance for beam 57 is 12.36 
Alpha[57]	0.000000
Alpha[57]	0.998880
TNavParticleFilter::Modified Variance for beam 58 is 12.52 
Alpha[58]	0.000000
Alpha[58]	0.998920
TNavParticleFilter::Modified Variance for beam 59 is 12.69 
Alpha[59]	0.000000
Alpha[59]	0.998960
TNavPF:: sumSquaredError = 230.944349 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 5.47. Range = 65.18 
TNavPF::Calculated measDiffMean for beam 31 as 6.14. Range = 63.85 
TNavPF::Calculated measDiffMean for beam 32 as 7.76. Range = 64.53 
TNavPF::Calculated measDiffMean for beam 33 as 7.13. Range = 63.46 
TNavPF::Calculated measDiffMean for beam 34 as 6.81. Range = 61.78 
TNavPF::Calculated measDiffMean for beam 35 as 6.73. Range = 60.20 
TNavPF::Calculated measDiffMean for beam 36 as 6.16. Range = 60.19 
TNavPF::Calculated measDiffMean for beam 37 as 6.53. Range = 57.33 
TNavPF::Calculated measDiffMean for beam 38 as 2.09. Range = 56.71 
TNavPF::Calculated measDiffMean for beam 39 as 2.24. Range = 57.49 
TNavPF::Calculated measDiffMean for beam 40 as 2.95. Range = 56.75 
TNavPF::Calculated measDiffMean for beam 41 as 5.88. Range = 56.53 
TNavPF::Calculated measDiffMean for beam 42 as 8.64. Range = 57.40 
TNavPF::Calculated measDiffMean for beam 43 as 9.46. Range = 56.40 
TNavPF::Calculated measDiffMean for beam 44 as 10.50. Range = 56.51 
TNavPF::Calculated measDiffMean for beam 45 as 11.66. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 46 as 11.23. Range = 50.62 
TNavPF::Calculated measDiffMean for beam 47 as 12.92. Range = 49.77 
TNavPF::Calculated measDiffMean for beam 48 as 13.77. Range = 48.97 
TNavPF::Calculated measDiffMean for beam 49 as 14.09. Range = 49.74 
TNavPF::Calculated measDiffMean for beam 50 as 14.24. Range = 47.48 
TNavPF::Calculated measDiffMean for beam 51 as 11.88. Range = 46.79 
TNavPF::Calculated measDiffMean for beam 52 as 11.20. Range = 46.49 
TNavPF::Calculated measDiffMean for beam 53 as 10.76. Range = 47.55 
TNavPF::Calculated measDiffMean for beam 54 as 10.57. Range = 47.40 
TNavPF::Calculated measDiffMean for beam 55 as 10.46. Range = 39.43 
TNavPF::Calculated measDiffMean for beam 56 as 10.39. Range = 38.95 
TNavPF::Calculated measDiffMean for beam 57 as 10.37. Range = 38.50 
TNavPF::Calculated measDiffMean for beam 58 as 10.31. Range = 38.91 
TNavPF::Calculated measDiffMean for beam 59 as 9.95. Range = 47.04 
TNavPF::Calculated measDiffMean for beam 60 as 7.12. Range = 46.55 
TNavPF::Calculated measDiffMean for beam 61 as 6.62. Range = 46.57 
TNavPF::Calculated measDiffMean for beam 62 as 6.40. Range = 47.91 
TNavPF::Calculated measDiffMean for beam 63 as 3.52. Range = 47.47 
TNavPF::Calculated measDiffMean for beam 64 as 2.38. Range = 47.05 
TNavPF::Calculated measDiffMean for beam 65 as 1.88. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 66 as 1.29. Range = 46.27 
TNavPF::Calculated measDiffMean for beam 67 as 0.39. Range = 47.46 
TNavPF::Calculated measDiffMean for beam 68 as -0.44. Range = 43.41 
TNavPF::Calculated measDiffMean for beam 69 as -1.54. Range = 43.11 
TNavPF::Calculated measDiffMean for beam 70 as -2.29. Range = 42.82 
TNavPF::Calculated measDiffMean for beam 71 as -2.55. Range = 44.66 
TNavPF::Calculated measDiffMean for beam 72 as -2.02. Range = 46.51 
TNavPF::Calculated measDiffMean for beam 73 as -0.56. Range = 46.25 
TNavPF::Calculated measDiffMean for beam 74 as 0.63. Range = 46.00 
TNavPF::Calculated measDiffMean for beam 75 as 1.12. Range = 45.77 
TNavPF::Calculated measDiffMean for beam 76 as 1.86. Range = 43.49 
TNavPF::Calculated measDiffMean for beam 77 as 3.15. Range = 43.30 
TNavPF::Calculated measDiffMean for beam 78 as 4.11. Range = 43.13 
TNavPF::Calculated measDiffMean for beam 79 as 4.76. Range = 42.97 
TNavPF::Calculated measDiffMean for beam 80 as 5.15. Range = 42.83 
TNavPF::Calculated measDiffMean for beam 81 as 5.33. Range = 40.67 
TNavPF::Calculated measDiffMean for beam 82 as 5.87. Range = 40.55 
TNavPF::Calculated measDiffMean for beam 83 as 6.99. Range = 40.45 
TNavPF::Calculated measDiffMean for beam 84 as 8.30. Range = 40.37 
TNavPF::Calculated measDiffMean for beam 85 as 9.47. Range = 40.29 
TNavPF::Calculated measDiffMean for beam 86 as 12.68. Range = 40.23 
TNavPF::Calculated measDiffMean for beam 87 as 13.48. Range = 40.18 
TNavPF::Calculated measDiffMean for beam 88 as 14.13. Range = 40.15 
TNavPF::Calculated measDiffMean for beam 89 as 14.85. Range = 40.12 
TNavPF::First Term of Map Covariance Matrix is 17.04 
TNavPF::Calculated NIS Value : 83.57 	numBeams normalized NIS: 1.39
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323416.82 sec.
INS : North: 4070191.94, East: 589467.92, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 45.08, IDT[75] = 35.88
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323419.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323419.62)
ARL : North: 54.0857, East: -562.3321, Depth: -35.1864ARL : Estimation Bias  (Mean)         : (t = 1488323419.62)
ARL : North: 55.1820, East: -560.9456, Depth: -33.2851TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 11.51 
Alpha[0]	0.123000
Alpha[0]	0.999255
TNavParticleFilter::Modified Variance for beam 1 is 11.90 
Alpha[1]	0.000000
Alpha[1]	0.999048
TNavParticleFilter::Modified Variance for beam 2 is 15.12 
Alpha[2]	0.000000
Alpha[2]	0.998818
TNavParticleFilter::Modified Variance for beam 3 is 14.84 
Alpha[3]	0.000000
Alpha[3]	0.998661
TNavParticleFilter::Modified Variance for beam 4 is 14.91 
Alpha[4]	0.000000
Alpha[4]	0.998186
TNavParticleFilter::Modified Variance for beam 5 is 15.46 
Alpha[5]	0.000000
Alpha[5]	0.997998
TNavParticleFilter::Modified Variance for beam 6 is 13.05 
Alpha[6]	0.000000
Alpha[6]	0.998135
TNavParticleFilter::Modified Variance for beam 7 is 13.24 
Alpha[7]	0.000000
Alpha[7]	0.998113
TNavParticleFilter::Modified Variance for beam 8 is 13.67 
Alpha[8]	0.000000
Alpha[8]	0.997823
TNavParticleFilter::Modified Variance for beam 9 is 13.47 
Alpha[9]	0.000000
Alpha[9]	0.997729
TNavParticleFilter::Modified Variance for beam 10 is 13.29 
Alpha[10]	0.000000
Alpha[10]	0.997880
TNavParticleFilter::Modified Variance for beam 11 is 13.96 
Alpha[11]	0.000000
Alpha[11]	0.997883
TNavParticleFilter::Modified Variance for beam 12 is 13.93 
Alpha[12]	0.000000
Alpha[12]	0.997855
TNavParticleFilter::Modified Variance for beam 13 is 13.75 
Alpha[13]	0.000000
Alpha[13]	0.998329
TNavParticleFilter::Modified Variance for beam 14 is 13.59 
Alpha[14]	0.000000
Alpha[14]	0.998873
TNavParticleFilter::Modified Variance for beam 15 is 13.44 
Alpha[15]	0.000000
Alpha[15]	0.998577
TNavParticleFilter::Modified Variance for beam 16 is 13.30 
Alpha[16]	0.000000
Alpha[16]	0.998185
TNavParticleFilter::Modified Variance for beam 17 is 13.17 
Alpha[17]	0.000000
Alpha[17]	0.998306
TNavParticleFilter::Modified Variance for beam 18 is 13.04 
Alpha[18]	0.000000
Alpha[18]	0.998480
TNavParticleFilter::Modified Variance for beam 19 is 12.93 
Alpha[19]	0.000000
Alpha[19]	0.998651
TNavParticleFilter::Modified Variance for beam 20 is 12.82 
Alpha[20]	0.000000
Alpha[20]	0.998687
TNavParticleFilter::Modified Variance for beam 21 is 12.72 
Alpha[21]	0.000000
Alpha[21]	0.998753
TNavParticleFilter::Modified Variance for beam 22 is 12.62 
Alpha[22]	0.000000
Alpha[22]	0.998871
TNavParticleFilter::Modified Variance for beam 23 is 11.68 
Alpha[23]	0.000000
Alpha[23]	0.998898
TNavParticleFilter::Modified Variance for beam 24 is 11.61 
Alpha[24]	0.000000
Alpha[24]	0.998912
TNavParticleFilter::Modified Variance for beam 25 is 11.55 
Alpha[25]	0.000000
Alpha[25]	0.998894
TNavParticleFilter::Modified Variance for beam 26 is 11.49 
Alpha[26]	0.000000
Alpha[26]	0.998820
TNavParticleFilter::Modified Variance for beam 27 is 11.43 
Alpha[27]	0.000000
Alpha[27]	0.998580
TNavParticleFilter::Modified Variance for beam 28 is 11.39 
Alpha[28]	0.000000
Alpha[28]	0.998075
TNavParticleFilter::Modified Variance for beam 29 is 11.35 
Alpha[29]	0.000000
Alpha[29]	0.997562
TNavParticleFilter::Modified Variance for beam 30 is 11.31 
Alpha[30]	0.000000
Alpha[30]	0.997358
TNavParticleFilter::Modified Variance for beam 31 is 10.51 
Alpha[31]	0.000000
Alpha[31]	0.997613
TNavParticleFilter::Modified Variance for beam 32 is 10.48 
Alpha[32]	0.000000
Alpha[32]	0.997846
TNavParticleFilter::Modified Variance for beam 33 is 10.45 
Alpha[33]	0.000000
Alpha[33]	0.998049
TNavParticleFilter::Modified Variance for beam 34 is 9.71 
Alpha[34]	0.000000
Alpha[34]	0.998288
TNavParticleFilter::Modified Variance for beam 35 is 9.70 
Alpha[35]	0.000000
Alpha[35]	0.998436
TNavParticleFilter::Modified Variance for beam 36 is 9.69 
Alpha[36]	0.000000
Alpha[36]	0.998604
TNavParticleFilter::Modified Variance for beam 37 is 9.68 
Alpha[37]	0.000000
Alpha[37]	0.998942
TNavParticleFilter::Modified Variance for beam 38 is 9.00 
Alpha[38]	0.000000
Alpha[38]	0.999157
TNavParticleFilter::Modified Variance for beam 39 is 9.00 
Alpha[39]	0.000000
Alpha[39]	0.999208
TNavParticleFilter::Modified Variance for beam 40 is 9.01 
Alpha[40]	0.000000
Alpha[40]	0.999101
TNavParticleFilter::Modified Variance for beam 41 is 9.02 
Alpha[41]	0.000000
Alpha[41]	0.998686
TNavParticleFilter::Modified Variance for beam 42 is 9.04 
Alpha[42]	0.000000
Alpha[42]	0.998625
TNavParticleFilter::Modified Variance for beam 43 is 9.05 
Alpha[43]	0.000000
Alpha[43]	0.999143
TNavParticleFilter::Modified Variance for beam 44 is 9.75 
Alpha[44]	0.000000
Alpha[44]	0.999174
TNavParticleFilter::Modified Variance for beam 45 is 9.78 
Alpha[45]	0.000000
Alpha[45]	0.999208
TNavParticleFilter::Modified Variance for beam 46 is 9.81 
Alpha[46]	0.000000
Alpha[46]	0.999175
TNavParticleFilter::Modified Variance for beam 47 is 9.85 
Alpha[47]	0.000000
Alpha[47]	0.999051
TNavParticleFilter::Modified Variance for beam 48 is 9.89 
Alpha[48]	0.000000
Alpha[48]	0.999020
TNavParticleFilter::Modified Variance for beam 49 is 9.93 
Alpha[49]	0.000000
Alpha[49]	0.998996
TNavParticleFilter::Modified Variance for beam 50 is 9.98 
Alpha[50]	0.000000
Alpha[50]	0.998940
TNavParticleFilter::Modified Variance for beam 51 is 10.03 
Alpha[51]	0.000000
Alpha[51]	0.998875
TNavParticleFilter::Modified Variance for beam 52 is 10.09 
Alpha[52]	0.000000
Alpha[52]	0.998754
TNavParticleFilter::Modified Variance for beam 53 is 10.15 
Alpha[53]	0.000000
Alpha[53]	0.998576
TNavParticleFilter::Modified Variance for beam 54 is 10.22 
Alpha[54]	0.000000
Alpha[54]	0.998682
TNavParticleFilter::Modified Variance for beam 55 is 10.28 
Alpha[55]	0.000000
Alpha[55]	0.999065
TNavParticleFilter::Modified Variance for beam 56 is 10.36 
Alpha[56]	0.000000
Alpha[56]	0.999278
TNavParticleFilter::Modified Variance for beam 57 is 10.44 
Alpha[57]	0.000000
Alpha[57]	0.999288
TNavParticleFilter::Modified Variance for beam 58 is 10.53 
Alpha[58]	0.000000
Alpha[58]	0.999140
TNavParticleFilter::Modified Variance for beam 59 is 11.45 
Alpha[59]	0.000000
Alpha[59]	0.998952
TNavPF:: sumSquaredError = 202.303385 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -12.38. Range = 76.66 
TNavPF::Calculated measDiffMean for beam 31 as -10.10. Range = 74.77 
TNavPF::Calculated measDiffMean for beam 32 as -1.93. Range = 73.42 
TNavPF::Calculated measDiffMean for beam 33 as -1.51. Range = 73.89 
TNavPF::Calculated measDiffMean for beam 34 as -0.05. Range = 72.41 
TNavPF::Calculated measDiffMean for beam 35 as 2.07. Range = 68.85 
TNavPF::Calculated measDiffMean for beam 36 as -2.60. Range = 66.88 
TNavPF::Calculated measDiffMean for beam 37 as -1.59. Range = 67.53 
TNavPF::Calculated measDiffMean for beam 38 as -0.14. Range = 66.55 
TNavPF::Calculated measDiffMean for beam 39 as -0.42. Range = 64.63 
TNavPF::Calculated measDiffMean for beam 40 as -0.53. Range = 62.84 
TNavPF::Calculated measDiffMean for beam 41 as 1.42. Range = 63.26 
TNavPF::Calculated measDiffMean for beam 42 as 1.31. Range = 59.59 
TNavPF::Calculated measDiffMean for beam 43 as 0.77. Range = 59.87 
TNavPF::Calculated measDiffMean for beam 44 as 1.36. Range = 60.10 
TNavPF::Calculated measDiffMean for beam 45 as 3.26. Range = 58.90 
TNavPF::Calculated measDiffMean for beam 46 as 4.70. Range = 59.70 
TNavPF::Calculated measDiffMean for beam 47 as 5.30. Range = 59.33 
TNavPF::Calculated measDiffMean for beam 48 as 5.77. Range = 58.10 
TNavPF::Calculated measDiffMean for beam 49 as 6.59. Range = 53.91 
TNavPF::Calculated measDiffMean for beam 50 as 7.35. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 51 as 7.67. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 52 as 8.02. Range = 51.44 
TNavPF::Calculated measDiffMean for beam 53 as 5.98. Range = 52.34 
TNavPF::Calculated measDiffMean for beam 54 as 5.54. Range = 49.22 
TNavPF::Calculated measDiffMean for beam 55 as 5.40. Range = 48.42 
TNavPF::Calculated measDiffMean for beam 56 as 5.47. Range = 49.31 
TNavPF::Calculated measDiffMean for beam 57 as 5.54. Range = 49.57 
TNavPF::Calculated measDiffMean for beam 58 as 5.69. Range = 41.05 
TNavPF::Calculated measDiffMean for beam 59 as 5.66. Range = 40.47 
TNavPF::Calculated measDiffMean for beam 60 as 5.39. Range = 40.51 
TNavPF::Calculated measDiffMean for beam 61 as 2.99. Range = 41.45 
TNavPF::Calculated measDiffMean for beam 62 as 2.79. Range = 48.74 
TNavPF::Calculated measDiffMean for beam 63 as 2.71. Range = 48.15 
TNavPF::Calculated measDiffMean for beam 64 as 0.39. Range = 48.28 
TNavPF::Calculated measDiffMean for beam 65 as 0.07. Range = 49.42 
TNavPF::Calculated measDiffMean for beam 66 as -0.30. Range = 44.18 
TNavPF::Calculated measDiffMean for beam 67 as -1.23. Range = 44.60 
TNavPF::Calculated measDiffMean for beam 68 as -4.22. Range = 45.57 
TNavPF::Calculated measDiffMean for beam 69 as -4.58. Range = 45.13 
TNavPF::Calculated measDiffMean for beam 70 as -5.20. Range = 44.71 
TNavPF::Calculated measDiffMean for beam 71 as -6.39. Range = 46.22 
TNavPF::Calculated measDiffMean for beam 72 as -7.36. Range = 46.15 
TNavPF::Calculated measDiffMean for beam 73 as -9.27. Range = 45.77 
TNavPF::Calculated measDiffMean for beam 74 as -8.54. Range = 45.42 
TNavPF::Calculated measDiffMean for beam 75 as -9.06. Range = 45.08 
TNavPF::Calculated measDiffMean for beam 76 as -9.27. Range = 44.76 
TNavPF::Calculated measDiffMean for beam 77 as -9.18. Range = 44.46 
TNavPF::Calculated measDiffMean for beam 78 as -9.46. Range = 44.17 
TNavPF::Calculated measDiffMean for beam 79 as -9.19. Range = 43.90 
TNavPF::Calculated measDiffMean for beam 80 as -7.63. Range = 43.65 
TNavPF::Calculated measDiffMean for beam 81 as -5.74. Range = 43.42 
TNavPF::Calculated measDiffMean for beam 82 as -4.46. Range = 43.20 
TNavPF::Calculated measDiffMean for beam 83 as -3.86. Range = 40.93 
TNavPF::Calculated measDiffMean for beam 84 as -2.90. Range = 40.75 
TNavPF::Calculated measDiffMean for beam 85 as -0.94. Range = 40.58 
TNavPF::Calculated measDiffMean for beam 86 as 0.72. Range = 40.43 
TNavPF::Calculated measDiffMean for beam 87 as 1.50. Range = 40.29 
TNavPF::Calculated measDiffMean for beam 88 as 2.11. Range = 40.16 
TNavPF::Calculated measDiffMean for beam 89 as 4.46. Range = 40.05 
TNavPF::First Term of Map Covariance Matrix is 26.83 
TNavPF::Calculated NIS Value : 97.20 	numBeams normalized NIS: 1.62
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323419.82 sec.
INS : North: 4070191.28, East: 589464.01, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 46.04, IDT[75] = 32.51
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323422.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323422.62)
ARL : North: 55.7278, East: -560.8353, Depth: -33.1452ARL : Estimation Bias  (Mean)         : (t = 1488323422.62)
ARL : North: 55.6710, East: -559.7343, Depth: -31.7365TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.64 
Alpha[0]	0.123000
Alpha[0]	0.995021
TNavParticleFilter::Modified Variance for beam 1 is 17.63 
Alpha[1]	0.000000
Alpha[1]	0.995326
TNavParticleFilter::Modified Variance for beam 2 is 16.51 
Alpha[2]	0.000000
Alpha[2]	0.996474
TNavParticleFilter::Modified Variance for beam 3 is 16.00 
Alpha[3]	0.000000
Alpha[3]	0.997962
TNavParticleFilter::Modified Variance for beam 4 is 14.17 
Alpha[4]	0.000000
Alpha[4]	0.998871
TNavParticleFilter::Modified Variance for beam 5 is 13.79 
Alpha[5]	0.000000
Alpha[5]	0.999231
TNavParticleFilter::Modified Variance for beam 6 is 12.25 
Alpha[6]	0.000000
Alpha[6]	0.999348
TNavParticleFilter::Modified Variance for beam 7 is 11.99 
Alpha[7]	0.000000
Alpha[7]	0.999341
TNavParticleFilter::Modified Variance for beam 8 is 12.32 
Alpha[8]	0.000000
Alpha[8]	0.999105
TNavParticleFilter::Modified Variance for beam 9 is 14.90 
Alpha[9]	0.000000
Alpha[9]	0.998966
TNavParticleFilter::Modified Variance for beam 10 is 14.57 
Alpha[10]	0.000000
Alpha[10]	0.998883
TNavParticleFilter::Modified Variance for beam 11 is 14.93 
Alpha[11]	0.000000
Alpha[11]	0.998713
TNavParticleFilter::Modified Variance for beam 12 is 15.14 
Alpha[12]	0.000000
Alpha[12]	0.998673
TNavParticleFilter::Modified Variance for beam 13 is 13.68 
Alpha[13]	0.000000
Alpha[13]	0.998382
TNavParticleFilter::Modified Variance for beam 14 is 13.42 
Alpha[14]	0.000000
Alpha[14]	0.998284
TNavParticleFilter::Modified Variance for beam 15 is 13.87 
Alpha[15]	0.000000
Alpha[15]	0.998378
TNavParticleFilter::Modified Variance for beam 16 is 14.02 
Alpha[16]	0.000000
Alpha[16]	0.998173
TNavParticleFilter::Modified Variance for beam 17 is 13.78 
Alpha[17]	0.000000
Alpha[17]	0.998002
TNavParticleFilter::Modified Variance for beam 18 is 13.87 
Alpha[18]	0.000000
Alpha[18]	0.998135
TNavParticleFilter::Modified Variance for beam 19 is 14.40 
Alpha[19]	0.000000
Alpha[19]	0.997803
TNavParticleFilter::Modified Variance for beam 20 is 14.18 
Alpha[20]	0.000000
Alpha[20]	0.997101
TNavParticleFilter::Modified Variance for beam 21 is 13.97 
Alpha[21]	0.000000
Alpha[21]	0.997009
TNavParticleFilter::Modified Variance for beam 22 is 13.76 
Alpha[22]	0.000000
Alpha[22]	0.998236
TNavParticleFilter::Modified Variance for beam 23 is 13.57 
Alpha[23]	0.000000
Alpha[23]	0.998555
TNavParticleFilter::Modified Variance for beam 24 is 13.40 
Alpha[24]	0.000000
Alpha[24]	0.998176
TNavParticleFilter::Modified Variance for beam 25 is 13.23 
Alpha[25]	0.000000
Alpha[25]	0.998348
TNavParticleFilter::Modified Variance for beam 26 is 13.07 
Alpha[26]	0.000000
Alpha[26]	0.998918
TNavParticleFilter::Modified Variance for beam 27 is 12.92 
Alpha[27]	0.000000
Alpha[27]	0.999224
TNavParticleFilter::Modified Variance for beam 28 is 12.78 
Alpha[28]	0.000000
Alpha[28]	0.999325
TNavParticleFilter::Modified Variance for beam 29 is 12.65 
Alpha[29]	0.000000
Alpha[29]	0.999277
TNavParticleFilter::Modified Variance for beam 30 is 11.66 
Alpha[30]	0.000000
Alpha[30]	0.999233
TNavParticleFilter::Modified Variance for beam 31 is 11.56 
Alpha[31]	0.000000
Alpha[31]	0.999279
TNavParticleFilter::Modified Variance for beam 32 is 11.46 
Alpha[32]	0.000000
Alpha[32]	0.999181
TNavParticleFilter::Modified Variance for beam 33 is 11.38 
Alpha[33]	0.000000
Alpha[33]	0.998916
TNavParticleFilter::Modified Variance for beam 34 is 11.30 
Alpha[34]	0.000000
Alpha[34]	0.998535
TNavParticleFilter::Modified Variance for beam 35 is 11.23 
Alpha[35]	0.000000
Alpha[35]	0.998029
TNavParticleFilter::Modified Variance for beam 36 is 11.16 
Alpha[36]	0.000000
Alpha[36]	0.997670
TNavParticleFilter::Modified Variance for beam 37 is 8.90 
Alpha[37]	0.000000
Alpha[37]	0.997665
TNavParticleFilter::Modified Variance for beam 38 is 8.86 
Alpha[38]	0.000000
Alpha[38]	0.997911
TNavParticleFilter::Modified Variance for beam 39 is 8.93 
Alpha[39]	0.000000
Alpha[39]	0.998136
TNavParticleFilter::Modified Variance for beam 40 is 9.46 
Alpha[40]	0.000000
Alpha[40]	0.998308
TNavParticleFilter::Modified Variance for beam 41 is 9.42 
Alpha[41]	0.000000
Alpha[41]	0.998535
TNavParticleFilter::Modified Variance for beam 42 is 9.39 
Alpha[42]	0.000000
Alpha[42]	0.998576
TNavParticleFilter::Modified Variance for beam 43 is 8.70 
Alpha[43]	0.000000
Alpha[43]	0.998384
TNavParticleFilter::Modified Variance for beam 44 is 8.67 
Alpha[44]	0.000000
Alpha[44]	0.998361
TNavParticleFilter::Modified Variance for beam 45 is 8.65 
Alpha[45]	0.000000
Alpha[45]	0.998723
TNavParticleFilter::Modified Variance for beam 46 is 8.64 
Alpha[46]	0.000000
Alpha[46]	0.998857
TNavParticleFilter::Modified Variance for beam 47 is 8.63 
Alpha[47]	0.000000
Alpha[47]	0.998778
TNavParticleFilter::Modified Variance for beam 48 is 8.62 
Alpha[48]	0.000000
Alpha[48]	0.998372
TNavParticleFilter::Modified Variance for beam 49 is 8.62 
Alpha[49]	0.000000
Alpha[49]	0.998111
TNavParticleFilter::Modified Variance for beam 50 is 9.27 
Alpha[50]	0.000000
Alpha[50]	0.998479
TNavParticleFilter::Modified Variance for beam 51 is 9.27 
Alpha[51]	0.000000
Alpha[51]	0.998772
TNavParticleFilter::Modified Variance for beam 52 is 9.27 
Alpha[52]	0.000000
Alpha[52]	0.998739
TNavParticleFilter::Modified Variance for beam 53 is 9.28 
Alpha[53]	0.000000
Alpha[53]	0.998813
TNavParticleFilter::Modified Variance for beam 54 is 9.29 
Alpha[54]	0.000000
Alpha[54]	0.998736
TNavParticleFilter::Modified Variance for beam 55 is 9.31 
Alpha[55]	0.000000
Alpha[55]	0.998553
TNavParticleFilter::Modified Variance for beam 56 is 9.33 
Alpha[56]	0.000000
Alpha[56]	0.998752
TNavParticleFilter::Modified Variance for beam 57 is 9.35 
Alpha[57]	0.000000
Alpha[57]	0.999023
TNavParticleFilter::Modified Variance for beam 58 is 9.38 
Alpha[58]	0.000000
Alpha[58]	0.999146
TNavParticleFilter::Modified Variance for beam 59 is 9.41 
Alpha[59]	0.000000
Alpha[59]	0.999040
TNavPF:: sumSquaredError = 412.526849 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -8.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -7.93. Range = 97.30 
TNavPF::Calculated measDiffMean for beam 32 as -9.86. Range = 96.77 
TNavPF::Calculated measDiffMean for beam 33 as -10.92. Range = 91.36 
TNavPF::Calculated measDiffMean for beam 34 as -14.46. Range = 89.28 
TNavPF::Calculated measDiffMean for beam 35 as -14.32. Range = 87.10 
TNavPF::Calculated measDiffMean for beam 36 as -16.54. Range = 85.94 
TNavPF::Calculated measDiffMean for beam 37 as -14.92. Range = 83.92 
TNavPF::Calculated measDiffMean for beam 38 as -10.70. Range = 82.64 
TNavPF::Calculated measDiffMean for beam 39 as -3.33. Range = 81.49 
TNavPF::Calculated measDiffMean for beam 40 as -2.72. Range = 79.36 
TNavPF::Calculated measDiffMean for beam 41 as -1.04. Range = 79.60 
TNavPF::Calculated measDiffMean for beam 42 as 0.32. Range = 76.13 
TNavPF::Calculated measDiffMean for beam 43 as -1.67. Range = 76.65 
TNavPF::Calculated measDiffMean for beam 44 as -1.13. Range = 75.04 
TNavPF::Calculated measDiffMean for beam 45 as 0.62. Range = 72.19 
TNavPF::Calculated measDiffMean for beam 46 as 1.45. Range = 69.58 
TNavPF::Calculated measDiffMean for beam 47 as 1.10. Range = 70.18 
TNavPF::Calculated measDiffMean for beam 48 as 1.55. Range = 69.23 
TNavPF::Calculated measDiffMean for beam 49 as 3.26. Range = 67.03 
TNavPF::Calculated measDiffMean for beam 50 as 2.72. Range = 64.98 
TNavPF::Calculated measDiffMean for beam 51 as 1.90. Range = 63.07 
TNavPF::Calculated measDiffMean for beam 52 as 2.47. Range = 61.90 
TNavPF::Calculated measDiffMean for beam 53 as 4.32. Range = 62.59 
TNavPF::Calculated measDiffMean for beam 54 as 5.78. Range = 61.66 
TNavPF::Calculated measDiffMean for beam 55 as 6.38. Range = 61.63 
TNavPF::Calculated measDiffMean for beam 56 as 7.52. Range = 62.06 
TNavPF::Calculated measDiffMean for beam 57 as 8.83. Range = 60.61 
TNavPF::Calculated measDiffMean for beam 58 as 9.64. Range = 55.98 
TNavPF::Calculated measDiffMean for beam 59 as 10.17. Range = 54.76 
TNavPF::Calculated measDiffMean for beam 60 as 8.01. Range = 53.61 
TNavPF::Calculated measDiffMean for beam 61 as 7.30. Range = 53.60 
TNavPF::Calculated measDiffMean for beam 62 as 7.00. Range = 51.49 
TNavPF::Calculated measDiffMean for beam 63 as 6.96. Range = 50.52 
TNavPF::Calculated measDiffMean for beam 64 as 6.82. Range = 46.71 
TNavPF::Calculated measDiffMean for beam 65 as 6.75. Range = 45.88 
TNavPF::Calculated measDiffMean for beam 66 as 6.59. Range = 42.31 
TNavPF::Calculated measDiffMean for beam 67 as 0.15. Range = 41.69 
TNavPF::Calculated measDiffMean for beam 68 as -0.04. Range = 42.49 
TNavPF::Calculated measDiffMean for beam 69 as 0.32. Range = 48.29 
TNavPF::Calculated measDiffMean for beam 70 as 2.10. Range = 47.57 
TNavPF::Calculated measDiffMean for beam 71 as 1.80. Range = 48.33 
TNavPF::Calculated measDiffMean for beam 72 as 1.45. Range = 48.78 
TNavPF::Calculated measDiffMean for beam 73 as -0.92. Range = 45.62 
TNavPF::Calculated measDiffMean for beam 74 as -1.34. Range = 45.03 
TNavPF::Calculated measDiffMean for beam 75 as -1.82. Range = 46.04 
TNavPF::Calculated measDiffMean for beam 76 as -2.32. Range = 46.36 
TNavPF::Calculated measDiffMean for beam 77 as -3.58. Range = 45.82 
TNavPF::Calculated measDiffMean for beam 78 as -5.33. Range = 46.04 
TNavPF::Calculated measDiffMean for beam 79 as -5.93. Range = 47.17 
TNavPF::Calculated measDiffMean for beam 80 as -4.59. Range = 46.68 
TNavPF::Calculated measDiffMean for beam 81 as -5.97. Range = 46.22 
TNavPF::Calculated measDiffMean for beam 82 as -6.50. Range = 45.78 
TNavPF::Calculated measDiffMean for beam 83 as -6.93. Range = 45.37 
TNavPF::Calculated measDiffMean for beam 84 as -7.70. Range = 44.97 
TNavPF::Calculated measDiffMean for beam 85 as -8.02. Range = 44.60 
TNavPF::Calculated measDiffMean for beam 86 as -8.32. Range = 44.24 
TNavPF::Calculated measDiffMean for beam 87 as -8.20. Range = 43.91 
TNavPF::Calculated measDiffMean for beam 88 as -6.82. Range = 43.59 
TNavPF::Calculated measDiffMean for beam 89 as -4.75. Range = 43.29 
TNavPF::First Term of Map Covariance Matrix is 4.01 
TNavPF::Calculated NIS Value : 180.63 	numBeams normalized NIS: 3.01
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323422.82 sec.
INS : North: 4070189.88, East: 589460.27, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 46.70, IDT[75] = 33.16
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323425.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323425.62)
ARL : North: 56.3435, East: -558.5769, Depth: -30.7240ARL : Estimation Bias  (Mean)         : (t = 1488323425.62)
ARL : North: 55.1960, East: -558.5016, Depth: -30.4638TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.90 
Alpha[0]	0.123000
Alpha[0]	0.997396
TNavParticleFilter::Modified Variance for beam 1 is 16.97 
Alpha[1]	0.000000
Alpha[1]	0.998405
TNavParticleFilter::Modified Variance for beam 2 is 16.94 
Alpha[2]	0.000000
Alpha[2]	0.999124
TNavParticleFilter::Modified Variance for beam 3 is 13.03 
Alpha[3]	0.000000
Alpha[3]	0.999404
TNavParticleFilter::Modified Variance for beam 4 is 12.66 
Alpha[4]	0.000000
Alpha[4]	0.999503
TNavParticleFilter::Modified Variance for beam 5 is 12.93 
Alpha[5]	0.000000
Alpha[5]	0.999479
TNavParticleFilter::Modified Variance for beam 6 is 15.91 
Alpha[6]	0.000000
Alpha[6]	0.999239
TNavParticleFilter::Modified Variance for beam 7 is 16.27 
Alpha[7]	0.000000
Alpha[7]	0.999089
TNavParticleFilter::Modified Variance for beam 8 is 16.44 
Alpha[8]	0.000000
Alpha[8]	0.999047
TNavParticleFilter::Modified Variance for beam 9 is 16.01 
Alpha[9]	0.000000
Alpha[9]	0.998970
TNavParticleFilter::Modified Variance for beam 10 is 14.34 
Alpha[10]	0.000000
Alpha[10]	0.998875
TNavParticleFilter::Modified Variance for beam 11 is 14.01 
Alpha[11]	0.000000
Alpha[11]	0.998734
TNavParticleFilter::Modified Variance for beam 12 is 14.24 
Alpha[12]	0.000000
Alpha[12]	0.998578
TNavParticleFilter::Modified Variance for beam 13 is 14.58 
Alpha[13]	0.000000
Alpha[13]	0.998418
TNavParticleFilter::Modified Variance for beam 14 is 14.27 
Alpha[14]	0.000000
Alpha[14]	0.998305
TNavParticleFilter::Modified Variance for beam 15 is 14.17 
Alpha[15]	0.000000
Alpha[15]	0.998371
TNavParticleFilter::Modified Variance for beam 16 is 14.69 
Alpha[16]	0.000000
Alpha[16]	0.998292
TNavParticleFilter::Modified Variance for beam 17 is 14.58 
Alpha[17]	0.000000
Alpha[17]	0.998099
TNavParticleFilter::Modified Variance for beam 18 is 14.31 
Alpha[18]	0.000000
Alpha[18]	0.998579
TNavParticleFilter::Modified Variance for beam 19 is 14.05 
Alpha[19]	0.000000
Alpha[19]	0.999184
TNavParticleFilter::Modified Variance for beam 20 is 13.81 
Alpha[20]	0.000000
Alpha[20]	0.999405
TNavParticleFilter::Modified Variance for beam 21 is 13.59 
Alpha[21]	0.000000
Alpha[21]	0.999476
TNavParticleFilter::Modified Variance for beam 22 is 13.39 
Alpha[22]	0.000000
Alpha[22]	0.999484
TNavParticleFilter::Modified Variance for beam 23 is 13.19 
Alpha[23]	0.000000
Alpha[23]	0.999470
TNavParticleFilter::Modified Variance for beam 24 is 13.01 
Alpha[24]	0.000000
Alpha[24]	0.999444
TNavParticleFilter::Modified Variance for beam 25 is 12.84 
Alpha[25]	0.000000
Alpha[25]	0.999344
TNavParticleFilter::Modified Variance for beam 26 is 11.75 
Alpha[26]	0.000000
Alpha[26]	0.999222
TNavParticleFilter::Modified Variance for beam 27 is 11.62 
Alpha[27]	0.000000
Alpha[27]	0.999159
TNavParticleFilter::Modified Variance for beam 28 is 11.49 
Alpha[28]	0.000000
Alpha[28]	0.999024
TNavParticleFilter::Modified Variance for beam 29 is 11.37 
Alpha[29]	0.000000
Alpha[29]	0.998758
TNavParticleFilter::Modified Variance for beam 30 is 11.26 
Alpha[30]	0.000000
Alpha[30]	0.998485
TNavParticleFilter::Modified Variance for beam 31 is 11.15 
Alpha[31]	0.000000
Alpha[31]	0.998213
TNavParticleFilter::Modified Variance for beam 32 is 11.06 
Alpha[32]	0.000000
Alpha[32]	0.998021
TNavParticleFilter::Modified Variance for beam 33 is 10.17 
Alpha[33]	0.000000
Alpha[33]	0.998018
TNavParticleFilter::Modified Variance for beam 34 is 10.09 
Alpha[34]	0.000000
Alpha[34]	0.998114
TNavParticleFilter::Modified Variance for beam 35 is 10.02 
Alpha[35]	0.000000
Alpha[35]	0.998237
TNavParticleFilter::Modified Variance for beam 36 is 9.23 
Alpha[36]	0.000000
Alpha[36]	0.998287
TNavParticleFilter::Modified Variance for beam 37 is 9.17 
Alpha[37]	0.000000
Alpha[37]	0.998369
TNavParticleFilter::Modified Variance for beam 38 is 9.12 
Alpha[38]	0.000000
Alpha[38]	0.998439
TNavParticleFilter::Modified Variance for beam 39 is 9.07 
Alpha[39]	0.000000
Alpha[39]	0.998362
TNavParticleFilter::Modified Variance for beam 40 is 8.37 
Alpha[40]	0.000000
Alpha[40]	0.998245
TNavParticleFilter::Modified Variance for beam 41 is 8.34 
Alpha[41]	0.000000
Alpha[41]	0.998301
TNavParticleFilter::Modified Variance for beam 42 is 8.30 
Alpha[42]	0.000000
Alpha[42]	0.998488
TNavParticleFilter::Modified Variance for beam 43 is 8.28 
Alpha[43]	0.000000
Alpha[43]	0.998520
TNavParticleFilter::Modified Variance for beam 44 is 8.25 
Alpha[44]	0.000000
Alpha[44]	0.998455
TNavParticleFilter::Modified Variance for beam 45 is 8.86 
Alpha[45]	0.000000
Alpha[45]	0.998495
TNavParticleFilter::Modified Variance for beam 46 is 8.84 
Alpha[46]	0.000000
Alpha[46]	0.998506
TNavParticleFilter::Modified Variance for beam 47 is 8.82 
Alpha[47]	0.000000
Alpha[47]	0.998377
TNavParticleFilter::Modified Variance for beam 48 is 8.81 
Alpha[48]	0.000000
Alpha[48]	0.998425
TNavParticleFilter::Modified Variance for beam 49 is 8.80 
Alpha[49]	0.000000
Alpha[49]	0.998686
TNavParticleFilter::Modified Variance for beam 50 is 8.79 
Alpha[50]	0.000000
Alpha[50]	0.998750
TNavParticleFilter::Modified Variance for beam 51 is 8.78 
Alpha[51]	0.000000
Alpha[51]	0.998743
TNavParticleFilter::Modified Variance for beam 52 is 8.78 
Alpha[52]	0.000000
Alpha[52]	0.998701
TNavParticleFilter::Modified Variance for beam 53 is 8.78 
Alpha[53]	0.000000
Alpha[53]	0.998802
TNavParticleFilter::Modified Variance for beam 54 is 8.78 
Alpha[54]	0.000000
Alpha[54]	0.999185
TNavParticleFilter::Modified Variance for beam 55 is 8.79 
Alpha[55]	0.000000
Alpha[55]	0.999440
TNavParticleFilter::Modified Variance for beam 56 is 8.80 
Alpha[56]	0.000000
Alpha[56]	0.999485
TNavParticleFilter::Modified Variance for beam 57 is 8.81 
Alpha[57]	0.000000
Alpha[57]	0.999366
TNavParticleFilter::Modified Variance for beam 58 is 8.83 
Alpha[58]	0.000000
Alpha[58]	0.999286
TNavParticleFilter::Modified Variance for beam 59 is 8.85 
Alpha[59]	0.000000
Alpha[59]	0.999286
TNavPF:: sumSquaredError = 244.158107 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -5.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -8.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -8.06. Range = 99.91 
TNavPF::Calculated measDiffMean for beam 33 as -15.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -14.22. Range = 92.38 
TNavPF::Calculated measDiffMean for beam 35 as -11.03. Range = 92.73 
TNavPF::Calculated measDiffMean for beam 36 as -1.75. Range = 88.98 
TNavPF::Calculated measDiffMean for beam 37 as 0.87. Range = 89.31 
TNavPF::Calculated measDiffMean for beam 38 as 2.50. Range = 87.72 
TNavPF::Calculated measDiffMean for beam 39 as 2.77. Range = 85.87 
TNavPF::Calculated measDiffMean for beam 40 as 0.35. Range = 82.33 
TNavPF::Calculated measDiffMean for beam 41 as 0.87. Range = 82.81 
TNavPF::Calculated measDiffMean for beam 42 as 2.27. Range = 79.20 
TNavPF::Calculated measDiffMean for beam 43 as 3.51. Range = 79.56 
TNavPF::Calculated measDiffMean for beam 44 as 3.16. Range = 77.95 
TNavPF::Calculated measDiffMean for beam 45 as 3.24. Range = 74.40 
TNavPF::Calculated measDiffMean for beam 46 as 4.82. Range = 72.52 
TNavPF::Calculated measDiffMean for beam 47 as 4.77. Range = 73.09 
TNavPF::Calculated measDiffMean for beam 48 as 4.46. Range = 70.85 
TNavPF::Calculated measDiffMean for beam 49 as 5.70. Range = 68.40 
TNavPF::Calculated measDiffMean for beam 50 as 7.89. Range = 68.21 
TNavPF::Calculated measDiffMean for beam 51 as 10.03. Range = 64.27 
TNavPF::Calculated measDiffMean for beam 52 as 11.62. Range = 64.90 
TNavPF::Calculated measDiffMean for beam 53 as 12.37. Range = 64.15 
TNavPF::Calculated measDiffMean for beam 54 as 12.57. Range = 63.91 
TNavPF::Calculated measDiffMean for beam 55 as 12.71. Range = 64.33 
TNavPF::Calculated measDiffMean for beam 56 as 10.15. Range = 62.64 
TNavPF::Calculated measDiffMean for beam 57 as 9.33. Range = 57.57 
TNavPF::Calculated measDiffMean for beam 58 as 8.87. Range = 56.17 
TNavPF::Calculated measDiffMean for beam 59 as 8.75. Range = 55.30 
TNavPF::Calculated measDiffMean for beam 60 as 8.57. Range = 56.04 
TNavPF::Calculated measDiffMean for beam 61 as 8.44. Range = 52.44 
TNavPF::Calculated measDiffMean for beam 62 as 8.30. Range = 52.42 
TNavPF::Calculated measDiffMean for beam 63 as 5.97. Range = 44.18 
TNavPF::Calculated measDiffMean for beam 64 as 5.83. Range = 43.31 
TNavPF::Calculated measDiffMean for beam 65 as 5.81. Range = 43.95 
TNavPF::Calculated measDiffMean for beam 66 as 3.74. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 67 as 3.51. Range = 51.10 
TNavPF::Calculated measDiffMean for beam 68 as 3.01. Range = 51.42 
TNavPF::Calculated measDiffMean for beam 69 as 2.49. Range = 50.57 
TNavPF::Calculated measDiffMean for beam 70 as 0.05. Range = 47.07 
TNavPF::Calculated measDiffMean for beam 71 as -0.26. Range = 46.34 
TNavPF::Calculated measDiffMean for beam 72 as -0.69. Range = 46.85 
TNavPF::Calculated measDiffMean for beam 73 as -1.43. Range = 47.58 
TNavPF::Calculated measDiffMean for beam 74 as -2.68. Range = 46.92 
TNavPF::Calculated measDiffMean for beam 75 as -1.99. Range = 46.70 
TNavPF::Calculated measDiffMean for beam 76 as -2.63. Range = 47.80 
TNavPF::Calculated measDiffMean for beam 77 as -3.09. Range = 47.57 
TNavPF::Calculated measDiffMean for beam 78 as -4.04. Range = 47.00 
TNavPF::Calculated measDiffMean for beam 79 as -4.85. Range = 46.46 
TNavPF::Calculated measDiffMean for beam 80 as -5.19. Range = 45.94 
TNavPF::Calculated measDiffMean for beam 81 as -5.97. Range = 45.45 
TNavPF::Calculated measDiffMean for beam 82 as -6.62. Range = 44.98 
TNavPF::Calculated measDiffMean for beam 83 as -6.65. Range = 44.54 
TNavPF::Calculated measDiffMean for beam 84 as -6.33. Range = 44.12 
TNavPF::Calculated measDiffMean for beam 85 as -5.56. Range = 43.71 
TNavPF::Calculated measDiffMean for beam 86 as -4.42. Range = 41.10 
TNavPF::Calculated measDiffMean for beam 87 as -2.53. Range = 40.76 
TNavPF::Calculated measDiffMean for beam 88 as -0.57. Range = 40.44 
TNavPF::Calculated measDiffMean for beam 89 as 1.46. Range = 40.13 
TNavPF::First Term of Map Covariance Matrix is 7.67 
TNavPF::Calculated NIS Value : 132.84 	numBeams normalized NIS: 2.21
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323425.82 sec.
INS : North: 4070188.49, East: 589456.49, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 40.40, IDT[75] = 31.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323428.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323428.62)
ARL : North: 56.1427, East: -556.7182, Depth: -29.8781ARL : Estimation Bias  (Mean)         : (t = 1488323428.62)
ARL : North: 57.3510, East: -559.7833, Depth: -25.2284TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.33 
Alpha[0]	0.123000
Alpha[0]	0.998437
TNavParticleFilter::Modified Variance for beam 1 is 14.64 
Alpha[1]	0.000000
Alpha[1]	0.999124
TNavParticleFilter::Modified Variance for beam 2 is 14.31 
Alpha[2]	0.000000
Alpha[2]	0.999637
TNavParticleFilter::Modified Variance for beam 3 is 14.68 
Alpha[3]	0.000000
Alpha[3]	0.999686
TNavParticleFilter::Modified Variance for beam 4 is 16.11 
Alpha[4]	0.000000
Alpha[4]	0.999540
TNavParticleFilter::Modified Variance for beam 5 is 15.78 
Alpha[5]	0.000000
Alpha[5]	0.999248
TNavParticleFilter::Modified Variance for beam 6 is 15.47 
Alpha[6]	0.000000
Alpha[6]	0.998999
TNavParticleFilter::Modified Variance for beam 7 is 15.18 
Alpha[7]	0.000000
Alpha[7]	0.998794
TNavParticleFilter::Modified Variance for beam 8 is 13.79 
Alpha[8]	0.000000
Alpha[8]	0.998495
TNavParticleFilter::Modified Variance for beam 9 is 13.55 
Alpha[9]	0.000000
Alpha[9]	0.998373
TNavParticleFilter::Modified Variance for beam 10 is 13.33 
Alpha[10]	0.000000
Alpha[10]	0.998389
TNavParticleFilter::Modified Variance for beam 11 is 12.13 
Alpha[11]	0.000000
Alpha[11]	0.998081
TNavParticleFilter::Modified Variance for beam 12 is 11.96 
Alpha[12]	0.000000
Alpha[12]	0.997940
TNavParticleFilter::Modified Variance for beam 13 is 11.79 
Alpha[13]	0.000000
Alpha[13]	0.997846
TNavParticleFilter::Modified Variance for beam 14 is 11.63 
Alpha[14]	0.000000
Alpha[14]	0.997721
TNavParticleFilter::Modified Variance for beam 15 is 11.49 
Alpha[15]	0.000000
Alpha[15]	0.997629
TNavParticleFilter::Modified Variance for beam 16 is 11.35 
Alpha[16]	0.000000
Alpha[16]	0.997394
TNavParticleFilter::Modified Variance for beam 17 is 10.39 
Alpha[17]	0.000000
Alpha[17]	0.997032
TNavParticleFilter::Modified Variance for beam 18 is 10.28 
Alpha[18]	0.000000
Alpha[18]	0.997001
TNavParticleFilter::Modified Variance for beam 19 is 9.40 
Alpha[19]	0.000000
Alpha[19]	0.997236
TNavParticleFilter::Modified Variance for beam 20 is 9.32 
Alpha[20]	0.000000
Alpha[20]	0.997486
TNavParticleFilter::Modified Variance for beam 21 is 9.24 
Alpha[21]	0.000000
Alpha[21]	0.997543
TNavParticleFilter::Modified Variance for beam 22 is 9.16 
Alpha[22]	0.000000
Alpha[22]	0.997327
TNavParticleFilter::Modified Variance for beam 23 is 9.10 
Alpha[23]	0.000000
Alpha[23]	0.996885
TNavParticleFilter::Modified Variance for beam 24 is 9.03 
Alpha[24]	0.000000
Alpha[24]	0.996606
TNavParticleFilter::Modified Variance for beam 25 is 8.97 
Alpha[25]	0.000000
Alpha[25]	0.997217
TNavParticleFilter::Modified Variance for beam 26 is 8.90 
Alpha[26]	0.000000
Alpha[26]	0.998012
TNavParticleFilter::Modified Variance for beam 27 is 8.84 
Alpha[27]	0.000000
Alpha[27]	0.998379
TNavParticleFilter::Modified Variance for beam 28 is 8.80 
Alpha[28]	0.000000
Alpha[28]	0.998480
TNavParticleFilter::Modified Variance for beam 29 is 8.75 
Alpha[29]	0.000000
Alpha[29]	0.998628
TNavParticleFilter::Modified Variance for beam 30 is 8.71 
Alpha[30]	0.000000
Alpha[30]	0.998780
TNavParticleFilter::Modified Variance for beam 31 is 8.67 
Alpha[31]	0.000000
Alpha[31]	0.998844
TNavParticleFilter::Modified Variance for beam 32 is 8.63 
Alpha[32]	0.000000
Alpha[32]	0.998960
TNavParticleFilter::Modified Variance for beam 33 is 8.60 
Alpha[33]	0.000000
Alpha[33]	0.999252
TNavParticleFilter::Modified Variance for beam 34 is 8.57 
Alpha[34]	0.000000
Alpha[34]	0.999462
TNavParticleFilter::Modified Variance for beam 35 is 8.77 
Alpha[35]	0.000000
Alpha[35]	0.999554
TNavParticleFilter::Modified Variance for beam 36 is 9.18 
Alpha[36]	0.000000
Alpha[36]	0.999615
TNavParticleFilter::Modified Variance for beam 37 is 9.16 
Alpha[37]	0.000000
Alpha[37]	0.999641
TNavParticleFilter::Modified Variance for beam 38 is 9.14 
Alpha[38]	0.000000
Alpha[38]	0.999586
TNavParticleFilter::Modified Variance for beam 39 is 9.13 
Alpha[39]	0.000000
Alpha[39]	0.999486
TNavParticleFilter::Modified Variance for beam 40 is 9.12 
Alpha[40]	0.000000
Alpha[40]	0.999459
TNavParticleFilter::Modified Variance for beam 41 is 9.12 
Alpha[41]	0.000000
Alpha[41]	0.999520
TNavParticleFilter::Modified Variance for beam 42 is 9.11 
Alpha[42]	0.000000
Alpha[42]	0.999610
TNavParticleFilter::Modified Variance for beam 43 is 9.11 
Alpha[43]	0.000000
Alpha[43]	0.999684
TNavParticleFilter::Modified Variance for beam 44 is 8.47 
Alpha[44]	0.000000
Alpha[44]	0.999726
TNavParticleFilter::Modified Variance for beam 45 is 8.48 
Alpha[45]	0.000000
Alpha[45]	0.999740
TNavParticleFilter::Modified Variance for beam 46 is 9.14 
Alpha[46]	0.000000
Alpha[46]	0.999718
TNavParticleFilter::Modified Variance for beam 47 is 9.15 
Alpha[47]	0.000000
Alpha[47]	0.999657
TNavParticleFilter::Modified Variance for beam 48 is 9.17 
Alpha[48]	0.000000
Alpha[48]	0.999589
TNavParticleFilter::Modified Variance for beam 49 is 9.20 
Alpha[49]	0.000000
Alpha[49]	0.999541
TNavParticleFilter::Modified Variance for beam 50 is 9.22 
Alpha[50]	0.000000
Alpha[50]	0.999502
TNavParticleFilter::Modified Variance for beam 51 is 9.25 
Alpha[51]	0.000000
Alpha[51]	0.999465
TNavParticleFilter::Modified Variance for beam 52 is 9.28 
Alpha[52]	0.000000
Alpha[52]	0.999422
TNavParticleFilter::Modified Variance for beam 53 is 9.32 
Alpha[53]	0.000000
Alpha[53]	0.999349
TNavParticleFilter::Modified Variance for beam 54 is 9.36 
Alpha[54]	0.000000
Alpha[54]	0.999247
TNavParticleFilter::Modified Variance for beam 55 is 9.41 
Alpha[55]	0.000000
Alpha[55]	0.999138
TNavParticleFilter::Modified Variance for beam 56 is 9.46 
Alpha[56]	0.000000
Alpha[56]	0.999045
TNavParticleFilter::Modified Variance for beam 57 is 9.52 
Alpha[57]	0.000000
Alpha[57]	0.998956
TNavParticleFilter::Modified Variance for beam 58 is 9.58 
Alpha[58]	0.000000
Alpha[58]	0.998876
TNavParticleFilter::Modified Variance for beam 59 is 9.26 
Alpha[59]	0.000000
Alpha[59]	0.998789
TNavPF:: sumSquaredError = 341.649533 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 8.11. Range = 84.65 
TNavPF::Calculated measDiffMean for beam 31 as 5.31. Range = 82.82 
TNavPF::Calculated measDiffMean for beam 32 as 7.55. Range = 83.33 
TNavPF::Calculated measDiffMean for beam 33 as 12.98. Range = 83.87 
TNavPF::Calculated measDiffMean for beam 34 as 19.24. Range = 80.47 
TNavPF::Calculated measDiffMean for beam 35 as 20.23. Range = 80.70 
TNavPF::Calculated measDiffMean for beam 36 as 20.06. Range = 74.07 
TNavPF::Calculated measDiffMean for beam 37 as 19.38. Range = 71.26 
TNavPF::Calculated measDiffMean for beam 38 as 16.08. Range = 68.68 
TNavPF::Calculated measDiffMean for beam 39 as 15.21. Range = 67.60 
TNavPF::Calculated measDiffMean for beam 40 as 14.61. Range = 68.21 
TNavPF::Calculated measDiffMean for beam 41 as 11.99. Range = 66.57 
TNavPF::Calculated measDiffMean for beam 42 as 11.77. Range = 67.22 
TNavPF::Calculated measDiffMean for beam 43 as 11.56. Range = 66.20 
TNavPF::Calculated measDiffMean for beam 44 as 11.31. Range = 60.54 
TNavPF::Calculated measDiffMean for beam 45 as 11.07. Range = 58.89 
TNavPF::Calculated measDiffMean for beam 46 as 10.91. Range = 58.12 
TNavPF::Calculated measDiffMean for beam 47 as 8.45. Range = 55.91 
TNavPF::Calculated measDiffMean for beam 48 as 7.96. Range = 54.59 
TNavPF::Calculated measDiffMean for beam 49 as 5.21. Range = 46.60 
TNavPF::Calculated measDiffMean for beam 50 as 4.70. Range = 45.87 
TNavPF::Calculated measDiffMean for beam 51 as 4.22. Range = 46.50 
TNavPF::Calculated measDiffMean for beam 52 as 3.68. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 53 as 3.03. Range = 53.19 
TNavPF::Calculated measDiffMean for beam 54 as 2.45. Range = 53.88 
TNavPF::Calculated measDiffMean for beam 55 as 1.92. Range = 52.86 
TNavPF::Calculated measDiffMean for beam 56 as 1.33. Range = 53.01 
TNavPF::Calculated measDiffMean for beam 57 as 0.67. Range = 53.80 
TNavPF::Calculated measDiffMean for beam 58 as -0.04. Range = 52.88 
TNavPF::Calculated measDiffMean for beam 59 as -0.52. Range = 52.01 
TNavPF::Calculated measDiffMean for beam 60 as -0.97. Range = 51.18 
TNavPF::Calculated measDiffMean for beam 61 as -1.47. Range = 47.74 
TNavPF::Calculated measDiffMean for beam 62 as -2.07. Range = 47.03 
TNavPF::Calculated measDiffMean for beam 63 as -2.17. Range = 47.83 
TNavPF::Calculated measDiffMean for beam 64 as -0.98. Range = 50.80 
TNavPF::Calculated measDiffMean for beam 65 as 1.42. Range = 50.12 
TNavPF::Calculated measDiffMean for beam 66 as 4.15. Range = 49.47 
TNavPF::Calculated measDiffMean for beam 67 as 5.56. Range = 48.85 
TNavPF::Calculated measDiffMean for beam 68 as 7.10. Range = 45.85 
TNavPF::Calculated measDiffMean for beam 69 as 8.17. Range = 45.32 
TNavPF::Calculated measDiffMean for beam 70 as 8.56. Range = 44.82 
TNavPF::Calculated measDiffMean for beam 71 as 8.75. Range = 42.00 
TNavPF::Calculated measDiffMean for beam 72 as 9.00. Range = 41.57 
TNavPF::Calculated measDiffMean for beam 73 as 9.41. Range = 41.16 
TNavPF::Calculated measDiffMean for beam 74 as 7.91. Range = 40.77 
TNavPF::Calculated measDiffMean for beam 75 as 8.69. Range = 40.40 
TNavPF::Calculated measDiffMean for beam 76 as 12.14. Range = 40.04 
TNavPF::Calculated measDiffMean for beam 77 as 13.94. Range = 37.50 
TNavPF::Calculated measDiffMean for beam 78 as 15.43. Range = 37.20 
TNavPF::Calculated measDiffMean for beam 79 as 16.50. Range = 34.74 
TNavPF::Calculated measDiffMean for beam 80 as 17.37. Range = 34.49 
TNavPF::Calculated measDiffMean for beam 81 as 18.11. Range = 34.25 
TNavPF::Calculated measDiffMean for beam 82 as 18.83. Range = 34.03 
TNavPF::Calculated measDiffMean for beam 83 as 19.59. Range = 33.81 
TNavPF::Calculated measDiffMean for beam 84 as 20.34. Range = 33.62 
TNavPF::Calculated measDiffMean for beam 85 as 21.01. Range = 33.43 
TNavPF::Calculated measDiffMean for beam 86 as 21.58. Range = 33.26 
TNavPF::Calculated measDiffMean for beam 87 as 22.11. Range = 33.09 
TNavPF::Calculated measDiffMean for beam 88 as 22.59. Range = 32.94 
TNavPF::Calculated measDiffMean for beam 89 as 21.96. Range = 32.80 
TNavPF::First Term of Map Covariance Matrix is 12.78 
TNavPF::Calculated NIS Value : 109.19 	numBeams normalized NIS: 1.82
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323428.82 sec.
INS : North: 4070187.77, East: 589452.56, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 34.77, IDT[75] = 33.33
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323431.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323431.62)
ARL : North: 56.1432, East: -557.2939, Depth: -29.6588ARL : Estimation Bias  (Mean)         : (t = 1488323431.62)
ARL : North: 56.0382, East: -556.3395, Depth: -30.5102TerrainNav:: Windowed NIS is 0.7, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.87 
Alpha[0]	0.123000
Alpha[0]	0.997979
TNavParticleFilter::Modified Variance for beam 1 is 9.76 
Alpha[1]	0.000000
Alpha[1]	0.998101
TNavParticleFilter::Modified Variance for beam 2 is 10.17 
Alpha[2]	0.000000
Alpha[2]	0.998253
TNavParticleFilter::Modified Variance for beam 3 is 10.33 
Alpha[3]	0.000000
Alpha[3]	0.998273
TNavParticleFilter::Modified Variance for beam 4 is 10.22 
Alpha[4]	0.000000
Alpha[4]	0.998262
TNavParticleFilter::Modified Variance for beam 5 is 10.12 
Alpha[5]	0.000000
Alpha[5]	0.998251
TNavParticleFilter::Modified Variance for beam 6 is 9.27 
Alpha[6]	0.000000
Alpha[6]	0.998161
TNavParticleFilter::Modified Variance for beam 7 is 9.20 
Alpha[7]	0.000000
Alpha[7]	0.998007
TNavParticleFilter::Modified Variance for beam 8 is 9.12 
Alpha[8]	0.000000
Alpha[8]	0.997940
TNavParticleFilter::Modified Variance for beam 9 is 9.05 
Alpha[9]	0.000000
Alpha[9]	0.998049
TNavParticleFilter::Modified Variance for beam 10 is 8.99 
Alpha[10]	0.000000
Alpha[10]	0.997978
TNavParticleFilter::Modified Variance for beam 11 is 8.93 
Alpha[11]	0.000000
Alpha[11]	0.997671
TNavParticleFilter::Modified Variance for beam 12 is 8.88 
Alpha[12]	0.000000
Alpha[12]	0.997201
TNavParticleFilter::Modified Variance for beam 13 is 8.83 
Alpha[13]	0.000000
Alpha[13]	0.996392
TNavParticleFilter::Modified Variance for beam 14 is 9.08 
Alpha[14]	0.000000
Alpha[14]	0.995591
TNavParticleFilter::Modified Variance for beam 15 is 9.43 
Alpha[15]	0.000000
Alpha[15]	0.996000
TNavParticleFilter::Modified Variance for beam 16 is 9.37 
Alpha[16]	0.000000
Alpha[16]	0.997577
TNavParticleFilter::Modified Variance for beam 17 is 9.32 
Alpha[17]	0.000000
Alpha[17]	0.998400
TNavParticleFilter::Modified Variance for beam 18 is 9.27 
Alpha[18]	0.000000
Alpha[18]	0.998993
TNavParticleFilter::Modified Variance for beam 19 is 9.24 
Alpha[19]	0.000000
Alpha[19]	0.999273
TNavParticleFilter::Modified Variance for beam 20 is 9.20 
Alpha[20]	0.000000
Alpha[20]	0.999435
TNavParticleFilter::Modified Variance for beam 21 is 9.18 
Alpha[21]	0.000000
Alpha[21]	0.999520
TNavParticleFilter::Modified Variance for beam 22 is 9.15 
Alpha[22]	0.000000
Alpha[22]	0.999661
TNavParticleFilter::Modified Variance for beam 23 is 9.13 
Alpha[23]	0.000000
Alpha[23]	0.999762
TNavParticleFilter::Modified Variance for beam 24 is 9.12 
Alpha[24]	0.000000
Alpha[24]	0.999762
TNavParticleFilter::Modified Variance for beam 25 is 9.11 
Alpha[25]	0.000000
Alpha[25]	0.999663
TNavParticleFilter::Modified Variance for beam 26 is 9.10 
Alpha[26]	0.000000
Alpha[26]	0.999588
TNavParticleFilter::Modified Variance for beam 27 is 9.09 
Alpha[27]	0.000000
Alpha[27]	0.999476
TNavParticleFilter::Modified Variance for beam 28 is 9.10 
Alpha[28]	0.000000
Alpha[28]	0.999189
TNavParticleFilter::Modified Variance for beam 29 is 9.10 
Alpha[29]	0.000000
Alpha[29]	0.999013
TNavParticleFilter::Modified Variance for beam 30 is 9.10 
Alpha[30]	0.000000
Alpha[30]	0.999018
TNavParticleFilter::Modified Variance for beam 31 is 9.11 
Alpha[31]	0.000000
Alpha[31]	0.999133
TNavParticleFilter::Modified Variance for beam 32 is 9.12 
Alpha[32]	0.000000
Alpha[32]	0.999320
TNavParticleFilter::Modified Variance for beam 33 is 9.14 
Alpha[33]	0.000000
Alpha[33]	0.999437
TNavParticleFilter::Modified Variance for beam 34 is 9.15 
Alpha[34]	0.000000
Alpha[34]	0.999482
TNavParticleFilter::Modified Variance for beam 35 is 9.18 
Alpha[35]	0.000000
Alpha[35]	0.999460
TNavParticleFilter::Modified Variance for beam 36 is 9.21 
Alpha[36]	0.000000
Alpha[36]	0.999333
TNavParticleFilter::Modified Variance for beam 37 is 9.24 
Alpha[37]	0.000000
Alpha[37]	0.999086
TNavParticleFilter::Modified Variance for beam 38 is 9.27 
Alpha[38]	0.000000
Alpha[38]	0.998718
TNavParticleFilter::Modified Variance for beam 39 is 9.32 
Alpha[39]	0.000000
Alpha[39]	0.998211
TNavParticleFilter::Modified Variance for beam 40 is 9.36 
Alpha[40]	0.000000
Alpha[40]	0.997705
TNavParticleFilter::Modified Variance for beam 41 is 9.41 
Alpha[41]	0.000000
Alpha[41]	0.997501
TNavParticleFilter::Modified Variance for beam 42 is 8.77 
Alpha[42]	0.000000
Alpha[42]	0.997538
TNavParticleFilter::Modified Variance for beam 43 is 8.82 
Alpha[43]	0.000000
Alpha[43]	0.997660
TNavParticleFilter::Modified Variance for beam 44 is 8.87 
Alpha[44]	0.000000
Alpha[44]	0.997673
TNavParticleFilter::Modified Variance for beam 45 is 8.93 
Alpha[45]	0.000000
Alpha[45]	0.997609
TNavParticleFilter::Modified Variance for beam 46 is 8.32 
Alpha[46]	0.000000
Alpha[46]	0.997495
TNavParticleFilter::Modified Variance for beam 47 is 8.03 
Alpha[47]	0.000000
Alpha[47]	0.997436
TNavParticleFilter::Modified Variance for beam 48 is 7.80 
Alpha[48]	0.000000
Alpha[48]	0.997490
TNavParticleFilter::Modified Variance for beam 49 is 7.85 
Alpha[49]	0.000000
Alpha[49]	0.997635
TNavParticleFilter::Modified Variance for beam 50 is 7.91 
Alpha[50]	0.000000
Alpha[50]	0.997803
TNavParticleFilter::Modified Variance for beam 51 is 7.97 
Alpha[51]	0.000000
Alpha[51]	0.997941
TNavParticleFilter::Modified Variance for beam 52 is 8.04 
Alpha[52]	0.000000
Alpha[52]	0.998007
TNavParticleFilter::Modified Variance for beam 53 is 8.12 
Alpha[53]	0.000000
Alpha[53]	0.997994
TNavParticleFilter::Modified Variance for beam 54 is 8.19 
Alpha[54]	0.000000
Alpha[54]	0.997916
TNavParticleFilter::Modified Variance for beam 55 is 8.28 
Alpha[55]	0.000000
Alpha[55]	0.997783
TNavParticleFilter::Modified Variance for beam 56 is 8.37 
Alpha[56]	0.000000
Alpha[56]	0.997614
TNavParticleFilter::Modified Variance for beam 57 is 8.46 
Alpha[57]	0.000000
Alpha[57]	0.997448
TNavParticleFilter::Modified Variance for beam 58 is 9.32 
Alpha[58]	0.000000
Alpha[58]	0.997278
TNavParticleFilter::Modified Variance for beam 59 is 9.44 
Alpha[59]	0.000000
Alpha[59]	0.997084
TNavPF:: sumSquaredError = 1117.142436 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.40. Range = 61.70 
TNavPF::Calculated measDiffMean for beam 31 as 2.46. Range = 58.55 
TNavPF::Calculated measDiffMean for beam 32 as 3.70. Range = 49.86 
TNavPF::Calculated measDiffMean for beam 33 as 3.95. Range = 49.16 
TNavPF::Calculated measDiffMean for beam 34 as 3.39. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 35 as 2.99. Range = 57.98 
TNavPF::Calculated measDiffMean for beam 36 as 0.67. Range = 58.29 
TNavPF::Calculated measDiffMean for beam 37 as 0.51. Range = 57.03 
TNavPF::Calculated measDiffMean for beam 38 as -0.04. Range = 57.84 
TNavPF::Calculated measDiffMean for beam 39 as -1.09. Range = 57.75 
TNavPF::Calculated measDiffMean for beam 40 as -2.23. Range = 50.64 
TNavPF::Calculated measDiffMean for beam 41 as -3.27. Range = 49.69 
TNavPF::Calculated measDiffMean for beam 42 as -4.20. Range = 50.42 
TNavPF::Calculated measDiffMean for beam 43 as -4.62. Range = 50.75 
TNavPF::Calculated measDiffMean for beam 44 as -3.90. Range = 49.89 
TNavPF::Calculated measDiffMean for beam 45 as -3.32. Range = 50.25 
TNavPF::Calculated measDiffMean for beam 46 as -4.50. Range = 53.68 
TNavPF::Calculated measDiffMean for beam 47 as -5.42. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 48 as -5.84. Range = 52.07 
TNavPF::Calculated measDiffMean for beam 49 as -6.04. Range = 51.33 
TNavPF::Calculated measDiffMean for beam 50 as -6.22. Range = 48.08 
TNavPF::Calculated measDiffMean for beam 51 as -6.17. Range = 47.44 
TNavPF::Calculated measDiffMean for beam 52 as -5.60. Range = 46.83 
TNavPF::Calculated measDiffMean for beam 53 as -3.35. Range = 46.25 
TNavPF::Calculated measDiffMean for beam 54 as -0.32. Range = 43.29 
TNavPF::Calculated measDiffMean for beam 55 as 1.76. Range = 42.79 
TNavPF::Calculated measDiffMean for beam 56 as 2.24. Range = 42.31 
TNavPF::Calculated measDiffMean for beam 57 as 2.44. Range = 41.86 
TNavPF::Calculated measDiffMean for beam 58 as 2.74. Range = 41.44 
TNavPF::Calculated measDiffMean for beam 59 as 2.76. Range = 36.45 
TNavPF::Calculated measDiffMean for beam 60 as 2.95. Range = 36.11 
TNavPF::Calculated measDiffMean for beam 61 as 3.65. Range = 35.78 
TNavPF::Calculated measDiffMean for beam 62 as 4.75. Range = 36.94 
TNavPF::Calculated measDiffMean for beam 63 as 6.05. Range = 37.39 
TNavPF::Calculated measDiffMean for beam 64 as 7.27. Range = 37.09 
TNavPF::Calculated measDiffMean for beam 65 as 8.76. Range = 36.81 
TNavPF::Calculated measDiffMean for beam 66 as 10.51. Range = 34.38 
TNavPF::Calculated measDiffMean for beam 67 as 12.23. Range = 34.15 
TNavPF::Calculated measDiffMean for beam 68 as 13.74. Range = 33.93 
TNavPF::Calculated measDiffMean for beam 69 as 15.04. Range = 33.72 
TNavPF::Calculated measDiffMean for beam 70 as 16.04. Range = 33.52 
TNavPF::Calculated measDiffMean for beam 71 as 16.75. Range = 33.34 
TNavPF::Calculated measDiffMean for beam 72 as 15.19. Range = 33.16 
TNavPF::Calculated measDiffMean for beam 73 as 15.58. Range = 33.00 
TNavPF::Calculated measDiffMean for beam 74 as 15.98. Range = 33.75 
TNavPF::Calculated measDiffMean for beam 75 as 16.42. Range = 34.77 
TNavPF::Calculated measDiffMean for beam 76 as 14.79. Range = 34.64 
TNavPF::Calculated measDiffMean for beam 77 as 14.11. Range = 34.51 
TNavPF::Calculated measDiffMean for beam 78 as 13.64. Range = 34.40 
TNavPF::Calculated measDiffMean for beam 79 as 14.16. Range = 34.30 
TNavPF::Calculated measDiffMean for beam 80 as 14.71. Range = 34.21 
TNavPF::Calculated measDiffMean for beam 81 as 15.30. Range = 34.13 
TNavPF::Calculated measDiffMean for beam 82 as 15.92. Range = 34.07 
TNavPF::Calculated measDiffMean for beam 83 as 16.57. Range = 34.01 
TNavPF::Calculated measDiffMean for beam 84 as 17.25. Range = 33.96 
TNavPF::Calculated measDiffMean for beam 85 as 17.92. Range = 33.93 
TNavPF::Calculated measDiffMean for beam 86 as 18.58. Range = 33.90 
TNavPF::Calculated measDiffMean for beam 87 as 19.20. Range = 33.88 
TNavPF::Calculated measDiffMean for beam 88 as 22.10. Range = 33.88 
TNavPF::Calculated measDiffMean for beam 89 as 22.69. Range = 33.88 
TNavPF::First Term of Map Covariance Matrix is 9.88 
TNavPF::Calculated NIS Value : 284.64 	numBeams normalized NIS: 4.74
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323431.82 sec.
INS : North: 4070187.97, East: 589448.59, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 34.61, IDT[75] = 35.30
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323434.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323434.62)
ARL : North: 54.5008, East: -555.1885, Depth: -34.1677ARL : Estimation Bias  (Mean)         : (t = 1488323434.62)
ARL : North: 54.9615, East: -554.5289, Depth: -32.1703TerrainNav:: Windowed NIS is 0.9, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 10.19 
Alpha[0]	0.123000
Alpha[0]	0.997209
TNavParticleFilter::Modified Variance for beam 1 is 10.10 
Alpha[1]	0.000000
Alpha[1]	0.997211
TNavParticleFilter::Modified Variance for beam 2 is 10.02 
Alpha[2]	0.000000
Alpha[2]	0.996838
TNavParticleFilter::Modified Variance for beam 3 is 10.64 
Alpha[3]	0.000000
Alpha[3]	0.996573
TNavParticleFilter::Modified Variance for beam 4 is 10.65 
Alpha[4]	0.000000
Alpha[4]	0.995815
TNavParticleFilter::Modified Variance for beam 5 is 10.58 
Alpha[5]	0.000000
Alpha[5]	0.994976
TNavParticleFilter::Modified Variance for beam 6 is 9.75 
Alpha[6]	0.000000
Alpha[6]	0.995147
TNavParticleFilter::Modified Variance for beam 7 is 9.67 
Alpha[7]	0.000000
Alpha[7]	0.997439
TNavParticleFilter::Modified Variance for beam 8 is 9.61 
Alpha[8]	0.000000
Alpha[8]	0.998497
TNavParticleFilter::Modified Variance for beam 9 is 9.56 
Alpha[9]	0.000000
Alpha[9]	0.998949
TNavParticleFilter::Modified Variance for beam 10 is 9.51 
Alpha[10]	0.000000
Alpha[10]	0.999301
TNavParticleFilter::Modified Variance for beam 11 is 9.46 
Alpha[11]	0.000000
Alpha[11]	0.999508
TNavParticleFilter::Modified Variance for beam 12 is 9.43 
Alpha[12]	0.000000
Alpha[12]	0.999689
TNavParticleFilter::Modified Variance for beam 13 is 9.39 
Alpha[13]	0.000000
Alpha[13]	0.999777
TNavParticleFilter::Modified Variance for beam 14 is 9.36 
Alpha[14]	0.000000
Alpha[14]	0.999801
TNavParticleFilter::Modified Variance for beam 15 is 9.34 
Alpha[15]	0.000000
Alpha[15]	0.999789
TNavParticleFilter::Modified Variance for beam 16 is 9.32 
Alpha[16]	0.000000
Alpha[16]	0.999739
TNavParticleFilter::Modified Variance for beam 17 is 9.30 
Alpha[17]	0.000000
Alpha[17]	0.999647
TNavParticleFilter::Modified Variance for beam 18 is 9.28 
Alpha[18]	0.000000
Alpha[18]	0.999587
TNavParticleFilter::Modified Variance for beam 19 is 9.27 
Alpha[19]	0.000000
Alpha[19]	0.999540
TNavParticleFilter::Modified Variance for beam 20 is 9.27 
Alpha[20]	0.000000
Alpha[20]	0.999583
TNavParticleFilter::Modified Variance for beam 21 is 9.26 
Alpha[21]	0.000000
Alpha[21]	0.999668
TNavParticleFilter::Modified Variance for beam 22 is 9.26 
Alpha[22]	0.000000
Alpha[22]	0.999705
TNavParticleFilter::Modified Variance for beam 23 is 9.26 
Alpha[23]	0.000000
Alpha[23]	0.999721
TNavParticleFilter::Modified Variance for beam 24 is 9.27 
Alpha[24]	0.000000
Alpha[24]	0.999716
TNavParticleFilter::Modified Variance for beam 25 is 9.28 
Alpha[25]	0.000000
Alpha[25]	0.999686
TNavParticleFilter::Modified Variance for beam 26 is 9.30 
Alpha[26]	0.000000
Alpha[26]	0.999650
TNavParticleFilter::Modified Variance for beam 27 is 9.31 
Alpha[27]	0.000000
Alpha[27]	0.999581
TNavParticleFilter::Modified Variance for beam 28 is 9.34 
Alpha[28]	0.000000
Alpha[28]	0.999440
TNavParticleFilter::Modified Variance for beam 29 is 8.70 
Alpha[29]	0.000000
Alpha[29]	0.999076
TNavParticleFilter::Modified Variance for beam 30 is 8.73 
Alpha[30]	0.000000
Alpha[30]	0.998617
TNavParticleFilter::Modified Variance for beam 31 is 8.76 
Alpha[31]	0.000000
Alpha[31]	0.998400
TNavParticleFilter::Modified Variance for beam 32 is 8.71 
Alpha[32]	0.000000
Alpha[32]	0.998397
TNavParticleFilter::Modified Variance for beam 33 is 8.19 
Alpha[33]	0.000000
Alpha[33]	0.998395
TNavParticleFilter::Modified Variance for beam 34 is 8.22 
Alpha[34]	0.000000
Alpha[34]	0.998295
TNavParticleFilter::Modified Variance for beam 35 is 8.26 
Alpha[35]	0.000000
Alpha[35]	0.998035
TNavParticleFilter::Modified Variance for beam 36 is 8.31 
Alpha[36]	0.000000
Alpha[36]	0.997780
TNavParticleFilter::Modified Variance for beam 37 is 8.35 
Alpha[37]	0.000000
Alpha[37]	0.997777
TNavParticleFilter::Modified Variance for beam 38 is 8.40 
Alpha[38]	0.000000
Alpha[38]	0.997918
TNavParticleFilter::Modified Variance for beam 39 is 8.45 
Alpha[39]	0.000000
Alpha[39]	0.998080
TNavParticleFilter::Modified Variance for beam 40 is 9.19 
Alpha[40]	0.000000
Alpha[40]	0.998195
TNavParticleFilter::Modified Variance for beam 41 is 9.26 
Alpha[41]	0.000000
Alpha[41]	0.998248
TNavParticleFilter::Modified Variance for beam 42 is 9.33 
Alpha[42]	0.000000
Alpha[42]	0.998225
TNavParticleFilter::Modified Variance for beam 43 is 9.41 
Alpha[43]	0.000000
Alpha[43]	0.998142
TNavParticleFilter::Modified Variance for beam 44 is 9.50 
Alpha[44]	0.000000
Alpha[44]	0.998030
TNavParticleFilter::Modified Variance for beam 45 is 9.59 
Alpha[45]	0.000000
Alpha[45]	0.997925
TNavParticleFilter::Modified Variance for beam 46 is 8.94 
Alpha[46]	0.000000
Alpha[46]	0.997850
TNavParticleFilter::Modified Variance for beam 47 is 9.03 
Alpha[47]	0.000000
Alpha[47]	0.997813
TNavParticleFilter::Modified Variance for beam 48 is 9.13 
Alpha[48]	0.000000
Alpha[48]	0.997788
TNavParticleFilter::Modified Variance for beam 49 is 9.23 
Alpha[49]	0.000000
Alpha[49]	0.997783
TNavParticleFilter::Modified Variance for beam 50 is 10.13 
Alpha[50]	0.000000
Alpha[50]	0.997742
TNavParticleFilter::Modified Variance for beam 51 is 14.04 
Alpha[51]	0.000000
Alpha[51]	0.997689
TNavParticleFilter::Modified Variance for beam 52 is 14.26 
Alpha[52]	0.000000
Alpha[52]	0.997587
TNavParticleFilter::Modified Variance for beam 53 is 15.60 
Alpha[53]	0.000000
Alpha[53]	0.997446
TNavParticleFilter::Modified Variance for beam 54 is 15.87 
Alpha[54]	0.000000
Alpha[54]	0.997250
TNavParticleFilter::Modified Variance for beam 55 is 17.39 
Alpha[55]	0.000000
Alpha[55]	0.997019
TNavParticleFilter::Modified Variance for beam 56 is 19.04 
Alpha[56]	0.000000
Alpha[56]	0.996773
TNavParticleFilter::Modified Variance for beam 57 is 19.43 
Alpha[57]	0.000000
Alpha[57]	0.996525
TNavParticleFilter::Modified Variance for beam 58 is 19.84 
Alpha[58]	0.000000
Alpha[58]	0.996297
TNavParticleFilter::Modified Variance for beam 59 is 20.28 
Alpha[59]	0.000000
Alpha[59]	0.996115
TNavPF:: sumSquaredError = 1543.383824 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.29. Range = 61.62 
TNavPF::Calculated measDiffMean for beam 31 as -0.81. Range = 54.12 
TNavPF::Calculated measDiffMean for beam 32 as -1.70. Range = 53.00 
TNavPF::Calculated measDiffMean for beam 33 as -0.55. Range = 53.67 
TNavPF::Calculated measDiffMean for beam 34 as -0.45. Range = 53.91 
TNavPF::Calculated measDiffMean for beam 35 as -0.46. Range = 52.91 
TNavPF::Calculated measDiffMean for beam 36 as -2.92. Range = 53.55 
TNavPF::Calculated measDiffMean for beam 37 as -4.30. Range = 56.68 
TNavPF::Calculated measDiffMean for beam 38 as -5.87. Range = 55.73 
TNavPF::Calculated measDiffMean for beam 39 as -6.72. Range = 54.83 
TNavPF::Calculated measDiffMean for beam 40 as -7.45. Range = 53.97 
TNavPF::Calculated measDiffMean for beam 41 as -7.77. Range = 50.53 
TNavPF::Calculated measDiffMean for beam 42 as -7.14. Range = 49.79 
TNavPF::Calculated measDiffMean for beam 43 as -6.17. Range = 49.09 
TNavPF::Calculated measDiffMean for beam 44 as -5.56. Range = 45.90 
TNavPF::Calculated measDiffMean for beam 45 as -4.16. Range = 45.30 
TNavPF::Calculated measDiffMean for beam 46 as -2.32. Range = 44.73 
TNavPF::Calculated measDiffMean for beam 47 as -1.51. Range = 44.18 
TNavPF::Calculated measDiffMean for beam 48 as -0.53. Range = 38.86 
TNavPF::Calculated measDiffMean for beam 49 as 1.17. Range = 38.42 
TNavPF::Calculated measDiffMean for beam 50 as 2.52. Range = 38.52 
TNavPF::Calculated measDiffMean for beam 51 as 4.01. Range = 39.66 
TNavPF::Calculated measDiffMean for beam 52 as 5.67. Range = 39.53 
TNavPF::Calculated measDiffMean for beam 53 as 6.80. Range = 39.15 
TNavPF::Calculated measDiffMean for beam 54 as 7.56. Range = 38.79 
TNavPF::Calculated measDiffMean for beam 55 as 8.94. Range = 38.44 
TNavPF::Calculated measDiffMean for beam 56 as 11.15. Range = 38.11 
TNavPF::Calculated measDiffMean for beam 57 as 13.62. Range = 37.81 
TNavPF::Calculated measDiffMean for beam 58 as 15.64. Range = 37.51 
TNavPF::Calculated measDiffMean for beam 59 as 15.13. Range = 37.23 
TNavPF::Calculated measDiffMean for beam 60 as 16.01. Range = 36.97 
TNavPF::Calculated measDiffMean for beam 61 as 16.45. Range = 36.72 
TNavPF::Calculated measDiffMean for beam 62 as 16.46. Range = 36.49 
TNavPF::Calculated measDiffMean for beam 63 as 14.97. Range = 38.17 
TNavPF::Calculated measDiffMean for beam 64 as 15.33. Range = 38.17 
TNavPF::Calculated measDiffMean for beam 65 as 15.77. Range = 37.96 
TNavPF::Calculated measDiffMean for beam 66 as 16.23. Range = 35.69 
TNavPF::Calculated measDiffMean for beam 67 as 16.64. Range = 35.53 
TNavPF::Calculated measDiffMean for beam 68 as 17.02. Range = 35.37 
TNavPF::Calculated measDiffMean for beam 69 as 17.39. Range = 35.23 
TNavPF::Calculated measDiffMean for beam 70 as 19.92. Range = 35.10 
TNavPF::Calculated measDiffMean for beam 71 as 20.42. Range = 34.98 
TNavPF::Calculated measDiffMean for beam 72 as 20.99. Range = 34.87 
TNavPF::Calculated measDiffMean for beam 73 as 21.59. Range = 34.77 
TNavPF::Calculated measDiffMean for beam 74 as 22.21. Range = 34.69 
TNavPF::Calculated measDiffMean for beam 75 as 22.80. Range = 34.61 
TNavPF::Calculated measDiffMean for beam 76 as 21.16. Range = 34.55 
TNavPF::Calculated measDiffMean for beam 77 as 21.67. Range = 34.50 
TNavPF::Calculated measDiffMean for beam 78 as 22.17. Range = 34.45 
TNavPF::Calculated measDiffMean for beam 79 as 22.66. Range = 34.42 
TNavPF::Calculated measDiffMean for beam 80 as 25.44. Range = 34.40 
TNavPF::Calculated measDiffMean for beam 81 as 35.16. Range = 34.39 
TNavPF::Calculated measDiffMean for beam 82 as 35.79. Range = 34.39 
TNavPF::Calculated measDiffMean for beam 83 as 38.78. Range = 34.40 
TNavPF::Calculated measDiffMean for beam 84 as 39.45. Range = 34.42 
TNavPF::Calculated measDiffMean for beam 85 as 42.53. Range = 34.45 
TNavPF::Calculated measDiffMean for beam 86 as 45.67. Range = 34.49 
TNavPF::Calculated measDiffMean for beam 87 as 46.42. Range = 34.54 
TNavPF::Calculated measDiffMean for beam 88 as 47.19. Range = 34.61 
TNavPF::Calculated measDiffMean for beam 89 as 47.98. Range = 32.66 
TNavPF::First Term of Map Covariance Matrix is 7.15 
TNavPF::Calculated NIS Value : 771.53 	numBeams normalized NIS: 12.86
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323434.82 sec.
INS : North: 4070188.42, East: 589444.60, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 35.41, IDT[75] = 31.95
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323437.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323437.62)
ARL : North: 54.9859, East: -553.6747, Depth: -39.7601ARL : Estimation Bias  (Mean)         : (t = 1488323437.62)
ARL : North: 55.4449, East: -553.6186, Depth: -37.9735TerrainNav:: Windowed NIS average 1.56 exceeds the maximum allowed of 1.4.  Re-initializing the filter.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS : North: 4070188.52, East: 589440.51, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 36.07, IDT[75] = 31.15
TerrainNav::Measurement type 5 from time = 1488323440.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070188.35, East: 589436.37, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 35.56, IDT[75] = 41.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323443.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 11.17 
Alpha[0]	0.123000
Alpha[0]	0.999979
TNavParticleFilter::Modified Variance for beam 1 is 11.02 
Alpha[1]	0.000000
Alpha[1]	0.999978
TNavParticleFilter::Modified Variance for beam 2 is 10.88 
Alpha[2]	0.000000
Alpha[2]	0.999976
TNavParticleFilter::Modified Variance for beam 3 is 10.74 
Alpha[3]	0.000000
Alpha[3]	0.999974
TNavParticleFilter::Modified Variance for beam 4 is 10.62 
Alpha[4]	0.000000
Alpha[4]	0.999973
TNavParticleFilter::Modified Variance for beam 5 is 10.50 
Alpha[5]	0.000000
Alpha[5]	0.999971
TNavParticleFilter::Modified Variance for beam 6 is 10.39 
Alpha[6]	0.000000
Alpha[6]	0.999969
TNavParticleFilter::Modified Variance for beam 7 is 10.28 
Alpha[7]	0.000000
Alpha[7]	0.999967
TNavParticleFilter::Modified Variance for beam 8 is 10.19 
Alpha[8]	0.000000
Alpha[8]	0.999965
TNavParticleFilter::Modified Variance for beam 9 is 10.10 
Alpha[9]	0.000000
Alpha[9]	0.999963
TNavParticleFilter::Modified Variance for beam 10 is 10.01 
Alpha[10]	0.000000
Alpha[10]	0.999961
TNavParticleFilter::Modified Variance for beam 11 is 9.93 
Alpha[11]	0.000000
Alpha[11]	0.999958
TNavParticleFilter::Modified Variance for beam 12 is 9.85 
Alpha[12]	0.000000
Alpha[12]	0.999956
TNavParticleFilter::Modified Variance for beam 13 is 9.79 
Alpha[13]	0.000000
Alpha[13]	0.999954
TNavParticleFilter::Modified Variance for beam 14 is 9.72 
Alpha[14]	0.000000
Alpha[14]	0.999952
TNavParticleFilter::Modified Variance for beam 15 is 9.66 
Alpha[15]	0.000000
Alpha[15]	0.999950
TNavParticleFilter::Modified Variance for beam 16 is 8.91 
Alpha[16]	0.000000
Alpha[16]	0.999947
TNavParticleFilter::Modified Variance for beam 17 is 8.87 
Alpha[17]	0.000000
Alpha[17]	0.999945
TNavParticleFilter::Modified Variance for beam 18 is 8.82 
Alpha[18]	0.000000
Alpha[18]	0.999942
TNavParticleFilter::Modified Variance for beam 19 is 8.15 
Alpha[19]	0.000000
Alpha[19]	0.999940
TNavParticleFilter::Modified Variance for beam 20 is 8.12 
Alpha[20]	0.000000
Alpha[20]	0.999937
TNavParticleFilter::Modified Variance for beam 21 is 8.09 
Alpha[21]	0.000000
Alpha[21]	0.999934
TNavParticleFilter::Modified Variance for beam 22 is 8.07 
Alpha[22]	0.000000
Alpha[22]	0.999932
TNavParticleFilter::Modified Variance for beam 23 is 8.05 
Alpha[23]	0.000000
Alpha[23]	0.999929
TNavParticleFilter::Modified Variance for beam 24 is 8.03 
Alpha[24]	0.000000
Alpha[24]	0.999926
TNavParticleFilter::Modified Variance for beam 25 is 8.01 
Alpha[25]	0.000000
Alpha[25]	0.999924
TNavParticleFilter::Modified Variance for beam 26 is 8.62 
Alpha[26]	0.000000
Alpha[26]	0.999921
TNavParticleFilter::Modified Variance for beam 27 is 8.61 
Alpha[27]	0.000000
Alpha[27]	0.999919
TNavParticleFilter::Modified Variance for beam 28 is 8.60 
Alpha[28]	0.000000
Alpha[28]	0.999917
TNavParticleFilter::Modified Variance for beam 29 is 8.60 
Alpha[29]	0.000000
Alpha[29]	0.999915
TNavParticleFilter::Modified Variance for beam 30 is 8.59 
Alpha[30]	0.000000
Alpha[30]	0.999914
TNavParticleFilter::Modified Variance for beam 31 is 8.60 
Alpha[31]	0.000000
Alpha[31]	0.999913
TNavParticleFilter::Modified Variance for beam 32 is 8.60 
Alpha[32]	0.000000
Alpha[32]	0.999913
TNavParticleFilter::Modified Variance for beam 33 is 8.61 
Alpha[33]	0.000000
Alpha[33]	0.999913
TNavParticleFilter::Modified Variance for beam 34 is 8.62 
Alpha[34]	0.000000
Alpha[34]	0.999914
TNavParticleFilter::Modified Variance for beam 35 is 8.63 
Alpha[35]	0.000000
Alpha[35]	0.999914
TNavParticleFilter::Modified Variance for beam 36 is 8.65 
Alpha[36]	0.000000
Alpha[36]	0.999915
TNavParticleFilter::Modified Variance for beam 37 is 8.67 
Alpha[37]	0.000000
Alpha[37]	0.999916
TNavParticleFilter::Modified Variance for beam 38 is 8.70 
Alpha[38]	0.000000
Alpha[38]	0.999917
TNavParticleFilter::Modified Variance for beam 39 is 8.72 
Alpha[39]	0.000000
Alpha[39]	0.999917
TNavParticleFilter::Modified Variance for beam 40 is 8.75 
Alpha[40]	0.000000
Alpha[40]	0.999918
TNavParticleFilter::Modified Variance for beam 41 is 10.19 
Alpha[41]	0.000000
Alpha[41]	0.999919
TNavParticleFilter::Modified Variance for beam 42 is 11.81 
Alpha[42]	0.000000
Alpha[42]	0.999920
TNavParticleFilter::Modified Variance for beam 43 is 11.87 
Alpha[43]	0.000000
Alpha[43]	0.999921
TNavParticleFilter::Modified Variance for beam 44 is 11.94 
Alpha[44]	0.000000
Alpha[44]	0.999922
TNavParticleFilter::Modified Variance for beam 45 is 12.02 
Alpha[45]	0.000000
Alpha[45]	0.999924
TNavParticleFilter::Modified Variance for beam 46 is 12.10 
Alpha[46]	0.000000
Alpha[46]	0.999925
TNavParticleFilter::Modified Variance for beam 47 is 13.08 
Alpha[47]	0.000000
Alpha[47]	0.999927
TNavParticleFilter::Modified Variance for beam 48 is 13.19 
Alpha[48]	0.000000
Alpha[48]	0.999928
TNavParticleFilter::Modified Variance for beam 49 is 13.30 
Alpha[49]	0.000000
Alpha[49]	0.999930
TNavParticleFilter::Modified Variance for beam 50 is 13.43 
Alpha[50]	0.000000
Alpha[50]	0.999931
TNavParticleFilter::Modified Variance for beam 51 is 14.53 
Alpha[51]	0.000000
Alpha[51]	0.999932
TNavParticleFilter::Modified Variance for beam 52 is 15.72 
Alpha[52]	0.000000
Alpha[52]	0.999934
TNavParticleFilter::Modified Variance for beam 53 is 15.90 
Alpha[53]	0.000000
Alpha[53]	0.999935
TNavParticleFilter::Modified Variance for beam 54 is 16.09 
Alpha[54]	0.000000
Alpha[54]	0.999937
TNavParticleFilter::Modified Variance for beam 55 is 16.29 
Alpha[55]	0.000000
Alpha[55]	0.999939
TNavParticleFilter::Modified Variance for beam 56 is 16.51 
Alpha[56]	0.000000
Alpha[56]	0.999940
TNavParticleFilter::Modified Variance for beam 57 is 16.74 
Alpha[57]	0.000000
Alpha[57]	0.999942
TNavParticleFilter::Modified Variance for beam 58 is 19.42 
Alpha[58]	0.000000
Alpha[58]	0.999943
TNavParticleFilter::Modified Variance for beam 59 is 19.72 
Alpha[59]	0.000000
Alpha[59]	0.999945
TNavPF:: sumSquaredError = 4578.443869 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -26.56. Range = 72.19 
TNavPF::Calculated measDiffMean for beam 31 as -25.55. Range = 70.60 
TNavPF::Calculated measDiffMean for beam 32 as -24.76. Range = 71.36 
TNavPF::Calculated measDiffMean for beam 33 as -23.89. Range = 63.00 
TNavPF::Calculated measDiffMean for beam 34 as -23.10. Range = 63.31 
TNavPF::Calculated measDiffMean for beam 35 as -22.36. Range = 63.31 
TNavPF::Calculated measDiffMean for beam 36 as -21.66. Range = 62.40 
TNavPF::Calculated measDiffMean for beam 37 as -21.03. Range = 63.22 
TNavPF::Calculated measDiffMean for beam 38 as -20.39. Range = 65.48 
TNavPF::Calculated measDiffMean for beam 39 as -19.82. Range = 64.06 
TNavPF::Calculated measDiffMean for beam 40 as -19.25. Range = 62.72 
TNavPF::Calculated measDiffMean for beam 41 as -18.69. Range = 58.41 
TNavPF::Calculated measDiffMean for beam 42 as -18.20. Range = 54.28 
TNavPF::Calculated measDiffMean for beam 43 as -17.72. Range = 53.26 
TNavPF::Calculated measDiffMean for beam 44 as -17.23. Range = 46.54 
TNavPF::Calculated measDiffMean for beam 45 as -16.80. Range = 45.84 
TNavPF::Calculated measDiffMean for beam 46 as -18.40. Range = 46.67 
TNavPF::Calculated measDiffMean for beam 47 as -18.00. Range = 46.94 
TNavPF::Calculated measDiffMean for beam 48 as -17.62. Range = 46.20 
TNavPF::Calculated measDiffMean for beam 49 as -19.27. Range = 45.49 
TNavPF::Calculated measDiffMean for beam 50 as -18.91. Range = 44.82 
TNavPF::Calculated measDiffMean for beam 51 as -18.57. Range = 44.18 
TNavPF::Calculated measDiffMean for beam 52 as -18.26. Range = 43.57 
TNavPF::Calculated measDiffMean for beam 53 as -17.92. Range = 42.99 
TNavPF::Calculated measDiffMean for beam 54 as -17.63. Range = 42.44 
TNavPF::Calculated measDiffMean for beam 55 as -17.37. Range = 42.53 
TNavPF::Calculated measDiffMean for beam 56 as -15.07. Range = 43.63 
TNavPF::Calculated measDiffMean for beam 57 as -14.83. Range = 40.94 
TNavPF::Calculated measDiffMean for beam 58 as -14.59. Range = 40.49 
TNavPF::Calculated measDiffMean for beam 59 as -14.40. Range = 40.06 
TNavPF::Calculated measDiffMean for beam 60 as -14.26. Range = 39.65 
TNavPF::Calculated measDiffMean for beam 61 as -14.10. Range = 39.26 
TNavPF::Calculated measDiffMean for beam 62 as -13.96. Range = 38.89 
TNavPF::Calculated measDiffMean for beam 63 as -13.84. Range = 38.54 
TNavPF::Calculated measDiffMean for beam 64 as -13.74. Range = 38.21 
TNavPF::Calculated measDiffMean for beam 65 as -13.66. Range = 37.89 
TNavPF::Calculated measDiffMean for beam 66 as -13.56. Range = 37.59 
TNavPF::Calculated measDiffMean for beam 67 as -13.49. Range = 37.31 
TNavPF::Calculated measDiffMean for beam 68 as -13.40. Range = 37.04 
TNavPF::Calculated measDiffMean for beam 69 as -13.33. Range = 36.79 
TNavPF::Calculated measDiffMean for beam 70 as -13.23. Range = 36.55 
TNavPF::Calculated measDiffMean for beam 71 as -9.13. Range = 36.32 
TNavPF::Calculated measDiffMean for beam 72 as -4.98. Range = 36.11 
TNavPF::Calculated measDiffMean for beam 73 as -4.88. Range = 35.92 
TNavPF::Calculated measDiffMean for beam 74 as -4.81. Range = 35.73 
TNavPF::Calculated measDiffMean for beam 75 as -4.74. Range = 35.56 
TNavPF::Calculated measDiffMean for beam 76 as -4.67. Range = 33.34 
TNavPF::Calculated measDiffMean for beam 77 as -2.51. Range = 33.20 
TNavPF::Calculated measDiffMean for beam 78 as -2.44. Range = 33.07 
TNavPF::Calculated measDiffMean for beam 79 as -2.36. Range = 30.92 
TNavPF::Calculated measDiffMean for beam 80 as -2.27. Range = 30.82 
TNavPF::Calculated measDiffMean for beam 81 as -0.06. Range = 30.73 
TNavPF::Calculated measDiffMean for beam 82 as 2.22. Range = 30.65 
TNavPF::Calculated measDiffMean for beam 83 as 2.36. Range = 30.58 
TNavPF::Calculated measDiffMean for beam 84 as 2.49. Range = 30.52 
TNavPF::Calculated measDiffMean for beam 85 as 2.61. Range = 30.47 
TNavPF::Calculated measDiffMean for beam 86 as 2.76. Range = 32.43 
TNavPF::Calculated measDiffMean for beam 87 as 2.90. Range = 32.40 
TNavPF::Calculated measDiffMean for beam 88 as 7.58. Range = 32.37 
TNavPF::Calculated measDiffMean for beam 89 as 7.75. Range = 32.36 
TNavPF::First Term of Map Covariance Matrix is 967.05 
TNavPF::Calculated NIS Value : 8.45 	numBeams normalized NIS: 0.14
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323443.82 sec.
INS : North: 4070188.46, East: 589432.22, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 31.40, IDT[75] = 46.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323446.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323446.62)
ARL : North: 8.4378, East: 104.6773, Depth: -24.3471ARL : Estimation Bias  (Mean)         : (t = 1488323446.62)
ARL : North: 22.2153, East: -103.3140, Depth: -22.9814TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 11.03 
Alpha[0]	0.123000
Alpha[0]	0.998295
TNavParticleFilter::Modified Variance for beam 1 is 10.89 
Alpha[1]	0.000000
Alpha[1]	0.998121
TNavParticleFilter::Modified Variance for beam 2 is 10.77 
Alpha[2]	0.000000
Alpha[2]	0.997934
TNavParticleFilter::Modified Variance for beam 3 is 10.65 
Alpha[3]	0.000000
Alpha[3]	0.997912
TNavParticleFilter::Modified Variance for beam 4 is 10.53 
Alpha[4]	0.000000
Alpha[4]	0.997860
TNavParticleFilter::Modified Variance for beam 5 is 10.42 
Alpha[5]	0.000000
Alpha[5]	0.997962
TNavParticleFilter::Modified Variance for beam 6 is 10.32 
Alpha[6]	0.000000
Alpha[6]	0.998121
TNavParticleFilter::Modified Variance for beam 7 is 10.22 
Alpha[7]	0.000000
Alpha[7]	0.998156
TNavParticleFilter::Modified Variance for beam 8 is 9.39 
Alpha[8]	0.000000
Alpha[8]	0.998011
TNavParticleFilter::Modified Variance for beam 9 is 9.31 
Alpha[9]	0.000000
Alpha[9]	0.997853
TNavParticleFilter::Modified Variance for beam 10 is 8.56 
Alpha[10]	0.000000
Alpha[10]	0.997793
TNavParticleFilter::Modified Variance for beam 11 is 8.50 
Alpha[11]	0.000000
Alpha[11]	0.997778
TNavParticleFilter::Modified Variance for beam 12 is 8.45 
Alpha[12]	0.000000
Alpha[12]	0.997669
TNavParticleFilter::Modified Variance for beam 13 is 8.40 
Alpha[13]	0.000000
Alpha[13]	0.997377
TNavParticleFilter::Modified Variance for beam 14 is 8.36 
Alpha[14]	0.000000
Alpha[14]	0.996958
TNavParticleFilter::Modified Variance for beam 15 is 8.32 
Alpha[15]	0.000000
Alpha[15]	0.996560
TNavParticleFilter::Modified Variance for beam 16 is 8.29 
Alpha[16]	0.000000
Alpha[16]	0.996490
TNavParticleFilter::Modified Variance for beam 17 is 8.88 
Alpha[17]	0.000000
Alpha[17]	0.996627
TNavParticleFilter::Modified Variance for beam 18 is 8.86 
Alpha[18]	0.000000
Alpha[18]	0.996618
TNavParticleFilter::Modified Variance for beam 19 is 8.83 
Alpha[19]	0.000000
Alpha[19]	0.996610
TNavParticleFilter::Modified Variance for beam 20 is 8.80 
Alpha[20]	0.000000
Alpha[20]	0.996782
TNavParticleFilter::Modified Variance for beam 21 is 8.77 
Alpha[21]	0.000000
Alpha[21]	0.997010
TNavParticleFilter::Modified Variance for beam 22 is 8.75 
Alpha[22]	0.000000
Alpha[22]	0.997191
TNavParticleFilter::Modified Variance for beam 23 is 8.72 
Alpha[23]	0.000000
Alpha[23]	0.997457
TNavParticleFilter::Modified Variance for beam 24 is 8.70 
Alpha[24]	0.000000
Alpha[24]	0.998092
TNavParticleFilter::Modified Variance for beam 25 is 8.69 
Alpha[25]	0.000000
Alpha[25]	0.998391
TNavParticleFilter::Modified Variance for beam 26 is 8.68 
Alpha[26]	0.000000
Alpha[26]	0.998378
TNavParticleFilter::Modified Variance for beam 27 is 8.68 
Alpha[27]	0.000000
Alpha[27]	0.998281
TNavParticleFilter::Modified Variance for beam 28 is 8.67 
Alpha[28]	0.000000
Alpha[28]	0.998213
TNavParticleFilter::Modified Variance for beam 29 is 8.67 
Alpha[29]	0.000000
Alpha[29]	0.998227
TNavParticleFilter::Modified Variance for beam 30 is 8.68 
Alpha[30]	0.000000
Alpha[30]	0.998364
TNavParticleFilter::Modified Variance for beam 31 is 10.78 
Alpha[31]	0.000000
Alpha[31]	0.998332
TNavParticleFilter::Modified Variance for beam 32 is 10.80 
Alpha[32]	0.000000
Alpha[32]	0.998302
TNavParticleFilter::Modified Variance for beam 33 is 10.81 
Alpha[33]	0.000000
Alpha[33]	0.998686
TNavParticleFilter::Modified Variance for beam 34 is 11.62 
Alpha[34]	0.000000
Alpha[34]	0.998779
TNavParticleFilter::Modified Variance for beam 35 is 11.65 
Alpha[35]	0.000000
Alpha[35]	0.998780
TNavParticleFilter::Modified Variance for beam 36 is 11.69 
Alpha[36]	0.000000
Alpha[36]	0.998802
TNavParticleFilter::Modified Variance for beam 37 is 11.73 
Alpha[37]	0.000000
Alpha[37]	0.998460
TNavParticleFilter::Modified Variance for beam 38 is 11.79 
Alpha[38]	0.000000
Alpha[38]	0.997926
TNavParticleFilter::Modified Variance for beam 39 is 12.69 
Alpha[39]	0.000000
Alpha[39]	0.997669
TNavParticleFilter::Modified Variance for beam 40 is 12.75 
Alpha[40]	0.000000
Alpha[40]	0.997693
TNavParticleFilter::Modified Variance for beam 41 is 13.72 
Alpha[41]	0.000000
Alpha[41]	0.997759
TNavParticleFilter::Modified Variance for beam 42 is 13.80 
Alpha[42]	0.000000
Alpha[42]	0.997821
TNavParticleFilter::Modified Variance for beam 43 is 13.89 
Alpha[43]	0.000000
Alpha[43]	0.997996
TNavParticleFilter::Modified Variance for beam 44 is 13.99 
Alpha[44]	0.000000
Alpha[44]	0.998300
TNavParticleFilter::Modified Variance for beam 45 is 14.09 
Alpha[45]	0.000000
Alpha[45]	0.998498
TNavParticleFilter::Modified Variance for beam 46 is 15.19 
Alpha[46]	0.000000
Alpha[46]	0.998553
TNavParticleFilter::Modified Variance for beam 47 is 15.33 
Alpha[47]	0.000000
Alpha[47]	0.998811
TNavParticleFilter::Modified Variance for beam 48 is 15.47 
Alpha[48]	0.000000
Alpha[48]	0.998949
TNavParticleFilter::Modified Variance for beam 49 is 15.63 
Alpha[49]	0.000000
Alpha[49]	0.998883
TNavParticleFilter::Modified Variance for beam 50 is 15.79 
Alpha[50]	0.000000
Alpha[50]	0.998833
TNavParticleFilter::Modified Variance for beam 51 is 15.97 
Alpha[51]	0.000000
Alpha[51]	0.998851
TNavParticleFilter::Modified Variance for beam 52 is 18.43 
Alpha[52]	0.000000
Alpha[52]	0.998867
TNavParticleFilter::Modified Variance for beam 53 is 18.67 
Alpha[53]	0.000000
Alpha[53]	0.998931
TNavParticleFilter::Modified Variance for beam 54 is 18.92 
Alpha[54]	0.000000
Alpha[54]	0.998987
TNavParticleFilter::Modified Variance for beam 55 is 19.18 
Alpha[55]	0.000000
Alpha[55]	0.999033
TNavParticleFilter::Modified Variance for beam 56 is 20.69 
Alpha[56]	0.000000
Alpha[56]	0.999144
TNavParticleFilter::Modified Variance for beam 57 is 19.61 
Alpha[57]	0.000000
Alpha[57]	0.999238
TNavParticleFilter::Modified Variance for beam 58 is 18.64 
Alpha[58]	0.000000
Alpha[58]	0.999361
TNavParticleFilter::Modified Variance for beam 59 is 17.76 
Alpha[59]	0.000000
Alpha[59]	0.999496
TNavPF:: sumSquaredError = 2334.868296 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.42. Range = 66.58 
TNavPF::Calculated measDiffMean for beam 31 as 0.81. Range = 67.32 
TNavPF::Calculated measDiffMean for beam 32 as 0.99. Range = 65.88 
TNavPF::Calculated measDiffMean for beam 33 as 0.93. Range = 66.48 
TNavPF::Calculated measDiffMean for beam 34 as 0.86. Range = 69.50 
TNavPF::Calculated measDiffMean for beam 35 as 0.89. Range = 67.86 
TNavPF::Calculated measDiffMean for beam 36 as 0.98. Range = 66.32 
TNavPF::Calculated measDiffMean for beam 37 as 1.15. Range = 61.66 
TNavPF::Calculated measDiffMean for beam 38 as -0.86. Range = 60.36 
TNavPF::Calculated measDiffMean for beam 39 as -0.68. Range = 49.92 
TNavPF::Calculated measDiffMean for beam 40 as -2.56. Range = 49.00 
TNavPF::Calculated measDiffMean for beam 41 as -2.29. Range = 49.79 
TNavPF::Calculated measDiffMean for beam 42 as -1.95. Range = 50.01 
TNavPF::Calculated measDiffMean for beam 43 as -1.62. Range = 49.12 
TNavPF::Calculated measDiffMean for beam 44 as -1.42. Range = 48.28 
TNavPF::Calculated measDiffMean for beam 45 as -1.37. Range = 47.48 
TNavPF::Calculated measDiffMean for beam 46 as -1.50. Range = 46.72 
TNavPF::Calculated measDiffMean for beam 47 as 0.38. Range = 45.99 
TNavPF::Calculated measDiffMean for beam 48 as 0.43. Range = 45.31 
TNavPF::Calculated measDiffMean for beam 49 as 0.37. Range = 45.10 
TNavPF::Calculated measDiffMean for beam 50 as 0.13. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 51 as -0.07. Range = 43.44 
TNavPF::Calculated measDiffMean for beam 52 as -0.09. Range = 42.88 
TNavPF::Calculated measDiffMean for beam 53 as -0.18. Range = 42.34 
TNavPF::Calculated measDiffMean for beam 54 as -0.62. Range = 41.83 
TNavPF::Calculated measDiffMean for beam 55 as -0.95. Range = 41.34 
TNavPF::Calculated measDiffMean for beam 56 as -1.07. Range = 40.88 
TNavPF::Calculated measDiffMean for beam 57 as -1.44. Range = 40.44 
TNavPF::Calculated measDiffMean for beam 58 as -1.75. Range = 40.02 
TNavPF::Calculated measDiffMean for beam 59 as -1.99. Range = 39.63 
TNavPF::Calculated measDiffMean for beam 60 as -2.85. Range = 39.25 
TNavPF::Calculated measDiffMean for beam 61 as 2.21. Range = 38.89 
TNavPF::Calculated measDiffMean for beam 62 as 1.81. Range = 38.55 
TNavPF::Calculated measDiffMean for beam 63 as 0.98. Range = 38.22 
TNavPF::Calculated measDiffMean for beam 64 as 2.08. Range = 37.92 
TNavPF::Calculated measDiffMean for beam 65 as 1.67. Range = 37.63 
TNavPF::Calculated measDiffMean for beam 66 as 0.82. Range = 37.35 
TNavPF::Calculated measDiffMean for beam 67 as -0.28. Range = 37.09 
TNavPF::Calculated measDiffMean for beam 68 as -0.47. Range = 34.71 
TNavPF::Calculated measDiffMean for beam 69 as 1.63. Range = 34.49 
TNavPF::Calculated measDiffMean for beam 70 as 1.50. Range = 32.18 
TNavPF::Calculated measDiffMean for beam 71 as 3.42. Range = 32.00 
TNavPF::Calculated measDiffMean for beam 72 as 3.44. Range = 31.83 
TNavPF::Calculated measDiffMean for beam 73 as 3.48. Range = 31.68 
TNavPF::Calculated measDiffMean for beam 74 as 3.10. Range = 31.53 
TNavPF::Calculated measDiffMean for beam 75 as 2.29. Range = 31.40 
TNavPF::Calculated measDiffMean for beam 76 as 3.62. Range = 31.27 
TNavPF::Calculated measDiffMean for beam 77 as 2.67. Range = 33.15 
TNavPF::Calculated measDiffMean for beam 78 as 1.80. Range = 33.09 
TNavPF::Calculated measDiffMean for beam 79 as 1.16. Range = 32.99 
TNavPF::Calculated measDiffMean for beam 80 as 1.01. Range = 32.90 
TNavPF::Calculated measDiffMean for beam 81 as 1.20. Range = 32.82 
TNavPF::Calculated measDiffMean for beam 82 as 5.84. Range = 32.76 
TNavPF::Calculated measDiffMean for beam 83 as 5.94. Range = 32.70 
TNavPF::Calculated measDiffMean for beam 84 as 6.03. Range = 32.65 
TNavPF::Calculated measDiffMean for beam 85 as 6.32. Range = 32.61 
TNavPF::Calculated measDiffMean for beam 86 as 8.54. Range = 32.58 
TNavPF::Calculated measDiffMean for beam 87 as 5.90. Range = 32.57 
TNavPF::Calculated measDiffMean for beam 88 as 3.26. Range = 32.56 
TNavPF::Calculated measDiffMean for beam 89 as 0.38. Range = 32.56 
TNavPF::First Term of Map Covariance Matrix is 11.72 
TNavPF::Calculated NIS Value : 13.28 	numBeams normalized NIS: 0.22
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323446.82 sec.
INS : North: 4070188.45, East: 589428.08, Depth: 890.10
TerrainNav::measUpdate() - IDT[45] = 32.92, IDT[75] = 42.25
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323449.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323449.62)
ARL : North: 10.0001, East: 104.4160, Depth: -24.3690ARL : Estimation Bias  (Mean)         : (t = 1488323449.62)
ARL : North: 14.0149, East: 34.2365, Depth: -21.3925TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.92 
Alpha[0]	0.123000
Alpha[0]	0.999588
TNavParticleFilter::Modified Variance for beam 1 is 12.66 
Alpha[1]	0.000000
Alpha[1]	0.999562
TNavParticleFilter::Modified Variance for beam 2 is 12.41 
Alpha[2]	0.000000
Alpha[2]	0.999508
TNavParticleFilter::Modified Variance for beam 3 is 12.19 
Alpha[3]	0.000000
Alpha[3]	0.999434
TNavParticleFilter::Modified Variance for beam 4 is 11.97 
Alpha[4]	0.000000
Alpha[4]	0.999347
TNavParticleFilter::Modified Variance for beam 5 is 11.77 
Alpha[5]	0.000000
Alpha[5]	0.999138
TNavParticleFilter::Modified Variance for beam 6 is 11.58 
Alpha[6]	0.000000
Alpha[6]	0.998830
TNavParticleFilter::Modified Variance for beam 7 is 11.41 
Alpha[7]	0.000000
Alpha[7]	0.998619
TNavParticleFilter::Modified Variance for beam 8 is 11.24 
Alpha[8]	0.000000
Alpha[8]	0.998540
TNavParticleFilter::Modified Variance for beam 9 is 11.08 
Alpha[9]	0.000000
Alpha[9]	0.998489
TNavParticleFilter::Modified Variance for beam 10 is 10.93 
Alpha[10]	0.000000
Alpha[10]	0.998351
TNavParticleFilter::Modified Variance for beam 11 is 10.79 
Alpha[11]	0.000000
Alpha[11]	0.998096
TNavParticleFilter::Modified Variance for beam 12 is 9.84 
Alpha[12]	0.000000
Alpha[12]	0.997749
TNavParticleFilter::Modified Variance for beam 13 is 9.74 
Alpha[13]	0.000000
Alpha[13]	0.997245
TNavParticleFilter::Modified Variance for beam 14 is 8.89 
Alpha[14]	0.000000
Alpha[14]	0.997088
TNavParticleFilter::Modified Variance for beam 15 is 8.80 
Alpha[15]	0.000000
Alpha[15]	0.997194
TNavParticleFilter::Modified Variance for beam 16 is 8.72 
Alpha[16]	0.000000
Alpha[16]	0.997125
TNavParticleFilter::Modified Variance for beam 17 is 8.65 
Alpha[17]	0.000000
Alpha[17]	0.996610
TNavParticleFilter::Modified Variance for beam 18 is 8.59 
Alpha[18]	0.000000
Alpha[18]	0.995636
TNavParticleFilter::Modified Variance for beam 19 is 8.52 
Alpha[19]	0.000000
Alpha[19]	0.995301
TNavParticleFilter::Modified Variance for beam 20 is 8.52 
Alpha[20]	0.000000
Alpha[20]	0.995423
TNavParticleFilter::Modified Variance for beam 21 is 9.07 
Alpha[21]	0.000000
Alpha[21]	0.995031
TNavParticleFilter::Modified Variance for beam 22 is 9.02 
Alpha[22]	0.000000
Alpha[22]	0.994654
TNavParticleFilter::Modified Variance for beam 23 is 8.96 
Alpha[23]	0.000000
Alpha[23]	0.994641
TNavParticleFilter::Modified Variance for beam 24 is 8.91 
Alpha[24]	0.000000
Alpha[24]	0.995068
TNavParticleFilter::Modified Variance for beam 25 is 8.85 
Alpha[25]	0.000000
Alpha[25]	0.995403
TNavParticleFilter::Modified Variance for beam 26 is 8.81 
Alpha[26]	0.000000
Alpha[26]	0.995535
TNavParticleFilter::Modified Variance for beam 27 is 8.76 
Alpha[27]	0.000000
Alpha[27]	0.995653
TNavParticleFilter::Modified Variance for beam 28 is 8.72 
Alpha[28]	0.000000
Alpha[28]	0.996021
TNavParticleFilter::Modified Variance for beam 29 is 8.69 
Alpha[29]	0.000000
Alpha[29]	0.996284
TNavParticleFilter::Modified Variance for beam 30 is 8.66 
Alpha[30]	0.000000
Alpha[30]	0.996146
TNavParticleFilter::Modified Variance for beam 31 is 8.63 
Alpha[31]	0.000000
Alpha[31]	0.996147
TNavParticleFilter::Modified Variance for beam 32 is 8.60 
Alpha[32]	0.000000
Alpha[32]	0.996274
TNavParticleFilter::Modified Variance for beam 33 is 8.59 
Alpha[33]	0.000000
Alpha[33]	0.995838
TNavParticleFilter::Modified Variance for beam 34 is 8.58 
Alpha[34]	0.000000
Alpha[34]	0.994963
TNavParticleFilter::Modified Variance for beam 35 is 9.24 
Alpha[35]	0.000000
Alpha[35]	0.995021
TNavParticleFilter::Modified Variance for beam 36 is 9.89 
Alpha[36]	0.000000
Alpha[36]	0.995506
TNavParticleFilter::Modified Variance for beam 37 is 9.88 
Alpha[37]	0.000000
Alpha[37]	0.995872
TNavParticleFilter::Modified Variance for beam 38 is 9.86 
Alpha[38]	0.000000
Alpha[38]	0.996232
TNavParticleFilter::Modified Variance for beam 39 is 11.35 
Alpha[39]	0.000000
Alpha[39]	0.996725
TNavParticleFilter::Modified Variance for beam 40 is 11.36 
Alpha[40]	0.000000
Alpha[40]	0.996358
TNavParticleFilter::Modified Variance for beam 41 is 11.39 
Alpha[41]	0.000000
Alpha[41]	0.994234
TNavParticleFilter::Modified Variance for beam 42 is 11.43 
Alpha[42]	0.000000
Alpha[42]	0.991751
TNavParticleFilter::Modified Variance for beam 43 is 11.48 
Alpha[43]	0.000000
Alpha[43]	0.988588
TNavParticleFilter::Modified Variance for beam 44 is 11.54 
Alpha[44]	0.000000
Alpha[44]	0.985353
TNavParticleFilter::Modified Variance for beam 45 is 12.37 
Alpha[45]	0.000000
Alpha[45]	0.987321
TNavParticleFilter::Modified Variance for beam 46 is 12.37 
Alpha[46]	0.000000
Alpha[46]	0.989775
TNavParticleFilter::Modified Variance for beam 47 is 12.39 
Alpha[47]	0.000000
Alpha[47]	0.990947
TNavParticleFilter::Modified Variance for beam 48 is 12.44 
Alpha[48]	0.000000
Alpha[48]	0.990957
TNavParticleFilter::Modified Variance for beam 49 is 12.47 
Alpha[49]	0.000000
Alpha[49]	0.992223
TNavParticleFilter::Modified Variance for beam 50 is 13.38 
Alpha[50]	0.000000
Alpha[50]	0.994953
TNavParticleFilter::Modified Variance for beam 51 is 13.41 
Alpha[51]	0.000000
Alpha[51]	0.997370
TNavParticleFilter::Modified Variance for beam 52 is 14.40 
Alpha[52]	0.000000
Alpha[52]	0.998678
TNavParticleFilter::Modified Variance for beam 53 is 14.48 
Alpha[53]	0.000000
Alpha[53]	0.999098
TNavParticleFilter::Modified Variance for beam 54 is 14.58 
Alpha[54]	0.000000
Alpha[54]	0.999066
TNavParticleFilter::Modified Variance for beam 55 is 14.69 
Alpha[55]	0.000000
Alpha[55]	0.998805
TNavParticleFilter::Modified Variance for beam 56 is 14.82 
Alpha[56]	0.000000
Alpha[56]	0.998373
TNavParticleFilter::Modified Variance for beam 57 is 14.94 
Alpha[57]	0.000000
Alpha[57]	0.998052
TNavParticleFilter::Modified Variance for beam 58 is 17.18 
Alpha[58]	0.000000
Alpha[58]	0.997983
TNavParticleFilter::Modified Variance for beam 59 is 17.35 
Alpha[59]	0.000000
Alpha[59]	0.998081
TNavPF:: sumSquaredError = 26.752643 
TNavPF:: sumWeights = 0.000001 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -5.58. Range = 92.76 
TNavPF::Calculated measDiffMean for beam 31 as -5.21. Range = 86.26 
TNavPF::Calculated measDiffMean for beam 32 as -4.16. Range = 83.19 
TNavPF::Calculated measDiffMean for beam 33 as -2.91. Range = 70.67 
TNavPF::Calculated measDiffMean for beam 34 as -2.17. Range = 71.23 
TNavPF::Calculated measDiffMean for beam 35 as -1.50. Range = 78.50 
TNavPF::Calculated measDiffMean for beam 36 as -0.75. Range = 79.18 
TNavPF::Calculated measDiffMean for beam 37 as -0.26. Range = 77.63 
TNavPF::Calculated measDiffMean for beam 38 as -0.21. Range = 70.65 
TNavPF::Calculated measDiffMean for beam 39 as -0.32. Range = 70.36 
TNavPF::Calculated measDiffMean for beam 40 as -0.13. Range = 70.37 
TNavPF::Calculated measDiffMean for beam 41 as 0.50. Range = 69.00 
TNavPF::Calculated measDiffMean for beam 42 as -0.95. Range = 69.77 
TNavPF::Calculated measDiffMean for beam 43 as -0.27. Range = 71.97 
TNavPF::Calculated measDiffMean for beam 44 as -2.14. Range = 70.15 
TNavPF::Calculated measDiffMean for beam 45 as -1.93. Range = 65.02 
TNavPF::Calculated measDiffMean for beam 46 as -1.74. Range = 60.15 
TNavPF::Calculated measDiffMean for beam 47 as -1.67. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 48 as -1.84. Range = 52.10 
TNavPF::Calculated measDiffMean for beam 49 as -2.38. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 50 as -2.80. Range = 52.08 
TNavPF::Calculated measDiffMean for beam 51 as -1.20. Range = 51.06 
TNavPF::Calculated measDiffMean for beam 52 as -1.28. Range = 50.09 
TNavPF::Calculated measDiffMean for beam 53 as -1.46. Range = 49.17 
TNavPF::Calculated measDiffMean for beam 54 as -1.69. Range = 45.92 
TNavPF::Calculated measDiffMean for beam 55 as -1.74. Range = 46.73 
TNavPF::Calculated measDiffMean for beam 56 as -1.61. Range = 46.69 
TNavPF::Calculated measDiffMean for beam 57 as -1.47. Range = 45.94 
TNavPF::Calculated measDiffMean for beam 58 as -1.31. Range = 45.23 
TNavPF::Calculated measDiffMean for beam 59 as -0.99. Range = 44.56 
TNavPF::Calculated measDiffMean for beam 60 as -0.75. Range = 43.92 
TNavPF::Calculated measDiffMean for beam 61 as -0.82. Range = 43.31 
TNavPF::Calculated measDiffMean for beam 62 as -1.29. Range = 42.72 
TNavPF::Calculated measDiffMean for beam 63 as -2.11. Range = 42.17 
TNavPF::Calculated measDiffMean for beam 64 as -2.80. Range = 41.65 
TNavPF::Calculated measDiffMean for beam 65 as -1.15. Range = 41.15 
TNavPF::Calculated measDiffMean for beam 66 as 0.27. Range = 40.67 
TNavPF::Calculated measDiffMean for beam 67 as -0.41. Range = 40.22 
TNavPF::Calculated measDiffMean for beam 68 as -0.98. Range = 39.79 
TNavPF::Calculated measDiffMean for beam 69 as 2.25. Range = 39.38 
TNavPF::Calculated measDiffMean for beam 70 as 1.02. Range = 38.99 
TNavPF::Calculated measDiffMean for beam 71 as 0.10. Range = 38.61 
TNavPF::Calculated measDiffMean for beam 72 as -0.41. Range = 36.01 
TNavPF::Calculated measDiffMean for beam 73 as -0.77. Range = 35.70 
TNavPF::Calculated measDiffMean for beam 74 as -0.93. Range = 33.19 
TNavPF::Calculated measDiffMean for beam 75 as 0.98. Range = 32.92 
TNavPF::Calculated measDiffMean for beam 76 as 0.91. Range = 32.67 
TNavPF::Calculated measDiffMean for beam 77 as 0.98. Range = 32.43 
TNavPF::Calculated measDiffMean for beam 78 as 1.12. Range = 32.21 
TNavPF::Calculated measDiffMean for beam 79 as 1.05. Range = 32.00 
TNavPF::Calculated measDiffMean for beam 80 as 2.74. Range = 32.01 
TNavPF::Calculated measDiffMean for beam 81 as 2.05. Range = 33.70 
TNavPF::Calculated measDiffMean for beam 82 as 3.04. Range = 33.53 
TNavPF::Calculated measDiffMean for beam 83 as 1.38. Range = 33.35 
TNavPF::Calculated measDiffMean for beam 84 as -0.32. Range = 33.19 
TNavPF::Calculated measDiffMean for beam 85 as -1.20. Range = 33.04 
TNavPF::Calculated measDiffMean for beam 86 as -1.52. Range = 32.90 
TNavPF::Calculated measDiffMean for beam 87 as -1.63. Range = 32.77 
TNavPF::Calculated measDiffMean for beam 88 as 2.65. Range = 32.65 
TNavPF::Calculated measDiffMean for beam 89 as 2.80. Range = 32.54 
TNavPF::First Term of Map Covariance Matrix is 48.56 
TNavPF::Calculated NIS Value : 11.83 	numBeams normalized NIS: 0.20
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323449.82 sec.
INS : North: 4070187.72, East: 589423.99, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 32.76, IDT[75] = 41.23
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323452.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323452.62)
ARL : North: 8.5011, East: 104.2992, Depth: -18.6625ARL : Estimation Bias  (Mean)         : (t = 1488323452.62)
ARL : North: 21.4129, East: -68.2102, Depth: -19.8970TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.25 
Alpha[0]	0.123000
Alpha[0]	0.999284
TNavParticleFilter::Modified Variance for beam 1 is 12.96 
Alpha[1]	0.000000
Alpha[1]	0.999165
TNavParticleFilter::Modified Variance for beam 2 is 12.68 
Alpha[2]	0.000000
Alpha[2]	0.998934
TNavParticleFilter::Modified Variance for beam 3 is 12.43 
Alpha[3]	0.000000
Alpha[3]	0.998435
TNavParticleFilter::Modified Variance for beam 4 is 12.18 
Alpha[4]	0.000000
Alpha[4]	0.998174
TNavParticleFilter::Modified Variance for beam 5 is 11.95 
Alpha[5]	0.000000
Alpha[5]	0.998168
TNavParticleFilter::Modified Variance for beam 6 is 11.74 
Alpha[6]	0.000000
Alpha[6]	0.998022
TNavParticleFilter::Modified Variance for beam 7 is 11.54 
Alpha[7]	0.000000
Alpha[7]	0.997436
TNavParticleFilter::Modified Variance for beam 8 is 11.36 
Alpha[8]	0.000000
Alpha[8]	0.996820
TNavParticleFilter::Modified Variance for beam 9 is 10.27 
Alpha[9]	0.000000
Alpha[9]	0.996930
TNavParticleFilter::Modified Variance for beam 10 is 9.30 
Alpha[10]	0.000000
Alpha[10]	0.997050
TNavParticleFilter::Modified Variance for beam 11 is 9.18 
Alpha[11]	0.000000
Alpha[11]	0.996683
TNavParticleFilter::Modified Variance for beam 12 is 9.07 
Alpha[12]	0.000000
Alpha[12]	0.995905
TNavParticleFilter::Modified Variance for beam 13 is 8.97 
Alpha[13]	0.000000
Alpha[13]	0.995149
TNavParticleFilter::Modified Variance for beam 14 is 8.86 
Alpha[14]	0.000000
Alpha[14]	0.995164
TNavParticleFilter::Modified Variance for beam 15 is 8.76 
Alpha[15]	0.000000
Alpha[15]	0.995443
TNavParticleFilter::Modified Variance for beam 16 is 8.93 
Alpha[16]	0.000000
Alpha[16]	0.995256
TNavParticleFilter::Modified Variance for beam 17 is 9.31 
Alpha[17]	0.000000
Alpha[17]	0.995325
TNavParticleFilter::Modified Variance for beam 18 is 9.21 
Alpha[18]	0.000000
Alpha[18]	0.995907
TNavParticleFilter::Modified Variance for beam 19 is 9.12 
Alpha[19]	0.000000
Alpha[19]	0.996403
TNavParticleFilter::Modified Variance for beam 20 is 9.04 
Alpha[20]	0.000000
Alpha[20]	0.996585
TNavParticleFilter::Modified Variance for beam 21 is 8.96 
Alpha[21]	0.000000
Alpha[21]	0.996659
TNavParticleFilter::Modified Variance for beam 22 is 8.89 
Alpha[22]	0.000000
Alpha[22]	0.996775
TNavParticleFilter::Modified Variance for beam 23 is 8.82 
Alpha[23]	0.000000
Alpha[23]	0.996925
TNavParticleFilter::Modified Variance for beam 24 is 8.76 
Alpha[24]	0.000000
Alpha[24]	0.997206
TNavParticleFilter::Modified Variance for beam 25 is 8.70 
Alpha[25]	0.000000
Alpha[25]	0.997393
TNavParticleFilter::Modified Variance for beam 26 is 8.64 
Alpha[26]	0.000000
Alpha[26]	0.997287
TNavParticleFilter::Modified Variance for beam 27 is 8.60 
Alpha[27]	0.000000
Alpha[27]	0.996812
TNavParticleFilter::Modified Variance for beam 28 is 8.56 
Alpha[28]	0.000000
Alpha[28]	0.996259
TNavParticleFilter::Modified Variance for beam 29 is 8.52 
Alpha[29]	0.000000
Alpha[29]	0.995857
TNavParticleFilter::Modified Variance for beam 30 is 8.48 
Alpha[30]	0.000000
Alpha[30]	0.996079
TNavParticleFilter::Modified Variance for beam 31 is 9.79 
Alpha[31]	0.000000
Alpha[31]	0.996662
TNavParticleFilter::Modified Variance for beam 32 is 10.48 
Alpha[32]	0.000000
Alpha[32]	0.996871
TNavParticleFilter::Modified Variance for beam 33 is 10.44 
Alpha[33]	0.000000
Alpha[33]	0.996908
TNavParticleFilter::Modified Variance for beam 34 is 10.40 
Alpha[34]	0.000000
Alpha[34]	0.997127
TNavParticleFilter::Modified Variance for beam 35 is 10.37 
Alpha[35]	0.000000
Alpha[35]	0.996933
TNavParticleFilter::Modified Variance for beam 36 is 11.11 
Alpha[36]	0.000000
Alpha[36]	0.996314
TNavParticleFilter::Modified Variance for beam 37 is 11.09 
Alpha[37]	0.000000
Alpha[37]	0.995454
TNavParticleFilter::Modified Variance for beam 38 is 11.09 
Alpha[38]	0.000000
Alpha[38]	0.994110
TNavParticleFilter::Modified Variance for beam 39 is 11.09 
Alpha[39]	0.000000
Alpha[39]	0.992667
TNavParticleFilter::Modified Variance for beam 40 is 11.09 
Alpha[40]	0.000000
Alpha[40]	0.991575
TNavParticleFilter::Modified Variance for beam 41 is 11.08 
Alpha[41]	0.000000
Alpha[41]	0.991916
TNavParticleFilter::Modified Variance for beam 42 is 11.85 
Alpha[42]	0.000000
Alpha[42]	0.993109
TNavParticleFilter::Modified Variance for beam 43 is 11.85 
Alpha[43]	0.000000
Alpha[43]	0.993716
TNavParticleFilter::Modified Variance for beam 44 is 11.85 
Alpha[44]	0.000000
Alpha[44]	0.994410
TNavParticleFilter::Modified Variance for beam 45 is 11.84 
Alpha[45]	0.000000
Alpha[45]	0.995804
TNavParticleFilter::Modified Variance for beam 46 is 11.85 
Alpha[46]	0.000000
Alpha[46]	0.996735
TNavParticleFilter::Modified Variance for beam 47 is 12.70 
Alpha[47]	0.000000
Alpha[47]	0.997510
TNavParticleFilter::Modified Variance for beam 48 is 12.72 
Alpha[48]	0.000000
Alpha[48]	0.998290
TNavParticleFilter::Modified Variance for beam 49 is 12.75 
Alpha[49]	0.000000
Alpha[49]	0.998703
TNavParticleFilter::Modified Variance for beam 50 is 13.68 
Alpha[50]	0.000000
Alpha[50]	0.998749
TNavParticleFilter::Modified Variance for beam 51 is 13.73 
Alpha[51]	0.000000
Alpha[51]	0.998720
TNavParticleFilter::Modified Variance for beam 52 is 13.79 
Alpha[52]	0.000000
Alpha[52]	0.998577
TNavParticleFilter::Modified Variance for beam 53 is 13.86 
Alpha[53]	0.000000
Alpha[53]	0.998384
TNavParticleFilter::Modified Variance for beam 54 is 13.94 
Alpha[54]	0.000000
Alpha[54]	0.998316
TNavParticleFilter::Modified Variance for beam 55 is 14.02 
Alpha[55]	0.000000
Alpha[55]	0.998312
TNavParticleFilter::Modified Variance for beam 56 is 14.11 
Alpha[56]	0.000000
Alpha[56]	0.998371
TNavParticleFilter::Modified Variance for beam 57 is 16.19 
Alpha[57]	0.000000
Alpha[57]	0.998457
TNavParticleFilter::Modified Variance for beam 58 is 16.31 
Alpha[58]	0.000000
Alpha[58]	0.998526
TNavParticleFilter::Modified Variance for beam 59 is 16.44 
Alpha[59]	0.000000
Alpha[59]	0.998627
TNavPF:: sumSquaredError = 36.545215 
TNavPF:: sumWeights = 0.000004 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.51. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.28. Range = 98.12 
TNavPF::Calculated measDiffMean for beam 32 as 0.48. Range = 97.21 
TNavPF::Calculated measDiffMean for beam 33 as 1.17. Range = 87.17 
TNavPF::Calculated measDiffMean for beam 34 as 1.34. Range = 74.11 
TNavPF::Calculated measDiffMean for beam 35 as 1.43. Range = 74.65 
TNavPF::Calculated measDiffMean for beam 36 as 1.92. Range = 81.80 
TNavPF::Calculated measDiffMean for beam 37 as 2.65. Range = 82.45 
TNavPF::Calculated measDiffMean for beam 38 as 3.01. Range = 80.91 
TNavPF::Calculated measDiffMean for beam 39 as 0.64. Range = 73.19 
TNavPF::Calculated measDiffMean for beam 40 as -1.66. Range = 73.28 
TNavPF::Calculated measDiffMean for beam 41 as -1.55. Range = 72.66 
TNavPF::Calculated measDiffMean for beam 42 as -1.61. Range = 72.39 
TNavPF::Calculated measDiffMean for beam 43 as -1.87. Range = 76.16 
TNavPF::Calculated measDiffMean for beam 44 as -2.19. Range = 74.02 
TNavPF::Calculated measDiffMean for beam 45 as -2.33. Range = 68.34 
TNavPF::Calculated measDiffMean for beam 46 as -1.54. Range = 55.82 
TNavPF::Calculated measDiffMean for beam 47 as -0.17. Range = 54.51 
TNavPF::Calculated measDiffMean for beam 48 as -0.35. Range = 55.19 
TNavPF::Calculated measDiffMean for beam 49 as -0.49. Range = 55.19 
TNavPF::Calculated measDiffMean for beam 50 as -0.45. Range = 53.94 
TNavPF::Calculated measDiffMean for beam 51 as -0.37. Range = 52.77 
TNavPF::Calculated measDiffMean for beam 52 as -0.30. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 53 as -0.30. Range = 50.62 
TNavPF::Calculated measDiffMean for beam 54 as -0.51. Range = 49.63 
TNavPF::Calculated measDiffMean for beam 55 as -0.92. Range = 50.08 
TNavPF::Calculated measDiffMean for beam 56 as -1.50. Range = 47.80 
TNavPF::Calculated measDiffMean for beam 57 as -2.13. Range = 46.96 
TNavPF::Calculated measDiffMean for beam 58 as -2.66. Range = 46.16 
TNavPF::Calculated measDiffMean for beam 59 as -3.08. Range = 45.40 
TNavPF::Calculated measDiffMean for beam 60 as -3.58. Range = 44.68 
TNavPF::Calculated measDiffMean for beam 61 as -0.12. Range = 43.99 
TNavPF::Calculated measDiffMean for beam 62 as 1.37. Range = 43.34 
TNavPF::Calculated measDiffMean for beam 63 as 0.85. Range = 42.72 
TNavPF::Calculated measDiffMean for beam 64 as -0.01. Range = 42.13 
TNavPF::Calculated measDiffMean for beam 65 as -0.98. Range = 41.57 
TNavPF::Calculated measDiffMean for beam 66 as 0.24. Range = 41.03 
TNavPF::Calculated measDiffMean for beam 67 as -0.44. Range = 40.52 
TNavPF::Calculated measDiffMean for beam 68 as -0.91. Range = 40.04 
TNavPF::Calculated measDiffMean for beam 69 as -0.97. Range = 37.19 
TNavPF::Calculated measDiffMean for beam 70 as -0.82. Range = 34.42 
TNavPF::Calculated measDiffMean for beam 71 as -0.78. Range = 34.06 
TNavPF::Calculated measDiffMean for beam 72 as 1.31. Range = 33.71 
TNavPF::Calculated measDiffMean for beam 73 as 1.48. Range = 33.37 
TNavPF::Calculated measDiffMean for beam 74 as 1.52. Range = 33.06 
TNavPF::Calculated measDiffMean for beam 75 as 1.16. Range = 32.76 
TNavPF::Calculated measDiffMean for beam 76 as 0.55. Range = 33.26 
TNavPF::Calculated measDiffMean for beam 77 as 1.96. Range = 34.41 
TNavPF::Calculated measDiffMean for beam 78 as 1.17. Range = 34.14 
TNavPF::Calculated measDiffMean for beam 79 as -0.05. Range = 33.88 
TNavPF::Calculated measDiffMean for beam 80 as 0.73. Range = 33.64 
TNavPF::Calculated measDiffMean for beam 81 as -0.28. Range = 33.41 
TNavPF::Calculated measDiffMean for beam 82 as -0.77. Range = 33.19 
TNavPF::Calculated measDiffMean for beam 83 as -0.81. Range = 32.98 
TNavPF::Calculated measDiffMean for beam 84 as -0.71. Range = 32.79 
TNavPF::Calculated measDiffMean for beam 85 as -0.52. Range = 32.61 
TNavPF::Calculated measDiffMean for beam 86 as -0.37. Range = 32.44 
TNavPF::Calculated measDiffMean for beam 87 as 3.93. Range = 32.28 
TNavPF::Calculated measDiffMean for beam 88 as 4.20. Range = 32.14 
TNavPF::Calculated measDiffMean for beam 89 as 4.32. Range = 32.00 
TNavPF::First Term of Map Covariance Matrix is 27.92 
TNavPF::Calculated NIS Value : 13.70 	numBeams normalized NIS: 0.23
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323452.82 sec.
INS : North: 4070187.00, East: 589419.90, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 37.53, IDT[75] = 50.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323455.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323455.62)
ARL : North: 7.3623, East: 104.1171, Depth: -21.5435ARL : Estimation Bias  (Mean)         : (t = 1488323455.62)
ARL : North: 18.0595, East: -24.5007, Depth: -20.4035TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.77 
Alpha[0]	0.123000
Alpha[0]	0.996916
TNavParticleFilter::Modified Variance for beam 1 is 9.84 
Alpha[1]	0.000000
Alpha[1]	0.996710
TNavParticleFilter::Modified Variance for beam 2 is 9.72 
Alpha[2]	0.000000
Alpha[2]	0.996478
TNavParticleFilter::Modified Variance for beam 3 is 9.60 
Alpha[3]	0.000000
Alpha[3]	0.996304
TNavParticleFilter::Modified Variance for beam 4 is 9.48 
Alpha[4]	0.000000
Alpha[4]	0.996395
TNavParticleFilter::Modified Variance for beam 5 is 9.37 
Alpha[5]	0.000000
Alpha[5]	0.996768
TNavParticleFilter::Modified Variance for beam 6 is 9.27 
Alpha[6]	0.000000
Alpha[6]	0.997053
TNavParticleFilter::Modified Variance for beam 7 is 9.17 
Alpha[7]	0.000000
Alpha[7]	0.997276
TNavParticleFilter::Modified Variance for beam 8 is 9.08 
Alpha[8]	0.000000
Alpha[8]	0.997402
TNavParticleFilter::Modified Variance for beam 9 is 9.00 
Alpha[9]	0.000000
Alpha[9]	0.997245
TNavParticleFilter::Modified Variance for beam 10 is 8.93 
Alpha[10]	0.000000
Alpha[10]	0.996754
TNavParticleFilter::Modified Variance for beam 11 is 8.86 
Alpha[11]	0.000000
Alpha[11]	0.996297
TNavParticleFilter::Modified Variance for beam 12 is 8.79 
Alpha[12]	0.000000
Alpha[12]	0.996053
TNavParticleFilter::Modified Variance for beam 13 is 9.04 
Alpha[13]	0.000000
Alpha[13]	0.995949
TNavParticleFilter::Modified Variance for beam 14 is 10.10 
Alpha[14]	0.000000
Alpha[14]	0.996197
TNavParticleFilter::Modified Variance for beam 15 is 10.40 
Alpha[15]	0.000000
Alpha[15]	0.996646
TNavParticleFilter::Modified Variance for beam 16 is 10.72 
Alpha[16]	0.000000
Alpha[16]	0.996771
TNavParticleFilter::Modified Variance for beam 17 is 10.65 
Alpha[17]	0.000000
Alpha[17]	0.996501
TNavParticleFilter::Modified Variance for beam 18 is 10.59 
Alpha[18]	0.000000
Alpha[18]	0.996106
TNavParticleFilter::Modified Variance for beam 19 is 11.32 
Alpha[19]	0.000000
Alpha[19]	0.995693
TNavParticleFilter::Modified Variance for beam 20 is 11.27 
Alpha[20]	0.000000
Alpha[20]	0.995224
TNavParticleFilter::Modified Variance for beam 21 is 11.22 
Alpha[21]	0.000000
Alpha[21]	0.994426
TNavParticleFilter::Modified Variance for beam 22 is 11.19 
Alpha[22]	0.000000
Alpha[22]	0.992771
TNavParticleFilter::Modified Variance for beam 23 is 11.16 
Alpha[23]	0.000000
Alpha[23]	0.991421
TNavParticleFilter::Modified Variance for beam 24 is 11.13 
Alpha[24]	0.000000
Alpha[24]	0.990693
TNavParticleFilter::Modified Variance for beam 25 is 11.76 
Alpha[25]	0.000000
Alpha[25]	0.991811
TNavParticleFilter::Modified Variance for beam 26 is 11.84 
Alpha[26]	0.000000
Alpha[26]	0.993161
TNavParticleFilter::Modified Variance for beam 27 is 11.80 
Alpha[27]	0.000000
Alpha[27]	0.994054
TNavParticleFilter::Modified Variance for beam 28 is 12.57 
Alpha[28]	0.000000
Alpha[28]	0.994677
TNavParticleFilter::Modified Variance for beam 29 is 12.57 
Alpha[29]	0.000000
Alpha[29]	0.995872
TNavParticleFilter::Modified Variance for beam 30 is 12.54 
Alpha[30]	0.000000
Alpha[30]	0.997184
TNavParticleFilter::Modified Variance for beam 31 is 12.53 
Alpha[31]	0.000000
Alpha[31]	0.997760
TNavParticleFilter::Modified Variance for beam 32 is 12.52 
Alpha[32]	0.000000
Alpha[32]	0.998300
TNavParticleFilter::Modified Variance for beam 33 is 12.52 
Alpha[33]	0.000000
Alpha[33]	0.998789
TNavParticleFilter::Modified Variance for beam 34 is 13.39 
Alpha[34]	0.000000
Alpha[34]	0.998776
TNavParticleFilter::Modified Variance for beam 35 is 13.41 
Alpha[35]	0.000000
Alpha[35]	0.998631
TNavParticleFilter::Modified Variance for beam 36 is 13.44 
Alpha[36]	0.000000
Alpha[36]	0.998470
TNavParticleFilter::Modified Variance for beam 37 is 13.47 
Alpha[37]	0.000000
Alpha[37]	0.998096
TNavParticleFilter::Modified Variance for beam 38 is 13.51 
Alpha[38]	0.000000
Alpha[38]	0.997797
TNavParticleFilter::Modified Variance for beam 39 is 14.47 
Alpha[39]	0.000000
Alpha[39]	0.997753
TNavParticleFilter::Modified Variance for beam 40 is 14.52 
Alpha[40]	0.000000
Alpha[40]	0.997764
TNavParticleFilter::Modified Variance for beam 41 is 15.55 
Alpha[41]	0.000000
Alpha[41]	0.997916
TNavParticleFilter::Modified Variance for beam 42 is 15.61 
Alpha[42]	0.000000
Alpha[42]	0.998133
TNavParticleFilter::Modified Variance for beam 43 is 15.69 
Alpha[43]	0.000000
Alpha[43]	0.998231
TNavParticleFilter::Modified Variance for beam 44 is 15.79 
Alpha[44]	0.000000
Alpha[44]	0.998077
TNavParticleFilter::Modified Variance for beam 45 is 15.89 
Alpha[45]	0.000000
Alpha[45]	0.997607
TNavParticleFilter::Modified Variance for beam 46 is 16.01 
Alpha[46]	0.000000
Alpha[46]	0.996846
TNavParticleFilter::Modified Variance for beam 47 is 17.20 
Alpha[47]	0.000000
Alpha[47]	0.995931
TNavParticleFilter::Modified Variance for beam 48 is 17.34 
Alpha[48]	0.000000
Alpha[48]	0.995505
TNavParticleFilter::Modified Variance for beam 49 is 16.45 
Alpha[49]	0.000000
Alpha[49]	0.995715
TNavParticleFilter::Modified Variance for beam 50 is 15.11 
Alpha[50]	0.000000
Alpha[50]	0.996340
TNavParticleFilter::Modified Variance for beam 51 is 13.97 
Alpha[51]	0.000000
Alpha[51]	0.997475
TNavParticleFilter::Modified Variance for beam 52 is 12.99 
Alpha[52]	0.000000
Alpha[52]	0.998418
TNavParticleFilter::Modified Variance for beam 53 is 12.15 
Alpha[53]	0.000000
Alpha[53]	0.998772
TNavParticleFilter::Modified Variance for beam 54 is 11.43 
Alpha[54]	0.000000
Alpha[54]	0.998956
TNavParticleFilter::Modified Variance for beam 55 is 11.39 
Alpha[55]	0.000000
Alpha[55]	0.999054
TNavParticleFilter::Modified Variance for beam 56 is 11.52 
Alpha[56]	0.000000
Alpha[56]	0.999039
TNavParticleFilter::Modified Variance for beam 57 is 11.50 
Alpha[57]	0.000000
Alpha[57]	0.998904
TNavParticleFilter::Modified Variance for beam 58 is 10.94 
Alpha[58]	0.000000
Alpha[58]	0.998677
TNavParticleFilter::Modified Variance for beam 59 is 10.45 
Alpha[59]	0.000000
Alpha[59]	0.998422
TNavPF:: sumSquaredError = 269.051655 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.80. Range = 76.02 
TNavPF::Calculated measDiffMean for beam 31 as -0.26. Range = 79.68 
TNavPF::Calculated measDiffMean for beam 32 as -0.39. Range = 77.28 
TNavPF::Calculated measDiffMean for beam 33 as -0.35. Range = 71.19 
TNavPF::Calculated measDiffMean for beam 34 as -0.16. Range = 69.21 
TNavPF::Calculated measDiffMean for beam 35 as 0.02. Range = 56.41 
TNavPF::Calculated measDiffMean for beam 36 as 0.04. Range = 56.75 
TNavPF::Calculated measDiffMean for beam 37 as -0.18. Range = 57.06 
TNavPF::Calculated measDiffMean for beam 38 as -0.66. Range = 55.69 
TNavPF::Calculated measDiffMean for beam 39 as -1.37. Range = 54.41 
TNavPF::Calculated measDiffMean for beam 40 as -2.07. Range = 53.19 
TNavPF::Calculated measDiffMean for beam 41 as -2.59. Range = 52.81 
TNavPF::Calculated measDiffMean for beam 42 as -2.94. Range = 53.58 
TNavPF::Calculated measDiffMean for beam 43 as -2.42. Range = 49.95 
TNavPF::Calculated measDiffMean for beam 44 as 0.20. Range = 48.98 
TNavPF::Calculated measDiffMean for beam 45 as 0.55. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 46 as 1.06. Range = 47.20 
TNavPF::Calculated measDiffMean for beam 47 as 0.44. Range = 46.37 
TNavPF::Calculated measDiffMean for beam 48 as -0.48. Range = 45.59 
TNavPF::Calculated measDiffMean for beam 49 as 0.67. Range = 44.85 
TNavPF::Calculated measDiffMean for beam 50 as 0.13. Range = 44.14 
TNavPF::Calculated measDiffMean for beam 51 as -0.30. Range = 40.83 
TNavPF::Calculated measDiffMean for beam 52 as -0.61. Range = 40.23 
TNavPF::Calculated measDiffMean for beam 53 as -0.62. Range = 39.66 
TNavPF::Calculated measDiffMean for beam 54 as -0.58. Range = 39.12 
TNavPF::Calculated measDiffMean for beam 55 as 1.05. Range = 38.61 
TNavPF::Calculated measDiffMean for beam 56 as 1.37. Range = 38.11 
TNavPF::Calculated measDiffMean for beam 57 as 1.47. Range = 37.65 
TNavPF::Calculated measDiffMean for beam 58 as 3.41. Range = 34.80 
TNavPF::Calculated measDiffMean for beam 59 as 3.13. Range = 34.80 
TNavPF::Calculated measDiffMean for beam 60 as 2.35. Range = 35.78 
TNavPF::Calculated measDiffMean for beam 61 as 1.48. Range = 35.99 
TNavPF::Calculated measDiffMean for beam 62 as 0.63. Range = 35.63 
TNavPF::Calculated measDiffMean for beam 63 as -0.88. Range = 35.28 
TNavPF::Calculated measDiffMean for beam 64 as -0.43. Range = 34.95 
TNavPF::Calculated measDiffMean for beam 65 as -1.27. Range = 34.64 
TNavPF::Calculated measDiffMean for beam 66 as -2.00. Range = 34.34 
TNavPF::Calculated measDiffMean for beam 67 as -2.15. Range = 34.06 
TNavPF::Calculated measDiffMean for beam 68 as -1.82. Range = 33.80 
TNavPF::Calculated measDiffMean for beam 69 as 0.44. Range = 33.54 
TNavPF::Calculated measDiffMean for beam 70 as 0.66. Range = 33.30 
TNavPF::Calculated measDiffMean for beam 71 as 2.81. Range = 33.08 
TNavPF::Calculated measDiffMean for beam 72 as 2.88. Range = 32.87 
TNavPF::Calculated measDiffMean for beam 73 as 3.03. Range = 33.62 
TNavPF::Calculated measDiffMean for beam 74 as 3.10. Range = 36.68 
TNavPF::Calculated measDiffMean for beam 75 as 2.94. Range = 37.53 
TNavPF::Calculated measDiffMean for beam 76 as 2.57. Range = 38.38 
TNavPF::Calculated measDiffMean for beam 77 as 4.29. Range = 38.19 
TNavPF::Calculated measDiffMean for beam 78 as 3.94. Range = 38.03 
TNavPF::Calculated measDiffMean for beam 79 as 1.43. Range = 39.92 
TNavPF::Calculated measDiffMean for beam 80 as -2.22. Range = 39.77 
TNavPF::Calculated measDiffMean for beam 81 as -5.34. Range = 39.63 
TNavPF::Calculated measDiffMean for beam 82 as -7.81. Range = 39.51 
TNavPF::Calculated measDiffMean for beam 83 as -10.17. Range = 39.40 
TNavPF::Calculated measDiffMean for beam 84 as -12.82. Range = 39.30 
TNavPF::Calculated measDiffMean for beam 85 as -13.97. Range = 40.92 
TNavPF::Calculated measDiffMean for beam 86 as -14.34. Range = 41.15 
TNavPF::Calculated measDiffMean for beam 87 as -14.71. Range = 41.08 
TNavPF::Calculated measDiffMean for beam 88 as -16.38. Range = 42.94 
TNavPF::Calculated measDiffMean for beam 89 as -18.03. Range = 42.99 
TNavPF::First Term of Map Covariance Matrix is 6.47 
TNavPF::Calculated NIS Value : 53.66 	numBeams normalized NIS: 0.89
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323455.82 sec.
INS : North: 4070187.02, East: 589415.80, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 45.68, IDT[75] = 37.85
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323458.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323458.62)
ARL : North: 7.6450, East: 104.0860, Depth: -20.5851ARL : Estimation Bias  (Mean)         : (t = 1488323458.62)
ARL : North: 7.5342, East: 103.6742, Depth: -20.0800TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.13 
Alpha[0]	0.123000
Alpha[0]	0.983629
TNavParticleFilter::Modified Variance for beam 1 is 12.06 
Alpha[1]	0.000000
Alpha[1]	0.982329
TNavParticleFilter::Modified Variance for beam 2 is 12.03 
Alpha[2]	0.000000
Alpha[2]	0.977695
TNavParticleFilter::Modified Variance for beam 3 is 12.03 
Alpha[3]	0.000000
Alpha[3]	0.970661
TNavParticleFilter::Modified Variance for beam 4 is 11.94 
Alpha[4]	0.000000
Alpha[4]	0.972037
TNavParticleFilter::Modified Variance for beam 5 is 11.82 
Alpha[5]	0.000000
Alpha[5]	0.977569
TNavParticleFilter::Modified Variance for beam 6 is 13.26 
Alpha[6]	0.000000
Alpha[6]	0.981291
TNavParticleFilter::Modified Variance for beam 7 is 13.35 
Alpha[7]	0.000000
Alpha[7]	0.982627
TNavParticleFilter::Modified Variance for beam 8 is 13.32 
Alpha[8]	0.000000
Alpha[8]	0.980709
TNavParticleFilter::Modified Variance for beam 9 is 13.21 
Alpha[9]	0.000000
Alpha[9]	0.984263
TNavParticleFilter::Modified Variance for beam 10 is 13.07 
Alpha[10]	0.000000
Alpha[10]	0.991581
TNavParticleFilter::Modified Variance for beam 11 is 12.98 
Alpha[11]	0.000000
Alpha[11]	0.995129
TNavParticleFilter::Modified Variance for beam 12 is 13.80 
Alpha[12]	0.000000
Alpha[12]	0.997221
TNavParticleFilter::Modified Variance for beam 13 is 12.87 
Alpha[13]	0.000000
Alpha[13]	0.998258
TNavParticleFilter::Modified Variance for beam 14 is 13.73 
Alpha[14]	0.000000
Alpha[14]	0.998634
TNavParticleFilter::Modified Variance for beam 15 is 13.70 
Alpha[15]	0.000000
Alpha[15]	0.998684
TNavParticleFilter::Modified Variance for beam 16 is 13.69 
Alpha[16]	0.000000
Alpha[16]	0.998474
TNavParticleFilter::Modified Variance for beam 17 is 13.69 
Alpha[17]	0.000000
Alpha[17]	0.998060
TNavParticleFilter::Modified Variance for beam 18 is 13.70 
Alpha[18]	0.000000
Alpha[18]	0.997247
TNavParticleFilter::Modified Variance for beam 19 is 13.72 
Alpha[19]	0.000000
Alpha[19]	0.996459
TNavParticleFilter::Modified Variance for beam 20 is 14.66 
Alpha[20]	0.000000
Alpha[20]	0.995523
TNavParticleFilter::Modified Variance for beam 21 is 14.69 
Alpha[21]	0.000000
Alpha[21]	0.995020
TNavParticleFilter::Modified Variance for beam 22 is 15.68 
Alpha[22]	0.000000
Alpha[22]	0.994984
TNavParticleFilter::Modified Variance for beam 23 is 15.71 
Alpha[23]	0.000000
Alpha[23]	0.995457
TNavParticleFilter::Modified Variance for beam 24 is 15.75 
Alpha[24]	0.000000
Alpha[24]	0.995896
TNavParticleFilter::Modified Variance for beam 25 is 15.80 
Alpha[25]	0.000000
Alpha[25]	0.995911
TNavParticleFilter::Modified Variance for beam 26 is 15.87 
Alpha[26]	0.000000
Alpha[26]	0.995347
TNavParticleFilter::Modified Variance for beam 27 is 15.95 
Alpha[27]	0.000000
Alpha[27]	0.994362
TNavParticleFilter::Modified Variance for beam 28 is 16.03 
Alpha[28]	0.000000
Alpha[28]	0.993976
TNavParticleFilter::Modified Variance for beam 29 is 17.16 
Alpha[29]	0.000000
Alpha[29]	0.993857
TNavParticleFilter::Modified Variance for beam 30 is 17.26 
Alpha[30]	0.000000
Alpha[30]	0.993967
TNavParticleFilter::Modified Variance for beam 31 is 17.38 
Alpha[31]	0.000000
Alpha[31]	0.993648
TNavParticleFilter::Modified Variance for beam 32 is 17.49 
Alpha[32]	0.000000
Alpha[32]	0.994215
TNavParticleFilter::Modified Variance for beam 33 is 17.61 
Alpha[33]	0.000000
Alpha[33]	0.994626
TNavParticleFilter::Modified Variance for beam 34 is 17.69 
Alpha[34]	0.000000
Alpha[34]	0.993842
TNavParticleFilter::Modified Variance for beam 35 is 13.07 
Alpha[35]	0.000000
Alpha[35]	0.993075
TNavParticleFilter::Modified Variance for beam 36 is 12.08 
Alpha[36]	0.000000
Alpha[36]	0.994081
TNavParticleFilter::Modified Variance for beam 37 is 11.31 
Alpha[37]	0.000000
Alpha[37]	0.995466
TNavParticleFilter::Modified Variance for beam 38 is 11.40 
Alpha[38]	0.000000
Alpha[38]	0.996125
TNavParticleFilter::Modified Variance for beam 39 is 11.51 
Alpha[39]	0.000000
Alpha[39]	0.995832
TNavParticleFilter::Modified Variance for beam 40 is 11.32 
Alpha[40]	0.000000
Alpha[40]	0.994217
TNavParticleFilter::Modified Variance for beam 41 is 10.72 
Alpha[41]	0.000000
Alpha[41]	0.992275
TNavParticleFilter::Modified Variance for beam 42 is 10.20 
Alpha[42]	0.000000
Alpha[42]	0.993295
TNavParticleFilter::Modified Variance for beam 43 is 10.30 
Alpha[43]	0.000000
Alpha[43]	0.994866
TNavParticleFilter::Modified Variance for beam 44 is 10.42 
Alpha[44]	0.000000
Alpha[44]	0.994609
TNavParticleFilter::Modified Variance for beam 45 is 10.57 
Alpha[45]	0.000000
Alpha[45]	0.992305
TNavParticleFilter::Modified Variance for beam 46 is 10.71 
Alpha[46]	0.000000
Alpha[46]	0.991343
TNavParticleFilter::Modified Variance for beam 47 is 10.84 
Alpha[47]	0.000000
Alpha[47]	0.991764
TNavParticleFilter::Modified Variance for beam 48 is 10.12 
Alpha[48]	0.000000
Alpha[48]	0.992645
TNavParticleFilter::Modified Variance for beam 49 is 10.17 
Alpha[49]	0.000000
Alpha[49]	0.995929
TNavParticleFilter::Modified Variance for beam 50 is 9.78 
Alpha[50]	0.000000
Alpha[50]	0.998223
TNavParticleFilter::Modified Variance for beam 51 is 9.63 
Alpha[51]	0.000000
Alpha[51]	0.999097
TNavParticleFilter::Modified Variance for beam 52 is 9.77 
Alpha[52]	0.000000
Alpha[52]	0.999427
TNavParticleFilter::Modified Variance for beam 53 is 9.93 
Alpha[53]	0.000000
Alpha[53]	0.999545
TNavParticleFilter::Modified Variance for beam 54 is 10.09 
Alpha[54]	0.000000
Alpha[54]	0.999495
TNavParticleFilter::Modified Variance for beam 55 is 10.28 
Alpha[55]	0.000000
Alpha[55]	0.998694
TNavParticleFilter::Modified Variance for beam 56 is 10.51 
Alpha[56]	0.000000
Alpha[56]	0.994780
TNavParticleFilter::Modified Variance for beam 57 is 10.69 
Alpha[57]	0.000000
Alpha[57]	0.996163
TNavParticleFilter::Modified Variance for beam 58 is 10.92 
Alpha[58]	0.000000
Alpha[58]	0.994748
TNavParticleFilter::Modified Variance for beam 59 is 11.15 
Alpha[59]	0.000000
Alpha[59]	0.994912
TNavPF:: sumSquaredError = 785.228405 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.10. Range = 49.88 
TNavPF::Calculated measDiffMean for beam 31 as 1.68. Range = 48.95 
TNavPF::Calculated measDiffMean for beam 32 as 1.34. Range = 48.07 
TNavPF::Calculated measDiffMean for beam 33 as 1.02. Range = 47.24 
TNavPF::Calculated measDiffMean for beam 34 as 0.82. Range = 43.68 
TNavPF::Calculated measDiffMean for beam 35 as 0.75. Range = 42.97 
TNavPF::Calculated measDiffMean for beam 36 as 4.32. Range = 42.30 
TNavPF::Calculated measDiffMean for beam 37 as 4.72. Range = 41.66 
TNavPF::Calculated measDiffMean for beam 38 as 4.83. Range = 41.05 
TNavPF::Calculated measDiffMean for beam 39 as 4.79. Range = 40.47 
TNavPF::Calculated measDiffMean for beam 40 as 4.55. Range = 39.92 
TNavPF::Calculated measDiffMean for beam 41 as 4.04. Range = 39.39 
TNavPF::Calculated measDiffMean for beam 42 as 5.07. Range = 38.90 
TNavPF::Calculated measDiffMean for beam 43 as 1.92. Range = 38.42 
TNavPF::Calculated measDiffMean for beam 44 as 2.54. Range = 37.97 
TNavPF::Calculated measDiffMean for beam 45 as 0.74. Range = 37.54 
TNavPF::Calculated measDiffMean for beam 46 as -0.44. Range = 37.13 
TNavPF::Calculated measDiffMean for beam 47 as -1.20. Range = 37.07 
TNavPF::Calculated measDiffMean for beam 48 as -1.61. Range = 38.21 
TNavPF::Calculated measDiffMean for beam 49 as -1.50. Range = 38.30 
TNavPF::Calculated measDiffMean for beam 50 as 0.84. Range = 37.94 
TNavPF::Calculated measDiffMean for beam 51 as 1.02. Range = 37.68 
TNavPF::Calculated measDiffMean for beam 52 as 3.15. Range = 39.05 
TNavPF::Calculated measDiffMean for beam 53 as 3.32. Range = 39.18 
TNavPF::Calculated measDiffMean for beam 54 as 3.47. Range = 38.88 
TNavPF::Calculated measDiffMean for beam 55 as 3.66. Range = 38.69 
TNavPF::Calculated measDiffMean for beam 56 as 3.77. Range = 40.41 
TNavPF::Calculated measDiffMean for beam 57 as 3.77. Range = 40.20 
TNavPF::Calculated measDiffMean for beam 58 as 3.61. Range = 39.94 
TNavPF::Calculated measDiffMean for beam 59 as 5.48. Range = 40.36 
TNavPF::Calculated measDiffMean for beam 60 as 5.26. Range = 41.57 
TNavPF::Calculated measDiffMean for beam 61 as 5.04. Range = 41.35 
TNavPF::Calculated measDiffMean for beam 62 as 4.99. Range = 41.14 
TNavPF::Calculated measDiffMean for beam 63 as 5.32. Range = 40.95 
TNavPF::Calculated measDiffMean for beam 64 as 5.78. Range = 40.77 
TNavPF::Calculated measDiffMean for beam 65 as -3.81. Range = 40.65 
TNavPF::Calculated measDiffMean for beam 66 as -6.48. Range = 44.14 
TNavPF::Calculated measDiffMean for beam 67 as -8.91. Range = 44.39 
TNavPF::Calculated measDiffMean for beam 68 as -9.23. Range = 44.25 
TNavPF::Calculated measDiffMean for beam 69 as -9.53. Range = 44.13 
TNavPF::Calculated measDiffMean for beam 70 as -10.52. Range = 44.02 
TNavPF::Calculated measDiffMean for beam 71 as -12.52. Range = 43.92 
TNavPF::Calculated measDiffMean for beam 72 as -14.13. Range = 45.85 
TNavPF::Calculated measDiffMean for beam 73 as -13.86. Range = 43.77 
TNavPF::Calculated measDiffMean for beam 74 as -13.33. Range = 45.72 
TNavPF::Calculated measDiffMean for beam 75 as -12.94. Range = 45.68 
TNavPF::Calculated measDiffMean for beam 76 as -13.08. Range = 45.65 
TNavPF::Calculated measDiffMean for beam 77 as -13.65. Range = 45.63 
TNavPF::Calculated measDiffMean for beam 78 as -16.33. Range = 45.63 
TNavPF::Calculated measDiffMean for beam 79 as -16.13. Range = 45.64 
TNavPF::Calculated measDiffMean for beam 80 as -16.84. Range = 47.67 
TNavPF::Calculated measDiffMean for beam 81 as -17.33. Range = 47.71 
TNavPF::Calculated measDiffMean for beam 82 as -17.65. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 83 as -19.38. Range = 49.85 
TNavPF::Calculated measDiffMean for beam 84 as -22.58. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 85 as -25.63. Range = 50.04 
TNavPF::Calculated measDiffMean for beam 86 as -27.14. Range = 50.17 
TNavPF::Calculated measDiffMean for beam 87 as -28.78. Range = 50.30 
TNavPF::Calculated measDiffMean for beam 88 as -30.22. Range = 50.46 
TNavPF::Calculated measDiffMean for beam 89 as -30.71. Range = 52.67 
TNavPF::First Term of Map Covariance Matrix is 1.21 
TNavPF::Calculated NIS Value : 527.21 	numBeams normalized NIS: 8.79
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323458.82 sec.
INS : North: 4070187.90, East: 589411.81, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 50.58, IDT[75] = 34.96
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323461.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323461.62)
ARL : North: 4.8700, East: 102.8764, Depth: -17.5654ARL : Estimation Bias  (Mean)         : (t = 1488323461.62)
ARL : North: 4.4885, East: 102.7306, Depth: -18.8449TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.72 
Alpha[0]	0.123000
Alpha[0]	0.950850
TNavParticleFilter::Modified Variance for beam 1 is 14.24 
Alpha[1]	0.000000
Alpha[1]	0.975358
TNavParticleFilter::Modified Variance for beam 2 is 13.95 
Alpha[2]	0.000000
Alpha[2]	0.989246
TNavParticleFilter::Modified Variance for beam 3 is 13.80 
Alpha[3]	0.000000
Alpha[3]	0.993796
TNavParticleFilter::Modified Variance for beam 4 is 13.71 
Alpha[4]	0.000000
Alpha[4]	0.994198
TNavParticleFilter::Modified Variance for beam 5 is 14.23 
Alpha[5]	0.000000
Alpha[5]	0.994650
TNavParticleFilter::Modified Variance for beam 6 is 14.46 
Alpha[6]	0.000000
Alpha[6]	0.996861
TNavParticleFilter::Modified Variance for beam 7 is 14.38 
Alpha[7]	0.000000
Alpha[7]	0.998082
TNavParticleFilter::Modified Variance for beam 8 is 14.32 
Alpha[8]	0.000000
Alpha[8]	0.998211
TNavParticleFilter::Modified Variance for beam 9 is 14.28 
Alpha[9]	0.000000
Alpha[9]	0.997564
TNavParticleFilter::Modified Variance for beam 10 is 14.31 
Alpha[10]	0.000000
Alpha[10]	0.997103
TNavParticleFilter::Modified Variance for beam 11 is 14.22 
Alpha[11]	0.000000
Alpha[11]	0.996810
TNavParticleFilter::Modified Variance for beam 12 is 14.21 
Alpha[12]	0.000000
Alpha[12]	0.995480
TNavParticleFilter::Modified Variance for beam 13 is 15.15 
Alpha[13]	0.000000
Alpha[13]	0.994014
TNavParticleFilter::Modified Variance for beam 14 is 15.12 
Alpha[14]	0.000000
Alpha[14]	0.994445
TNavParticleFilter::Modified Variance for beam 15 is 16.09 
Alpha[15]	0.000000
Alpha[15]	0.994690
TNavParticleFilter::Modified Variance for beam 16 is 16.08 
Alpha[16]	0.000000
Alpha[16]	0.994742
TNavParticleFilter::Modified Variance for beam 17 is 16.08 
Alpha[17]	0.000000
Alpha[17]	0.995005
TNavParticleFilter::Modified Variance for beam 18 is 16.09 
Alpha[18]	0.000000
Alpha[18]	0.995011
TNavParticleFilter::Modified Variance for beam 19 is 16.12 
Alpha[19]	0.000000
Alpha[19]	0.994591
TNavParticleFilter::Modified Variance for beam 20 is 16.17 
Alpha[20]	0.000000
Alpha[20]	0.993563
TNavParticleFilter::Modified Variance for beam 21 is 16.21 
Alpha[21]	0.000000
Alpha[21]	0.993251
TNavParticleFilter::Modified Variance for beam 22 is 17.27 
Alpha[22]	0.000000
Alpha[22]	0.993551
TNavParticleFilter::Modified Variance for beam 23 is 17.35 
Alpha[23]	0.000000
Alpha[23]	0.992187
TNavParticleFilter::Modified Variance for beam 24 is 17.43 
Alpha[24]	0.000000
Alpha[24]	0.991617
TNavParticleFilter::Modified Variance for beam 25 is 17.47 
Alpha[25]	0.000000
Alpha[25]	0.993528
TNavParticleFilter::Modified Variance for beam 26 is 17.54 
Alpha[26]	0.000000
Alpha[26]	0.994138
TNavParticleFilter::Modified Variance for beam 27 is 17.64 
Alpha[27]	0.000000
Alpha[27]	0.993359
TNavParticleFilter::Modified Variance for beam 28 is 13.04 
Alpha[28]	0.000000
Alpha[28]	0.990952
TNavParticleFilter::Modified Variance for beam 29 is 11.70 
Alpha[29]	0.000000
Alpha[29]	0.988817
TNavParticleFilter::Modified Variance for beam 30 is 11.31 
Alpha[30]	0.000000
Alpha[30]	0.991032
TNavParticleFilter::Modified Variance for beam 31 is 11.35 
Alpha[31]	0.000000
Alpha[31]	0.993715
TNavParticleFilter::Modified Variance for beam 32 is 11.41 
Alpha[32]	0.000000
Alpha[32]	0.995186
TNavParticleFilter::Modified Variance for beam 33 is 10.65 
Alpha[33]	0.000000
Alpha[33]	0.995535
TNavParticleFilter::Modified Variance for beam 34 is 10.01 
Alpha[34]	0.000000
Alpha[34]	0.992878
TNavParticleFilter::Modified Variance for beam 35 is 10.12 
Alpha[35]	0.000000
Alpha[35]	0.989602
TNavParticleFilter::Modified Variance for beam 36 is 10.20 
Alpha[36]	0.000000
Alpha[36]	0.990421
TNavParticleFilter::Modified Variance for beam 37 is 10.25 
Alpha[37]	0.000000
Alpha[37]	0.993541
TNavParticleFilter::Modified Variance for beam 38 is 10.33 
Alpha[38]	0.000000
Alpha[38]	0.994846
TNavParticleFilter::Modified Variance for beam 39 is 10.45 
Alpha[39]	0.000000
Alpha[39]	0.992926
TNavParticleFilter::Modified Variance for beam 40 is 10.42 
Alpha[40]	0.000000
Alpha[40]	0.987423
TNavParticleFilter::Modified Variance for beam 41 is 9.97 
Alpha[41]	0.000000
Alpha[41]	0.982419
TNavParticleFilter::Modified Variance for beam 42 is 9.47 
Alpha[42]	0.000000
Alpha[42]	0.987024
TNavParticleFilter::Modified Variance for beam 43 is 9.33 
Alpha[43]	0.000000
Alpha[43]	0.989254
TNavParticleFilter::Modified Variance for beam 44 is 9.43 
Alpha[44]	0.000000
Alpha[44]	0.990718
TNavParticleFilter::Modified Variance for beam 45 is 9.49 
Alpha[45]	0.000000
Alpha[45]	0.995877
TNavParticleFilter::Modified Variance for beam 46 is 9.59 
Alpha[46]	0.000000
Alpha[46]	0.998344
TNavParticleFilter::Modified Variance for beam 47 is 9.71 
Alpha[47]	0.000000
Alpha[47]	0.999030
TNavParticleFilter::Modified Variance for beam 48 is 9.84 
Alpha[48]	0.000000
Alpha[48]	0.999309
TNavParticleFilter::Modified Variance for beam 49 is 9.98 
Alpha[49]	0.000000
Alpha[49]	0.999412
TNavParticleFilter::Modified Variance for beam 50 is 10.14 
Alpha[50]	0.000000
Alpha[50]	0.998947
TNavParticleFilter::Modified Variance for beam 51 is 10.34 
Alpha[51]	0.000000
Alpha[51]	0.995920
TNavParticleFilter::Modified Variance for beam 52 is 10.61 
Alpha[52]	0.000000
Alpha[52]	0.986332
TNavParticleFilter::Modified Variance for beam 53 is 10.75 
Alpha[53]	0.000000
Alpha[53]	0.990836
TNavParticleFilter::Modified Variance for beam 54 is 10.50 
Alpha[54]	0.000000
Alpha[54]	0.993399
TNavParticleFilter::Modified Variance for beam 55 is 10.26 
Alpha[55]	0.000000
Alpha[55]	0.987471
TNavParticleFilter::Modified Variance for beam 56 is 10.37 
Alpha[56]	0.000000
Alpha[56]	0.991867
TNavParticleFilter::Modified Variance for beam 57 is 10.54 
Alpha[57]	0.000000
Alpha[57]	0.995172
TNavParticleFilter::Modified Variance for beam 58 is 10.47 
Alpha[58]	0.000000
Alpha[58]	0.995515
TNavParticleFilter::Modified Variance for beam 59 is 10.22 
Alpha[59]	0.000000
Alpha[59]	0.994601
TNavPF:: sumSquaredError = 896.588963 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 8.32. Range = 46.82 
TNavPF::Calculated measDiffMean for beam 31 as 8.39. Range = 46.00 
TNavPF::Calculated measDiffMean for beam 32 as 8.10. Range = 45.22 
TNavPF::Calculated measDiffMean for beam 33 as 7.63. Range = 44.48 
TNavPF::Calculated measDiffMean for beam 34 as 7.25. Range = 43.78 
TNavPF::Calculated measDiffMean for beam 35 as 7.57. Range = 43.11 
TNavPF::Calculated measDiffMean for beam 36 as 6.67. Range = 42.47 
TNavPF::Calculated measDiffMean for beam 37 as 5.45. Range = 41.86 
TNavPF::Calculated measDiffMean for beam 38 as 4.56. Range = 41.29 
TNavPF::Calculated measDiffMean for beam 39 as 3.10. Range = 40.74 
TNavPF::Calculated measDiffMean for beam 40 as 2.26. Range = 40.22 
TNavPF::Calculated measDiffMean for beam 41 as 2.07. Range = 39.92 
TNavPF::Calculated measDiffMean for beam 42 as 2.43. Range = 40.95 
TNavPF::Calculated measDiffMean for beam 43 as 4.68. Range = 41.18 
TNavPF::Calculated measDiffMean for beam 44 as 4.84. Range = 40.73 
TNavPF::Calculated measDiffMean for beam 45 as 7.03. Range = 40.58 
TNavPF::Calculated measDiffMean for beam 46 as 7.13. Range = 41.81 
TNavPF::Calculated measDiffMean for beam 47 as 7.43. Range = 41.78 
TNavPF::Calculated measDiffMean for beam 48 as 7.67. Range = 41.39 
TNavPF::Calculated measDiffMean for beam 49 as 7.68. Range = 41.64 
TNavPF::Calculated measDiffMean for beam 50 as 7.49. Range = 42.89 
TNavPF::Calculated measDiffMean for beam 51 as 7.38. Range = 42.53 
TNavPF::Calculated measDiffMean for beam 52 as 9.31. Range = 42.20 
TNavPF::Calculated measDiffMean for beam 53 as 9.10. Range = 43.27 
TNavPF::Calculated measDiffMean for beam 54 as 8.98. Range = 43.74 
TNavPF::Calculated measDiffMean for beam 55 as 8.64. Range = 43.44 
TNavPF::Calculated measDiffMean for beam 56 as 8.53. Range = 43.16 
TNavPF::Calculated measDiffMean for beam 57 as 9.08. Range = 42.89 
TNavPF::Calculated measDiffMean for beam 58 as -0.10. Range = 42.64 
TNavPF::Calculated measDiffMean for beam 59 as -3.50. Range = 44.15 
TNavPF::Calculated measDiffMean for beam 60 as -4.71. Range = 46.35 
TNavPF::Calculated measDiffMean for beam 61 as -4.74. Range = 46.13 
TNavPF::Calculated measDiffMean for beam 62 as -4.77. Range = 45.92 
TNavPF::Calculated measDiffMean for beam 63 as -7.23. Range = 45.73 
TNavPF::Calculated measDiffMean for beam 64 as -9.64. Range = 45.56 
TNavPF::Calculated measDiffMean for beam 65 as -9.82. Range = 46.72 
TNavPF::Calculated measDiffMean for beam 66 as -9.97. Range = 47.28 
TNavPF::Calculated measDiffMean for beam 67 as -9.72. Range = 47.15 
TNavPF::Calculated measDiffMean for beam 68 as -9.14. Range = 47.02 
TNavPF::Calculated measDiffMean for beam 69 as -8.68. Range = 46.92 
TNavPF::Calculated measDiffMean for beam 70 as -8.78. Range = 46.96 
TNavPF::Calculated measDiffMean for beam 71 as -10.63. Range = 46.75 
TNavPF::Calculated measDiffMean for beam 72 as -12.89. Range = 46.68 
TNavPF::Calculated measDiffMean for beam 73 as -14.17. Range = 48.64 
TNavPF::Calculated measDiffMean for beam 74 as -13.99. Range = 48.60 
TNavPF::Calculated measDiffMean for beam 75 as -12.84. Range = 50.58 
TNavPF::Calculated measDiffMean for beam 76 as -11.39. Range = 50.58 
TNavPF::Calculated measDiffMean for beam 77 as -10.92. Range = 50.59 
TNavPF::Calculated measDiffMean for beam 78 as -11.83. Range = 50.61 
TNavPF::Calculated measDiffMean for beam 79 as -13.85. Range = 50.65 
TNavPF::Calculated measDiffMean for beam 80 as -17.82. Range = 50.70 
TNavPF::Calculated measDiffMean for beam 81 as -20.03. Range = 50.77 
TNavPF::Calculated measDiffMean for beam 82 as -21.37. Range = 52.87 
TNavPF::Calculated measDiffMean for beam 83 as -21.98. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 84 as -25.07. Range = 53.10 
TNavPF::Calculated measDiffMean for beam 85 as -27.33. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 86 as -27.29. Range = 53.40 
TNavPF::Calculated measDiffMean for beam 87 as -27.19. Range = 53.57 
TNavPF::Calculated measDiffMean for beam 88 as -28.27. Range = 43.94 
TNavPF::Calculated measDiffMean for beam 89 as -30.01. Range = 40.66 
TNavPF::First Term of Map Covariance Matrix is 0.40 
TNavPF::Calculated NIS Value : 787.77 	numBeams normalized NIS: 13.13
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323461.82 sec.
INS : North: 4070188.75, East: 589407.79, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 47.84, IDT[75] = 34.55
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323464.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323464.62)
ARL : North: 3.2155, East: 102.0677, Depth: -18.3449ARL : Estimation Bias  (Mean)         : (t = 1488323464.62)
ARL : North: 2.9916, East: 103.2652, Depth: -17.5457TerrainNav:: Windowed NIS is 1.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.17 
Alpha[0]	0.123000
Alpha[0]	0.963590
TNavParticleFilter::Modified Variance for beam 1 is 13.95 
Alpha[1]	0.000000
Alpha[1]	0.966357
TNavParticleFilter::Modified Variance for beam 2 is 13.69 
Alpha[2]	0.000000
Alpha[2]	0.973204
TNavParticleFilter::Modified Variance for beam 3 is 13.49 
Alpha[3]	0.000000
Alpha[3]	0.976864
TNavParticleFilter::Modified Variance for beam 4 is 13.69 
Alpha[4]	0.000000
Alpha[4]	0.973296
TNavParticleFilter::Modified Variance for beam 5 is 14.17 
Alpha[5]	0.000000
Alpha[5]	0.977049
TNavParticleFilter::Modified Variance for beam 6 is 13.95 
Alpha[6]	0.000000
Alpha[6]	0.983004
TNavParticleFilter::Modified Variance for beam 7 is 13.76 
Alpha[7]	0.000000
Alpha[7]	0.987571
TNavParticleFilter::Modified Variance for beam 8 is 14.54 
Alpha[8]	0.000000
Alpha[8]	0.991583
TNavParticleFilter::Modified Variance for beam 9 is 14.42 
Alpha[9]	0.000000
Alpha[9]	0.991742
TNavParticleFilter::Modified Variance for beam 10 is 14.30 
Alpha[10]	0.000000
Alpha[10]	0.991793
TNavParticleFilter::Modified Variance for beam 11 is 14.15 
Alpha[11]	0.000000
Alpha[11]	0.995347
TNavParticleFilter::Modified Variance for beam 12 is 14.02 
Alpha[12]	0.000000
Alpha[12]	0.997285
TNavParticleFilter::Modified Variance for beam 13 is 14.76 
Alpha[13]	0.000000
Alpha[13]	0.997660
TNavParticleFilter::Modified Variance for beam 14 is 14.79 
Alpha[14]	0.000000
Alpha[14]	0.997636
TNavParticleFilter::Modified Variance for beam 15 is 14.71 
Alpha[15]	0.000000
Alpha[15]	0.997693
TNavParticleFilter::Modified Variance for beam 16 is 14.64 
Alpha[16]	0.000000
Alpha[16]	0.997666
TNavParticleFilter::Modified Variance for beam 17 is 14.58 
Alpha[17]	0.000000
Alpha[17]	0.997307
TNavParticleFilter::Modified Variance for beam 18 is 15.13 
Alpha[18]	0.000000
Alpha[18]	0.996586
TNavParticleFilter::Modified Variance for beam 19 is 15.44 
Alpha[19]	0.000000
Alpha[19]	0.996054
TNavParticleFilter::Modified Variance for beam 20 is 15.40 
Alpha[20]	0.000000
Alpha[20]	0.995997
TNavParticleFilter::Modified Variance for beam 21 is 16.35 
Alpha[21]	0.000000
Alpha[21]	0.995832
TNavParticleFilter::Modified Variance for beam 22 is 16.32 
Alpha[22]	0.000000
Alpha[22]	0.995500
TNavParticleFilter::Modified Variance for beam 23 is 16.30 
Alpha[23]	0.000000
Alpha[23]	0.994955
TNavParticleFilter::Modified Variance for beam 24 is 16.28 
Alpha[24]	0.000000
Alpha[24]	0.994705
TNavParticleFilter::Modified Variance for beam 25 is 16.27 
Alpha[25]	0.000000
Alpha[25]	0.994432
TNavParticleFilter::Modified Variance for beam 26 is 16.27 
Alpha[26]	0.000000
Alpha[26]	0.994074
TNavParticleFilter::Modified Variance for beam 27 is 16.28 
Alpha[27]	0.000000
Alpha[27]	0.993930
TNavParticleFilter::Modified Variance for beam 28 is 17.32 
Alpha[28]	0.000000
Alpha[28]	0.993396
TNavParticleFilter::Modified Variance for beam 29 is 17.37 
Alpha[29]	0.000000
Alpha[29]	0.992057
TNavParticleFilter::Modified Variance for beam 30 is 17.39 
Alpha[30]	0.000000
Alpha[30]	0.992412
TNavParticleFilter::Modified Variance for beam 31 is 17.39 
Alpha[31]	0.000000
Alpha[31]	0.994604
TNavParticleFilter::Modified Variance for beam 32 is 17.42 
Alpha[32]	0.000000
Alpha[32]	0.995376
TNavParticleFilter::Modified Variance for beam 33 is 12.61 
Alpha[33]	0.000000
Alpha[33]	0.994859
TNavParticleFilter::Modified Variance for beam 34 is 11.11 
Alpha[34]	0.000000
Alpha[34]	0.993240
TNavParticleFilter::Modified Variance for beam 35 is 11.16 
Alpha[35]	0.000000
Alpha[35]	0.992277
TNavParticleFilter::Modified Variance for beam 36 is 11.19 
Alpha[36]	0.000000
Alpha[36]	0.993230
TNavParticleFilter::Modified Variance for beam 37 is 10.58 
Alpha[37]	0.000000
Alpha[37]	0.994691
TNavParticleFilter::Modified Variance for beam 38 is 9.75 
Alpha[38]	0.000000
Alpha[38]	0.995200
TNavParticleFilter::Modified Variance for beam 39 is 9.10 
Alpha[39]	0.000000
Alpha[39]	0.995474
TNavParticleFilter::Modified Variance for beam 40 is 9.15 
Alpha[40]	0.000000
Alpha[40]	0.994163
TNavParticleFilter::Modified Variance for beam 41 is 9.23 
Alpha[41]	0.000000
Alpha[41]	0.991615
TNavParticleFilter::Modified Variance for beam 42 is 9.27 
Alpha[42]	0.000000
Alpha[42]	0.992962
TNavParticleFilter::Modified Variance for beam 43 is 9.32 
Alpha[43]	0.000000
Alpha[43]	0.994373
TNavParticleFilter::Modified Variance for beam 44 is 9.38 
Alpha[44]	0.000000
Alpha[44]	0.994779
TNavParticleFilter::Modified Variance for beam 45 is 9.37 
Alpha[45]	0.000000
Alpha[45]	0.994515
TNavParticleFilter::Modified Variance for beam 46 is 8.83 
Alpha[46]	0.000000
Alpha[46]	0.991877
TNavParticleFilter::Modified Variance for beam 47 is 8.94 
Alpha[47]	0.000000
Alpha[47]	0.987526
TNavParticleFilter::Modified Variance for beam 48 is 9.05 
Alpha[48]	0.000000
Alpha[48]	0.983843
TNavParticleFilter::Modified Variance for beam 49 is 9.08 
Alpha[49]	0.000000
Alpha[49]	0.989513
TNavParticleFilter::Modified Variance for beam 50 is 9.15 
Alpha[50]	0.000000
Alpha[50]	0.991335
TNavParticleFilter::Modified Variance for beam 51 is 9.23 
Alpha[51]	0.000000
Alpha[51]	0.992461
TNavParticleFilter::Modified Variance for beam 52 is 9.28 
Alpha[52]	0.000000
Alpha[52]	0.996815
TNavParticleFilter::Modified Variance for beam 53 is 9.37 
Alpha[53]	0.000000
Alpha[53]	0.998237
TNavParticleFilter::Modified Variance for beam 54 is 9.47 
Alpha[54]	0.000000
Alpha[54]	0.998755
TNavParticleFilter::Modified Variance for beam 55 is 9.58 
Alpha[55]	0.000000
Alpha[55]	0.999100
TNavParticleFilter::Modified Variance for beam 56 is 9.70 
Alpha[56]	0.000000
Alpha[56]	0.999199
TNavParticleFilter::Modified Variance for beam 57 is 9.83 
Alpha[57]	0.000000
Alpha[57]	0.998930
TNavParticleFilter::Modified Variance for beam 58 is 9.96 
Alpha[58]	0.000000
Alpha[58]	0.998456
TNavParticleFilter::Modified Variance for beam 59 is 9.62 
Alpha[59]	0.000000
Alpha[59]	0.997733
TNavPF:: sumSquaredError = 418.836443 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 5.55. Range = 62.72 
TNavPF::Calculated measDiffMean for beam 31 as 5.47. Range = 61.14 
TNavPF::Calculated measDiffMean for beam 32 as 5.34. Range = 59.65 
TNavPF::Calculated measDiffMean for beam 33 as 5.28. Range = 58.25 
TNavPF::Calculated measDiffMean for beam 34 as 6.02. Range = 56.93 
TNavPF::Calculated measDiffMean for beam 35 as 7.64. Range = 55.69 
TNavPF::Calculated measDiffMean for beam 36 as 7.85. Range = 54.52 
TNavPF::Calculated measDiffMean for beam 37 as 7.79. Range = 50.35 
TNavPF::Calculated measDiffMean for beam 38 as 9.56. Range = 49.36 
TNavPF::Calculated measDiffMean for beam 39 as 9.11. Range = 48.43 
TNavPF::Calculated measDiffMean for beam 40 as 8.30. Range = 47.54 
TNavPF::Calculated measDiffMean for beam 41 as 7.23. Range = 46.70 
TNavPF::Calculated measDiffMean for beam 42 as 6.26. Range = 45.90 
TNavPF::Calculated measDiffMean for beam 43 as 7.24. Range = 45.14 
TNavPF::Calculated measDiffMean for beam 44 as 6.33. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 45 as 5.14. Range = 43.74 
TNavPF::Calculated measDiffMean for beam 46 as 4.58. Range = 43.09 
TNavPF::Calculated measDiffMean for beam 47 as 4.51. Range = 42.65 
TNavPF::Calculated measDiffMean for beam 48 as 6.01. Range = 43.59 
TNavPF::Calculated measDiffMean for beam 49 as 6.90. Range = 43.83 
TNavPF::Calculated measDiffMean for beam 50 as 7.04. Range = 43.26 
TNavPF::Calculated measDiffMean for beam 51 as 9.15. Range = 43.29 
TNavPF::Calculated measDiffMean for beam 52 as 9.28. Range = 44.41 
TNavPF::Calculated measDiffMean for beam 53 as 9.58. Range = 44.11 
TNavPF::Calculated measDiffMean for beam 54 as 9.66. Range = 43.62 
TNavPF::Calculated measDiffMean for beam 55 as 9.49. Range = 44.32 
TNavPF::Calculated measDiffMean for beam 56 as 9.23. Range = 45.02 
TNavPF::Calculated measDiffMean for beam 57 as 9.17. Range = 44.58 
TNavPF::Calculated measDiffMean for beam 58 as 11.03. Range = 44.35 
TNavPF::Calculated measDiffMean for beam 59 as 10.83. Range = 45.85 
TNavPF::Calculated measDiffMean for beam 60 as 10.77. Range = 45.60 
TNavPF::Calculated measDiffMean for beam 61 as 10.54. Range = 45.22 
TNavPF::Calculated measDiffMean for beam 62 as 10.47. Range = 44.86 
TNavPF::Calculated measDiffMean for beam 63 as 0.50. Range = 44.52 
TNavPF::Calculated measDiffMean for beam 64 as -2.96. Range = 44.86 
TNavPF::Calculated measDiffMean for beam 65 as -2.94. Range = 46.04 
TNavPF::Calculated measDiffMean for beam 66 as -2.94. Range = 45.73 
TNavPF::Calculated measDiffMean for beam 67 as -4.52. Range = 45.46 
TNavPF::Calculated measDiffMean for beam 68 as -6.87. Range = 47.29 
TNavPF::Calculated measDiffMean for beam 69 as -9.11. Range = 47.03 
TNavPF::Calculated measDiffMean for beam 70 as -9.68. Range = 46.78 
TNavPF::Calculated measDiffMean for beam 71 as -9.92. Range = 46.55 
TNavPF::Calculated measDiffMean for beam 72 as -10.05. Range = 46.34 
TNavPF::Calculated measDiffMean for beam 73 as -9.91. Range = 47.95 
TNavPF::Calculated measDiffMean for beam 74 as -9.37. Range = 48.01 
TNavPF::Calculated measDiffMean for beam 75 as -9.22. Range = 47.84 
TNavPF::Calculated measDiffMean for beam 76 as -10.91. Range = 47.68 
TNavPF::Calculated measDiffMean for beam 77 as -10.78. Range = 47.54 
TNavPF::Calculated measDiffMean for beam 78 as -11.11. Range = 48.68 
TNavPF::Calculated measDiffMean for beam 79 as -11.64. Range = 49.32 
TNavPF::Calculated measDiffMean for beam 80 as -12.06. Range = 49.22 
TNavPF::Calculated measDiffMean for beam 81 as -11.88. Range = 51.14 
TNavPF::Calculated measDiffMean for beam 82 as -10.59. Range = 51.07 
TNavPF::Calculated measDiffMean for beam 83 as -9.26. Range = 51.01 
TNavPF::Calculated measDiffMean for beam 84 as -8.99. Range = 50.97 
TNavPF::Calculated measDiffMean for beam 85 as -9.75. Range = 50.95 
TNavPF::Calculated measDiffMean for beam 86 as -11.53. Range = 50.94 
TNavPF::Calculated measDiffMean for beam 87 as -14.34. Range = 50.94 
TNavPF::Calculated measDiffMean for beam 88 as -15.93. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 89 as -18.79. Range = 53.00 
TNavPF::First Term of Map Covariance Matrix is 0.54 
TNavPF::Calculated NIS Value : 378.68 	numBeams normalized NIS: 6.31
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323464.82 sec.
INS : North: 4070188.88, East: 589403.71, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 48.29, IDT[75] = 32.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323467.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323467.62)
ARL : North: 1.5791, East: 103.8966, Depth: -20.4719ARL : Estimation Bias  (Mean)         : (t = 1488323467.62)
ARL : North: 1.1862, East: 103.6873, Depth: -19.9367TerrainNav:: Windowed NIS average 1.50 exceeds the maximum allowed of 1.4.  Re-initializing the filter.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS : North: 4070188.39, East: 589399.62, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 50.86, IDT[75] = 30.69
TerrainNav::Measurement type 5 from time = 1488323470.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070188.21, East: 589395.52, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 34.87, IDT[75] = 26.61
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323473.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 17.01 
Alpha[0]	0.123000
Alpha[0]	0.999968
TNavParticleFilter::Modified Variance for beam 1 is 16.82 
Alpha[1]	0.000000
Alpha[1]	0.999966
TNavParticleFilter::Modified Variance for beam 2 is 16.64 
Alpha[2]	0.000000
Alpha[2]	0.999964
TNavParticleFilter::Modified Variance for beam 3 is 16.47 
Alpha[3]	0.000000
Alpha[3]	0.999962
TNavParticleFilter::Modified Variance for beam 4 is 16.32 
Alpha[4]	0.000000
Alpha[4]	0.999960
TNavParticleFilter::Modified Variance for beam 5 is 16.17 
Alpha[5]	0.000000
Alpha[5]	0.999958
TNavParticleFilter::Modified Variance for beam 6 is 17.10 
Alpha[6]	0.000000
Alpha[6]	0.999956
TNavParticleFilter::Modified Variance for beam 7 is 16.96 
Alpha[7]	0.000000
Alpha[7]	0.999954
TNavParticleFilter::Modified Variance for beam 8 is 16.84 
Alpha[8]	0.000000
Alpha[8]	0.999951
TNavParticleFilter::Modified Variance for beam 9 is 16.72 
Alpha[9]	0.000000
Alpha[9]	0.999949
TNavParticleFilter::Modified Variance for beam 10 is 16.80 
Alpha[10]	0.000000
Alpha[10]	0.999946
TNavParticleFilter::Modified Variance for beam 11 is 17.57 
Alpha[11]	0.000000
Alpha[11]	0.999944
TNavParticleFilter::Modified Variance for beam 12 is 11.01 
Alpha[12]	0.000000
Alpha[12]	0.999942
TNavParticleFilter::Modified Variance for beam 13 is 10.96 
Alpha[13]	0.000000
Alpha[13]	0.999939
TNavParticleFilter::Modified Variance for beam 14 is 9.45 
Alpha[14]	0.000000
Alpha[14]	0.999937
TNavParticleFilter::Modified Variance for beam 15 is 9.42 
Alpha[15]	0.000000
Alpha[15]	0.999934
TNavParticleFilter::Modified Variance for beam 16 is 9.40 
Alpha[16]	0.000000
Alpha[16]	0.999932
TNavParticleFilter::Modified Variance for beam 17 is 9.38 
Alpha[17]	0.000000
Alpha[17]	0.999929
TNavParticleFilter::Modified Variance for beam 18 is 9.36 
Alpha[18]	0.000000
Alpha[18]	0.999927
TNavParticleFilter::Modified Variance for beam 19 is 9.35 
Alpha[19]	0.000000
Alpha[19]	0.999925
TNavParticleFilter::Modified Variance for beam 20 is 9.33 
Alpha[20]	0.000000
Alpha[20]	0.999923
TNavParticleFilter::Modified Variance for beam 21 is 8.05 
Alpha[21]	0.000000
Alpha[21]	0.999921
TNavParticleFilter::Modified Variance for beam 22 is 8.05 
Alpha[22]	0.000000
Alpha[22]	0.999920
TNavParticleFilter::Modified Variance for beam 23 is 8.05 
Alpha[23]	0.000000
Alpha[23]	0.999920
TNavParticleFilter::Modified Variance for beam 24 is 8.05 
Alpha[24]	0.000000
Alpha[24]	0.999920
TNavParticleFilter::Modified Variance for beam 25 is 8.06 
Alpha[25]	0.000000
Alpha[25]	0.999919
TNavParticleFilter::Modified Variance for beam 26 is 8.06 
Alpha[26]	0.000000
Alpha[26]	0.999920
TNavParticleFilter::Modified Variance for beam 27 is 8.08 
Alpha[27]	0.000000
Alpha[27]	0.999920
TNavParticleFilter::Modified Variance for beam 28 is 8.09 
Alpha[28]	0.000000
Alpha[28]	0.999921
TNavParticleFilter::Modified Variance for beam 29 is 8.11 
Alpha[29]	0.000000
Alpha[29]	0.999922
TNavParticleFilter::Modified Variance for beam 30 is 8.13 
Alpha[30]	0.000000
Alpha[30]	0.999923
TNavParticleFilter::Modified Variance for beam 31 is 8.15 
Alpha[31]	0.000000
Alpha[31]	0.999924
TNavParticleFilter::Modified Variance for beam 32 is 8.81 
Alpha[32]	0.000000
Alpha[32]	0.999925
TNavParticleFilter::Modified Variance for beam 33 is 8.85 
Alpha[33]	0.000000
Alpha[33]	0.999926
TNavParticleFilter::Modified Variance for beam 34 is 8.88 
Alpha[34]	0.000000
Alpha[34]	0.999926
TNavParticleFilter::Modified Variance for beam 35 is 8.35 
Alpha[35]	0.000000
Alpha[35]	0.999927
TNavParticleFilter::Modified Variance for beam 36 is 8.31 
Alpha[36]	0.000000
Alpha[36]	0.999929
TNavParticleFilter::Modified Variance for beam 37 is 8.36 
Alpha[37]	0.000000
Alpha[37]	0.999930
TNavParticleFilter::Modified Variance for beam 38 is 8.40 
Alpha[38]	0.000000
Alpha[38]	0.999931
TNavParticleFilter::Modified Variance for beam 39 is 8.22 
Alpha[39]	0.000000
Alpha[39]	0.999933
TNavParticleFilter::Modified Variance for beam 40 is 7.71 
Alpha[40]	0.000000
Alpha[40]	0.999934
TNavParticleFilter::Modified Variance for beam 41 is 7.32 
Alpha[41]	0.000000
Alpha[41]	0.999935
TNavParticleFilter::Modified Variance for beam 42 is 7.36 
Alpha[42]	0.000000
Alpha[42]	0.999937
TNavParticleFilter::Modified Variance for beam 43 is 7.41 
Alpha[43]	0.000000
Alpha[43]	0.999939
TNavParticleFilter::Modified Variance for beam 44 is 6.89 
Alpha[44]	0.000000
Alpha[44]	0.999940
TNavParticleFilter::Modified Variance for beam 45 is 6.93 
Alpha[45]	0.000000
Alpha[45]	0.999941
TNavParticleFilter::Modified Variance for beam 46 is 6.99 
Alpha[46]	0.000000
Alpha[46]	0.999943
TNavParticleFilter::Modified Variance for beam 47 is 6.83 
Alpha[47]	0.000000
Alpha[47]	0.999945
TNavParticleFilter::Modified Variance for beam 48 is 6.59 
Alpha[48]	0.000000
Alpha[48]	0.999946
TNavParticleFilter::Modified Variance for beam 49 is 6.58 
Alpha[49]	0.000000
Alpha[49]	0.999948
TNavParticleFilter::Modified Variance for beam 50 is 6.64 
Alpha[50]	0.000000
Alpha[50]	0.999950
TNavParticleFilter::Modified Variance for beam 51 is 6.70 
Alpha[51]	0.000000
Alpha[51]	0.999951
TNavParticleFilter::Modified Variance for beam 52 is 6.76 
Alpha[52]	0.000000
Alpha[52]	0.999953
TNavParticleFilter::Modified Variance for beam 53 is 6.62 
Alpha[53]	0.000000
Alpha[53]	0.999955
TNavParticleFilter::Modified Variance for beam 54 is 6.45 
Alpha[54]	0.000000
Alpha[54]	0.999956
TNavParticleFilter::Modified Variance for beam 55 is 6.38 
Alpha[55]	0.000000
Alpha[55]	0.999958
TNavParticleFilter::Modified Variance for beam 56 is 6.45 
Alpha[56]	0.000000
Alpha[56]	0.999960
TNavParticleFilter::Modified Variance for beam 57 is 6.52 
Alpha[57]	0.000000
Alpha[57]	0.999962
TNavParticleFilter::Modified Variance for beam 58 is 6.60 
Alpha[58]	0.000000
Alpha[58]	0.999963
TNavParticleFilter::Modified Variance for beam 59 is 6.54 
Alpha[59]	0.000000
Alpha[59]	0.999965
TNavPF:: sumSquaredError = 1111.289139 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -6.17. Range = 54.59 
TNavPF::Calculated measDiffMean for beam 31 as -5.59. Range = 55.35 
TNavPF::Calculated measDiffMean for beam 32 as -5.13. Range = 51.15 
TNavPF::Calculated measDiffMean for beam 33 as -4.64. Range = 51.69 
TNavPF::Calculated measDiffMean for beam 34 as -4.24. Range = 52.12 
TNavPF::Calculated measDiffMean for beam 35 as -3.85. Range = 51.12 
TNavPF::Calculated measDiffMean for beam 36 as -1.40. Range = 51.43 
TNavPF::Calculated measDiffMean for beam 37 as -1.00. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 38 as -0.66. Range = 51.23 
TNavPF::Calculated measDiffMean for beam 39 as -0.30. Range = 51.29 
TNavPF::Calculated measDiffMean for beam 40 as 0.41. Range = 52.27 
TNavPF::Calculated measDiffMean for beam 41 as 2.41. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 42 as -11.57. Range = 51.28 
TNavPF::Calculated measDiffMean for beam 43 as -11.27. Range = 52.37 
TNavPF::Calculated measDiffMean for beam 44 as -14.96. Range = 51.81 
TNavPF::Calculated measDiffMean for beam 45 as -14.69. Range = 51.11 
TNavPF::Calculated measDiffMean for beam 46 as -14.44. Range = 50.45 
TNavPF::Calculated measDiffMean for beam 47 as -14.13. Range = 50.46 
TNavPF::Calculated measDiffMean for beam 48 as -13.86. Range = 51.74 
TNavPF::Calculated measDiffMean for beam 49 as -13.61. Range = 53.11 
TNavPF::Calculated measDiffMean for beam 50 as -13.41. Range = 52.83 
TNavPF::Calculated measDiffMean for beam 51 as -17.21. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 52 as -17.06. Range = 51.71 
TNavPF::Calculated measDiffMean for beam 53 as -16.91. Range = 51.39 
TNavPF::Calculated measDiffMean for beam 54 as -16.78. Range = 52.98 
TNavPF::Calculated measDiffMean for beam 55 as -16.64. Range = 52.49 
TNavPF::Calculated measDiffMean for beam 56 as -16.58. Range = 52.03 
TNavPF::Calculated measDiffMean for beam 57 as -16.52. Range = 51.59 
TNavPF::Calculated measDiffMean for beam 58 as -16.44. Range = 51.37 
TNavPF::Calculated measDiffMean for beam 59 as -16.40. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 60 as -16.35. Range = 52.57 
TNavPF::Calculated measDiffMean for beam 61 as -16.31. Range = 52.20 
TNavPF::Calculated measDiffMean for beam 62 as -14.24. Range = 51.85 
TNavPF::Calculated measDiffMean for beam 63 as -14.19. Range = 51.53 
TNavPF::Calculated measDiffMean for beam 64 as -14.12. Range = 51.22 
TNavPF::Calculated measDiffMean for beam 65 as -15.87. Range = 50.93 
TNavPF::Calculated measDiffMean for beam 66 as -16.14. Range = 52.75 
TNavPF::Calculated measDiffMean for beam 67 as -16.14. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 68 as -16.13. Range = 52.24 
TNavPF::Calculated measDiffMean for beam 69 as -16.90. Range = 52.01 
TNavPF::Calculated measDiffMean for beam 70 as -18.82. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 71 as -20.42. Range = 53.66 
TNavPF::Calculated measDiffMean for beam 72 as -20.43. Range = 39.23 
TNavPF::Calculated measDiffMean for beam 73 as -20.49. Range = 39.11 
TNavPF::Calculated measDiffMean for beam 74 as -22.70. Range = 34.96 
TNavPF::Calculated measDiffMean for beam 75 as -22.76. Range = 34.87 
TNavPF::Calculated measDiffMean for beam 76 as -22.86. Range = 34.80 
TNavPF::Calculated measDiffMean for beam 77 as -23.78. Range = 34.74 
TNavPF::Calculated measDiffMean for beam 78 as -25.06. Range = 34.68 
TNavPF::Calculated measDiffMean for beam 79 as -25.42. Range = 34.64 
TNavPF::Calculated measDiffMean for beam 80 as -25.59. Range = 34.61 
TNavPF::Calculated measDiffMean for beam 81 as -25.71. Range = 30.59 
TNavPF::Calculated measDiffMean for beam 82 as -25.85. Range = 30.58 
TNavPF::Calculated measDiffMean for beam 83 as -26.85. Range = 30.58 
TNavPF::Calculated measDiffMean for beam 84 as -28.00. Range = 30.59 
TNavPF::Calculated measDiffMean for beam 85 as -28.80. Range = 30.61 
TNavPF::Calculated measDiffMean for beam 86 as -29.01. Range = 30.64 
TNavPF::Calculated measDiffMean for beam 87 as -29.27. Range = 30.67 
TNavPF::Calculated measDiffMean for beam 88 as -29.55. Range = 30.72 
TNavPF::Calculated measDiffMean for beam 89 as -30.39. Range = 30.78 
TNavPF::First Term of Map Covariance Matrix is 630.69 
TNavPF::Calculated NIS Value : 15.18 	numBeams normalized NIS: 0.25
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323473.82 sec.
INS : North: 4070188.87, East: 589391.53, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 32.16, IDT[75] = 22.45
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323476.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323476.62)
ARL : North: -81.3405, East: 355.4589, Depth: -39.7585ARL : Estimation Bias  (Mean)         : (t = 1488323476.62)
ARL : North: -81.2582, East: 355.4808, Depth: -38.0750TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.91 
Alpha[0]	0.123000
Alpha[0]	0.999927
TNavParticleFilter::Modified Variance for beam 1 is 8.53 
Alpha[1]	0.000000
Alpha[1]	0.999919
TNavParticleFilter::Modified Variance for beam 2 is 8.51 
Alpha[2]	0.000000
Alpha[2]	0.999909
TNavParticleFilter::Modified Variance for beam 3 is 8.49 
Alpha[3]	0.000000
Alpha[3]	0.999899
TNavParticleFilter::Modified Variance for beam 4 is 8.48 
Alpha[4]	0.000000
Alpha[4]	0.999890
TNavParticleFilter::Modified Variance for beam 5 is 8.47 
Alpha[5]	0.000000
Alpha[5]	0.999882
TNavParticleFilter::Modified Variance for beam 6 is 8.46 
Alpha[6]	0.000000
Alpha[6]	0.999870
TNavParticleFilter::Modified Variance for beam 7 is 8.46 
Alpha[7]	0.000000
Alpha[7]	0.999867
TNavParticleFilter::Modified Variance for beam 8 is 8.46 
Alpha[8]	0.000000
Alpha[8]	0.999863
TNavParticleFilter::Modified Variance for beam 9 is 8.46 
Alpha[9]	0.000000
Alpha[9]	0.999864
TNavParticleFilter::Modified Variance for beam 10 is 9.11 
Alpha[10]	0.000000
Alpha[10]	0.999855
TNavParticleFilter::Modified Variance for beam 11 is 9.12 
Alpha[11]	0.000000
Alpha[11]	0.999846
TNavParticleFilter::Modified Variance for beam 12 is 9.13 
Alpha[12]	0.000000
Alpha[12]	0.999841
TNavParticleFilter::Modified Variance for beam 13 is 8.83 
Alpha[13]	0.000000
Alpha[13]	0.999834
TNavParticleFilter::Modified Variance for beam 14 is 8.51 
Alpha[14]	0.000000
Alpha[14]	0.999824
TNavParticleFilter::Modified Variance for beam 15 is 8.53 
Alpha[15]	0.000000
Alpha[15]	0.999816
TNavParticleFilter::Modified Variance for beam 16 is 8.56 
Alpha[16]	0.000000
Alpha[16]	0.999816
TNavParticleFilter::Modified Variance for beam 17 is 8.28 
Alpha[17]	0.000000
Alpha[17]	0.999816
TNavParticleFilter::Modified Variance for beam 18 is 7.40 
Alpha[18]	0.000000
Alpha[18]	0.999810
TNavParticleFilter::Modified Variance for beam 19 is 7.43 
Alpha[19]	0.000000
Alpha[19]	0.999801
TNavParticleFilter::Modified Variance for beam 20 is 7.46 
Alpha[20]	0.000000
Alpha[20]	0.999795
TNavParticleFilter::Modified Variance for beam 21 is 7.49 
Alpha[21]	0.000000
Alpha[21]	0.999794
TNavParticleFilter::Modified Variance for beam 22 is 7.48 
Alpha[22]	0.000000
Alpha[22]	0.999797
TNavParticleFilter::Modified Variance for beam 23 is 6.99 
Alpha[23]	0.000000
Alpha[23]	0.999798
TNavParticleFilter::Modified Variance for beam 24 is 7.03 
Alpha[24]	0.000000
Alpha[24]	0.999799
TNavParticleFilter::Modified Variance for beam 25 is 7.07 
Alpha[25]	0.000000
Alpha[25]	0.999795
TNavParticleFilter::Modified Variance for beam 26 is 7.11 
Alpha[26]	0.000000
Alpha[26]	0.999792
TNavParticleFilter::Modified Variance for beam 27 is 7.15 
Alpha[27]	0.000000
Alpha[27]	0.999785
TNavParticleFilter::Modified Variance for beam 28 is 6.82 
Alpha[28]	0.000000
Alpha[28]	0.999774
TNavParticleFilter::Modified Variance for beam 29 is 6.68 
Alpha[29]	0.000000
Alpha[29]	0.999776
TNavParticleFilter::Modified Variance for beam 30 is 6.73 
Alpha[30]	0.000000
Alpha[30]	0.999782
TNavParticleFilter::Modified Variance for beam 31 is 6.78 
Alpha[31]	0.000000
Alpha[31]	0.999788
TNavParticleFilter::Modified Variance for beam 32 is 6.83 
Alpha[32]	0.000000
Alpha[32]	0.999792
TNavParticleFilter::Modified Variance for beam 33 is 6.76 
Alpha[33]	0.000000
Alpha[33]	0.999796
TNavParticleFilter::Modified Variance for beam 34 is 6.54 
Alpha[34]	0.000000
Alpha[34]	0.999795
TNavParticleFilter::Modified Variance for beam 35 is 6.33 
Alpha[35]	0.000000
Alpha[35]	0.999794
TNavParticleFilter::Modified Variance for beam 36 is 6.15 
Alpha[36]	0.000000
Alpha[36]	0.999791
TNavParticleFilter::Modified Variance for beam 37 is 5.98 
Alpha[37]	0.000000
Alpha[37]	0.999789
TNavParticleFilter::Modified Variance for beam 38 is 5.84 
Alpha[38]	0.000000
Alpha[38]	0.999788
TNavParticleFilter::Modified Variance for beam 39 is 5.70 
Alpha[39]	0.000000
Alpha[39]	0.999789
TNavParticleFilter::Modified Variance for beam 40 is 5.65 
Alpha[40]	0.000000
Alpha[40]	0.999792
TNavParticleFilter::Modified Variance for beam 41 is 5.70 
Alpha[41]	0.000000
Alpha[41]	0.999796
TNavParticleFilter::Modified Variance for beam 42 is 5.76 
Alpha[42]	0.000000
Alpha[42]	0.999801
TNavParticleFilter::Modified Variance for beam 43 is 5.81 
Alpha[43]	0.000000
Alpha[43]	0.999805
TNavParticleFilter::Modified Variance for beam 44 is 5.87 
Alpha[44]	0.000000
Alpha[44]	0.999808
TNavParticleFilter::Modified Variance for beam 45 is 5.93 
Alpha[45]	0.000000
Alpha[45]	0.999811
TNavParticleFilter::Modified Variance for beam 46 is 6.00 
Alpha[46]	0.000000
Alpha[46]	0.999817
TNavParticleFilter::Modified Variance for beam 47 is 5.56 
Alpha[47]	0.000000
Alpha[47]	0.999823
TNavParticleFilter::Modified Variance for beam 48 is 5.58 
Alpha[48]	0.000000
Alpha[48]	0.999832
TNavParticleFilter::Modified Variance for beam 49 is 5.65 
Alpha[49]	0.000000
Alpha[49]	0.999839
TNavParticleFilter::Modified Variance for beam 50 is 5.72 
Alpha[50]	0.000000
Alpha[50]	0.999846
TNavParticleFilter::Modified Variance for beam 51 is 5.79 
Alpha[51]	0.000000
Alpha[51]	0.999851
TNavParticleFilter::Modified Variance for beam 52 is 5.76 
Alpha[52]	0.000000
Alpha[52]	0.999856
TNavParticleFilter::Modified Variance for beam 53 is 5.68 
Alpha[53]	0.000000
Alpha[53]	0.999861
TNavParticleFilter::Modified Variance for beam 54 is 5.61 
Alpha[54]	0.000000
Alpha[54]	0.999866
TNavParticleFilter::Modified Variance for beam 55 is 5.54 
Alpha[55]	0.000000
Alpha[55]	0.999873
TNavParticleFilter::Modified Variance for beam 56 is 5.59 
Alpha[56]	0.000000
Alpha[56]	0.999884
TNavParticleFilter::Modified Variance for beam 57 is 5.67 
Alpha[57]	0.000000
Alpha[57]	0.999889
TNavParticleFilter::Modified Variance for beam 58 is 5.77 
Alpha[58]	0.000000
Alpha[58]	0.999893
TNavParticleFilter::Modified Variance for beam 59 is 5.87 
Alpha[59]	0.000000
Alpha[59]	0.999902
TNavPF:: sumSquaredError = 2491.645850 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.60. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 31 as -6.88. Range = 55.27 
TNavPF::Calculated measDiffMean for beam 32 as -6.23. Range = 56.61 
TNavPF::Calculated measDiffMean for beam 33 as -5.88. Range = 55.95 
TNavPF::Calculated measDiffMean for beam 34 as -5.62. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 35 as -5.28. Range = 54.66 
TNavPF::Calculated measDiffMean for beam 36 as -4.77. Range = 55.24 
TNavPF::Calculated measDiffMean for beam 37 as -4.36. Range = 55.82 
TNavPF::Calculated measDiffMean for beam 38 as -3.42. Range = 55.25 
TNavPF::Calculated measDiffMean for beam 39 as -2.67. Range = 54.72 
TNavPF::Calculated measDiffMean for beam 40 as 0.07. Range = 54.20 
TNavPF::Calculated measDiffMean for beam 41 as 0.73. Range = 55.70 
TNavPF::Calculated measDiffMean for beam 42 as 1.10. Range = 55.48 
TNavPF::Calculated measDiffMean for beam 43 as 0.47. Range = 55.03 
TNavPF::Calculated measDiffMean for beam 44 as -0.27. Range = 54.59 
TNavPF::Calculated measDiffMean for beam 45 as 0.04. Range = 54.18 
TNavPF::Calculated measDiffMean for beam 46 as 0.41. Range = 53.80 
TNavPF::Calculated measDiffMean for beam 47 as -0.10. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 48 as -2.55. Range = 53.69 
TNavPF::Calculated measDiffMean for beam 49 as -1.95. Range = 54.15 
TNavPF::Calculated measDiffMean for beam 50 as -1.56. Range = 54.56 
TNavPF::Calculated measDiffMean for beam 51 as -1.35. Range = 54.27 
TNavPF::Calculated measDiffMean for beam 52 as -1.32. Range = 55.48 
TNavPF::Calculated measDiffMean for beam 53 as -3.06. Range = 55.81 
TNavPF::Calculated measDiffMean for beam 54 as -2.85. Range = 55.56 
TNavPF::Calculated measDiffMean for beam 55 as -2.49. Range = 55.33 
TNavPF::Calculated measDiffMean for beam 56 as -2.20. Range = 55.12 
TNavPF::Calculated measDiffMean for beam 57 as -1.94. Range = 54.93 
TNavPF::Calculated measDiffMean for beam 58 as -2.88. Range = 48.65 
TNavPF::Calculated measDiffMean for beam 59 as -3.15. Range = 44.46 
TNavPF::Calculated measDiffMean for beam 60 as -2.73. Range = 36.26 
TNavPF::Calculated measDiffMean for beam 61 as -2.48. Range = 32.14 
TNavPF::Calculated measDiffMean for beam 62 as -2.33. Range = 32.08 
TNavPF::Calculated measDiffMean for beam 63 as -2.69. Range = 32.02 
TNavPF::Calculated measDiffMean for beam 64 as -3.70. Range = 31.98 
TNavPF::Calculated measDiffMean for beam 65 as -4.63. Range = 31.95 
TNavPF::Calculated measDiffMean for beam 66 as -5.43. Range = 31.93 
TNavPF::Calculated measDiffMean for beam 67 as -6.11. Range = 31.91 
TNavPF::Calculated measDiffMean for beam 68 as -6.68. Range = 31.91 
TNavPF::Calculated measDiffMean for beam 69 as -7.28. Range = 31.92 
TNavPF::Calculated measDiffMean for beam 70 as -7.62. Range = 33.94 
TNavPF::Calculated measDiffMean for beam 71 as -7.59. Range = 33.97 
TNavPF::Calculated measDiffMean for beam 72 as -7.53. Range = 34.01 
TNavPF::Calculated measDiffMean for beam 73 as -7.39. Range = 33.10 
TNavPF::Calculated measDiffMean for beam 74 as -7.14. Range = 32.10 
TNavPF::Calculated measDiffMean for beam 75 as -6.87. Range = 32.16 
TNavPF::Calculated measDiffMean for beam 76 as -6.69. Range = 32.24 
TNavPF::Calculated measDiffMean for beam 77 as -8.90. Range = 31.34 
TNavPF::Calculated measDiffMean for beam 78 as -8.91. Range = 28.35 
TNavPF::Calculated measDiffMean for beam 79 as -8.70. Range = 28.44 
TNavPF::Calculated measDiffMean for beam 80 as -8.51. Range = 28.55 
TNavPF::Calculated measDiffMean for beam 81 as -8.39. Range = 28.66 
TNavPF::Calculated measDiffMean for beam 82 as -8.86. Range = 28.64 
TNavPF::Calculated measDiffMean for beam 83 as -9.57. Range = 26.84 
TNavPF::Calculated measDiffMean for beam 84 as -10.23. Range = 26.97 
TNavPF::Calculated measDiffMean for beam 85 as -10.90. Range = 27.11 
TNavPF::Calculated measDiffMean for beam 86 as -11.07. Range = 27.26 
TNavPF::Calculated measDiffMean for beam 87 as -10.96. Range = 27.42 
TNavPF::Calculated measDiffMean for beam 88 as -10.88. Range = 26.18 
TNavPF::Calculated measDiffMean for beam 89 as -11.06. Range = 25.63 
TNavPF::First Term of Map Covariance Matrix is 273.38 
TNavPF::Calculated NIS Value : 19.92 	numBeams normalized NIS: 0.33
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323476.82 sec.
INS : North: 4070190.45, East: 589387.88, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 21.54, IDT[75] = 22.50
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323479.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323479.62)
ARL : North: -81.4694, East: 356.0087, Depth: -34.5746ARL : Estimation Bias  (Mean)         : (t = 1488323479.62)
ARL : North: -82.6430, East: 356.0510, Depth: -37.4503TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 7.95 
Alpha[0]	0.123000
Alpha[0]	0.999845
TNavParticleFilter::Modified Variance for beam 1 is 7.45 
Alpha[1]	0.000000
Alpha[1]	0.999839
TNavParticleFilter::Modified Variance for beam 2 is 7.41 
Alpha[2]	0.000000
Alpha[2]	0.999834
TNavParticleFilter::Modified Variance for beam 3 is 7.43 
Alpha[3]	0.000000
Alpha[3]	0.999832
TNavParticleFilter::Modified Variance for beam 4 is 7.46 
Alpha[4]	0.000000
Alpha[4]	0.999832
TNavParticleFilter::Modified Variance for beam 5 is 7.48 
Alpha[5]	0.000000
Alpha[5]	0.999831
TNavParticleFilter::Modified Variance for beam 6 is 6.96 
Alpha[6]	0.000000
Alpha[6]	0.999830
TNavParticleFilter::Modified Variance for beam 7 is 6.98 
Alpha[7]	0.000000
Alpha[7]	0.999830
TNavParticleFilter::Modified Variance for beam 8 is 7.01 
Alpha[8]	0.000000
Alpha[8]	0.999833
TNavParticleFilter::Modified Variance for beam 9 is 7.05 
Alpha[9]	0.000000
Alpha[9]	0.999832
TNavParticleFilter::Modified Variance for beam 10 is 7.08 
Alpha[10]	0.000000
Alpha[10]	0.999825
TNavParticleFilter::Modified Variance for beam 11 is 6.71 
Alpha[11]	0.000000
Alpha[11]	0.999825
TNavParticleFilter::Modified Variance for beam 12 is 6.38 
Alpha[12]	0.000000
Alpha[12]	0.999829
TNavParticleFilter::Modified Variance for beam 13 is 6.10 
Alpha[13]	0.000000
Alpha[13]	0.999833
TNavParticleFilter::Modified Variance for beam 14 is 5.86 
Alpha[14]	0.000000
Alpha[14]	0.999838
TNavParticleFilter::Modified Variance for beam 15 is 5.74 
Alpha[15]	0.000000
Alpha[15]	0.999842
TNavParticleFilter::Modified Variance for beam 16 is 5.77 
Alpha[16]	0.000000
Alpha[16]	0.999845
TNavParticleFilter::Modified Variance for beam 17 is 5.80 
Alpha[17]	0.000000
Alpha[17]	0.999844
TNavParticleFilter::Modified Variance for beam 18 is 5.84 
Alpha[18]	0.000000
Alpha[18]	0.999840
TNavParticleFilter::Modified Variance for beam 19 is 5.88 
Alpha[19]	0.000000
Alpha[19]	0.999836
TNavParticleFilter::Modified Variance for beam 20 is 5.92 
Alpha[20]	0.000000
Alpha[20]	0.999832
TNavParticleFilter::Modified Variance for beam 21 is 5.96 
Alpha[21]	0.000000
Alpha[21]	0.999831
TNavParticleFilter::Modified Variance for beam 22 is 6.01 
Alpha[22]	0.000000
Alpha[22]	0.999833
TNavParticleFilter::Modified Variance for beam 23 is 6.06 
Alpha[23]	0.000000
Alpha[23]	0.999835
TNavParticleFilter::Modified Variance for beam 24 is 6.09 
Alpha[24]	0.000000
Alpha[24]	0.999836
TNavParticleFilter::Modified Variance for beam 25 is 5.94 
Alpha[25]	0.000000
Alpha[25]	0.999837
TNavParticleFilter::Modified Variance for beam 26 is 5.81 
Alpha[26]	0.000000
Alpha[26]	0.999839
TNavParticleFilter::Modified Variance for beam 27 is 5.69 
Alpha[27]	0.000000
Alpha[27]	0.999841
TNavParticleFilter::Modified Variance for beam 28 is 5.58 
Alpha[28]	0.000000
Alpha[28]	0.999845
TNavParticleFilter::Modified Variance for beam 29 is 5.47 
Alpha[29]	0.000000
Alpha[29]	0.999849
TNavParticleFilter::Modified Variance for beam 30 is 5.41 
Alpha[30]	0.000000
Alpha[30]	0.999852
TNavParticleFilter::Modified Variance for beam 31 is 5.46 
Alpha[31]	0.000000
Alpha[31]	0.999855
TNavParticleFilter::Modified Variance for beam 32 is 5.52 
Alpha[32]	0.000000
Alpha[32]	0.999859
TNavParticleFilter::Modified Variance for beam 33 is 5.58 
Alpha[33]	0.000000
Alpha[33]	0.999862
TNavParticleFilter::Modified Variance for beam 34 is 5.64 
Alpha[34]	0.000000
Alpha[34]	0.999865
TNavParticleFilter::Modified Variance for beam 35 is 5.58 
Alpha[35]	0.000000
Alpha[35]	0.999869
TNavParticleFilter::Modified Variance for beam 36 is 5.50 
Alpha[36]	0.000000
Alpha[36]	0.999873
TNavParticleFilter::Modified Variance for beam 37 is 5.42 
Alpha[37]	0.000000
Alpha[37]	0.999876
TNavParticleFilter::Modified Variance for beam 38 is 5.36 
Alpha[38]	0.000000
Alpha[38]	0.999879
TNavParticleFilter::Modified Variance for beam 39 is 5.42 
Alpha[39]	0.000000
Alpha[39]	0.999886
TNavParticleFilter::Modified Variance for beam 40 is 5.50 
Alpha[40]	0.000000
Alpha[40]	0.999892
TNavParticleFilter::Modified Variance for beam 41 is 5.57 
Alpha[41]	0.000000
Alpha[41]	0.999894
TNavParticleFilter::Modified Variance for beam 42 is 5.66 
Alpha[42]	0.000000
Alpha[42]	0.999898
TNavParticleFilter::Modified Variance for beam 43 is 5.75 
Alpha[43]	0.000000
Alpha[43]	0.999907
TNavParticleFilter::Modified Variance for beam 44 is 5.84 
Alpha[44]	0.000000
Alpha[44]	0.999914
TNavParticleFilter::Modified Variance for beam 45 is 5.95 
Alpha[45]	0.000000
Alpha[45]	0.999919
TNavParticleFilter::Modified Variance for beam 46 is 6.06 
Alpha[46]	0.000000
Alpha[46]	0.999926
TNavParticleFilter::Modified Variance for beam 47 is 6.18 
Alpha[47]	0.000000
Alpha[47]	0.999933
TNavParticleFilter::Modified Variance for beam 48 is 6.31 
Alpha[48]	0.000000
Alpha[48]	0.999941
TNavParticleFilter::Modified Variance for beam 49 is 6.46 
Alpha[49]	0.000000
Alpha[49]	0.999947
TNavParticleFilter::Modified Variance for beam 50 is 6.62 
Alpha[50]	0.000000
Alpha[50]	0.999953
TNavParticleFilter::Modified Variance for beam 51 is 6.79 
Alpha[51]	0.000000
Alpha[51]	0.999959
TNavParticleFilter::Modified Variance for beam 52 is 6.98 
Alpha[52]	0.000000
Alpha[52]	0.999963
TNavParticleFilter::Modified Variance for beam 53 is 7.19 
Alpha[53]	0.000000
Alpha[53]	0.999968
TNavParticleFilter::Modified Variance for beam 54 is 7.12 
Alpha[54]	0.000000
Alpha[54]	0.999969
TNavParticleFilter::Modified Variance for beam 55 is 7.05 
Alpha[55]	0.000000
Alpha[55]	0.999973
TNavParticleFilter::Modified Variance for beam 56 is 6.99 
Alpha[56]	0.000000
Alpha[56]	0.999976
TNavParticleFilter::Modified Variance for beam 57 is 7.01 
Alpha[57]	0.000000
Alpha[57]	0.999977
TNavParticleFilter::Modified Variance for beam 58 is 7.27 
Alpha[58]	0.000000
Alpha[58]	0.999979
TNavParticleFilter::Modified Variance for beam 59 is 7.56 
Alpha[59]	0.000000
Alpha[59]	0.999981
TNavPF:: sumSquaredError = 552.214135 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.72. Range = 56.88 
TNavPF::Calculated measDiffMean for beam 31 as -0.73. Range = 56.46 
TNavPF::Calculated measDiffMean for beam 32 as -0.69. Range = 56.06 
TNavPF::Calculated measDiffMean for beam 33 as -0.50. Range = 57.83 
TNavPF::Calculated measDiffMean for beam 34 as -0.36. Range = 57.46 
TNavPF::Calculated measDiffMean for beam 35 as -0.13. Range = 57.84 
TNavPF::Calculated measDiffMean for beam 36 as -1.82. Range = 58.89 
TNavPF::Calculated measDiffMean for beam 37 as -1.43. Range = 58.58 
TNavPF::Calculated measDiffMean for beam 38 as -1.02. Range = 58.28 
TNavPF::Calculated measDiffMean for beam 39 as -0.49. Range = 58.01 
TNavPF::Calculated measDiffMean for beam 40 as 0.05. Range = 51.57 
TNavPF::Calculated measDiffMean for beam 41 as -1.25. Range = 47.25 
TNavPF::Calculated measDiffMean for beam 42 as -2.57. Range = 38.89 
TNavPF::Calculated measDiffMean for beam 43 as -3.79. Range = 38.75 
TNavPF::Calculated measDiffMean for beam 44 as -4.88. Range = 36.60 
TNavPF::Calculated measDiffMean for beam 45 as -5.47. Range = 36.50 
TNavPF::Calculated measDiffMean for beam 46 as -5.36. Range = 36.41 
TNavPF::Calculated measDiffMean for beam 47 as -5.23. Range = 38.01 
TNavPF::Calculated measDiffMean for beam 48 as -5.02. Range = 40.29 
TNavPF::Calculated measDiffMean for beam 49 as -4.75. Range = 40.23 
TNavPF::Calculated measDiffMean for beam 50 as -4.48. Range = 40.18 
TNavPF::Calculated measDiffMean for beam 51 as -4.31. Range = 38.13 
TNavPF::Calculated measDiffMean for beam 52 as -4.25. Range = 38.11 
TNavPF::Calculated measDiffMean for beam 53 as -4.18. Range = 38.10 
TNavPF::Calculated measDiffMean for beam 54 as -4.14. Range = 36.09 
TNavPF::Calculated measDiffMean for beam 55 as -4.82. Range = 36.10 
TNavPF::Calculated measDiffMean for beam 56 as -5.45. Range = 36.12 
TNavPF::Calculated measDiffMean for beam 57 as -6.10. Range = 30.13 
TNavPF::Calculated measDiffMean for beam 58 as -6.75. Range = 30.16 
TNavPF::Calculated measDiffMean for beam 59 as -7.35. Range = 30.21 
TNavPF::Calculated measDiffMean for beam 60 as -7.79. Range = 30.26 
TNavPF::Calculated measDiffMean for beam 61 as -7.71. Range = 28.53 
TNavPF::Calculated measDiffMean for beam 62 as -7.70. Range = 28.38 
TNavPF::Calculated measDiffMean for beam 63 as -7.70. Range = 28.45 
TNavPF::Calculated measDiffMean for beam 64 as -7.69. Range = 28.54 
TNavPF::Calculated measDiffMean for beam 65 as -8.26. Range = 28.64 
TNavPF::Calculated measDiffMean for beam 66 as -8.95. Range = 26.69 
TNavPF::Calculated measDiffMean for beam 67 as -9.64. Range = 26.80 
TNavPF::Calculated measDiffMean for beam 68 as -10.36. Range = 26.91 
TNavPF::Calculated measDiffMean for beam 69 as -10.55. Range = 27.04 
TNavPF::Calculated measDiffMean for beam 70 as -10.75. Range = 27.17 
TNavPF::Calculated measDiffMean for beam 71 as -10.86. Range = 25.73 
TNavPF::Calculated measDiffMean for beam 72 as -11.02. Range = 24.39 
TNavPF::Calculated measDiffMean for beam 73 as -11.47. Range = 23.19 
TNavPF::Calculated measDiffMean for beam 74 as -11.77. Range = 22.11 
TNavPF::Calculated measDiffMean for beam 75 as -12.00. Range = 21.54 
TNavPF::Calculated measDiffMean for beam 76 as -12.38. Range = 21.69 
TNavPF::Calculated measDiffMean for beam 77 as -12.95. Range = 21.85 
TNavPF::Calculated measDiffMean for beam 78 as -13.85. Range = 22.02 
TNavPF::Calculated measDiffMean for beam 79 as -14.48. Range = 22.20 
TNavPF::Calculated measDiffMean for beam 80 as -15.68. Range = 22.39 
TNavPF::Calculated measDiffMean for beam 81 as -16.96. Range = 22.59 
TNavPF::Calculated measDiffMean for beam 82 as -17.93. Range = 22.80 
TNavPF::Calculated measDiffMean for beam 83 as -19.25. Range = 23.02 
TNavPF::Calculated measDiffMean for beam 84 as -21.13. Range = 23.15 
TNavPF::Calculated measDiffMean for beam 85 as -24.77. Range = 22.49 
TNavPF::Calculated measDiffMean for beam 86 as -28.71. Range = 21.87 
TNavPF::Calculated measDiffMean for beam 87 as -28.63. Range = 21.30 
TNavPF::Calculated measDiffMean for beam 88 as -28.01. Range = 20.75 
TNavPF::Calculated measDiffMean for beam 89 as -27.62. Range = 20.24 
TNavPF::First Term of Map Covariance Matrix is 128.69 
TNavPF::Calculated NIS Value : 16.94 	numBeams normalized NIS: 0.28
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323479.82 sec.
INS : North: 4070192.83, East: 589384.72, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 20.21, IDT[75] = 28.06
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323482.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323482.62)
ARL : North: -82.9880, East: 356.8524, Depth: -32.6063ARL : Estimation Bias  (Mean)         : (t = 1488323482.62)
ARL : North: -83.2389, East: 356.8457, Depth: -35.5608TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 6.28 
Alpha[0]	0.123000
Alpha[0]	0.999831
TNavParticleFilter::Modified Variance for beam 1 is 6.31 
Alpha[1]	0.000000
Alpha[1]	0.999832
TNavParticleFilter::Modified Variance for beam 2 is 6.35 
Alpha[2]	0.000000
Alpha[2]	0.999832
TNavParticleFilter::Modified Variance for beam 3 is 6.38 
Alpha[3]	0.000000
Alpha[3]	0.999827
TNavParticleFilter::Modified Variance for beam 4 is 6.30 
Alpha[4]	0.000000
Alpha[4]	0.999819
TNavParticleFilter::Modified Variance for beam 5 is 6.07 
Alpha[5]	0.000000
Alpha[5]	0.999816
TNavParticleFilter::Modified Variance for beam 6 is 5.87 
Alpha[6]	0.000000
Alpha[6]	0.999817
TNavParticleFilter::Modified Variance for beam 7 is 5.69 
Alpha[7]	0.000000
Alpha[7]	0.999817
TNavParticleFilter::Modified Variance for beam 8 is 5.60 
Alpha[8]	0.000000
Alpha[8]	0.999816
TNavParticleFilter::Modified Variance for beam 9 is 5.64 
Alpha[9]	0.000000
Alpha[9]	0.999814
TNavParticleFilter::Modified Variance for beam 10 is 5.68 
Alpha[10]	0.000000
Alpha[10]	0.999813
TNavParticleFilter::Modified Variance for beam 11 is 5.72 
Alpha[11]	0.000000
Alpha[11]	0.999815
TNavParticleFilter::Modified Variance for beam 12 is 5.77 
Alpha[12]	0.000000
Alpha[12]	0.999819
TNavParticleFilter::Modified Variance for beam 13 is 5.70 
Alpha[13]	0.000000
Alpha[13]	0.999823
TNavParticleFilter::Modified Variance for beam 14 is 5.58 
Alpha[14]	0.000000
Alpha[14]	0.999828
TNavParticleFilter::Modified Variance for beam 15 is 5.47 
Alpha[15]	0.000000
Alpha[15]	0.999833
TNavParticleFilter::Modified Variance for beam 16 is 5.47 
Alpha[16]	0.000000
Alpha[16]	0.999838
TNavParticleFilter::Modified Variance for beam 17 is 5.51 
Alpha[17]	0.000000
Alpha[17]	0.999842
TNavParticleFilter::Modified Variance for beam 18 is 5.57 
Alpha[18]	0.000000
Alpha[18]	0.999847
TNavParticleFilter::Modified Variance for beam 19 is 5.62 
Alpha[19]	0.000000
Alpha[19]	0.999852
TNavParticleFilter::Modified Variance for beam 20 is 5.68 
Alpha[20]	0.000000
Alpha[20]	0.999857
TNavParticleFilter::Modified Variance for beam 21 is 5.74 
Alpha[21]	0.000000
Alpha[21]	0.999861
TNavParticleFilter::Modified Variance for beam 22 is 5.81 
Alpha[22]	0.000000
Alpha[22]	0.999866
TNavParticleFilter::Modified Variance for beam 23 is 5.88 
Alpha[23]	0.000000
Alpha[23]	0.999871
TNavParticleFilter::Modified Variance for beam 24 is 5.95 
Alpha[24]	0.000000
Alpha[24]	0.999876
TNavParticleFilter::Modified Variance for beam 25 is 6.03 
Alpha[25]	0.000000
Alpha[25]	0.999884
TNavParticleFilter::Modified Variance for beam 26 is 6.12 
Alpha[26]	0.000000
Alpha[26]	0.999889
TNavParticleFilter::Modified Variance for beam 27 is 6.21 
Alpha[27]	0.000000
Alpha[27]	0.999893
TNavParticleFilter::Modified Variance for beam 28 is 6.31 
Alpha[28]	0.000000
Alpha[28]	0.999900
TNavParticleFilter::Modified Variance for beam 29 is 6.41 
Alpha[29]	0.000000
Alpha[29]	0.999909
TNavParticleFilter::Modified Variance for beam 30 is 6.52 
Alpha[30]	0.000000
Alpha[30]	0.999915
TNavParticleFilter::Modified Variance for beam 31 is 6.57 
Alpha[31]	0.000000
Alpha[31]	0.999924
TNavParticleFilter::Modified Variance for beam 32 is 6.48 
Alpha[32]	0.000000
Alpha[32]	0.999933
TNavParticleFilter::Modified Variance for beam 33 is 6.40 
Alpha[33]	0.000000
Alpha[33]	0.999940
TNavParticleFilter::Modified Variance for beam 34 is 6.31 
Alpha[34]	0.000000
Alpha[34]	0.999948
TNavParticleFilter::Modified Variance for beam 35 is 6.39 
Alpha[35]	0.000000
Alpha[35]	0.999954
TNavParticleFilter::Modified Variance for beam 36 is 6.53 
Alpha[36]	0.000000
Alpha[36]	0.999961
TNavParticleFilter::Modified Variance for beam 37 is 6.68 
Alpha[37]	0.000000
Alpha[37]	0.999966
TNavParticleFilter::Modified Variance for beam 38 is 6.85 
Alpha[38]	0.000000
Alpha[38]	0.999969
TNavParticleFilter::Modified Variance for beam 39 is 7.03 
Alpha[39]	0.000000
Alpha[39]	0.999973
TNavParticleFilter::Modified Variance for beam 40 is 7.23 
Alpha[40]	0.000000
Alpha[40]	0.999976
TNavParticleFilter::Modified Variance for beam 41 is 7.45 
Alpha[41]	0.000000
Alpha[41]	0.999980
TNavParticleFilter::Modified Variance for beam 42 is 7.55 
Alpha[42]	0.000000
Alpha[42]	0.999982
TNavParticleFilter::Modified Variance for beam 43 is 7.47 
Alpha[43]	0.000000
Alpha[43]	0.999982
TNavParticleFilter::Modified Variance for beam 44 is 7.39 
Alpha[44]	0.000000
Alpha[44]	0.999982
TNavParticleFilter::Modified Variance for beam 45 is 7.32 
Alpha[45]	0.000000
Alpha[45]	0.999983
TNavParticleFilter::Modified Variance for beam 46 is 7.56 
Alpha[46]	0.000000
Alpha[46]	0.999983
TNavParticleFilter::Modified Variance for beam 47 is 7.87 
Alpha[47]	0.000000
Alpha[47]	0.999983
TNavParticleFilter::Modified Variance for beam 48 is 8.21 
Alpha[48]	0.000000
Alpha[48]	0.999983
TNavParticleFilter::Modified Variance for beam 49 is 8.33 
Alpha[49]	0.000000
Alpha[49]	0.999984
TNavParticleFilter::Modified Variance for beam 50 is 8.26 
Alpha[50]	0.000000
Alpha[50]	0.999984
TNavParticleFilter::Modified Variance for beam 51 is 8.19 
Alpha[51]	0.000000
Alpha[51]	0.999985
TNavParticleFilter::Modified Variance for beam 52 is 8.21 
Alpha[52]	0.000000
Alpha[52]	0.999985
TNavParticleFilter::Modified Variance for beam 53 is 8.70 
Alpha[53]	0.000000
Alpha[53]	0.999985
TNavParticleFilter::Modified Variance for beam 54 is 9.27 
Alpha[54]	0.000000
Alpha[54]	0.999986
TNavParticleFilter::Modified Variance for beam 55 is 9.93 
Alpha[55]	0.000000
Alpha[55]	0.999986
TNavParticleFilter::Modified Variance for beam 56 is 9.96 
Alpha[56]	0.000000
Alpha[56]	0.999986
TNavParticleFilter::Modified Variance for beam 57 is 9.90 
Alpha[57]	0.000000
Alpha[57]	0.999986
TNavParticleFilter::Modified Variance for beam 58 is 9.84 
Alpha[58]	0.000000
Alpha[58]	0.999986
TNavParticleFilter::Modified Variance for beam 59 is 9.79 
Alpha[59]	0.000000
Alpha[59]	0.999986
TNavPF:: sumSquaredError = 4786.323477 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 1.14. Range = 39.79 
TNavPF::Calculated measDiffMean for beam 31 as 1.18. Range = 39.65 
TNavPF::Calculated measDiffMean for beam 32 as 1.24. Range = 40.05 
TNavPF::Calculated measDiffMean for beam 33 as 1.40. Range = 43.46 
TNavPF::Calculated measDiffMean for beam 34 as 1.13. Range = 43.35 
TNavPF::Calculated measDiffMean for beam 35 as 0.10. Range = 43.24 
TNavPF::Calculated measDiffMean for beam 36 as -0.91. Range = 41.14 
TNavPF::Calculated measDiffMean for beam 37 as -1.82. Range = 41.06 
TNavPF::Calculated measDiffMean for beam 38 as -2.25. Range = 38.99 
TNavPF::Calculated measDiffMean for beam 39 as -1.96. Range = 38.95 
TNavPF::Calculated measDiffMean for beam 40 as -1.69. Range = 38.91 
TNavPF::Calculated measDiffMean for beam 41 as -1.44. Range = 36.88 
TNavPF::Calculated measDiffMean for beam 42 as -1.23. Range = 36.88 
TNavPF::Calculated measDiffMean for beam 43 as -1.56. Range = 36.88 
TNavPF::Calculated measDiffMean for beam 44 as -2.22. Range = 32.88 
TNavPF::Calculated measDiffMean for beam 45 as -2.84. Range = 32.90 
TNavPF::Calculated measDiffMean for beam 46 as -2.93. Range = 32.93 
TNavPF::Calculated measDiffMean for beam 47 as -2.82. Range = 32.97 
TNavPF::Calculated measDiffMean for beam 48 as -2.75. Range = 31.01 
TNavPF::Calculated measDiffMean for beam 49 as -2.68. Range = 29.05 
TNavPF::Calculated measDiffMean for beam 50 as -2.60. Range = 29.11 
TNavPF::Calculated measDiffMean for beam 51 as -2.50. Range = 29.19 
TNavPF::Calculated measDiffMean for beam 52 as -2.41. Range = 28.95 
TNavPF::Calculated measDiffMean for beam 53 as -2.30. Range = 26.32 
TNavPF::Calculated measDiffMean for beam 54 as -2.22. Range = 24.13 
TNavPF::Calculated measDiffMean for beam 55 as -2.21. Range = 23.41 
TNavPF::Calculated measDiffMean for beam 56 as -2.15. Range = 23.50 
TNavPF::Calculated measDiffMean for beam 57 as -2.06. Range = 23.61 
TNavPF::Calculated measDiffMean for beam 58 as -2.06. Range = 23.72 
TNavPF::Calculated measDiffMean for beam 59 as -1.99. Range = 23.84 
TNavPF::Calculated measDiffMean for beam 60 as -1.69. Range = 23.97 
TNavPF::Calculated measDiffMean for beam 61 as -1.54. Range = 24.11 
TNavPF::Calculated measDiffMean for beam 62 as -2.14. Range = 24.25 
TNavPF::Calculated measDiffMean for beam 63 as -2.66. Range = 24.41 
TNavPF::Calculated measDiffMean for beam 64 as -3.22. Range = 24.07 
TNavPF::Calculated measDiffMean for beam 65 as -3.26. Range = 23.07 
TNavPF::Calculated measDiffMean for beam 66 as -3.59. Range = 22.15 
TNavPF::Calculated measDiffMean for beam 67 as -4.01. Range = 21.32 
TNavPF::Calculated measDiffMean for beam 68 as -4.36. Range = 20.89 
TNavPF::Calculated measDiffMean for beam 69 as -5.14. Range = 21.07 
TNavPF::Calculated measDiffMean for beam 70 as -6.11. Range = 21.26 
TNavPF::Calculated measDiffMean for beam 71 as -8.58. Range = 21.46 
TNavPF::Calculated measDiffMean for beam 72 as -10.42. Range = 21.67 
TNavPF::Calculated measDiffMean for beam 73 as -12.28. Range = 21.37 
TNavPF::Calculated measDiffMean for beam 74 as -13.82. Range = 20.77 
TNavPF::Calculated measDiffMean for beam 75 as -16.26. Range = 20.21 
TNavPF::Calculated measDiffMean for beam 76 as -17.68. Range = 20.21 
TNavPF::Calculated measDiffMean for beam 77 as -19.34. Range = 20.45 
TNavPF::Calculated measDiffMean for beam 78 as -23.96. Range = 20.71 
TNavPF::Calculated measDiffMean for beam 79 as -26.97. Range = 20.97 
TNavPF::Calculated measDiffMean for beam 80 as -27.01. Range = 21.25 
TNavPF::Calculated measDiffMean for beam 81 as -27.29. Range = 21.55 
TNavPF::Calculated measDiffMean for beam 82 as -26.59. Range = 21.86 
TNavPF::Calculated measDiffMean for beam 83 as -24.33. Range = 22.18 
TNavPF::Calculated measDiffMean for beam 84 as -21.71. Range = 22.52 
TNavPF::Calculated measDiffMean for beam 85 as -18.33. Range = 22.88 
TNavPF::Calculated measDiffMean for beam 86 as -11.68. Range = 23.26 
TNavPF::Calculated measDiffMean for beam 87 as -6.88. Range = 23.66 
TNavPF::Calculated measDiffMean for beam 88 as -5.10. Range = 24.08 
TNavPF::Calculated measDiffMean for beam 89 as -3.91. Range = 24.52 
TNavPF::First Term of Map Covariance Matrix is 118.41 
TNavPF::Calculated NIS Value : 6.88 	numBeams normalized NIS: 0.11
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323482.82 sec.
INS : North: 4070195.78, East: 589382.04, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 25.50, IDT[75] = 34.55
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323485.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323485.62)
ARL : North: -83.9000, East: 357.5884, Depth: -33.8761ARL : Estimation Bias  (Mean)         : (t = 1488323485.62)
ARL : North: -84.3146, East: 357.5257, Depth: -34.1046TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 63 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 5.87 
Alpha[0]	0.123000
Alpha[0]	0.999873
TNavParticleFilter::Modified Variance for beam 1 is 5.91 
Alpha[1]	0.000000
Alpha[1]	0.999877
TNavParticleFilter::Modified Variance for beam 2 is 5.95 
Alpha[2]	0.000000
Alpha[2]	0.999881
TNavParticleFilter::Modified Variance for beam 3 is 6.00 
Alpha[3]	0.000000
Alpha[3]	0.999884
TNavParticleFilter::Modified Variance for beam 4 is 6.05 
Alpha[4]	0.000000
Alpha[4]	0.999887
TNavParticleFilter::Modified Variance for beam 5 is 6.10 
Alpha[5]	0.000000
Alpha[5]	0.999890
TNavParticleFilter::Modified Variance for beam 6 is 6.16 
Alpha[6]	0.000000
Alpha[6]	0.999893
TNavParticleFilter::Modified Variance for beam 7 is 6.21 
Alpha[7]	0.000000
Alpha[7]	0.999896
TNavParticleFilter::Modified Variance for beam 8 is 6.28 
Alpha[8]	0.000000
Alpha[8]	0.999899
TNavParticleFilter::Modified Variance for beam 9 is 6.34 
Alpha[9]	0.000000
Alpha[9]	0.999901
TNavParticleFilter::Modified Variance for beam 10 is 6.41 
Alpha[10]	0.000000
Alpha[10]	0.999903
TNavParticleFilter::Modified Variance for beam 11 is 6.49 
Alpha[11]	0.000000
Alpha[11]	0.999905
TNavParticleFilter::Modified Variance for beam 12 is 6.57 
Alpha[12]	0.000000
Alpha[12]	0.999907
TNavParticleFilter::Modified Variance for beam 13 is 6.66 
Alpha[13]	0.000000
Alpha[13]	0.999909
TNavParticleFilter::Modified Variance for beam 14 is 6.75 
Alpha[14]	0.000000
Alpha[14]	0.999911
TNavParticleFilter::Modified Variance for beam 15 is 6.65 
Alpha[15]	0.000000
Alpha[15]	0.999914
TNavParticleFilter::Modified Variance for beam 16 is 6.53 
Alpha[16]	0.000000
Alpha[16]	0.999917
TNavParticleFilter::Modified Variance for beam 17 is 6.41 
Alpha[17]	0.000000
Alpha[17]	0.999920
TNavParticleFilter::Modified Variance for beam 18 is 6.47 
Alpha[18]	0.000000
Alpha[18]	0.999924
TNavParticleFilter::Modified Variance for beam 19 is 6.57 
Alpha[19]	0.000000
Alpha[19]	0.999927
TNavParticleFilter::Modified Variance for beam 20 is 6.68 
Alpha[20]	0.000000
Alpha[20]	0.999930
TNavParticleFilter::Modified Variance for beam 21 is 6.80 
Alpha[21]	0.000000
Alpha[21]	0.999935
TNavParticleFilter::Modified Variance for beam 22 is 6.93 
Alpha[22]	0.000000
Alpha[22]	0.999940
TNavParticleFilter::Modified Variance for beam 23 is 7.06 
Alpha[23]	0.000000
Alpha[23]	0.999943
TNavParticleFilter::Modified Variance for beam 24 is 7.21 
Alpha[24]	0.000000
Alpha[24]	0.999947
TNavParticleFilter::Modified Variance for beam 25 is 7.37 
Alpha[25]	0.000000
Alpha[25]	0.999952
TNavParticleFilter::Modified Variance for beam 26 is 7.54 
Alpha[26]	0.000000
Alpha[26]	0.999958
TNavParticleFilter::Modified Variance for beam 27 is 7.43 
Alpha[27]	0.000000
Alpha[27]	0.999963
TNavParticleFilter::Modified Variance for beam 28 is 7.33 
Alpha[28]	0.000000
Alpha[28]	0.999965
TNavParticleFilter::Modified Variance for beam 29 is 7.23 
Alpha[29]	0.000000
Alpha[29]	0.999969
TNavParticleFilter::Modified Variance for beam 30 is 7.35 
Alpha[30]	0.000000
Alpha[30]	0.999973
TNavParticleFilter::Modified Variance for beam 31 is 7.55 
Alpha[31]	0.000000
Alpha[31]	0.999977
TNavParticleFilter::Modified Variance for beam 32 is 7.78 
Alpha[32]	0.000000
Alpha[32]	0.999979
TNavParticleFilter::Modified Variance for beam 33 is 8.02 
Alpha[33]	0.000000
Alpha[33]	0.999980
TNavParticleFilter::Modified Variance for beam 34 is 8.12 
Alpha[34]	0.000000
Alpha[34]	0.999981
TNavParticleFilter::Modified Variance for beam 35 is 8.03 
Alpha[35]	0.000000
Alpha[35]	0.999981
TNavParticleFilter::Modified Variance for beam 36 is 7.94 
Alpha[36]	0.000000
Alpha[36]	0.999982
TNavParticleFilter::Modified Variance for beam 37 is 7.92 
Alpha[37]	0.000000
Alpha[37]	0.999983
TNavParticleFilter::Modified Variance for beam 38 is 8.24 
Alpha[38]	0.000000
Alpha[38]	0.999983
TNavParticleFilter::Modified Variance for beam 39 is 8.37 
Alpha[39]	0.000000
Alpha[39]	0.999983
TNavParticleFilter::Modified Variance for beam 40 is 8.29 
Alpha[40]	0.000000
Alpha[40]	0.999983
TNavParticleFilter::Modified Variance for beam 41 is 8.22 
Alpha[41]	0.000000
Alpha[41]	0.999984
TNavParticleFilter::Modified Variance for beam 42 is 8.22 
Alpha[42]	0.000000
Alpha[42]	0.999984
TNavParticleFilter::Modified Variance for beam 43 is 8.64 
Alpha[43]	0.000000
Alpha[43]	0.999984
TNavParticleFilter::Modified Variance for beam 44 is 9.39 
Alpha[44]	0.000000
Alpha[44]	0.999984
TNavParticleFilter::Modified Variance for beam 45 is 9.31 
Alpha[45]	0.000000
Alpha[45]	0.999984
TNavParticleFilter::Modified Variance for beam 46 is 9.24 
Alpha[46]	0.000000
Alpha[46]	0.999984
TNavParticleFilter::Modified Variance for beam 47 is 9.18 
Alpha[47]	0.000000
Alpha[47]	0.999984
TNavParticleFilter::Modified Variance for beam 48 is 9.42 
Alpha[48]	0.000000
Alpha[48]	0.999983
TNavParticleFilter::Modified Variance for beam 49 is 10.19 
Alpha[49]	0.000000
Alpha[49]	0.999982
TNavParticleFilter::Modified Variance for beam 50 is 10.46 
Alpha[50]	0.000000
Alpha[50]	0.999981
TNavParticleFilter::Modified Variance for beam 51 is 10.40 
Alpha[51]	0.000000
Alpha[51]	0.999979
TNavParticleFilter::Modified Variance for beam 52 is 10.34 
Alpha[52]	0.000000
Alpha[52]	0.999977
TNavParticleFilter::Modified Variance for beam 53 is 11.06 
Alpha[53]	0.000000
Alpha[53]	0.999973
TNavParticleFilter::Modified Variance for beam 54 is 11.00 
Alpha[54]	0.000000
Alpha[54]	0.999969
TNavParticleFilter::Modified Variance for beam 55 is 10.96 
Alpha[55]	0.000000
Alpha[55]	0.999965
TNavParticleFilter::Modified Variance for beam 56 is 11.22 
Alpha[56]	0.000000
Alpha[56]	0.999958
TNavPF:: sumSquaredError = 2844.498886 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 5.72. Range = 40.20 
TNavPF::Calculated measDiffMean for beam 31 as 6.07. Range = 40.15 
TNavPF::Calculated measDiffMean for beam 32 as 6.35. Range = 40.12 
TNavPF::Calculated measDiffMean for beam 33 as 6.62. Range = 36.07 
TNavPF::Calculated measDiffMean for beam 34 as 6.85. Range = 36.06 
TNavPF::Calculated measDiffMean for beam 35 as 7.07. Range = 36.06 
TNavPF::Calculated measDiffMean for beam 36 as 7.26. Range = 34.06 
TNavPF::Calculated measDiffMean for beam 37 as 7.48. Range = 34.08 
TNavPF::Calculated measDiffMean for beam 38 as 7.71. Range = 34.11 
TNavPF::Calculated measDiffMean for beam 39 as 8.01. Range = 32.56 
TNavPF::Calculated measDiffMean for beam 40 as 8.40. Range = 26.67 
TNavPF::Calculated measDiffMean for beam 41 as 8.88. Range = 26.19 
TNavPF::Calculated measDiffMean for beam 42 as 9.46. Range = 26.24 
TNavPF::Calculated measDiffMean for beam 43 as 10.09. Range = 26.31 
TNavPF::Calculated measDiffMean for beam 44 as 10.68. Range = 26.38 
TNavPF::Calculated measDiffMean for beam 45 as 10.41. Range = 26.46 
TNavPF::Calculated measDiffMean for beam 46 as 9.94. Range = 26.55 
TNavPF::Calculated measDiffMean for beam 47 as 9.40. Range = 26.64 
TNavPF::Calculated measDiffMean for beam 48 as 9.47. Range = 26.75 
TNavPF::Calculated measDiffMean for beam 49 as 9.71. Range = 26.19 
TNavPF::Calculated measDiffMean for beam 50 as 9.94. Range = 24.54 
TNavPF::Calculated measDiffMean for beam 51 as 9.99. Range = 23.09 
TNavPF::Calculated measDiffMean for beam 52 as 9.90. Range = 23.06 
TNavPF::Calculated measDiffMean for beam 53 as 9.92. Range = 23.19 
TNavPF::Calculated measDiffMean for beam 54 as 9.76. Range = 23.33 
TNavPF::Calculated measDiffMean for beam 55 as 9.34. Range = 23.48 
TNavPF::Calculated measDiffMean for beam 56 as 8.66. Range = 23.35 
TNavPF::Calculated measDiffMean for beam 57 as 7.03. Range = 22.37 
TNavPF::Calculated measDiffMean for beam 58 as 6.15. Range = 21.79 
TNavPF::Calculated measDiffMean for beam 59 as 5.25. Range = 21.96 
TNavPF::Calculated measDiffMean for beam 60 as 4.49. Range = 22.14 
TNavPF::Calculated measDiffMean for beam 61 as 3.90. Range = 22.33 
TNavPF::Calculated measDiffMean for beam 62 as 4.64. Range = 22.53 
TNavPF::Calculated measDiffMean for beam 63 as 5.36. Range = 22.74 
TNavPF::Calculated measDiffMean for beam 64 as 5.79. Range = 22.96 
TNavPF::Calculated measDiffMean for beam 65 as 6.03. Range = 23.19 
TNavPF::Calculated measDiffMean for beam 66 as 5.79. Range = 23.43 
TNavPF::Calculated measDiffMean for beam 67 as 5.48. Range = 23.69 
TNavPF::Calculated measDiffMean for beam 68 as 6.64. Range = 23.96 
TNavPF::Calculated measDiffMean for beam 69 as 7.00. Range = 24.24 
TNavPF::Calculated measDiffMean for beam 70 as 6.73. Range = 24.54 
TNavPF::Calculated measDiffMean for beam 71 as 6.57. Range = 24.85 
TNavPF::Calculated measDiffMean for beam 72 as 6.43. Range = 25.18 
TNavPF::Calculated measDiffMean for beam 73 as 8.06. Range = 25.52 
TNavPF::Calculated measDiffMean for beam 74 as 10.37. Range = 25.88 
TNavPF::Calculated measDiffMean for beam 75 as 10.22. Range = 25.50 
TNavPF::Calculated measDiffMean for beam 76 as 10.09. Range = 25.00 
TNavPF::Calculated measDiffMean for beam 77 as 10.43. Range = 24.52 
TNavPF::Calculated measDiffMean for beam 78 as 11.90. Range = 24.76 
TNavPF::Calculated measDiffMean for beam 79 as 15.18. Range = 25.18 
TNavPF::Calculated measDiffMean for beam 80 as 17.45. Range = 25.63 
TNavPF::Calculated measDiffMean for beam 81 as 18.75. Range = 26.09 
TNavPF::Calculated measDiffMean for beam 82 as 20.49. Range = 26.58 
TNavPF::Calculated measDiffMean for beam 83 as 24.03. Range = 27.10 
TNavPF::Calculated measDiffMean for beam 84 as 25.36. Range = 27.65 
TNavPF::Calculated measDiffMean for beam 85 as 26.43. Range = 28.23 
TNavPF::Calculated measDiffMean for beam 86 as 28.47. Range = 28.83 
TNavPF::First Term of Map Covariance Matrix is 157.70 
TNavPF::Calculated NIS Value : 5.72 	numBeams normalized NIS: 0.10

Particle Weights not updated due to sumWeights == 0.0

TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323485.82 sec.
INS : North: 4070199.07, East: 589379.71, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 27.12, IDT[75] = 35.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323488.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323488.62)
ARL : North: -83.6568, East: 357.6730, Depth: -35.6632ARL : Estimation Bias  (Mean)         : (t = 1488323488.62)
ARL : North: -84.3081, East: 357.5299, Depth: -34.1144TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 65 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 6.61 
Alpha[0]	0.123000
Alpha[0]	0.999934
TNavParticleFilter::Modified Variance for beam 1 is 6.66 
Alpha[1]	0.000000
Alpha[1]	0.999935
TNavParticleFilter::Modified Variance for beam 2 is 6.71 
Alpha[2]	0.000000
Alpha[2]	0.999936
TNavParticleFilter::Modified Variance for beam 3 is 6.77 
Alpha[3]	0.000000
Alpha[3]	0.999937
TNavParticleFilter::Modified Variance for beam 4 is 6.83 
Alpha[4]	0.000000
Alpha[4]	0.999937
TNavParticleFilter::Modified Variance for beam 5 is 6.89 
Alpha[5]	0.000000
Alpha[5]	0.999938
TNavParticleFilter::Modified Variance for beam 6 is 6.96 
Alpha[6]	0.000000
Alpha[6]	0.999939
TNavParticleFilter::Modified Variance for beam 7 is 7.03 
Alpha[7]	0.000000
Alpha[7]	0.999940
TNavParticleFilter::Modified Variance for beam 8 is 7.04 
Alpha[8]	0.000000
Alpha[8]	0.999941
TNavParticleFilter::Modified Variance for beam 9 is 6.85 
Alpha[9]	0.000000
Alpha[9]	0.999942
TNavParticleFilter::Modified Variance for beam 10 is 6.67 
Alpha[10]	0.000000
Alpha[10]	0.999943
TNavParticleFilter::Modified Variance for beam 11 is 6.72 
Alpha[11]	0.000000
Alpha[11]	0.999944
TNavParticleFilter::Modified Variance for beam 12 is 6.80 
Alpha[12]	0.000000
Alpha[12]	0.999946
TNavParticleFilter::Modified Variance for beam 13 is 6.88 
Alpha[13]	0.000000
Alpha[13]	0.999947
TNavParticleFilter::Modified Variance for beam 14 is 6.97 
Alpha[14]	0.000000
Alpha[14]	0.999949
TNavParticleFilter::Modified Variance for beam 15 is 7.07 
Alpha[15]	0.000000
Alpha[15]	0.999951
TNavParticleFilter::Modified Variance for beam 16 is 7.17 
Alpha[16]	0.000000
Alpha[16]	0.999953
TNavParticleFilter::Modified Variance for beam 17 is 7.28 
Alpha[17]	0.000000
Alpha[17]	0.999954
TNavParticleFilter::Modified Variance for beam 18 is 7.40 
Alpha[18]	0.000000
Alpha[18]	0.999956
TNavParticleFilter::Modified Variance for beam 19 is 7.53 
Alpha[19]	0.000000
Alpha[19]	0.999958
TNavParticleFilter::Modified Variance for beam 20 is 7.65 
Alpha[20]	0.000000
Alpha[20]	0.999959
TNavParticleFilter::Modified Variance for beam 21 is 7.51 
Alpha[21]	0.000000
Alpha[21]	0.999960
TNavParticleFilter::Modified Variance for beam 22 is 7.37 
Alpha[22]	0.000000
Alpha[22]	0.999962
TNavParticleFilter::Modified Variance for beam 23 is 7.28 
Alpha[23]	0.000000
Alpha[23]	0.999965
TNavParticleFilter::Modified Variance for beam 24 is 7.43 
Alpha[24]	0.000000
Alpha[24]	0.999967
TNavParticleFilter::Modified Variance for beam 25 is 7.59 
Alpha[25]	0.000000
Alpha[25]	0.999969
TNavParticleFilter::Modified Variance for beam 26 is 7.75 
Alpha[26]	0.000000
Alpha[26]	0.999970
TNavParticleFilter::Modified Variance for beam 27 is 7.94 
Alpha[27]	0.000000
Alpha[27]	0.999971
TNavParticleFilter::Modified Variance for beam 28 is 8.12 
Alpha[28]	0.000000
Alpha[28]	0.999972
TNavParticleFilter::Modified Variance for beam 29 is 8.00 
Alpha[29]	0.000000
Alpha[29]	0.999973
TNavParticleFilter::Modified Variance for beam 30 is 7.88 
Alpha[30]	0.000000
Alpha[30]	0.999974
TNavParticleFilter::Modified Variance for beam 31 is 7.77 
Alpha[31]	0.000000
Alpha[31]	0.999975
TNavParticleFilter::Modified Variance for beam 32 is 7.99 
Alpha[32]	0.000000
Alpha[32]	0.999975
TNavParticleFilter::Modified Variance for beam 33 is 8.23 
Alpha[33]	0.000000
Alpha[33]	0.999976
TNavParticleFilter::Modified Variance for beam 34 is 8.17 
Alpha[34]	0.000000
Alpha[34]	0.999976
TNavParticleFilter::Modified Variance for beam 35 is 8.07 
Alpha[35]	0.000000
Alpha[35]	0.999976
TNavParticleFilter::Modified Variance for beam 36 is 7.97 
Alpha[36]	0.000000
Alpha[36]	0.999977
TNavParticleFilter::Modified Variance for beam 37 is 8.13 
Alpha[37]	0.000000
Alpha[37]	0.999977
TNavParticleFilter::Modified Variance for beam 38 is 8.44 
Alpha[38]	0.000000
Alpha[38]	0.999978
TNavParticleFilter::Modified Variance for beam 39 is 9.12 
Alpha[39]	0.000000
Alpha[39]	0.999978
TNavParticleFilter::Modified Variance for beam 40 is 9.15 
Alpha[40]	0.000000
Alpha[40]	0.999978
TNavParticleFilter::Modified Variance for beam 41 is 8.93 
Alpha[41]	0.000000
Alpha[41]	0.999978
TNavParticleFilter::Modified Variance for beam 42 is 8.84 
Alpha[42]	0.000000
Alpha[42]	0.999978
TNavParticleFilter::Modified Variance for beam 43 is 8.83 
Alpha[43]	0.000000
Alpha[43]	0.999978
TNavParticleFilter::Modified Variance for beam 44 is 9.28 
Alpha[44]	0.000000
Alpha[44]	0.999978
TNavParticleFilter::Modified Variance for beam 45 is 9.81 
Alpha[45]	0.000000
Alpha[45]	0.999978
TNavParticleFilter::Modified Variance for beam 46 is 9.98 
Alpha[46]	0.000000
Alpha[46]	0.999978
TNavParticleFilter::Modified Variance for beam 47 is 9.90 
Alpha[47]	0.000000
Alpha[47]	0.999977
TNavParticleFilter::Modified Variance for beam 48 is 9.82 
Alpha[48]	0.000000
Alpha[48]	0.999977
TNavParticleFilter::Modified Variance for beam 49 is 10.24 
Alpha[49]	0.000000
Alpha[49]	0.999977
TNavParticleFilter::Modified Variance for beam 50 is 10.43 
Alpha[50]	0.000000
Alpha[50]	0.999978
TNavParticleFilter::Modified Variance for beam 51 is 10.36 
Alpha[51]	0.000000
Alpha[51]	0.999978
TNavParticleFilter::Modified Variance for beam 52 is 10.30 
Alpha[52]	0.000000
Alpha[52]	0.999979
TNavParticleFilter::Modified Variance for beam 53 is 11.82 
Alpha[53]	0.000000
Alpha[53]	0.999980
TNavParticleFilter::Modified Variance for beam 54 is 12.26 
Alpha[54]	0.000000
Alpha[54]	0.999980
TNavPF:: sumSquaredError = 2802.395542 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 9.31. Range = 43.59 
TNavPF::Calculated measDiffMean for beam 31 as 9.51. Range = 39.48 
TNavPF::Calculated measDiffMean for beam 32 as 9.72. Range = 39.42 
TNavPF::Calculated measDiffMean for beam 33 as 9.92. Range = 39.37 
TNavPF::Calculated measDiffMean for beam 34 as 10.10. Range = 37.33 
TNavPF::Calculated measDiffMean for beam 35 as 10.31. Range = 37.30 
TNavPF::Calculated measDiffMean for beam 36 as 10.49. Range = 37.29 
TNavPF::Calculated measDiffMean for beam 37 as 10.66. Range = 31.27 
TNavPF::Calculated measDiffMean for beam 38 as 10.62. Range = 31.28 
TNavPF::Calculated measDiffMean for beam 39 as 9.76. Range = 31.30 
TNavPF::Calculated measDiffMean for beam 40 as 8.95. Range = 31.33 
TNavPF::Calculated measDiffMean for beam 41 as 8.99. Range = 29.35 
TNavPF::Calculated measDiffMean for beam 42 as 9.18. Range = 29.40 
TNavPF::Calculated measDiffMean for beam 43 as 9.31. Range = 29.45 
TNavPF::Calculated measDiffMean for beam 44 as 9.48. Range = 29.51 
TNavPF::Calculated measDiffMean for beam 45 as 9.69. Range = 27.79 
TNavPF::Calculated measDiffMean for beam 46 as 9.95. Range = 25.60 
TNavPF::Calculated measDiffMean for beam 47 as 10.34. Range = 25.68 
TNavPF::Calculated measDiffMean for beam 48 as 10.55. Range = 25.76 
TNavPF::Calculated measDiffMean for beam 49 as 10.83. Range = 25.86 
TNavPF::Calculated measDiffMean for beam 50 as 11.32. Range = 25.96 
TNavPF::Calculated measDiffMean for beam 51 as 10.97. Range = 24.43 
TNavPF::Calculated measDiffMean for beam 52 as 10.41. Range = 24.12 
TNavPF::Calculated measDiffMean for beam 53 as 9.88. Range = 24.24 
TNavPF::Calculated measDiffMean for beam 54 as 10.23. Range = 24.37 
TNavPF::Calculated measDiffMean for beam 55 as 10.68. Range = 24.51 
TNavPF::Calculated measDiffMean for beam 56 as 11.33. Range = 24.65 
TNavPF::Calculated measDiffMean for beam 57 as 11.90. Range = 24.81 
TNavPF::Calculated measDiffMean for beam 58 as 12.41. Range = 24.98 
TNavPF::Calculated measDiffMean for beam 59 as 11.79. Range = 25.15 
TNavPF::Calculated measDiffMean for beam 60 as 11.30. Range = 25.34 
TNavPF::Calculated measDiffMean for beam 61 as 10.87. Range = 25.54 
TNavPF::Calculated measDiffMean for beam 62 as 11.51. Range = 25.74 
TNavPF::Calculated measDiffMean for beam 63 as 12.11. Range = 25.96 
TNavPF::Calculated measDiffMean for beam 64 as 11.91. Range = 26.20 
TNavPF::Calculated measDiffMean for beam 65 as 11.58. Range = 26.44 
TNavPF::Calculated measDiffMean for beam 66 as 11.02. Range = 26.70 
TNavPF::Calculated measDiffMean for beam 67 as 11.44. Range = 26.97 
TNavPF::Calculated measDiffMean for beam 68 as 12.28. Range = 27.03 
TNavPF::Calculated measDiffMean for beam 69 as 14.21. Range = 26.28 
TNavPF::Calculated measDiffMean for beam 70 as 14.29. Range = 25.59 
TNavPF::Calculated measDiffMean for beam 71 as 13.39. Range = 25.76 
TNavPF::Calculated measDiffMean for beam 72 as 13.07. Range = 26.07 
TNavPF::Calculated measDiffMean for beam 73 as 13.01. Range = 26.41 
TNavPF::Calculated measDiffMean for beam 74 as 14.20. Range = 26.76 
TNavPF::Calculated measDiffMean for beam 75 as 15.55. Range = 27.12 
TNavPF::Calculated measDiffMean for beam 76 as 15.81. Range = 27.51 
TNavPF::Calculated measDiffMean for beam 77 as 15.50. Range = 27.91 
TNavPF::Calculated measDiffMean for beam 78 as 15.09. Range = 28.34 
TNavPF::Calculated measDiffMean for beam 79 as 15.84. Range = 28.79 
TNavPF::Calculated measDiffMean for beam 80 as 15.60. Range = 29.24 
TNavPF::Calculated measDiffMean for beam 81 as 14.44. Range = 28.72 
TNavPF::Calculated measDiffMean for beam 82 as 12.89. Range = 28.22 
TNavPF::Calculated measDiffMean for beam 83 as 15.59. Range = 27.92 
TNavPF::Calculated measDiffMean for beam 84 as 16.39. Range = 28.44 
TNavPF::First Term of Map Covariance Matrix is 302.28 
TNavPF::Calculated NIS Value : 2.41 	numBeams normalized NIS: 0.04

Particle Weights not updated due to sumWeights == 0.0

TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323488.82 sec.
INS : North: 4070202.32, East: 589377.22, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 29.16, IDT[75] = 35.19
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323491.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323491.62)
ARL : North: -83.7347, East: 358.3948, Depth: -33.0859ARL : Estimation Bias  (Mean)         : (t = 1488323491.62)
ARL : North: -84.3101, East: 357.5337, Depth: -34.1574TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 63 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 7.24 
Alpha[0]	0.123000
Alpha[0]	0.999945
TNavParticleFilter::Modified Variance for beam 1 is 7.29 
Alpha[1]	0.000000
Alpha[1]	0.999945
TNavParticleFilter::Modified Variance for beam 2 is 7.34 
Alpha[2]	0.000000
Alpha[2]	0.999945
TNavParticleFilter::Modified Variance for beam 3 is 7.39 
Alpha[3]	0.000000
Alpha[3]	0.999945
TNavParticleFilter::Modified Variance for beam 4 is 7.44 
Alpha[4]	0.000000
Alpha[4]	0.999946
TNavParticleFilter::Modified Variance for beam 5 is 7.50 
Alpha[5]	0.000000
Alpha[5]	0.999946
TNavParticleFilter::Modified Variance for beam 6 is 7.21 
Alpha[6]	0.000000
Alpha[6]	0.999946
TNavParticleFilter::Modified Variance for beam 7 is 7.02 
Alpha[7]	0.000000
Alpha[7]	0.999946
TNavParticleFilter::Modified Variance for beam 8 is 7.08 
Alpha[8]	0.000000
Alpha[8]	0.999947
TNavParticleFilter::Modified Variance for beam 9 is 7.15 
Alpha[9]	0.000000
Alpha[9]	0.999948
TNavParticleFilter::Modified Variance for beam 10 is 7.22 
Alpha[10]	0.000000
Alpha[10]	0.999949
TNavParticleFilter::Modified Variance for beam 11 is 7.29 
Alpha[11]	0.000000
Alpha[11]	0.999949
TNavParticleFilter::Modified Variance for beam 12 is 7.37 
Alpha[12]	0.000000
Alpha[12]	0.999950
TNavParticleFilter::Modified Variance for beam 13 is 7.45 
Alpha[13]	0.000000
Alpha[13]	0.999951
TNavParticleFilter::Modified Variance for beam 14 is 7.54 
Alpha[14]	0.000000
Alpha[14]	0.999953
TNavParticleFilter::Modified Variance for beam 15 is 7.63 
Alpha[15]	0.000000
Alpha[15]	0.999954
TNavParticleFilter::Modified Variance for beam 16 is 7.73 
Alpha[16]	0.000000
Alpha[16]	0.999956
TNavParticleFilter::Modified Variance for beam 17 is 7.83 
Alpha[17]	0.000000
Alpha[17]	0.999958
TNavParticleFilter::Modified Variance for beam 18 is 7.69 
Alpha[18]	0.000000
Alpha[18]	0.999959
TNavParticleFilter::Modified Variance for beam 19 is 7.50 
Alpha[19]	0.000000
Alpha[19]	0.999961
TNavParticleFilter::Modified Variance for beam 20 is 7.44 
Alpha[20]	0.000000
Alpha[20]	0.999962
TNavParticleFilter::Modified Variance for beam 21 is 7.56 
Alpha[21]	0.000000
Alpha[21]	0.999964
TNavParticleFilter::Modified Variance for beam 22 is 7.68 
Alpha[22]	0.000000
Alpha[22]	0.999965
TNavParticleFilter::Modified Variance for beam 23 is 7.81 
Alpha[23]	0.000000
Alpha[23]	0.999967
TNavParticleFilter::Modified Variance for beam 24 is 7.95 
Alpha[24]	0.000000
Alpha[24]	0.999968
TNavParticleFilter::Modified Variance for beam 25 is 8.09 
Alpha[25]	0.000000
Alpha[25]	0.999970
TNavParticleFilter::Modified Variance for beam 26 is 8.06 
Alpha[26]	0.000000
Alpha[26]	0.999973
TNavParticleFilter::Modified Variance for beam 27 is 7.91 
Alpha[27]	0.000000
Alpha[27]	0.999974
TNavParticleFilter::Modified Variance for beam 28 is 7.76 
Alpha[28]	0.000000
Alpha[28]	0.999975
TNavParticleFilter::Modified Variance for beam 29 is 7.88 
Alpha[29]	0.000000
Alpha[29]	0.999977
TNavParticleFilter::Modified Variance for beam 30 is 8.06 
Alpha[30]	0.000000
Alpha[30]	0.999978
TNavParticleFilter::Modified Variance for beam 31 is 8.14 
Alpha[31]	0.000000
Alpha[31]	0.999979
TNavParticleFilter::Modified Variance for beam 32 is 8.00 
Alpha[32]	0.000000
Alpha[32]	0.999980
TNavParticleFilter::Modified Variance for beam 33 is 7.88 
Alpha[33]	0.000000
Alpha[33]	0.999981
TNavParticleFilter::Modified Variance for beam 34 is 7.88 
Alpha[34]	0.000000
Alpha[34]	0.999982
TNavParticleFilter::Modified Variance for beam 35 is 8.09 
Alpha[35]	0.000000
Alpha[35]	0.999982
TNavParticleFilter::Modified Variance for beam 36 is 9.05 
Alpha[36]	0.000000
Alpha[36]	0.999982
TNavParticleFilter::Modified Variance for beam 37 is 8.91 
Alpha[37]	0.000000
Alpha[37]	0.999981
TNavParticleFilter::Modified Variance for beam 38 is 8.84 
Alpha[38]	0.000000
Alpha[38]	0.999981
TNavParticleFilter::Modified Variance for beam 39 is 9.13 
Alpha[39]	0.000000
Alpha[39]	0.999981
TNavParticleFilter::Modified Variance for beam 40 is 8.56 
Alpha[40]	0.000000
Alpha[40]	0.999980
TNavParticleFilter::Modified Variance for beam 41 is 8.50 
Alpha[41]	0.000000
Alpha[41]	0.999980
TNavParticleFilter::Modified Variance for beam 42 is 8.81 
Alpha[42]	0.000000
Alpha[42]	0.999980
TNavParticleFilter::Modified Variance for beam 43 is 9.16 
Alpha[43]	0.000000
Alpha[43]	0.999980
TNavParticleFilter::Modified Variance for beam 44 is 9.54 
Alpha[44]	0.000000
Alpha[44]	0.999980
TNavParticleFilter::Modified Variance for beam 45 is 9.53 
Alpha[45]	0.000000
Alpha[45]	0.999980
TNavParticleFilter::Modified Variance for beam 46 is 9.43 
Alpha[46]	0.000000
Alpha[46]	0.999980
TNavParticleFilter::Modified Variance for beam 47 is 9.33 
Alpha[47]	0.000000
Alpha[47]	0.999980
TNavParticleFilter::Modified Variance for beam 48 is 9.73 
Alpha[48]	0.000000
Alpha[48]	0.999980
TNavParticleFilter::Modified Variance for beam 49 is 9.90 
Alpha[49]	0.000000
Alpha[49]	0.999981
TNavParticleFilter::Modified Variance for beam 50 is 9.81 
Alpha[50]	0.000000
Alpha[50]	0.999980
TNavParticleFilter::Modified Variance for beam 51 is 9.73 
Alpha[51]	0.000000
Alpha[51]	0.999980
TNavParticleFilter::Modified Variance for beam 52 is 10.06 
Alpha[52]	0.000000
Alpha[52]	0.999981
TNavParticleFilter::Modified Variance for beam 53 is 11.13 
Alpha[53]	0.000000
Alpha[53]	0.999982
TNavParticleFilter::Modified Variance for beam 54 is 11.58 
Alpha[54]	0.000000
Alpha[54]	0.999983
TNavParticleFilter::Modified Variance for beam 55 is 15.77 
Alpha[55]	0.000000
Alpha[55]	0.999983
TNavParticleFilter::Modified Variance for beam 56 is 17.35 
Alpha[56]	0.000000
Alpha[56]	0.999983
TNavPF:: sumSquaredError = 3305.688494 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 9.30. Range = 49.42 
TNavPF::Calculated measDiffMean for beam 31 as 9.73. Range = 49.25 
TNavPF::Calculated measDiffMean for beam 32 as 10.16. Range = 47.06 
TNavPF::Calculated measDiffMean for beam 33 as 10.59. Range = 42.87 
TNavPF::Calculated measDiffMean for beam 34 as 10.95. Range = 42.77 
TNavPF::Calculated measDiffMean for beam 35 as 11.33. Range = 42.67 
TNavPF::Calculated measDiffMean for beam 36 as 10.35. Range = 40.58 
TNavPF::Calculated measDiffMean for beam 37 as 9.77. Range = 40.52 
TNavPF::Calculated measDiffMean for beam 38 as 10.07. Range = 34.44 
TNavPF::Calculated measDiffMean for beam 39 as 10.30. Range = 34.40 
TNavPF::Calculated measDiffMean for beam 40 as 10.53. Range = 34.38 
TNavPF::Calculated measDiffMean for beam 41 as 10.78. Range = 32.36 
TNavPF::Calculated measDiffMean for beam 42 as 11.03. Range = 32.36 
TNavPF::Calculated measDiffMean for beam 43 as 11.25. Range = 32.37 
TNavPF::Calculated measDiffMean for beam 44 as 11.41. Range = 32.39 
TNavPF::Calculated measDiffMean for beam 45 as 11.52. Range = 28.40 
TNavPF::Calculated measDiffMean for beam 46 as 11.60. Range = 28.44 
TNavPF::Calculated measDiffMean for beam 47 as 11.74. Range = 28.48 
TNavPF::Calculated measDiffMean for beam 48 as 11.05. Range = 28.53 
TNavPF::Calculated measDiffMean for beam 49 as 10.03. Range = 26.57 
TNavPF::Calculated measDiffMean for beam 50 as 9.46. Range = 26.63 
TNavPF::Calculated measDiffMean for beam 51 as 9.47. Range = 26.70 
TNavPF::Calculated measDiffMean for beam 52 as 9.49. Range = 26.79 
TNavPF::Calculated measDiffMean for beam 53 as 9.31. Range = 26.88 
TNavPF::Calculated measDiffMean for beam 54 as 9.04. Range = 26.98 
TNavPF::Calculated measDiffMean for beam 55 as 8.71. Range = 27.08 
TNavPF::Calculated measDiffMean for beam 56 as 7.45. Range = 27.20 
TNavPF::Calculated measDiffMean for beam 57 as 5.76. Range = 27.33 
TNavPF::Calculated measDiffMean for beam 58 as 4.33. Range = 27.46 
TNavPF::Calculated measDiffMean for beam 59 as 3.65. Range = 27.61 
TNavPF::Calculated measDiffMean for beam 60 as 3.05. Range = 27.77 
TNavPF::Calculated measDiffMean for beam 61 as 2.37. Range = 27.93 
TNavPF::Calculated measDiffMean for beam 62 as 0.99. Range = 28.11 
TNavPF::Calculated measDiffMean for beam 63 as -0.29. Range = 28.30 
TNavPF::Calculated measDiffMean for beam 64 as -0.61. Range = 28.50 
TNavPF::Calculated measDiffMean for beam 65 as 0.16. Range = 28.71 
TNavPF::Calculated measDiffMean for beam 66 as 3.88. Range = 27.65 
TNavPF::Calculated measDiffMean for beam 67 as 4.55. Range = 26.95 
TNavPF::Calculated measDiffMean for beam 68 as 4.91. Range = 27.17 
TNavPF::Calculated measDiffMean for beam 69 as 6.52. Range = 27.42 
TNavPF::Calculated measDiffMean for beam 70 as 5.59. Range = 27.67 
TNavPF::Calculated measDiffMean for beam 71 as 5.59. Range = 27.94 
TNavPF::Calculated measDiffMean for beam 72 as 6.79. Range = 28.22 
TNavPF::Calculated measDiffMean for beam 73 as 7.79. Range = 28.52 
TNavPF::Calculated measDiffMean for beam 74 as 8.78. Range = 28.83 
TNavPF::Calculated measDiffMean for beam 75 as 8.86. Range = 29.16 
TNavPF::Calculated measDiffMean for beam 76 as 8.27. Range = 29.50 
TNavPF::Calculated measDiffMean for beam 77 as 7.50. Range = 29.86 
TNavPF::Calculated measDiffMean for beam 78 as 7.88. Range = 29.37 
TNavPF::Calculated measDiffMean for beam 79 as 7.74. Range = 28.70 
TNavPF::Calculated measDiffMean for beam 80 as 6.70. Range = 28.50 
TNavPF::Calculated measDiffMean for beam 81 as 5.54. Range = 28.90 
TNavPF::Calculated measDiffMean for beam 82 as 4.72. Range = 29.33 
TNavPF::Calculated measDiffMean for beam 83 as 4.72. Range = 29.78 
TNavPF::Calculated measDiffMean for beam 84 as 1.90. Range = 30.25 
TNavPF::Calculated measDiffMean for beam 85 as 6.38. Range = 30.74 
TNavPF::Calculated measDiffMean for beam 86 as 4.96. Range = 30.64 
TNavPF::First Term of Map Covariance Matrix is 362.19 
TNavPF::Calculated NIS Value : 3.52 	numBeams normalized NIS: 0.06

Particle Weights not updated due to sumWeights == 0.0

TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323491.82 sec.
INS : North: 4070205.37, East: 589374.43, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 30.35, IDT[75] = 34.12
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323494.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323494.62)
ARL : North: -83.4827, East: 357.7896, Depth: -32.8393ARL : Estimation Bias  (Mean)         : (t = 1488323494.62)
ARL : North: -84.3072, East: 357.5314, Depth: -34.2145TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 7.80 
Alpha[0]	0.123000
Alpha[0]	0.999952
TNavParticleFilter::Modified Variance for beam 1 is 7.84 
Alpha[1]	0.000000
Alpha[1]	0.999952
TNavParticleFilter::Modified Variance for beam 2 is 7.87 
Alpha[2]	0.000000
Alpha[2]	0.999952
TNavParticleFilter::Modified Variance for beam 3 is 7.91 
Alpha[3]	0.000000
Alpha[3]	0.999952
TNavParticleFilter::Modified Variance for beam 4 is 7.95 
Alpha[4]	0.000000
Alpha[4]	0.999952
TNavParticleFilter::Modified Variance for beam 5 is 7.75 
Alpha[5]	0.000000
Alpha[5]	0.999952
TNavParticleFilter::Modified Variance for beam 6 is 7.44 
Alpha[6]	0.000000
Alpha[6]	0.999952
TNavParticleFilter::Modified Variance for beam 7 is 7.48 
Alpha[7]	0.000000
Alpha[7]	0.999953
TNavParticleFilter::Modified Variance for beam 8 is 7.53 
Alpha[8]	0.000000
Alpha[8]	0.999953
TNavParticleFilter::Modified Variance for beam 9 is 7.58 
Alpha[9]	0.000000
Alpha[9]	0.999953
TNavParticleFilter::Modified Variance for beam 10 is 7.64 
Alpha[10]	0.000000
Alpha[10]	0.999953
TNavParticleFilter::Modified Variance for beam 11 is 7.70 
Alpha[11]	0.000000
Alpha[11]	0.999954
TNavParticleFilter::Modified Variance for beam 12 is 7.76 
Alpha[12]	0.000000
Alpha[12]	0.999954
TNavParticleFilter::Modified Variance for beam 13 is 7.83 
Alpha[13]	0.000000
Alpha[13]	0.999955
TNavParticleFilter::Modified Variance for beam 14 is 7.90 
Alpha[14]	0.000000
Alpha[14]	0.999956
TNavParticleFilter::Modified Variance for beam 15 is 7.98 
Alpha[15]	0.000000
Alpha[15]	0.999956
TNavParticleFilter::Modified Variance for beam 16 is 8.06 
Alpha[16]	0.000000
Alpha[16]	0.999957
TNavParticleFilter::Modified Variance for beam 17 is 7.93 
Alpha[17]	0.000000
Alpha[17]	0.999958
TNavParticleFilter::Modified Variance for beam 18 is 7.66 
Alpha[18]	0.000000
Alpha[18]	0.999960
TNavParticleFilter::Modified Variance for beam 19 is 7.64 
Alpha[19]	0.000000
Alpha[19]	0.999961
TNavParticleFilter::Modified Variance for beam 20 is 7.73 
Alpha[20]	0.000000
Alpha[20]	0.999962
TNavParticleFilter::Modified Variance for beam 21 is 7.82 
Alpha[21]	0.000000
Alpha[21]	0.999963
TNavParticleFilter::Modified Variance for beam 22 is 7.92 
Alpha[22]	0.000000
Alpha[22]	0.999964
TNavParticleFilter::Modified Variance for beam 23 is 8.03 
Alpha[23]	0.000000
Alpha[23]	0.999966
TNavParticleFilter::Modified Variance for beam 24 is 8.14 
Alpha[24]	0.000000
Alpha[24]	0.999967
TNavParticleFilter::Modified Variance for beam 25 is 8.16 
Alpha[25]	0.000000
Alpha[25]	0.999968
TNavParticleFilter::Modified Variance for beam 26 is 7.95 
Alpha[26]	0.000000
Alpha[26]	0.999969
TNavParticleFilter::Modified Variance for beam 27 is 7.76 
Alpha[27]	0.000000
Alpha[27]	0.999970
TNavParticleFilter::Modified Variance for beam 28 is 7.88 
Alpha[28]	0.000000
Alpha[28]	0.999971
TNavParticleFilter::Modified Variance for beam 29 is 8.01 
Alpha[29]	0.000000
Alpha[29]	0.999973
TNavParticleFilter::Modified Variance for beam 30 is 8.12 
Alpha[30]	0.000000
Alpha[30]	0.999974
TNavParticleFilter::Modified Variance for beam 31 is 7.94 
Alpha[31]	0.000000
Alpha[31]	0.999975
TNavParticleFilter::Modified Variance for beam 32 is 7.78 
Alpha[32]	0.000000
Alpha[32]	0.999975
TNavParticleFilter::Modified Variance for beam 33 is 7.77 
Alpha[33]	0.000000
Alpha[33]	0.999976
TNavParticleFilter::Modified Variance for beam 34 is 7.93 
Alpha[34]	0.000000
Alpha[34]	0.999976
TNavParticleFilter::Modified Variance for beam 35 is 9.01 
Alpha[35]	0.000000
Alpha[35]	0.999977
TNavParticleFilter::Modified Variance for beam 36 is 8.85 
Alpha[36]	0.000000
Alpha[36]	0.999978
TNavParticleFilter::Modified Variance for beam 37 is 8.68 
Alpha[37]	0.000000
Alpha[37]	0.999978
TNavParticleFilter::Modified Variance for beam 38 is 8.53 
Alpha[38]	0.000000
Alpha[38]	0.999979
TNavParticleFilter::Modified Variance for beam 39 is 8.38 
Alpha[39]	0.000000
Alpha[39]	0.999979
TNavParticleFilter::Modified Variance for beam 40 is 8.24 
Alpha[40]	0.000000
Alpha[40]	0.999980
TNavParticleFilter::Modified Variance for beam 41 is 8.31 
Alpha[41]	0.000000
Alpha[41]	0.999980
TNavParticleFilter::Modified Variance for beam 42 is 8.54 
Alpha[42]	0.000000
Alpha[42]	0.999981
TNavParticleFilter::Modified Variance for beam 43 is 8.79 
Alpha[43]	0.000000
Alpha[43]	0.999982
TNavParticleFilter::Modified Variance for beam 44 is 9.06 
Alpha[44]	0.000000
Alpha[44]	0.999982
TNavParticleFilter::Modified Variance for beam 45 is 9.17 
Alpha[45]	0.000000
Alpha[45]	0.999983
TNavParticleFilter::Modified Variance for beam 46 is 9.04 
Alpha[46]	0.000000
Alpha[46]	0.999983
TNavParticleFilter::Modified Variance for beam 47 is 8.92 
Alpha[47]	0.000000
Alpha[47]	0.999983
TNavParticleFilter::Modified Variance for beam 48 is 9.05 
Alpha[48]	0.000000
Alpha[48]	0.999983
TNavParticleFilter::Modified Variance for beam 49 is 9.40 
Alpha[49]	0.000000
Alpha[49]	0.999983
TNavParticleFilter::Modified Variance for beam 50 is 9.35 
Alpha[50]	0.000000
Alpha[50]	0.999983
TNavParticleFilter::Modified Variance for beam 51 is 9.24 
Alpha[51]	0.000000
Alpha[51]	0.999982
TNavParticleFilter::Modified Variance for beam 52 is 9.14 
Alpha[52]	0.000000
Alpha[52]	0.999981
TNavParticleFilter::Modified Variance for beam 53 is 9.52 
Alpha[53]	0.000000
Alpha[53]	0.999981
TNavParticleFilter::Modified Variance for beam 54 is 10.49 
Alpha[54]	0.000000
Alpha[54]	0.999980
TNavParticleFilter::Modified Variance for beam 55 is 10.53 
Alpha[55]	0.000000
Alpha[55]	0.999979
TNavParticleFilter::Modified Variance for beam 56 is 13.30 
Alpha[56]	0.000000
Alpha[56]	0.999978
TNavParticleFilter::Modified Variance for beam 57 is 14.19 
Alpha[57]	0.000000
Alpha[57]	0.999978
TNavParticleFilter::Modified Variance for beam 58 is 15.21 
Alpha[58]	0.000000
Alpha[58]	0.999978
TNavParticleFilter::Modified Variance for beam 59 is 16.39 
Alpha[59]	0.000000
Alpha[59]	0.999978
TNavPF:: sumSquaredError = 3778.587241 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 9.60. Range = 55.82 
TNavPF::Calculated measDiffMean for beam 31 as 9.69. Range = 64.19 
TNavPF::Calculated measDiffMean for beam 32 as 9.76. Range = 57.58 
TNavPF::Calculated measDiffMean for beam 33 as 9.79. Range = 55.21 
TNavPF::Calculated measDiffMean for beam 34 as 9.84. Range = 52.88 
TNavPF::Calculated measDiffMean for beam 35 as 9.00. Range = 52.65 
TNavPF::Calculated measDiffMean for beam 36 as 7.73. Range = 50.39 
TNavPF::Calculated measDiffMean for beam 37 as 7.65. Range = 46.11 
TNavPF::Calculated measDiffMean for beam 38 as 7.55. Range = 45.96 
TNavPF::Calculated measDiffMean for beam 39 as 7.46. Range = 43.79 
TNavPF::Calculated measDiffMean for beam 40 as 7.37. Range = 37.59 
TNavPF::Calculated measDiffMean for beam 41 as 7.27. Range = 37.49 
TNavPF::Calculated measDiffMean for beam 42 as 7.17. Range = 37.41 
TNavPF::Calculated measDiffMean for beam 43 as 7.04. Range = 35.33 
TNavPF::Calculated measDiffMean for beam 44 as 6.98. Range = 35.28 
TNavPF::Calculated measDiffMean for beam 45 as 6.98. Range = 35.24 
TNavPF::Calculated measDiffMean for beam 46 as 6.94. Range = 31.19 
TNavPF::Calculated measDiffMean for beam 47 as 6.18. Range = 31.17 
TNavPF::Calculated measDiffMean for beam 48 as 4.86. Range = 31.16 
TNavPF::Calculated measDiffMean for beam 49 as 4.42. Range = 31.16 
TNavPF::Calculated measDiffMean for beam 50 as 4.37. Range = 29.17 
TNavPF::Calculated measDiffMean for beam 51 as 4.39. Range = 29.19 
TNavPF::Calculated measDiffMean for beam 52 as 4.36. Range = 29.21 
TNavPF::Calculated measDiffMean for beam 53 as 4.34. Range = 29.25 
TNavPF::Calculated measDiffMean for beam 54 as 4.41. Range = 29.30 
TNavPF::Calculated measDiffMean for beam 55 as 4.15. Range = 29.35 
TNavPF::Calculated measDiffMean for beam 56 as 3.08. Range = 29.41 
TNavPF::Calculated measDiffMean for beam 57 as 2.16. Range = 29.48 
TNavPF::Calculated measDiffMean for beam 58 as 2.40. Range = 29.57 
TNavPF::Calculated measDiffMean for beam 59 as 2.67. Range = 29.66 
TNavPF::Calculated measDiffMean for beam 60 as 2.89. Range = 29.76 
TNavPF::Calculated measDiffMean for beam 61 as 2.45. Range = 29.87 
TNavPF::Calculated measDiffMean for beam 62 as 2.11. Range = 29.99 
TNavPF::Calculated measDiffMean for beam 63 as 2.18. Range = 30.12 
TNavPF::Calculated measDiffMean for beam 64 as 2.76. Range = 30.26 
TNavPF::Calculated measDiffMean for beam 65 as 6.18. Range = 29.56 
TNavPF::Calculated measDiffMean for beam 66 as 5.59. Range = 28.48 
TNavPF::Calculated measDiffMean for beam 67 as 4.76. Range = 28.64 
TNavPF::Calculated measDiffMean for beam 68 as 3.93. Range = 28.81 
TNavPF::Calculated measDiffMean for beam 69 as 2.91. Range = 28.99 
TNavPF::Calculated measDiffMean for beam 70 as 1.69. Range = 29.19 
TNavPF::Calculated measDiffMean for beam 71 as 0.78. Range = 29.40 
TNavPF::Calculated measDiffMean for beam 72 as -0.31. Range = 29.61 
TNavPF::Calculated measDiffMean for beam 73 as -1.58. Range = 29.85 
TNavPF::Calculated measDiffMean for beam 74 as -3.03. Range = 30.09 
TNavPF::Calculated measDiffMean for beam 75 as -5.38. Range = 30.35 
TNavPF::Calculated measDiffMean for beam 76 as -7.95. Range = 30.62 
TNavPF::Calculated measDiffMean for beam 77 as -10.62. Range = 30.20 
TNavPF::Calculated measDiffMean for beam 78 as -12.91. Range = 29.27 
TNavPF::Calculated measDiffMean for beam 79 as -14.20. Range = 29.19 
TNavPF::Calculated measDiffMean for beam 80 as -16.76. Range = 29.50 
TNavPF::Calculated measDiffMean for beam 81 as -19.16. Range = 29.83 
TNavPF::Calculated measDiffMean for beam 82 as -20.96. Range = 30.17 
TNavPF::Calculated measDiffMean for beam 83 as -20.87. Range = 30.52 
TNavPF::Calculated measDiffMean for beam 84 as -18.72. Range = 30.90 
TNavPF::Calculated measDiffMean for beam 85 as -18.80. Range = 30.96 
TNavPF::Calculated measDiffMean for beam 86 as -11.92. Range = 30.26 
TNavPF::Calculated measDiffMean for beam 87 as -10.36. Range = 29.60 
TNavPF::Calculated measDiffMean for beam 88 as -9.02. Range = 30.00 
TNavPF::Calculated measDiffMean for beam 89 as -7.49. Range = 30.45 
TNavPF::First Term of Map Covariance Matrix is 419.33 
TNavPF::Calculated NIS Value : 5.97 	numBeams normalized NIS: 0.10

Particle Weights not updated due to sumWeights == 0.0

TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323494.82 sec.
INS : North: 4070208.10, East: 589371.29, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 31.64, IDT[75] = 32.64
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323497.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323497.62)
ARL : North: -83.3140, East: 357.7030, Depth: -32.9466ARL : Estimation Bias  (Mean)         : (t = 1488323497.62)
ARL : North: -84.3127, East: 357.5367, Depth: -34.2004TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 8.42 
Alpha[0]	0.123000
Alpha[0]	0.999961
TNavParticleFilter::Modified Variance for beam 1 is 8.44 
Alpha[1]	0.000000
Alpha[1]	0.999961
TNavParticleFilter::Modified Variance for beam 2 is 8.46 
Alpha[2]	0.000000
Alpha[2]	0.999961
TNavParticleFilter::Modified Variance for beam 3 is 8.48 
Alpha[3]	0.000000
Alpha[3]	0.999960
TNavParticleFilter::Modified Variance for beam 4 is 8.25 
Alpha[4]	0.000000
Alpha[4]	0.999960
TNavParticleFilter::Modified Variance for beam 5 is 7.92 
Alpha[5]	0.000000
Alpha[5]	0.999960
TNavParticleFilter::Modified Variance for beam 6 is 7.95 
Alpha[6]	0.000000
Alpha[6]	0.999960
TNavParticleFilter::Modified Variance for beam 7 is 7.98 
Alpha[7]	0.000000
Alpha[7]	0.999960
TNavParticleFilter::Modified Variance for beam 8 is 8.02 
Alpha[8]	0.000000
Alpha[8]	0.999960
TNavParticleFilter::Modified Variance for beam 9 is 8.06 
Alpha[9]	0.000000
Alpha[9]	0.999960
TNavParticleFilter::Modified Variance for beam 10 is 8.10 
Alpha[10]	0.000000
Alpha[10]	0.999960
TNavParticleFilter::Modified Variance for beam 11 is 8.15 
Alpha[11]	0.000000
Alpha[11]	0.999960
TNavParticleFilter::Modified Variance for beam 12 is 8.20 
Alpha[12]	0.000000
Alpha[12]	0.999960
TNavParticleFilter::Modified Variance for beam 13 is 8.25 
Alpha[13]	0.000000
Alpha[13]	0.999960
TNavParticleFilter::Modified Variance for beam 14 is 8.31 
Alpha[14]	0.000000
Alpha[14]	0.999960
TNavParticleFilter::Modified Variance for beam 15 is 8.37 
Alpha[15]	0.000000
Alpha[15]	0.999961
TNavParticleFilter::Modified Variance for beam 16 is 8.01 
Alpha[16]	0.000000
Alpha[16]	0.999961
TNavParticleFilter::Modified Variance for beam 17 is 7.85 
Alpha[17]	0.000000
Alpha[17]	0.999962
TNavParticleFilter::Modified Variance for beam 18 is 7.91 
Alpha[18]	0.000000
Alpha[18]	0.999962
TNavParticleFilter::Modified Variance for beam 19 is 7.98 
Alpha[19]	0.000000
Alpha[19]	0.999963
TNavParticleFilter::Modified Variance for beam 20 is 8.06 
Alpha[20]	0.000000
Alpha[20]	0.999964
TNavParticleFilter::Modified Variance for beam 21 is 8.13 
Alpha[21]	0.000000
Alpha[21]	0.999965
TNavParticleFilter::Modified Variance for beam 22 is 8.22 
Alpha[22]	0.000000
Alpha[22]	0.999966
TNavParticleFilter::Modified Variance for beam 23 is 8.31 
Alpha[23]	0.000000
Alpha[23]	0.999966
TNavParticleFilter::Modified Variance for beam 24 is 8.12 
Alpha[24]	0.000000
Alpha[24]	0.999967
TNavParticleFilter::Modified Variance for beam 25 is 7.84 
Alpha[25]	0.000000
Alpha[25]	0.999968
TNavParticleFilter::Modified Variance for beam 26 is 7.89 
Alpha[26]	0.000000
Alpha[26]	0.999968
TNavParticleFilter::Modified Variance for beam 27 is 7.98 
Alpha[27]	0.000000
Alpha[27]	0.999969
TNavParticleFilter::Modified Variance for beam 28 is 8.09 
Alpha[28]	0.000000
Alpha[28]	0.999970
TNavParticleFilter::Modified Variance for beam 29 is 7.97 
Alpha[29]	0.000000
Alpha[29]	0.999971
TNavParticleFilter::Modified Variance for beam 30 is 7.75 
Alpha[30]	0.000000
Alpha[30]	0.999971
TNavParticleFilter::Modified Variance for beam 31 is 7.69 
Alpha[31]	0.000000
Alpha[31]	0.999972
TNavParticleFilter::Modified Variance for beam 32 is 7.80 
Alpha[32]	0.000000
Alpha[32]	0.999974
TNavParticleFilter::Modified Variance for beam 33 is 7.92 
Alpha[33]	0.000000
Alpha[33]	0.999975
TNavParticleFilter::Modified Variance for beam 34 is 8.86 
Alpha[34]	0.000000
Alpha[34]	0.999976
TNavParticleFilter::Modified Variance for beam 35 is 8.68 
Alpha[35]	0.000000
Alpha[35]	0.999977
TNavParticleFilter::Modified Variance for beam 36 is 8.47 
Alpha[36]	0.000000
Alpha[36]	0.999977
TNavParticleFilter::Modified Variance for beam 37 is 8.48 
Alpha[37]	0.000000
Alpha[37]	0.999978
TNavParticleFilter::Modified Variance for beam 38 is 8.65 
Alpha[38]	0.000000
Alpha[38]	0.999979
TNavParticleFilter::Modified Variance for beam 39 is 7.96 
Alpha[39]	0.000000
Alpha[39]	0.999979
TNavParticleFilter::Modified Variance for beam 40 is 8.11 
Alpha[40]	0.000000
Alpha[40]	0.999979
TNavParticleFilter::Modified Variance for beam 41 is 8.28 
Alpha[41]	0.000000
Alpha[41]	0.999979
TNavParticleFilter::Modified Variance for beam 42 is 8.47 
Alpha[42]	0.000000
Alpha[42]	0.999980
TNavParticleFilter::Modified Variance for beam 43 is 8.66 
Alpha[43]	0.000000
Alpha[43]	0.999980
TNavParticleFilter::Modified Variance for beam 44 is 8.84 
Alpha[44]	0.000000
Alpha[44]	0.999980
TNavParticleFilter::Modified Variance for beam 45 is 8.68 
Alpha[45]	0.000000
Alpha[45]	0.999981
TNavParticleFilter::Modified Variance for beam 46 is 8.54 
Alpha[46]	0.000000
Alpha[46]	0.999981
TNavParticleFilter::Modified Variance for beam 47 is 8.53 
Alpha[47]	0.000000
Alpha[47]	0.999980
TNavParticleFilter::Modified Variance for beam 48 is 8.77 
Alpha[48]	0.000000
Alpha[48]	0.999980
TNavParticleFilter::Modified Variance for beam 49 is 8.93 
Alpha[49]	0.000000
Alpha[49]	0.999980
TNavParticleFilter::Modified Variance for beam 50 is 8.80 
Alpha[50]	0.000000
Alpha[50]	0.999980
TNavParticleFilter::Modified Variance for beam 51 is 8.67 
Alpha[51]	0.000000
Alpha[51]	0.999980
TNavParticleFilter::Modified Variance for beam 52 is 8.70 
Alpha[52]	0.000000
Alpha[52]	0.999979
TNavParticleFilter::Modified Variance for beam 53 is 9.00 
Alpha[53]	0.000000
Alpha[53]	0.999979
TNavParticleFilter::Modified Variance for beam 54 is 9.89 
Alpha[54]	0.000000
Alpha[54]	0.999979
TNavParticleFilter::Modified Variance for beam 55 is 9.76 
Alpha[55]	0.000000
Alpha[55]	0.999978
TNavParticleFilter::Modified Variance for beam 56 is 10.10 
Alpha[56]	0.000000
Alpha[56]	0.999977
TNavParticleFilter::Modified Variance for beam 57 is 12.25 
Alpha[57]	0.000000
Alpha[57]	0.999976
TNavParticleFilter::Modified Variance for beam 58 is 12.86 
Alpha[58]	0.000000
Alpha[58]	0.999975
TNavParticleFilter::Modified Variance for beam 59 is 13.56 
Alpha[59]	0.000000
Alpha[59]	0.999974
TNavPF:: sumSquaredError = 3672.157019 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 5.86. Range = 81.14 
TNavPF::Calculated measDiffMean for beam 31 as 5.88. Range = 80.51 
TNavPF::Calculated measDiffMean for beam 32 as 5.89. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 33 as 5.89. Range = 57.79 
TNavPF::Calculated measDiffMean for beam 34 as 5.12. Range = 70.25 
TNavPF::Calculated measDiffMean for beam 35 as 3.97. Range = 67.67 
TNavPF::Calculated measDiffMean for beam 36 as 4.08. Range = 58.80 
TNavPF::Calculated measDiffMean for beam 37 as 4.17. Range = 58.47 
TNavPF::Calculated measDiffMean for beam 38 as 4.31. Range = 56.06 
TNavPF::Calculated measDiffMean for beam 39 as 4.46. Range = 53.70 
TNavPF::Calculated measDiffMean for beam 40 as 4.60. Range = 49.30 
TNavPF::Calculated measDiffMean for beam 41 as 4.76. Range = 49.09 
TNavPF::Calculated measDiffMean for beam 42 as 4.91. Range = 40.67 
TNavPF::Calculated measDiffMean for beam 43 as 5.09. Range = 40.52 
TNavPF::Calculated measDiffMean for beam 44 as 5.26. Range = 40.38 
TNavPF::Calculated measDiffMean for beam 45 as 5.39. Range = 38.22 
TNavPF::Calculated measDiffMean for beam 46 as 4.16. Range = 38.12 
TNavPF::Calculated measDiffMean for beam 47 as 3.56. Range = 33.98 
TNavPF::Calculated measDiffMean for beam 48 as 3.71. Range = 33.90 
TNavPF::Calculated measDiffMean for beam 49 as 3.81. Range = 33.84 
TNavPF::Calculated measDiffMean for beam 50 as 3.94. Range = 31.78 
TNavPF::Calculated measDiffMean for beam 51 as 4.10. Range = 31.74 
TNavPF::Calculated measDiffMean for beam 52 as 4.39. Range = 31.70 
TNavPF::Calculated measDiffMean for beam 53 as 4.88. Range = 31.68 
TNavPF::Calculated measDiffMean for beam 54 as 4.37. Range = 31.67 
TNavPF::Calculated measDiffMean for beam 55 as 3.43. Range = 31.67 
TNavPF::Calculated measDiffMean for beam 56 as 3.60. Range = 31.68 
TNavPF::Calculated measDiffMean for beam 57 as 3.84. Range = 31.70 
TNavPF::Calculated measDiffMean for beam 58 as 3.91. Range = 31.72 
TNavPF::Calculated measDiffMean for beam 59 as 3.09. Range = 31.76 
TNavPF::Calculated measDiffMean for beam 60 as 1.87. Range = 31.81 
TNavPF::Calculated measDiffMean for beam 61 as 0.99. Range = 31.87 
TNavPF::Calculated measDiffMean for beam 62 as 0.43. Range = 31.93 
TNavPF::Calculated measDiffMean for beam 63 as -0.31. Range = 32.01 
TNavPF::Calculated measDiffMean for beam 64 as 1.42. Range = 31.26 
TNavPF::Calculated measDiffMean for beam 65 as -0.72. Range = 30.16 
TNavPF::Calculated measDiffMean for beam 66 as -3.22. Range = 30.26 
TNavPF::Calculated measDiffMean for beam 67 as -5.23. Range = 30.37 
TNavPF::Calculated measDiffMean for beam 68 as -6.91. Range = 30.49 
TNavPF::Calculated measDiffMean for beam 69 as -11.24. Range = 30.62 
TNavPF::Calculated measDiffMean for beam 70 as -12.53. Range = 30.76 
TNavPF::Calculated measDiffMean for beam 71 as -13.77. Range = 30.92 
TNavPF::Calculated measDiffMean for beam 72 as -15.16. Range = 31.08 
TNavPF::Calculated measDiffMean for beam 73 as -16.27. Range = 31.25 
TNavPF::Calculated measDiffMean for beam 74 as -17.40. Range = 31.44 
TNavPF::Calculated measDiffMean for beam 75 as -19.30. Range = 31.64 
TNavPF::Calculated measDiffMean for beam 76 as -20.85. Range = 30.47 
TNavPF::Calculated measDiffMean for beam 77 as -21.74. Range = 29.91 
TNavPF::Calculated measDiffMean for beam 78 as -22.33. Range = 30.13 
TNavPF::Calculated measDiffMean for beam 79 as -23.17. Range = 30.36 
TNavPF::Calculated measDiffMean for beam 80 as -24.65. Range = 30.61 
TNavPF::Calculated measDiffMean for beam 81 as -25.79. Range = 30.87 
TNavPF::Calculated measDiffMean for beam 82 as -25.88. Range = 31.14 
TNavPF::Calculated measDiffMean for beam 83 as -25.05. Range = 31.43 
TNavPF::Calculated measDiffMean for beam 84 as -22.46. Range = 30.81 
TNavPF::Calculated measDiffMean for beam 85 as -22.74. Range = 29.89 
TNavPF::Calculated measDiffMean for beam 86 as -21.92. Range = 30.04 
TNavPF::Calculated measDiffMean for beam 87 as -16.72. Range = 30.37 
TNavPF::Calculated measDiffMean for beam 88 as -15.69. Range = 30.72 
TNavPF::Calculated measDiffMean for beam 89 as -14.48. Range = 30.32 
TNavPF::First Term of Map Covariance Matrix is 517.48 
TNavPF::Calculated NIS Value : 4.20 	numBeams normalized NIS: 0.07

Particle Weights not updated due to sumWeights == 0.0

TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323497.82 sec.
INS : North: 4070210.53, East: 589367.85, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 31.08, IDT[75] = 31.42
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323500.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323500.62)
ARL : North: -82.3852, East: 357.0727, Depth: -28.9682ARL : Estimation Bias  (Mean)         : (t = 1488323500.62)
ARL : North: -84.3079, East: 357.5370, Depth: -34.1760TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.10 
Alpha[0]	0.123000
Alpha[0]	0.999967
TNavParticleFilter::Modified Variance for beam 1 is 9.11 
Alpha[1]	0.000000
Alpha[1]	0.999967
TNavParticleFilter::Modified Variance for beam 2 is 8.47 
Alpha[2]	0.000000
Alpha[2]	0.999966
TNavParticleFilter::Modified Variance for beam 3 is 8.48 
Alpha[3]	0.000000
Alpha[3]	0.999966
TNavParticleFilter::Modified Variance for beam 4 is 8.49 
Alpha[4]	0.000000
Alpha[4]	0.999965
TNavParticleFilter::Modified Variance for beam 5 is 8.51 
Alpha[5]	0.000000
Alpha[5]	0.999965
TNavParticleFilter::Modified Variance for beam 6 is 8.52 
Alpha[6]	0.000000
Alpha[6]	0.999965
TNavParticleFilter::Modified Variance for beam 7 is 8.55 
Alpha[7]	0.000000
Alpha[7]	0.999965
TNavParticleFilter::Modified Variance for beam 8 is 8.57 
Alpha[8]	0.000000
Alpha[8]	0.999965
TNavParticleFilter::Modified Variance for beam 9 is 8.60 
Alpha[9]	0.000000
Alpha[9]	0.999965
TNavParticleFilter::Modified Variance for beam 10 is 8.64 
Alpha[10]	0.000000
Alpha[10]	0.999964
TNavParticleFilter::Modified Variance for beam 11 is 8.67 
Alpha[11]	0.000000
Alpha[11]	0.999964
TNavParticleFilter::Modified Variance for beam 12 is 8.71 
Alpha[12]	0.000000
Alpha[12]	0.999964
TNavParticleFilter::Modified Variance for beam 13 is 8.34 
Alpha[13]	0.000000
Alpha[13]	0.999964
TNavParticleFilter::Modified Variance for beam 14 is 8.15 
Alpha[14]	0.000000
Alpha[14]	0.999964
TNavParticleFilter::Modified Variance for beam 15 is 8.20 
Alpha[15]	0.000000
Alpha[15]	0.999964
TNavParticleFilter::Modified Variance for beam 16 is 8.25 
Alpha[16]	0.000000
Alpha[16]	0.999964
TNavParticleFilter::Modified Variance for beam 17 is 8.30 
Alpha[17]	0.000000
Alpha[17]	0.999964
TNavParticleFilter::Modified Variance for beam 18 is 8.36 
Alpha[18]	0.000000
Alpha[18]	0.999965
TNavParticleFilter::Modified Variance for beam 19 is 8.42 
Alpha[19]	0.000000
Alpha[19]	0.999965
TNavParticleFilter::Modified Variance for beam 20 is 8.48 
Alpha[20]	0.000000
Alpha[20]	0.999966
TNavParticleFilter::Modified Variance for beam 21 is 8.19 
Alpha[21]	0.000000
Alpha[21]	0.999966
TNavParticleFilter::Modified Variance for beam 22 is 7.96 
Alpha[22]	0.000000
Alpha[22]	0.999967
TNavParticleFilter::Modified Variance for beam 23 is 8.02 
Alpha[23]	0.000000
Alpha[23]	0.999967
TNavParticleFilter::Modified Variance for beam 24 is 8.10 
Alpha[24]	0.000000
Alpha[24]	0.999968
TNavParticleFilter::Modified Variance for beam 25 is 8.17 
Alpha[25]	0.000000
Alpha[25]	0.999968
TNavParticleFilter::Modified Variance for beam 26 is 7.89 
Alpha[26]	0.000000
Alpha[26]	0.999969
TNavParticleFilter::Modified Variance for beam 27 is 7.67 
Alpha[27]	0.000000
Alpha[27]	0.999969
TNavParticleFilter::Modified Variance for beam 28 is 7.75 
Alpha[28]	0.000000
Alpha[28]	0.999970
TNavParticleFilter::Modified Variance for beam 29 is 7.83 
Alpha[29]	0.000000
Alpha[29]	0.999970
TNavParticleFilter::Modified Variance for beam 30 is 7.92 
Alpha[30]	0.000000
Alpha[30]	0.999971
TNavParticleFilter::Modified Variance for beam 31 is 8.75 
Alpha[31]	0.000000
Alpha[31]	0.999971
TNavParticleFilter::Modified Variance for beam 32 is 8.61 
Alpha[32]	0.000000
Alpha[32]	0.999972
TNavParticleFilter::Modified Variance for beam 33 is 8.34 
Alpha[33]	0.000000
Alpha[33]	0.999973
TNavParticleFilter::Modified Variance for beam 34 is 8.34 
Alpha[34]	0.000000
Alpha[34]	0.999973
TNavParticleFilter::Modified Variance for beam 35 is 8.46 
Alpha[35]	0.000000
Alpha[35]	0.999974
TNavParticleFilter::Modified Variance for beam 36 is 8.59 
Alpha[36]	0.000000
Alpha[36]	0.999975
TNavParticleFilter::Modified Variance for beam 37 is 7.95 
Alpha[37]	0.000000
Alpha[37]	0.999975
TNavParticleFilter::Modified Variance for beam 38 is 8.07 
Alpha[38]	0.000000
Alpha[38]	0.999975
TNavParticleFilter::Modified Variance for beam 39 is 8.21 
Alpha[39]	0.000000
Alpha[39]	0.999976
TNavParticleFilter::Modified Variance for beam 40 is 8.35 
Alpha[40]	0.000000
Alpha[40]	0.999976
TNavParticleFilter::Modified Variance for beam 41 is 8.50 
Alpha[41]	0.000000
Alpha[41]	0.999976
TNavParticleFilter::Modified Variance for beam 42 is 8.40 
Alpha[42]	0.000000
Alpha[42]	0.999976
TNavParticleFilter::Modified Variance for beam 43 is 8.22 
Alpha[43]	0.000000
Alpha[43]	0.999976
TNavParticleFilter::Modified Variance for beam 44 is 8.13 
Alpha[44]	0.000000
Alpha[44]	0.999977
TNavParticleFilter::Modified Variance for beam 45 is 8.30 
Alpha[45]	0.000000
Alpha[45]	0.999977
TNavParticleFilter::Modified Variance for beam 46 is 8.48 
Alpha[46]	0.000000
Alpha[46]	0.999977
TNavParticleFilter::Modified Variance for beam 47 is 8.43 
Alpha[47]	0.000000
Alpha[47]	0.999977
TNavParticleFilter::Modified Variance for beam 48 is 8.28 
Alpha[48]	0.000000
Alpha[48]	0.999976
TNavParticleFilter::Modified Variance for beam 49 is 8.13 
Alpha[49]	0.000000
Alpha[49]	0.999976
TNavParticleFilter::Modified Variance for beam 50 is 8.32 
Alpha[50]	0.000000
Alpha[50]	0.999975
TNavParticleFilter::Modified Variance for beam 51 is 8.54 
Alpha[51]	0.000000
Alpha[51]	0.999975
TNavParticleFilter::Modified Variance for beam 52 is 9.34 
Alpha[52]	0.000000
Alpha[52]	0.999975
TNavParticleFilter::Modified Variance for beam 53 is 9.19 
Alpha[53]	0.000000
Alpha[53]	0.999975
TNavParticleFilter::Modified Variance for beam 54 is 9.31 
Alpha[54]	0.000000
Alpha[54]	0.999975
TNavParticleFilter::Modified Variance for beam 55 is 9.61 
Alpha[55]	0.000000
Alpha[55]	0.999974
TNavParticleFilter::Modified Variance for beam 56 is 11.36 
Alpha[56]	0.000000
Alpha[56]	0.999974
TNavParticleFilter::Modified Variance for beam 57 is 11.75 
Alpha[57]	0.000000
Alpha[57]	0.999973
TNavParticleFilter::Modified Variance for beam 58 is 12.23 
Alpha[58]	0.000000
Alpha[58]	0.999972
TNavParticleFilter::Modified Variance for beam 59 is 12.76 
Alpha[59]	0.000000
Alpha[59]	0.999971
TNavPF:: sumSquaredError = 5328.928370 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 4.60. Range = 83.37 
TNavPF::Calculated measDiffMean for beam 31 as 4.83. Range = 83.91 
TNavPF::Calculated measDiffMean for beam 32 as 3.06. Range = 84.62 
TNavPF::Calculated measDiffMean for beam 33 as 3.26. Range = 84.65 
TNavPF::Calculated measDiffMean for beam 34 as 3.46. Range = 83.95 
TNavPF::Calculated measDiffMean for beam 35 as 3.65. Range = 61.32 
TNavPF::Calculated measDiffMean for beam 36 as 3.86. Range = 82.64 
TNavPF::Calculated measDiffMean for beam 37 as 4.12. Range = 73.39 
TNavPF::Calculated measDiffMean for beam 38 as 4.43. Range = 62.14 
TNavPF::Calculated measDiffMean for beam 39 as 4.77. Range = 59.60 
TNavPF::Calculated measDiffMean for beam 40 as 5.13. Range = 59.23 
TNavPF::Calculated measDiffMean for beam 41 as 5.50. Range = 52.56 
TNavPF::Calculated measDiffMean for beam 42 as 5.91. Range = 52.27 
TNavPF::Calculated measDiffMean for beam 43 as 4.98. Range = 43.65 
TNavPF::Calculated measDiffMean for beam 44 as 4.57. Range = 43.44 
TNavPF::Calculated measDiffMean for beam 45 as 4.83. Range = 41.17 
TNavPF::Calculated measDiffMean for beam 46 as 5.01. Range = 41.00 
TNavPF::Calculated measDiffMean for beam 47 as 5.07. Range = 38.79 
TNavPF::Calculated measDiffMean for beam 48 as 5.01. Range = 36.61 
TNavPF::Calculated measDiffMean for beam 49 as 4.84. Range = 34.45 
TNavPF::Calculated measDiffMean for beam 50 as 4.57. Range = 34.35 
TNavPF::Calculated measDiffMean for beam 51 as 3.13. Range = 34.26 
TNavPF::Calculated measDiffMean for beam 52 as 1.73. Range = 34.18 
TNavPF::Calculated measDiffMean for beam 53 as 1.30. Range = 34.11 
TNavPF::Calculated measDiffMean for beam 54 as 0.78. Range = 34.05 
TNavPF::Calculated measDiffMean for beam 55 as 0.27. Range = 34.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.57. Range = 33.96 
TNavPF::Calculated measDiffMean for beam 57 as -3.14. Range = 33.94 
TNavPF::Calculated measDiffMean for beam 58 as -3.73. Range = 33.92 
TNavPF::Calculated measDiffMean for beam 59 as -4.50. Range = 33.91 
TNavPF::Calculated measDiffMean for beam 60 as -5.38. Range = 33.92 
TNavPF::Calculated measDiffMean for beam 61 as -3.85. Range = 33.93 
TNavPF::Calculated measDiffMean for beam 62 as -5.44. Range = 31.95 
TNavPF::Calculated measDiffMean for beam 63 as -7.41. Range = 31.98 
TNavPF::Calculated measDiffMean for beam 64 as -8.51. Range = 32.02 
TNavPF::Calculated measDiffMean for beam 65 as -9.18. Range = 32.07 
TNavPF::Calculated measDiffMean for beam 66 as -9.83. Range = 32.14 
TNavPF::Calculated measDiffMean for beam 67 as -13.03. Range = 32.21 
TNavPF::Calculated measDiffMean for beam 68 as -13.85. Range = 32.29 
TNavPF::Calculated measDiffMean for beam 69 as -14.66. Range = 32.38 
TNavPF::Calculated measDiffMean for beam 70 as -15.34. Range = 32.49 
TNavPF::Calculated measDiffMean for beam 71 as -16.06. Range = 32.60 
TNavPF::Calculated measDiffMean for beam 72 as -17.57. Range = 32.73 
TNavPF::Calculated measDiffMean for beam 73 as -19.31. Range = 31.54 
TNavPF::Calculated measDiffMean for beam 74 as -20.75. Range = 30.94 
TNavPF::Calculated measDiffMean for beam 75 as -21.40. Range = 31.08 
TNavPF::Calculated measDiffMean for beam 76 as -21.93. Range = 31.24 
TNavPF::Calculated measDiffMean for beam 77 as -23.18. Range = 31.41 
TNavPF::Calculated measDiffMean for beam 78 as -24.71. Range = 31.60 
TNavPF::Calculated measDiffMean for beam 79 as -26.24. Range = 31.79 
TNavPF::Calculated measDiffMean for beam 80 as -26.64. Range = 32.00 
TNavPF::Calculated measDiffMean for beam 81 as -26.56. Range = 31.06 
TNavPF::Calculated measDiffMean for beam 82 as -24.47. Range = 30.27 
TNavPF::Calculated measDiffMean for beam 83 as -24.93. Range = 30.50 
TNavPF::Calculated measDiffMean for beam 84 as -24.48. Range = 30.74 
TNavPF::Calculated measDiffMean for beam 85 as -23.52. Range = 31.00 
TNavPF::Calculated measDiffMean for beam 86 as -19.02. Range = 30.04 
TNavPF::Calculated measDiffMean for beam 87 as -18.29. Range = 29.29 
TNavPF::Calculated measDiffMean for beam 88 as -17.22. Range = 29.56 
TNavPF::Calculated measDiffMean for beam 89 as -16.00. Range = 29.85 
TNavPF::First Term of Map Covariance Matrix is 613.13 
TNavPF::Calculated NIS Value : 5.96 	numBeams normalized NIS: 0.10
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323500.82 sec.
INS : North: 4070212.70, East: 589364.21, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 32.74, IDT[75] = 29.82
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323503.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323503.62)
ARL : North: -81.5875, East: 357.7139, Depth: -27.7481ARL : Estimation Bias  (Mean)         : (t = 1488323503.62)
ARL : North: -81.7593, East: 357.5912, Depth: -29.9115TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.13 
Alpha[0]	0.123000
Alpha[0]	0.999490
TNavParticleFilter::Modified Variance for beam 1 is 9.12 
Alpha[1]	0.000000
Alpha[1]	0.999410
TNavParticleFilter::Modified Variance for beam 2 is 9.12 
Alpha[2]	0.000000
Alpha[2]	0.999322
TNavParticleFilter::Modified Variance for beam 3 is 9.12 
Alpha[3]	0.000000
Alpha[3]	0.999236
TNavParticleFilter::Modified Variance for beam 4 is 9.13 
Alpha[4]	0.000000
Alpha[4]	0.999206
TNavParticleFilter::Modified Variance for beam 5 is 9.13 
Alpha[5]	0.000000
Alpha[5]	0.999218
TNavParticleFilter::Modified Variance for beam 6 is 9.14 
Alpha[6]	0.000000
Alpha[6]	0.999251
TNavParticleFilter::Modified Variance for beam 7 is 9.16 
Alpha[7]	0.000000
Alpha[7]	0.999315
TNavParticleFilter::Modified Variance for beam 8 is 9.17 
Alpha[8]	0.000000
Alpha[8]	0.999352
TNavParticleFilter::Modified Variance for beam 9 is 8.80 
Alpha[9]	0.000000
Alpha[9]	0.999372
TNavParticleFilter::Modified Variance for beam 10 is 8.56 
Alpha[10]	0.000000
Alpha[10]	0.999405
TNavParticleFilter::Modified Variance for beam 11 is 8.59 
Alpha[11]	0.000000
Alpha[11]	0.999485
TNavParticleFilter::Modified Variance for beam 12 is 8.61 
Alpha[12]	0.000000
Alpha[12]	0.999588
TNavParticleFilter::Modified Variance for beam 13 is 8.65 
Alpha[13]	0.000000
Alpha[13]	0.999652
TNavParticleFilter::Modified Variance for beam 14 is 8.68 
Alpha[14]	0.000000
Alpha[14]	0.999662
TNavParticleFilter::Modified Variance for beam 15 is 8.72 
Alpha[15]	0.000000
Alpha[15]	0.999643
TNavParticleFilter::Modified Variance for beam 16 is 8.76 
Alpha[16]	0.000000
Alpha[16]	0.999635
TNavParticleFilter::Modified Variance for beam 17 is 8.17 
Alpha[17]	0.000000
Alpha[17]	0.999636
TNavParticleFilter::Modified Variance for beam 18 is 8.21 
Alpha[18]	0.000000
Alpha[18]	0.999636
TNavParticleFilter::Modified Variance for beam 19 is 8.25 
Alpha[19]	0.000000
Alpha[19]	0.999649
TNavParticleFilter::Modified Variance for beam 20 is 8.31 
Alpha[20]	0.000000
Alpha[20]	0.999691
TNavParticleFilter::Modified Variance for beam 21 is 8.10 
Alpha[21]	0.000000
Alpha[21]	0.999752
TNavParticleFilter::Modified Variance for beam 22 is 7.78 
Alpha[22]	0.000000
Alpha[22]	0.999800
TNavParticleFilter::Modified Variance for beam 23 is 7.83 
Alpha[23]	0.000000
Alpha[23]	0.999826
TNavParticleFilter::Modified Variance for beam 24 is 7.89 
Alpha[24]	0.000000
Alpha[24]	0.999832
TNavParticleFilter::Modified Variance for beam 25 is 7.96 
Alpha[25]	0.000000
Alpha[25]	0.999834
TNavParticleFilter::Modified Variance for beam 26 is 8.70 
Alpha[26]	0.000000
Alpha[26]	0.999841
TNavParticleFilter::Modified Variance for beam 27 is 8.78 
Alpha[27]	0.000000
Alpha[27]	0.999846
TNavParticleFilter::Modified Variance for beam 28 is 8.48 
Alpha[28]	0.000000
Alpha[28]	0.999844
TNavParticleFilter::Modified Variance for beam 29 is 8.25 
Alpha[29]	0.000000
Alpha[29]	0.999840
TNavParticleFilter::Modified Variance for beam 30 is 8.34 
Alpha[30]	0.000000
Alpha[30]	0.999845
TNavParticleFilter::Modified Variance for beam 31 is 8.43 
Alpha[31]	0.000000
Alpha[31]	0.999855
TNavParticleFilter::Modified Variance for beam 32 is 8.49 
Alpha[32]	0.000000
Alpha[32]	0.999866
TNavParticleFilter::Modified Variance for beam 33 is 8.20 
Alpha[33]	0.000000
Alpha[33]	0.999882
TNavParticleFilter::Modified Variance for beam 34 is 8.01 
Alpha[34]	0.000000
Alpha[34]	0.999896
TNavParticleFilter::Modified Variance for beam 35 is 8.12 
Alpha[35]	0.000000
Alpha[35]	0.999903
TNavParticleFilter::Modified Variance for beam 36 is 8.22 
Alpha[36]	0.000000
Alpha[36]	0.999902
TNavParticleFilter::Modified Variance for beam 37 is 8.30 
Alpha[37]	0.000000
Alpha[37]	0.999906
TNavParticleFilter::Modified Variance for beam 38 is 8.06 
Alpha[38]	0.000000
Alpha[38]	0.999919
TNavParticleFilter::Modified Variance for beam 39 is 7.85 
Alpha[39]	0.000000
Alpha[39]	0.999923
TNavParticleFilter::Modified Variance for beam 40 is 7.94 
Alpha[40]	0.000000
Alpha[40]	0.999924
TNavParticleFilter::Modified Variance for beam 41 is 8.07 
Alpha[41]	0.000000
Alpha[41]	0.999922
TNavParticleFilter::Modified Variance for beam 42 is 8.20 
Alpha[42]	0.000000
Alpha[42]	0.999926
TNavParticleFilter::Modified Variance for beam 43 is 8.02 
Alpha[43]	0.000000
Alpha[43]	0.999934
TNavParticleFilter::Modified Variance for beam 44 is 7.84 
Alpha[44]	0.000000
Alpha[44]	0.999935
TNavParticleFilter::Modified Variance for beam 45 is 7.82 
Alpha[45]	0.000000
Alpha[45]	0.999939
TNavParticleFilter::Modified Variance for beam 46 is 7.97 
Alpha[46]	0.000000
Alpha[46]	0.999943
TNavParticleFilter::Modified Variance for beam 47 is 8.12 
Alpha[47]	0.000000
Alpha[47]	0.999948
TNavParticleFilter::Modified Variance for beam 48 is 8.92 
Alpha[48]	0.000000
Alpha[48]	0.999949
TNavParticleFilter::Modified Variance for beam 49 is 8.75 
Alpha[49]	0.000000
Alpha[49]	0.999946
TNavParticleFilter::Modified Variance for beam 50 is 8.66 
Alpha[50]	0.000000
Alpha[50]	0.999947
TNavParticleFilter::Modified Variance for beam 51 is 8.86 
Alpha[51]	0.000000
Alpha[51]	0.999943
TNavParticleFilter::Modified Variance for beam 52 is 9.09 
Alpha[52]	0.000000
Alpha[52]	0.999938
TNavParticleFilter::Modified Variance for beam 53 is 10.78 
Alpha[53]	0.000000
Alpha[53]	0.999928
TNavParticleFilter::Modified Variance for beam 54 is 10.75 
Alpha[54]	0.000000
Alpha[54]	0.999907
TNavParticleFilter::Modified Variance for beam 55 is 11.09 
Alpha[55]	0.000000
Alpha[55]	0.999890
TNavParticleFilter::Modified Variance for beam 56 is 11.45 
Alpha[56]	0.000000
Alpha[56]	0.999877
TNavParticleFilter::Modified Variance for beam 57 is 11.85 
Alpha[57]	0.000000
Alpha[57]	0.999873
TNavParticleFilter::Modified Variance for beam 58 is 12.28 
Alpha[58]	0.000000
Alpha[58]	0.999886
TNavParticleFilter::Modified Variance for beam 59 is 12.75 
Alpha[59]	0.000000
Alpha[59]	0.999901
TNavPF:: sumSquaredError = 1844.905084 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 17.65. Range = 87.62 
TNavPF::Calculated measDiffMean for beam 31 as 17.84. Range = 86.68 
TNavPF::Calculated measDiffMean for beam 32 as 18.01. Range = 87.78 
TNavPF::Calculated measDiffMean for beam 33 as 18.15. Range = 87.22 
TNavPF::Calculated measDiffMean for beam 34 as 18.20. Range = 88.66 
TNavPF::Calculated measDiffMean for beam 35 as 18.17. Range = 87.85 
TNavPF::Calculated measDiffMean for beam 36 as 18.03. Range = 87.07 
TNavPF::Calculated measDiffMean for beam 37 as 17.75. Range = 86.34 
TNavPF::Calculated measDiffMean for beam 38 as 17.47. Range = 76.85 
TNavPF::Calculated measDiffMean for beam 39 as 16.07. Range = 74.08 
TNavPF::Calculated measDiffMean for beam 40 as 15.12. Range = 62.70 
TNavPF::Calculated measDiffMean for beam 41 as 14.91. Range = 60.12 
TNavPF::Calculated measDiffMean for beam 42 as 14.51. Range = 55.45 
TNavPF::Calculated measDiffMean for beam 43 as 14.11. Range = 46.61 
TNavPF::Calculated measDiffMean for beam 44 as 14.01. Range = 44.22 
TNavPF::Calculated measDiffMean for beam 45 as 14.13. Range = 43.97 
TNavPF::Calculated measDiffMean for beam 46 as 14.24. Range = 41.65 
TNavPF::Calculated measDiffMean for beam 47 as 12.17. Range = 37.29 
TNavPF::Calculated measDiffMean for beam 48 as 12.15. Range = 37.12 
TNavPF::Calculated measDiffMean for beam 49 as 12.07. Range = 36.96 
TNavPF::Calculated measDiffMean for beam 50 as 11.68. Range = 36.81 
TNavPF::Calculated measDiffMean for beam 51 as 9.99. Range = 36.68 
TNavPF::Calculated measDiffMean for beam 52 as 7.74. Range = 36.55 
TNavPF::Calculated measDiffMean for beam 53 as 6.91. Range = 36.44 
TNavPF::Calculated measDiffMean for beam 54 as 6.38. Range = 36.34 
TNavPF::Calculated measDiffMean for beam 55 as 5.80. Range = 36.26 
TNavPF::Calculated measDiffMean for beam 56 as 7.14. Range = 36.18 
TNavPF::Calculated measDiffMean for beam 57 as 6.09. Range = 36.12 
TNavPF::Calculated measDiffMean for beam 58 as 4.29. Range = 36.06 
TNavPF::Calculated measDiffMean for beam 59 as 3.27. Range = 34.01 
TNavPF::Calculated measDiffMean for beam 60 as 3.27. Range = 33.98 
TNavPF::Calculated measDiffMean for beam 61 as 3.14. Range = 33.96 
TNavPF::Calculated measDiffMean for beam 62 as 2.52. Range = 33.96 
TNavPF::Calculated measDiffMean for beam 63 as 0.38. Range = 33.96 
TNavPF::Calculated measDiffMean for beam 64 as -1.62. Range = 33.97 
TNavPF::Calculated measDiffMean for beam 65 as -2.33. Range = 33.99 
TNavPF::Calculated measDiffMean for beam 66 as -2.53. Range = 34.02 
TNavPF::Calculated measDiffMean for beam 67 as -3.08. Range = 34.07 
TNavPF::Calculated measDiffMean for beam 68 as -5.45. Range = 34.12 
TNavPF::Calculated measDiffMean for beam 69 as -7.75. Range = 32.98 
TNavPF::Calculated measDiffMean for beam 70 as -8.85. Range = 32.24 
TNavPF::Calculated measDiffMean for beam 71 as -9.39. Range = 32.32 
TNavPF::Calculated measDiffMean for beam 72 as -10.27. Range = 32.41 
TNavPF::Calculated measDiffMean for beam 73 as -13.12. Range = 32.51 
TNavPF::Calculated measDiffMean for beam 74 as -15.92. Range = 32.62 
TNavPF::Calculated measDiffMean for beam 75 as -18.30. Range = 32.74 
TNavPF::Calculated measDiffMean for beam 76 as -17.63. Range = 32.88 
TNavPF::Calculated measDiffMean for beam 77 as -17.06. Range = 30.96 
TNavPF::Calculated measDiffMean for beam 78 as -14.48. Range = 31.10 
TNavPF::Calculated measDiffMean for beam 79 as -15.17. Range = 31.26 
TNavPF::Calculated measDiffMean for beam 80 as -18.51. Range = 31.43 
TNavPF::Calculated measDiffMean for beam 81 as -21.14. Range = 30.76 
TNavPF::Calculated measDiffMean for beam 82 as -21.30. Range = 29.67 
TNavPF::Calculated measDiffMean for beam 83 as -17.14. Range = 29.86 
TNavPF::Calculated measDiffMean for beam 84 as -18.38. Range = 30.06 
TNavPF::Calculated measDiffMean for beam 85 as -18.53. Range = 30.28 
TNavPF::Calculated measDiffMean for beam 86 as -18.36. Range = 32.69 
TNavPF::Calculated measDiffMean for beam 87 as -17.27. Range = 32.95 
TNavPF::Calculated measDiffMean for beam 88 as -16.71. Range = 31.98 
TNavPF::Calculated measDiffMean for beam 89 as -15.86. Range = 31.26 
TNavPF::First Term of Map Covariance Matrix is 39.15 
TNavPF::Calculated NIS Value : 65.34 	numBeams normalized NIS: 1.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323503.82 sec.
INS : North: 4070214.69, East: 589360.42, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 32.18, IDT[75] = 31.48
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323506.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323506.62)
ARL : North: -81.8887, East: 358.2126, Depth: -30.0265ARL : Estimation Bias  (Mean)         : (t = 1488323506.62)
ARL : North: -82.7029, East: 358.3468, Depth: -29.7167TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.81 
Alpha[0]	0.123000
Alpha[0]	0.999350
TNavParticleFilter::Modified Variance for beam 1 is 9.80 
Alpha[1]	0.000000
Alpha[1]	0.999371
TNavParticleFilter::Modified Variance for beam 2 is 9.78 
Alpha[2]	0.000000
Alpha[2]	0.999371
TNavParticleFilter::Modified Variance for beam 3 is 9.78 
Alpha[3]	0.000000
Alpha[3]	0.999381
TNavParticleFilter::Modified Variance for beam 4 is 9.77 
Alpha[4]	0.000000
Alpha[4]	0.999444
TNavParticleFilter::Modified Variance for beam 5 is 9.09 
Alpha[5]	0.000000
Alpha[5]	0.999566
TNavParticleFilter::Modified Variance for beam 6 is 9.09 
Alpha[6]	0.000000
Alpha[6]	0.999665
TNavParticleFilter::Modified Variance for beam 7 is 9.10 
Alpha[7]	0.000000
Alpha[7]	0.999707
TNavParticleFilter::Modified Variance for beam 8 is 9.11 
Alpha[8]	0.000000
Alpha[8]	0.999714
TNavParticleFilter::Modified Variance for beam 9 is 9.13 
Alpha[9]	0.000000
Alpha[9]	0.999690
TNavParticleFilter::Modified Variance for beam 10 is 9.14 
Alpha[10]	0.000000
Alpha[10]	0.999629
TNavParticleFilter::Modified Variance for beam 11 is 9.13 
Alpha[11]	0.000000
Alpha[11]	0.999584
TNavParticleFilter::Modified Variance for beam 12 is 8.53 
Alpha[12]	0.000000
Alpha[12]	0.999572
TNavParticleFilter::Modified Variance for beam 13 is 8.56 
Alpha[13]	0.000000
Alpha[13]	0.999586
TNavParticleFilter::Modified Variance for beam 14 is 8.59 
Alpha[14]	0.000000
Alpha[14]	0.999629
TNavParticleFilter::Modified Variance for beam 15 is 8.54 
Alpha[15]	0.000000
Alpha[15]	0.999683
TNavParticleFilter::Modified Variance for beam 16 is 8.02 
Alpha[16]	0.000000
Alpha[16]	0.999721
TNavParticleFilter::Modified Variance for beam 17 is 8.06 
Alpha[17]	0.000000
Alpha[17]	0.999753
TNavParticleFilter::Modified Variance for beam 18 is 8.10 
Alpha[18]	0.000000
Alpha[18]	0.999778
TNavParticleFilter::Modified Variance for beam 19 is 8.14 
Alpha[19]	0.000000
Alpha[19]	0.999788
TNavParticleFilter::Modified Variance for beam 20 is 8.84 
Alpha[20]	0.000000
Alpha[20]	0.999796
TNavParticleFilter::Modified Variance for beam 21 is 8.89 
Alpha[21]	0.000000
Alpha[21]	0.999802
TNavParticleFilter::Modified Variance for beam 22 is 8.75 
Alpha[22]	0.000000
Alpha[22]	0.999804
TNavParticleFilter::Modified Variance for beam 23 is 8.34 
Alpha[23]	0.000000
Alpha[23]	0.999810
TNavParticleFilter::Modified Variance for beam 24 is 8.40 
Alpha[24]	0.000000
Alpha[24]	0.999816
TNavParticleFilter::Modified Variance for beam 25 is 8.46 
Alpha[25]	0.000000
Alpha[25]	0.999819
TNavParticleFilter::Modified Variance for beam 26 is 8.53 
Alpha[26]	0.000000
Alpha[26]	0.999817
TNavParticleFilter::Modified Variance for beam 27 is 8.20 
Alpha[27]	0.000000
Alpha[27]	0.999815
TNavParticleFilter::Modified Variance for beam 28 is 8.00 
Alpha[28]	0.000000
Alpha[28]	0.999826
TNavParticleFilter::Modified Variance for beam 29 is 8.07 
Alpha[29]	0.000000
Alpha[29]	0.999842
TNavParticleFilter::Modified Variance for beam 30 is 8.15 
Alpha[30]	0.000000
Alpha[30]	0.999848
TNavParticleFilter::Modified Variance for beam 31 is 8.22 
Alpha[31]	0.000000
Alpha[31]	0.999858
TNavParticleFilter::Modified Variance for beam 32 is 7.91 
Alpha[32]	0.000000
Alpha[32]	0.999874
TNavParticleFilter::Modified Variance for beam 33 is 7.73 
Alpha[33]	0.000000
Alpha[33]	0.999878
TNavParticleFilter::Modified Variance for beam 34 is 7.81 
Alpha[34]	0.000000
Alpha[34]	0.999881
TNavParticleFilter::Modified Variance for beam 35 is 7.90 
Alpha[35]	0.000000
Alpha[35]	0.999886
TNavParticleFilter::Modified Variance for beam 36 is 7.99 
Alpha[36]	0.000000
Alpha[36]	0.999906
TNavParticleFilter::Modified Variance for beam 37 is 8.09 
Alpha[37]	0.000000
Alpha[37]	0.999911
TNavParticleFilter::Modified Variance for beam 38 is 8.20 
Alpha[38]	0.000000
Alpha[38]	0.999908
TNavParticleFilter::Modified Variance for beam 39 is 8.31 
Alpha[39]	0.000000
Alpha[39]	0.999911
TNavParticleFilter::Modified Variance for beam 40 is 7.70 
Alpha[40]	0.000000
Alpha[40]	0.999915
TNavParticleFilter::Modified Variance for beam 41 is 7.80 
Alpha[41]	0.000000
Alpha[41]	0.999923
TNavParticleFilter::Modified Variance for beam 42 is 8.70 
Alpha[42]	0.000000
Alpha[42]	0.999933
TNavParticleFilter::Modified Variance for beam 43 is 8.49 
Alpha[43]	0.000000
Alpha[43]	0.999944
TNavParticleFilter::Modified Variance for beam 44 is 8.28 
Alpha[44]	0.000000
Alpha[44]	0.999949
TNavParticleFilter::Modified Variance for beam 45 is 8.32 
Alpha[45]	0.000000
Alpha[45]	0.999951
TNavParticleFilter::Modified Variance for beam 46 is 8.47 
Alpha[46]	0.000000
Alpha[46]	0.999955
TNavParticleFilter::Modified Variance for beam 47 is 8.63 
Alpha[47]	0.000000
Alpha[47]	0.999957
TNavParticleFilter::Modified Variance for beam 48 is 10.41 
Alpha[48]	0.000000
Alpha[48]	0.999956
TNavParticleFilter::Modified Variance for beam 49 is 10.17 
Alpha[49]	0.000000
Alpha[49]	0.999955
TNavParticleFilter::Modified Variance for beam 50 is 10.19 
Alpha[50]	0.000000
Alpha[50]	0.999951
TNavParticleFilter::Modified Variance for beam 51 is 10.44 
Alpha[51]	0.000000
Alpha[51]	0.999945
TNavParticleFilter::Modified Variance for beam 52 is 10.70 
Alpha[52]	0.000000
Alpha[52]	0.999942
TNavParticleFilter::Modified Variance for beam 53 is 10.99 
Alpha[53]	0.000000
Alpha[53]	0.999939
TNavParticleFilter::Modified Variance for beam 54 is 11.30 
Alpha[54]	0.000000
Alpha[54]	0.999938
TNavParticleFilter::Modified Variance for beam 55 is 11.64 
Alpha[55]	0.000000
Alpha[55]	0.999938
TNavParticleFilter::Modified Variance for beam 56 is 12.00 
Alpha[56]	0.000000
Alpha[56]	0.999936
TNavParticleFilter::Modified Variance for beam 57 is 12.40 
Alpha[57]	0.000000
Alpha[57]	0.999936
TNavParticleFilter::Modified Variance for beam 58 is 14.33 
Alpha[58]	0.000000
Alpha[58]	0.999939
TNavParticleFilter::Modified Variance for beam 59 is 14.87 
Alpha[59]	0.000000
Alpha[59]	0.999940
TNavPF:: sumSquaredError = 1310.760998 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 18.57. Range = 91.87 
TNavPF::Calculated measDiffMean for beam 31 as 18.25. Range = 90.81 
TNavPF::Calculated measDiffMean for beam 32 as 18.08. Range = 90.28 
TNavPF::Calculated measDiffMean for beam 33 as 17.98. Range = 91.17 
TNavPF::Calculated measDiffMean for beam 34 as 17.76. Range = 90.23 
TNavPF::Calculated measDiffMean for beam 35 as 15.26. Range = 90.41 
TNavPF::Calculated measDiffMean for beam 36 as 14.53. Range = 90.75 
TNavPF::Calculated measDiffMean for beam 37 as 13.98. Range = 89.92 
TNavPF::Calculated measDiffMean for beam 38 as 13.78. Range = 80.20 
TNavPF::Calculated measDiffMean for beam 39 as 13.96. Range = 75.10 
TNavPF::Calculated measDiffMean for beam 40 as 14.42. Range = 67.91 
TNavPF::Calculated measDiffMean for beam 41 as 14.60. Range = 49.95 
TNavPF::Calculated measDiffMean for beam 42 as 12.76. Range = 47.42 
TNavPF::Calculated measDiffMean for beam 43 as 12.60. Range = 47.09 
TNavPF::Calculated measDiffMean for beam 44 as 12.16. Range = 40.37 
TNavPF::Calculated measDiffMean for beam 45 as 11.18. Range = 40.12 
TNavPF::Calculated measDiffMean for beam 46 as 8.60. Range = 39.88 
TNavPF::Calculated measDiffMean for beam 47 as 7.77. Range = 39.66 
TNavPF::Calculated measDiffMean for beam 48 as 6.89. Range = 39.45 
TNavPF::Calculated measDiffMean for beam 49 as 6.18. Range = 39.26 
TNavPF::Calculated measDiffMean for beam 50 as 7.55. Range = 39.08 
TNavPF::Calculated measDiffMean for beam 51 as 6.88. Range = 38.91 
TNavPF::Calculated measDiffMean for beam 52 as 5.80. Range = 38.76 
TNavPF::Calculated measDiffMean for beam 53 as 4.11. Range = 38.62 
TNavPF::Calculated measDiffMean for beam 54 as 4.05. Range = 38.49 
TNavPF::Calculated measDiffMean for beam 55 as 4.11. Range = 36.35 
TNavPF::Calculated measDiffMean for beam 56 as 4.23. Range = 36.25 
TNavPF::Calculated measDiffMean for beam 57 as 2.90. Range = 36.16 
TNavPF::Calculated measDiffMean for beam 58 as 1.58. Range = 36.09 
TNavPF::Calculated measDiffMean for beam 59 as 0.72. Range = 36.02 
TNavPF::Calculated measDiffMean for beam 60 as -0.01. Range = 35.97 
TNavPF::Calculated measDiffMean for beam 61 as -0.78. Range = 35.93 
TNavPF::Calculated measDiffMean for beam 62 as -2.82. Range = 35.90 
TNavPF::Calculated measDiffMean for beam 63 as -3.85. Range = 35.88 
TNavPF::Calculated measDiffMean for beam 64 as -3.91. Range = 35.87 
TNavPF::Calculated measDiffMean for beam 65 as -4.41. Range = 33.87 
TNavPF::Calculated measDiffMean for beam 66 as -6.53. Range = 33.88 
TNavPF::Calculated measDiffMean for beam 67 as -8.08. Range = 33.91 
TNavPF::Calculated measDiffMean for beam 68 as -7.93. Range = 33.94 
TNavPF::Calculated measDiffMean for beam 69 as -7.78. Range = 33.98 
TNavPF::Calculated measDiffMean for beam 70 as -10.51. Range = 34.04 
TNavPF::Calculated measDiffMean for beam 71 as -12.03. Range = 33.99 
TNavPF::Calculated measDiffMean for beam 72 as -10.85. Range = 32.16 
TNavPF::Calculated measDiffMean for beam 73 as -12.55. Range = 32.24 
TNavPF::Calculated measDiffMean for beam 74 as -13.26. Range = 32.33 
TNavPF::Calculated measDiffMean for beam 75 as -12.69. Range = 32.18 
TNavPF::Calculated measDiffMean for beam 76 as -12.82. Range = 30.50 
TNavPF::Calculated measDiffMean for beam 77 as -14.07. Range = 30.61 
TNavPF::Calculated measDiffMean for beam 78 as -11.80. Range = 30.74 
TNavPF::Calculated measDiffMean for beam 79 as -15.02. Range = 30.88 
TNavPF::Calculated measDiffMean for beam 80 as -17.51. Range = 33.10 
TNavPF::Calculated measDiffMean for beam 81 as -18.21. Range = 33.27 
TNavPF::Calculated measDiffMean for beam 82 as -17.57. Range = 32.83 
TNavPF::Calculated measDiffMean for beam 83 as -15.79. Range = 31.53 
TNavPF::Calculated measDiffMean for beam 84 as -14.47. Range = 31.72 
TNavPF::Calculated measDiffMean for beam 85 as -13.56. Range = 31.93 
TNavPF::Calculated measDiffMean for beam 86 as -12.25. Range = 32.14 
TNavPF::Calculated measDiffMean for beam 87 as -11.36. Range = 31.08 
TNavPF::Calculated measDiffMean for beam 88 as -7.84. Range = 30.43 
TNavPF::Calculated measDiffMean for beam 89 as -7.04. Range = 30.67 
TNavPF::First Term of Map Covariance Matrix is 30.72 
TNavPF::Calculated NIS Value : 74.28 	numBeams normalized NIS: 1.24
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323506.82 sec.
INS : North: 4070216.56, East: 589356.53, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 34.11, IDT[75] = 35.72
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323509.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323509.62)
ARL : North: -83.2215, East: 357.7122, Depth: -26.7981ARL : Estimation Bias  (Mean)         : (t = 1488323509.62)
ARL : North: -83.7650, East: 357.9976, Depth: -29.6647TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.77 
Alpha[0]	0.123000
Alpha[0]	0.999785
TNavParticleFilter::Modified Variance for beam 1 is 9.75 
Alpha[1]	0.000000
Alpha[1]	0.999765
TNavParticleFilter::Modified Variance for beam 2 is 9.73 
Alpha[2]	0.000000
Alpha[2]	0.999734
TNavParticleFilter::Modified Variance for beam 3 is 9.72 
Alpha[3]	0.000000
Alpha[3]	0.999704
TNavParticleFilter::Modified Variance for beam 4 is 9.71 
Alpha[4]	0.000000
Alpha[4]	0.999690
TNavParticleFilter::Modified Variance for beam 5 is 9.70 
Alpha[5]	0.000000
Alpha[5]	0.999700
TNavParticleFilter::Modified Variance for beam 6 is 9.02 
Alpha[6]	0.000000
Alpha[6]	0.999733
TNavParticleFilter::Modified Variance for beam 7 is 9.02 
Alpha[7]	0.000000
Alpha[7]	0.999758
TNavParticleFilter::Modified Variance for beam 8 is 9.03 
Alpha[8]	0.000000
Alpha[8]	0.999769
TNavParticleFilter::Modified Variance for beam 9 is 9.04 
Alpha[9]	0.000000
Alpha[9]	0.999781
TNavParticleFilter::Modified Variance for beam 10 is 8.41 
Alpha[10]	0.000000
Alpha[10]	0.999800
TNavParticleFilter::Modified Variance for beam 11 is 8.42 
Alpha[11]	0.000000
Alpha[11]	0.999817
TNavParticleFilter::Modified Variance for beam 12 is 8.44 
Alpha[12]	0.000000
Alpha[12]	0.999824
TNavParticleFilter::Modified Variance for beam 13 is 8.46 
Alpha[13]	0.000000
Alpha[13]	0.999826
TNavParticleFilter::Modified Variance for beam 14 is 9.14 
Alpha[14]	0.000000
Alpha[14]	0.999828
TNavParticleFilter::Modified Variance for beam 15 is 9.17 
Alpha[15]	0.000000
Alpha[15]	0.999828
TNavParticleFilter::Modified Variance for beam 16 is 9.19 
Alpha[16]	0.000000
Alpha[16]	0.999829
TNavParticleFilter::Modified Variance for beam 17 is 8.57 
Alpha[17]	0.000000
Alpha[17]	0.999833
TNavParticleFilter::Modified Variance for beam 18 is 8.61 
Alpha[18]	0.000000
Alpha[18]	0.999836
TNavParticleFilter::Modified Variance for beam 19 is 8.65 
Alpha[19]	0.000000
Alpha[19]	0.999837
TNavParticleFilter::Modified Variance for beam 20 is 8.70 
Alpha[20]	0.000000
Alpha[20]	0.999838
TNavParticleFilter::Modified Variance for beam 21 is 8.11 
Alpha[21]	0.000000
Alpha[21]	0.999841
TNavParticleFilter::Modified Variance for beam 22 is 8.14 
Alpha[22]	0.000000
Alpha[22]	0.999845
TNavParticleFilter::Modified Variance for beam 23 is 8.19 
Alpha[23]	0.000000
Alpha[23]	0.999852
TNavParticleFilter::Modified Variance for beam 24 is 8.25 
Alpha[24]	0.000000
Alpha[24]	0.999859
TNavParticleFilter::Modified Variance for beam 25 is 8.06 
Alpha[25]	0.000000
Alpha[25]	0.999862
TNavParticleFilter::Modified Variance for beam 26 is 7.73 
Alpha[26]	0.000000
Alpha[26]	0.999862
TNavParticleFilter::Modified Variance for beam 27 is 7.78 
Alpha[27]	0.000000
Alpha[27]	0.999867
TNavParticleFilter::Modified Variance for beam 28 is 7.84 
Alpha[28]	0.000000
Alpha[28]	0.999873
TNavParticleFilter::Modified Variance for beam 29 is 7.91 
Alpha[29]	0.000000
Alpha[29]	0.999877
TNavParticleFilter::Modified Variance for beam 30 is 7.98 
Alpha[30]	0.000000
Alpha[30]	0.999879
TNavParticleFilter::Modified Variance for beam 31 is 8.05 
Alpha[31]	0.000000
Alpha[31]	0.999884
TNavParticleFilter::Modified Variance for beam 32 is 8.13 
Alpha[32]	0.000000
Alpha[32]	0.999892
TNavParticleFilter::Modified Variance for beam 33 is 8.21 
Alpha[33]	0.000000
Alpha[33]	0.999902
TNavParticleFilter::Modified Variance for beam 34 is 8.30 
Alpha[34]	0.000000
Alpha[34]	0.999905
TNavParticleFilter::Modified Variance for beam 35 is 8.39 
Alpha[35]	0.000000
Alpha[35]	0.999901
TNavParticleFilter::Modified Variance for beam 36 is 8.49 
Alpha[36]	0.000000
Alpha[36]	0.999901
TNavParticleFilter::Modified Variance for beam 37 is 8.59 
Alpha[37]	0.000000
Alpha[37]	0.999905
TNavParticleFilter::Modified Variance for beam 38 is 8.71 
Alpha[38]	0.000000
Alpha[38]	0.999911
TNavParticleFilter::Modified Variance for beam 39 is 8.83 
Alpha[39]	0.000000
Alpha[39]	0.999925
TNavParticleFilter::Modified Variance for beam 40 is 8.19 
Alpha[40]	0.000000
Alpha[40]	0.999939
TNavParticleFilter::Modified Variance for beam 41 is 9.09 
Alpha[41]	0.000000
Alpha[41]	0.999944
TNavParticleFilter::Modified Variance for beam 42 is 10.09 
Alpha[42]	0.000000
Alpha[42]	0.999942
TNavParticleFilter::Modified Variance for beam 43 is 10.01 
Alpha[43]	0.000000
Alpha[43]	0.999937
TNavParticleFilter::Modified Variance for beam 44 is 9.72 
Alpha[44]	0.000000
Alpha[44]	0.999928
TNavParticleFilter::Modified Variance for beam 45 is 9.72 
Alpha[45]	0.000000
Alpha[45]	0.999917
TNavParticleFilter::Modified Variance for beam 46 is 9.90 
Alpha[46]	0.000000
Alpha[46]	0.999909
TNavParticleFilter::Modified Variance for beam 47 is 10.10 
Alpha[47]	0.000000
Alpha[47]	0.999901
TNavParticleFilter::Modified Variance for beam 48 is 10.31 
Alpha[48]	0.000000
Alpha[48]	0.999888
TNavParticleFilter::Modified Variance for beam 49 is 10.53 
Alpha[49]	0.000000
Alpha[49]	0.999878
TNavParticleFilter::Modified Variance for beam 50 is 10.77 
Alpha[50]	0.000000
Alpha[50]	0.999873
TNavParticleFilter::Modified Variance for beam 51 is 11.03 
Alpha[51]	0.000000
Alpha[51]	0.999866
TNavParticleFilter::Modified Variance for beam 52 is 11.30 
Alpha[52]	0.000000
Alpha[52]	0.999863
TNavParticleFilter::Modified Variance for beam 53 is 11.60 
Alpha[53]	0.000000
Alpha[53]	0.999858
TNavParticleFilter::Modified Variance for beam 54 is 13.19 
Alpha[54]	0.000000
Alpha[54]	0.999852
TNavParticleFilter::Modified Variance for beam 55 is 13.58 
Alpha[55]	0.000000
Alpha[55]	0.999844
TNavParticleFilter::Modified Variance for beam 56 is 14.01 
Alpha[56]	0.000000
Alpha[56]	0.999845
TNavParticleFilter::Modified Variance for beam 57 is 34.32 
Alpha[57]	0.000000
Alpha[57]	0.999844
TNavParticleFilter::Modified Variance for beam 58 is 35.72 
Alpha[58]	0.000000
Alpha[58]	0.999842
TNavParticleFilter::Modified Variance for beam 59 is 36.86 
Alpha[59]	0.000000
Alpha[59]	0.999842
TNavPF:: sumSquaredError = 755.129650 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 14.69. Range = 95.79 
TNavPF::Calculated measDiffMean for beam 31 as 14.88. Range = 94.62 
TNavPF::Calculated measDiffMean for beam 32 as 15.17. Range = 93.79 
TNavPF::Calculated measDiffMean for beam 33 as 15.40. Range = 94.81 
TNavPF::Calculated measDiffMean for beam 34 as 15.42. Range = 93.78 
TNavPF::Calculated measDiffMean for beam 35 as 15.11. Range = 94.08 
TNavPF::Calculated measDiffMean for beam 36 as 12.25. Range = 94.15 
TNavPF::Calculated measDiffMean for beam 37 as 11.26. Range = 93.24 
TNavPF::Calculated measDiffMean for beam 38 as 10.60. Range = 81.05 
TNavPF::Calculated measDiffMean for beam 39 as 10.15. Range = 78.08 
TNavPF::Calculated measDiffMean for beam 40 as 7.56. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 41 as 6.75. Range = 50.32 
TNavPF::Calculated measDiffMean for beam 42 as 6.04. Range = 43.36 
TNavPF::Calculated measDiffMean for beam 43 as 5.52. Range = 43.03 
TNavPF::Calculated measDiffMean for beam 44 as 7.25. Range = 42.73 
TNavPF::Calculated measDiffMean for beam 45 as 7.20. Range = 42.44 
TNavPF::Calculated measDiffMean for beam 46 as 7.20. Range = 42.17 
TNavPF::Calculated measDiffMean for beam 47 as 5.16. Range = 41.91 
TNavPF::Calculated measDiffMean for beam 48 as 5.15. Range = 41.67 
TNavPF::Calculated measDiffMean for beam 49 as 5.22. Range = 41.44 
TNavPF::Calculated measDiffMean for beam 50 as 5.26. Range = 41.23 
TNavPF::Calculated measDiffMean for beam 51 as 3.01. Range = 41.04 
TNavPF::Calculated measDiffMean for beam 52 as 2.53. Range = 40.85 
TNavPF::Calculated measDiffMean for beam 53 as 1.86. Range = 38.63 
TNavPF::Calculated measDiffMean for beam 54 as 1.05. Range = 38.49 
TNavPF::Calculated measDiffMean for beam 55 as -0.34. Range = 38.35 
TNavPF::Calculated measDiffMean for beam 56 as -1.97. Range = 38.23 
TNavPF::Calculated measDiffMean for beam 57 as -2.24. Range = 38.12 
TNavPF::Calculated measDiffMean for beam 58 as -2.65. Range = 38.03 
TNavPF::Calculated measDiffMean for beam 59 as -3.03. Range = 37.94 
TNavPF::Calculated measDiffMean for beam 60 as -3.64. Range = 35.86 
TNavPF::Calculated measDiffMean for beam 61 as -4.82. Range = 35.80 
TNavPF::Calculated measDiffMean for beam 62 as -6.16. Range = 35.75 
TNavPF::Calculated measDiffMean for beam 63 as -7.14. Range = 35.72 
TNavPF::Calculated measDiffMean for beam 64 as -7.19. Range = 35.69 
TNavPF::Calculated measDiffMean for beam 65 as -7.00. Range = 35.68 
TNavPF::Calculated measDiffMean for beam 66 as -7.44. Range = 33.67 
TNavPF::Calculated measDiffMean for beam 67 as -8.18. Range = 33.68 
TNavPF::Calculated measDiffMean for beam 68 as -7.93. Range = 33.70 
TNavPF::Calculated measDiffMean for beam 69 as -7.78. Range = 33.73 
TNavPF::Calculated measDiffMean for beam 70 as -11.52. Range = 31.76 
TNavPF::Calculated measDiffMean for beam 71 as -10.03. Range = 31.80 
TNavPF::Calculated measDiffMean for beam 72 as -7.96. Range = 31.86 
TNavPF::Calculated measDiffMean for beam 73 as -10.85. Range = 31.92 
TNavPF::Calculated measDiffMean for beam 74 as -15.96. Range = 34.02 
TNavPF::Calculated measDiffMean for beam 75 as -18.79. Range = 34.11 
TNavPF::Calculated measDiffMean for beam 76 as -19.14. Range = 34.19 
TNavPF::Calculated measDiffMean for beam 77 as -19.37. Range = 32.29 
TNavPF::Calculated measDiffMean for beam 78 as -20.11. Range = 32.41 
TNavPF::Calculated measDiffMean for beam 79 as -19.74. Range = 32.53 
TNavPF::Calculated measDiffMean for beam 80 as -18.60. Range = 32.67 
TNavPF::Calculated measDiffMean for beam 81 as -16.70. Range = 30.78 
TNavPF::Calculated measDiffMean for beam 82 as -15.38. Range = 30.90 
TNavPF::Calculated measDiffMean for beam 83 as -14.55. Range = 31.06 
TNavPF::Calculated measDiffMean for beam 84 as -10.55. Range = 31.24 
TNavPF::Calculated measDiffMean for beam 85 as -9.43. Range = 30.64 
TNavPF::Calculated measDiffMean for beam 86 as -9.12. Range = 29.49 
TNavPF::Calculated measDiffMean for beam 87 as 23.34. Range = 29.68 
TNavPF::Calculated measDiffMean for beam 88 as 24.55. Range = 29.89 
TNavPF::Calculated measDiffMean for beam 89 as 25.48. Range = 30.11 
TNavPF::First Term of Map Covariance Matrix is 93.10 
TNavPF::Calculated NIS Value : 134.83 	numBeams normalized NIS: 2.25
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323509.82 sec.
INS : North: 4070218.35, East: 589352.58, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 31.71, IDT[75] = 37.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323512.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323512.62)
ARL : North: -84.1458, East: 356.9910, Depth: -27.0317ARL : Estimation Bias  (Mean)         : (t = 1488323512.62)
ARL : North: -84.2170, East: 357.2124, Depth: -29.4128TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 10.43 
Alpha[0]	0.123000
Alpha[0]	0.999635
TNavParticleFilter::Modified Variance for beam 1 is 9.68 
Alpha[1]	0.000000
Alpha[1]	0.999663
TNavParticleFilter::Modified Variance for beam 2 is 9.66 
Alpha[2]	0.000000
Alpha[2]	0.999692
TNavParticleFilter::Modified Variance for beam 3 is 9.64 
Alpha[3]	0.000000
Alpha[3]	0.999707
TNavParticleFilter::Modified Variance for beam 4 is 8.95 
Alpha[4]	0.000000
Alpha[4]	0.999721
TNavParticleFilter::Modified Variance for beam 5 is 8.94 
Alpha[5]	0.000000
Alpha[5]	0.999730
TNavParticleFilter::Modified Variance for beam 6 is 8.94 
Alpha[6]	0.000000
Alpha[6]	0.999736
TNavParticleFilter::Modified Variance for beam 7 is 8.93 
Alpha[7]	0.000000
Alpha[7]	0.999737
TNavParticleFilter::Modified Variance for beam 8 is 9.61 
Alpha[8]	0.000000
Alpha[8]	0.999737
TNavParticleFilter::Modified Variance for beam 9 is 9.62 
Alpha[9]	0.000000
Alpha[9]	0.999731
TNavParticleFilter::Modified Variance for beam 10 is 9.63 
Alpha[10]	0.000000
Alpha[10]	0.999724
TNavParticleFilter::Modified Variance for beam 11 is 8.96 
Alpha[11]	0.000000
Alpha[11]	0.999722
TNavParticleFilter::Modified Variance for beam 12 is 8.98 
Alpha[12]	0.000000
Alpha[12]	0.999718
TNavParticleFilter::Modified Variance for beam 13 is 8.99 
Alpha[13]	0.000000
Alpha[13]	0.999715
TNavParticleFilter::Modified Variance for beam 14 is 9.02 
Alpha[14]	0.000000
Alpha[14]	0.999714
TNavParticleFilter::Modified Variance for beam 15 is 8.39 
Alpha[15]	0.000000
Alpha[15]	0.999719
TNavParticleFilter::Modified Variance for beam 16 is 8.42 
Alpha[16]	0.000000
Alpha[16]	0.999729
TNavParticleFilter::Modified Variance for beam 17 is 8.45 
Alpha[17]	0.000000
Alpha[17]	0.999734
TNavParticleFilter::Modified Variance for beam 18 is 8.48 
Alpha[18]	0.000000
Alpha[18]	0.999741
TNavParticleFilter::Modified Variance for beam 19 is 7.89 
Alpha[19]	0.000000
Alpha[19]	0.999747
TNavParticleFilter::Modified Variance for beam 20 is 7.93 
Alpha[20]	0.000000
Alpha[20]	0.999755
TNavParticleFilter::Modified Variance for beam 21 is 7.96 
Alpha[21]	0.000000
Alpha[21]	0.999766
TNavParticleFilter::Modified Variance for beam 22 is 8.00 
Alpha[22]	0.000000
Alpha[22]	0.999778
TNavParticleFilter::Modified Variance for beam 23 is 8.05 
Alpha[23]	0.000000
Alpha[23]	0.999794
TNavParticleFilter::Modified Variance for beam 24 is 8.09 
Alpha[24]	0.000000
Alpha[24]	0.999805
TNavParticleFilter::Modified Variance for beam 25 is 8.15 
Alpha[25]	0.000000
Alpha[25]	0.999814
TNavParticleFilter::Modified Variance for beam 26 is 8.20 
Alpha[26]	0.000000
Alpha[26]	0.999827
TNavParticleFilter::Modified Variance for beam 27 is 8.26 
Alpha[27]	0.000000
Alpha[27]	0.999843
TNavParticleFilter::Modified Variance for beam 28 is 8.32 
Alpha[28]	0.000000
Alpha[28]	0.999852
TNavParticleFilter::Modified Variance for beam 29 is 8.39 
Alpha[29]	0.000000
Alpha[29]	0.999862
TNavParticleFilter::Modified Variance for beam 30 is 8.46 
Alpha[30]	0.000000
Alpha[30]	0.999866
TNavParticleFilter::Modified Variance for beam 31 is 8.54 
Alpha[31]	0.000000
Alpha[31]	0.999871
TNavParticleFilter::Modified Variance for beam 32 is 8.62 
Alpha[32]	0.000000
Alpha[32]	0.999872
TNavParticleFilter::Modified Variance for beam 33 is 8.70 
Alpha[33]	0.000000
Alpha[33]	0.999874
TNavParticleFilter::Modified Variance for beam 34 is 8.80 
Alpha[34]	0.000000
Alpha[34]	0.999881
TNavParticleFilter::Modified Variance for beam 35 is 8.89 
Alpha[35]	0.000000
Alpha[35]	0.999893
TNavParticleFilter::Modified Variance for beam 36 is 9.00 
Alpha[36]	0.000000
Alpha[36]	0.999896
TNavParticleFilter::Modified Variance for beam 37 is 9.11 
Alpha[37]	0.000000
Alpha[37]	0.999889
TNavParticleFilter::Modified Variance for beam 38 is 9.22 
Alpha[38]	0.000000
Alpha[38]	0.999870
TNavParticleFilter::Modified Variance for beam 39 is 9.21 
Alpha[39]	0.000000
Alpha[39]	0.999849
TNavParticleFilter::Modified Variance for beam 40 is 8.91 
Alpha[40]	0.000000
Alpha[40]	0.999832
TNavParticleFilter::Modified Variance for beam 41 is 8.93 
Alpha[41]	0.000000
Alpha[41]	0.999814
TNavParticleFilter::Modified Variance for beam 42 is 9.77 
Alpha[42]	0.000000
Alpha[42]	0.999790
TNavParticleFilter::Modified Variance for beam 43 is 9.93 
Alpha[43]	0.000000
Alpha[43]	0.999744
TNavParticleFilter::Modified Variance for beam 44 is 10.10 
Alpha[44]	0.000000
Alpha[44]	0.999684
TNavParticleFilter::Modified Variance for beam 45 is 10.28 
Alpha[45]	0.000000
Alpha[45]	0.999629
TNavParticleFilter::Modified Variance for beam 46 is 10.47 
Alpha[46]	0.000000
Alpha[46]	0.999601
TNavParticleFilter::Modified Variance for beam 47 is 10.68 
Alpha[47]	0.000000
Alpha[47]	0.999592
TNavParticleFilter::Modified Variance for beam 48 is 10.89 
Alpha[48]	0.000000
Alpha[48]	0.999579
TNavParticleFilter::Modified Variance for beam 49 is 12.21 
Alpha[49]	0.000000
Alpha[49]	0.999551
TNavParticleFilter::Modified Variance for beam 50 is 12.49 
Alpha[50]	0.000000
Alpha[50]	0.999505
TNavParticleFilter::Modified Variance for beam 51 is 12.79 
Alpha[51]	0.000000
Alpha[51]	0.999396
TNavParticleFilter::Modified Variance for beam 52 is 13.12 
Alpha[52]	0.000000
Alpha[52]	0.999225
TNavParticleFilter::Modified Variance for beam 53 is 31.27 
Alpha[53]	0.000000
Alpha[53]	0.999052
TNavParticleFilter::Modified Variance for beam 54 is 31.31 
Alpha[54]	0.000000
Alpha[54]	0.998927
TNavParticleFilter::Modified Variance for beam 55 is 32.39 
Alpha[55]	0.000000
Alpha[55]	0.998911
TNavParticleFilter::Modified Variance for beam 56 is 33.54 
Alpha[56]	0.000000
Alpha[56]	0.999004
TNavParticleFilter::Modified Variance for beam 57 is 34.79 
Alpha[57]	0.000000
Alpha[57]	0.999100
TNavParticleFilter::Modified Variance for beam 58 is 34.86 
Alpha[58]	0.000000
Alpha[58]	0.999130
TNavParticleFilter::Modified Variance for beam 59 is 35.00 
Alpha[59]	0.000000
Alpha[59]	0.999135
TNavPF:: sumSquaredError = 6202.070520 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 11.71. Range = 99.55 
TNavPF::Calculated measDiffMean for beam 31 as 8.87. Range = 98.27 
TNavPF::Calculated measDiffMean for beam 32 as 8.13. Range = 97.72 
TNavPF::Calculated measDiffMean for beam 33 as 7.56. Range = 98.31 
TNavPF::Calculated measDiffMean for beam 34 as 5.06. Range = 97.18 
TNavPF::Calculated measDiffMean for beam 35 as 4.70. Range = 98.22 
TNavPF::Calculated measDiffMean for beam 36 as 4.53. Range = 97.42 
TNavPF::Calculated measDiffMean for beam 37 as 4.46. Range = 87.17 
TNavPF::Calculated measDiffMean for beam 38 as 6.38. Range = 56.53 
TNavPF::Calculated measDiffMean for beam 39 as 6.27. Range = 53.73 
TNavPF::Calculated measDiffMean for beam 40 as 6.14. Range = 46.50 
TNavPF::Calculated measDiffMean for beam 41 as 4.03. Range = 46.10 
TNavPF::Calculated measDiffMean for beam 42 as 3.91. Range = 45.71 
TNavPF::Calculated measDiffMean for beam 43 as 3.65. Range = 45.35 
TNavPF::Calculated measDiffMean for beam 44 as 3.32. Range = 45.01 
TNavPF::Calculated measDiffMean for beam 45 as 0.82. Range = 44.68 
TNavPF::Calculated measDiffMean for beam 46 as 0.25. Range = 44.37 
TNavPF::Calculated measDiffMean for beam 47 as -0.16. Range = 44.08 
TNavPF::Calculated measDiffMean for beam 48 as -0.47. Range = 43.81 
TNavPF::Calculated measDiffMean for beam 49 as -2.65. Range = 43.56 
TNavPF::Calculated measDiffMean for beam 50 as -2.82. Range = 43.32 
TNavPF::Calculated measDiffMean for beam 51 as -3.10. Range = 41.01 
TNavPF::Calculated measDiffMean for beam 52 as -3.46. Range = 40.81 
TNavPF::Calculated measDiffMean for beam 53 as -4.09. Range = 40.63 
TNavPF::Calculated measDiffMean for beam 54 as -4.65. Range = 40.46 
TNavPF::Calculated measDiffMean for beam 55 as -5.18. Range = 40.30 
TNavPF::Calculated measDiffMean for beam 56 as -5.85. Range = 38.12 
TNavPF::Calculated measDiffMean for beam 57 as -6.60. Range = 37.99 
TNavPF::Calculated measDiffMean for beam 58 as -7.04. Range = 37.88 
TNavPF::Calculated measDiffMean for beam 59 as -7.47. Range = 37.78 
TNavPF::Calculated measDiffMean for beam 60 as -7.38. Range = 37.69 
TNavPF::Calculated measDiffMean for beam 61 as -7.14. Range = 35.60 
TNavPF::Calculated measDiffMean for beam 62 as -6.89. Range = 35.54 
TNavPF::Calculated measDiffMean for beam 63 as -6.89. Range = 35.50 
TNavPF::Calculated measDiffMean for beam 64 as -7.80. Range = 33.45 
TNavPF::Calculated measDiffMean for beam 65 as -10.39. Range = 33.43 
TNavPF::Calculated measDiffMean for beam 66 as -12.84. Range = 33.41 
TNavPF::Calculated measDiffMean for beam 67 as -14.93. Range = 33.40 
TNavPF::Calculated measDiffMean for beam 68 as -16.28. Range = 35.41 
TNavPF::Calculated measDiffMean for beam 69 as -17.34. Range = 35.43 
TNavPF::Calculated measDiffMean for beam 70 as -19.79. Range = 35.45 
TNavPF::Calculated measDiffMean for beam 71 as -21.10. Range = 33.48 
TNavPF::Calculated measDiffMean for beam 72 as -19.68. Range = 33.53 
TNavPF::Calculated measDiffMean for beam 73 as -20.04. Range = 33.59 
TNavPF::Calculated measDiffMean for beam 74 as -20.27. Range = 33.65 
TNavPF::Calculated measDiffMean for beam 75 as -20.09. Range = 31.71 
TNavPF::Calculated measDiffMean for beam 76 as -19.43. Range = 31.79 
TNavPF::Calculated measDiffMean for beam 77 as -17.95. Range = 31.88 
TNavPF::Calculated measDiffMean for beam 78 as -16.39. Range = 31.98 
TNavPF::Calculated measDiffMean for beam 79 as -12.57. Range = 30.05 
TNavPF::Calculated measDiffMean for beam 80 as -11.73. Range = 30.17 
TNavPF::Calculated measDiffMean for beam 81 as -10.85. Range = 30.29 
TNavPF::Calculated measDiffMean for beam 82 as -10.09. Range = 30.43 
TNavPF::Calculated measDiffMean for beam 83 as 20.45. Range = 30.58 
TNavPF::Calculated measDiffMean for beam 84 as 20.12. Range = 30.74 
TNavPF::Calculated measDiffMean for beam 85 as 21.20. Range = 30.90 
TNavPF::Calculated measDiffMean for beam 86 as 22.48. Range = 31.09 
TNavPF::Calculated measDiffMean for beam 87 as 24.04. Range = 31.28 
TNavPF::Calculated measDiffMean for beam 88 as 23.95. Range = 31.48 
TNavPF::Calculated measDiffMean for beam 89 as 23.92. Range = 31.70 
TNavPF::First Term of Map Covariance Matrix is 54.81 
TNavPF::Calculated NIS Value : 165.51 	numBeams normalized NIS: 2.76
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323512.82 sec.
INS : North: 4070220.05, East: 589348.56, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 31.22, IDT[75] = 41.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323515.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323515.62)
ARL : North: -84.0605, East: 357.5326, Depth: -24.2893ARL : Estimation Bias  (Mean)         : (t = 1488323515.62)
ARL : North: -84.4933, East: 358.5978, Depth: -27.6180TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.62 
Alpha[0]	0.123000
Alpha[0]	0.999697
TNavParticleFilter::Modified Variance for beam 1 is 9.59 
Alpha[1]	0.000000
Alpha[1]	0.999710
TNavParticleFilter::Modified Variance for beam 2 is 9.56 
Alpha[2]	0.000000
Alpha[2]	0.999709
TNavParticleFilter::Modified Variance for beam 3 is 10.25 
Alpha[3]	0.000000
Alpha[3]	0.999700
TNavParticleFilter::Modified Variance for beam 4 is 10.23 
Alpha[4]	0.000000
Alpha[4]	0.999694
TNavParticleFilter::Modified Variance for beam 5 is 10.22 
Alpha[5]	0.000000
Alpha[5]	0.999686
TNavParticleFilter::Modified Variance for beam 6 is 9.49 
Alpha[6]	0.000000
Alpha[6]	0.999672
TNavParticleFilter::Modified Variance for beam 7 is 9.49 
Alpha[7]	0.000000
Alpha[7]	0.999654
TNavParticleFilter::Modified Variance for beam 8 is 9.48 
Alpha[8]	0.000000
Alpha[8]	0.999638
TNavParticleFilter::Modified Variance for beam 9 is 8.81 
Alpha[9]	0.000000
Alpha[9]	0.999627
TNavParticleFilter::Modified Variance for beam 10 is 8.82 
Alpha[10]	0.000000
Alpha[10]	0.999628
TNavParticleFilter::Modified Variance for beam 11 is 8.82 
Alpha[11]	0.000000
Alpha[11]	0.999627
TNavParticleFilter::Modified Variance for beam 12 is 8.83 
Alpha[12]	0.000000
Alpha[12]	0.999620
TNavParticleFilter::Modified Variance for beam 13 is 8.21 
Alpha[13]	0.000000
Alpha[13]	0.999629
TNavParticleFilter::Modified Variance for beam 14 is 8.23 
Alpha[14]	0.000000
Alpha[14]	0.999656
TNavParticleFilter::Modified Variance for beam 15 is 8.24 
Alpha[15]	0.000000
Alpha[15]	0.999676
TNavParticleFilter::Modified Variance for beam 16 is 8.26 
Alpha[16]	0.000000
Alpha[16]	0.999677
TNavParticleFilter::Modified Variance for beam 17 is 8.29 
Alpha[17]	0.000000
Alpha[17]	0.999672
TNavParticleFilter::Modified Variance for beam 18 is 8.31 
Alpha[18]	0.000000
Alpha[18]	0.999677
TNavParticleFilter::Modified Variance for beam 19 is 8.34 
Alpha[19]	0.000000
Alpha[19]	0.999699
TNavParticleFilter::Modified Variance for beam 20 is 8.38 
Alpha[20]	0.000000
Alpha[20]	0.999722
TNavParticleFilter::Modified Variance for beam 21 is 8.41 
Alpha[21]	0.000000
Alpha[21]	0.999739
TNavParticleFilter::Modified Variance for beam 22 is 8.45 
Alpha[22]	0.000000
Alpha[22]	0.999758
TNavParticleFilter::Modified Variance for beam 23 is 8.49 
Alpha[23]	0.000000
Alpha[23]	0.999771
TNavParticleFilter::Modified Variance for beam 24 is 8.54 
Alpha[24]	0.000000
Alpha[24]	0.999783
TNavParticleFilter::Modified Variance for beam 25 is 8.59 
Alpha[25]	0.000000
Alpha[25]	0.999808
TNavParticleFilter::Modified Variance for beam 26 is 8.65 
Alpha[26]	0.000000
Alpha[26]	0.999831
TNavParticleFilter::Modified Variance for beam 27 is 8.71 
Alpha[27]	0.000000
Alpha[27]	0.999835
TNavParticleFilter::Modified Variance for beam 28 is 8.77 
Alpha[28]	0.000000
Alpha[28]	0.999836
TNavParticleFilter::Modified Variance for beam 29 is 8.84 
Alpha[29]	0.000000
Alpha[29]	0.999833
TNavParticleFilter::Modified Variance for beam 30 is 8.91 
Alpha[30]	0.000000
Alpha[30]	0.999829
TNavParticleFilter::Modified Variance for beam 31 is 8.98 
Alpha[31]	0.000000
Alpha[31]	0.999820
TNavParticleFilter::Modified Variance for beam 32 is 9.07 
Alpha[32]	0.000000
Alpha[32]	0.999823
TNavParticleFilter::Modified Variance for beam 33 is 9.15 
Alpha[33]	0.000000
Alpha[33]	0.999846
TNavParticleFilter::Modified Variance for beam 34 is 8.74 
Alpha[34]	0.000000
Alpha[34]	0.999877
TNavParticleFilter::Modified Variance for beam 35 is 8.61 
Alpha[35]	0.000000
Alpha[35]	0.999883
TNavParticleFilter::Modified Variance for beam 36 is 8.70 
Alpha[36]	0.000000
Alpha[36]	0.999881
TNavParticleFilter::Modified Variance for beam 37 is 8.80 
Alpha[37]	0.000000
Alpha[37]	0.999872
TNavParticleFilter::Modified Variance for beam 38 is 10.11 
Alpha[38]	0.000000
Alpha[38]	0.999864
TNavParticleFilter::Modified Variance for beam 39 is 9.81 
Alpha[39]	0.000000
Alpha[39]	0.999866
TNavParticleFilter::Modified Variance for beam 40 is 9.94 
Alpha[40]	0.000000
Alpha[40]	0.999864
TNavParticleFilter::Modified Variance for beam 41 is 10.08 
Alpha[41]	0.000000
Alpha[41]	0.999850
TNavParticleFilter::Modified Variance for beam 42 is 10.23 
Alpha[42]	0.000000
Alpha[42]	0.999836
TNavParticleFilter::Modified Variance for beam 43 is 10.39 
Alpha[43]	0.000000
Alpha[43]	0.999829
TNavParticleFilter::Modified Variance for beam 44 is 10.57 
Alpha[44]	0.000000
Alpha[44]	0.999828
TNavParticleFilter::Modified Variance for beam 45 is 11.72 
Alpha[45]	0.000000
Alpha[45]	0.999823
TNavParticleFilter::Modified Variance for beam 46 is 11.94 
Alpha[46]	0.000000
Alpha[46]	0.999814
TNavParticleFilter::Modified Variance for beam 47 is 12.17 
Alpha[47]	0.000000
Alpha[47]	0.999779
TNavParticleFilter::Modified Variance for beam 48 is 12.42 
Alpha[48]	0.000000
Alpha[48]	0.999737
TNavParticleFilter::Modified Variance for beam 49 is 22.21 
Alpha[49]	0.000000
Alpha[49]	0.999687
TNavParticleFilter::Modified Variance for beam 50 is 22.74 
Alpha[50]	0.000000
Alpha[50]	0.999643
TNavParticleFilter::Modified Variance for beam 51 is 30.50 
Alpha[51]	0.000000
Alpha[51]	0.999602
TNavParticleFilter::Modified Variance for beam 52 is 29.59 
Alpha[52]	0.000000
Alpha[52]	0.999599
TNavParticleFilter::Modified Variance for beam 53 is 30.49 
Alpha[53]	0.000000
Alpha[53]	0.999583
TNavParticleFilter::Modified Variance for beam 54 is 31.44 
Alpha[54]	0.000000
Alpha[54]	0.999575
TNavParticleFilter::Modified Variance for beam 55 is 32.47 
Alpha[55]	0.000000
Alpha[55]	0.999590
TNavParticleFilter::Modified Variance for beam 56 is 33.57 
Alpha[56]	0.000000
Alpha[56]	0.999586
TNavParticleFilter::Modified Variance for beam 57 is 33.05 
Alpha[57]	0.000000
Alpha[57]	0.999590
TNavParticleFilter::Modified Variance for beam 58 is 33.62 
Alpha[58]	0.000000
Alpha[58]	0.999594
TNavParticleFilter::Modified Variance for beam 59 is 34.90 
Alpha[59]	0.000000
Alpha[59]	0.999596
TNavPF:: sumSquaredError = 534.960145 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 10.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 9.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 9.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 11.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 11.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 11.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 8.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 8.35. Range = 59.94 
TNavPF::Calculated measDiffMean for beam 38 as 8.11. Range = 50.01 
TNavPF::Calculated measDiffMean for beam 39 as 5.99. Range = 49.51 
TNavPF::Calculated measDiffMean for beam 40 as 5.78. Range = 49.03 
TNavPF::Calculated measDiffMean for beam 41 as 5.32. Range = 48.57 
TNavPF::Calculated measDiffMean for beam 42 as 4.89. Range = 48.14 
TNavPF::Calculated measDiffMean for beam 43 as 2.52. Range = 47.73 
TNavPF::Calculated measDiffMean for beam 44 as 2.13. Range = 47.34 
TNavPF::Calculated measDiffMean for beam 45 as 1.91. Range = 46.97 
TNavPF::Calculated measDiffMean for beam 46 as 1.93. Range = 46.62 
TNavPF::Calculated measDiffMean for beam 47 as 2.10. Range = 46.29 
TNavPF::Calculated measDiffMean for beam 48 as 2.11. Range = 43.84 
TNavPF::Calculated measDiffMean for beam 49 as 1.81. Range = 43.57 
TNavPF::Calculated measDiffMean for beam 50 as 1.43. Range = 43.30 
TNavPF::Calculated measDiffMean for beam 51 as 1.01. Range = 43.06 
TNavPF::Calculated measDiffMean for beam 52 as 0.61. Range = 42.83 
TNavPF::Calculated measDiffMean for beam 53 as 0.35. Range = 42.61 
TNavPF::Calculated measDiffMean for beam 54 as 0.23. Range = 40.34 
TNavPF::Calculated measDiffMean for beam 55 as -0.05. Range = 40.16 
TNavPF::Calculated measDiffMean for beam 56 as -0.40. Range = 40.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.47. Range = 37.81 
TNavPF::Calculated measDiffMean for beam 58 as -0.14. Range = 37.68 
TNavPF::Calculated measDiffMean for beam 59 as 0.23. Range = 35.53 
TNavPF::Calculated measDiffMean for beam 60 as -0.11. Range = 35.43 
TNavPF::Calculated measDiffMean for beam 61 as -0.57. Range = 35.34 
TNavPF::Calculated measDiffMean for beam 62 as -1.55. Range = 35.27 
TNavPF::Calculated measDiffMean for beam 63 as -3.96. Range = 37.21 
TNavPF::Calculated measDiffMean for beam 64 as -8.59. Range = 37.16 
TNavPF::Calculated measDiffMean for beam 65 as -10.63. Range = 37.11 
TNavPF::Calculated measDiffMean for beam 66 as -11.75. Range = 35.07 
TNavPF::Calculated measDiffMean for beam 67 as -12.36. Range = 35.05 
TNavPF::Calculated measDiffMean for beam 68 as -9.09. Range = 35.04 
TNavPF::Calculated measDiffMean for beam 69 as -11.64. Range = 33.03 
TNavPF::Calculated measDiffMean for beam 70 as -12.92. Range = 33.04 
TNavPF::Calculated measDiffMean for beam 71 as -13.76. Range = 33.06 
TNavPF::Calculated measDiffMean for beam 72 as -14.53. Range = 33.09 
TNavPF::Calculated measDiffMean for beam 73 as -15.09. Range = 31.12 
TNavPF::Calculated measDiffMean for beam 74 as -14.83. Range = 31.17 
TNavPF::Calculated measDiffMean for beam 75 as -11.46. Range = 31.22 
TNavPF::Calculated measDiffMean for beam 76 as -10.27. Range = 31.29 
TNavPF::Calculated measDiffMean for beam 77 as -8.92. Range = 31.37 
TNavPF::Calculated measDiffMean for beam 78 as -8.51. Range = 31.45 
TNavPF::Calculated measDiffMean for beam 79 as 10.01. Range = 31.55 
TNavPF::Calculated measDiffMean for beam 80 as 10.78. Range = 31.65 
TNavPF::Calculated measDiffMean for beam 81 as 22.40. Range = 31.77 
TNavPF::Calculated measDiffMean for beam 82 as 20.74. Range = 31.90 
TNavPF::Calculated measDiffMean for beam 83 as 21.71. Range = 32.04 
TNavPF::Calculated measDiffMean for beam 84 as 22.97. Range = 32.18 
TNavPF::Calculated measDiffMean for beam 85 as 24.26. Range = 32.34 
TNavPF::Calculated measDiffMean for beam 86 as 25.98. Range = 32.52 
TNavPF::Calculated measDiffMean for beam 87 as 25.26. Range = 32.70 
TNavPF::Calculated measDiffMean for beam 88 as 25.64. Range = 32.90 
TNavPF::Calculated measDiffMean for beam 89 as 27.55. Range = 33.10 
TNavPF::First Term of Map Covariance Matrix is 65.88 
TNavPF::Calculated NIS Value : 130.64 	numBeams normalized NIS: 2.18
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323515.82 sec.
INS : North: 4070221.59, East: 589344.49, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 32.22, IDT[75] = 36.61
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323518.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323518.62)
ARL : North: -84.0976, East: 360.3147, Depth: -26.9347ARL : Estimation Bias  (Mean)         : (t = 1488323518.62)
ARL : North: -84.0877, East: 359.9729, Depth: -27.4820TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 11.26 
Alpha[0]	0.123000
Alpha[0]	0.999485
TNavParticleFilter::Modified Variance for beam 1 is 10.40 
Alpha[1]	0.000000
Alpha[1]	0.999511
TNavParticleFilter::Modified Variance for beam 2 is 10.33 
Alpha[2]	0.000000
Alpha[2]	0.999547
TNavParticleFilter::Modified Variance for beam 3 is 10.27 
Alpha[3]	0.000000
Alpha[3]	0.999579
TNavParticleFilter::Modified Variance for beam 4 is 10.25 
Alpha[4]	0.000000
Alpha[4]	0.999608
TNavParticleFilter::Modified Variance for beam 5 is 10.93 
Alpha[5]	0.000000
Alpha[5]	0.999633
TNavParticleFilter::Modified Variance for beam 6 is 10.88 
Alpha[6]	0.000000
Alpha[6]	0.999645
TNavParticleFilter::Modified Variance for beam 7 is 10.83 
Alpha[7]	0.000000
Alpha[7]	0.999646
TNavParticleFilter::Modified Variance for beam 8 is 10.04 
Alpha[8]	0.000000
Alpha[8]	0.999638
TNavParticleFilter::Modified Variance for beam 9 is 10.01 
Alpha[9]	0.000000
Alpha[9]	0.999636
TNavParticleFilter::Modified Variance for beam 10 is 9.28 
Alpha[10]	0.000000
Alpha[10]	0.999635
TNavParticleFilter::Modified Variance for beam 11 is 9.26 
Alpha[11]	0.000000
Alpha[11]	0.999628
TNavParticleFilter::Modified Variance for beam 12 is 9.24 
Alpha[12]	0.000000
Alpha[12]	0.999617
TNavParticleFilter::Modified Variance for beam 13 is 8.57 
Alpha[13]	0.000000
Alpha[13]	0.999604
TNavParticleFilter::Modified Variance for beam 14 is 8.56 
Alpha[14]	0.000000
Alpha[14]	0.999592
TNavParticleFilter::Modified Variance for beam 15 is 8.56 
Alpha[15]	0.000000
Alpha[15]	0.999588
TNavParticleFilter::Modified Variance for beam 16 is 8.55 
Alpha[16]	0.000000
Alpha[16]	0.999591
TNavParticleFilter::Modified Variance for beam 17 is 8.55 
Alpha[17]	0.000000
Alpha[17]	0.999605
TNavParticleFilter::Modified Variance for beam 18 is 8.55 
Alpha[18]	0.000000
Alpha[18]	0.999635
TNavParticleFilter::Modified Variance for beam 19 is 8.56 
Alpha[19]	0.000000
Alpha[19]	0.999653
TNavParticleFilter::Modified Variance for beam 20 is 8.57 
Alpha[20]	0.000000
Alpha[20]	0.999652
TNavParticleFilter::Modified Variance for beam 21 is 8.58 
Alpha[21]	0.000000
Alpha[21]	0.999639
TNavParticleFilter::Modified Variance for beam 22 is 8.60 
Alpha[22]	0.000000
Alpha[22]	0.999630
TNavParticleFilter::Modified Variance for beam 23 is 8.61 
Alpha[23]	0.000000
Alpha[23]	0.999647
TNavParticleFilter::Modified Variance for beam 24 is 8.64 
Alpha[24]	0.000000
Alpha[24]	0.999675
TNavParticleFilter::Modified Variance for beam 25 is 8.66 
Alpha[25]	0.000000
Alpha[25]	0.999695
TNavParticleFilter::Modified Variance for beam 26 is 8.69 
Alpha[26]	0.000000
Alpha[26]	0.999713
TNavParticleFilter::Modified Variance for beam 27 is 8.72 
Alpha[27]	0.000000
Alpha[27]	0.999736
TNavParticleFilter::Modified Variance for beam 28 is 8.76 
Alpha[28]	0.000000
Alpha[28]	0.999754
TNavParticleFilter::Modified Variance for beam 29 is 8.79 
Alpha[29]	0.000000
Alpha[29]	0.999769
TNavParticleFilter::Modified Variance for beam 30 is 8.84 
Alpha[30]	0.000000
Alpha[30]	0.999785
TNavParticleFilter::Modified Variance for beam 31 is 8.88 
Alpha[31]	0.000000
Alpha[31]	0.999791
TNavParticleFilter::Modified Variance for beam 32 is 8.93 
Alpha[32]	0.000000
Alpha[32]	0.999768
TNavParticleFilter::Modified Variance for beam 33 is 8.99 
Alpha[33]	0.000000
Alpha[33]	0.999764
TNavParticleFilter::Modified Variance for beam 34 is 8.85 
Alpha[34]	0.000000
Alpha[34]	0.999784
TNavParticleFilter::Modified Variance for beam 35 is 8.43 
Alpha[35]	0.000000
Alpha[35]	0.999784
TNavParticleFilter::Modified Variance for beam 36 is 8.49 
Alpha[36]	0.000000
Alpha[36]	0.999769
TNavParticleFilter::Modified Variance for beam 37 is 8.55 
Alpha[37]	0.000000
Alpha[37]	0.999778
TNavParticleFilter::Modified Variance for beam 38 is 8.62 
Alpha[38]	0.000000
Alpha[38]	0.999819
TNavParticleFilter::Modified Variance for beam 39 is 10.00 
Alpha[39]	0.000000
Alpha[39]	0.999845
TNavParticleFilter::Modified Variance for beam 40 is 9.50 
Alpha[40]	0.000000
Alpha[40]	0.999845
TNavParticleFilter::Modified Variance for beam 41 is 9.59 
Alpha[41]	0.000000
Alpha[41]	0.999837
TNavParticleFilter::Modified Variance for beam 42 is 9.69 
Alpha[42]	0.000000
Alpha[42]	0.999826
TNavParticleFilter::Modified Variance for beam 43 is 9.80 
Alpha[43]	0.000000
Alpha[43]	0.999813
TNavParticleFilter::Modified Variance for beam 44 is 9.91 
Alpha[44]	0.000000
Alpha[44]	0.999813
TNavParticleFilter::Modified Variance for beam 45 is 10.03 
Alpha[45]	0.000000
Alpha[45]	0.999807
TNavParticleFilter::Modified Variance for beam 46 is 11.02 
Alpha[46]	0.000000
Alpha[46]	0.999807
TNavParticleFilter::Modified Variance for beam 47 is 11.17 
Alpha[47]	0.000000
Alpha[47]	0.999813
TNavParticleFilter::Modified Variance for beam 48 is 11.33 
Alpha[48]	0.000000
Alpha[48]	0.999813
TNavParticleFilter::Modified Variance for beam 49 is 11.51 
Alpha[49]	0.000000
Alpha[49]	0.999798
TNavParticleFilter::Modified Variance for beam 50 is 11.69 
Alpha[50]	0.000000
Alpha[50]	0.999749
TNavParticleFilter::Modified Variance for beam 51 is 11.89 
Alpha[51]	0.000000
Alpha[51]	0.999664
TNavParticleFilter::Modified Variance for beam 52 is 23.57 
Alpha[52]	0.000000
Alpha[52]	0.999602
TNavParticleFilter::Modified Variance for beam 53 is 21.44 
Alpha[53]	0.000000
Alpha[53]	0.999570
TNavParticleFilter::Modified Variance for beam 54 is 21.51 
Alpha[54]	0.000000
Alpha[54]	0.999570
TNavParticleFilter::Modified Variance for beam 55 is 26.92 
Alpha[55]	0.000000
Alpha[55]	0.999554
TNavParticleFilter::Modified Variance for beam 56 is 29.15 
Alpha[56]	0.000000
Alpha[56]	0.999540
TNavParticleFilter::Modified Variance for beam 57 is 28.30 
Alpha[57]	0.000000
Alpha[57]	0.999570
TNavParticleFilter::Modified Variance for beam 58 is 29.06 
Alpha[58]	0.000000
Alpha[58]	0.999583
TNavParticleFilter::Modified Variance for beam 59 is 29.87 
Alpha[59]	0.000000
Alpha[59]	0.999593
TNavPF:: sumSquaredError = 538.836651 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 13.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 11.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 10.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 10.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 9.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 11.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 11.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 11.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 8.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 8.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 6.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 6.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 5.79. Range = 63.46 
TNavPF::Calculated measDiffMean for beam 43 as 3.53. Range = 53.10 
TNavPF::Calculated measDiffMean for beam 44 as 3.15. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 45 as 2.77. Range = 51.93 
TNavPF::Calculated measDiffMean for beam 46 as 2.56. Range = 51.38 
TNavPF::Calculated measDiffMean for beam 47 as 2.41. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 48 as 2.16. Range = 50.37 
TNavPF::Calculated measDiffMean for beam 49 as 1.98. Range = 49.91 
TNavPF::Calculated measDiffMean for beam 50 as 1.96. Range = 49.46 
TNavPF::Calculated measDiffMean for beam 51 as 2.01. Range = 49.04 
TNavPF::Calculated measDiffMean for beam 52 as 1.93. Range = 46.44 
TNavPF::Calculated measDiffMean for beam 53 as 1.63. Range = 46.08 
TNavPF::Calculated measDiffMean for beam 54 as 1.20. Range = 45.74 
TNavPF::Calculated measDiffMean for beam 55 as 0.91. Range = 43.26 
TNavPF::Calculated measDiffMean for beam 56 as 0.84. Range = 42.97 
TNavPF::Calculated measDiffMean for beam 57 as 0.82. Range = 42.69 
TNavPF::Calculated measDiffMean for beam 58 as 0.69. Range = 42.44 
TNavPF::Calculated measDiffMean for beam 59 as 0.35. Range = 40.10 
TNavPF::Calculated measDiffMean for beam 60 as -0.11. Range = 39.88 
TNavPF::Calculated measDiffMean for beam 61 as -0.35. Range = 37.60 
TNavPF::Calculated measDiffMean for beam 62 as 0.06. Range = 37.43 
TNavPF::Calculated measDiffMean for beam 63 as 0.03. Range = 37.26 
TNavPF::Calculated measDiffMean for beam 64 as -1.22. Range = 37.22 
TNavPF::Calculated measDiffMean for beam 65 as -3.68. Range = 39.01 
TNavPF::Calculated measDiffMean for beam 66 as -5.03. Range = 38.88 
TNavPF::Calculated measDiffMean for beam 67 as -6.31. Range = 38.76 
TNavPF::Calculated measDiffMean for beam 68 as -7.98. Range = 36.63 
TNavPF::Calculated measDiffMean for beam 69 as -5.83. Range = 36.54 
TNavPF::Calculated measDiffMean for beam 70 as -8.86. Range = 34.44 
TNavPF::Calculated measDiffMean for beam 71 as -9.56. Range = 34.38 
TNavPF::Calculated measDiffMean for beam 72 as -9.82. Range = 34.32 
TNavPF::Calculated measDiffMean for beam 73 as -10.29. Range = 32.28 
TNavPF::Calculated measDiffMean for beam 74 as -11.87. Range = 32.24 
TNavPF::Calculated measDiffMean for beam 75 as -12.90. Range = 32.22 
TNavPF::Calculated measDiffMean for beam 76 as -10.97. Range = 32.21 
TNavPF::Calculated measDiffMean for beam 77 as -11.37. Range = 32.21 
TNavPF::Calculated measDiffMean for beam 78 as -11.87. Range = 32.22 
TNavPF::Calculated measDiffMean for beam 79 as -11.76. Range = 32.24 
TNavPF::Calculated measDiffMean for beam 80 as -11.54. Range = 32.27 
TNavPF::Calculated measDiffMean for beam 81 as -10.95. Range = 32.31 
TNavPF::Calculated measDiffMean for beam 82 as 12.53. Range = 32.35 
TNavPF::Calculated measDiffMean for beam 83 as 9.27. Range = 32.41 
TNavPF::Calculated measDiffMean for beam 84 as 9.21. Range = 32.48 
TNavPF::Calculated measDiffMean for beam 85 as 17.75. Range = 32.56 
TNavPF::Calculated measDiffMean for beam 86 as 21.14. Range = 32.65 
TNavPF::Calculated measDiffMean for beam 87 as 19.68. Range = 32.75 
TNavPF::Calculated measDiffMean for beam 88 as 20.58. Range = 32.86 
TNavPF::Calculated measDiffMean for beam 89 as 21.85. Range = 32.98 
TNavPF::First Term of Map Covariance Matrix is 38.81 
TNavPF::Calculated NIS Value : 117.39 	numBeams normalized NIS: 1.96
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323518.82 sec.
INS : North: 4070222.43, East: 589340.31, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 37.82, IDT[75] = 33.41
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323521.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323521.62)
ARL : North: -85.3851, East: 360.7383, Depth: -29.0454ARL : Estimation Bias  (Mean)         : (t = 1488323521.62)
ARL : North: -85.4374, East: 361.0289, Depth: -27.7910TerrainNav:: Windowed NIS is 0.6, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.41 
Alpha[0]	0.123000
Alpha[0]	0.999390
TNavParticleFilter::Modified Variance for beam 1 is 15.17 
Alpha[1]	0.000000
Alpha[1]	0.999368
TNavParticleFilter::Modified Variance for beam 2 is 14.94 
Alpha[2]	0.000000
Alpha[2]	0.999398
TNavParticleFilter::Modified Variance for beam 3 is 14.73 
Alpha[3]	0.000000
Alpha[3]	0.999458
TNavParticleFilter::Modified Variance for beam 4 is 14.53 
Alpha[4]	0.000000
Alpha[4]	0.999445
TNavParticleFilter::Modified Variance for beam 5 is 13.34 
Alpha[5]	0.000000
Alpha[5]	0.999366
TNavParticleFilter::Modified Variance for beam 6 is 13.18 
Alpha[6]	0.000000
Alpha[6]	0.999321
TNavParticleFilter::Modified Variance for beam 7 is 13.02 
Alpha[7]	0.000000
Alpha[7]	0.999302
TNavParticleFilter::Modified Variance for beam 8 is 11.97 
Alpha[8]	0.000000
Alpha[8]	0.999314
TNavParticleFilter::Modified Variance for beam 9 is 11.85 
Alpha[9]	0.000000
Alpha[9]	0.999370
TNavParticleFilter::Modified Variance for beam 10 is 10.90 
Alpha[10]	0.000000
Alpha[10]	0.999449
TNavParticleFilter::Modified Variance for beam 11 is 10.80 
Alpha[11]	0.000000
Alpha[11]	0.999514
TNavParticleFilter::Modified Variance for beam 12 is 10.71 
Alpha[12]	0.000000
Alpha[12]	0.999552
TNavParticleFilter::Modified Variance for beam 13 is 11.44 
Alpha[13]	0.000000
Alpha[13]	0.999572
TNavParticleFilter::Modified Variance for beam 14 is 11.35 
Alpha[14]	0.000000
Alpha[14]	0.999585
TNavParticleFilter::Modified Variance for beam 15 is 10.48 
Alpha[15]	0.000000
Alpha[15]	0.999588
TNavParticleFilter::Modified Variance for beam 16 is 10.41 
Alpha[16]	0.000000
Alpha[16]	0.999573
TNavParticleFilter::Modified Variance for beam 17 is 10.35 
Alpha[17]	0.000000
Alpha[17]	0.999559
TNavParticleFilter::Modified Variance for beam 18 is 9.56 
Alpha[18]	0.000000
Alpha[18]	0.999560
TNavParticleFilter::Modified Variance for beam 19 is 9.52 
Alpha[19]	0.000000
Alpha[19]	0.999563
TNavParticleFilter::Modified Variance for beam 20 is 8.80 
Alpha[20]	0.000000
Alpha[20]	0.999545
TNavParticleFilter::Modified Variance for beam 21 is 8.76 
Alpha[21]	0.000000
Alpha[21]	0.999522
TNavParticleFilter::Modified Variance for beam 22 is 8.73 
Alpha[22]	0.000000
Alpha[22]	0.999508
TNavParticleFilter::Modified Variance for beam 23 is 8.71 
Alpha[23]	0.000000
Alpha[23]	0.999509
TNavParticleFilter::Modified Variance for beam 24 is 8.68 
Alpha[24]	0.000000
Alpha[24]	0.999502
TNavParticleFilter::Modified Variance for beam 25 is 8.66 
Alpha[25]	0.000000
Alpha[25]	0.999494
TNavParticleFilter::Modified Variance for beam 26 is 8.65 
Alpha[26]	0.000000
Alpha[26]	0.999505
TNavParticleFilter::Modified Variance for beam 27 is 8.63 
Alpha[27]	0.000000
Alpha[27]	0.999548
TNavParticleFilter::Modified Variance for beam 28 is 8.62 
Alpha[28]	0.000000
Alpha[28]	0.999584
TNavParticleFilter::Modified Variance for beam 29 is 8.61 
Alpha[29]	0.000000
Alpha[29]	0.999573
TNavParticleFilter::Modified Variance for beam 30 is 8.61 
Alpha[30]	0.000000
Alpha[30]	0.999543
TNavParticleFilter::Modified Variance for beam 31 is 8.61 
Alpha[31]	0.000000
Alpha[31]	0.999519
TNavParticleFilter::Modified Variance for beam 32 is 8.61 
Alpha[32]	0.000000
Alpha[32]	0.999529
TNavParticleFilter::Modified Variance for beam 33 is 8.62 
Alpha[33]	0.000000
Alpha[33]	0.999596
TNavParticleFilter::Modified Variance for beam 34 is 8.62 
Alpha[34]	0.000000
Alpha[34]	0.999651
TNavParticleFilter::Modified Variance for beam 35 is 8.64 
Alpha[35]	0.000000
Alpha[35]	0.999665
TNavParticleFilter::Modified Variance for beam 36 is 8.65 
Alpha[36]	0.000000
Alpha[36]	0.999678
TNavParticleFilter::Modified Variance for beam 37 is 8.67 
Alpha[37]	0.000000
Alpha[37]	0.999693
TNavParticleFilter::Modified Variance for beam 38 is 9.36 
Alpha[38]	0.000000
Alpha[38]	0.999697
TNavParticleFilter::Modified Variance for beam 39 is 9.38 
Alpha[39]	0.000000
Alpha[39]	0.999697
TNavParticleFilter::Modified Variance for beam 40 is 9.41 
Alpha[40]	0.000000
Alpha[40]	0.999700
TNavParticleFilter::Modified Variance for beam 41 is 8.77 
Alpha[41]	0.000000
Alpha[41]	0.999700
TNavParticleFilter::Modified Variance for beam 42 is 8.81 
Alpha[42]	0.000000
Alpha[42]	0.999679
TNavParticleFilter::Modified Variance for beam 43 is 8.85 
Alpha[43]	0.000000
Alpha[43]	0.999676
TNavParticleFilter::Modified Variance for beam 44 is 8.89 
Alpha[44]	0.000000
Alpha[44]	0.999727
TNavParticleFilter::Modified Variance for beam 45 is 8.94 
Alpha[45]	0.000000
Alpha[45]	0.999732
TNavParticleFilter::Modified Variance for beam 46 is 8.99 
Alpha[46]	0.000000
Alpha[46]	0.999691
TNavParticleFilter::Modified Variance for beam 47 is 9.04 
Alpha[47]	0.000000
Alpha[47]	0.999690
TNavParticleFilter::Modified Variance for beam 48 is 9.10 
Alpha[48]	0.000000
Alpha[48]	0.999734
TNavParticleFilter::Modified Variance for beam 49 is 9.16 
Alpha[49]	0.000000
Alpha[49]	0.999783
TNavParticleFilter::Modified Variance for beam 50 is 9.23 
Alpha[50]	0.000000
Alpha[50]	0.999793
TNavParticleFilter::Modified Variance for beam 51 is 9.30 
Alpha[51]	0.000000
Alpha[51]	0.999796
TNavParticleFilter::Modified Variance for beam 52 is 9.38 
Alpha[52]	0.000000
Alpha[52]	0.999789
TNavParticleFilter::Modified Variance for beam 53 is 9.46 
Alpha[53]	0.000000
Alpha[53]	0.999785
TNavParticleFilter::Modified Variance for beam 54 is 10.33 
Alpha[54]	0.000000
Alpha[54]	0.999783
TNavParticleFilter::Modified Variance for beam 55 is 10.43 
Alpha[55]	0.000000
Alpha[55]	0.999792
TNavParticleFilter::Modified Variance for beam 56 is 10.55 
Alpha[56]	0.000000
Alpha[56]	0.999794
TNavParticleFilter::Modified Variance for beam 57 is 10.66 
Alpha[57]	0.000000
Alpha[57]	0.999800
TNavParticleFilter::Modified Variance for beam 58 is 10.79 
Alpha[58]	0.000000
Alpha[58]	0.999801
TNavParticleFilter::Modified Variance for beam 59 is 10.93 
Alpha[59]	0.000000
Alpha[59]	0.999780
TNavPF:: sumSquaredError = 1675.928292 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 23.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 23.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 22.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 22.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 21.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 18.44. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 17.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 17.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 14.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 14.58. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 11.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 11.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 10.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 12.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 12.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 9.78. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 9.55. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 9.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 6.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 6.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 4.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 4.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 3.73. Range = 85.20 
TNavPF::Calculated measDiffMean for beam 53 as 3.39. Range = 85.52 
TNavPF::Calculated measDiffMean for beam 54 as 3.23. Range = 55.45 
TNavPF::Calculated measDiffMean for beam 55 as 3.25. Range = 54.74 
TNavPF::Calculated measDiffMean for beam 56 as 3.21. Range = 54.07 
TNavPF::Calculated measDiffMean for beam 57 as 2.99. Range = 53.43 
TNavPF::Calculated measDiffMean for beam 58 as 2.70. Range = 52.82 
TNavPF::Calculated measDiffMean for beam 59 as 2.53. Range = 49.88 
TNavPF::Calculated measDiffMean for beam 60 as 2.37. Range = 49.36 
TNavPF::Calculated measDiffMean for beam 61 as 2.30. Range = 48.86 
TNavPF::Calculated measDiffMean for beam 62 as 2.28. Range = 48.38 
TNavPF::Calculated measDiffMean for beam 63 as 2.07. Range = 47.93 
TNavPF::Calculated measDiffMean for beam 64 as 1.86. Range = 47.50 
TNavPF::Calculated measDiffMean for beam 65 as 1.89. Range = 44.87 
TNavPF::Calculated measDiffMean for beam 66 as 1.76. Range = 44.50 
TNavPF::Calculated measDiffMean for beam 67 as 1.36. Range = 44.15 
TNavPF::Calculated measDiffMean for beam 68 as 2.86. Range = 41.65 
TNavPF::Calculated measDiffMean for beam 69 as 2.28. Range = 41.35 
TNavPF::Calculated measDiffMean for beam 70 as 2.10. Range = 38.93 
TNavPF::Calculated measDiffMean for beam 71 as 0.40. Range = 38.68 
TNavPF::Calculated measDiffMean for beam 72 as 0.57. Range = 38.45 
TNavPF::Calculated measDiffMean for beam 73 as 0.23. Range = 40.33 
TNavPF::Calculated measDiffMean for beam 74 as -1.22. Range = 40.11 
TNavPF::Calculated measDiffMean for beam 75 as -2.73. Range = 37.82 
TNavPF::Calculated measDiffMean for beam 76 as -3.04. Range = 37.64 
TNavPF::Calculated measDiffMean for beam 77 as -3.39. Range = 37.48 
TNavPF::Calculated measDiffMean for beam 78 as -4.39. Range = 35.27 
TNavPF::Calculated measDiffMean for beam 79 as -6.18. Range = 35.14 
TNavPF::Calculated measDiffMean for beam 80 as -7.45. Range = 32.98 
TNavPF::Calculated measDiffMean for beam 81 as -8.12. Range = 32.87 
TNavPF::Calculated measDiffMean for beam 82 as -8.38. Range = 32.78 
TNavPF::Calculated measDiffMean for beam 83 as -8.61. Range = 32.70 
TNavPF::Calculated measDiffMean for beam 84 as -7.12. Range = 32.62 
TNavPF::Calculated measDiffMean for beam 85 as -8.45. Range = 32.56 
TNavPF::Calculated measDiffMean for beam 86 as -8.97. Range = 32.51 
TNavPF::Calculated measDiffMean for beam 87 as -9.09. Range = 32.46 
TNavPF::Calculated measDiffMean for beam 88 as -9.61. Range = 32.43 
TNavPF::Calculated measDiffMean for beam 89 as -10.61. Range = 32.41 
TNavPF::First Term of Map Covariance Matrix is 32.74 
TNavPF::Calculated NIS Value : 139.64 	numBeams normalized NIS: 2.33
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323521.82 sec.
INS : North: 4070222.31, East: 589336.09, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 39.58, IDT[75] = 31.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323524.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323524.62)
ARL : North: -84.7369, East: 360.5567, Depth: -27.4911ARL : Estimation Bias  (Mean)         : (t = 1488323524.62)
ARL : North: -85.2465, East: 361.0531, Depth: -28.1404TerrainNav:: Windowed NIS is 0.8, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.55 
Alpha[0]	0.123000
Alpha[0]	0.999582
TNavParticleFilter::Modified Variance for beam 1 is 19.10 
Alpha[1]	0.000000
Alpha[1]	0.999460
TNavParticleFilter::Modified Variance for beam 2 is 18.67 
Alpha[2]	0.000000
Alpha[2]	0.999374
TNavParticleFilter::Modified Variance for beam 3 is 18.27 
Alpha[3]	0.000000
Alpha[3]	0.999312
TNavParticleFilter::Modified Variance for beam 4 is 16.61 
Alpha[4]	0.000000
Alpha[4]	0.999325
TNavParticleFilter::Modified Variance for beam 5 is 16.28 
Alpha[5]	0.000000
Alpha[5]	0.999400
TNavParticleFilter::Modified Variance for beam 6 is 15.98 
Alpha[6]	0.000000
Alpha[6]	0.999443
TNavParticleFilter::Modified Variance for beam 7 is 15.69 
Alpha[7]	0.000000
Alpha[7]	0.999437
TNavParticleFilter::Modified Variance for beam 8 is 15.42 
Alpha[8]	0.000000
Alpha[8]	0.999374
TNavParticleFilter::Modified Variance for beam 9 is 14.08 
Alpha[9]	0.000000
Alpha[9]	0.999330
TNavParticleFilter::Modified Variance for beam 10 is 13.86 
Alpha[10]	0.000000
Alpha[10]	0.999306
TNavParticleFilter::Modified Variance for beam 11 is 13.66 
Alpha[11]	0.000000
Alpha[11]	0.999324
TNavParticleFilter::Modified Variance for beam 12 is 12.49 
Alpha[12]	0.000000
Alpha[12]	0.999374
TNavParticleFilter::Modified Variance for beam 13 is 11.41 
Alpha[13]	0.000000
Alpha[13]	0.999432
TNavParticleFilter::Modified Variance for beam 14 is 11.27 
Alpha[14]	0.000000
Alpha[14]	0.999483
TNavParticleFilter::Modified Variance for beam 15 is 11.14 
Alpha[15]	0.000000
Alpha[15]	0.999513
TNavParticleFilter::Modified Variance for beam 16 is 11.54 
Alpha[16]	0.000000
Alpha[16]	0.999537
TNavParticleFilter::Modified Variance for beam 17 is 11.76 
Alpha[17]	0.000000
Alpha[17]	0.999557
TNavParticleFilter::Modified Variance for beam 18 is 10.80 
Alpha[18]	0.000000
Alpha[18]	0.999559
TNavParticleFilter::Modified Variance for beam 19 is 10.70 
Alpha[19]	0.000000
Alpha[19]	0.999547
TNavParticleFilter::Modified Variance for beam 20 is 9.83 
Alpha[20]	0.000000
Alpha[20]	0.999525
TNavParticleFilter::Modified Variance for beam 21 is 9.75 
Alpha[21]	0.000000
Alpha[21]	0.999507
TNavParticleFilter::Modified Variance for beam 22 is 8.97 
Alpha[22]	0.000000
Alpha[22]	0.999500
TNavParticleFilter::Modified Variance for beam 23 is 8.91 
Alpha[23]	0.000000
Alpha[23]	0.999487
TNavParticleFilter::Modified Variance for beam 24 is 8.85 
Alpha[24]	0.000000
Alpha[24]	0.999478
TNavParticleFilter::Modified Variance for beam 25 is 8.80 
Alpha[25]	0.000000
Alpha[25]	0.999468
TNavParticleFilter::Modified Variance for beam 26 is 8.75 
Alpha[26]	0.000000
Alpha[26]	0.999451
TNavParticleFilter::Modified Variance for beam 27 is 8.71 
Alpha[27]	0.000000
Alpha[27]	0.999421
TNavParticleFilter::Modified Variance for beam 28 is 8.67 
Alpha[28]	0.000000
Alpha[28]	0.999397
TNavParticleFilter::Modified Variance for beam 29 is 8.63 
Alpha[29]	0.000000
Alpha[29]	0.999415
TNavParticleFilter::Modified Variance for beam 30 is 8.60 
Alpha[30]	0.000000
Alpha[30]	0.999455
TNavParticleFilter::Modified Variance for beam 31 is 8.57 
Alpha[31]	0.000000
Alpha[31]	0.999489
TNavParticleFilter::Modified Variance for beam 32 is 8.54 
Alpha[32]	0.000000
Alpha[32]	0.999500
TNavParticleFilter::Modified Variance for beam 33 is 8.52 
Alpha[33]	0.000000
Alpha[33]	0.999497
TNavParticleFilter::Modified Variance for beam 34 is 8.50 
Alpha[34]	0.000000
Alpha[34]	0.999503
TNavParticleFilter::Modified Variance for beam 35 is 8.48 
Alpha[35]	0.000000
Alpha[35]	0.999533
TNavParticleFilter::Modified Variance for beam 36 is 8.47 
Alpha[36]	0.000000
Alpha[36]	0.999586
TNavParticleFilter::Modified Variance for beam 37 is 8.45 
Alpha[37]	0.000000
Alpha[37]	0.999622
TNavParticleFilter::Modified Variance for beam 38 is 8.45 
Alpha[38]	0.000000
Alpha[38]	0.999628
TNavParticleFilter::Modified Variance for beam 39 is 8.44 
Alpha[39]	0.000000
Alpha[39]	0.999625
TNavParticleFilter::Modified Variance for beam 40 is 8.44 
Alpha[40]	0.000000
Alpha[40]	0.999623
TNavParticleFilter::Modified Variance for beam 41 is 8.44 
Alpha[41]	0.000000
Alpha[41]	0.999631
TNavParticleFilter::Modified Variance for beam 42 is 8.45 
Alpha[42]	0.000000
Alpha[42]	0.999646
TNavParticleFilter::Modified Variance for beam 43 is 8.45 
Alpha[43]	0.000000
Alpha[43]	0.999654
TNavParticleFilter::Modified Variance for beam 44 is 8.46 
Alpha[44]	0.000000
Alpha[44]	0.999663
TNavParticleFilter::Modified Variance for beam 45 is 8.48 
Alpha[45]	0.000000
Alpha[45]	0.999675
TNavParticleFilter::Modified Variance for beam 46 is 8.49 
Alpha[46]	0.000000
Alpha[46]	0.999679
TNavParticleFilter::Modified Variance for beam 47 is 8.51 
Alpha[47]	0.000000
Alpha[47]	0.999685
TNavParticleFilter::Modified Variance for beam 48 is 8.54 
Alpha[48]	0.000000
Alpha[48]	0.999697
TNavParticleFilter::Modified Variance for beam 49 is 8.56 
Alpha[49]	0.000000
Alpha[49]	0.999685
TNavParticleFilter::Modified Variance for beam 50 is 8.59 
Alpha[50]	0.000000
Alpha[50]	0.999656
TNavParticleFilter::Modified Variance for beam 51 is 8.63 
Alpha[51]	0.000000
Alpha[51]	0.999654
TNavParticleFilter::Modified Variance for beam 52 is 8.66 
Alpha[52]	0.000000
Alpha[52]	0.999681
TNavParticleFilter::Modified Variance for beam 53 is 8.70 
Alpha[53]	0.000000
Alpha[53]	0.999708
TNavParticleFilter::Modified Variance for beam 54 is 8.75 
Alpha[54]	0.000000
Alpha[54]	0.999725
TNavParticleFilter::Modified Variance for beam 55 is 8.79 
Alpha[55]	0.000000
Alpha[55]	0.999744
TNavParticleFilter::Modified Variance for beam 56 is 8.85 
Alpha[56]	0.000000
Alpha[56]	0.999750
TNavParticleFilter::Modified Variance for beam 57 is 9.61 
Alpha[57]	0.000000
Alpha[57]	0.999751
TNavParticleFilter::Modified Variance for beam 58 is 9.67 
Alpha[58]	0.000000
Alpha[58]	0.999746
TNavParticleFilter::Modified Variance for beam 59 is 9.75 
Alpha[59]	0.000000
Alpha[59]	0.999733
TNavPF:: sumSquaredError = 603.487367 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 26.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 26.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 25.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 25.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 22.64. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 21.89. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 20.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 20.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 19.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 16.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 16.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 15.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 13.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 10.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 9.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 9.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 9.82. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 10.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 7.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 7.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 4.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 4.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 2.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 2.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 1.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 1.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as 1.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as 1.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as 1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as 1.08. Range = 58.15 
TNavPF::Calculated measDiffMean for beam 60 as 0.77. Range = 57.29 
TNavPF::Calculated measDiffMean for beam 61 as 0.51. Range = 56.47 
TNavPF::Calculated measDiffMean for beam 62 as 0.44. Range = 55.69 
TNavPF::Calculated measDiffMean for beam 63 as 0.57. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 64 as 0.70. Range = 51.77 
TNavPF::Calculated measDiffMean for beam 65 as 0.62. Range = 51.12 
TNavPF::Calculated measDiffMean for beam 66 as 0.27. Range = 50.51 
TNavPF::Calculated measDiffMean for beam 67 as -0.21. Range = 49.93 
TNavPF::Calculated measDiffMean for beam 68 as -0.69. Range = 49.38 
TNavPF::Calculated measDiffMean for beam 69 as -1.23. Range = 46.52 
TNavPF::Calculated measDiffMean for beam 70 as -1.57. Range = 46.04 
TNavPF::Calculated measDiffMean for beam 71 as -1.68. Range = 45.59 
TNavPF::Calculated measDiffMean for beam 72 as -1.67. Range = 42.89 
TNavPF::Calculated measDiffMean for beam 73 as -1.64. Range = 40.26 
TNavPF::Calculated measDiffMean for beam 74 as -1.82. Range = 39.91 
TNavPF::Calculated measDiffMean for beam 75 as -2.45. Range = 39.58 
TNavPF::Calculated measDiffMean for beam 76 as -3.58. Range = 40.58 
TNavPF::Calculated measDiffMean for beam 77 as -4.82. Range = 41.14 
TNavPF::Calculated measDiffMean for beam 78 as -5.57. Range = 38.68 
TNavPF::Calculated measDiffMean for beam 79 as -5.65. Range = 38.42 
TNavPF::Calculated measDiffMean for beam 80 as -5.79. Range = 36.04 
TNavPF::Calculated measDiffMean for beam 81 as -6.55. Range = 35.82 
TNavPF::Calculated measDiffMean for beam 82 as -7.85. Range = 33.50 
TNavPF::Calculated measDiffMean for beam 83 as -9.15. Range = 33.32 
TNavPF::Calculated measDiffMean for beam 84 as -9.88. Range = 33.15 
TNavPF::Calculated measDiffMean for beam 85 as -10.30. Range = 32.99 
TNavPF::Calculated measDiffMean for beam 86 as -10.49. Range = 32.84 
TNavPF::Calculated measDiffMean for beam 87 as -8.72. Range = 32.70 
TNavPF::Calculated measDiffMean for beam 88 as -9.60. Range = 32.57 
TNavPF::Calculated measDiffMean for beam 89 as -10.52. Range = 32.46 
TNavPF::First Term of Map Covariance Matrix is 47.87 
TNavPF::Calculated NIS Value : 122.78 	numBeams normalized NIS: 2.05
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323524.82 sec.
INS : North: 4070221.57, East: 589331.91, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 41.35, IDT[75] = 30.89
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323527.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323527.62)
ARL : North: -85.3615, East: 361.1899, Depth: -26.6682ARL : Estimation Bias  (Mean)         : (t = 1488323527.62)
ARL : North: -85.1557, East: 362.9374, Depth: -29.4663TerrainNav:: Windowed NIS is 0.9, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 20.87 
Alpha[0]	0.123000
Alpha[0]	0.999921
TNavParticleFilter::Modified Variance for beam 1 is 20.31 
Alpha[1]	0.000000
Alpha[1]	0.999857
TNavParticleFilter::Modified Variance for beam 2 is 19.78 
Alpha[2]	0.000000
Alpha[2]	0.999798
TNavParticleFilter::Modified Variance for beam 3 is 19.29 
Alpha[3]	0.000000
Alpha[3]	0.999722
TNavParticleFilter::Modified Variance for beam 4 is 18.82 
Alpha[4]	0.000000
Alpha[4]	0.999678
TNavParticleFilter::Modified Variance for beam 5 is 18.39 
Alpha[5]	0.000000
Alpha[5]	0.999705
TNavParticleFilter::Modified Variance for beam 6 is 16.66 
Alpha[6]	0.000000
Alpha[6]	0.999725
TNavParticleFilter::Modified Variance for beam 7 is 16.31 
Alpha[7]	0.000000
Alpha[7]	0.999693
TNavParticleFilter::Modified Variance for beam 8 is 14.79 
Alpha[8]	0.000000
Alpha[8]	0.999602
TNavParticleFilter::Modified Variance for beam 9 is 14.51 
Alpha[9]	0.000000
Alpha[9]	0.999544
TNavParticleFilter::Modified Variance for beam 10 is 14.25 
Alpha[10]	0.000000
Alpha[10]	0.999508
TNavParticleFilter::Modified Variance for beam 11 is 11.95 
Alpha[11]	0.000000
Alpha[11]	0.999501
TNavParticleFilter::Modified Variance for beam 12 is 11.76 
Alpha[12]	0.000000
Alpha[12]	0.999508
TNavParticleFilter::Modified Variance for beam 13 is 11.59 
Alpha[13]	0.000000
Alpha[13]	0.999530
TNavParticleFilter::Modified Variance for beam 14 is 11.85 
Alpha[14]	0.000000
Alpha[14]	0.999543
TNavParticleFilter::Modified Variance for beam 15 is 12.18 
Alpha[15]	0.000000
Alpha[15]	0.999541
TNavParticleFilter::Modified Variance for beam 16 is 11.12 
Alpha[16]	0.000000
Alpha[16]	0.999557
TNavParticleFilter::Modified Variance for beam 17 is 10.98 
Alpha[17]	0.000000
Alpha[17]	0.999576
TNavParticleFilter::Modified Variance for beam 18 is 10.03 
Alpha[18]	0.000000
Alpha[18]	0.999589
TNavParticleFilter::Modified Variance for beam 19 is 9.16 
Alpha[19]	0.000000
Alpha[19]	0.999584
TNavParticleFilter::Modified Variance for beam 20 is 9.07 
Alpha[20]	0.000000
Alpha[20]	0.999570
TNavParticleFilter::Modified Variance for beam 21 is 8.99 
Alpha[21]	0.000000
Alpha[21]	0.999554
TNavParticleFilter::Modified Variance for beam 22 is 8.91 
Alpha[22]	0.000000
Alpha[22]	0.999551
TNavParticleFilter::Modified Variance for beam 23 is 8.83 
Alpha[23]	0.000000
Alpha[23]	0.999541
TNavParticleFilter::Modified Variance for beam 24 is 8.76 
Alpha[24]	0.000000
Alpha[24]	0.999525
TNavParticleFilter::Modified Variance for beam 25 is 8.70 
Alpha[25]	0.000000
Alpha[25]	0.999512
TNavParticleFilter::Modified Variance for beam 26 is 8.64 
Alpha[26]	0.000000
Alpha[26]	0.999492
TNavParticleFilter::Modified Variance for beam 27 is 8.58 
Alpha[27]	0.000000
Alpha[27]	0.999453
TNavParticleFilter::Modified Variance for beam 28 is 8.53 
Alpha[28]	0.000000
Alpha[28]	0.999427
TNavParticleFilter::Modified Variance for beam 29 is 8.48 
Alpha[29]	0.000000
Alpha[29]	0.999450
TNavParticleFilter::Modified Variance for beam 30 is 8.43 
Alpha[30]	0.000000
Alpha[30]	0.999505
TNavParticleFilter::Modified Variance for beam 31 is 8.39 
Alpha[31]	0.000000
Alpha[31]	0.999547
TNavParticleFilter::Modified Variance for beam 32 is 8.35 
Alpha[32]	0.000000
Alpha[32]	0.999569
TNavParticleFilter::Modified Variance for beam 33 is 8.32 
Alpha[33]	0.000000
Alpha[33]	0.999586
TNavParticleFilter::Modified Variance for beam 34 is 8.29 
Alpha[34]	0.000000
Alpha[34]	0.999587
TNavParticleFilter::Modified Variance for beam 35 is 8.26 
Alpha[35]	0.000000
Alpha[35]	0.999590
TNavParticleFilter::Modified Variance for beam 36 is 8.24 
Alpha[36]	0.000000
Alpha[36]	0.999604
TNavParticleFilter::Modified Variance for beam 37 is 8.21 
Alpha[37]	0.000000
Alpha[37]	0.999623
TNavParticleFilter::Modified Variance for beam 38 is 8.19 
Alpha[38]	0.000000
Alpha[38]	0.999631
TNavParticleFilter::Modified Variance for beam 39 is 7.59 
Alpha[39]	0.000000
Alpha[39]	0.999631
TNavParticleFilter::Modified Variance for beam 40 is 7.58 
Alpha[40]	0.000000
Alpha[40]	0.999635
TNavParticleFilter::Modified Variance for beam 41 is 7.57 
Alpha[41]	0.000000
Alpha[41]	0.999638
TNavParticleFilter::Modified Variance for beam 42 is 7.84 
Alpha[42]	0.000000
Alpha[42]	0.999656
TNavParticleFilter::Modified Variance for beam 43 is 8.14 
Alpha[43]	0.000000
Alpha[43]	0.999686
TNavParticleFilter::Modified Variance for beam 44 is 8.14 
Alpha[44]	0.000000
Alpha[44]	0.999692
TNavParticleFilter::Modified Variance for beam 45 is 8.14 
Alpha[45]	0.000000
Alpha[45]	0.999690
TNavParticleFilter::Modified Variance for beam 46 is 8.15 
Alpha[46]	0.000000
Alpha[46]	0.999659
TNavParticleFilter::Modified Variance for beam 47 is 8.16 
Alpha[47]	0.000000
Alpha[47]	0.999636
TNavParticleFilter::Modified Variance for beam 48 is 8.17 
Alpha[48]	0.000000
Alpha[48]	0.999656
TNavParticleFilter::Modified Variance for beam 49 is 8.18 
Alpha[49]	0.000000
Alpha[49]	0.999670
TNavParticleFilter::Modified Variance for beam 50 is 8.20 
Alpha[50]	0.000000
Alpha[50]	0.999660
TNavParticleFilter::Modified Variance for beam 51 is 8.21 
Alpha[51]	0.000000
Alpha[51]	0.999622
TNavParticleFilter::Modified Variance for beam 52 is 8.24 
Alpha[52]	0.000000
Alpha[52]	0.999573
TNavParticleFilter::Modified Variance for beam 53 is 8.26 
Alpha[53]	0.000000
Alpha[53]	0.999571
TNavParticleFilter::Modified Variance for beam 54 is 8.93 
Alpha[54]	0.000000
Alpha[54]	0.999590
TNavParticleFilter::Modified Variance for beam 55 is 8.97 
Alpha[55]	0.000000
Alpha[55]	0.999618
TNavParticleFilter::Modified Variance for beam 56 is 9.01 
Alpha[56]	0.000000
Alpha[56]	0.999659
TNavParticleFilter::Modified Variance for beam 57 is 9.05 
Alpha[57]	0.000000
Alpha[57]	0.999677
TNavParticleFilter::Modified Variance for beam 58 is 9.10 
Alpha[58]	0.000000
Alpha[58]	0.999665
TNavPF:: sumSquaredError = 624.348763 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 31 as 24.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 24.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 24.36. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 24.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 23.42. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 22.13. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 18.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 17.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 14.76. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 14.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 14.22. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 8.80. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 7.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 6.96. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 7.28. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 7.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 5.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 4.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 1.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as -0.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -1.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -1.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as -1.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -1.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -1.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -2.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -1.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 59 as -1.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 60 as -2.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 61 as -2.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 62 as -2.90. Range = 59.61 
TNavPF::Calculated measDiffMean for beam 63 as -2.87. Range = 58.63 
TNavPF::Calculated measDiffMean for beam 64 as -2.64. Range = 57.70 
TNavPF::Calculated measDiffMean for beam 65 as -2.57. Range = 56.81 
TNavPF::Calculated measDiffMean for beam 66 as -2.75. Range = 55.97 
TNavPF::Calculated measDiffMean for beam 67 as -3.32. Range = 55.18 
TNavPF::Calculated measDiffMean for beam 68 as -4.10. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 69 as -4.70. Range = 51.19 
TNavPF::Calculated measDiffMean for beam 70 as -7.13. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 71 as -7.33. Range = 47.47 
TNavPF::Calculated measDiffMean for beam 72 as -7.23. Range = 46.90 
TNavPF::Calculated measDiffMean for beam 73 as -6.17. Range = 41.59 
TNavPF::Calculated measDiffMean for beam 74 as -5.35. Range = 41.13 
TNavPF::Calculated measDiffMean for beam 75 as -5.69. Range = 40.70 
TNavPF::Calculated measDiffMean for beam 76 as -6.53. Range = 41.35 
TNavPF::Calculated measDiffMean for beam 77 as -7.72. Range = 42.17 
TNavPF::Calculated measDiffMean for beam 78 as -8.49. Range = 39.51 
TNavPF::Calculated measDiffMean for beam 79 as -9.19. Range = 39.15 
TNavPF::Calculated measDiffMean for beam 80 as -9.65. Range = 36.59 
TNavPF::Calculated measDiffMean for beam 81 as -9.64. Range = 34.08 
TNavPF::Calculated measDiffMean for beam 82 as -9.76. Range = 33.81 
TNavPF::Calculated measDiffMean for beam 83 as -10.47. Range = 33.56 
TNavPF::Calculated measDiffMean for beam 84 as -11.65. Range = 33.31 
TNavPF::Calculated measDiffMean for beam 85 as -10.78. Range = 33.09 
TNavPF::Calculated measDiffMean for beam 86 as -11.37. Range = 32.87 
TNavPF::Calculated measDiffMean for beam 87 as -11.85. Range = 32.67 
TNavPF::Calculated measDiffMean for beam 88 as -12.24. Range = 32.48 
TNavPF::Calculated measDiffMean for beam 89 as -12.49. Range = 32.30 
TNavPF::First Term of Map Covariance Matrix is 253.16 
TNavPF::Calculated NIS Value : 49.93 	numBeams normalized NIS: 0.85
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323527.82 sec.
INS : North: 4070220.49, East: 589327.77, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 34.81, IDT[75] = 29.76
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323530.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323530.62)
ARL : North: -84.5895, East: 361.4765, Depth: -28.3665ARL : Estimation Bias  (Mean)         : (t = 1488323530.62)
ARL : North: -84.8916, East: 362.9728, Depth: -28.0109TerrainNav:: Windowed NIS is 0.9, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 21.35 
Alpha[0]	0.123000
Alpha[0]	0.999815
TNavParticleFilter::Modified Variance for beam 1 is 20.72 
Alpha[1]	0.000000
Alpha[1]	0.999810
TNavParticleFilter::Modified Variance for beam 2 is 20.13 
Alpha[2]	0.000000
Alpha[2]	0.999789
TNavParticleFilter::Modified Variance for beam 3 is 19.59 
Alpha[3]	0.000000
Alpha[3]	0.999724
TNavParticleFilter::Modified Variance for beam 4 is 17.62 
Alpha[4]	0.000000
Alpha[4]	0.999667
TNavParticleFilter::Modified Variance for beam 5 is 17.18 
Alpha[5]	0.000000
Alpha[5]	0.999584
TNavParticleFilter::Modified Variance for beam 6 is 16.78 
Alpha[6]	0.000000
Alpha[6]	0.999518
TNavParticleFilter::Modified Variance for beam 7 is 16.40 
Alpha[7]	0.000000
Alpha[7]	0.999470
TNavParticleFilter::Modified Variance for beam 8 is 12.53 
Alpha[8]	0.000000
Alpha[8]	0.999466
TNavParticleFilter::Modified Variance for beam 9 is 12.29 
Alpha[9]	0.000000
Alpha[9]	0.999485
TNavParticleFilter::Modified Variance for beam 10 is 12.08 
Alpha[10]	0.000000
Alpha[10]	0.999499
TNavParticleFilter::Modified Variance for beam 11 is 12.51 
Alpha[11]	0.000000
Alpha[11]	0.999512
TNavParticleFilter::Modified Variance for beam 12 is 12.64 
Alpha[12]	0.000000
Alpha[12]	0.999531
TNavParticleFilter::Modified Variance for beam 13 is 11.46 
Alpha[13]	0.000000
Alpha[13]	0.999540
TNavParticleFilter::Modified Variance for beam 14 is 10.38 
Alpha[14]	0.000000
Alpha[14]	0.999547
TNavParticleFilter::Modified Variance for beam 15 is 9.41 
Alpha[15]	0.000000
Alpha[15]	0.999546
TNavParticleFilter::Modified Variance for beam 16 is 9.28 
Alpha[16]	0.000000
Alpha[16]	0.999540
TNavParticleFilter::Modified Variance for beam 17 is 9.17 
Alpha[17]	0.000000
Alpha[17]	0.999534
TNavParticleFilter::Modified Variance for beam 18 is 9.06 
Alpha[18]	0.000000
Alpha[18]	0.999530
TNavParticleFilter::Modified Variance for beam 19 is 8.96 
Alpha[19]	0.000000
Alpha[19]	0.999521
TNavParticleFilter::Modified Variance for beam 20 is 8.86 
Alpha[20]	0.000000
Alpha[20]	0.999512
TNavParticleFilter::Modified Variance for beam 21 is 8.77 
Alpha[21]	0.000000
Alpha[21]	0.999504
TNavParticleFilter::Modified Variance for beam 22 is 8.69 
Alpha[22]	0.000000
Alpha[22]	0.999495
TNavParticleFilter::Modified Variance for beam 23 is 8.61 
Alpha[23]	0.000000
Alpha[23]	0.999487
TNavParticleFilter::Modified Variance for beam 24 is 8.53 
Alpha[24]	0.000000
Alpha[24]	0.999502
TNavParticleFilter::Modified Variance for beam 25 is 8.46 
Alpha[25]	0.000000
Alpha[25]	0.999529
TNavParticleFilter::Modified Variance for beam 26 is 8.40 
Alpha[26]	0.000000
Alpha[26]	0.999556
TNavParticleFilter::Modified Variance for beam 27 is 8.34 
Alpha[27]	0.000000
Alpha[27]	0.999567
TNavParticleFilter::Modified Variance for beam 28 is 8.28 
Alpha[28]	0.000000
Alpha[28]	0.999558
TNavParticleFilter::Modified Variance for beam 29 is 8.23 
Alpha[29]	0.000000
Alpha[29]	0.999542
TNavParticleFilter::Modified Variance for beam 30 is 8.18 
Alpha[30]	0.000000
Alpha[30]	0.999532
TNavParticleFilter::Modified Variance for beam 31 is 8.13 
Alpha[31]	0.000000
Alpha[31]	0.999542
TNavParticleFilter::Modified Variance for beam 32 is 8.09 
Alpha[32]	0.000000
Alpha[32]	0.999554
TNavParticleFilter::Modified Variance for beam 33 is 7.45 
Alpha[33]	0.000000
Alpha[33]	0.999571
TNavParticleFilter::Modified Variance for beam 34 is 7.42 
Alpha[34]	0.000000
Alpha[34]	0.999589
TNavParticleFilter::Modified Variance for beam 35 is 7.39 
Alpha[35]	0.000000
Alpha[35]	0.999608
TNavParticleFilter::Modified Variance for beam 36 is 7.37 
Alpha[36]	0.000000
Alpha[36]	0.999617
TNavParticleFilter::Modified Variance for beam 37 is 7.73 
Alpha[37]	0.000000
Alpha[37]	0.999617
TNavParticleFilter::Modified Variance for beam 38 is 8.51 
Alpha[38]	0.000000
Alpha[38]	0.999622
TNavParticleFilter::Modified Variance for beam 39 is 8.49 
Alpha[39]	0.000000
Alpha[39]	0.999624
TNavParticleFilter::Modified Variance for beam 40 is 8.47 
Alpha[40]	0.000000
Alpha[40]	0.999616
TNavParticleFilter::Modified Variance for beam 41 is 8.45 
Alpha[41]	0.000000
Alpha[41]	0.999604
TNavParticleFilter::Modified Variance for beam 42 is 7.83 
Alpha[42]	0.000000
Alpha[42]	0.999609
TNavParticleFilter::Modified Variance for beam 43 is 7.82 
Alpha[43]	0.000000
Alpha[43]	0.999610
TNavParticleFilter::Modified Variance for beam 44 is 7.81 
Alpha[44]	0.000000
Alpha[44]	0.999643
TNavParticleFilter::Modified Variance for beam 45 is 7.81 
Alpha[45]	0.000000
Alpha[45]	0.999664
TNavParticleFilter::Modified Variance for beam 46 is 7.80 
Alpha[46]	0.000000
Alpha[46]	0.999670
TNavParticleFilter::Modified Variance for beam 47 is 7.81 
Alpha[47]	0.000000
Alpha[47]	0.999664
TNavParticleFilter::Modified Variance for beam 48 is 7.81 
Alpha[48]	0.000000
Alpha[48]	0.999658
TNavParticleFilter::Modified Variance for beam 49 is 8.42 
Alpha[49]	0.000000
Alpha[49]	0.999667
TNavParticleFilter::Modified Variance for beam 50 is 8.43 
Alpha[50]	0.000000
Alpha[50]	0.999681
TNavParticleFilter::Modified Variance for beam 51 is 8.44 
Alpha[51]	0.000000
Alpha[51]	0.999677
TNavParticleFilter::Modified Variance for beam 52 is 8.46 
Alpha[52]	0.000000
Alpha[52]	0.999678
TNavParticleFilter::Modified Variance for beam 53 is 8.48 
Alpha[53]	0.000000
Alpha[53]	0.999680
TNavParticleFilter::Modified Variance for beam 54 is 8.50 
Alpha[54]	0.000000
Alpha[54]	0.999684
TNavParticleFilter::Modified Variance for beam 55 is 8.52 
Alpha[55]	0.000000
Alpha[55]	0.999674
TNavParticleFilter::Modified Variance for beam 56 is 8.55 
Alpha[56]	0.000000
Alpha[56]	0.999661
TNavParticleFilter::Modified Variance for beam 57 is 8.58 
Alpha[57]	0.000000
Alpha[57]	0.999659
TNavParticleFilter::Modified Variance for beam 58 is 8.62 
Alpha[58]	0.000000
Alpha[58]	0.999651
TNavParticleFilter::Modified Variance for beam 59 is 8.66 
Alpha[59]	0.000000
Alpha[59]	0.999643
TNavPF:: sumSquaredError = 543.143788 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 27.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 25.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 24.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 23.56. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 20.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 19.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 19.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 18.63. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 10.00. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 9.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 8.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 9.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 9.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 6.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 3.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 0.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.23. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as -0.14. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as -0.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as 0.15. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as 0.02. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 56 as -0.16. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 57 as -0.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 58 as -0.35. Range = 62.74 
TNavPF::Calculated measDiffMean for beam 59 as -0.60. Range = 61.54 
TNavPF::Calculated measDiffMean for beam 60 as -0.90. Range = 60.41 
TNavPF::Calculated measDiffMean for beam 61 as -1.23. Range = 59.34 
TNavPF::Calculated measDiffMean for beam 62 as -1.59. Range = 58.32 
TNavPF::Calculated measDiffMean for beam 63 as -4.08. Range = 57.35 
TNavPF::Calculated measDiffMean for beam 64 as -4.44. Range = 53.73 
TNavPF::Calculated measDiffMean for beam 65 as -4.58. Range = 52.90 
TNavPF::Calculated measDiffMean for beam 66 as -4.52. Range = 52.11 
TNavPF::Calculated measDiffMean for beam 67 as -3.15. Range = 51.36 
TNavPF::Calculated measDiffMean for beam 68 as -0.76. Range = 43.00 
TNavPF::Calculated measDiffMean for beam 69 as -1.59. Range = 42.42 
TNavPF::Calculated measDiffMean for beam 70 as -2.58. Range = 41.92 
TNavPF::Calculated measDiffMean for beam 71 as -3.10. Range = 42.95 
TNavPF::Calculated measDiffMean for beam 72 as -5.50. Range = 43.27 
TNavPF::Calculated measDiffMean for beam 73 as -5.87. Range = 40.37 
TNavPF::Calculated measDiffMean for beam 74 as -6.40. Range = 37.56 
TNavPF::Calculated measDiffMean for beam 75 as -6.72. Range = 34.81 
TNavPF::Calculated measDiffMean for beam 76 as -7.15. Range = 34.45 
TNavPF::Calculated measDiffMean for beam 77 as -7.76. Range = 34.11 
TNavPF::Calculated measDiffMean for beam 78 as -8.12. Range = 33.79 
TNavPF::Calculated measDiffMean for beam 79 as -6.56. Range = 33.48 
TNavPF::Calculated measDiffMean for beam 80 as -7.41. Range = 33.18 
TNavPF::Calculated measDiffMean for beam 81 as -7.91. Range = 32.90 
TNavPF::Calculated measDiffMean for beam 82 as -8.34. Range = 32.64 
TNavPF::Calculated measDiffMean for beam 83 as -8.74. Range = 32.39 
TNavPF::Calculated measDiffMean for beam 84 as -9.31. Range = 32.15 
TNavPF::Calculated measDiffMean for beam 85 as -9.97. Range = 31.93 
TNavPF::Calculated measDiffMean for beam 86 as -10.74. Range = 31.72 
TNavPF::Calculated measDiffMean for beam 87 as -11.23. Range = 31.52 
TNavPF::Calculated measDiffMean for beam 88 as -11.38. Range = 31.33 
TNavPF::Calculated measDiffMean for beam 89 as -11.48. Range = 31.16 
TNavPF::First Term of Map Covariance Matrix is 107.86 
TNavPF::Calculated NIS Value : 43.54 	numBeams normalized NIS: 0.73
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323530.82 sec.
INS : North: 4070219.30, East: 589323.62, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 33.44, IDT[75] = 30.57
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323533.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323533.62)
ARL : North: -85.3638, East: 361.9301, Depth: -28.4622ARL : Estimation Bias  (Mean)         : (t = 1488323533.62)
ARL : North: -85.3947, East: 362.8000, Depth: -27.3611TerrainNav:: Windowed NIS is 0.9, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.75 
Alpha[0]	0.123000
Alpha[0]	0.999785
TNavParticleFilter::Modified Variance for beam 1 is 18.21 
Alpha[1]	0.000000
Alpha[1]	0.999696
TNavParticleFilter::Modified Variance for beam 2 is 17.71 
Alpha[2]	0.000000
Alpha[2]	0.999633
TNavParticleFilter::Modified Variance for beam 3 is 17.24 
Alpha[3]	0.000000
Alpha[3]	0.999588
TNavParticleFilter::Modified Variance for beam 4 is 16.80 
Alpha[4]	0.000000
Alpha[4]	0.999572
TNavParticleFilter::Modified Variance for beam 5 is 15.09 
Alpha[5]	0.000000
Alpha[5]	0.999565
TNavParticleFilter::Modified Variance for beam 6 is 14.74 
Alpha[6]	0.000000
Alpha[6]	0.999577
TNavParticleFilter::Modified Variance for beam 7 is 12.15 
Alpha[7]	0.000000
Alpha[7]	0.999604
TNavParticleFilter::Modified Variance for beam 8 is 9.96 
Alpha[8]	0.000000
Alpha[8]	0.999607
TNavParticleFilter::Modified Variance for beam 9 is 9.79 
Alpha[9]	0.000000
Alpha[9]	0.999588
TNavParticleFilter::Modified Variance for beam 10 is 9.63 
Alpha[10]	0.000000
Alpha[10]	0.999573
TNavParticleFilter::Modified Variance for beam 11 is 9.47 
Alpha[11]	0.000000
Alpha[11]	0.999578
TNavParticleFilter::Modified Variance for beam 12 is 9.33 
Alpha[12]	0.000000
Alpha[12]	0.999593
TNavParticleFilter::Modified Variance for beam 13 is 9.19 
Alpha[13]	0.000000
Alpha[13]	0.999612
TNavParticleFilter::Modified Variance for beam 14 is 9.07 
Alpha[14]	0.000000
Alpha[14]	0.999625
TNavParticleFilter::Modified Variance for beam 15 is 8.95 
Alpha[15]	0.000000
Alpha[15]	0.999620
TNavParticleFilter::Modified Variance for beam 16 is 8.83 
Alpha[16]	0.000000
Alpha[16]	0.999609
TNavParticleFilter::Modified Variance for beam 17 is 8.73 
Alpha[17]	0.000000
Alpha[17]	0.999604
TNavParticleFilter::Modified Variance for beam 18 is 8.63 
Alpha[18]	0.000000
Alpha[18]	0.999604
TNavParticleFilter::Modified Variance for beam 19 is 8.53 
Alpha[19]	0.000000
Alpha[19]	0.999593
TNavParticleFilter::Modified Variance for beam 20 is 8.44 
Alpha[20]	0.000000
Alpha[20]	0.999574
TNavParticleFilter::Modified Variance for beam 21 is 8.36 
Alpha[21]	0.000000
Alpha[21]	0.999560
TNavParticleFilter::Modified Variance for beam 22 is 8.28 
Alpha[22]	0.000000
Alpha[22]	0.999544
TNavParticleFilter::Modified Variance for beam 23 is 8.21 
Alpha[23]	0.000000
Alpha[23]	0.999544
TNavParticleFilter::Modified Variance for beam 24 is 7.51 
Alpha[24]	0.000000
Alpha[24]	0.999560
TNavParticleFilter::Modified Variance for beam 25 is 7.45 
Alpha[25]	0.000000
Alpha[25]	0.999569
TNavParticleFilter::Modified Variance for beam 26 is 7.40 
Alpha[26]	0.000000
Alpha[26]	0.999570
TNavParticleFilter::Modified Variance for beam 27 is 7.35 
Alpha[27]	0.000000
Alpha[27]	0.999577
TNavParticleFilter::Modified Variance for beam 28 is 7.40 
Alpha[28]	0.000000
Alpha[28]	0.999589
TNavParticleFilter::Modified Variance for beam 29 is 7.85 
Alpha[29]	0.000000
Alpha[29]	0.999597
TNavParticleFilter::Modified Variance for beam 30 is 8.44 
Alpha[30]	0.000000
Alpha[30]	0.999597
TNavParticleFilter::Modified Variance for beam 31 is 8.39 
Alpha[31]	0.000000
Alpha[31]	0.999598
TNavParticleFilter::Modified Variance for beam 32 is 8.34 
Alpha[32]	0.000000
Alpha[32]	0.999599
TNavParticleFilter::Modified Variance for beam 33 is 7.69 
Alpha[33]	0.000000
Alpha[33]	0.999584
TNavParticleFilter::Modified Variance for beam 34 is 7.66 
Alpha[34]	0.000000
Alpha[34]	0.999559
TNavParticleFilter::Modified Variance for beam 35 is 7.63 
Alpha[35]	0.000000
Alpha[35]	0.999553
TNavParticleFilter::Modified Variance for beam 36 is 7.60 
Alpha[36]	0.000000
Alpha[36]	0.999581
TNavParticleFilter::Modified Variance for beam 37 is 7.57 
Alpha[37]	0.000000
Alpha[37]	0.999622
TNavParticleFilter::Modified Variance for beam 38 is 7.55 
Alpha[38]	0.000000
Alpha[38]	0.999657
TNavParticleFilter::Modified Variance for beam 39 is 7.53 
Alpha[39]	0.000000
Alpha[39]	0.999671
TNavParticleFilter::Modified Variance for beam 40 is 7.51 
Alpha[40]	0.000000
Alpha[40]	0.999664
TNavParticleFilter::Modified Variance for beam 41 is 8.08 
Alpha[41]	0.000000
Alpha[41]	0.999644
TNavParticleFilter::Modified Variance for beam 42 is 8.07 
Alpha[42]	0.000000
Alpha[42]	0.999630
TNavParticleFilter::Modified Variance for beam 43 is 8.06 
Alpha[43]	0.000000
Alpha[43]	0.999633
TNavParticleFilter::Modified Variance for beam 44 is 8.05 
Alpha[44]	0.000000
Alpha[44]	0.999644
TNavParticleFilter::Modified Variance for beam 45 is 8.05 
Alpha[45]	0.000000
Alpha[45]	0.999635
TNavParticleFilter::Modified Variance for beam 46 is 8.05 
Alpha[46]	0.000000
Alpha[46]	0.999604
TNavParticleFilter::Modified Variance for beam 47 is 8.05 
Alpha[47]	0.000000
Alpha[47]	0.999565
TNavParticleFilter::Modified Variance for beam 48 is 8.05 
Alpha[48]	0.000000
Alpha[48]	0.999538
TNavParticleFilter::Modified Variance for beam 49 is 8.06 
Alpha[49]	0.000000
Alpha[49]	0.999547
TNavParticleFilter::Modified Variance for beam 50 is 8.06 
Alpha[50]	0.000000
Alpha[50]	0.999518
TNavParticleFilter::Modified Variance for beam 51 is 8.08 
Alpha[51]	0.000000
Alpha[51]	0.999476
TNavParticleFilter::Modified Variance for beam 52 is 8.09 
Alpha[52]	0.000000
Alpha[52]	0.999468
TNavParticleFilter::Modified Variance for beam 53 is 9.40 
Alpha[53]	0.000000
Alpha[53]	0.999452
TNavParticleFilter::Modified Variance for beam 54 is 9.43 
Alpha[54]	0.000000
Alpha[54]	0.999387
TNavParticleFilter::Modified Variance for beam 55 is 10.18 
Alpha[55]	0.000000
Alpha[55]	0.999311
TNavParticleFilter::Modified Variance for beam 56 is 10.21 
Alpha[56]	0.000000
Alpha[56]	0.999249
TNavParticleFilter::Modified Variance for beam 57 is 10.26 
Alpha[57]	0.000000
Alpha[57]	0.999197
TNavParticleFilter::Modified Variance for beam 58 is 11.07 
Alpha[58]	0.000000
Alpha[58]	0.999177
TNavParticleFilter::Modified Variance for beam 59 is 11.13 
Alpha[59]	0.000000
Alpha[59]	0.999191
TNavPF:: sumSquaredError = 605.983907 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 21.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 20.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 19.59. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 18.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 17.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 14.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 13.62. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 7.87. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 2.43. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 1.97. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 1.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 1.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 1.77. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.95. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 2.03. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 1.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 1.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 50 as 0.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 51 as 0.47. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 52 as 0.31. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 53 as 0.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 54 as -2.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 55 as -2.86. Range = 64.91 
TNavPF::Calculated measDiffMean for beam 56 as -3.03. Range = 63.54 
TNavPF::Calculated measDiffMean for beam 57 as -3.02. Range = 62.24 
TNavPF::Calculated measDiffMean for beam 58 as -2.71. Range = 61.01 
TNavPF::Calculated measDiffMean for beam 59 as -1.20. Range = 59.84 
TNavPF::Calculated measDiffMean for beam 60 as 0.37. Range = 55.84 
TNavPF::Calculated measDiffMean for beam 61 as -0.58. Range = 54.85 
TNavPF::Calculated measDiffMean for beam 62 as -1.71. Range = 53.91 
TNavPF::Calculated measDiffMean for beam 63 as -4.45. Range = 53.01 
TNavPF::Calculated measDiffMean for beam 64 as -4.56. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 65 as -4.51. Range = 48.69 
TNavPF::Calculated measDiffMean for beam 66 as -4.54. Range = 47.96 
TNavPF::Calculated measDiffMean for beam 67 as -4.78. Range = 42.10 
TNavPF::Calculated measDiffMean for beam 68 as -5.22. Range = 36.41 
TNavPF::Calculated measDiffMean for beam 69 as -5.84. Range = 35.92 
TNavPF::Calculated measDiffMean for beam 70 as -6.48. Range = 35.45 
TNavPF::Calculated measDiffMean for beam 71 as -4.94. Range = 35.01 
TNavPF::Calculated measDiffMean for beam 72 as -5.26. Range = 34.59 
TNavPF::Calculated measDiffMean for beam 73 as -5.90. Range = 34.19 
TNavPF::Calculated measDiffMean for beam 74 as -6.70. Range = 33.80 
TNavPF::Calculated measDiffMean for beam 75 as -7.13. Range = 33.44 
TNavPF::Calculated measDiffMean for beam 76 as -7.55. Range = 33.09 
TNavPF::Calculated measDiffMean for beam 77 as -7.96. Range = 32.76 
TNavPF::Calculated measDiffMean for beam 78 as -8.37. Range = 32.45 
TNavPF::Calculated measDiffMean for beam 79 as -9.07. Range = 32.15 
TNavPF::Calculated measDiffMean for beam 80 as -9.81. Range = 31.87 
TNavPF::Calculated measDiffMean for beam 81 as -10.21. Range = 31.60 
TNavPF::Calculated measDiffMean for beam 82 as -10.45. Range = 31.35 
TNavPF::Calculated measDiffMean for beam 83 as -6.55. Range = 31.11 
TNavPF::Calculated measDiffMean for beam 84 as -6.68. Range = 28.72 
TNavPF::Calculated measDiffMean for beam 85 as -5.11. Range = 28.52 
TNavPF::Calculated measDiffMean for beam 86 as -5.68. Range = 28.33 
TNavPF::Calculated measDiffMean for beam 87 as -6.06. Range = 28.15 
TNavPF::Calculated measDiffMean for beam 88 as -4.16. Range = 28.34 
TNavPF::Calculated measDiffMean for beam 89 as -3.91. Range = 29.92 
TNavPF::First Term of Map Covariance Matrix is 93.19 
TNavPF::Calculated NIS Value : 65.98 	numBeams normalized NIS: 1.10
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323533.82 sec.
INS : North: 4070218.09, East: 589319.47, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 28.77, IDT[75] = 35.56
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323536.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323536.62)
ARL : North: -85.5893, East: 365.7679, Depth: -27.6876ARL : Estimation Bias  (Mean)         : (t = 1488323536.62)
ARL : North: -85.1414, East: 366.0498, Depth: -27.5406TerrainNav:: Windowed NIS is 1.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 10.29 
Alpha[0]	0.123000
Alpha[0]	0.999617
TNavParticleFilter::Modified Variance for beam 1 is 10.08 
Alpha[1]	0.000000
Alpha[1]	0.999633
TNavParticleFilter::Modified Variance for beam 2 is 9.89 
Alpha[2]	0.000000
Alpha[2]	0.999648
TNavParticleFilter::Modified Variance for beam 3 is 9.70 
Alpha[3]	0.000000
Alpha[3]	0.999629
TNavParticleFilter::Modified Variance for beam 4 is 9.53 
Alpha[4]	0.000000
Alpha[4]	0.999613
TNavParticleFilter::Modified Variance for beam 5 is 9.36 
Alpha[5]	0.000000
Alpha[5]	0.999614
TNavParticleFilter::Modified Variance for beam 6 is 9.21 
Alpha[6]	0.000000
Alpha[6]	0.999634
TNavParticleFilter::Modified Variance for beam 7 is 9.07 
Alpha[7]	0.000000
Alpha[7]	0.999651
TNavParticleFilter::Modified Variance for beam 8 is 8.93 
Alpha[8]	0.000000
Alpha[8]	0.999661
TNavParticleFilter::Modified Variance for beam 9 is 8.80 
Alpha[9]	0.000000
Alpha[9]	0.999656
TNavParticleFilter::Modified Variance for beam 10 is 8.69 
Alpha[10]	0.000000
Alpha[10]	0.999633
TNavParticleFilter::Modified Variance for beam 11 is 8.57 
Alpha[11]	0.000000
Alpha[11]	0.999609
TNavParticleFilter::Modified Variance for beam 12 is 7.77 
Alpha[12]	0.000000
Alpha[12]	0.999598
TNavParticleFilter::Modified Variance for beam 13 is 7.68 
Alpha[13]	0.000000
Alpha[13]	0.999582
TNavParticleFilter::Modified Variance for beam 14 is 7.60 
Alpha[14]	0.000000
Alpha[14]	0.999559
TNavParticleFilter::Modified Variance for beam 15 is 7.52 
Alpha[15]	0.000000
Alpha[15]	0.999547
TNavParticleFilter::Modified Variance for beam 16 is 7.71 
Alpha[16]	0.000000
Alpha[16]	0.999545
TNavParticleFilter::Modified Variance for beam 17 is 8.71 
Alpha[17]	0.000000
Alpha[17]	0.999538
TNavParticleFilter::Modified Variance for beam 18 is 8.63 
Alpha[18]	0.000000
Alpha[18]	0.999548
TNavParticleFilter::Modified Variance for beam 19 is 8.55 
Alpha[19]	0.000000
Alpha[19]	0.999561
TNavParticleFilter::Modified Variance for beam 20 is 8.47 
Alpha[20]	0.000000
Alpha[20]	0.999564
TNavParticleFilter::Modified Variance for beam 21 is 7.76 
Alpha[21]	0.000000
Alpha[21]	0.999568
TNavParticleFilter::Modified Variance for beam 22 is 7.70 
Alpha[22]	0.000000
Alpha[22]	0.999585
TNavParticleFilter::Modified Variance for beam 23 is 7.64 
Alpha[23]	0.000000
Alpha[23]	0.999603
TNavParticleFilter::Modified Variance for beam 24 is 7.59 
Alpha[24]	0.000000
Alpha[24]	0.999609
TNavParticleFilter::Modified Variance for beam 25 is 7.55 
Alpha[25]	0.000000
Alpha[25]	0.999598
TNavParticleFilter::Modified Variance for beam 26 is 7.51 
Alpha[26]	0.000000
Alpha[26]	0.999581
TNavParticleFilter::Modified Variance for beam 27 is 7.47 
Alpha[27]	0.000000
Alpha[27]	0.999567
TNavParticleFilter::Modified Variance for beam 28 is 7.43 
Alpha[28]	0.000000
Alpha[28]	0.999548
TNavParticleFilter::Modified Variance for beam 29 is 7.99 
Alpha[29]	0.000000
Alpha[29]	0.999534
TNavParticleFilter::Modified Variance for beam 30 is 7.95 
Alpha[30]	0.000000
Alpha[30]	0.999548
TNavParticleFilter::Modified Variance for beam 31 is 7.92 
Alpha[31]	0.000000
Alpha[31]	0.999593
TNavParticleFilter::Modified Variance for beam 32 is 7.89 
Alpha[32]	0.000000
Alpha[32]	0.999631
TNavParticleFilter::Modified Variance for beam 33 is 7.86 
Alpha[33]	0.000000
Alpha[33]	0.999653
TNavParticleFilter::Modified Variance for beam 34 is 7.83 
Alpha[34]	0.000000
Alpha[34]	0.999648
TNavParticleFilter::Modified Variance for beam 35 is 7.81 
Alpha[35]	0.000000
Alpha[35]	0.999624
TNavParticleFilter::Modified Variance for beam 36 is 7.79 
Alpha[36]	0.000000
Alpha[36]	0.999585
TNavParticleFilter::Modified Variance for beam 37 is 7.78 
Alpha[37]	0.000000
Alpha[37]	0.999566
TNavParticleFilter::Modified Variance for beam 38 is 7.77 
Alpha[38]	0.000000
Alpha[38]	0.999563
TNavParticleFilter::Modified Variance for beam 39 is 7.76 
Alpha[39]	0.000000
Alpha[39]	0.999566
TNavParticleFilter::Modified Variance for beam 40 is 7.75 
Alpha[40]	0.000000
Alpha[40]	0.999541
TNavParticleFilter::Modified Variance for beam 41 is 8.98 
Alpha[41]	0.000000
Alpha[41]	0.999484
TNavParticleFilter::Modified Variance for beam 42 is 8.98 
Alpha[42]	0.000000
Alpha[42]	0.999430
TNavParticleFilter::Modified Variance for beam 43 is 8.98 
Alpha[43]	0.000000
Alpha[43]	0.999423
TNavParticleFilter::Modified Variance for beam 44 is 8.98 
Alpha[44]	0.000000
Alpha[44]	0.999464
TNavParticleFilter::Modified Variance for beam 45 is 9.67 
Alpha[45]	0.000000
Alpha[45]	0.999447
TNavParticleFilter::Modified Variance for beam 46 is 9.68 
Alpha[46]	0.000000
Alpha[46]	0.999411
TNavParticleFilter::Modified Variance for beam 47 is 9.69 
Alpha[47]	0.000000
Alpha[47]	0.999422
TNavParticleFilter::Modified Variance for beam 48 is 10.44 
Alpha[48]	0.000000
Alpha[48]	0.999414
TNavParticleFilter::Modified Variance for beam 49 is 10.46 
Alpha[49]	0.000000
Alpha[49]	0.999340
TNavParticleFilter::Modified Variance for beam 50 is 12.92 
Alpha[50]	0.000000
Alpha[50]	0.999257
TNavParticleFilter::Modified Variance for beam 51 is 12.97 
Alpha[51]	0.000000
Alpha[51]	0.999197
TNavParticleFilter::Modified Variance for beam 52 is 15.84 
Alpha[52]	0.000000
Alpha[52]	0.999160
TNavParticleFilter::Modified Variance for beam 53 is 15.91 
Alpha[53]	0.000000
Alpha[53]	0.999130
TNavParticleFilter::Modified Variance for beam 54 is 16.00 
Alpha[54]	0.000000
Alpha[54]	0.999158
TNavParticleFilter::Modified Variance for beam 55 is 15.98 
Alpha[55]	0.000000
Alpha[55]	0.999167
TNavParticleFilter::Modified Variance for beam 56 is 15.19 
Alpha[56]	0.000000
Alpha[56]	0.999124
TNavParticleFilter::Modified Variance for beam 57 is 13.38 
Alpha[57]	0.000000
Alpha[57]	0.998992
TNavParticleFilter::Modified Variance for beam 58 is 13.48 
Alpha[58]	0.000000
Alpha[58]	0.998569
TNavParticleFilter::Modified Variance for beam 59 is 13.59 
Alpha[59]	0.000000
Alpha[59]	0.998022
TNavPF:: sumSquaredError = 241.814484 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.29. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -2.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.46. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.68. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -2.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -1.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as 1.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as 0.61. Range = 79.86 
TNavPF::Calculated measDiffMean for beam 50 as 0.36. Range = 68.19 
TNavPF::Calculated measDiffMean for beam 51 as -1.75. Range = 63.47 
TNavPF::Calculated measDiffMean for beam 52 as -1.80. Range = 62.12 
TNavPF::Calculated measDiffMean for beam 53 as -2.21. Range = 57.76 
TNavPF::Calculated measDiffMean for beam 54 as -2.72. Range = 56.61 
TNavPF::Calculated measDiffMean for beam 55 as -3.54. Range = 55.53 
TNavPF::Calculated measDiffMean for beam 56 as -4.69. Range = 54.50 
TNavPF::Calculated measDiffMean for beam 57 as -5.43. Range = 50.67 
TNavPF::Calculated measDiffMean for beam 58 as -5.57. Range = 41.38 
TNavPF::Calculated measDiffMean for beam 59 as -3.38. Range = 40.69 
TNavPF::Calculated measDiffMean for beam 60 as -3.31. Range = 37.32 
TNavPF::Calculated measDiffMean for beam 61 as -3.50. Range = 36.74 
TNavPF::Calculated measDiffMean for beam 62 as -3.94. Range = 36.19 
TNavPF::Calculated measDiffMean for beam 63 as -4.59. Range = 35.66 
TNavPF::Calculated measDiffMean for beam 64 as -5.26. Range = 35.16 
TNavPF::Calculated measDiffMean for beam 65 as -5.87. Range = 34.69 
TNavPF::Calculated measDiffMean for beam 66 as -6.16. Range = 34.24 
TNavPF::Calculated measDiffMean for beam 67 as -6.49. Range = 33.80 
TNavPF::Calculated measDiffMean for beam 68 as -7.18. Range = 33.39 
TNavPF::Calculated measDiffMean for beam 69 as -8.03. Range = 33.00 
TNavPF::Calculated measDiffMean for beam 70 as -8.40. Range = 32.63 
TNavPF::Calculated measDiffMean for beam 71 as -4.78. Range = 32.28 
TNavPF::Calculated measDiffMean for beam 72 as -5.24. Range = 29.62 
TNavPF::Calculated measDiffMean for beam 73 as -5.57. Range = 29.32 
TNavPF::Calculated measDiffMean for beam 74 as -6.25. Range = 29.04 
TNavPF::Calculated measDiffMean for beam 75 as -4.98. Range = 28.77 
TNavPF::Calculated measDiffMean for beam 76 as -5.21. Range = 29.44 
TNavPF::Calculated measDiffMean for beam 77 as -5.40. Range = 32.71 
TNavPF::Calculated measDiffMean for beam 78 as -3.49. Range = 32.44 
TNavPF::Calculated measDiffMean for beam 79 as -3.55. Range = 32.19 
TNavPF::Calculated measDiffMean for beam 80 as 2.14. Range = 31.96 
TNavPF::Calculated measDiffMean for beam 81 as 1.62. Range = 29.58 
TNavPF::Calculated measDiffMean for beam 82 as 7.38. Range = 29.38 
TNavPF::Calculated measDiffMean for beam 83 as 7.30. Range = 29.20 
TNavPF::Calculated measDiffMean for beam 84 as 7.54. Range = 29.02 
TNavPF::Calculated measDiffMean for beam 85 as 7.89. Range = 28.86 
TNavPF::Calculated measDiffMean for beam 86 as 6.81. Range = 28.71 
TNavPF::Calculated measDiffMean for beam 87 as 3.71. Range = 28.56 
TNavPF::Calculated measDiffMean for beam 88 as 5.03. Range = 28.43 
TNavPF::Calculated measDiffMean for beam 89 as 6.00. Range = 30.36 
TNavPF::First Term of Map Covariance Matrix is 52.19 
TNavPF::Calculated NIS Value : 44.55 	numBeams normalized NIS: 0.74
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323536.82 sec.
INS : North: 4070217.31, East: 589315.26, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 29.65, IDT[75] = 49.38
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323539.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323539.62)
ARL : North: -86.4961, East: 366.7016, Depth: -26.0914ARL : Estimation Bias  (Mean)         : (t = 1488323539.62)
ARL : North: -85.2898, East: 367.1069, Depth: -27.1419TerrainNav:: Windowed NIS is 1.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 10.03 
Alpha[0]	0.123000
Alpha[0]	0.999734
TNavParticleFilter::Modified Variance for beam 1 is 8.21 
Alpha[1]	0.000000
Alpha[1]	0.999703
TNavParticleFilter::Modified Variance for beam 2 is 8.09 
Alpha[2]	0.000000
Alpha[2]	0.999663
TNavParticleFilter::Modified Variance for beam 3 is 8.07 
Alpha[3]	0.000000
Alpha[3]	0.999638
TNavParticleFilter::Modified Variance for beam 4 is 8.32 
Alpha[4]	0.000000
Alpha[4]	0.999626
TNavParticleFilter::Modified Variance for beam 5 is 9.27 
Alpha[5]	0.000000
Alpha[5]	0.999611
TNavParticleFilter::Modified Variance for beam 6 is 9.14 
Alpha[6]	0.000000
Alpha[6]	0.999607
TNavParticleFilter::Modified Variance for beam 7 is 9.02 
Alpha[7]	0.000000
Alpha[7]	0.999616
TNavParticleFilter::Modified Variance for beam 8 is 8.19 
Alpha[8]	0.000000
Alpha[8]	0.999617
TNavParticleFilter::Modified Variance for beam 9 is 8.10 
Alpha[9]	0.000000
Alpha[9]	0.999618
TNavParticleFilter::Modified Variance for beam 10 is 8.01 
Alpha[10]	0.000000
Alpha[10]	0.999627
TNavParticleFilter::Modified Variance for beam 11 is 7.93 
Alpha[11]	0.000000
Alpha[11]	0.999629
TNavParticleFilter::Modified Variance for beam 12 is 7.85 
Alpha[12]	0.000000
Alpha[12]	0.999625
TNavParticleFilter::Modified Variance for beam 13 is 7.78 
Alpha[13]	0.000000
Alpha[13]	0.999635
TNavParticleFilter::Modified Variance for beam 14 is 7.71 
Alpha[14]	0.000000
Alpha[14]	0.999642
TNavParticleFilter::Modified Variance for beam 15 is 7.78 
Alpha[15]	0.000000
Alpha[15]	0.999629
TNavParticleFilter::Modified Variance for beam 16 is 8.16 
Alpha[16]	0.000000
Alpha[16]	0.999600
TNavParticleFilter::Modified Variance for beam 17 is 8.16 
Alpha[17]	0.000000
Alpha[17]	0.999575
TNavParticleFilter::Modified Variance for beam 18 is 8.10 
Alpha[18]	0.000000
Alpha[18]	0.999571
TNavParticleFilter::Modified Variance for beam 19 is 8.05 
Alpha[19]	0.000000
Alpha[19]	0.999555
TNavParticleFilter::Modified Variance for beam 20 is 8.00 
Alpha[20]	0.000000
Alpha[20]	0.999519
TNavParticleFilter::Modified Variance for beam 21 is 7.95 
Alpha[21]	0.000000
Alpha[21]	0.999499
TNavParticleFilter::Modified Variance for beam 22 is 7.90 
Alpha[22]	0.000000
Alpha[22]	0.999521
TNavParticleFilter::Modified Variance for beam 23 is 7.86 
Alpha[23]	0.000000
Alpha[23]	0.999565
TNavParticleFilter::Modified Variance for beam 24 is 7.82 
Alpha[24]	0.000000
Alpha[24]	0.999592
TNavParticleFilter::Modified Variance for beam 25 is 7.79 
Alpha[25]	0.000000
Alpha[25]	0.999589
TNavParticleFilter::Modified Variance for beam 26 is 7.75 
Alpha[26]	0.000000
Alpha[26]	0.999555
TNavParticleFilter::Modified Variance for beam 27 is 7.73 
Alpha[27]	0.000000
Alpha[27]	0.999503
TNavParticleFilter::Modified Variance for beam 28 is 8.57 
Alpha[28]	0.000000
Alpha[28]	0.999472
TNavParticleFilter::Modified Variance for beam 29 is 8.92 
Alpha[29]	0.000000
Alpha[29]	0.999481
TNavParticleFilter::Modified Variance for beam 30 is 8.89 
Alpha[30]	0.000000
Alpha[30]	0.999492
TNavParticleFilter::Modified Variance for beam 31 is 8.87 
Alpha[31]	0.000000
Alpha[31]	0.999459
TNavParticleFilter::Modified Variance for beam 32 is 8.85 
Alpha[32]	0.000000
Alpha[32]	0.999400
TNavParticleFilter::Modified Variance for beam 33 is 8.83 
Alpha[33]	0.000000
Alpha[33]	0.999393
TNavParticleFilter::Modified Variance for beam 34 is 8.82 
Alpha[34]	0.000000
Alpha[34]	0.999398
TNavParticleFilter::Modified Variance for beam 35 is 8.81 
Alpha[35]	0.000000
Alpha[35]	0.999374
TNavParticleFilter::Modified Variance for beam 36 is 10.17 
Alpha[36]	0.000000
Alpha[36]	0.999421
TNavParticleFilter::Modified Variance for beam 37 is 10.17 
Alpha[37]	0.000000
Alpha[37]	0.999460
TNavParticleFilter::Modified Variance for beam 38 is 10.17 
Alpha[38]	0.000000
Alpha[38]	0.999450
TNavParticleFilter::Modified Variance for beam 39 is 15.23 
Alpha[39]	0.000000
Alpha[39]	0.999442
TNavParticleFilter::Modified Variance for beam 40 is 15.25 
Alpha[40]	0.000000
Alpha[40]	0.999426
TNavParticleFilter::Modified Variance for beam 41 is 15.27 
Alpha[41]	0.000000
Alpha[41]	0.999386
TNavParticleFilter::Modified Variance for beam 42 is 15.30 
Alpha[42]	0.000000
Alpha[42]	0.999313
TNavParticleFilter::Modified Variance for beam 43 is 15.33 
Alpha[43]	0.000000
Alpha[43]	0.999297
TNavParticleFilter::Modified Variance for beam 44 is 15.37 
Alpha[44]	0.000000
Alpha[44]	0.999323
TNavParticleFilter::Modified Variance for beam 45 is 15.42 
Alpha[45]	0.000000
Alpha[45]	0.999317
TNavParticleFilter::Modified Variance for beam 46 is 14.52 
Alpha[46]	0.000000
Alpha[46]	0.999328
TNavParticleFilter::Modified Variance for beam 47 is 14.58 
Alpha[47]	0.000000
Alpha[47]	0.999356
TNavParticleFilter::Modified Variance for beam 48 is 14.65 
Alpha[48]	0.000000
Alpha[48]	0.999350
TNavParticleFilter::Modified Variance for beam 49 is 15.70 
Alpha[49]	0.000000
Alpha[49]	0.999271
TNavParticleFilter::Modified Variance for beam 50 is 15.80 
Alpha[50]	0.000000
Alpha[50]	0.999025
TNavParticleFilter::Modified Variance for beam 51 is 15.90 
Alpha[51]	0.000000
Alpha[51]	0.998773
TNavParticleFilter::Modified Variance for beam 52 is 16.01 
Alpha[52]	0.000000
Alpha[52]	0.998756
TNavParticleFilter::Modified Variance for beam 53 is 17.18 
Alpha[53]	0.000000
Alpha[53]	0.998730
TNavParticleFilter::Modified Variance for beam 54 is 16.25 
Alpha[54]	0.000000
Alpha[54]	0.998647
TNavParticleFilter::Modified Variance for beam 55 is 17.47 
Alpha[55]	0.000000
Alpha[55]	0.998471
TNavParticleFilter::Modified Variance for beam 56 is 17.16 
Alpha[56]	0.000000
Alpha[56]	0.998152
TNavParticleFilter::Modified Variance for beam 57 is 16.70 
Alpha[57]	0.000000
Alpha[57]	0.998061
TNavParticleFilter::Modified Variance for beam 58 is 16.86 
Alpha[58]	0.000000
Alpha[58]	0.998237
TNavParticleFilter::Modified Variance for beam 59 is 17.04 
Alpha[59]	0.000000
Alpha[59]	0.998366
TNavPF:: sumSquaredError = 947.450589 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.61. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -2.91. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -3.05. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -2.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 1.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 0.86. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -1.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -2.10. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -2.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -2.20. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -2.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.67. Range = 70.83 
TNavPF::Calculated measDiffMean for beam 44 as -3.55. Range = 65.76 
TNavPF::Calculated measDiffMean for beam 45 as -4.34. Range = 64.25 
TNavPF::Calculated measDiffMean for beam 46 as -3.92. Range = 59.60 
TNavPF::Calculated measDiffMean for beam 47 as -4.27. Range = 58.32 
TNavPF::Calculated measDiffMean for beam 48 as -4.49. Range = 54.02 
TNavPF::Calculated measDiffMean for beam 49 as -4.44. Range = 43.86 
TNavPF::Calculated measDiffMean for beam 50 as -4.18. Range = 43.01 
TNavPF::Calculated measDiffMean for beam 51 as -4.12. Range = 42.21 
TNavPF::Calculated measDiffMean for beam 52 as -4.47. Range = 41.45 
TNavPF::Calculated measDiffMean for beam 53 as -5.18. Range = 40.73 
TNavPF::Calculated measDiffMean for beam 54 as -6.12. Range = 40.04 
TNavPF::Calculated measDiffMean for beam 55 as -6.96. Range = 39.39 
TNavPF::Calculated measDiffMean for beam 56 as -7.43. Range = 38.77 
TNavPF::Calculated measDiffMean for beam 57 as -7.40. Range = 38.19 
TNavPF::Calculated measDiffMean for beam 58 as -4.66. Range = 37.63 
TNavPF::Calculated measDiffMean for beam 59 as -4.07. Range = 37.10 
TNavPF::Calculated measDiffMean for beam 60 as -5.02. Range = 36.59 
TNavPF::Calculated measDiffMean for beam 61 as -5.63. Range = 31.12 
TNavPF::Calculated measDiffMean for beam 62 as -5.82. Range = 30.73 
TNavPF::Calculated measDiffMean for beam 63 as -5.96. Range = 30.66 
TNavPF::Calculated measDiffMean for beam 64 as -6.21. Range = 31.47 
TNavPF::Calculated measDiffMean for beam 65 as -6.75. Range = 34.41 
TNavPF::Calculated measDiffMean for beam 66 as -3.57. Range = 34.03 
TNavPF::Calculated measDiffMean for beam 67 as -3.95. Range = 33.68 
TNavPF::Calculated measDiffMean for beam 68 as -4.14. Range = 31.03 
TNavPF::Calculated measDiffMean for beam 69 as 7.63. Range = 30.73 
TNavPF::Calculated measDiffMean for beam 70 as 7.56. Range = 30.45 
TNavPF::Calculated measDiffMean for beam 71 as 7.45. Range = 30.18 
TNavPF::Calculated measDiffMean for beam 72 as 7.17. Range = 29.92 
TNavPF::Calculated measDiffMean for beam 73 as 6.92. Range = 29.67 
TNavPF::Calculated measDiffMean for beam 74 as 6.67. Range = 29.44 
TNavPF::Calculated measDiffMean for beam 75 as 6.67. Range = 29.65 
TNavPF::Calculated measDiffMean for beam 76 as 4.96. Range = 30.96 
TNavPF::Calculated measDiffMean for beam 77 as 5.50. Range = 30.96 
TNavPF::Calculated measDiffMean for beam 78 as 6.20. Range = 30.76 
TNavPF::Calculated measDiffMean for beam 79 as 9.35. Range = 30.58 
TNavPF::Calculated measDiffMean for beam 80 as 11.07. Range = 30.40 
TNavPF::Calculated measDiffMean for beam 81 as 12.21. Range = 30.24 
TNavPF::Calculated measDiffMean for beam 82 as 12.66. Range = 30.09 
TNavPF::Calculated measDiffMean for beam 83 as 15.19. Range = 29.94 
TNavPF::Calculated measDiffMean for beam 84 as 13.76. Range = 29.81 
TNavPF::Calculated measDiffMean for beam 85 as 16.42. Range = 29.69 
TNavPF::Calculated measDiffMean for beam 86 as 15.97. Range = 29.58 
TNavPF::Calculated measDiffMean for beam 87 as 15.13. Range = 29.48 
TNavPF::Calculated measDiffMean for beam 88 as 15.66. Range = 32.26 
TNavPF::Calculated measDiffMean for beam 89 as 16.44. Range = 33.35 
TNavPF::First Term of Map Covariance Matrix is 75.10 
TNavPF::Calculated NIS Value : 98.68 	numBeams normalized NIS: 1.64
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323539.82 sec.
INS : North: 4070216.59, East: 589311.06, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 31.58, IDT[75] = 47.94
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323542.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323542.62)
ARL : North: -85.4627, East: 368.1631, Depth: -26.9787ARL : Estimation Bias  (Mean)         : (t = 1488323542.62)
ARL : North: -84.8027, East: 368.4925, Depth: -26.3218TerrainNav:: Windowed NIS is 1.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 8.96 
Alpha[0]	0.123000
Alpha[0]	0.999670
TNavParticleFilter::Modified Variance for beam 1 is 8.78 
Alpha[1]	0.000000
Alpha[1]	0.999680
TNavParticleFilter::Modified Variance for beam 2 is 8.61 
Alpha[2]	0.000000
Alpha[2]	0.999681
TNavParticleFilter::Modified Variance for beam 3 is 8.66 
Alpha[3]	0.000000
Alpha[3]	0.999664
TNavParticleFilter::Modified Variance for beam 4 is 8.87 
Alpha[4]	0.000000
Alpha[4]	0.999637
TNavParticleFilter::Modified Variance for beam 5 is 9.87 
Alpha[5]	0.000000
Alpha[5]	0.999615
TNavParticleFilter::Modified Variance for beam 6 is 9.69 
Alpha[6]	0.000000
Alpha[6]	0.999586
TNavParticleFilter::Modified Variance for beam 7 is 9.52 
Alpha[7]	0.000000
Alpha[7]	0.999536
TNavParticleFilter::Modified Variance for beam 8 is 8.55 
Alpha[8]	0.000000
Alpha[8]	0.999493
TNavParticleFilter::Modified Variance for beam 9 is 8.43 
Alpha[9]	0.000000
Alpha[9]	0.999467
TNavParticleFilter::Modified Variance for beam 10 is 8.31 
Alpha[10]	0.000000
Alpha[10]	0.999438
TNavParticleFilter::Modified Variance for beam 11 is 8.20 
Alpha[11]	0.000000
Alpha[11]	0.999395
TNavParticleFilter::Modified Variance for beam 12 is 8.09 
Alpha[12]	0.000000
Alpha[12]	0.999347
TNavParticleFilter::Modified Variance for beam 13 is 7.99 
Alpha[13]	0.000000
Alpha[13]	0.999313
TNavParticleFilter::Modified Variance for beam 14 is 8.07 
Alpha[14]	0.000000
Alpha[14]	0.999300
TNavParticleFilter::Modified Variance for beam 15 is 8.36 
Alpha[15]	0.000000
Alpha[15]	0.999372
TNavParticleFilter::Modified Variance for beam 16 is 8.41 
Alpha[16]	0.000000
Alpha[16]	0.999485
TNavParticleFilter::Modified Variance for beam 17 is 8.32 
Alpha[17]	0.000000
Alpha[17]	0.999541
TNavParticleFilter::Modified Variance for beam 18 is 8.23 
Alpha[18]	0.000000
Alpha[18]	0.999550
TNavParticleFilter::Modified Variance for beam 19 is 8.15 
Alpha[19]	0.000000
Alpha[19]	0.999552
TNavParticleFilter::Modified Variance for beam 20 is 8.08 
Alpha[20]	0.000000
Alpha[20]	0.999550
TNavParticleFilter::Modified Variance for beam 21 is 8.01 
Alpha[21]	0.000000
Alpha[21]	0.999518
TNavParticleFilter::Modified Variance for beam 22 is 7.94 
Alpha[22]	0.000000
Alpha[22]	0.999440
TNavParticleFilter::Modified Variance for beam 23 is 7.88 
Alpha[23]	0.000000
Alpha[23]	0.999370
TNavParticleFilter::Modified Variance for beam 24 is 7.82 
Alpha[24]	0.000000
Alpha[24]	0.999362
TNavParticleFilter::Modified Variance for beam 25 is 7.77 
Alpha[25]	0.000000
Alpha[25]	0.999433
TNavParticleFilter::Modified Variance for beam 26 is 7.90 
Alpha[26]	0.000000
Alpha[26]	0.999501
TNavParticleFilter::Modified Variance for beam 27 is 8.40 
Alpha[27]	0.000000
Alpha[27]	0.999535
TNavParticleFilter::Modified Variance for beam 28 is 8.90 
Alpha[28]	0.000000
Alpha[28]	0.999508
TNavParticleFilter::Modified Variance for beam 29 is 8.84 
Alpha[29]	0.000000
Alpha[29]	0.999437
TNavParticleFilter::Modified Variance for beam 30 is 8.80 
Alpha[30]	0.000000
Alpha[30]	0.999401
TNavParticleFilter::Modified Variance for beam 31 is 8.75 
Alpha[31]	0.000000
Alpha[31]	0.999417
TNavParticleFilter::Modified Variance for beam 32 is 9.38 
Alpha[32]	0.000000
Alpha[32]	0.999456
TNavParticleFilter::Modified Variance for beam 33 is 9.34 
Alpha[33]	0.000000
Alpha[33]	0.999452
TNavParticleFilter::Modified Variance for beam 34 is 9.30 
Alpha[34]	0.000000
Alpha[34]	0.999409
TNavParticleFilter::Modified Variance for beam 35 is 9.27 
Alpha[35]	0.000000
Alpha[35]	0.999372
TNavParticleFilter::Modified Variance for beam 36 is 9.94 
Alpha[36]	0.000000
Alpha[36]	0.999373
TNavParticleFilter::Modified Variance for beam 37 is 9.90 
Alpha[37]	0.000000
Alpha[37]	0.999379
TNavParticleFilter::Modified Variance for beam 38 is 9.88 
Alpha[38]	0.000000
Alpha[38]	0.999380
TNavParticleFilter::Modified Variance for beam 39 is 10.14 
Alpha[39]	0.000000
Alpha[39]	0.999352
TNavParticleFilter::Modified Variance for beam 40 is 12.14 
Alpha[40]	0.000000
Alpha[40]	0.999298
TNavParticleFilter::Modified Variance for beam 41 is 12.12 
Alpha[41]	0.000000
Alpha[41]	0.999311
TNavParticleFilter::Modified Variance for beam 42 is 12.11 
Alpha[42]	0.000000
Alpha[42]	0.999274
TNavParticleFilter::Modified Variance for beam 43 is 14.74 
Alpha[43]	0.000000
Alpha[43]	0.999164
TNavParticleFilter::Modified Variance for beam 44 is 14.74 
Alpha[44]	0.000000
Alpha[44]	0.999043
TNavParticleFilter::Modified Variance for beam 45 is 14.74 
Alpha[45]	0.000000
Alpha[45]	0.999034
TNavParticleFilter::Modified Variance for beam 46 is 14.75 
Alpha[46]	0.000000
Alpha[46]	0.999144
TNavParticleFilter::Modified Variance for beam 47 is 14.76 
Alpha[47]	0.000000
Alpha[47]	0.999195
TNavParticleFilter::Modified Variance for beam 48 is 12.13 
Alpha[48]	0.000000
Alpha[48]	0.999178
TNavParticleFilter::Modified Variance for beam 49 is 12.15 
Alpha[49]	0.000000
Alpha[49]	0.999150
TNavParticleFilter::Modified Variance for beam 50 is 12.18 
Alpha[50]	0.000000
Alpha[50]	0.999120
TNavParticleFilter::Modified Variance for beam 51 is 13.96 
Alpha[51]	0.000000
Alpha[51]	0.998950
TNavParticleFilter::Modified Variance for beam 52 is 14.01 
Alpha[52]	0.000000
Alpha[52]	0.998379
TNavParticleFilter::Modified Variance for beam 53 is 15.02 
Alpha[53]	0.000000
Alpha[53]	0.997876
TNavParticleFilter::Modified Variance for beam 54 is 15.08 
Alpha[54]	0.000000
Alpha[54]	0.997931
TNavParticleFilter::Modified Variance for beam 55 is 15.16 
Alpha[55]	0.000000
Alpha[55]	0.997812
TNavParticleFilter::Modified Variance for beam 56 is 15.24 
Alpha[56]	0.000000
Alpha[56]	0.997522
TNavParticleFilter::Modified Variance for beam 57 is 16.34 
Alpha[57]	0.000000
Alpha[57]	0.997723
TNavParticleFilter::Modified Variance for beam 58 is 16.43 
Alpha[58]	0.000000
Alpha[58]	0.998260
TNavParticleFilter::Modified Variance for beam 59 is 15.67 
Alpha[59]	0.000000
Alpha[59]	0.998755
TNavPF:: sumSquaredError = 206.705844 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.07. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as 1.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 1.24. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 1.83. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 4.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 4.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 4.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 1.41. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 0.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 0.57. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 0.37. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 0.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 0.54. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as 1.21. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as 0.57. Range = 72.34 
TNavPF::Calculated measDiffMean for beam 47 as -0.54. Range = 70.36 
TNavPF::Calculated measDiffMean for beam 48 as -1.08. Range = 68.50 
TNavPF::Calculated measDiffMean for beam 49 as -1.25. Range = 63.24 
TNavPF::Calculated measDiffMean for beam 50 as -1.36. Range = 61.69 
TNavPF::Calculated measDiffMean for beam 51 as -1.42. Range = 43.47 
TNavPF::Calculated measDiffMean for beam 52 as -1.50. Range = 42.48 
TNavPF::Calculated measDiffMean for beam 53 as -1.70. Range = 41.55 
TNavPF::Calculated measDiffMean for beam 54 as -1.99. Range = 40.66 
TNavPF::Calculated measDiffMean for beam 55 as -2.58. Range = 39.83 
TNavPF::Calculated measDiffMean for beam 56 as -2.72. Range = 39.04 
TNavPF::Calculated measDiffMean for beam 57 as -1.71. Range = 38.30 
TNavPF::Calculated measDiffMean for beam 58 as -0.47. Range = 37.59 
TNavPF::Calculated measDiffMean for beam 59 as -0.63. Range = 36.92 
TNavPF::Calculated measDiffMean for beam 60 as -1.03. Range = 33.49 
TNavPF::Calculated measDiffMean for beam 61 as -1.64. Range = 32.93 
TNavPF::Calculated measDiffMean for beam 62 as -0.38. Range = 32.40 
TNavPF::Calculated measDiffMean for beam 63 as -0.90. Range = 32.54 
TNavPF::Calculated measDiffMean for beam 64 as -1.05. Range = 33.20 
TNavPF::Calculated measDiffMean for beam 65 as -1.22. Range = 36.14 
TNavPF::Calculated measDiffMean for beam 66 as 0.38. Range = 35.63 
TNavPF::Calculated measDiffMean for beam 67 as -0.33. Range = 35.15 
TNavPF::Calculated measDiffMean for beam 68 as -0.87. Range = 32.21 
TNavPF::Calculated measDiffMean for beam 69 as -0.43. Range = 31.81 
TNavPF::Calculated measDiffMean for beam 70 as 4.59. Range = 31.42 
TNavPF::Calculated measDiffMean for beam 71 as 4.38. Range = 31.06 
TNavPF::Calculated measDiffMean for beam 72 as 4.18. Range = 30.71 
TNavPF::Calculated measDiffMean for beam 73 as 9.59. Range = 30.38 
TNavPF::Calculated measDiffMean for beam 74 as 9.19. Range = 30.64 
TNavPF::Calculated measDiffMean for beam 75 as 9.13. Range = 31.58 
TNavPF::Calculated measDiffMean for beam 76 as 9.01. Range = 31.75 
TNavPF::Calculated measDiffMean for beam 77 as 9.02. Range = 31.46 
TNavPF::Calculated measDiffMean for beam 78 as 3.25. Range = 31.18 
TNavPF::Calculated measDiffMean for beam 79 as 3.81. Range = 30.92 
TNavPF::Calculated measDiffMean for beam 80 as 4.28. Range = 30.67 
TNavPF::Calculated measDiffMean for beam 81 as 8.88. Range = 30.43 
TNavPF::Calculated measDiffMean for beam 82 as 9.96. Range = 30.21 
TNavPF::Calculated measDiffMean for beam 83 as 12.72. Range = 30.00 
TNavPF::Calculated measDiffMean for beam 84 as 13.07. Range = 29.80 
TNavPF::Calculated measDiffMean for beam 85 as 13.47. Range = 29.61 
TNavPF::Calculated measDiffMean for beam 86 as 14.08. Range = 30.06 
TNavPF::Calculated measDiffMean for beam 87 as 16.65. Range = 31.73 
TNavPF::Calculated measDiffMean for beam 88 as 17.15. Range = 33.29 
TNavPF::Calculated measDiffMean for beam 89 as 16.03. Range = 33.12 
TNavPF::First Term of Map Covariance Matrix is 60.65 
TNavPF::Calculated NIS Value : 79.75 	numBeams normalized NIS: 1.33
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323542.82 sec.
INS : North: 4070215.60, East: 589306.91, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 33.87, IDT[75] = 49.67
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323545.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323545.62)
ARL : North: -85.6385, East: 368.7472, Depth: -29.1329ARL : Estimation Bias  (Mean)         : (t = 1488323545.62)
ARL : North: -84.3956, East: 369.4053, Depth: -27.1850TerrainNav:: Windowed NIS is 1.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 8.61 
Alpha[0]	0.123000
Alpha[0]	0.999623
TNavParticleFilter::Modified Variance for beam 1 is 8.85 
Alpha[1]	0.000000
Alpha[1]	0.999619
TNavParticleFilter::Modified Variance for beam 2 is 8.98 
Alpha[2]	0.000000
Alpha[2]	0.999609
TNavParticleFilter::Modified Variance for beam 3 is 8.85 
Alpha[3]	0.000000
Alpha[3]	0.999595
TNavParticleFilter::Modified Variance for beam 4 is 8.72 
Alpha[4]	0.000000
Alpha[4]	0.999574
TNavParticleFilter::Modified Variance for beam 5 is 8.60 
Alpha[5]	0.000000
Alpha[5]	0.999556
TNavParticleFilter::Modified Variance for beam 6 is 8.49 
Alpha[6]	0.000000
Alpha[6]	0.999538
TNavParticleFilter::Modified Variance for beam 7 is 8.39 
Alpha[7]	0.000000
Alpha[7]	0.999533
TNavParticleFilter::Modified Variance for beam 8 is 8.29 
Alpha[8]	0.000000
Alpha[8]	0.999528
TNavParticleFilter::Modified Variance for beam 9 is 8.19 
Alpha[9]	0.000000
Alpha[9]	0.999491
TNavParticleFilter::Modified Variance for beam 10 is 8.11 
Alpha[10]	0.000000
Alpha[10]	0.999430
TNavParticleFilter::Modified Variance for beam 11 is 8.08 
Alpha[11]	0.000000
Alpha[11]	0.999387
TNavParticleFilter::Modified Variance for beam 12 is 8.43 
Alpha[12]	0.000000
Alpha[12]	0.999392
TNavParticleFilter::Modified Variance for beam 13 is 8.81 
Alpha[13]	0.000000
Alpha[13]	0.999471
TNavParticleFilter::Modified Variance for beam 14 is 9.17 
Alpha[14]	0.000000
Alpha[14]	0.999515
TNavParticleFilter::Modified Variance for beam 15 is 9.09 
Alpha[15]	0.000000
Alpha[15]	0.999519
TNavParticleFilter::Modified Variance for beam 16 is 9.01 
Alpha[16]	0.000000
Alpha[16]	0.999478
TNavParticleFilter::Modified Variance for beam 17 is 8.94 
Alpha[17]	0.000000
Alpha[17]	0.999404
TNavParticleFilter::Modified Variance for beam 18 is 8.87 
Alpha[18]	0.000000
Alpha[18]	0.999349
TNavParticleFilter::Modified Variance for beam 19 is 8.80 
Alpha[19]	0.000000
Alpha[19]	0.999335
TNavParticleFilter::Modified Variance for beam 20 is 8.74 
Alpha[20]	0.000000
Alpha[20]	0.999371
TNavParticleFilter::Modified Variance for beam 21 is 9.16 
Alpha[21]	0.000000
Alpha[21]	0.999391
TNavParticleFilter::Modified Variance for beam 22 is 9.89 
Alpha[22]	0.000000
Alpha[22]	0.999353
TNavParticleFilter::Modified Variance for beam 23 is 9.98 
Alpha[23]	0.000000
Alpha[23]	0.999303
TNavParticleFilter::Modified Variance for beam 24 is 9.92 
Alpha[24]	0.000000
Alpha[24]	0.999272
TNavParticleFilter::Modified Variance for beam 25 is 9.87 
Alpha[25]	0.000000
Alpha[25]	0.999198
TNavParticleFilter::Modified Variance for beam 26 is 10.72 
Alpha[26]	0.000000
Alpha[26]	0.999146
TNavParticleFilter::Modified Variance for beam 27 is 13.87 
Alpha[27]	0.000000
Alpha[27]	0.999281
TNavParticleFilter::Modified Variance for beam 28 is 14.02 
Alpha[28]	0.000000
Alpha[28]	0.999391
TNavParticleFilter::Modified Variance for beam 29 is 14.67 
Alpha[29]	0.000000
Alpha[29]	0.999408
TNavParticleFilter::Modified Variance for beam 30 is 14.61 
Alpha[30]	0.000000
Alpha[30]	0.999341
TNavParticleFilter::Modified Variance for beam 31 is 14.57 
Alpha[31]	0.000000
Alpha[31]	0.999220
TNavParticleFilter::Modified Variance for beam 32 is 14.53 
Alpha[32]	0.000000
Alpha[32]	0.999152
TNavParticleFilter::Modified Variance for beam 33 is 14.49 
Alpha[33]	0.000000
Alpha[33]	0.999184
TNavParticleFilter::Modified Variance for beam 34 is 14.46 
Alpha[34]	0.000000
Alpha[34]	0.999221
TNavParticleFilter::Modified Variance for beam 35 is 14.44 
Alpha[35]	0.000000
Alpha[35]	0.999246
TNavParticleFilter::Modified Variance for beam 36 is 13.52 
Alpha[36]	0.000000
Alpha[36]	0.999271
TNavParticleFilter::Modified Variance for beam 37 is 13.51 
Alpha[37]	0.000000
Alpha[37]	0.999294
TNavParticleFilter::Modified Variance for beam 38 is 14.42 
Alpha[38]	0.000000
Alpha[38]	0.999304
TNavParticleFilter::Modified Variance for beam 39 is 14.42 
Alpha[39]	0.000000
Alpha[39]	0.999289
TNavParticleFilter::Modified Variance for beam 40 is 14.44 
Alpha[40]	0.000000
Alpha[40]	0.999128
TNavParticleFilter::Modified Variance for beam 41 is 14.46 
Alpha[41]	0.000000
Alpha[41]	0.998937
TNavParticleFilter::Modified Variance for beam 42 is 14.49 
Alpha[42]	0.000000
Alpha[42]	0.998842
TNavParticleFilter::Modified Variance for beam 43 is 15.47 
Alpha[43]	0.000000
Alpha[43]	0.998905
TNavParticleFilter::Modified Variance for beam 44 is 15.52 
Alpha[44]	0.000000
Alpha[44]	0.998971
TNavParticleFilter::Modified Variance for beam 45 is 15.57 
Alpha[45]	0.000000
Alpha[45]	0.998977
TNavParticleFilter::Modified Variance for beam 46 is 15.63 
Alpha[46]	0.000000
Alpha[46]	0.998889
TNavParticleFilter::Modified Variance for beam 47 is 15.69 
Alpha[47]	0.000000
Alpha[47]	0.998827
TNavParticleFilter::Modified Variance for beam 48 is 16.79 
Alpha[48]	0.000000
Alpha[48]	0.998816
TNavParticleFilter::Modified Variance for beam 49 is 16.82 
Alpha[49]	0.000000
Alpha[49]	0.998721
TNavParticleFilter::Modified Variance for beam 50 is 15.95 
Alpha[50]	0.000000
Alpha[50]	0.998512
TNavParticleFilter::Modified Variance for beam 51 is 15.05 
Alpha[51]	0.000000
Alpha[51]	0.998341
TNavParticleFilter::Modified Variance for beam 52 is 15.15 
Alpha[52]	0.000000
Alpha[52]	0.998211
TNavParticleFilter::Modified Variance for beam 53 is 15.26 
Alpha[53]	0.000000
Alpha[53]	0.998254
TNavParticleFilter::Modified Variance for beam 54 is 15.37 
Alpha[54]	0.000000
Alpha[54]	0.998348
TNavParticleFilter::Modified Variance for beam 55 is 15.50 
Alpha[55]	0.000000
Alpha[55]	0.998440
TNavParticleFilter::Modified Variance for beam 56 is 15.64 
Alpha[56]	0.000000
Alpha[56]	0.998411
TNavParticleFilter::Modified Variance for beam 57 is 15.34 
Alpha[57]	0.000000
Alpha[57]	0.998306
TNavParticleFilter::Modified Variance for beam 58 is 14.91 
Alpha[58]	0.000000
Alpha[58]	0.998226
TNavParticleFilter::Modified Variance for beam 59 is 15.06 
Alpha[59]	0.000000
Alpha[59]	0.998187
TNavPF:: sumSquaredError = 472.771160 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.26. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -2.33. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -2.12. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -3.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -4.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -5.79. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -6.11. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -6.27. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -6.52. Range = 77.70 
TNavPF::Calculated measDiffMean for beam 39 as -6.53. Range = 71.62 
TNavPF::Calculated measDiffMean for beam 40 as -6.27. Range = 65.90 
TNavPF::Calculated measDiffMean for beam 41 as -6.02. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 42 as -5.03. Range = 48.31 
TNavPF::Calculated measDiffMean for beam 43 as -4.59. Range = 47.11 
TNavPF::Calculated measDiffMean for beam 44 as -4.46. Range = 45.99 
TNavPF::Calculated measDiffMean for beam 45 as -5.44. Range = 44.93 
TNavPF::Calculated measDiffMean for beam 46 as -5.55. Range = 43.93 
TNavPF::Calculated measDiffMean for beam 47 as -5.35. Range = 42.99 
TNavPF::Calculated measDiffMean for beam 48 as -5.60. Range = 42.10 
TNavPF::Calculated measDiffMean for beam 49 as -6.29. Range = 41.26 
TNavPF::Calculated measDiffMean for beam 50 as -7.22. Range = 40.46 
TNavPF::Calculated measDiffMean for beam 51 as -6.33. Range = 39.71 
TNavPF::Calculated measDiffMean for beam 52 as -4.03. Range = 38.99 
TNavPF::Calculated measDiffMean for beam 53 as -3.67. Range = 38.31 
TNavPF::Calculated measDiffMean for beam 54 as -4.14. Range = 37.67 
TNavPF::Calculated measDiffMean for beam 55 as -4.70. Range = 37.06 
TNavPF::Calculated measDiffMean for beam 56 as -2.55. Range = 36.48 
TNavPF::Calculated measDiffMean for beam 57 as 4.82. Range = 33.29 
TNavPF::Calculated measDiffMean for beam 58 as 4.86. Range = 32.80 
TNavPF::Calculated measDiffMean for beam 59 as 5.92. Range = 32.34 
TNavPF::Calculated measDiffMean for beam 60 as 5.59. Range = 32.38 
TNavPF::Calculated measDiffMean for beam 61 as 5.36. Range = 33.14 
TNavPF::Calculated measDiffMean for beam 62 as 5.35. Range = 33.54 
TNavPF::Calculated measDiffMean for beam 63 as 5.30. Range = 33.13 
TNavPF::Calculated measDiffMean for beam 64 as 5.04. Range = 32.74 
TNavPF::Calculated measDiffMean for beam 65 as 4.82. Range = 32.37 
TNavPF::Calculated measDiffMean for beam 66 as 3.05. Range = 32.02 
TNavPF::Calculated measDiffMean for beam 67 as 3.60. Range = 31.68 
TNavPF::Calculated measDiffMean for beam 68 as 6.07. Range = 31.36 
TNavPF::Calculated measDiffMean for beam 69 as 7.29. Range = 31.06 
TNavPF::Calculated measDiffMean for beam 70 as 9.33. Range = 30.77 
TNavPF::Calculated measDiffMean for beam 71 as 10.49. Range = 30.69 
TNavPF::Calculated measDiffMean for beam 72 as 11.00. Range = 31.81 
TNavPF::Calculated measDiffMean for beam 73 as 13.62. Range = 33.02 
TNavPF::Calculated measDiffMean for beam 74 as 14.24. Range = 34.12 
TNavPF::Calculated measDiffMean for beam 75 as 14.67. Range = 33.87 
TNavPF::Calculated measDiffMean for beam 76 as 15.06. Range = 33.63 
TNavPF::Calculated measDiffMean for beam 77 as 15.52. Range = 33.40 
TNavPF::Calculated measDiffMean for beam 78 as 18.05. Range = 33.19 
TNavPF::Calculated measDiffMean for beam 79 as 18.41. Range = 32.99 
TNavPF::Calculated measDiffMean for beam 80 as 16.93. Range = 32.80 
TNavPF::Calculated measDiffMean for beam 81 as 15.29. Range = 34.07 
TNavPF::Calculated measDiffMean for beam 82 as 15.75. Range = 36.20 
TNavPF::Calculated measDiffMean for beam 83 as 16.38. Range = 36.44 
TNavPF::Calculated measDiffMean for beam 84 as 16.99. Range = 36.28 
TNavPF::Calculated measDiffMean for beam 85 as 17.55. Range = 36.13 
TNavPF::Calculated measDiffMean for beam 86 as 18.11. Range = 38.45 
TNavPF::Calculated measDiffMean for beam 87 as 17.84. Range = 46.05 
TNavPF::Calculated measDiffMean for beam 88 as 17.34. Range = 46.40 
TNavPF::Calculated measDiffMean for beam 89 as 18.09. Range = 47.80 
TNavPF::First Term of Map Covariance Matrix is 53.07 
TNavPF::Calculated NIS Value : 257.90 	numBeams normalized NIS: 4.30
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323545.82 sec.
INS : North: 4070215.19, East: 589302.73, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 48.06, IDT[75] = 53.14
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323548.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323548.62)
ARL : North: -83.7906, East: 370.7880, Depth: -22.0322ARL : Estimation Bias  (Mean)         : (t = 1488323548.62)
ARL : North: -84.2385, East: 370.9624, Depth: -27.3628TerrainNav:: Windowed NIS is 1.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.40 
Alpha[0]	0.123000
Alpha[0]	0.999463
TNavParticleFilter::Modified Variance for beam 1 is 9.91 
Alpha[1]	0.000000
Alpha[1]	0.999395
TNavParticleFilter::Modified Variance for beam 2 is 11.45 
Alpha[2]	0.000000
Alpha[2]	0.999363
TNavParticleFilter::Modified Variance for beam 3 is 11.34 
Alpha[3]	0.000000
Alpha[3]	0.999375
TNavParticleFilter::Modified Variance for beam 4 is 10.44 
Alpha[4]	0.000000
Alpha[4]	0.999431
TNavParticleFilter::Modified Variance for beam 5 is 10.35 
Alpha[5]	0.000000
Alpha[5]	0.999420
TNavParticleFilter::Modified Variance for beam 6 is 11.10 
Alpha[6]	0.000000
Alpha[6]	0.999334
TNavParticleFilter::Modified Variance for beam 7 is 14.53 
Alpha[7]	0.000000
Alpha[7]	0.999254
TNavParticleFilter::Modified Variance for beam 8 is 14.42 
Alpha[8]	0.000000
Alpha[8]	0.999177
TNavParticleFilter::Modified Variance for beam 9 is 14.47 
Alpha[9]	0.000000
Alpha[9]	0.999126
TNavParticleFilter::Modified Variance for beam 10 is 15.19 
Alpha[10]	0.000000
Alpha[10]	0.999240
TNavParticleFilter::Modified Variance for beam 11 is 15.09 
Alpha[11]	0.000000
Alpha[11]	0.999404
TNavParticleFilter::Modified Variance for beam 12 is 15.00 
Alpha[12]	0.000000
Alpha[12]	0.999441
TNavParticleFilter::Modified Variance for beam 13 is 14.93 
Alpha[13]	0.000000
Alpha[13]	0.999377
TNavParticleFilter::Modified Variance for beam 14 is 14.86 
Alpha[14]	0.000000
Alpha[14]	0.999257
TNavParticleFilter::Modified Variance for beam 15 is 14.79 
Alpha[15]	0.000000
Alpha[15]	0.999191
TNavParticleFilter::Modified Variance for beam 16 is 14.74 
Alpha[16]	0.000000
Alpha[16]	0.999246
TNavParticleFilter::Modified Variance for beam 17 is 13.76 
Alpha[17]	0.000000
Alpha[17]	0.999268
TNavParticleFilter::Modified Variance for beam 18 is 13.72 
Alpha[18]	0.000000
Alpha[18]	0.999297
TNavParticleFilter::Modified Variance for beam 19 is 14.61 
Alpha[19]	0.000000
Alpha[19]	0.999365
TNavParticleFilter::Modified Variance for beam 20 is 14.58 
Alpha[20]	0.000000
Alpha[20]	0.999413
TNavParticleFilter::Modified Variance for beam 21 is 14.55 
Alpha[21]	0.000000
Alpha[21]	0.999444
TNavParticleFilter::Modified Variance for beam 22 is 14.54 
Alpha[22]	0.000000
Alpha[22]	0.999499
TNavParticleFilter::Modified Variance for beam 23 is 14.53 
Alpha[23]	0.000000
Alpha[23]	0.999458
TNavParticleFilter::Modified Variance for beam 24 is 15.48 
Alpha[24]	0.000000
Alpha[24]	0.999392
TNavParticleFilter::Modified Variance for beam 25 is 15.49 
Alpha[25]	0.000000
Alpha[25]	0.999328
TNavParticleFilter::Modified Variance for beam 26 is 15.50 
Alpha[26]	0.000000
Alpha[26]	0.999277
TNavParticleFilter::Modified Variance for beam 27 is 15.53 
Alpha[27]	0.000000
Alpha[27]	0.999216
TNavParticleFilter::Modified Variance for beam 28 is 15.56 
Alpha[28]	0.000000
Alpha[28]	0.999044
TNavParticleFilter::Modified Variance for beam 29 is 16.60 
Alpha[29]	0.000000
Alpha[29]	0.998767
TNavParticleFilter::Modified Variance for beam 30 is 16.64 
Alpha[30]	0.000000
Alpha[30]	0.998687
TNavParticleFilter::Modified Variance for beam 31 is 15.69 
Alpha[31]	0.000000
Alpha[31]	0.998656
TNavParticleFilter::Modified Variance for beam 32 is 15.75 
Alpha[32]	0.000000
Alpha[32]	0.998537
TNavParticleFilter::Modified Variance for beam 33 is 15.56 
Alpha[33]	0.000000
Alpha[33]	0.998484
TNavParticleFilter::Modified Variance for beam 34 is 14.91 
Alpha[34]	0.000000
Alpha[34]	0.998503
TNavParticleFilter::Modified Variance for beam 35 is 14.99 
Alpha[35]	0.000000
Alpha[35]	0.998514
TNavParticleFilter::Modified Variance for beam 36 is 15.07 
Alpha[36]	0.000000
Alpha[36]	0.998477
TNavParticleFilter::Modified Variance for beam 37 is 15.16 
Alpha[37]	0.000000
Alpha[37]	0.998501
TNavParticleFilter::Modified Variance for beam 38 is 15.12 
Alpha[38]	0.000000
Alpha[38]	0.998524
TNavParticleFilter::Modified Variance for beam 39 is 14.39 
Alpha[39]	0.000000
Alpha[39]	0.998513
TNavParticleFilter::Modified Variance for beam 40 is 14.50 
Alpha[40]	0.000000
Alpha[40]	0.998465
TNavParticleFilter::Modified Variance for beam 41 is 14.62 
Alpha[41]	0.000000
Alpha[41]	0.998433
TNavParticleFilter::Modified Variance for beam 42 is 14.74 
Alpha[42]	0.000000
Alpha[42]	0.998425
TNavParticleFilter::Modified Variance for beam 43 is 14.88 
Alpha[43]	0.000000
Alpha[43]	0.998407
TNavParticleFilter::Modified Variance for beam 44 is 17.14 
Alpha[44]	0.000000
Alpha[44]	0.998379
TNavParticleFilter::Modified Variance for beam 45 is 17.33 
Alpha[45]	0.000000
Alpha[45]	0.998337
TNavParticleFilter::Modified Variance for beam 46 is 17.52 
Alpha[46]	0.000000
Alpha[46]	0.998283
TNavParticleFilter::Modified Variance for beam 47 is 17.73 
Alpha[47]	0.000000
Alpha[47]	0.998180
TNavParticleFilter::Modified Variance for beam 48 is 16.81 
Alpha[48]	0.000000
Alpha[48]	0.998039
TNavParticleFilter::Modified Variance for beam 49 is 18.19 
Alpha[49]	0.000000
Alpha[49]	0.997971
TNavParticleFilter::Modified Variance for beam 50 is 17.95 
Alpha[50]	0.000000
Alpha[50]	0.998001
TNavParticleFilter::Modified Variance for beam 51 is 17.50 
Alpha[51]	0.000000
Alpha[51]	0.998018
TNavParticleFilter::Modified Variance for beam 52 is 17.77 
Alpha[52]	0.000000
Alpha[52]	0.997949
TNavParticleFilter::Modified Variance for beam 53 is 18.04 
Alpha[53]	0.000000
Alpha[53]	0.997831
TNavParticleFilter::Modified Variance for beam 54 is 18.34 
Alpha[54]	0.000000
Alpha[54]	0.997694
TNavParticleFilter::Modified Variance for beam 55 is 17.82 
Alpha[55]	0.000000
Alpha[55]	0.997510
TNavParticleFilter::Modified Variance for beam 56 is 17.71 
Alpha[56]	0.000000
Alpha[56]	0.997219
TNavParticleFilter::Modified Variance for beam 57 is 18.05 
Alpha[57]	0.000000
Alpha[57]	0.996783
TNavParticleFilter::Modified Variance for beam 58 is 19.74 
Alpha[58]	0.000000
Alpha[58]	0.996237
TNavParticleFilter::Modified Variance for beam 59 is 20.16 
Alpha[59]	0.000000
Alpha[59]	0.995504
TNavPF:: sumSquaredError = 1239.452174 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -6.24. Range = 46.43 
TNavPF::Calculated measDiffMean for beam 31 as -4.69. Range = 45.36 
TNavPF::Calculated measDiffMean for beam 32 as -0.93. Range = 44.35 
TNavPF::Calculated measDiffMean for beam 33 as -1.88. Range = 43.40 
TNavPF::Calculated measDiffMean for beam 34 as -4.79. Range = 42.50 
TNavPF::Calculated measDiffMean for beam 35 as -4.94. Range = 41.65 
TNavPF::Calculated measDiffMean for beam 36 as -2.64. Range = 40.85 
TNavPF::Calculated measDiffMean for beam 37 as 5.19. Range = 40.08 
TNavPF::Calculated measDiffMean for beam 38 as 4.57. Range = 39.36 
TNavPF::Calculated measDiffMean for beam 39 as 4.74. Range = 35.86 
TNavPF::Calculated measDiffMean for beam 40 as 6.32. Range = 35.26 
TNavPF::Calculated measDiffMean for beam 41 as 5.56. Range = 34.68 
TNavPF::Calculated measDiffMean for beam 42 as 4.74. Range = 34.14 
TNavPF::Calculated measDiffMean for beam 43 as 4.33. Range = 33.73 
TNavPF::Calculated measDiffMean for beam 44 as 4.18. Range = 34.44 
TNavPF::Calculated measDiffMean for beam 45 as 4.39. Range = 35.18 
TNavPF::Calculated measDiffMean for beam 46 as 4.40. Range = 34.74 
TNavPF::Calculated measDiffMean for beam 47 as 2.04. Range = 34.29 
TNavPF::Calculated measDiffMean for beam 48 as 1.78. Range = 34.26 
TNavPF::Calculated measDiffMean for beam 49 as 4.00. Range = 35.13 
TNavPF::Calculated measDiffMean for beam 50 as 4.53. Range = 35.45 
TNavPF::Calculated measDiffMean for beam 51 as 5.21. Range = 35.05 
TNavPF::Calculated measDiffMean for beam 52 as 6.95. Range = 34.66 
TNavPF::Calculated measDiffMean for beam 53 as 9.15. Range = 35.25 
TNavPF::Calculated measDiffMean for beam 54 as 12.21. Range = 36.26 
TNavPF::Calculated measDiffMean for beam 55 as 12.75. Range = 35.90 
TNavPF::Calculated measDiffMean for beam 56 as 13.44. Range = 35.57 
TNavPF::Calculated measDiffMean for beam 57 as 13.83. Range = 35.60 
TNavPF::Calculated measDiffMean for beam 58 as 14.23. Range = 36.89 
TNavPF::Calculated measDiffMean for beam 59 as 16.81. Range = 34.67 
TNavPF::Calculated measDiffMean for beam 60 as 17.32. Range = 34.80 
TNavPF::Calculated measDiffMean for beam 61 as 15.67. Range = 36.26 
TNavPF::Calculated measDiffMean for beam 62 as 16.15. Range = 40.36 
TNavPF::Calculated measDiffMean for beam 63 as 16.16. Range = 40.09 
TNavPF::Calculated measDiffMean for beam 64 as 15.21. Range = 37.70 
TNavPF::Calculated measDiffMean for beam 65 as 15.78. Range = 37.47 
TNavPF::Calculated measDiffMean for beam 66 as 16.34. Range = 39.47 
TNavPF::Calculated measDiffMean for beam 67 as 16.86. Range = 47.51 
TNavPF::Calculated measDiffMean for beam 68 as 17.09. Range = 47.27 
TNavPF::Calculated measDiffMean for beam 69 as 15.92. Range = 47.37 
TNavPF::Calculated measDiffMean for beam 70 as 16.62. Range = 48.90 
TNavPF::Calculated measDiffMean for beam 71 as 17.34. Range = 48.70 
TNavPF::Calculated measDiffMean for beam 72 as 18.07. Range = 48.51 
TNavPF::Calculated measDiffMean for beam 73 as 18.77. Range = 48.35 
TNavPF::Calculated measDiffMean for beam 74 as 23.71. Range = 48.19 
TNavPF::Calculated measDiffMean for beam 75 as 24.39. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 76 as 25.07. Range = 47.94 
TNavPF::Calculated measDiffMean for beam 77 as 25.76. Range = 45.82 
TNavPF::Calculated measDiffMean for beam 78 as 24.30. Range = 45.73 
TNavPF::Calculated measDiffMean for beam 79 as 27.25. Range = 47.66 
TNavPF::Calculated measDiffMean for beam 80 as 27.13. Range = 47.60 
TNavPF::Calculated measDiffMean for beam 81 as 26.61. Range = 47.56 
TNavPF::Calculated measDiffMean for beam 82 as 27.39. Range = 47.53 
TNavPF::Calculated measDiffMean for beam 83 as 28.09. Range = 47.51 
TNavPF::Calculated measDiffMean for beam 84 as 28.67. Range = 49.51 
TNavPF::Calculated measDiffMean for beam 85 as 27.61. Range = 49.52 
TNavPF::Calculated measDiffMean for beam 86 as 27.28. Range = 49.55 
TNavPF::Calculated measDiffMean for beam 87 as 27.79. Range = 49.59 
TNavPF::Calculated measDiffMean for beam 88 as 30.76. Range = 49.65 
TNavPF::Calculated measDiffMean for beam 89 as 31.38. Range = 51.73 
TNavPF::First Term of Map Covariance Matrix is 37.18 
TNavPF::Calculated NIS Value : 439.23 	numBeams normalized NIS: 7.32
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323548.82 sec.
INS : North: 4070215.70, East: 589298.60, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 50.38, IDT[75] = 53.36
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323551.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323551.62)
ARL : North: -85.1145, East: 372.1335, Depth: -35.4498ARL : Estimation Bias  (Mean)         : (t = 1488323551.62)
ARL : North: -85.2194, East: 372.8365, Depth: -32.7706TerrainNav:: Windowed NIS average 1.71 exceeds the maximum allowed of 1.4.  Re-initializing the filter.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS : North: 4070216.30, East: 589294.48, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 49.86, IDT[75] = 50.25
TerrainNav::Measurement type 5 from time = 1488323554.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070216.22, East: 589290.36, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 51.87, IDT[75] = 45.63
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323557.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.75 
Alpha[0]	0.123000
Alpha[0]	0.999990
TNavParticleFilter::Modified Variance for beam 1 is 12.45 
Alpha[1]	0.000000
Alpha[1]	0.999989
TNavParticleFilter::Modified Variance for beam 2 is 12.18 
Alpha[2]	0.000000
Alpha[2]	0.999988
TNavParticleFilter::Modified Variance for beam 3 is 11.92 
Alpha[3]	0.000000
Alpha[3]	0.999987
TNavParticleFilter::Modified Variance for beam 4 is 11.82 
Alpha[4]	0.000000
Alpha[4]	0.999987
TNavParticleFilter::Modified Variance for beam 5 is 12.19 
Alpha[5]	0.000000
Alpha[5]	0.999986
TNavParticleFilter::Modified Variance for beam 6 is 12.59 
Alpha[6]	0.000000
Alpha[6]	0.999985
TNavParticleFilter::Modified Variance for beam 7 is 13.02 
Alpha[7]	0.000000
Alpha[7]	0.999984
TNavParticleFilter::Modified Variance for beam 8 is 12.82 
Alpha[8]	0.000000
Alpha[8]	0.999983
TNavParticleFilter::Modified Variance for beam 9 is 12.60 
Alpha[9]	0.000000
Alpha[9]	0.999982
TNavParticleFilter::Modified Variance for beam 10 is 12.93 
Alpha[10]	0.000000
Alpha[10]	0.999981
TNavParticleFilter::Modified Variance for beam 11 is 13.46 
Alpha[11]	0.000000
Alpha[11]	0.999979
TNavParticleFilter::Modified Variance for beam 12 is 15.85 
Alpha[12]	0.000000
Alpha[12]	0.999978
TNavParticleFilter::Modified Variance for beam 13 is 16.60 
Alpha[13]	0.000000
Alpha[13]	0.999977
TNavParticleFilter::Modified Variance for beam 14 is 16.90 
Alpha[14]	0.000000
Alpha[14]	0.999975
TNavParticleFilter::Modified Variance for beam 15 is 16.65 
Alpha[15]	0.000000
Alpha[15]	0.999974
TNavParticleFilter::Modified Variance for beam 16 is 17.00 
Alpha[16]	0.000000
Alpha[16]	0.999972
TNavParticleFilter::Modified Variance for beam 17 is 17.32 
Alpha[17]	0.000000
Alpha[17]	0.999970
TNavParticleFilter::Modified Variance for beam 18 is 17.08 
Alpha[18]	0.000000
Alpha[18]	0.999968
TNavParticleFilter::Modified Variance for beam 19 is 16.86 
Alpha[19]	0.000000
Alpha[19]	0.999966
TNavParticleFilter::Modified Variance for beam 20 is 16.66 
Alpha[20]	0.000000
Alpha[20]	0.999964
TNavParticleFilter::Modified Variance for beam 21 is 16.46 
Alpha[21]	0.000000
Alpha[21]	0.999962
TNavParticleFilter::Modified Variance for beam 22 is 15.23 
Alpha[22]	0.000000
Alpha[22]	0.999960
TNavParticleFilter::Modified Variance for beam 23 is 15.07 
Alpha[23]	0.000000
Alpha[23]	0.999958
TNavParticleFilter::Modified Variance for beam 24 is 15.08 
Alpha[24]	0.000000
Alpha[24]	0.999956
TNavParticleFilter::Modified Variance for beam 25 is 15.81 
Alpha[25]	0.000000
Alpha[25]	0.999954
TNavParticleFilter::Modified Variance for beam 26 is 15.67 
Alpha[26]	0.000000
Alpha[26]	0.999952
TNavParticleFilter::Modified Variance for beam 27 is 15.54 
Alpha[27]	0.000000
Alpha[27]	0.999949
TNavParticleFilter::Modified Variance for beam 28 is 15.42 
Alpha[28]	0.000000
Alpha[28]	0.999947
TNavParticleFilter::Modified Variance for beam 29 is 15.31 
Alpha[29]	0.000000
Alpha[29]	0.999944
TNavParticleFilter::Modified Variance for beam 30 is 16.21 
Alpha[30]	0.000000
Alpha[30]	0.999942
TNavParticleFilter::Modified Variance for beam 31 is 16.11 
Alpha[31]	0.000000
Alpha[31]	0.999939
TNavParticleFilter::Modified Variance for beam 32 is 16.02 
Alpha[32]	0.000000
Alpha[32]	0.999937
TNavParticleFilter::Modified Variance for beam 33 is 15.93 
Alpha[33]	0.000000
Alpha[33]	0.999934
TNavParticleFilter::Modified Variance for beam 34 is 15.86 
Alpha[34]	0.000000
Alpha[34]	0.999931
TNavParticleFilter::Modified Variance for beam 35 is 16.80 
Alpha[35]	0.000000
Alpha[35]	0.999928
TNavParticleFilter::Modified Variance for beam 36 is 16.74 
Alpha[36]	0.000000
Alpha[36]	0.999925
TNavParticleFilter::Modified Variance for beam 37 is 15.68 
Alpha[37]	0.000000
Alpha[37]	0.999922
TNavParticleFilter::Modified Variance for beam 38 is 14.67 
Alpha[38]	0.000000
Alpha[38]	0.999920
TNavParticleFilter::Modified Variance for beam 39 is 14.64 
Alpha[39]	0.000000
Alpha[39]	0.999917
TNavParticleFilter::Modified Variance for beam 40 is 14.61 
Alpha[40]	0.000000
Alpha[40]	0.999915
TNavParticleFilter::Modified Variance for beam 41 is 14.59 
Alpha[41]	0.000000
Alpha[41]	0.999913
TNavParticleFilter::Modified Variance for beam 42 is 14.58 
Alpha[42]	0.000000
Alpha[42]	0.999911
TNavParticleFilter::Modified Variance for beam 43 is 14.57 
Alpha[43]	0.000000
Alpha[43]	0.999909
TNavParticleFilter::Modified Variance for beam 44 is 13.66 
Alpha[44]	0.000000
Alpha[44]	0.999908
TNavParticleFilter::Modified Variance for beam 45 is 13.67 
Alpha[45]	0.000000
Alpha[45]	0.999907
TNavParticleFilter::Modified Variance for beam 46 is 13.68 
Alpha[46]	0.000000
Alpha[46]	0.999907
TNavParticleFilter::Modified Variance for beam 47 is 13.70 
Alpha[47]	0.000000
Alpha[47]	0.999907
TNavParticleFilter::Modified Variance for beam 48 is 13.72 
Alpha[48]	0.000000
Alpha[48]	0.999907
TNavParticleFilter::Modified Variance for beam 49 is 13.75 
Alpha[49]	0.000000
Alpha[49]	0.999907
TNavParticleFilter::Modified Variance for beam 50 is 13.79 
Alpha[50]	0.000000
Alpha[50]	0.999908
TNavParticleFilter::Modified Variance for beam 51 is 13.84 
Alpha[51]	0.000000
Alpha[51]	0.999909
TNavParticleFilter::Modified Variance for beam 52 is 13.89 
Alpha[52]	0.000000
Alpha[52]	0.999910
TNavParticleFilter::Modified Variance for beam 53 is 13.95 
Alpha[53]	0.000000
Alpha[53]	0.999911
TNavParticleFilter::Modified Variance for beam 54 is 14.96 
Alpha[54]	0.000000
Alpha[54]	0.999912
TNavParticleFilter::Modified Variance for beam 55 is 15.04 
Alpha[55]	0.000000
Alpha[55]	0.999913
TNavParticleFilter::Modified Variance for beam 56 is 16.12 
Alpha[56]	0.000000
Alpha[56]	0.999914
TNavParticleFilter::Modified Variance for beam 57 is 15.99 
Alpha[57]	0.000000
Alpha[57]	0.999916
TNavParticleFilter::Modified Variance for beam 58 is 15.32 
Alpha[58]	0.000000
Alpha[58]	0.999917
TNavParticleFilter::Modified Variance for beam 59 is 15.43 
Alpha[59]	0.000000
Alpha[59]	0.999918
TNavPF:: sumSquaredError = 10679.577812 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -42.40. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -40.84. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -39.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -38.18. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -36.60. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -34.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -31.32. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -28.66. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -27.49. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -26.54. Range = 63.99 
TNavPF::Calculated measDiffMean for beam 40 as -24.42. Range = 61.74 
TNavPF::Calculated measDiffMean for beam 41 as -21.82. Range = 59.67 
TNavPF::Calculated measDiffMean for beam 42 as -15.43. Range = 57.75 
TNavPF::Calculated measDiffMean for beam 43 as -12.65. Range = 55.96 
TNavPF::Calculated measDiffMean for beam 44 as -10.88. Range = 54.30 
TNavPF::Calculated measDiffMean for beam 45 as -10.25. Range = 52.75 
TNavPF::Calculated measDiffMean for beam 46 as -8.42. Range = 51.30 
TNavPF::Calculated measDiffMean for beam 47 as -6.74. Range = 49.94 
TNavPF::Calculated measDiffMean for beam 48 as -6.21. Range = 45.14 
TNavPF::Calculated measDiffMean for beam 49 as -5.63. Range = 44.03 
TNavPF::Calculated measDiffMean for beam 50 as -5.16. Range = 43.38 
TNavPF::Calculated measDiffMean for beam 51 as -4.68. Range = 44.02 
TNavPF::Calculated measDiffMean for beam 52 as -6.40. Range = 44.29 
TNavPF::Calculated measDiffMean for beam 53 as -5.96. Range = 43.35 
TNavPF::Calculated measDiffMean for beam 54 as -5.18. Range = 42.46 
TNavPF::Calculated measDiffMean for beam 55 as -2.97. Range = 41.62 
TNavPF::Calculated measDiffMean for beam 56 as -2.59. Range = 41.05 
TNavPF::Calculated measDiffMean for beam 57 as -2.22. Range = 41.73 
TNavPF::Calculated measDiffMean for beam 58 as -1.88. Range = 42.44 
TNavPF::Calculated measDiffMean for beam 59 as -1.52. Range = 43.19 
TNavPF::Calculated measDiffMean for beam 60 as 0.83. Range = 43.53 
TNavPF::Calculated measDiffMean for beam 61 as 1.11. Range = 42.83 
TNavPF::Calculated measDiffMean for beam 62 as 1.40. Range = 42.16 
TNavPF::Calculated measDiffMean for beam 63 as 1.74. Range = 41.53 
TNavPF::Calculated measDiffMean for beam 64 as 2.02. Range = 41.29 
TNavPF::Calculated measDiffMean for beam 65 as 4.33. Range = 42.19 
TNavPF::Calculated measDiffMean for beam 66 as 4.59. Range = 43.15 
TNavPF::Calculated measDiffMean for beam 67 as 2.79. Range = 44.16 
TNavPF::Calculated measDiffMean for beam 68 as 1.03. Range = 43.71 
TNavPF::Calculated measDiffMean for beam 69 as 1.27. Range = 43.18 
TNavPF::Calculated measDiffMean for beam 70 as 1.48. Range = 43.96 
TNavPF::Calculated measDiffMean for beam 71 as 1.70. Range = 45.16 
TNavPF::Calculated measDiffMean for beam 72 as 1.91. Range = 50.28 
TNavPF::Calculated measDiffMean for beam 73 as 2.07. Range = 51.77 
TNavPF::Calculated measDiffMean for beam 74 as 0.23. Range = 52.37 
TNavPF::Calculated measDiffMean for beam 75 as 0.35. Range = 51.87 
TNavPF::Calculated measDiffMean for beam 76 as 0.48. Range = 52.56 
TNavPF::Calculated measDiffMean for beam 77 as 0.61. Range = 53.17 
TNavPF::Calculated measDiffMean for beam 78 as 0.76. Range = 52.72 
TNavPF::Calculated measDiffMean for beam 79 as 0.87. Range = 52.29 
TNavPF::Calculated measDiffMean for beam 80 as 1.00. Range = 51.89 
TNavPF::Calculated measDiffMean for beam 81 as 1.13. Range = 51.51 
TNavPF::Calculated measDiffMean for beam 82 as 1.24. Range = 49.00 
TNavPF::Calculated measDiffMean for beam 83 as 1.34. Range = 48.67 
TNavPF::Calculated measDiffMean for beam 84 as 3.51. Range = 48.69 
TNavPF::Calculated measDiffMean for beam 85 as 3.58. Range = 50.18 
TNavPF::Calculated measDiffMean for beam 86 as 5.73. Range = 49.90 
TNavPF::Calculated measDiffMean for beam 87 as 5.38. Range = 49.64 
TNavPF::Calculated measDiffMean for beam 88 as 3.92. Range = 49.39 
TNavPF::Calculated measDiffMean for beam 89 as 4.04. Range = 49.16 
TNavPF::First Term of Map Covariance Matrix is 2003.51 
TNavPF::Calculated NIS Value : 5.25 	numBeams normalized NIS: 0.09
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323557.82 sec.
INS : North: 4070215.16, East: 589286.45, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 45.09, IDT[75] = 46.88
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323560.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323560.62)
ARL : North: 41.3603, East: -349.1393, Depth: -30.2420ARL : Estimation Bias  (Mean)         : (t = 1488323560.62)
ARL : North: 36.7332, East: -343.2300, Depth: -36.7548TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.09 
Alpha[0]	0.123000
Alpha[0]	0.999513
TNavParticleFilter::Modified Variance for beam 1 is 13.58 
Alpha[1]	0.000000
Alpha[1]	0.998337
TNavParticleFilter::Modified Variance for beam 2 is 13.09 
Alpha[2]	0.000000
Alpha[2]	0.998460
TNavParticleFilter::Modified Variance for beam 3 is 12.65 
Alpha[3]	0.000000
Alpha[3]	0.998373
TNavParticleFilter::Modified Variance for beam 4 is 12.57 
Alpha[4]	0.000000
Alpha[4]	0.997764
TNavParticleFilter::Modified Variance for beam 5 is 12.83 
Alpha[5]	0.000000
Alpha[5]	0.997353
TNavParticleFilter::Modified Variance for beam 6 is 13.11 
Alpha[6]	0.000000
Alpha[6]	0.997061
TNavParticleFilter::Modified Variance for beam 7 is 13.40 
Alpha[7]	0.000000
Alpha[7]	0.997003
TNavParticleFilter::Modified Variance for beam 8 is 13.37 
Alpha[8]	0.000000
Alpha[8]	0.997113
TNavParticleFilter::Modified Variance for beam 9 is 13.01 
Alpha[9]	0.000000
Alpha[9]	0.996596
TNavParticleFilter::Modified Variance for beam 10 is 12.69 
Alpha[10]	0.000000
Alpha[10]	0.994764
TNavParticleFilter::Modified Variance for beam 11 is 12.39 
Alpha[11]	0.000000
Alpha[11]	0.992657
TNavParticleFilter::Modified Variance for beam 12 is 12.65 
Alpha[12]	0.000000
Alpha[12]	0.991906
TNavParticleFilter::Modified Variance for beam 13 is 12.99 
Alpha[13]	0.000000
Alpha[13]	0.991694
TNavParticleFilter::Modified Variance for beam 14 is 13.37 
Alpha[14]	0.000000
Alpha[14]	0.990902
TNavParticleFilter::Modified Variance for beam 15 is 13.58 
Alpha[15]	0.000000
Alpha[15]	0.988561
TNavParticleFilter::Modified Variance for beam 16 is 13.28 
Alpha[16]	0.000000
Alpha[16]	0.988932
TNavParticleFilter::Modified Variance for beam 17 is 13.20 
Alpha[17]	0.000000
Alpha[17]	0.992169
TNavParticleFilter::Modified Variance for beam 18 is 13.62 
Alpha[18]	0.000000
Alpha[18]	0.992977
TNavParticleFilter::Modified Variance for beam 19 is 14.09 
Alpha[19]	0.000000
Alpha[19]	0.993250
TNavParticleFilter::Modified Variance for beam 20 is 16.21 
Alpha[20]	0.000000
Alpha[20]	0.995328
TNavParticleFilter::Modified Variance for beam 21 is 16.83 
Alpha[21]	0.000000
Alpha[21]	0.996524
TNavParticleFilter::Modified Variance for beam 22 is 17.34 
Alpha[22]	0.000000
Alpha[22]	0.997001
TNavParticleFilter::Modified Variance for beam 23 is 17.02 
Alpha[23]	0.000000
Alpha[23]	0.996824
TNavParticleFilter::Modified Variance for beam 24 is 17.09 
Alpha[24]	0.000000
Alpha[24]	0.996467
TNavParticleFilter::Modified Variance for beam 25 is 17.67 
Alpha[25]	0.000000
Alpha[25]	0.995794
TNavParticleFilter::Modified Variance for beam 26 is 17.39 
Alpha[26]	0.000000
Alpha[26]	0.995083
TNavParticleFilter::Modified Variance for beam 27 is 17.13 
Alpha[27]	0.000000
Alpha[27]	0.994573
TNavParticleFilter::Modified Variance for beam 28 is 16.87 
Alpha[28]	0.000000
Alpha[28]	0.994924
TNavParticleFilter::Modified Variance for beam 29 is 16.62 
Alpha[29]	0.000000
Alpha[29]	0.995461
TNavParticleFilter::Modified Variance for beam 30 is 15.29 
Alpha[30]	0.000000
Alpha[30]	0.995470
TNavParticleFilter::Modified Variance for beam 31 is 15.09 
Alpha[31]	0.000000
Alpha[31]	0.995739
TNavParticleFilter::Modified Variance for beam 32 is 15.20 
Alpha[32]	0.000000
Alpha[32]	0.996911
TNavParticleFilter::Modified Variance for beam 33 is 15.75 
Alpha[33]	0.000000
Alpha[33]	0.997566
TNavParticleFilter::Modified Variance for beam 34 is 15.58 
Alpha[34]	0.000000
Alpha[34]	0.997579
TNavParticleFilter::Modified Variance for beam 35 is 15.42 
Alpha[35]	0.000000
Alpha[35]	0.997106
TNavParticleFilter::Modified Variance for beam 36 is 15.28 
Alpha[36]	0.000000
Alpha[36]	0.996207
TNavParticleFilter::Modified Variance for beam 37 is 15.16 
Alpha[37]	0.000000
Alpha[37]	0.995665
TNavParticleFilter::Modified Variance for beam 38 is 15.00 
Alpha[38]	0.000000
Alpha[38]	0.995944
TNavParticleFilter::Modified Variance for beam 39 is 14.86 
Alpha[39]	0.000000
Alpha[39]	0.996644
TNavParticleFilter::Modified Variance for beam 40 is 15.74 
Alpha[40]	0.000000
Alpha[40]	0.997224
TNavParticleFilter::Modified Variance for beam 41 is 15.61 
Alpha[41]	0.000000
Alpha[41]	0.998037
TNavParticleFilter::Modified Variance for beam 42 is 14.51 
Alpha[42]	0.000000
Alpha[42]	0.998241
TNavParticleFilter::Modified Variance for beam 43 is 14.42 
Alpha[43]	0.000000
Alpha[43]	0.998358
TNavParticleFilter::Modified Variance for beam 44 is 14.33 
Alpha[44]	0.000000
Alpha[44]	0.998455
TNavParticleFilter::Modified Variance for beam 45 is 14.26 
Alpha[45]	0.000000
Alpha[45]	0.998238
TNavParticleFilter::Modified Variance for beam 46 is 14.19 
Alpha[46]	0.000000
Alpha[46]	0.998113
TNavParticleFilter::Modified Variance for beam 47 is 14.13 
Alpha[47]	0.000000
Alpha[47]	0.997987
TNavParticleFilter::Modified Variance for beam 48 is 14.07 
Alpha[48]	0.000000
Alpha[48]	0.998195
TNavParticleFilter::Modified Variance for beam 49 is 14.02 
Alpha[49]	0.000000
Alpha[49]	0.998183
TNavParticleFilter::Modified Variance for beam 50 is 13.98 
Alpha[50]	0.000000
Alpha[50]	0.998080
TNavParticleFilter::Modified Variance for beam 51 is 13.95 
Alpha[51]	0.000000
Alpha[51]	0.997995
TNavParticleFilter::Modified Variance for beam 52 is 13.03 
Alpha[52]	0.000000
Alpha[52]	0.997903
TNavParticleFilter::Modified Variance for beam 53 is 13.01 
Alpha[53]	0.000000
Alpha[53]	0.998288
TNavParticleFilter::Modified Variance for beam 54 is 12.99 
Alpha[54]	0.000000
Alpha[54]	0.998501
TNavParticleFilter::Modified Variance for beam 55 is 12.98 
Alpha[55]	0.000000
Alpha[55]	0.998404
TNavParticleFilter::Modified Variance for beam 56 is 12.99 
Alpha[56]	0.000000
Alpha[56]	0.997579
TNavParticleFilter::Modified Variance for beam 57 is 13.00 
Alpha[57]	0.000000
Alpha[57]	0.996969
TNavParticleFilter::Modified Variance for beam 58 is 13.00 
Alpha[58]	0.000000
Alpha[58]	0.997282
TNavParticleFilter::Modified Variance for beam 59 is 13.01 
Alpha[59]	0.000000
Alpha[59]	0.997574
TNavPF:: sumSquaredError = 77.345615 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -6.01. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -6.48. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -7.04. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as -7.39. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as -6.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as -5.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as -5.06. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as -4.25. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as -3.93. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as -4.17. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as -4.34. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as -4.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as -3.53. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as -2.94. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as -2.50. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 45 as -1.90. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 46 as -2.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 47 as -2.67. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 48 as -1.70. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 49 as -0.64. Range = 66.65 
TNavPF::Calculated measDiffMean for beam 50 as 3.39. Range = 64.02 
TNavPF::Calculated measDiffMean for beam 51 as 4.19. Range = 61.61 
TNavPF::Calculated measDiffMean for beam 52 as 5.15. Range = 59.40 
TNavPF::Calculated measDiffMean for beam 53 as 4.65. Range = 57.35 
TNavPF::Calculated measDiffMean for beam 54 as 4.87. Range = 55.46 
TNavPF::Calculated measDiffMean for beam 55 as 6.24. Range = 53.70 
TNavPF::Calculated measDiffMean for beam 56 as 6.03. Range = 48.06 
TNavPF::Calculated measDiffMean for beam 57 as 5.73. Range = 46.66 
TNavPF::Calculated measDiffMean for beam 58 as 5.33. Range = 47.09 
TNavPF::Calculated measDiffMean for beam 59 as 4.81. Range = 47.61 
TNavPF::Calculated measDiffMean for beam 60 as 1.88. Range = 46.55 
TNavPF::Calculated measDiffMean for beam 61 as 1.43. Range = 45.38 
TNavPF::Calculated measDiffMean for beam 62 as 1.67. Range = 44.28 
TNavPF::Calculated measDiffMean for beam 63 as 2.23. Range = 43.25 
TNavPF::Calculated measDiffMean for beam 64 as 0.92. Range = 43.04 
TNavPF::Calculated measDiffMean for beam 65 as -0.29. Range = 43.64 
TNavPF::Calculated measDiffMean for beam 66 as -1.14. Range = 44.27 
TNavPF::Calculated measDiffMean for beam 67 as -1.46. Range = 44.94 
TNavPF::Calculated measDiffMean for beam 68 as -1.69. Range = 44.88 
TNavPF::Calculated measDiffMean for beam 69 as -2.36. Range = 44.03 
TNavPF::Calculated measDiffMean for beam 70 as -1.49. Range = 43.23 
TNavPF::Calculated measDiffMean for beam 71 as -2.48. Range = 42.47 
TNavPF::Calculated measDiffMean for beam 72 as -4.80. Range = 43.05 
TNavPF::Calculated measDiffMean for beam 73 as -4.67. Range = 43.85 
TNavPF::Calculated measDiffMean for beam 74 as -4.37. Range = 44.69 
TNavPF::Calculated measDiffMean for beam 75 as -3.76. Range = 45.09 
TNavPF::Calculated measDiffMean for beam 76 as -3.48. Range = 44.42 
TNavPF::Calculated measDiffMean for beam 77 as -3.15. Range = 44.33 
TNavPF::Calculated measDiffMean for beam 78 as -2.76. Range = 45.31 
TNavPF::Calculated measDiffMean for beam 79 as -2.22. Range = 46.35 
TNavPF::Calculated measDiffMean for beam 80 as -1.93. Range = 50.85 
TNavPF::Calculated measDiffMean for beam 81 as -1.60. Range = 52.11 
TNavPF::Calculated measDiffMean for beam 82 as -3.33. Range = 53.11 
TNavPF::Calculated measDiffMean for beam 83 as -2.74. Range = 52.50 
TNavPF::Calculated measDiffMean for beam 84 as -2.22. Range = 52.62 
TNavPF::Calculated measDiffMean for beam 85 as -2.08. Range = 53.70 
TNavPF::Calculated measDiffMean for beam 86 as -1.75. Range = 53.15 
TNavPF::Calculated measDiffMean for beam 87 as -1.64. Range = 52.63 
TNavPF::Calculated measDiffMean for beam 88 as -1.75. Range = 52.13 
TNavPF::Calculated measDiffMean for beam 89 as -1.85. Range = 51.66 
TNavPF::First Term of Map Covariance Matrix is 41.06 
TNavPF::Calculated NIS Value : 30.40 	numBeams normalized NIS: 0.51
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323560.82 sec.
INS : North: 4070213.45, East: 589282.75, Depth: 889.87
TerrainNav::measUpdate() - IDT[45] = 53.56, IDT[75] = 42.82
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323563.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323563.62)
ARL : North: 33.0535, East: -353.2225, Depth: -39.3898ARL : Estimation Bias  (Mean)         : (t = 1488323563.62)
ARL : North: 32.3631, East: -352.6988, Depth: -41.4603TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.53 
Alpha[0]	0.123000
Alpha[0]	0.977974
TNavParticleFilter::Modified Variance for beam 1 is 14.12 
Alpha[1]	0.000000
Alpha[1]	0.972850
TNavParticleFilter::Modified Variance for beam 2 is 14.28 
Alpha[2]	0.000000
Alpha[2]	0.977416
TNavParticleFilter::Modified Variance for beam 3 is 14.55 
Alpha[3]	0.000000
Alpha[3]	0.980988
TNavParticleFilter::Modified Variance for beam 4 is 14.80 
Alpha[4]	0.000000
Alpha[4]	0.986561
TNavParticleFilter::Modified Variance for beam 5 is 15.19 
Alpha[5]	0.000000
Alpha[5]	0.984793
TNavParticleFilter::Modified Variance for beam 6 is 15.76 
Alpha[6]	0.000000
Alpha[6]	0.973168
TNavParticleFilter::Modified Variance for beam 7 is 15.74 
Alpha[7]	0.000000
Alpha[7]	0.974105
TNavParticleFilter::Modified Variance for beam 8 is 15.17 
Alpha[8]	0.000000
Alpha[8]	0.983968
TNavParticleFilter::Modified Variance for beam 9 is 15.35 
Alpha[9]	0.000000
Alpha[9]	0.991004
TNavParticleFilter::Modified Variance for beam 10 is 16.94 
Alpha[10]	0.000000
Alpha[10]	0.993048
TNavParticleFilter::Modified Variance for beam 11 is 16.52 
Alpha[11]	0.000000
Alpha[11]	0.993191
TNavParticleFilter::Modified Variance for beam 12 is 16.73 
Alpha[12]	0.000000
Alpha[12]	0.995004
TNavParticleFilter::Modified Variance for beam 13 is 17.26 
Alpha[13]	0.000000
Alpha[13]	0.996992
TNavParticleFilter::Modified Variance for beam 14 is 17.86 
Alpha[14]	0.000000
Alpha[14]	0.997420
TNavParticleFilter::Modified Variance for beam 15 is 17.57 
Alpha[15]	0.000000
Alpha[15]	0.997397
TNavParticleFilter::Modified Variance for beam 16 is 17.41 
Alpha[16]	0.000000
Alpha[16]	0.997436
TNavParticleFilter::Modified Variance for beam 17 is 18.08 
Alpha[17]	0.000000
Alpha[17]	0.997848
TNavParticleFilter::Modified Variance for beam 18 is 17.78 
Alpha[18]	0.000000
Alpha[18]	0.998282
TNavParticleFilter::Modified Variance for beam 19 is 17.44 
Alpha[19]	0.000000
Alpha[19]	0.998570
TNavParticleFilter::Modified Variance for beam 20 is 17.12 
Alpha[20]	0.000000
Alpha[20]	0.998806
TNavParticleFilter::Modified Variance for beam 21 is 16.82 
Alpha[21]	0.000000
Alpha[21]	0.998810
TNavParticleFilter::Modified Variance for beam 22 is 15.40 
Alpha[22]	0.000000
Alpha[22]	0.998607
TNavParticleFilter::Modified Variance for beam 23 is 15.16 
Alpha[23]	0.000000
Alpha[23]	0.998664
TNavParticleFilter::Modified Variance for beam 24 is 15.53 
Alpha[24]	0.000000
Alpha[24]	0.998498
TNavParticleFilter::Modified Variance for beam 25 is 15.83 
Alpha[25]	0.000000
Alpha[25]	0.997471
TNavParticleFilter::Modified Variance for beam 26 is 15.64 
Alpha[26]	0.000000
Alpha[26]	0.995221
TNavParticleFilter::Modified Variance for beam 27 is 15.46 
Alpha[27]	0.000000
Alpha[27]	0.993565
TNavParticleFilter::Modified Variance for beam 28 is 15.28 
Alpha[28]	0.000000
Alpha[28]	0.992880
TNavParticleFilter::Modified Variance for beam 29 is 15.46 
Alpha[29]	0.000000
Alpha[29]	0.993204
TNavParticleFilter::Modified Variance for beam 30 is 15.98 
Alpha[30]	0.000000
Alpha[30]	0.992661
TNavParticleFilter::Modified Variance for beam 31 is 15.84 
Alpha[31]	0.000000
Alpha[31]	0.990598
TNavParticleFilter::Modified Variance for beam 32 is 15.71 
Alpha[32]	0.000000
Alpha[32]	0.988250
TNavParticleFilter::Modified Variance for beam 33 is 15.56 
Alpha[33]	0.000000
Alpha[33]	0.987888
TNavParticleFilter::Modified Variance for beam 34 is 15.53 
Alpha[34]	0.000000
Alpha[34]	0.988163
TNavParticleFilter::Modified Variance for beam 35 is 16.30 
Alpha[35]	0.000000
Alpha[35]	0.988827
TNavParticleFilter::Modified Variance for beam 36 is 16.14 
Alpha[36]	0.000000
Alpha[36]	0.990146
TNavParticleFilter::Modified Variance for beam 37 is 14.98 
Alpha[37]	0.000000
Alpha[37]	0.991543
TNavParticleFilter::Modified Variance for beam 38 is 13.89 
Alpha[38]	0.000000
Alpha[38]	0.993524
TNavParticleFilter::Modified Variance for beam 39 is 13.78 
Alpha[39]	0.000000
Alpha[39]	0.994970
TNavParticleFilter::Modified Variance for beam 40 is 13.69 
Alpha[40]	0.000000
Alpha[40]	0.995247
TNavParticleFilter::Modified Variance for beam 41 is 13.62 
Alpha[41]	0.000000
Alpha[41]	0.994807
TNavParticleFilter::Modified Variance for beam 42 is 13.55 
Alpha[42]	0.000000
Alpha[42]	0.995187
TNavParticleFilter::Modified Variance for beam 43 is 12.59 
Alpha[43]	0.000000
Alpha[43]	0.996665
TNavParticleFilter::Modified Variance for beam 44 is 12.53 
Alpha[44]	0.000000
Alpha[44]	0.997318
TNavParticleFilter::Modified Variance for beam 45 is 12.48 
Alpha[45]	0.000000
Alpha[45]	0.997396
TNavParticleFilter::Modified Variance for beam 46 is 12.44 
Alpha[46]	0.000000
Alpha[46]	0.997555
TNavParticleFilter::Modified Variance for beam 47 is 12.40 
Alpha[47]	0.000000
Alpha[47]	0.998068
TNavParticleFilter::Modified Variance for beam 48 is 14.13 
Alpha[48]	0.000000
Alpha[48]	0.998345
TNavParticleFilter::Modified Variance for beam 49 is 12.35 
Alpha[49]	0.000000
Alpha[49]	0.998608
TNavParticleFilter::Modified Variance for beam 50 is 12.33 
Alpha[50]	0.000000
Alpha[50]	0.998835
TNavParticleFilter::Modified Variance for beam 51 is 12.31 
Alpha[51]	0.000000
Alpha[51]	0.998780
TNavParticleFilter::Modified Variance for beam 52 is 12.31 
Alpha[52]	0.000000
Alpha[52]	0.998489
TNavParticleFilter::Modified Variance for beam 53 is 12.32 
Alpha[53]	0.000000
Alpha[53]	0.998200
TNavParticleFilter::Modified Variance for beam 54 is 13.18 
Alpha[54]	0.000000
Alpha[54]	0.997501
TNavParticleFilter::Modified Variance for beam 55 is 13.22 
Alpha[55]	0.000000
Alpha[55]	0.995649
TNavParticleFilter::Modified Variance for beam 56 is 14.15 
Alpha[56]	0.000000
Alpha[56]	0.994387
TNavParticleFilter::Modified Variance for beam 57 is 14.18 
Alpha[57]	0.000000
Alpha[57]	0.993915
TNavParticleFilter::Modified Variance for beam 58 is 14.03 
Alpha[58]	0.000000
Alpha[58]	0.992858
TNavParticleFilter::Modified Variance for beam 59 is 13.35 
Alpha[59]	0.000000
Alpha[59]	0.993803
TNavPF:: sumSquaredError = 50.426942 
TNavPF:: sumWeights = 0.000003 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.35. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -0.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as 0.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 33 as 0.88. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 34 as 0.99. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 35 as 0.98. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 36 as 1.45. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 37 as 1.73. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 38 as 1.30. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 39 as 2.08. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 40 as 5.75. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 41 as 5.38. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 42 as 5.92. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 43 as 6.69. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 44 as 7.58. Range = 66.95 
TNavPF::Calculated measDiffMean for beam 45 as 6.71. Range = 64.11 
TNavPF::Calculated measDiffMean for beam 46 as 6.47. Range = 61.52 
TNavPF::Calculated measDiffMean for beam 47 as 8.08. Range = 59.14 
TNavPF::Calculated measDiffMean for beam 48 as 7.73. Range = 56.96 
TNavPF::Calculated measDiffMean for beam 49 as 7.10. Range = 50.46 
TNavPF::Calculated measDiffMean for beam 50 as 6.43. Range = 48.75 
TNavPF::Calculated measDiffMean for beam 51 as 6.41. Range = 47.50 
TNavPF::Calculated measDiffMean for beam 52 as 4.17. Range = 47.96 
TNavPF::Calculated measDiffMean for beam 53 as 3.10. Range = 48.29 
TNavPF::Calculated measDiffMean for beam 54 as 2.35. Range = 46.90 
TNavPF::Calculated measDiffMean for beam 55 as 1.23. Range = 47.11 
TNavPF::Calculated measDiffMean for beam 56 as -0.32. Range = 47.65 
TNavPF::Calculated measDiffMean for beam 57 as -1.18. Range = 46.79 
TNavPF::Calculated measDiffMean for beam 58 as -1.70. Range = 46.34 
TNavPF::Calculated measDiffMean for beam 59 as -1.12. Range = 46.93 
TNavPF::Calculated measDiffMean for beam 60 as 0.56. Range = 46.82 
TNavPF::Calculated measDiffMean for beam 61 as 0.88. Range = 45.78 
TNavPF::Calculated measDiffMean for beam 62 as 1.01. Range = 46.28 
TNavPF::Calculated measDiffMean for beam 63 as 1.11. Range = 46.96 
TNavPF::Calculated measDiffMean for beam 64 as 1.41. Range = 47.68 
TNavPF::Calculated measDiffMean for beam 65 as 3.30. Range = 48.43 
TNavPF::Calculated measDiffMean for beam 66 as 3.42. Range = 49.22 
TNavPF::Calculated measDiffMean for beam 67 as 1.52. Range = 49.22 
TNavPF::Calculated measDiffMean for beam 68 as -0.36. Range = 48.37 
TNavPF::Calculated measDiffMean for beam 69 as -0.22. Range = 48.95 
TNavPF::Calculated measDiffMean for beam 70 as -0.17. Range = 52.22 
TNavPF::Calculated measDiffMean for beam 71 as -0.08. Range = 51.40 
TNavPF::Calculated measDiffMean for beam 72 as 0.21. Range = 51.88 
TNavPF::Calculated measDiffMean for beam 73 as -1.28. Range = 52.96 
TNavPF::Calculated measDiffMean for beam 74 as -0.77. Range = 54.11 
TNavPF::Calculated measDiffMean for beam 75 as -0.68. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 76 as -0.95. Range = 53.26 
TNavPF::Calculated measDiffMean for beam 77 as -1.46. Range = 54.55 
TNavPF::Calculated measDiffMean for beam 78 as 2.45. Range = 53.99 
TNavPF::Calculated measDiffMean for beam 79 as -1.37. Range = 53.35 
TNavPF::Calculated measDiffMean for beam 80 as -1.35. Range = 52.75 
TNavPF::Calculated measDiffMean for beam 81 as -1.40. Range = 52.18 
TNavPF::Calculated measDiffMean for beam 82 as -1.50. Range = 49.31 
TNavPF::Calculated measDiffMean for beam 83 as -1.60. Range = 48.81 
TNavPF::Calculated measDiffMean for beam 84 as 0.16. Range = 49.57 
TNavPF::Calculated measDiffMean for beam 85 as -0.25. Range = 50.15 
TNavPF::Calculated measDiffMean for beam 86 as 1.83. Range = 49.70 
TNavPF::Calculated measDiffMean for beam 87 as 2.56. Range = 49.28 
TNavPF::Calculated measDiffMean for beam 88 as 2.64. Range = 48.88 
TNavPF::Calculated measDiffMean for beam 89 as 1.52. Range = 49.26 
TNavPF::First Term of Map Covariance Matrix is 0.90 
TNavPF::Calculated NIS Value : 19.95 	numBeams normalized NIS: 0.33
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323563.82 sec.
INS : North: 4070212.02, East: 589278.92, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 50.53, IDT[75] = 43.68
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323566.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323566.62)
ARL : North: 33.2519, East: -353.7923, Depth: -38.6180ARL : Estimation Bias  (Mean)         : (t = 1488323566.62)
ARL : North: 33.0516, East: -353.1388, Depth: -40.4944TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.39 
Alpha[0]	0.123000
Alpha[0]	0.998043
TNavParticleFilter::Modified Variance for beam 1 is 19.02 
Alpha[1]	0.000000
Alpha[1]	0.998462
TNavParticleFilter::Modified Variance for beam 2 is 18.67 
Alpha[2]	0.000000
Alpha[2]	0.998706
TNavParticleFilter::Modified Variance for beam 3 is 18.26 
Alpha[3]	0.000000
Alpha[3]	0.998849
TNavParticleFilter::Modified Variance for beam 4 is 17.87 
Alpha[4]	0.000000
Alpha[4]	0.998742
TNavParticleFilter::Modified Variance for beam 5 is 17.52 
Alpha[5]	0.000000
Alpha[5]	0.998622
TNavParticleFilter::Modified Variance for beam 6 is 17.17 
Alpha[6]	0.000000
Alpha[6]	0.998861
TNavParticleFilter::Modified Variance for beam 7 is 16.86 
Alpha[7]	0.000000
Alpha[7]	0.998417
TNavParticleFilter::Modified Variance for beam 8 is 16.59 
Alpha[8]	0.000000
Alpha[8]	0.996570
TNavParticleFilter::Modified Variance for beam 9 is 16.35 
Alpha[9]	0.000000
Alpha[9]	0.994090
TNavParticleFilter::Modified Variance for beam 10 is 16.21 
Alpha[10]	0.000000
Alpha[10]	0.993068
TNavParticleFilter::Modified Variance for beam 11 is 16.99 
Alpha[11]	0.000000
Alpha[11]	0.993373
TNavParticleFilter::Modified Variance for beam 12 is 16.72 
Alpha[12]	0.000000
Alpha[12]	0.994518
TNavParticleFilter::Modified Variance for beam 13 is 16.48 
Alpha[13]	0.000000
Alpha[13]	0.994432
TNavParticleFilter::Modified Variance for beam 14 is 16.28 
Alpha[14]	0.000000
Alpha[14]	0.992888
TNavParticleFilter::Modified Variance for beam 15 is 16.11 
Alpha[15]	0.000000
Alpha[15]	0.991690
TNavParticleFilter::Modified Variance for beam 16 is 17.00 
Alpha[16]	0.000000
Alpha[16]	0.990773
TNavParticleFilter::Modified Variance for beam 17 is 16.80 
Alpha[17]	0.000000
Alpha[17]	0.990407
TNavParticleFilter::Modified Variance for beam 18 is 16.60 
Alpha[18]	0.000000
Alpha[18]	0.991013
TNavParticleFilter::Modified Variance for beam 19 is 16.38 
Alpha[19]	0.000000
Alpha[19]	0.992819
TNavParticleFilter::Modified Variance for beam 20 is 15.13 
Alpha[20]	0.000000
Alpha[20]	0.994859
TNavParticleFilter::Modified Variance for beam 21 is 13.99 
Alpha[21]	0.000000
Alpha[21]	0.995669
TNavParticleFilter::Modified Variance for beam 22 is 13.86 
Alpha[22]	0.000000
Alpha[22]	0.995662
TNavParticleFilter::Modified Variance for beam 23 is 13.75 
Alpha[23]	0.000000
Alpha[23]	0.995442
TNavParticleFilter::Modified Variance for beam 24 is 13.62 
Alpha[24]	0.000000
Alpha[24]	0.996296
TNavParticleFilter::Modified Variance for beam 25 is 12.61 
Alpha[25]	0.000000
Alpha[25]	0.997284
TNavParticleFilter::Modified Variance for beam 26 is 12.52 
Alpha[26]	0.000000
Alpha[26]	0.997492
TNavParticleFilter::Modified Variance for beam 27 is 12.44 
Alpha[27]	0.000000
Alpha[27]	0.997386
TNavParticleFilter::Modified Variance for beam 28 is 12.37 
Alpha[28]	0.000000
Alpha[28]	0.997348
TNavParticleFilter::Modified Variance for beam 29 is 12.30 
Alpha[29]	0.000000
Alpha[29]	0.997999
TNavParticleFilter::Modified Variance for beam 30 is 12.23 
Alpha[30]	0.000000
Alpha[30]	0.998464
TNavParticleFilter::Modified Variance for beam 31 is 13.94 
Alpha[31]	0.000000
Alpha[31]	0.998584
TNavParticleFilter::Modified Variance for beam 32 is 13.88 
Alpha[32]	0.000000
Alpha[32]	0.998776
TNavParticleFilter::Modified Variance for beam 33 is 13.82 
Alpha[33]	0.000000
Alpha[33]	0.998836
TNavParticleFilter::Modified Variance for beam 34 is 13.78 
Alpha[34]	0.000000
Alpha[34]	0.998606
TNavParticleFilter::Modified Variance for beam 35 is 13.75 
Alpha[35]	0.000000
Alpha[35]	0.998285
TNavParticleFilter::Modified Variance for beam 36 is 13.73 
Alpha[36]	0.000000
Alpha[36]	0.997611
TNavParticleFilter::Modified Variance for beam 37 is 13.73 
Alpha[37]	0.000000
Alpha[37]	0.995870
TNavParticleFilter::Modified Variance for beam 38 is 13.72 
Alpha[38]	0.000000
Alpha[38]	0.995050
TNavParticleFilter::Modified Variance for beam 39 is 12.83 
Alpha[39]	0.000000
Alpha[39]	0.994580
TNavParticleFilter::Modified Variance for beam 40 is 12.84 
Alpha[40]	0.000000
Alpha[40]	0.993643
TNavParticleFilter::Modified Variance for beam 41 is 13.69 
Alpha[41]	0.000000
Alpha[41]	0.995701
TNavParticleFilter::Modified Variance for beam 42 is 13.67 
Alpha[42]	0.000000
Alpha[42]	0.997231
TNavParticleFilter::Modified Variance for beam 43 is 13.68 
Alpha[43]	0.000000
Alpha[43]	0.997540
TNavParticleFilter::Modified Variance for beam 44 is 12.83 
Alpha[44]	0.000000
Alpha[44]	0.997347
TNavParticleFilter::Modified Variance for beam 45 is 12.86 
Alpha[45]	0.000000
Alpha[45]	0.996763
TNavParticleFilter::Modified Variance for beam 46 is 12.89 
Alpha[46]	0.000000
Alpha[46]	0.996355
TNavParticleFilter::Modified Variance for beam 47 is 12.09 
Alpha[47]	0.000000
Alpha[47]	0.995437
TNavParticleFilter::Modified Variance for beam 48 is 12.16 
Alpha[48]	0.000000
Alpha[48]	0.992879
TNavParticleFilter::Modified Variance for beam 49 is 12.23 
Alpha[49]	0.000000
Alpha[49]	0.990286
TNavParticleFilter::Modified Variance for beam 50 is 15.01 
Alpha[50]	0.000000
Alpha[50]	0.989272
TNavParticleFilter::Modified Variance for beam 51 is 13.91 
Alpha[51]	0.000000
Alpha[51]	0.989256
TNavParticleFilter::Modified Variance for beam 52 is 13.26 
Alpha[52]	0.000000
Alpha[52]	0.990711
TNavParticleFilter::Modified Variance for beam 53 is 13.30 
Alpha[53]	0.000000
Alpha[53]	0.993300
TNavParticleFilter::Modified Variance for beam 54 is 14.28 
Alpha[54]	0.000000
Alpha[54]	0.995134
TNavParticleFilter::Modified Variance for beam 55 is 14.37 
Alpha[55]	0.000000
Alpha[55]	0.996012
TNavParticleFilter::Modified Variance for beam 56 is 14.46 
Alpha[56]	0.000000
Alpha[56]	0.996332
TNavParticleFilter::Modified Variance for beam 57 is 14.57 
Alpha[57]	0.000000
Alpha[57]	0.996456
TNavParticleFilter::Modified Variance for beam 58 is 14.69 
Alpha[58]	0.000000
Alpha[58]	0.996625
TNavParticleFilter::Modified Variance for beam 59 is 13.83 
Alpha[59]	0.000000
Alpha[59]	0.997557
TNavPF:: sumSquaredError = 134.225860 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 6.88. Range = 70.60 
TNavPF::Calculated measDiffMean for beam 31 as 8.35. Range = 67.29 
TNavPF::Calculated measDiffMean for beam 32 as 7.78. Range = 64.30 
TNavPF::Calculated measDiffMean for beam 33 as 7.18. Range = 61.58 
TNavPF::Calculated measDiffMean for beam 34 as 7.13. Range = 59.09 
TNavPF::Calculated measDiffMean for beam 35 as 6.52. Range = 56.82 
TNavPF::Calculated measDiffMean for beam 36 as 4.40. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 37 as 2.36. Range = 52.81 
TNavPF::Calculated measDiffMean for beam 38 as 0.75. Range = 51.66 
TNavPF::Calculated measDiffMean for beam 39 as -0.53. Range = 49.86 
TNavPF::Calculated measDiffMean for beam 40 as -1.19. Range = 50.35 
TNavPF::Calculated measDiffMean for beam 41 as 0.31. Range = 50.36 
TNavPF::Calculated measDiffMean for beam 42 as 0.13. Range = 49.04 
TNavPF::Calculated measDiffMean for beam 43 as 0.50. Range = 49.58 
TNavPF::Calculated measDiffMean for beam 44 as 0.83. Range = 49.93 
TNavPF::Calculated measDiffMean for beam 45 as 1.02. Range = 48.66 
TNavPF::Calculated measDiffMean for beam 46 as 3.26. Range = 48.90 
TNavPF::Calculated measDiffMean for beam 47 as 3.30. Range = 49.52 
TNavPF::Calculated measDiffMean for beam 48 as 3.36. Range = 50.18 
TNavPF::Calculated measDiffMean for beam 49 as 3.55. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 50 as 1.64. Range = 51.59 
TNavPF::Calculated measDiffMean for beam 51 as -0.34. Range = 51.67 
TNavPF::Calculated measDiffMean for beam 52 as -0.32. Range = 50.65 
TNavPF::Calculated measDiffMean for beam 53 as -0.24. Range = 51.28 
TNavPF::Calculated measDiffMean for beam 54 as 0.20. Range = 54.57 
TNavPF::Calculated measDiffMean for beam 55 as -1.24. Range = 53.59 
TNavPF::Calculated measDiffMean for beam 56 as -0.89. Range = 53.94 
TNavPF::Calculated measDiffMean for beam 57 as -0.90. Range = 54.93 
TNavPF::Calculated measDiffMean for beam 58 as -1.12. Range = 55.96 
TNavPF::Calculated measDiffMean for beam 59 as -1.52. Range = 55.49 
TNavPF::Calculated measDiffMean for beam 60 as -1.67. Range = 55.13 
TNavPF::Calculated measDiffMean for beam 61 as 2.59. Range = 56.29 
TNavPF::Calculated measDiffMean for beam 62 as 2.51. Range = 55.66 
TNavPF::Calculated measDiffMean for beam 63 as 2.24. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 64 as 2.14. Range = 54.19 
TNavPF::Calculated measDiffMean for beam 65 as 2.08. Range = 53.50 
TNavPF::Calculated measDiffMean for beam 66 as 1.68. Range = 52.85 
TNavPF::Calculated measDiffMean for beam 67 as 1.42. Range = 52.23 
TNavPF::Calculated measDiffMean for beam 68 as 1.61. Range = 51.65 
TNavPF::Calculated measDiffMean for beam 69 as 0.33. Range = 51.08 
TNavPF::Calculated measDiffMean for beam 70 as 0.91. Range = 50.77 
TNavPF::Calculated measDiffMean for beam 71 as 3.50. Range = 52.33 
TNavPF::Calculated measDiffMean for beam 72 as 4.56. Range = 51.84 
TNavPF::Calculated measDiffMean for beam 73 as 5.21. Range = 51.36 
TNavPF::Calculated measDiffMean for beam 74 as 3.68. Range = 50.90 
TNavPF::Calculated measDiffMean for beam 75 as 4.20. Range = 50.53 
TNavPF::Calculated measDiffMean for beam 76 as 4.52. Range = 52.26 
TNavPF::Calculated measDiffMean for beam 77 as 3.07. Range = 51.86 
TNavPF::Calculated measDiffMean for beam 78 as 3.93. Range = 51.47 
TNavPF::Calculated measDiffMean for beam 79 as 4.43. Range = 51.11 
TNavPF::Calculated measDiffMean for beam 80 as 10.65. Range = 48.63 
TNavPF::Calculated measDiffMean for beam 81 as 8.22. Range = 46.20 
TNavPF::Calculated measDiffMean for beam 82 as 6.73. Range = 45.93 
TNavPF::Calculated measDiffMean for beam 83 as 6.85. Range = 45.67 
TNavPF::Calculated measDiffMean for beam 84 as 9.05. Range = 45.42 
TNavPF::Calculated measDiffMean for beam 85 as 9.17. Range = 43.12 
TNavPF::Calculated measDiffMean for beam 86 as 9.33. Range = 42.92 
TNavPF::Calculated measDiffMean for beam 87 as 9.67. Range = 42.73 
TNavPF::Calculated measDiffMean for beam 88 as 10.01. Range = 42.56 
TNavPF::Calculated measDiffMean for beam 89 as 7.85. Range = 42.40 
TNavPF::First Term of Map Covariance Matrix is 10.21 
TNavPF::Calculated NIS Value : 45.87 	numBeams normalized NIS: 0.76
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323566.82 sec.
INS : North: 4070211.40, East: 589274.95, Depth: 889.88
TerrainNav::measUpdate() - IDT[45] = 46.42, IDT[75] = 50.52
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323569.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323569.62)
ARL : North: 34.3022, East: -353.4644, Depth: -41.6061ARL : Estimation Bias  (Mean)         : (t = 1488323569.62)
ARL : North: 32.4087, East: -352.9709, Depth: -46.6079TerrainNav:: Windowed NIS is 0.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 16.02 
Alpha[0]	0.123000
Alpha[0]	0.998965
TNavParticleFilter::Modified Variance for beam 1 is 15.82 
Alpha[1]	0.000000
Alpha[1]	0.998924
TNavParticleFilter::Modified Variance for beam 2 is 15.64 
Alpha[2]	0.000000
Alpha[2]	0.998201
TNavParticleFilter::Modified Variance for beam 3 is 15.48 
Alpha[3]	0.000000
Alpha[3]	0.996567
TNavParticleFilter::Modified Variance for beam 4 is 15.33 
Alpha[4]	0.000000
Alpha[4]	0.995874
TNavParticleFilter::Modified Variance for beam 5 is 15.17 
Alpha[5]	0.000000
Alpha[5]	0.995879
TNavParticleFilter::Modified Variance for beam 6 is 14.03 
Alpha[6]	0.000000
Alpha[6]	0.995735
TNavParticleFilter::Modified Variance for beam 7 is 13.91 
Alpha[7]	0.000000
Alpha[7]	0.995696
TNavParticleFilter::Modified Variance for beam 8 is 12.85 
Alpha[8]	0.000000
Alpha[8]	0.997124
TNavParticleFilter::Modified Variance for beam 9 is 12.73 
Alpha[9]	0.000000
Alpha[9]	0.998649
TNavParticleFilter::Modified Variance for beam 10 is 13.01 
Alpha[10]	0.000000
Alpha[10]	0.999022
TNavParticleFilter::Modified Variance for beam 11 is 14.35 
Alpha[11]	0.000000
Alpha[11]	0.999263
TNavParticleFilter::Modified Variance for beam 12 is 14.27 
Alpha[12]	0.000000
Alpha[12]	0.999266
TNavParticleFilter::Modified Variance for beam 13 is 14.19 
Alpha[13]	0.000000
Alpha[13]	0.999013
TNavParticleFilter::Modified Variance for beam 14 is 14.11 
Alpha[14]	0.000000
Alpha[14]	0.998905
TNavParticleFilter::Modified Variance for beam 15 is 14.04 
Alpha[15]	0.000000
Alpha[15]	0.998852
TNavParticleFilter::Modified Variance for beam 16 is 13.98 
Alpha[16]	0.000000
Alpha[16]	0.998415
TNavParticleFilter::Modified Variance for beam 17 is 13.93 
Alpha[17]	0.000000
Alpha[17]	0.997902
TNavParticleFilter::Modified Variance for beam 18 is 13.91 
Alpha[18]	0.000000
Alpha[18]	0.995773
TNavParticleFilter::Modified Variance for beam 19 is 12.99 
Alpha[19]	0.000000
Alpha[19]	0.994693
TNavParticleFilter::Modified Variance for beam 20 is 12.99 
Alpha[20]	0.000000
Alpha[20]	0.991685
TNavParticleFilter::Modified Variance for beam 21 is 13.86 
Alpha[21]	0.000000
Alpha[21]	0.990691
TNavParticleFilter::Modified Variance for beam 22 is 13.83 
Alpha[22]	0.000000
Alpha[22]	0.991087
TNavParticleFilter::Modified Variance for beam 23 is 13.83 
Alpha[23]	0.000000
Alpha[23]	0.990193
TNavParticleFilter::Modified Variance for beam 24 is 12.92 
Alpha[24]	0.000000
Alpha[24]	0.991127
TNavParticleFilter::Modified Variance for beam 25 is 12.89 
Alpha[25]	0.000000
Alpha[25]	0.992480
TNavParticleFilter::Modified Variance for beam 26 is 12.87 
Alpha[26]	0.000000
Alpha[26]	0.994356
TNavParticleFilter::Modified Variance for beam 27 is 12.85 
Alpha[27]	0.000000
Alpha[27]	0.995820
TNavParticleFilter::Modified Variance for beam 28 is 12.88 
Alpha[28]	0.000000
Alpha[28]	0.995105
TNavParticleFilter::Modified Variance for beam 29 is 13.77 
Alpha[29]	0.000000
Alpha[29]	0.995207
TNavParticleFilter::Modified Variance for beam 30 is 13.78 
Alpha[30]	0.000000
Alpha[30]	0.996244
TNavParticleFilter::Modified Variance for beam 31 is 13.20 
Alpha[31]	0.000000
Alpha[31]	0.996727
TNavParticleFilter::Modified Variance for beam 32 is 12.95 
Alpha[32]	0.000000
Alpha[32]	0.997132
TNavParticleFilter::Modified Variance for beam 33 is 12.98 
Alpha[33]	0.000000
Alpha[33]	0.997713
TNavParticleFilter::Modified Variance for beam 34 is 14.85 
Alpha[34]	0.000000
Alpha[34]	0.998732
TNavParticleFilter::Modified Variance for beam 35 is 14.90 
Alpha[35]	0.000000
Alpha[35]	0.999346
TNavParticleFilter::Modified Variance for beam 36 is 14.97 
Alpha[36]	0.000000
Alpha[36]	0.999553
TNavParticleFilter::Modified Variance for beam 37 is 15.05 
Alpha[37]	0.000000
Alpha[37]	0.999597
TNavParticleFilter::Modified Variance for beam 38 is 14.52 
Alpha[38]	0.000000
Alpha[38]	0.999647
TNavParticleFilter::Modified Variance for beam 39 is 14.26 
Alpha[39]	0.000000
Alpha[39]	0.999716
TNavParticleFilter::Modified Variance for beam 40 is 14.35 
Alpha[40]	0.000000
Alpha[40]	0.999760
TNavParticleFilter::Modified Variance for beam 41 is 15.44 
Alpha[41]	0.000000
Alpha[41]	0.999767
TNavParticleFilter::Modified Variance for beam 42 is 15.56 
Alpha[42]	0.000000
Alpha[42]	0.999703
TNavParticleFilter::Modified Variance for beam 43 is 15.69 
Alpha[43]	0.000000
Alpha[43]	0.999568
TNavParticleFilter::Modified Variance for beam 44 is 15.83 
Alpha[44]	0.000000
Alpha[44]	0.999395
TNavParticleFilter::Modified Variance for beam 45 is 15.98 
Alpha[45]	0.000000
Alpha[45]	0.999348
TNavParticleFilter::Modified Variance for beam 46 is 14.10 
Alpha[46]	0.000000
Alpha[46]	0.999335
TNavParticleFilter::Modified Variance for beam 47 is 14.25 
Alpha[47]	0.000000
Alpha[47]	0.999153
TNavParticleFilter::Modified Variance for beam 48 is 14.40 
Alpha[48]	0.000000
Alpha[48]	0.998839
TNavParticleFilter::Modified Variance for beam 49 is 14.57 
Alpha[49]	0.000000
Alpha[49]	0.998460
TNavParticleFilter::Modified Variance for beam 50 is 14.75 
Alpha[50]	0.000000
Alpha[50]	0.997953
TNavParticleFilter::Modified Variance for beam 51 is 14.95 
Alpha[51]	0.000000
Alpha[51]	0.997450
TNavParticleFilter::Modified Variance for beam 52 is 15.15 
Alpha[52]	0.000000
Alpha[52]	0.997118
TNavParticleFilter::Modified Variance for beam 53 is 14.98 
Alpha[53]	0.000000
Alpha[53]	0.996271
TNavParticleFilter::Modified Variance for beam 54 is 14.52 
Alpha[54]	0.000000
Alpha[54]	0.994979
TNavParticleFilter::Modified Variance for beam 55 is 14.74 
Alpha[55]	0.000000
Alpha[55]	0.994860
TNavParticleFilter::Modified Variance for beam 56 is 14.98 
Alpha[56]	0.000000
Alpha[56]	0.994559
TNavParticleFilter::Modified Variance for beam 57 is 15.22 
Alpha[57]	0.000000
Alpha[57]	0.994710
TNavParticleFilter::Modified Variance for beam 58 is 15.49 
Alpha[58]	0.000000
Alpha[58]	0.993726
TNavParticleFilter::Modified Variance for beam 59 is 15.79 
Alpha[59]	0.000000
Alpha[59]	0.992343
TNavPF:: sumSquaredError = 270.480495 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.31. Range = 55.67 
TNavPF::Calculated measDiffMean for beam 31 as -0.93. Range = 54.54 
TNavPF::Calculated measDiffMean for beam 32 as -0.33. Range = 54.58 
TNavPF::Calculated measDiffMean for beam 33 as -0.14. Range = 55.30 
TNavPF::Calculated measDiffMean for beam 34 as 0.16. Range = 56.07 
TNavPF::Calculated measDiffMean for beam 35 as 0.50. Range = 56.87 
TNavPF::Calculated measDiffMean for beam 36 as -1.60. Range = 57.71 
TNavPF::Calculated measDiffMean for beam 37 as -1.93. Range = 58.60 
TNavPF::Calculated measDiffMean for beam 38 as -4.77. Range = 59.53 
TNavPF::Calculated measDiffMean for beam 39 as -5.90. Range = 60.51 
TNavPF::Calculated measDiffMean for beam 40 as -6.05. Range = 59.46 
TNavPF::Calculated measDiffMean for beam 41 as -3.86. Range = 58.43 
TNavPF::Calculated measDiffMean for beam 42 as -4.75. Range = 57.94 
TNavPF::Calculated measDiffMean for beam 43 as -5.86. Range = 59.04 
TNavPF::Calculated measDiffMean for beam 44 as -6.08. Range = 58.31 
TNavPF::Calculated measDiffMean for beam 45 as -5.05. Range = 57.43 
TNavPF::Calculated measDiffMean for beam 46 as -3.80. Range = 56.60 
TNavPF::Calculated measDiffMean for beam 47 as -2.17. Range = 55.80 
TNavPF::Calculated measDiffMean for beam 48 as -0.77. Range = 55.63 
TNavPF::Calculated measDiffMean for beam 49 as -2.13. Range = 56.81 
TNavPF::Calculated measDiffMean for beam 50 as -1.38. Range = 56.10 
TNavPF::Calculated measDiffMean for beam 51 as 1.05. Range = 55.41 
TNavPF::Calculated measDiffMean for beam 52 as 1.65. Range = 54.76 
TNavPF::Calculated measDiffMean for beam 53 as 2.06. Range = 55.57 
TNavPF::Calculated measDiffMean for beam 54 as 0.34. Range = 53.56 
TNavPF::Calculated measDiffMean for beam 55 as 0.77. Range = 53.00 
TNavPF::Calculated measDiffMean for beam 56 as 1.26. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 57 as 2.40. Range = 54.17 
TNavPF::Calculated measDiffMean for beam 58 as 3.69. Range = 53.73 
TNavPF::Calculated measDiffMean for beam 59 as 6.07. Range = 53.26 
TNavPF::Calculated measDiffMean for beam 60 as 6.19. Range = 50.59 
TNavPF::Calculated measDiffMean for beam 61 as 5.01. Range = 50.18 
TNavPF::Calculated measDiffMean for beam 62 as 4.39. Range = 49.79 
TNavPF::Calculated measDiffMean for beam 63 as 4.23. Range = 49.42 
TNavPF::Calculated measDiffMean for beam 64 as 7.80. Range = 49.07 
TNavPF::Calculated measDiffMean for beam 65 as 6.70. Range = 48.74 
TNavPF::Calculated measDiffMean for beam 66 as 5.05. Range = 46.31 
TNavPF::Calculated measDiffMean for beam 67 as 4.05. Range = 46.03 
TNavPF::Calculated measDiffMean for beam 68 as 2.25. Range = 43.67 
TNavPF::Calculated measDiffMean for beam 69 as 0.30. Range = 43.44 
TNavPF::Calculated measDiffMean for beam 70 as -1.75. Range = 44.11 
TNavPF::Calculated measDiffMean for beam 71 as -2.19. Range = 47.10 
TNavPF::Calculated measDiffMean for beam 72 as -5.47. Range = 46.95 
TNavPF::Calculated measDiffMean for beam 73 as -7.91. Range = 46.76 
TNavPF::Calculated measDiffMean for beam 74 as -9.69. Range = 46.58 
TNavPF::Calculated measDiffMean for beam 75 as -11.42. Range = 46.42 
TNavPF::Calculated measDiffMean for beam 76 as -16.90. Range = 46.28 
TNavPF::Calculated measDiffMean for beam 77 as -18.13. Range = 46.15 
TNavPF::Calculated measDiffMean for beam 78 as -17.24. Range = 46.04 
TNavPF::Calculated measDiffMean for beam 79 as -14.93. Range = 43.92 
TNavPF::Calculated measDiffMean for beam 80 as -13.08. Range = 43.84 
TNavPF::Calculated measDiffMean for beam 81 as -11.33. Range = 45.78 
TNavPF::Calculated measDiffMean for beam 82 as -9.35. Range = 45.73 
TNavPF::Calculated measDiffMean for beam 83 as -9.02. Range = 45.68 
TNavPF::Calculated measDiffMean for beam 84 as -9.35. Range = 43.65 
TNavPF::Calculated measDiffMean for beam 85 as -7.81. Range = 43.64 
TNavPF::Calculated measDiffMean for beam 86 as -6.48. Range = 43.64 
TNavPF::Calculated measDiffMean for beam 87 as -5.66. Range = 43.65 
TNavPF::Calculated measDiffMean for beam 88 as -4.63. Range = 43.68 
TNavPF::Calculated measDiffMean for beam 89 as -3.35. Range = 45.72 
TNavPF::First Term of Map Covariance Matrix is 19.31 
TNavPF::Calculated NIS Value : 94.34 	numBeams normalized NIS: 1.57
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323569.82 sec.
INS : North: 4070211.81, East: 589271.01, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 44.57, IDT[75] = 48.34
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323572.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323572.62)
ARL : North: 34.4437, East: -354.1971, Depth: -43.0449ARL : Estimation Bias  (Mean)         : (t = 1488323572.62)
ARL : North: 34.8963, East: -353.9089, Depth: -39.0409TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.84 
Alpha[0]	0.123000
Alpha[0]	0.998642
TNavParticleFilter::Modified Variance for beam 1 is 14.75 
Alpha[1]	0.000000
Alpha[1]	0.998158
TNavParticleFilter::Modified Variance for beam 2 is 14.66 
Alpha[2]	0.000000
Alpha[2]	0.997954
TNavParticleFilter::Modified Variance for beam 3 is 14.76 
Alpha[3]	0.000000
Alpha[3]	0.997648
TNavParticleFilter::Modified Variance for beam 4 is 15.47 
Alpha[4]	0.000000
Alpha[4]	0.997533
TNavParticleFilter::Modified Variance for beam 5 is 15.40 
Alpha[5]	0.000000
Alpha[5]	0.997664
TNavParticleFilter::Modified Variance for beam 6 is 14.37 
Alpha[6]	0.000000
Alpha[6]	0.997985
TNavParticleFilter::Modified Variance for beam 7 is 14.32 
Alpha[7]	0.000000
Alpha[7]	0.997812
TNavParticleFilter::Modified Variance for beam 8 is 14.27 
Alpha[8]	0.000000
Alpha[8]	0.997839
TNavParticleFilter::Modified Variance for beam 9 is 14.23 
Alpha[9]	0.000000
Alpha[9]	0.997566
TNavParticleFilter::Modified Variance for beam 10 is 13.30 
Alpha[10]	0.000000
Alpha[10]	0.997442
TNavParticleFilter::Modified Variance for beam 11 is 13.27 
Alpha[11]	0.000000
Alpha[11]	0.997215
TNavParticleFilter::Modified Variance for beam 12 is 13.28 
Alpha[12]	0.000000
Alpha[12]	0.995268
TNavParticleFilter::Modified Variance for beam 13 is 13.29 
Alpha[13]	0.000000
Alpha[13]	0.993519
TNavParticleFilter::Modified Variance for beam 14 is 13.29 
Alpha[14]	0.000000
Alpha[14]	0.992717
TNavParticleFilter::Modified Variance for beam 15 is 13.29 
Alpha[15]	0.000000
Alpha[15]	0.992860
TNavParticleFilter::Modified Variance for beam 16 is 15.13 
Alpha[16]	0.000000
Alpha[16]	0.993530
TNavParticleFilter::Modified Variance for beam 17 is 15.13 
Alpha[17]	0.000000
Alpha[17]	0.994008
TNavParticleFilter::Modified Variance for beam 18 is 14.22 
Alpha[18]	0.000000
Alpha[18]	0.993624
TNavParticleFilter::Modified Variance for beam 19 is 14.23 
Alpha[19]	0.000000
Alpha[19]	0.994268
TNavParticleFilter::Modified Variance for beam 20 is 14.24 
Alpha[20]	0.000000
Alpha[20]	0.995860
TNavParticleFilter::Modified Variance for beam 21 is 14.26 
Alpha[21]	0.000000
Alpha[21]	0.997039
TNavParticleFilter::Modified Variance for beam 22 is 14.29 
Alpha[22]	0.000000
Alpha[22]	0.997974
TNavParticleFilter::Modified Variance for beam 23 is 14.34 
Alpha[23]	0.000000
Alpha[23]	0.998400
TNavParticleFilter::Modified Variance for beam 24 is 14.39 
Alpha[24]	0.000000
Alpha[24]	0.998862
TNavParticleFilter::Modified Variance for beam 25 is 15.42 
Alpha[25]	0.000000
Alpha[25]	0.999384
TNavParticleFilter::Modified Variance for beam 26 is 15.49 
Alpha[26]	0.000000
Alpha[26]	0.999514
TNavParticleFilter::Modified Variance for beam 27 is 15.58 
Alpha[27]	0.000000
Alpha[27]	0.999581
TNavParticleFilter::Modified Variance for beam 28 is 15.68 
Alpha[28]	0.000000
Alpha[28]	0.999670
TNavParticleFilter::Modified Variance for beam 29 is 15.78 
Alpha[29]	0.000000
Alpha[29]	0.999670
TNavParticleFilter::Modified Variance for beam 30 is 14.19 
Alpha[30]	0.000000
Alpha[30]	0.999638
TNavParticleFilter::Modified Variance for beam 31 is 14.03 
Alpha[31]	0.000000
Alpha[31]	0.999657
TNavParticleFilter::Modified Variance for beam 32 is 14.14 
Alpha[32]	0.000000
Alpha[32]	0.999687
TNavParticleFilter::Modified Variance for beam 33 is 14.27 
Alpha[33]	0.000000
Alpha[33]	0.999652
TNavParticleFilter::Modified Variance for beam 34 is 14.40 
Alpha[34]	0.000000
Alpha[34]	0.999247
TNavParticleFilter::Modified Variance for beam 35 is 14.55 
Alpha[35]	0.000000
Alpha[35]	0.998528
TNavParticleFilter::Modified Variance for beam 36 is 14.70 
Alpha[36]	0.000000
Alpha[36]	0.998366
TNavParticleFilter::Modified Variance for beam 37 is 14.86 
Alpha[37]	0.000000
Alpha[37]	0.998122
TNavParticleFilter::Modified Variance for beam 38 is 16.09 
Alpha[38]	0.000000
Alpha[38]	0.997950
TNavParticleFilter::Modified Variance for beam 39 is 16.29 
Alpha[39]	0.000000
Alpha[39]	0.998082
TNavParticleFilter::Modified Variance for beam 40 is 14.63 
Alpha[40]	0.000000
Alpha[40]	0.997935
TNavParticleFilter::Modified Variance for beam 41 is 14.54 
Alpha[41]	0.000000
Alpha[41]	0.997703
TNavParticleFilter::Modified Variance for beam 42 is 14.74 
Alpha[42]	0.000000
Alpha[42]	0.997370
TNavParticleFilter::Modified Variance for beam 43 is 16.06 
Alpha[43]	0.000000
Alpha[43]	0.997579
TNavParticleFilter::Modified Variance for beam 44 is 15.66 
Alpha[44]	0.000000
Alpha[44]	0.997762
TNavParticleFilter::Modified Variance for beam 45 is 14.95 
Alpha[45]	0.000000
Alpha[45]	0.997338
TNavParticleFilter::Modified Variance for beam 46 is 14.56 
Alpha[46]	0.000000
Alpha[46]	0.996472
TNavParticleFilter::Modified Variance for beam 47 is 14.81 
Alpha[47]	0.000000
Alpha[47]	0.995959
TNavParticleFilter::Modified Variance for beam 48 is 13.20 
Alpha[48]	0.000000
Alpha[48]	0.996171
TNavParticleFilter::Modified Variance for beam 49 is 13.10 
Alpha[49]	0.000000
Alpha[49]	0.996588
TNavParticleFilter::Modified Variance for beam 50 is 13.33 
Alpha[50]	0.000000
Alpha[50]	0.997293
TNavParticleFilter::Modified Variance for beam 51 is 13.25 
Alpha[51]	0.000000
Alpha[51]	0.998045
TNavParticleFilter::Modified Variance for beam 52 is 12.80 
Alpha[52]	0.000000
Alpha[52]	0.998562
TNavParticleFilter::Modified Variance for beam 53 is 12.98 
Alpha[53]	0.000000
Alpha[53]	0.998798
TNavParticleFilter::Modified Variance for beam 54 is 13.25 
Alpha[54]	0.000000
Alpha[54]	0.998718
TNavParticleFilter::Modified Variance for beam 55 is 12.95 
Alpha[55]	0.000000
Alpha[55]	0.998551
TNavParticleFilter::Modified Variance for beam 56 is 12.68 
Alpha[56]	0.000000
Alpha[56]	0.998525
TNavParticleFilter::Modified Variance for beam 57 is 12.97 
Alpha[57]	0.000000
Alpha[57]	0.998482
TNavParticleFilter::Modified Variance for beam 58 is 13.14 
Alpha[58]	0.000000
Alpha[58]	0.998394
TNavParticleFilter::Modified Variance for beam 59 is 12.80 
Alpha[59]	0.000000
Alpha[59]	0.998416
TNavPF:: sumSquaredError = 193.802175 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -0.27. Range = 62.27 
TNavPF::Calculated measDiffMean for beam 31 as 0.12. Range = 61.64 
TNavPF::Calculated measDiffMean for beam 32 as 0.44. Range = 60.63 
TNavPF::Calculated measDiffMean for beam 33 as 1.42. Range = 59.68 
TNavPF::Calculated measDiffMean for beam 34 as 3.81. Range = 58.78 
TNavPF::Calculated measDiffMean for beam 35 as 4.64. Range = 59.16 
TNavPF::Calculated measDiffMean for beam 36 as 3.44. Range = 59.67 
TNavPF::Calculated measDiffMean for beam 37 as 4.09. Range = 58.85 
TNavPF::Calculated measDiffMean for beam 38 as 4.68. Range = 58.08 
TNavPF::Calculated measDiffMean for beam 39 as 5.36. Range = 57.90 
TNavPF::Calculated measDiffMean for beam 40 as 3.77. Range = 59.07 
TNavPF::Calculated measDiffMean for beam 41 as 4.51. Range = 58.38 
TNavPF::Calculated measDiffMean for beam 42 as 5.41. Range = 57.72 
TNavPF::Calculated measDiffMean for beam 43 as 5.60. Range = 57.08 
TNavPF::Calculated measDiffMean for beam 44 as 5.67. Range = 56.48 
TNavPF::Calculated measDiffMean for beam 45 as 5.77. Range = 56.07 
TNavPF::Calculated measDiffMean for beam 46 as 9.91. Range = 57.65 
TNavPF::Calculated measDiffMean for beam 47 as 10.10. Range = 57.12 
TNavPF::Calculated measDiffMean for beam 48 as 8.12. Range = 52.12 
TNavPF::Calculated measDiffMean for beam 49 as 8.00. Range = 51.68 
TNavPF::Calculated measDiffMean for beam 50 as 7.90. Range = 51.26 
TNavPF::Calculated measDiffMean for beam 51 as 8.09. Range = 48.67 
TNavPF::Calculated measDiffMean for beam 52 as 7.89. Range = 48.30 
TNavPF::Calculated measDiffMean for beam 53 as 7.25. Range = 45.81 
TNavPF::Calculated measDiffMean for beam 54 as 6.05. Range = 45.50 
TNavPF::Calculated measDiffMean for beam 55 as 6.33. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 56 as 4.72. Range = 49.08 
TNavPF::Calculated measDiffMean for beam 57 as 3.98. Range = 48.88 
TNavPF::Calculated measDiffMean for beam 58 as 1.68. Range = 48.62 
TNavPF::Calculated measDiffMean for beam 59 as -0.93. Range = 48.37 
TNavPF::Calculated measDiffMean for beam 60 as -6.32. Range = 48.14 
TNavPF::Calculated measDiffMean for beam 61 as -7.23. Range = 47.93 
TNavPF::Calculated measDiffMean for beam 62 as -7.78. Range = 47.73 
TNavPF::Calculated measDiffMean for beam 63 as -9.02. Range = 47.95 
TNavPF::Calculated measDiffMean for beam 64 as -9.70. Range = 49.43 
TNavPF::Calculated measDiffMean for beam 65 as -8.84. Range = 49.27 
TNavPF::Calculated measDiffMean for beam 66 as -7.87. Range = 47.11 
TNavPF::Calculated measDiffMean for beam 67 as -6.29. Range = 46.99 
TNavPF::Calculated measDiffMean for beam 68 as -2.93. Range = 46.89 
TNavPF::Calculated measDiffMean for beam 69 as -1.85. Range = 46.80 
TNavPF::Calculated measDiffMean for beam 70 as -4.63. Range = 44.71 
TNavPF::Calculated measDiffMean for beam 71 as -4.13. Range = 44.66 
TNavPF::Calculated measDiffMean for beam 72 as -2.91. Range = 44.61 
TNavPF::Calculated measDiffMean for beam 73 as 0.28. Range = 44.58 
TNavPF::Calculated measDiffMean for beam 74 as -0.14. Range = 44.57 
TNavPF::Calculated measDiffMean for beam 75 as -1.05. Range = 44.57 
TNavPF::Calculated measDiffMean for beam 76 as -1.21. Range = 48.58 
TNavPF::Calculated measDiffMean for beam 77 as -0.13. Range = 48.61 
TNavPF::Calculated measDiffMean for beam 78 as -3.54. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 79 as -3.75. Range = 46.70 
TNavPF::Calculated measDiffMean for beam 80 as -2.92. Range = 46.77 
TNavPF::Calculated measDiffMean for beam 81 as -2.65. Range = 46.85 
TNavPF::Calculated measDiffMean for beam 82 as -3.34. Range = 46.95 
TNavPF::Calculated measDiffMean for beam 83 as -2.16. Range = 47.06 
TNavPF::Calculated measDiffMean for beam 84 as -0.28. Range = 47.19 
TNavPF::Calculated measDiffMean for beam 85 as -0.03. Range = 49.37 
TNavPF::Calculated measDiffMean for beam 86 as 0.22. Range = 49.53 
TNavPF::Calculated measDiffMean for beam 87 as 1.63. Range = 49.71 
TNavPF::Calculated measDiffMean for beam 88 as 2.52. Range = 49.91 
TNavPF::Calculated measDiffMean for beam 89 as 2.35. Range = 50.12 
TNavPF::First Term of Map Covariance Matrix is 14.71 
TNavPF::Calculated NIS Value : 73.22 	numBeams normalized NIS: 1.22
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323572.82 sec.
INS : North: 4070212.75, East: 589267.13, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 47.39, IDT[75] = 47.85
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323575.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323575.62)
ARL : North: 35.0447, East: -353.2728, Depth: -38.8935ARL : Estimation Bias  (Mean)         : (t = 1488323575.62)
ARL : North: 36.0722, East: -353.9103, Depth: -37.8725TerrainNav:: Windowed NIS is 0.2, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.81 
Alpha[0]	0.123000
Alpha[0]	0.998260
TNavParticleFilter::Modified Variance for beam 1 is 15.66 
Alpha[1]	0.000000
Alpha[1]	0.998485
TNavParticleFilter::Modified Variance for beam 2 is 15.53 
Alpha[2]	0.000000
Alpha[2]	0.998297
TNavParticleFilter::Modified Variance for beam 3 is 15.41 
Alpha[3]	0.000000
Alpha[3]	0.997696
TNavParticleFilter::Modified Variance for beam 4 is 16.03 
Alpha[4]	0.000000
Alpha[4]	0.997555
TNavParticleFilter::Modified Variance for beam 5 is 16.18 
Alpha[5]	0.000000
Alpha[5]	0.998231
TNavParticleFilter::Modified Variance for beam 6 is 15.06 
Alpha[6]	0.000000
Alpha[6]	0.998384
TNavParticleFilter::Modified Variance for beam 7 is 14.97 
Alpha[7]	0.000000
Alpha[7]	0.998204
TNavParticleFilter::Modified Variance for beam 8 is 14.89 
Alpha[8]	0.000000
Alpha[8]	0.997884
TNavParticleFilter::Modified Variance for beam 9 is 13.88 
Alpha[9]	0.000000
Alpha[9]	0.997593
TNavParticleFilter::Modified Variance for beam 10 is 13.82 
Alpha[10]	0.000000
Alpha[10]	0.997197
TNavParticleFilter::Modified Variance for beam 11 is 13.77 
Alpha[11]	0.000000
Alpha[11]	0.996663
TNavParticleFilter::Modified Variance for beam 12 is 13.72 
Alpha[12]	0.000000
Alpha[12]	0.996262
TNavParticleFilter::Modified Variance for beam 13 is 14.59 
Alpha[13]	0.000000
Alpha[13]	0.996691
TNavParticleFilter::Modified Variance for beam 14 is 14.55 
Alpha[14]	0.000000
Alpha[14]	0.996722
TNavParticleFilter::Modified Variance for beam 15 is 14.52 
Alpha[15]	0.000000
Alpha[15]	0.996514
TNavParticleFilter::Modified Variance for beam 16 is 13.59 
Alpha[16]	0.000000
Alpha[16]	0.995465
TNavParticleFilter::Modified Variance for beam 17 is 13.59 
Alpha[17]	0.000000
Alpha[17]	0.994389
TNavParticleFilter::Modified Variance for beam 18 is 15.44 
Alpha[18]	0.000000
Alpha[18]	0.994182
TNavParticleFilter::Modified Variance for beam 19 is 15.43 
Alpha[19]	0.000000
Alpha[19]	0.994524
TNavParticleFilter::Modified Variance for beam 20 is 15.43 
Alpha[20]	0.000000
Alpha[20]	0.994781
TNavParticleFilter::Modified Variance for beam 21 is 15.43 
Alpha[21]	0.000000
Alpha[21]	0.995313
TNavParticleFilter::Modified Variance for beam 22 is 15.42 
Alpha[22]	0.000000
Alpha[22]	0.996572
TNavParticleFilter::Modified Variance for beam 23 is 14.48 
Alpha[23]	0.000000
Alpha[23]	0.996988
TNavParticleFilter::Modified Variance for beam 24 is 14.50 
Alpha[24]	0.000000
Alpha[24]	0.997663
TNavParticleFilter::Modified Variance for beam 25 is 15.47 
Alpha[25]	0.000000
Alpha[25]	0.998641
TNavParticleFilter::Modified Variance for beam 26 is 15.51 
Alpha[26]	0.000000
Alpha[26]	0.999025
TNavParticleFilter::Modified Variance for beam 27 is 15.56 
Alpha[27]	0.000000
Alpha[27]	0.999361
TNavParticleFilter::Modified Variance for beam 28 is 15.61 
Alpha[28]	0.000000
Alpha[28]	0.999475
TNavParticleFilter::Modified Variance for beam 29 is 15.68 
Alpha[29]	0.000000
Alpha[29]	0.999499
TNavParticleFilter::Modified Variance for beam 30 is 14.28 
Alpha[30]	0.000000
Alpha[30]	0.999568
TNavParticleFilter::Modified Variance for beam 31 is 13.91 
Alpha[31]	0.000000
Alpha[31]	0.999606
TNavParticleFilter::Modified Variance for beam 32 is 13.98 
Alpha[32]	0.000000
Alpha[32]	0.999637
TNavParticleFilter::Modified Variance for beam 33 is 14.07 
Alpha[33]	0.000000
Alpha[33]	0.999494
TNavParticleFilter::Modified Variance for beam 34 is 14.17 
Alpha[34]	0.000000
Alpha[34]	0.999100
TNavParticleFilter::Modified Variance for beam 35 is 14.27 
Alpha[35]	0.000000
Alpha[35]	0.998791
TNavParticleFilter::Modified Variance for beam 36 is 14.38 
Alpha[36]	0.000000
Alpha[36]	0.998462
TNavParticleFilter::Modified Variance for beam 37 is 14.50 
Alpha[37]	0.000000
Alpha[37]	0.998247
TNavParticleFilter::Modified Variance for beam 38 is 15.64 
Alpha[38]	0.000000
Alpha[38]	0.997916
TNavParticleFilter::Modified Variance for beam 39 is 13.79 
Alpha[39]	0.000000
Alpha[39]	0.998191
TNavParticleFilter::Modified Variance for beam 40 is 13.91 
Alpha[40]	0.000000
Alpha[40]	0.998500
TNavParticleFilter::Modified Variance for beam 41 is 14.05 
Alpha[41]	0.000000
Alpha[41]	0.998481
TNavParticleFilter::Modified Variance for beam 42 is 14.21 
Alpha[42]	0.000000
Alpha[42]	0.998137
TNavParticleFilter::Modified Variance for beam 43 is 14.37 
Alpha[43]	0.000000
Alpha[43]	0.998149
TNavParticleFilter::Modified Variance for beam 44 is 14.53 
Alpha[44]	0.000000
Alpha[44]	0.998460
TNavParticleFilter::Modified Variance for beam 45 is 14.71 
Alpha[45]	0.000000
Alpha[45]	0.998509
TNavParticleFilter::Modified Variance for beam 46 is 13.93 
Alpha[46]	0.000000
Alpha[46]	0.998274
TNavParticleFilter::Modified Variance for beam 47 is 13.25 
Alpha[47]	0.000000
Alpha[47]	0.997988
TNavParticleFilter::Modified Variance for beam 48 is 12.63 
Alpha[48]	0.000000
Alpha[48]	0.997891
TNavParticleFilter::Modified Variance for beam 49 is 12.44 
Alpha[49]	0.000000
Alpha[49]	0.997662
TNavParticleFilter::Modified Variance for beam 50 is 12.63 
Alpha[50]	0.000000
Alpha[50]	0.997349
TNavParticleFilter::Modified Variance for beam 51 is 12.67 
Alpha[51]	0.000000
Alpha[51]	0.997712
TNavParticleFilter::Modified Variance for beam 52 is 12.16 
Alpha[52]	0.000000
Alpha[52]	0.998270
TNavParticleFilter::Modified Variance for beam 53 is 12.21 
Alpha[53]	0.000000
Alpha[53]	0.998420
TNavParticleFilter::Modified Variance for beam 54 is 12.42 
Alpha[54]	0.000000
Alpha[54]	0.998251
TNavParticleFilter::Modified Variance for beam 55 is 12.29 
Alpha[55]	0.000000
Alpha[55]	0.998095
TNavParticleFilter::Modified Variance for beam 56 is 11.88 
Alpha[56]	0.000000
Alpha[56]	0.998033
TNavParticleFilter::Modified Variance for beam 57 is 12.06 
Alpha[57]	0.000000
Alpha[57]	0.998179
TNavParticleFilter::Modified Variance for beam 58 is 12.30 
Alpha[58]	0.000000
Alpha[58]	0.998332
TNavParticleFilter::Modified Variance for beam 59 is 12.07 
Alpha[59]	0.000000
Alpha[59]	0.998365
TNavPF:: sumSquaredError = 161.202102 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.95. Range = 66.72 
TNavPF::Calculated measDiffMean for beam 31 as 0.62. Range = 65.39 
TNavPF::Calculated measDiffMean for beam 32 as 0.17. Range = 64.59 
TNavPF::Calculated measDiffMean for beam 33 as -0.35. Range = 65.65 
TNavPF::Calculated measDiffMean for beam 34 as 1.47. Range = 64.66 
TNavPF::Calculated measDiffMean for beam 35 as 3.48. Range = 63.54 
TNavPF::Calculated measDiffMean for beam 36 as 2.98. Range = 62.47 
TNavPF::Calculated measDiffMean for beam 37 as 3.80. Range = 61.57 
TNavPF::Calculated measDiffMean for beam 38 as 4.28. Range = 62.78 
TNavPF::Calculated measDiffMean for beam 39 as 2.84. Range = 62.22 
TNavPF::Calculated measDiffMean for beam 40 as 3.47. Range = 61.31 
TNavPF::Calculated measDiffMean for beam 41 as 4.28. Range = 60.45 
TNavPF::Calculated measDiffMean for beam 42 as 4.99. Range = 61.75 
TNavPF::Calculated measDiffMean for beam 43 as 7.30. Range = 61.34 
TNavPF::Calculated measDiffMean for beam 44 as 7.35. Range = 60.56 
TNavPF::Calculated measDiffMean for beam 45 as 7.35. Range = 59.82 
TNavPF::Calculated measDiffMean for beam 46 as 5.24. Range = 59.12 
TNavPF::Calculated measDiffMean for beam 47 as 5.25. Range = 58.45 
TNavPF::Calculated measDiffMean for beam 48 as 9.35. Range = 55.47 
TNavPF::Calculated measDiffMean for beam 49 as 9.67. Range = 54.89 
TNavPF::Calculated measDiffMean for beam 50 as 10.00. Range = 54.33 
TNavPF::Calculated measDiffMean for beam 51 as 9.97. Range = 53.81 
TNavPF::Calculated measDiffMean for beam 52 as 9.37. Range = 53.31 
TNavPF::Calculated measDiffMean for beam 53 as 6.61. Range = 50.60 
TNavPF::Calculated measDiffMean for beam 54 as 6.23. Range = 47.95 
TNavPF::Calculated measDiffMean for beam 55 as 7.55. Range = 47.56 
TNavPF::Calculated measDiffMean for beam 56 as 6.81. Range = 48.97 
TNavPF::Calculated measDiffMean for beam 57 as 5.44. Range = 51.03 
TNavPF::Calculated measDiffMean for beam 58 as 2.97. Range = 50.81 
TNavPF::Calculated measDiffMean for beam 59 as 1.42. Range = 50.47 
TNavPF::Calculated measDiffMean for beam 60 as -1.48. Range = 50.15 
TNavPF::Calculated measDiffMean for beam 61 as -2.73. Range = 49.85 
TNavPF::Calculated measDiffMean for beam 62 as -4.37. Range = 49.56 
TNavPF::Calculated measDiffMean for beam 63 as -8.01. Range = 49.30 
TNavPF::Calculated measDiffMean for beam 64 as -9.43. Range = 50.56 
TNavPF::Calculated measDiffMean for beam 65 as -8.96. Range = 50.89 
TNavPF::Calculated measDiffMean for beam 66 as -8.10. Range = 48.60 
TNavPF::Calculated measDiffMean for beam 67 as -6.89. Range = 48.41 
TNavPF::Calculated measDiffMean for beam 68 as -3.47. Range = 48.23 
TNavPF::Calculated measDiffMean for beam 69 as -6.46. Range = 46.03 
TNavPF::Calculated measDiffMean for beam 70 as -5.18. Range = 45.88 
TNavPF::Calculated measDiffMean for beam 71 as -3.98. Range = 45.76 
TNavPF::Calculated measDiffMean for beam 72 as -2.84. Range = 45.64 
TNavPF::Calculated measDiffMean for beam 73 as -1.99. Range = 47.56 
TNavPF::Calculated measDiffMean for beam 74 as -1.48. Range = 47.47 
TNavPF::Calculated measDiffMean for beam 75 as -0.50. Range = 47.39 
TNavPF::Calculated measDiffMean for beam 76 as -1.09. Range = 45.33 
TNavPF::Calculated measDiffMean for beam 77 as -1.93. Range = 45.29 
TNavPF::Calculated measDiffMean for beam 78 as -3.36. Range = 49.26 
TNavPF::Calculated measDiffMean for beam 79 as -3.89. Range = 49.25 
TNavPF::Calculated measDiffMean for beam 80 as -3.16. Range = 49.24 
TNavPF::Calculated measDiffMean for beam 81 as -2.42. Range = 49.26 
TNavPF::Calculated measDiffMean for beam 82 as -2.76. Range = 49.29 
TNavPF::Calculated measDiffMean for beam 83 as -1.33. Range = 47.32 
TNavPF::Calculated measDiffMean for beam 84 as 0.46. Range = 47.38 
TNavPF::Calculated measDiffMean for beam 85 as 1.20. Range = 49.46 
TNavPF::Calculated measDiffMean for beam 86 as 1.01. Range = 49.55 
TNavPF::Calculated measDiffMean for beam 87 as 2.14. Range = 49.66 
TNavPF::Calculated measDiffMean for beam 88 as 3.63. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 89 as 4.04. Range = 49.91 
TNavPF::First Term of Map Covariance Matrix is 11.48 
TNavPF::Calculated NIS Value : 87.66 	numBeams normalized NIS: 1.46
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323575.82 sec.
INS : North: 4070213.33, East: 589263.17, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 49.34, IDT[75] = 45.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323578.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323578.62)
ARL : North: 35.2853, East: -353.0959, Depth: -40.4190ARL : Estimation Bias  (Mean)         : (t = 1488323578.62)
ARL : North: 36.7881, East: -355.4208, Depth: -38.6171TerrainNav:: Windowed NIS is 0.3, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 18.62 
Alpha[0]	0.123000
Alpha[0]	0.998107
TNavParticleFilter::Modified Variance for beam 1 is 17.07 
Alpha[1]	0.000000
Alpha[1]	0.998141
TNavParticleFilter::Modified Variance for beam 2 is 15.65 
Alpha[2]	0.000000
Alpha[2]	0.998046
TNavParticleFilter::Modified Variance for beam 3 is 15.41 
Alpha[3]	0.000000
Alpha[3]	0.998039
TNavParticleFilter::Modified Variance for beam 4 is 16.10 
Alpha[4]	0.000000
Alpha[4]	0.998225
TNavParticleFilter::Modified Variance for beam 5 is 16.98 
Alpha[5]	0.000000
Alpha[5]	0.998500
TNavParticleFilter::Modified Variance for beam 6 is 16.97 
Alpha[6]	0.000000
Alpha[6]	0.998527
TNavParticleFilter::Modified Variance for beam 7 is 16.75 
Alpha[7]	0.000000
Alpha[7]	0.998573
TNavParticleFilter::Modified Variance for beam 8 is 16.54 
Alpha[8]	0.000000
Alpha[8]	0.998582
TNavParticleFilter::Modified Variance for beam 9 is 16.35 
Alpha[9]	0.000000
Alpha[9]	0.998462
TNavParticleFilter::Modified Variance for beam 10 is 16.17 
Alpha[10]	0.000000
Alpha[10]	0.998549
TNavParticleFilter::Modified Variance for beam 11 is 14.96 
Alpha[11]	0.000000
Alpha[11]	0.998636
TNavParticleFilter::Modified Variance for beam 12 is 14.81 
Alpha[12]	0.000000
Alpha[12]	0.998627
TNavParticleFilter::Modified Variance for beam 13 is 15.02 
Alpha[13]	0.000000
Alpha[13]	0.998551
TNavParticleFilter::Modified Variance for beam 14 is 15.55 
Alpha[14]	0.000000
Alpha[14]	0.998423
TNavParticleFilter::Modified Variance for beam 15 is 15.42 
Alpha[15]	0.000000
Alpha[15]	0.998305
TNavParticleFilter::Modified Variance for beam 16 is 14.32 
Alpha[16]	0.000000
Alpha[16]	0.997976
TNavParticleFilter::Modified Variance for beam 17 is 14.23 
Alpha[17]	0.000000
Alpha[17]	0.997422
TNavParticleFilter::Modified Variance for beam 18 is 14.15 
Alpha[18]	0.000000
Alpha[18]	0.996674
TNavParticleFilter::Modified Variance for beam 19 is 14.07 
Alpha[19]	0.000000
Alpha[19]	0.996023
TNavParticleFilter::Modified Variance for beam 20 is 14.36 
Alpha[20]	0.000000
Alpha[20]	0.995660
TNavParticleFilter::Modified Variance for beam 21 is 14.87 
Alpha[21]	0.000000
Alpha[21]	0.995300
TNavParticleFilter::Modified Variance for beam 22 is 14.80 
Alpha[22]	0.000000
Alpha[22]	0.994900
TNavParticleFilter::Modified Variance for beam 23 is 13.81 
Alpha[23]	0.000000
Alpha[23]	0.994723
TNavParticleFilter::Modified Variance for beam 24 is 13.76 
Alpha[24]	0.000000
Alpha[24]	0.994859
TNavParticleFilter::Modified Variance for beam 25 is 14.50 
Alpha[25]	0.000000
Alpha[25]	0.995636
TNavParticleFilter::Modified Variance for beam 26 is 15.53 
Alpha[26]	0.000000
Alpha[26]	0.996298
TNavParticleFilter::Modified Variance for beam 27 is 15.49 
Alpha[27]	0.000000
Alpha[27]	0.996674
TNavParticleFilter::Modified Variance for beam 28 is 15.45 
Alpha[28]	0.000000
Alpha[28]	0.997300
TNavParticleFilter::Modified Variance for beam 29 is 15.41 
Alpha[29]	0.000000
Alpha[29]	0.997896
TNavParticleFilter::Modified Variance for beam 30 is 14.44 
Alpha[30]	0.000000
Alpha[30]	0.998555
TNavParticleFilter::Modified Variance for beam 31 is 14.42 
Alpha[31]	0.000000
Alpha[31]	0.999129
TNavParticleFilter::Modified Variance for beam 32 is 14.42 
Alpha[32]	0.000000
Alpha[32]	0.999285
TNavParticleFilter::Modified Variance for beam 33 is 15.37 
Alpha[33]	0.000000
Alpha[33]	0.999369
TNavParticleFilter::Modified Variance for beam 34 is 15.38 
Alpha[34]	0.000000
Alpha[34]	0.999431
TNavParticleFilter::Modified Variance for beam 35 is 15.40 
Alpha[35]	0.000000
Alpha[35]	0.999481
TNavParticleFilter::Modified Variance for beam 36 is 15.43 
Alpha[36]	0.000000
Alpha[36]	0.999538
TNavParticleFilter::Modified Variance for beam 37 is 15.47 
Alpha[37]	0.000000
Alpha[37]	0.999546
TNavParticleFilter::Modified Variance for beam 38 is 13.63 
Alpha[38]	0.000000
Alpha[38]	0.999497
TNavParticleFilter::Modified Variance for beam 39 is 13.68 
Alpha[39]	0.000000
Alpha[39]	0.999359
TNavParticleFilter::Modified Variance for beam 40 is 13.73 
Alpha[40]	0.000000
Alpha[40]	0.999086
TNavParticleFilter::Modified Variance for beam 41 is 13.79 
Alpha[41]	0.000000
Alpha[41]	0.998894
TNavParticleFilter::Modified Variance for beam 42 is 13.85 
Alpha[42]	0.000000
Alpha[42]	0.998806
TNavParticleFilter::Modified Variance for beam 43 is 13.92 
Alpha[43]	0.000000
Alpha[43]	0.998779
TNavParticleFilter::Modified Variance for beam 44 is 14.00 
Alpha[44]	0.000000
Alpha[44]	0.998672
TNavParticleFilter::Modified Variance for beam 45 is 13.75 
Alpha[45]	0.000000
Alpha[45]	0.998671
TNavParticleFilter::Modified Variance for beam 46 is 13.25 
Alpha[46]	0.000000
Alpha[46]	0.998676
TNavParticleFilter::Modified Variance for beam 47 is 13.34 
Alpha[47]	0.000000
Alpha[47]	0.998645
TNavParticleFilter::Modified Variance for beam 48 is 13.44 
Alpha[48]	0.000000
Alpha[48]	0.998588
TNavParticleFilter::Modified Variance for beam 49 is 13.55 
Alpha[49]	0.000000
Alpha[49]	0.998494
TNavParticleFilter::Modified Variance for beam 50 is 13.66 
Alpha[50]	0.000000
Alpha[50]	0.998445
TNavParticleFilter::Modified Variance for beam 51 is 13.78 
Alpha[51]	0.000000
Alpha[51]	0.998402
TNavParticleFilter::Modified Variance for beam 52 is 13.92 
Alpha[52]	0.000000
Alpha[52]	0.998162
TNavParticleFilter::Modified Variance for beam 53 is 13.67 
Alpha[53]	0.000000
Alpha[53]	0.997648
TNavParticleFilter::Modified Variance for beam 54 is 12.83 
Alpha[54]	0.000000
Alpha[54]	0.997279
TNavParticleFilter::Modified Variance for beam 55 is 12.08 
Alpha[55]	0.000000
Alpha[55]	0.997615
TNavParticleFilter::Modified Variance for beam 56 is 11.68 
Alpha[56]	0.000000
Alpha[56]	0.998257
TNavParticleFilter::Modified Variance for beam 57 is 11.80 
Alpha[57]	0.000000
Alpha[57]	0.998702
TNavParticleFilter::Modified Variance for beam 58 is 11.94 
Alpha[58]	0.000000
Alpha[58]	0.998944
TNavParticleFilter::Modified Variance for beam 59 is 11.51 
Alpha[59]	0.000000
Alpha[59]	0.999098
TNavPF:: sumSquaredError = 135.388770 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -1.68. Range = 65.50 
TNavPF::Calculated measDiffMean for beam 31 as -3.44. Range = 66.13 
TNavPF::Calculated measDiffMean for beam 32 as -5.34. Range = 65.92 
TNavPF::Calculated measDiffMean for beam 33 as -5.03. Range = 65.15 
TNavPF::Calculated measDiffMean for beam 34 as -3.13. Range = 65.86 
TNavPF::Calculated measDiffMean for beam 35 as -1.12. Range = 66.61 
TNavPF::Calculated measDiffMean for beam 36 as -0.78. Range = 67.39 
TNavPF::Calculated measDiffMean for beam 37 as -0.96. Range = 68.22 
TNavPF::Calculated measDiffMean for beam 38 as -1.44. Range = 69.08 
TNavPF::Calculated measDiffMean for beam 39 as -1.82. Range = 69.99 
TNavPF::Calculated measDiffMean for beam 40 as -1.45. Range = 69.80 
TNavPF::Calculated measDiffMean for beam 41 as -2.72. Range = 68.30 
TNavPF::Calculated measDiffMean for beam 42 as -1.70. Range = 67.74 
TNavPF::Calculated measDiffMean for beam 43 as 0.15. Range = 68.58 
TNavPF::Calculated measDiffMean for beam 44 as 2.57. Range = 67.25 
TNavPF::Calculated measDiffMean for beam 45 as 3.57. Range = 65.99 
TNavPF::Calculated measDiffMean for beam 46 as 2.34. Range = 64.80 
TNavPF::Calculated measDiffMean for beam 47 as 2.98. Range = 64.90 
TNavPF::Calculated measDiffMean for beam 48 as 3.42. Range = 62.60 
TNavPF::Calculated measDiffMean for beam 49 as 3.63. Range = 61.59 
TNavPF::Calculated measDiffMean for beam 50 as 4.48. Range = 62.59 
TNavPF::Calculated measDiffMean for beam 51 as 5.78. Range = 62.34 
TNavPF::Calculated measDiffMean for beam 52 as 5.98. Range = 61.43 
TNavPF::Calculated measDiffMean for beam 53 as 4.16. Range = 60.56 
TNavPF::Calculated measDiffMean for beam 54 as 4.29. Range = 61.53 
TNavPF::Calculated measDiffMean for beam 55 as 5.88. Range = 61.44 
TNavPF::Calculated measDiffMean for beam 56 as 7.88. Range = 60.66 
TNavPF::Calculated measDiffMean for beam 57 as 7.52. Range = 57.49 
TNavPF::Calculated measDiffMean for beam 58 as 7.05. Range = 56.81 
TNavPF::Calculated measDiffMean for beam 59 as 6.47. Range = 56.16 
TNavPF::Calculated measDiffMean for beam 60 as 3.71. Range = 55.55 
TNavPF::Calculated measDiffMean for beam 61 as 2.23. Range = 52.64 
TNavPF::Calculated measDiffMean for beam 62 as 0.71. Range = 49.80 
TNavPF::Calculated measDiffMean for beam 63 as 1.67. Range = 49.32 
TNavPF::Calculated measDiffMean for beam 64 as 0.73. Range = 50.72 
TNavPF::Calculated measDiffMean for beam 65 as -0.21. Range = 52.48 
TNavPF::Calculated measDiffMean for beam 66 as -1.56. Range = 52.45 
TNavPF::Calculated measDiffMean for beam 67 as -2.97. Range = 52.02 
TNavPF::Calculated measDiffMean for beam 68 as -8.45. Range = 51.61 
TNavPF::Calculated measDiffMean for beam 69 as -9.80. Range = 51.23 
TNavPF::Calculated measDiffMean for beam 70 as -10.79. Range = 50.87 
TNavPF::Calculated measDiffMean for beam 71 as -10.71. Range = 48.39 
TNavPF::Calculated measDiffMean for beam 72 as -9.94. Range = 48.08 
TNavPF::Calculated measDiffMean for beam 73 as -8.76. Range = 48.51 
TNavPF::Calculated measDiffMean for beam 74 as -7.38. Range = 49.61 
TNavPF::Calculated measDiffMean for beam 75 as -6.80. Range = 49.34 
TNavPF::Calculated measDiffMean for beam 76 as -6.75. Range = 47.02 
TNavPF::Calculated measDiffMean for beam 77 as -5.48. Range = 46.79 
TNavPF::Calculated measDiffMean for beam 78 as -4.55. Range = 46.59 
TNavPF::Calculated measDiffMean for beam 79 as -3.67. Range = 46.40 
TNavPF::Calculated measDiffMean for beam 80 as -2.54. Range = 47.01 
TNavPF::Calculated measDiffMean for beam 81 as -1.49. Range = 48.10 
TNavPF::Calculated measDiffMean for beam 82 as -0.62. Range = 47.95 
TNavPF::Calculated measDiffMean for beam 83 as -0.65. Range = 45.79 
TNavPF::Calculated measDiffMean for beam 84 as -2.13. Range = 45.67 
TNavPF::Calculated measDiffMean for beam 85 as -3.44. Range = 47.33 
TNavPF::Calculated measDiffMean for beam 86 as -3.70. Range = 49.51 
TNavPF::Calculated measDiffMean for beam 87 as -2.35. Range = 49.43 
TNavPF::Calculated measDiffMean for beam 88 as -0.82. Range = 49.37 
TNavPF::Calculated measDiffMean for beam 89 as -0.58. Range = 49.32 
TNavPF::First Term of Map Covariance Matrix is 10.55 
TNavPF::Calculated NIS Value : 63.54 	numBeams normalized NIS: 1.06
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323578.82 sec.
INS : North: 4070213.11, East: 589259.20, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 54.02, IDT[75] = 44.40
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323581.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323581.62)
ARL : North: 37.7215, East: -354.0737, Depth: -36.8652ARL : Estimation Bias  (Mean)         : (t = 1488323581.62)
ARL : North: 37.8508, East: -356.0310, Depth: -35.2324TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.42 
Alpha[0]	0.123000
Alpha[0]	0.996420
TNavParticleFilter::Modified Variance for beam 1 is 23.90 
Alpha[1]	0.000000
Alpha[1]	0.996052
TNavParticleFilter::Modified Variance for beam 2 is 23.79 
Alpha[2]	0.000000
Alpha[2]	0.996736
TNavParticleFilter::Modified Variance for beam 3 is 23.11 
Alpha[3]	0.000000
Alpha[3]	0.997812
TNavParticleFilter::Modified Variance for beam 4 is 22.48 
Alpha[4]	0.000000
Alpha[4]	0.998516
TNavParticleFilter::Modified Variance for beam 5 is 23.14 
Alpha[5]	0.000000
Alpha[5]	0.999081
TNavParticleFilter::Modified Variance for beam 6 is 22.93 
Alpha[6]	0.000000
Alpha[6]	0.999295
TNavParticleFilter::Modified Variance for beam 7 is 20.85 
Alpha[7]	0.000000
Alpha[7]	0.999273
TNavParticleFilter::Modified Variance for beam 8 is 18.95 
Alpha[8]	0.000000
Alpha[8]	0.999036
TNavParticleFilter::Modified Variance for beam 9 is 18.55 
Alpha[9]	0.000000
Alpha[9]	0.998852
TNavParticleFilter::Modified Variance for beam 10 is 16.88 
Alpha[10]	0.000000
Alpha[10]	0.998674
TNavParticleFilter::Modified Variance for beam 11 is 16.56 
Alpha[11]	0.000000
Alpha[11]	0.998201
TNavParticleFilter::Modified Variance for beam 12 is 16.25 
Alpha[12]	0.000000
Alpha[12]	0.998072
TNavParticleFilter::Modified Variance for beam 13 is 15.99 
Alpha[13]	0.000000
Alpha[13]	0.998003
TNavParticleFilter::Modified Variance for beam 14 is 16.70 
Alpha[14]	0.000000
Alpha[14]	0.997628
TNavParticleFilter::Modified Variance for beam 15 is 17.80 
Alpha[15]	0.000000
Alpha[15]	0.997650
TNavParticleFilter::Modified Variance for beam 16 is 17.51 
Alpha[16]	0.000000
Alpha[16]	0.997839
TNavParticleFilter::Modified Variance for beam 17 is 17.24 
Alpha[17]	0.000000
Alpha[17]	0.997614
TNavParticleFilter::Modified Variance for beam 18 is 16.98 
Alpha[18]	0.000000
Alpha[18]	0.998216
TNavParticleFilter::Modified Variance for beam 19 is 16.72 
Alpha[19]	0.000000
Alpha[19]	0.999022
TNavParticleFilter::Modified Variance for beam 20 is 16.49 
Alpha[20]	0.000000
Alpha[20]	0.999105
TNavParticleFilter::Modified Variance for beam 21 is 15.20 
Alpha[21]	0.000000
Alpha[21]	0.998718
TNavParticleFilter::Modified Variance for beam 22 is 15.02 
Alpha[22]	0.000000
Alpha[22]	0.998741
TNavParticleFilter::Modified Variance for beam 23 is 15.67 
Alpha[23]	0.000000
Alpha[23]	0.998908
TNavParticleFilter::Modified Variance for beam 24 is 15.72 
Alpha[24]	0.000000
Alpha[24]	0.998919
TNavParticleFilter::Modified Variance for beam 25 is 14.53 
Alpha[25]	0.000000
Alpha[25]	0.998820
TNavParticleFilter::Modified Variance for beam 26 is 14.39 
Alpha[26]	0.000000
Alpha[26]	0.998687
TNavParticleFilter::Modified Variance for beam 27 is 14.26 
Alpha[27]	0.000000
Alpha[27]	0.998501
TNavParticleFilter::Modified Variance for beam 28 is 14.14 
Alpha[28]	0.000000
Alpha[28]	0.998318
TNavParticleFilter::Modified Variance for beam 29 is 14.03 
Alpha[29]	0.000000
Alpha[29]	0.998077
TNavParticleFilter::Modified Variance for beam 30 is 14.89 
Alpha[30]	0.000000
Alpha[30]	0.997752
TNavParticleFilter::Modified Variance for beam 31 is 14.79 
Alpha[31]	0.000000
Alpha[31]	0.997123
TNavParticleFilter::Modified Variance for beam 32 is 13.76 
Alpha[32]	0.000000
Alpha[32]	0.996331
TNavParticleFilter::Modified Variance for beam 33 is 13.67 
Alpha[33]	0.000000
Alpha[33]	0.996351
TNavParticleFilter::Modified Variance for beam 34 is 13.64 
Alpha[34]	0.000000
Alpha[34]	0.997089
TNavParticleFilter::Modified Variance for beam 35 is 15.40 
Alpha[35]	0.000000
Alpha[35]	0.997458
TNavParticleFilter::Modified Variance for beam 36 is 15.32 
Alpha[36]	0.000000
Alpha[36]	0.997383
TNavParticleFilter::Modified Variance for beam 37 is 14.30 
Alpha[37]	0.000000
Alpha[37]	0.997247
TNavParticleFilter::Modified Variance for beam 38 is 14.25 
Alpha[38]	0.000000
Alpha[38]	0.997397
TNavParticleFilter::Modified Variance for beam 39 is 14.19 
Alpha[39]	0.000000
Alpha[39]	0.998120
TNavParticleFilter::Modified Variance for beam 40 is 13.24 
Alpha[40]	0.000000
Alpha[40]	0.998821
TNavParticleFilter::Modified Variance for beam 41 is 13.20 
Alpha[41]	0.000000
Alpha[41]	0.998970
TNavParticleFilter::Modified Variance for beam 42 is 14.08 
Alpha[42]	0.000000
Alpha[42]	0.998457
TNavParticleFilter::Modified Variance for beam 43 is 14.07 
Alpha[43]	0.000000
Alpha[43]	0.997714
TNavParticleFilter::Modified Variance for beam 44 is 14.04 
Alpha[44]	0.000000
Alpha[44]	0.998392
TNavParticleFilter::Modified Variance for beam 45 is 13.13 
Alpha[45]	0.000000
Alpha[45]	0.999157
TNavParticleFilter::Modified Variance for beam 46 is 13.13 
Alpha[46]	0.000000
Alpha[46]	0.999220
TNavParticleFilter::Modified Variance for beam 47 is 13.14 
Alpha[47]	0.000000
Alpha[47]	0.999207
TNavParticleFilter::Modified Variance for beam 48 is 13.15 
Alpha[48]	0.000000
Alpha[48]	0.999172
TNavParticleFilter::Modified Variance for beam 49 is 13.16 
Alpha[49]	0.000000
Alpha[49]	0.999051
TNavParticleFilter::Modified Variance for beam 50 is 13.19 
Alpha[50]	0.000000
Alpha[50]	0.998771
TNavParticleFilter::Modified Variance for beam 51 is 13.22 
Alpha[51]	0.000000
Alpha[51]	0.998705
TNavParticleFilter::Modified Variance for beam 52 is 13.25 
Alpha[52]	0.000000
Alpha[52]	0.998963
TNavParticleFilter::Modified Variance for beam 53 is 13.29 
Alpha[53]	0.000000
Alpha[53]	0.999110
TNavParticleFilter::Modified Variance for beam 54 is 13.33 
Alpha[54]	0.000000
Alpha[54]	0.999255
TNavParticleFilter::Modified Variance for beam 55 is 12.51 
Alpha[55]	0.000000
Alpha[55]	0.999359
TNavParticleFilter::Modified Variance for beam 56 is 12.56 
Alpha[56]	0.000000
Alpha[56]	0.999355
TNavParticleFilter::Modified Variance for beam 57 is 12.62 
Alpha[57]	0.000000
Alpha[57]	0.999333
TNavParticleFilter::Modified Variance for beam 58 is 12.69 
Alpha[58]	0.000000
Alpha[58]	0.999255
TNavParticleFilter::Modified Variance for beam 59 is 12.77 
Alpha[59]	0.000000
Alpha[59]	0.998977
TNavPF:: sumSquaredError = 133.121403 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -3.81. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -3.72. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -3.94. Range = 89.05 
TNavPF::Calculated measDiffMean for beam 33 as -4.67. Range = 82.52 
TNavPF::Calculated measDiffMean for beam 34 as -4.31. Range = 78.13 
TNavPF::Calculated measDiffMean for beam 35 as -0.55. Range = 74.20 
TNavPF::Calculated measDiffMean for beam 36 as 1.40. Range = 70.67 
TNavPF::Calculated measDiffMean for beam 37 as -0.56. Range = 70.22 
TNavPF::Calculated measDiffMean for beam 38 as -2.40. Range = 69.87 
TNavPF::Calculated measDiffMean for beam 39 as -1.95. Range = 69.04 
TNavPF::Calculated measDiffMean for beam 40 as -3.54. Range = 69.28 
TNavPF::Calculated measDiffMean for beam 41 as -2.76. Range = 66.70 
TNavPF::Calculated measDiffMean for beam 42 as -2.66. Range = 66.25 
TNavPF::Calculated measDiffMean for beam 43 as -2.48. Range = 66.84 
TNavPF::Calculated measDiffMean for beam 44 as -0.44. Range = 67.45 
TNavPF::Calculated measDiffMean for beam 45 as 2.00. Range = 68.10 
TNavPF::Calculated measDiffMean for beam 46 as 1.92. Range = 68.39 
TNavPF::Calculated measDiffMean for beam 47 as 1.62. Range = 67.15 
TNavPF::Calculated measDiffMean for beam 48 as 0.96. Range = 67.88 
TNavPF::Calculated measDiffMean for beam 49 as 1.25. Range = 70.13 
TNavPF::Calculated measDiffMean for beam 50 as 3.09. Range = 69.44 
TNavPF::Calculated measDiffMean for beam 51 as 2.41. Range = 70.28 
TNavPF::Calculated measDiffMean for beam 52 as 3.25. Range = 71.17 
TNavPF::Calculated measDiffMean for beam 53 as 5.97. Range = 70.13 
TNavPF::Calculated measDiffMean for beam 54 as 7.33. Range = 70.53 
TNavPF::Calculated measDiffMean for beam 55 as 5.65. Range = 70.25 
TNavPF::Calculated measDiffMean for beam 56 as 5.53. Range = 68.79 
TNavPF::Calculated measDiffMean for beam 57 as 5.07. Range = 67.41 
TNavPF::Calculated measDiffMean for beam 58 as 4.77. Range = 66.10 
TNavPF::Calculated measDiffMean for beam 59 as 4.74. Range = 64.86 
TNavPF::Calculated measDiffMean for beam 60 as 7.01. Range = 63.69 
TNavPF::Calculated measDiffMean for beam 61 as 7.31. Range = 64.42 
TNavPF::Calculated measDiffMean for beam 62 as 5.33. Range = 64.29 
TNavPF::Calculated measDiffMean for beam 63 as 5.09. Range = 63.24 
TNavPF::Calculated measDiffMean for beam 64 as 4.84. Range = 62.24 
TNavPF::Calculated measDiffMean for beam 65 as 8.45. Range = 63.33 
TNavPF::Calculated measDiffMean for beam 66 as 8.13. Range = 63.00 
TNavPF::Calculated measDiffMean for beam 67 as 5.83. Range = 59.54 
TNavPF::Calculated measDiffMean for beam 68 as 5.56. Range = 56.19 
TNavPF::Calculated measDiffMean for beam 69 as 4.70. Range = 55.45 
TNavPF::Calculated measDiffMean for beam 70 as 1.26. Range = 52.28 
TNavPF::Calculated measDiffMean for beam 71 as 0.15. Range = 51.63 
TNavPF::Calculated measDiffMean for beam 72 as 1.67. Range = 51.02 
TNavPF::Calculated measDiffMean for beam 73 as 1.41. Range = 50.49 
TNavPF::Calculated measDiffMean for beam 74 as 0.56. Range = 51.90 
TNavPF::Calculated measDiffMean for beam 75 as -4.11. Range = 54.02 
TNavPF::Calculated measDiffMean for beam 76 as -5.88. Range = 53.47 
TNavPF::Calculated measDiffMean for beam 77 as -6.55. Range = 52.95 
TNavPF::Calculated measDiffMean for beam 78 as -7.05. Range = 52.45 
TNavPF::Calculated measDiffMean for beam 79 as -7.14. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 80 as -7.41. Range = 51.53 
TNavPF::Calculated measDiffMean for beam 81 as -6.80. Range = 48.91 
TNavPF::Calculated measDiffMean for beam 82 as -4.44. Range = 48.52 
TNavPF::Calculated measDiffMean for beam 83 as -2.44. Range = 49.88 
TNavPF::Calculated measDiffMean for beam 84 as -0.79. Range = 49.97 
TNavPF::Calculated measDiffMean for beam 85 as -1.03. Range = 47.49 
TNavPF::Calculated measDiffMean for beam 86 as 0.34. Range = 47.19 
TNavPF::Calculated measDiffMean for beam 87 as 0.75. Range = 46.90 
TNavPF::Calculated measDiffMean for beam 88 as 0.83. Range = 46.63 
TNavPF::Calculated measDiffMean for beam 89 as 1.35. Range = 46.38 
TNavPF::First Term of Map Covariance Matrix is 5.58 
TNavPF::Calculated NIS Value : 65.07 	numBeams normalized NIS: 1.08
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323581.82 sec.
INS : North: 4070212.03, East: 589255.36, Depth: 889.91
TerrainNav::measUpdate() - IDT[45] = 53.69, IDT[75] = 43.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323584.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323584.62)
ARL : North: 36.9794, East: -356.3246, Depth: -38.4120ARL : Estimation Bias  (Mean)         : (t = 1488323584.62)
ARL : North: 37.7975, East: -356.3008, Depth: -35.8326TerrainNav:: Windowed NIS is 0.4, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 25.41 
Alpha[0]	0.123000
Alpha[0]	0.994944
TNavParticleFilter::Modified Variance for beam 1 is 24.77 
Alpha[1]	0.000000
Alpha[1]	0.996894
TNavParticleFilter::Modified Variance for beam 2 is 23.97 
Alpha[2]	0.000000
Alpha[2]	0.998771
TNavParticleFilter::Modified Variance for beam 3 is 23.84 
Alpha[3]	0.000000
Alpha[3]	0.999159
TNavParticleFilter::Modified Variance for beam 4 is 24.33 
Alpha[4]	0.000000
Alpha[4]	0.999168
TNavParticleFilter::Modified Variance for beam 5 is 23.66 
Alpha[5]	0.000000
Alpha[5]	0.999005
TNavParticleFilter::Modified Variance for beam 6 is 21.41 
Alpha[6]	0.000000
Alpha[6]	0.998913
TNavParticleFilter::Modified Variance for beam 7 is 20.87 
Alpha[7]	0.000000
Alpha[7]	0.998894
TNavParticleFilter::Modified Variance for beam 8 is 20.38 
Alpha[8]	0.000000
Alpha[8]	0.998518
TNavParticleFilter::Modified Variance for beam 9 is 17.13 
Alpha[9]	0.000000
Alpha[9]	0.998216
TNavParticleFilter::Modified Variance for beam 10 is 16.77 
Alpha[10]	0.000000
Alpha[10]	0.998063
TNavParticleFilter::Modified Variance for beam 11 is 16.93 
Alpha[11]	0.000000
Alpha[11]	0.997856
TNavParticleFilter::Modified Variance for beam 12 is 17.59 
Alpha[12]	0.000000
Alpha[12]	0.998074
TNavParticleFilter::Modified Variance for beam 13 is 18.29 
Alpha[13]	0.000000
Alpha[13]	0.998153
TNavParticleFilter::Modified Variance for beam 14 is 17.94 
Alpha[14]	0.000000
Alpha[14]	0.998424
TNavParticleFilter::Modified Variance for beam 15 is 17.60 
Alpha[15]	0.000000
Alpha[15]	0.999098
TNavParticleFilter::Modified Variance for beam 16 is 17.29 
Alpha[16]	0.000000
Alpha[16]	0.999346
TNavParticleFilter::Modified Variance for beam 17 is 17.01 
Alpha[17]	0.000000
Alpha[17]	0.999334
TNavParticleFilter::Modified Variance for beam 18 is 15.59 
Alpha[18]	0.000000
Alpha[18]	0.999259
TNavParticleFilter::Modified Variance for beam 19 is 15.36 
Alpha[19]	0.000000
Alpha[19]	0.999152
TNavParticleFilter::Modified Variance for beam 20 is 15.76 
Alpha[20]	0.000000
Alpha[20]	0.998890
TNavParticleFilter::Modified Variance for beam 21 is 16.03 
Alpha[21]	0.000000
Alpha[21]	0.998427
TNavParticleFilter::Modified Variance for beam 22 is 14.76 
Alpha[22]	0.000000
Alpha[22]	0.997891
TNavParticleFilter::Modified Variance for beam 23 is 14.58 
Alpha[23]	0.000000
Alpha[23]	0.997471
TNavParticleFilter::Modified Variance for beam 24 is 14.41 
Alpha[24]	0.000000
Alpha[24]	0.997195
TNavParticleFilter::Modified Variance for beam 25 is 14.25 
Alpha[25]	0.000000
Alpha[25]	0.996962
TNavParticleFilter::Modified Variance for beam 26 is 14.18 
Alpha[26]	0.000000
Alpha[26]	0.996370
TNavParticleFilter::Modified Variance for beam 27 is 14.97 
Alpha[27]	0.000000
Alpha[27]	0.995468
TNavParticleFilter::Modified Variance for beam 28 is 14.83 
Alpha[28]	0.000000
Alpha[28]	0.995356
TNavParticleFilter::Modified Variance for beam 29 is 13.71 
Alpha[29]	0.000000
Alpha[29]	0.996130
TNavParticleFilter::Modified Variance for beam 30 is 13.59 
Alpha[30]	0.000000
Alpha[30]	0.996544
TNavParticleFilter::Modified Variance for beam 31 is 13.91 
Alpha[31]	0.000000
Alpha[31]	0.996478
TNavParticleFilter::Modified Variance for beam 32 is 15.30 
Alpha[32]	0.000000
Alpha[32]	0.996407
TNavParticleFilter::Modified Variance for beam 33 is 15.19 
Alpha[33]	0.000000
Alpha[33]	0.996783
TNavParticleFilter::Modified Variance for beam 34 is 15.08 
Alpha[34]	0.000000
Alpha[34]	0.997385
TNavParticleFilter::Modified Variance for beam 35 is 14.97 
Alpha[35]	0.000000
Alpha[35]	0.997910
TNavParticleFilter::Modified Variance for beam 36 is 14.88 
Alpha[36]	0.000000
Alpha[36]	0.998402
TNavParticleFilter::Modified Variance for beam 37 is 13.86 
Alpha[37]	0.000000
Alpha[37]	0.998519
TNavParticleFilter::Modified Variance for beam 38 is 13.80 
Alpha[38]	0.000000
Alpha[38]	0.998157
TNavParticleFilter::Modified Variance for beam 39 is 14.67 
Alpha[39]	0.000000
Alpha[39]	0.998129
TNavParticleFilter::Modified Variance for beam 40 is 14.61 
Alpha[40]	0.000000
Alpha[40]	0.998775
TNavParticleFilter::Modified Variance for beam 41 is 14.56 
Alpha[41]	0.000000
Alpha[41]	0.999087
TNavParticleFilter::Modified Variance for beam 42 is 14.52 
Alpha[42]	0.000000
Alpha[42]	0.999140
TNavParticleFilter::Modified Variance for beam 43 is 12.69 
Alpha[43]	0.000000
Alpha[43]	0.999125
TNavParticleFilter::Modified Variance for beam 44 is 12.67 
Alpha[44]	0.000000
Alpha[44]	0.999099
TNavParticleFilter::Modified Variance for beam 45 is 12.66 
Alpha[45]	0.000000
Alpha[45]	0.999001
TNavParticleFilter::Modified Variance for beam 46 is 12.65 
Alpha[46]	0.000000
Alpha[46]	0.998882
TNavParticleFilter::Modified Variance for beam 47 is 12.64 
Alpha[47]	0.000000
Alpha[47]	0.999148
TNavParticleFilter::Modified Variance for beam 48 is 12.63 
Alpha[48]	0.000000
Alpha[48]	0.999423
TNavParticleFilter::Modified Variance for beam 49 is 12.64 
Alpha[49]	0.000000
Alpha[49]	0.999480
TNavParticleFilter::Modified Variance for beam 50 is 12.65 
Alpha[50]	0.000000
Alpha[50]	0.999464
TNavParticleFilter::Modified Variance for beam 51 is 12.67 
Alpha[51]	0.000000
Alpha[51]	0.999390
TNavParticleFilter::Modified Variance for beam 52 is 11.85 
Alpha[52]	0.000000
Alpha[52]	0.999290
TNavParticleFilter::Modified Variance for beam 53 is 11.88 
Alpha[53]	0.000000
Alpha[53]	0.999205
TNavParticleFilter::Modified Variance for beam 54 is 11.91 
Alpha[54]	0.000000
Alpha[54]	0.999179
TNavParticleFilter::Modified Variance for beam 55 is 11.95 
Alpha[55]	0.000000
Alpha[55]	0.999140
TNavParticleFilter::Modified Variance for beam 56 is 11.99 
Alpha[56]	0.000000
Alpha[56]	0.999163
TNavParticleFilter::Modified Variance for beam 57 is 12.03 
Alpha[57]	0.000000
Alpha[57]	0.999440
TNavParticleFilter::Modified Variance for beam 58 is 12.08 
Alpha[58]	0.000000
Alpha[58]	0.999629
TNavParticleFilter::Modified Variance for beam 59 is 12.14 
Alpha[59]	0.000000
Alpha[59]	0.999683
TNavPF:: sumSquaredError = 126.710026 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -4.52. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 31 as -4.85. Range = 0.00 
TNavPF::Calculated measDiffMean for beam 32 as -4.01. Range = 94.37 
TNavPF::Calculated measDiffMean for beam 33 as -1.79. Range = 94.81 
TNavPF::Calculated measDiffMean for beam 34 as 0.56. Range = 82.24 
TNavPF::Calculated measDiffMean for beam 35 as 1.40. Range = 77.65 
TNavPF::Calculated measDiffMean for beam 36 as -0.48. Range = 73.57 
TNavPF::Calculated measDiffMean for beam 37 as 0.60. Range = 73.51 
TNavPF::Calculated measDiffMean for beam 38 as 1.34. Range = 72.36 
TNavPF::Calculated measDiffMean for beam 39 as -3.65. Range = 72.32 
TNavPF::Calculated measDiffMean for beam 40 as -3.43. Range = 71.44 
TNavPF::Calculated measDiffMean for beam 41 as -2.39. Range = 71.18 
TNavPF::Calculated measDiffMean for beam 42 as -0.68. Range = 71.73 
TNavPF::Calculated measDiffMean for beam 43 as 1.03. Range = 72.31 
TNavPF::Calculated measDiffMean for beam 44 as 0.78. Range = 70.69 
TNavPF::Calculated measDiffMean for beam 45 as 1.00. Range = 71.32 
TNavPF::Calculated measDiffMean for beam 46 as 2.43. Range = 71.98 
TNavPF::Calculated measDiffMean for beam 47 as 4.13. Range = 72.68 
TNavPF::Calculated measDiffMean for beam 48 as 3.03. Range = 73.41 
TNavPF::Calculated measDiffMean for beam 49 as 3.95. Range = 74.18 
TNavPF::Calculated measDiffMean for beam 50 as 5.81. Range = 74.99 
TNavPF::Calculated measDiffMean for beam 51 as 6.81. Range = 74.89 
TNavPF::Calculated measDiffMean for beam 52 as 4.29. Range = 72.97 
TNavPF::Calculated measDiffMean for beam 53 as 4.09. Range = 72.75 
TNavPF::Calculated measDiffMean for beam 54 as 4.09. Range = 72.84 
TNavPF::Calculated measDiffMean for beam 55 as 4.29. Range = 71.17 
TNavPF::Calculated measDiffMean for beam 56 as 4.80. Range = 69.59 
TNavPF::Calculated measDiffMean for beam 57 as 6.97. Range = 68.10 
TNavPF::Calculated measDiffMean for beam 58 as 6.77. Range = 66.70 
TNavPF::Calculated measDiffMean for beam 59 as 4.19. Range = 65.69 
TNavPF::Calculated measDiffMean for beam 60 as 3.69. Range = 66.72 
TNavPF::Calculated measDiffMean for beam 61 as 4.31. Range = 65.82 
TNavPF::Calculated measDiffMean for beam 62 as 7.32. Range = 64.64 
TNavPF::Calculated measDiffMean for beam 63 as 6.99. Range = 64.46 
TNavPF::Calculated measDiffMean for beam 64 as 6.19. Range = 65.22 
TNavPF::Calculated measDiffMean for beam 65 as 4.90. Range = 64.16 
TNavPF::Calculated measDiffMean for beam 66 as 3.49. Range = 60.48 
TNavPF::Calculated measDiffMean for beam 67 as 0.64. Range = 59.57 
TNavPF::Calculated measDiffMean for beam 68 as 0.64. Range = 58.70 
TNavPF::Calculated measDiffMean for beam 69 as 2.51. Range = 52.76 
TNavPF::Calculated measDiffMean for beam 70 as 1.00. Range = 52.04 
TNavPF::Calculated measDiffMean for beam 71 as -1.52. Range = 52.36 
TNavPF::Calculated measDiffMean for beam 72 as -3.49. Range = 53.63 
TNavPF::Calculated measDiffMean for beam 73 as -8.41. Range = 54.95 
TNavPF::Calculated measDiffMean for beam 74 as -8.93. Range = 54.30 
TNavPF::Calculated measDiffMean for beam 75 as -9.17. Range = 53.69 
TNavPF::Calculated measDiffMean for beam 76 as -9.10. Range = 53.11 
TNavPF::Calculated measDiffMean for beam 77 as -8.23. Range = 52.55 
TNavPF::Calculated measDiffMean for beam 78 as -5.97. Range = 49.72 
TNavPF::Calculated measDiffMean for beam 79 as -3.86. Range = 49.24 
TNavPF::Calculated measDiffMean for beam 80 as -2.17. Range = 50.06 
TNavPF::Calculated measDiffMean for beam 81 as -0.78. Range = 50.59 
TNavPF::Calculated measDiffMean for beam 82 as -1.95. Range = 47.94 
TNavPF::Calculated measDiffMean for beam 83 as -1.53. Range = 47.55 
TNavPF::Calculated measDiffMean for beam 84 as -1.14. Range = 47.18 
TNavPF::Calculated measDiffMean for beam 85 as -0.31. Range = 46.83 
TNavPF::Calculated measDiffMean for beam 86 as 0.75. Range = 46.65 
TNavPF::Calculated measDiffMean for beam 87 as 2.03. Range = 48.32 
TNavPF::Calculated measDiffMean for beam 88 as 3.97. Range = 48.02 
TNavPF::Calculated measDiffMean for beam 89 as 6.53. Range = 45.62 
TNavPF::First Term of Map Covariance Matrix is 3.94 
TNavPF::Calculated NIS Value : 65.88 	numBeams normalized NIS: 1.10
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323584.82 sec.
INS : North: 4070210.95, East: 589251.48, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 49.92, IDT[75] = 38.13
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323587.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323587.62)
ARL : North: 38.2484, East: -355.2286, Depth: -34.3581ARL : Estimation Bias  (Mean)         : (t = 1488323587.62)
ARL : North: 38.2707, East: -355.5615, Depth: -35.3139TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 19.05 
Alpha[0]	0.123000
Alpha[0]	0.998708
TNavParticleFilter::Modified Variance for beam 1 is 18.63 
Alpha[1]	0.000000
Alpha[1]	0.999064
TNavParticleFilter::Modified Variance for beam 2 is 18.24 
Alpha[2]	0.000000
Alpha[2]	0.999474
TNavParticleFilter::Modified Variance for beam 3 is 17.88 
Alpha[3]	0.000000
Alpha[3]	0.999577
TNavParticleFilter::Modified Variance for beam 4 is 17.55 
Alpha[4]	0.000000
Alpha[4]	0.999504
TNavParticleFilter::Modified Variance for beam 5 is 17.89 
Alpha[5]	0.000000
Alpha[5]	0.999344
TNavParticleFilter::Modified Variance for beam 6 is 18.18 
Alpha[6]	0.000000
Alpha[6]	0.998953
TNavParticleFilter::Modified Variance for beam 7 is 16.67 
Alpha[7]	0.000000
Alpha[7]	0.998035
TNavParticleFilter::Modified Variance for beam 8 is 16.42 
Alpha[8]	0.000000
Alpha[8]	0.997277
TNavParticleFilter::Modified Variance for beam 9 is 16.18 
Alpha[9]	0.000000
Alpha[9]	0.996844
TNavParticleFilter::Modified Variance for beam 10 is 14.85 
Alpha[10]	0.000000
Alpha[10]	0.996817
TNavParticleFilter::Modified Variance for beam 11 is 14.65 
Alpha[11]	0.000000
Alpha[11]	0.996769
TNavParticleFilter::Modified Variance for beam 12 is 14.48 
Alpha[12]	0.000000
Alpha[12]	0.995707
TNavParticleFilter::Modified Variance for beam 13 is 14.31 
Alpha[13]	0.000000
Alpha[13]	0.994807
TNavParticleFilter::Modified Variance for beam 14 is 14.79 
Alpha[14]	0.000000
Alpha[14]	0.995132
TNavParticleFilter::Modified Variance for beam 15 is 15.74 
Alpha[15]	0.000000
Alpha[15]	0.995867
TNavParticleFilter::Modified Variance for beam 16 is 15.85 
Alpha[16]	0.000000
Alpha[16]	0.996270
TNavParticleFilter::Modified Variance for beam 17 is 14.82 
Alpha[17]	0.000000
Alpha[17]	0.996272
TNavParticleFilter::Modified Variance for beam 18 is 15.52 
Alpha[18]	0.000000
Alpha[18]	0.996458
TNavParticleFilter::Modified Variance for beam 19 is 15.37 
Alpha[19]	0.000000
Alpha[19]	0.996961
TNavParticleFilter::Modified Variance for beam 20 is 15.23 
Alpha[20]	0.000000
Alpha[20]	0.996942
TNavParticleFilter::Modified Variance for beam 21 is 15.11 
Alpha[21]	0.000000
Alpha[21]	0.996907
TNavParticleFilter::Modified Variance for beam 22 is 14.01 
Alpha[22]	0.000000
Alpha[22]	0.997924
TNavParticleFilter::Modified Variance for beam 23 is 13.90 
Alpha[23]	0.000000
Alpha[23]	0.998388
TNavParticleFilter::Modified Variance for beam 24 is 14.51 
Alpha[24]	0.000000
Alpha[24]	0.998072
TNavParticleFilter::Modified Variance for beam 25 is 14.67 
Alpha[25]	0.000000
Alpha[25]	0.998174
TNavParticleFilter::Modified Variance for beam 26 is 14.58 
Alpha[26]	0.000000
Alpha[26]	0.998825
TNavParticleFilter::Modified Variance for beam 27 is 14.50 
Alpha[27]	0.000000
Alpha[27]	0.998738
TNavParticleFilter::Modified Variance for beam 28 is 14.43 
Alpha[28]	0.000000
Alpha[28]	0.999012
TNavParticleFilter::Modified Variance for beam 29 is 12.58 
Alpha[29]	0.000000
Alpha[29]	0.999064
TNavParticleFilter::Modified Variance for beam 30 is 12.53 
Alpha[30]	0.000000
Alpha[30]	0.999002
TNavParticleFilter::Modified Variance for beam 31 is 12.49 
Alpha[31]	0.000000
Alpha[31]	0.999099
TNavParticleFilter::Modified Variance for beam 32 is 12.46 
Alpha[32]	0.000000
Alpha[32]	0.999263
TNavParticleFilter::Modified Variance for beam 33 is 12.42 
Alpha[33]	0.000000
Alpha[33]	0.999547
TNavParticleFilter::Modified Variance for beam 34 is 12.40 
Alpha[34]	0.000000
Alpha[34]	0.999614
TNavParticleFilter::Modified Variance for beam 35 is 12.38 
Alpha[35]	0.000000
Alpha[35]	0.999553
TNavParticleFilter::Modified Variance for beam 36 is 12.37 
Alpha[36]	0.000000
Alpha[36]	0.999521
TNavParticleFilter::Modified Variance for beam 37 is 13.22 
Alpha[37]	0.000000
Alpha[37]	0.999385
TNavParticleFilter::Modified Variance for beam 38 is 13.22 
Alpha[38]	0.000000
Alpha[38]	0.999371
TNavParticleFilter::Modified Variance for beam 39 is 11.55 
Alpha[39]	0.000000
Alpha[39]	0.999472
TNavParticleFilter::Modified Variance for beam 40 is 11.56 
Alpha[40]	0.000000
Alpha[40]	0.999667
TNavParticleFilter::Modified Variance for beam 41 is 11.57 
Alpha[41]	0.000000
Alpha[41]	0.999748
TNavParticleFilter::Modified Variance for beam 42 is 12.41 
Alpha[42]	0.000000
Alpha[42]	0.999758
TNavParticleFilter::Modified Variance for beam 43 is 12.44 
Alpha[43]	0.000000
Alpha[43]	0.999772
TNavParticleFilter::Modified Variance for beam 44 is 12.47 
Alpha[44]	0.000000
Alpha[44]	0.999776
TNavParticleFilter::Modified Variance for beam 45 is 10.59 
Alpha[45]	0.000000
Alpha[45]	0.999736
TNavParticleFilter::Modified Variance for beam 46 is 9.46 
Alpha[46]	0.000000
Alpha[46]	0.999641
TNavParticleFilter::Modified Variance for beam 47 is 9.49 
Alpha[47]	0.000000
Alpha[47]	0.999554
TNavParticleFilter::Modified Variance for beam 48 is 9.53 
Alpha[48]	0.000000
Alpha[48]	0.999533
TNavParticleFilter::Modified Variance for beam 49 is 9.47 
Alpha[49]	0.000000
Alpha[49]	0.999511
TNavParticleFilter::Modified Variance for beam 50 is 8.93 
Alpha[50]	0.000000
Alpha[50]	0.999386
TNavParticleFilter::Modified Variance for beam 51 is 8.97 
Alpha[51]	0.000000
Alpha[51]	0.999088
TNavParticleFilter::Modified Variance for beam 52 is 9.02 
Alpha[52]	0.000000
Alpha[52]	0.998799
TNavParticleFilter::Modified Variance for beam 53 is 9.01 
Alpha[53]	0.000000
Alpha[53]	0.998676
TNavParticleFilter::Modified Variance for beam 54 is 8.46 
Alpha[54]	0.000000
Alpha[54]	0.998578
TNavParticleFilter::Modified Variance for beam 55 is 8.51 
Alpha[55]	0.000000
Alpha[55]	0.998465
TNavParticleFilter::Modified Variance for beam 56 is 8.57 
Alpha[56]	0.000000
Alpha[56]	0.998286
TNavParticleFilter::Modified Variance for beam 57 is 8.64 
Alpha[57]	0.000000
Alpha[57]	0.998074
TNavParticleFilter::Modified Variance for beam 58 is 8.30 
Alpha[58]	0.000000
Alpha[58]	0.997986
TNavParticleFilter::Modified Variance for beam 59 is 7.88 
Alpha[59]	0.000000
Alpha[59]	0.998075
TNavPF:: sumSquaredError = 512.566999 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 0.36. Range = 70.69 
TNavPF::Calculated measDiffMean for beam 31 as 0.53. Range = 71.22 
TNavPF::Calculated measDiffMean for beam 32 as 1.58. Range = 76.18 
TNavPF::Calculated measDiffMean for beam 33 as 3.46. Range = 79.02 
TNavPF::Calculated measDiffMean for beam 34 as 4.68. Range = 78.01 
TNavPF::Calculated measDiffMean for beam 35 as 6.98. Range = 75.88 
TNavPF::Calculated measDiffMean for beam 36 as 8.75. Range = 76.59 
TNavPF::Calculated measDiffMean for beam 37 as 6.33. Range = 77.33 
TNavPF::Calculated measDiffMean for beam 38 as 6.14. Range = 76.44 
TNavPF::Calculated measDiffMean for beam 39 as 6.05. Range = 76.58 
TNavPF::Calculated measDiffMean for beam 40 as 3.87. Range = 75.92 
TNavPF::Calculated measDiffMean for beam 41 as 4.26. Range = 75.89 
TNavPF::Calculated measDiffMean for beam 42 as 4.72. Range = 75.54 
TNavPF::Calculated measDiffMean for beam 43 as 4.73. Range = 73.67 
TNavPF::Calculated measDiffMean for beam 44 as 5.69. Range = 71.91 
TNavPF::Calculated measDiffMean for beam 45 as 7.34. Range = 72.17 
TNavPF::Calculated measDiffMean for beam 46 as 7.40. Range = 71.92 
TNavPF::Calculated measDiffMean for beam 47 as 5.40. Range = 70.37 
TNavPF::Calculated measDiffMean for beam 48 as 7.06. Range = 70.01 
TNavPF::Calculated measDiffMean for beam 49 as 6.51. Range = 70.57 
TNavPF::Calculated measDiffMean for beam 50 as 5.29. Range = 69.20 
TNavPF::Calculated measDiffMean for beam 51 as 3.84. Range = 67.91 
TNavPF::Calculated measDiffMean for beam 52 as 0.46. Range = 66.69 
TNavPF::Calculated measDiffMean for beam 53 as -0.04. Range = 67.35 
TNavPF::Calculated measDiffMean for beam 54 as 1.92. Range = 61.66 
TNavPF::Calculated measDiffMean for beam 55 as 2.22. Range = 57.94 
TNavPF::Calculated measDiffMean for beam 56 as 0.02. Range = 54.36 
TNavPF::Calculated measDiffMean for beam 57 as -2.72. Range = 54.16 
TNavPF::Calculated measDiffMean for beam 58 as -4.53. Range = 55.29 
TNavPF::Calculated measDiffMean for beam 59 as -9.41. Range = 56.49 
TNavPF::Calculated measDiffMean for beam 60 as -9.98. Range = 56.35 
TNavPF::Calculated measDiffMean for beam 61 as -10.26. Range = 55.61 
TNavPF::Calculated measDiffMean for beam 62 as -9.91. Range = 54.90 
TNavPF::Calculated measDiffMean for beam 63 as -8.56. Range = 54.23 
TNavPF::Calculated measDiffMean for beam 64 as -5.96. Range = 53.59 
TNavPF::Calculated measDiffMean for beam 65 as -4.45. Range = 54.24 
TNavPF::Calculated measDiffMean for beam 66 as -3.06. Range = 54.76 
TNavPF::Calculated measDiffMean for beam 67 as 0.62. Range = 51.86 
TNavPF::Calculated measDiffMean for beam 68 as 1.22. Range = 51.33 
TNavPF::Calculated measDiffMean for beam 69 as -1.70. Range = 50.84 
TNavPF::Calculated measDiffMean for beam 70 as -0.23. Range = 48.11 
TNavPF::Calculated measDiffMean for beam 71 as 2.11. Range = 47.68 
TNavPF::Calculated measDiffMean for beam 72 as 6.81. Range = 47.27 
TNavPF::Calculated measDiffMean for beam 73 as 8.61. Range = 46.88 
TNavPF::Calculated measDiffMean for beam 74 as 10.60. Range = 47.91 
TNavPF::Calculated measDiffMean for beam 75 as 8.69. Range = 49.92 
TNavPF::Calculated measDiffMean for beam 76 as 8.26. Range = 50.15 
TNavPF::Calculated measDiffMean for beam 77 as 10.02. Range = 48.01 
TNavPF::Calculated measDiffMean for beam 78 as 10.81. Range = 49.49 
TNavPF::Calculated measDiffMean for beam 79 as 10.98. Range = 49.19 
TNavPF::Calculated measDiffMean for beam 80 as 9.78. Range = 48.91 
TNavPF::Calculated measDiffMean for beam 81 as 10.42. Range = 48.65 
TNavPF::Calculated measDiffMean for beam 82 as 10.83. Range = 46.33 
TNavPF::Calculated measDiffMean for beam 83 as 10.83. Range = 46.11 
TNavPF::Calculated measDiffMean for beam 84 as 9.16. Range = 47.43 
TNavPF::Calculated measDiffMean for beam 85 as 9.54. Range = 47.77 
TNavPF::Calculated measDiffMean for beam 86 as 10.11. Range = 47.59 
TNavPF::Calculated measDiffMean for beam 87 as 10.73. Range = 47.43 
TNavPF::Calculated measDiffMean for beam 88 as 10.02. Range = 47.28 
TNavPF::Calculated measDiffMean for beam 89 as 8.91. Range = 43.10 
TNavPF::First Term of Map Covariance Matrix is 15.47 
TNavPF::Calculated NIS Value : 83.13 	numBeams normalized NIS: 1.39
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323587.82 sec.
INS : North: 4070210.54, East: 589247.51, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 43.35, IDT[75] = 15.95
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323590.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323590.62)
ARL : North: 37.1544, East: -356.1460, Depth: -38.9948ARL : Estimation Bias  (Mean)         : (t = 1488323590.62)
ARL : North: 37.3654, East: -355.5632, Depth: -38.4178TerrainNav:: Windowed NIS is 0.5, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 15.25 
Alpha[0]	0.123000
Alpha[0]	0.996861
TNavParticleFilter::Modified Variance for beam 1 is 15.07 
Alpha[1]	0.000000
Alpha[1]	0.997501
TNavParticleFilter::Modified Variance for beam 2 is 14.91 
Alpha[2]	0.000000
Alpha[2]	0.997443
TNavParticleFilter::Modified Variance for beam 3 is 14.75 
Alpha[3]	0.000000
Alpha[3]	0.998000
TNavParticleFilter::Modified Variance for beam 4 is 14.59 
Alpha[4]	0.000000
Alpha[4]	0.998898
TNavParticleFilter::Modified Variance for beam 5 is 14.45 
Alpha[5]	0.000000
Alpha[5]	0.999180
TNavParticleFilter::Modified Variance for beam 6 is 14.33 
Alpha[6]	0.000000
Alpha[6]	0.999111
TNavParticleFilter::Modified Variance for beam 7 is 14.22 
Alpha[7]	0.000000
Alpha[7]	0.998835
TNavParticleFilter::Modified Variance for beam 8 is 15.09 
Alpha[8]	0.000000
Alpha[8]	0.998360
TNavParticleFilter::Modified Variance for beam 9 is 13.10 
Alpha[9]	0.000000
Alpha[9]	0.997910
TNavParticleFilter::Modified Variance for beam 10 is 13.02 
Alpha[10]	0.000000
Alpha[10]	0.997525
TNavParticleFilter::Modified Variance for beam 11 is 12.95 
Alpha[11]	0.000000
Alpha[11]	0.997689
TNavParticleFilter::Modified Variance for beam 12 is 12.87 
Alpha[12]	0.000000
Alpha[12]	0.997673
TNavParticleFilter::Modified Variance for beam 13 is 12.80 
Alpha[13]	0.000000
Alpha[13]	0.998406
TNavParticleFilter::Modified Variance for beam 14 is 12.73 
Alpha[14]	0.000000
Alpha[14]	0.999262
TNavParticleFilter::Modified Variance for beam 15 is 12.68 
Alpha[15]	0.000000
Alpha[15]	0.999675
TNavParticleFilter::Modified Variance for beam 16 is 12.63 
Alpha[16]	0.000000
Alpha[16]	0.999778
TNavParticleFilter::Modified Variance for beam 17 is 13.46 
Alpha[17]	0.000000
Alpha[17]	0.999817
TNavParticleFilter::Modified Variance for beam 18 is 13.43 
Alpha[18]	0.000000
Alpha[18]	0.999800
TNavParticleFilter::Modified Variance for beam 19 is 13.39 
Alpha[19]	0.000000
Alpha[19]	0.999795
TNavParticleFilter::Modified Variance for beam 20 is 11.68 
Alpha[20]	0.000000
Alpha[20]	0.999808
TNavParticleFilter::Modified Variance for beam 21 is 11.67 
Alpha[21]	0.000000
Alpha[21]	0.999845
TNavParticleFilter::Modified Variance for beam 22 is 12.48 
Alpha[22]	0.000000
Alpha[22]	0.999857
TNavParticleFilter::Modified Variance for beam 23 is 12.47 
Alpha[23]	0.000000
Alpha[23]	0.999850
TNavParticleFilter::Modified Variance for beam 24 is 12.47 
Alpha[24]	0.000000
Alpha[24]	0.999850
TNavParticleFilter::Modified Variance for beam 25 is 9.42 
Alpha[25]	0.000000
Alpha[25]	0.999839
TNavParticleFilter::Modified Variance for beam 26 is 9.43 
Alpha[26]	0.000000
Alpha[26]	0.999827
TNavParticleFilter::Modified Variance for beam 27 is 9.44 
Alpha[27]	0.000000
Alpha[27]	0.999821
TNavParticleFilter::Modified Variance for beam 28 is 9.46 
Alpha[28]	0.000000
Alpha[28]	0.999814
TNavParticleFilter::Modified Variance for beam 29 is 8.80 
Alpha[29]	0.000000
Alpha[29]	0.999795
TNavParticleFilter::Modified Variance for beam 30 is 8.82 
Alpha[30]	0.000000
Alpha[30]	0.999737
TNavParticleFilter::Modified Variance for beam 31 is 8.85 
Alpha[31]	0.000000
Alpha[31]	0.999625
TNavParticleFilter::Modified Variance for beam 32 is 8.88 
Alpha[32]	0.000000
Alpha[32]	0.999515
TNavParticleFilter::Modified Variance for beam 33 is 8.91 
Alpha[33]	0.000000
Alpha[33]	0.999450
TNavParticleFilter::Modified Variance for beam 34 is 8.94 
Alpha[34]	0.000000
Alpha[34]	0.999393
TNavParticleFilter::Modified Variance for beam 35 is 8.98 
Alpha[35]	0.000000
Alpha[35]	0.999309
TNavParticleFilter::Modified Variance for beam 36 is 8.41 
Alpha[36]	0.000000
Alpha[36]	0.999210
TNavParticleFilter::Modified Variance for beam 37 is 8.40 
Alpha[37]	0.000000
Alpha[37]	0.999107
TNavParticleFilter::Modified Variance for beam 38 is 8.45 
Alpha[38]	0.000000
Alpha[38]	0.999023
TNavParticleFilter::Modified Variance for beam 39 is 8.49 
Alpha[39]	0.000000
Alpha[39]	0.998966
TNavParticleFilter::Modified Variance for beam 40 is 11.52 
Alpha[40]	0.000000
Alpha[40]	0.998911
TNavParticleFilter::Modified Variance for beam 41 is 11.61 
Alpha[41]	0.000000
Alpha[41]	0.998825
TNavParticleFilter::Modified Variance for beam 42 is 4.37 
Alpha[42]	0.000000
Alpha[42]	0.998680
TNavParticleFilter::Modified Variance for beam 43 is 4.38 
Alpha[43]	0.000000
Alpha[43]	0.998460
TNavParticleFilter::Modified Variance for beam 44 is 4.39 
Alpha[44]	0.000000
Alpha[44]	0.998179
TNavParticleFilter::Modified Variance for beam 45 is 4.72 
Alpha[45]	0.000000
Alpha[45]	0.997865
TNavParticleFilter::Modified Variance for beam 46 is 4.74 
Alpha[46]	0.000000
Alpha[46]	0.997603
TNavParticleFilter::Modified Variance for beam 47 is 4.76 
Alpha[47]	0.000000
Alpha[47]	0.997485
TNavParticleFilter::Modified Variance for beam 48 is 4.78 
Alpha[48]	0.000000
Alpha[48]	0.997500
TNavParticleFilter::Modified Variance for beam 49 is 7.19 
Alpha[49]	0.000000
Alpha[49]	0.997497
TNavParticleFilter::Modified Variance for beam 50 is 7.26 
Alpha[50]	0.000000
Alpha[50]	0.997413
TNavParticleFilter::Modified Variance for beam 51 is 7.31 
Alpha[51]	0.000000
Alpha[51]	0.997187
TNavParticleFilter::Modified Variance for beam 52 is 7.07 
Alpha[52]	0.000000
Alpha[52]	0.996836
TNavParticleFilter::Modified Variance for beam 53 is 6.86 
Alpha[53]	0.000000
Alpha[53]	0.996422
TNavParticleFilter::Modified Variance for beam 54 is 6.93 
Alpha[54]	0.000000
Alpha[54]	0.996051
TNavParticleFilter::Modified Variance for beam 55 is 7.01 
Alpha[55]	0.000000
Alpha[55]	0.995820
TNavParticleFilter::Modified Variance for beam 56 is 7.09 
Alpha[56]	0.000000
Alpha[56]	0.995784
TNavParticleFilter::Modified Variance for beam 57 is 7.17 
Alpha[57]	0.000000
Alpha[57]	0.995946
TNavParticleFilter::Modified Variance for beam 58 is 7.25 
Alpha[58]	0.000000
Alpha[58]	0.996195
TNavParticleFilter::Modified Variance for beam 59 is 7.35 
Alpha[59]	0.000000
Alpha[59]	0.996432
TNavPF:: sumSquaredError = 725.903564 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as 2.26. Range = 75.54 
TNavPF::Calculated measDiffMean for beam 31 as 1.05. Range = 74.87 
TNavPF::Calculated measDiffMean for beam 32 as -0.09. Range = 75.39 
TNavPF::Calculated measDiffMean for beam 33 as -1.57. Range = 73.78 
TNavPF::Calculated measDiffMean for beam 34 as -2.65. Range = 72.26 
TNavPF::Calculated measDiffMean for beam 35 as -3.34. Range = 71.28 
TNavPF::Calculated measDiffMean for beam 36 as -4.00. Range = 72.41 
TNavPF::Calculated measDiffMean for beam 37 as -6.47. Range = 59.43 
TNavPF::Calculated measDiffMean for beam 38 as -6.52. Range = 58.37 
TNavPF::Calculated measDiffMean for beam 39 as -11.63. Range = 58.96 
TNavPF::Calculated measDiffMean for beam 40 as -12.63. Range = 59.15 
TNavPF::Calculated measDiffMean for beam 41 as -13.16. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 42 as -13.73. Range = 59.35 
TNavPF::Calculated measDiffMean for beam 43 as -13.91. Range = 60.56 
TNavPF::Calculated measDiffMean for beam 44 as -13.64. Range = 58.20 
TNavPF::Calculated measDiffMean for beam 45 as -13.16. Range = 57.38 
TNavPF::Calculated measDiffMean for beam 46 as -11.01. Range = 56.60 
TNavPF::Calculated measDiffMean for beam 47 as -7.24. Range = 55.99 
TNavPF::Calculated measDiffMean for beam 48 as -4.32. Range = 57.36 
TNavPF::Calculated measDiffMean for beam 49 as -2.31. Range = 54.48 
TNavPF::Calculated measDiffMean for beam 50 as -3.53. Range = 53.84 
TNavPF::Calculated measDiffMean for beam 51 as -1.09. Range = 53.24 
TNavPF::Calculated measDiffMean for beam 52 as 4.16. Range = 50.31 
TNavPF::Calculated measDiffMean for beam 53 as 6.97. Range = 49.78 
TNavPF::Calculated measDiffMean for beam 54 as 8.07. Range = 49.28 
TNavPF::Calculated measDiffMean for beam 55 as 1.38. Range = 48.81 
TNavPF::Calculated measDiffMean for beam 56 as 2.36. Range = 50.40 
TNavPF::Calculated measDiffMean for beam 57 as 2.80. Range = 52.16 
TNavPF::Calculated measDiffMean for beam 58 as 3.29. Range = 51.95 
TNavPF::Calculated measDiffMean for beam 59 as 2.72. Range = 49.33 
TNavPF::Calculated measDiffMean for beam 60 as 4.99. Range = 48.95 
TNavPF::Calculated measDiffMean for beam 61 as 6.95. Range = 48.59 
TNavPF::Calculated measDiffMean for beam 62 as 8.22. Range = 48.24 
TNavPF::Calculated measDiffMean for beam 63 as 8.94. Range = 47.92 
TNavPF::Calculated measDiffMean for beam 64 as 9.44. Range = 47.62 
TNavPF::Calculated measDiffMean for beam 65 as 10.06. Range = 47.33 
TNavPF::Calculated measDiffMean for beam 66 as 8.84. Range = 47.06 
TNavPF::Calculated measDiffMean for beam 67 as 9.42. Range = 46.81 
TNavPF::Calculated measDiffMean for beam 68 as 9.99. Range = 48.65 
TNavPF::Calculated measDiffMean for beam 69 as 10.36. Range = 44.29 
TNavPF::Calculated measDiffMean for beam 70 as 18.97. Range = 44.10 
TNavPF::Calculated measDiffMean for beam 71 as 19.28. Range = 43.92 
TNavPF::Calculated measDiffMean for beam 72 as -7.71. Range = 43.75 
TNavPF::Calculated measDiffMean for beam 73 as -7.26. Range = 43.61 
TNavPF::Calculated measDiffMean for beam 74 as -6.68. Range = 43.47 
TNavPF::Calculated measDiffMean for beam 75 as -3.92. Range = 43.35 
TNavPF::Calculated measDiffMean for beam 76 as -3.40. Range = 43.24 
TNavPF::Calculated measDiffMean for beam 77 as -3.05. Range = 45.16 
TNavPF::Calculated measDiffMean for beam 78 as -2.84. Range = 45.08 
TNavPF::Calculated measDiffMean for beam 79 as 8.38. Range = 45.01 
TNavPF::Calculated measDiffMean for beam 80 as 8.61. Range = 40.94 
TNavPF::Calculated measDiffMean for beam 81 as 8.83. Range = 40.91 
TNavPF::Calculated measDiffMean for beam 82 as 8.01. Range = 42.88 
TNavPF::Calculated measDiffMean for beam 83 as 7.26. Range = 42.87 
TNavPF::Calculated measDiffMean for beam 84 as 7.54. Range = 42.87 
TNavPF::Calculated measDiffMean for beam 85 as 7.77. Range = 34.87 
TNavPF::Calculated measDiffMean for beam 86 as 7.95. Range = 34.89 
TNavPF::Calculated measDiffMean for beam 87 as 8.12. Range = 34.92 
TNavPF::Calculated measDiffMean for beam 88 as 8.34. Range = 34.97 
TNavPF::Calculated measDiffMean for beam 89 as 8.63. Range = 33.01 
TNavPF::First Term of Map Covariance Matrix is 6.36 
TNavPF::Calculated NIS Value : 408.35 	numBeams normalized NIS: 6.81
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323590.82 sec.
INS : North: 4070211.08, East: 589243.62, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 32.19, IDT[75] = 36.88
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323593.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323593.62)
ARL : North: 36.7410, East: -353.6683, Depth: -42.0236ARL : Estimation Bias  (Mean)         : (t = 1488323593.62)
ARL : North: 36.6929, East: -353.9440, Depth: -38.4996TerrainNav:: Windowed NIS is 0.9, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 14.16 
Alpha[0]	0.123000
Alpha[0]	0.999899
TNavParticleFilter::Modified Variance for beam 1 is 12.33 
Alpha[1]	0.000000
Alpha[1]	0.999922
TNavParticleFilter::Modified Variance for beam 2 is 12.29 
Alpha[2]	0.000000
Alpha[2]	0.999926
TNavParticleFilter::Modified Variance for beam 3 is 12.97 
Alpha[3]	0.000000
Alpha[3]	0.999916
TNavParticleFilter::Modified Variance for beam 4 is 13.07 
Alpha[4]	0.000000
Alpha[4]	0.999902
TNavParticleFilter::Modified Variance for beam 5 is 13.04 
Alpha[5]	0.000000
Alpha[5]	0.999890
TNavParticleFilter::Modified Variance for beam 6 is 11.36 
Alpha[6]	0.000000
Alpha[6]	0.999867
TNavParticleFilter::Modified Variance for beam 7 is 11.35 
Alpha[7]	0.000000
Alpha[7]	0.999850
TNavParticleFilter::Modified Variance for beam 8 is 9.15 
Alpha[8]	0.000000
Alpha[8]	0.999841
TNavParticleFilter::Modified Variance for beam 9 is 9.15 
Alpha[9]	0.000000
Alpha[9]	0.999825
TNavParticleFilter::Modified Variance for beam 10 is 9.15 
Alpha[10]	0.000000
Alpha[10]	0.999822
TNavParticleFilter::Modified Variance for beam 11 is 9.15 
Alpha[11]	0.000000
Alpha[11]	0.999818
TNavParticleFilter::Modified Variance for beam 12 is 9.16 
Alpha[12]	0.000000
Alpha[12]	0.999799
TNavParticleFilter::Modified Variance for beam 13 is 9.17 
Alpha[13]	0.000000
Alpha[13]	0.999763
TNavParticleFilter::Modified Variance for beam 14 is 9.18 
Alpha[14]	0.000000
Alpha[14]	0.999701
TNavParticleFilter::Modified Variance for beam 15 is 8.55 
Alpha[15]	0.000000
Alpha[15]	0.999615
TNavParticleFilter::Modified Variance for beam 16 is 8.56 
Alpha[16]	0.000000
Alpha[16]	0.999575
TNavParticleFilter::Modified Variance for beam 17 is 8.59 
Alpha[17]	0.000000
Alpha[17]	0.999537
TNavParticleFilter::Modified Variance for beam 18 is 8.61 
Alpha[18]	0.000000
Alpha[18]	0.999452
TNavParticleFilter::Modified Variance for beam 19 is 12.38 
Alpha[19]	0.000000
Alpha[19]	0.999345
TNavParticleFilter::Modified Variance for beam 20 is 11.60 
Alpha[20]	0.000000
Alpha[20]	0.999245
TNavParticleFilter::Modified Variance for beam 21 is 11.66 
Alpha[21]	0.000000
Alpha[21]	0.999179
TNavParticleFilter::Modified Variance for beam 22 is 11.72 
Alpha[22]	0.000000
Alpha[22]	0.999121
TNavParticleFilter::Modified Variance for beam 23 is 7.99 
Alpha[23]	0.000000
Alpha[23]	0.999029
TNavParticleFilter::Modified Variance for beam 24 is 7.41 
Alpha[24]	0.000000
Alpha[24]	0.998903
TNavParticleFilter::Modified Variance for beam 25 is 7.05 
Alpha[25]	0.000000
Alpha[25]	0.998696
TNavParticleFilter::Modified Variance for beam 26 is 7.09 
Alpha[26]	0.000000
Alpha[26]	0.998386
TNavParticleFilter::Modified Variance for beam 27 is 7.13 
Alpha[27]	0.000000
Alpha[27]	0.998054
TNavParticleFilter::Modified Variance for beam 28 is 7.17 
Alpha[28]	0.000000
Alpha[28]	0.997829
TNavParticleFilter::Modified Variance for beam 29 is 7.22 
Alpha[29]	0.000000
Alpha[29]	0.997761
TNavParticleFilter::Modified Variance for beam 30 is 7.26 
Alpha[30]	0.000000
Alpha[30]	0.997748
TNavParticleFilter::Modified Variance for beam 31 is 7.31 
Alpha[31]	0.000000
Alpha[31]	0.997681
TNavParticleFilter::Modified Variance for beam 32 is 7.37 
Alpha[32]	0.000000
Alpha[32]	0.997502
TNavParticleFilter::Modified Variance for beam 33 is 10.24 
Alpha[33]	0.000000
Alpha[33]	0.997167
TNavParticleFilter::Modified Variance for beam 34 is 9.99 
Alpha[34]	0.000000
Alpha[34]	0.996653
TNavParticleFilter::Modified Variance for beam 35 is 9.67 
Alpha[35]	0.000000
Alpha[35]	0.996081
TNavParticleFilter::Modified Variance for beam 36 is 9.78 
Alpha[36]	0.000000
Alpha[36]	0.995614
TNavParticleFilter::Modified Variance for beam 37 is 9.90 
Alpha[37]	0.000000
Alpha[37]	0.995429
TNavParticleFilter::Modified Variance for beam 38 is 9.81 
Alpha[38]	0.000000
Alpha[38]	0.995594
TNavParticleFilter::Modified Variance for beam 39 is 9.42 
Alpha[39]	0.000000
Alpha[39]	0.995943
TNavParticleFilter::Modified Variance for beam 40 is 9.45 
Alpha[40]	0.000000
Alpha[40]	0.996281
TNavParticleFilter::Modified Variance for beam 41 is 9.57 
Alpha[41]	0.000000
Alpha[41]	0.996507
TNavParticleFilter::Modified Variance for beam 42 is 10.57 
Alpha[42]	0.000000
Alpha[42]	0.996531
TNavParticleFilter::Modified Variance for beam 43 is 10.68 
Alpha[43]	0.000000
Alpha[43]	0.996307
TNavParticleFilter::Modified Variance for beam 44 is 10.32 
Alpha[44]	0.000000
Alpha[44]	0.995950
TNavParticleFilter::Modified Variance for beam 45 is 10.17 
Alpha[45]	0.000000
Alpha[45]	0.995651
TNavParticleFilter::Modified Variance for beam 46 is 7.57 
Alpha[46]	0.000000
Alpha[46]	0.995477
TNavParticleFilter::Modified Variance for beam 47 is 7.38 
Alpha[47]	0.000000
Alpha[47]	0.995352
TNavParticleFilter::Modified Variance for beam 48 is 7.38 
Alpha[48]	0.000000
Alpha[48]	0.995256
TNavParticleFilter::Modified Variance for beam 49 is 7.49 
Alpha[49]	0.000000
Alpha[49]	0.995195
TNavParticleFilter::Modified Variance for beam 50 is 7.61 
Alpha[50]	0.000000
Alpha[50]	0.995299
TNavParticleFilter::Modified Variance for beam 51 is 10.37 
Alpha[51]	0.000000
Alpha[51]	0.995608
TNavParticleFilter::Modified Variance for beam 52 is 9.25 
Alpha[52]	0.000000
Alpha[52]	0.996005
TNavParticleFilter::Modified Variance for beam 53 is 9.04 
Alpha[53]	0.000000
Alpha[53]	0.996335
TNavParticleFilter::Modified Variance for beam 54 is 8.84 
Alpha[54]	0.000000
Alpha[54]	0.996518
TNavParticleFilter::Modified Variance for beam 55 is 8.66 
Alpha[55]	0.000000
Alpha[55]	0.996629
TNavParticleFilter::Modified Variance for beam 56 is 8.50 
Alpha[56]	0.000000
Alpha[56]	0.996681
TNavParticleFilter::Modified Variance for beam 57 is 8.69 
Alpha[57]	0.000000
Alpha[57]	0.996669
TNavParticleFilter::Modified Variance for beam 58 is 8.90 
Alpha[58]	0.000000
Alpha[58]	0.996471
TNavParticleFilter::Modified Variance for beam 59 is 8.04 
Alpha[59]	0.000000
Alpha[59]	0.996306
TNavPF:: sumSquaredError = 836.376096 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -7.76. Range = 59.75 
TNavPF::Calculated measDiffMean for beam 31 as -8.57. Range = 59.56 
TNavPF::Calculated measDiffMean for beam 32 as -4.86. Range = 60.64 
TNavPF::Calculated measDiffMean for beam 33 as 0.12. Range = 57.35 
TNavPF::Calculated measDiffMean for beam 34 as 2.93. Range = 56.63 
TNavPF::Calculated measDiffMean for beam 35 as 4.38. Range = 55.94 
TNavPF::Calculated measDiffMean for beam 36 as 2.57. Range = 56.28 
TNavPF::Calculated measDiffMean for beam 37 as 3.66. Range = 57.04 
TNavPF::Calculated measDiffMean for beam 38 as -1.39. Range = 54.06 
TNavPF::Calculated measDiffMean for beam 39 as -0.32. Range = 53.50 
TNavPF::Calculated measDiffMean for beam 40 as 0.18. Range = 54.94 
TNavPF::Calculated measDiffMean for beam 41 as 1.39. Range = 54.73 
TNavPF::Calculated measDiffMean for beam 42 as 4.22. Range = 54.23 
TNavPF::Calculated measDiffMean for beam 43 as 6.70. Range = 51.50 
TNavPF::Calculated measDiffMean for beam 44 as 8.24. Range = 51.07 
TNavPF::Calculated measDiffMean for beam 45 as 7.20. Range = 50.65 
TNavPF::Calculated measDiffMean for beam 46 as 7.85. Range = 50.26 
TNavPF::Calculated measDiffMean for beam 47 as 8.62. Range = 49.89 
TNavPF::Calculated measDiffMean for beam 48 as 9.54. Range = 49.53 
TNavPF::Calculated measDiffMean for beam 49 as 20.42. Range = 49.20 
TNavPF::Calculated measDiffMean for beam 50 as 18.89. Range = 51.02 
TNavPF::Calculated measDiffMean for beam 51 as 19.18. Range = 46.48 
TNavPF::Calculated measDiffMean for beam 52 as 19.42. Range = 46.22 
TNavPF::Calculated measDiffMean for beam 53 as 9.02. Range = 45.97 
TNavPF::Calculated measDiffMean for beam 54 as 7.48. Range = 45.74 
TNavPF::Calculated measDiffMean for beam 55 as 6.86. Range = 45.53 
TNavPF::Calculated measDiffMean for beam 56 as 7.69. Range = 45.33 
TNavPF::Calculated measDiffMean for beam 57 as 8.32. Range = 45.15 
TNavPF::Calculated measDiffMean for beam 58 as 8.71. Range = 45.13 
TNavPF::Calculated measDiffMean for beam 59 as 8.93. Range = 46.86 
TNavPF::Calculated measDiffMean for beam 60 as 9.07. Range = 46.72 
TNavPF::Calculated measDiffMean for beam 61 as 9.25. Range = 42.54 
TNavPF::Calculated measDiffMean for beam 62 as 9.52. Range = 42.43 
TNavPF::Calculated measDiffMean for beam 63 as 18.61. Range = 44.04 
TNavPF::Calculated measDiffMean for beam 64 as 18.06. Range = 44.28 
TNavPF::Calculated measDiffMean for beam 65 as 17.23. Range = 44.21 
TNavPF::Calculated measDiffMean for beam 66 as 17.55. Range = 40.14 
TNavPF::Calculated measDiffMean for beam 67 as 17.83. Range = 40.10 
TNavPF::Calculated measDiffMean for beam 68 as 17.51. Range = 34.06 
TNavPF::Calculated measDiffMean for beam 69 as 16.34. Range = 34.05 
TNavPF::Calculated measDiffMean for beam 70 as 16.39. Range = 34.05 
TNavPF::Calculated measDiffMean for beam 71 as 16.78. Range = 34.06 
TNavPF::Calculated measDiffMean for beam 72 as 19.61. Range = 34.08 
TNavPF::Calculated measDiffMean for beam 73 as 20.01. Range = 34.11 
TNavPF::Calculated measDiffMean for beam 74 as 19.09. Range = 34.15 
TNavPF::Calculated measDiffMean for beam 75 as 18.63. Range = 32.19 
TNavPF::Calculated measDiffMean for beam 76 as 10.40. Range = 32.25 
TNavPF::Calculated measDiffMean for beam 77 as 9.49. Range = 32.32 
TNavPF::Calculated measDiffMean for beam 78 as 9.16. Range = 32.40 
TNavPF::Calculated measDiffMean for beam 79 as 9.25. Range = 42.64 
TNavPF::Calculated measDiffMean for beam 80 as 9.37. Range = 40.74 
TNavPF::Calculated measDiffMean for beam 81 as 17.53. Range = 40.87 
TNavPF::Calculated measDiffMean for beam 82 as 14.01. Range = 41.02 
TNavPF::Calculated measDiffMean for beam 83 as 12.90. Range = 30.38 
TNavPF::Calculated measDiffMean for beam 84 as 11.78. Range = 28.35 
TNavPF::Calculated measDiffMean for beam 85 as 10.72. Range = 27.01 
TNavPF::Calculated measDiffMean for beam 86 as 9.76. Range = 27.15 
TNavPF::Calculated measDiffMean for beam 87 as 9.90. Range = 27.29 
TNavPF::Calculated measDiffMean for beam 88 as 10.09. Range = 27.45 
TNavPF::Calculated measDiffMean for beam 89 as 6.95. Range = 27.61 
TNavPF::First Term of Map Covariance Matrix is 197.80 
TNavPF::Calculated NIS Value : 257.97 	numBeams normalized NIS: 4.30
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323593.82 sec.
INS : North: 4070212.45, East: 589239.92, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 27.95, IDT[75] = 30.73
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323596.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323596.62)
ARL : North: 37.1641, East: -354.0955, Depth: -40.2900ARL : Estimation Bias  (Mean)         : (t = 1488323596.62)
ARL : North: 37.7597, East: -354.0008, Depth: -42.2137TerrainNav:: Windowed NIS is 1.1, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.03 
Alpha[0]	0.123000
Alpha[0]	0.999810
TNavParticleFilter::Modified Variance for beam 1 is 12.00 
Alpha[1]	0.000000
Alpha[1]	0.999819
TNavParticleFilter::Modified Variance for beam 2 is 11.98 
Alpha[2]	0.000000
Alpha[2]	0.999817
TNavParticleFilter::Modified Variance for beam 3 is 11.97 
Alpha[3]	0.000000
Alpha[3]	0.999804
TNavParticleFilter::Modified Variance for beam 4 is 9.68 
Alpha[4]	0.000000
Alpha[4]	0.999799
TNavParticleFilter::Modified Variance for beam 5 is 9.00 
Alpha[5]	0.000000
Alpha[5]	0.999775
TNavParticleFilter::Modified Variance for beam 6 is 9.00 
Alpha[6]	0.000000
Alpha[6]	0.999743
TNavParticleFilter::Modified Variance for beam 7 is 9.00 
Alpha[7]	0.000000
Alpha[7]	0.999721
TNavParticleFilter::Modified Variance for beam 8 is 9.01 
Alpha[8]	0.000000
Alpha[8]	0.999656
TNavParticleFilter::Modified Variance for beam 9 is 14.62 
Alpha[9]	0.000000
Alpha[9]	0.999593
TNavParticleFilter::Modified Variance for beam 10 is 13.12 
Alpha[10]	0.000000
Alpha[10]	0.999587
TNavParticleFilter::Modified Variance for beam 11 is 12.03 
Alpha[11]	0.000000
Alpha[11]	0.999548
TNavParticleFilter::Modified Variance for beam 12 is 8.16 
Alpha[12]	0.000000
Alpha[12]	0.999416
TNavParticleFilter::Modified Variance for beam 13 is 7.26 
Alpha[13]	0.000000
Alpha[13]	0.999187
TNavParticleFilter::Modified Variance for beam 14 is 7.28 
Alpha[14]	0.000000
Alpha[14]	0.998888
TNavParticleFilter::Modified Variance for beam 15 is 7.30 
Alpha[15]	0.000000
Alpha[15]	0.998583
TNavParticleFilter::Modified Variance for beam 16 is 7.33 
Alpha[16]	0.000000
Alpha[16]	0.998318
TNavParticleFilter::Modified Variance for beam 17 is 7.36 
Alpha[17]	0.000000
Alpha[17]	0.998102
TNavParticleFilter::Modified Variance for beam 18 is 7.39 
Alpha[18]	0.000000
Alpha[18]	0.997796
TNavParticleFilter::Modified Variance for beam 19 is 7.42 
Alpha[19]	0.000000
Alpha[19]	0.997151
TNavParticleFilter::Modified Variance for beam 20 is 7.47 
Alpha[20]	0.000000
Alpha[20]	0.995921
TNavParticleFilter::Modified Variance for beam 21 is 10.20 
Alpha[21]	0.000000
Alpha[21]	0.994062
TNavParticleFilter::Modified Variance for beam 22 is 10.29 
Alpha[22]	0.000000
Alpha[22]	0.992131
TNavParticleFilter::Modified Variance for beam 23 is 10.37 
Alpha[23]	0.000000
Alpha[23]	0.991004
TNavParticleFilter::Modified Variance for beam 24 is 10.01 
Alpha[24]	0.000000
Alpha[24]	0.990342
TNavParticleFilter::Modified Variance for beam 25 is 9.77 
Alpha[25]	0.000000
Alpha[25]	0.989954
TNavParticleFilter::Modified Variance for beam 26 is 9.85 
Alpha[26]	0.000000
Alpha[26]	0.989784
TNavParticleFilter::Modified Variance for beam 27 is 9.94 
Alpha[27]	0.000000
Alpha[27]	0.989372
TNavParticleFilter::Modified Variance for beam 28 is 9.70 
Alpha[28]	0.000000
Alpha[28]	0.988330
TNavParticleFilter::Modified Variance for beam 29 is 9.39 
Alpha[29]	0.000000
Alpha[29]	0.986762
TNavParticleFilter::Modified Variance for beam 30 is 9.50 
Alpha[30]	0.000000
Alpha[30]	0.984918
TNavParticleFilter::Modified Variance for beam 31 is 9.61 
Alpha[31]	0.000000
Alpha[31]	0.983639
TNavParticleFilter::Modified Variance for beam 32 is 10.53 
Alpha[32]	0.000000
Alpha[32]	0.983231
TNavParticleFilter::Modified Variance for beam 33 is 10.65 
Alpha[33]	0.000000
Alpha[33]	0.983209
TNavParticleFilter::Modified Variance for beam 34 is 10.26 
Alpha[34]	0.000000
Alpha[34]	0.982794
TNavParticleFilter::Modified Variance for beam 35 is 10.09 
Alpha[35]	0.000000
Alpha[35]	0.980850
TNavParticleFilter::Modified Variance for beam 36 is 10.27 
Alpha[36]	0.000000
Alpha[36]	0.976179
TNavParticleFilter::Modified Variance for beam 37 is 10.50 
Alpha[37]	0.000000
Alpha[37]	0.968610
TNavParticleFilter::Modified Variance for beam 38 is 10.74 
Alpha[38]	0.000000
Alpha[38]	0.960194
TNavParticleFilter::Modified Variance for beam 39 is 10.96 
Alpha[39]	0.000000
Alpha[39]	0.955361
TNavParticleFilter::Modified Variance for beam 40 is 11.07 
Alpha[40]	0.000000
Alpha[40]	0.953387
TNavParticleFilter::Modified Variance for beam 41 is 10.75 
Alpha[41]	0.000000
Alpha[41]	0.949777
TNavParticleFilter::Modified Variance for beam 42 is 10.36 
Alpha[42]	0.000000
Alpha[42]	0.954873
TNavParticleFilter::Modified Variance for beam 43 is 8.79 
Alpha[43]	0.000000
Alpha[43]	0.968919
TNavParticleFilter::Modified Variance for beam 44 is 8.47 
Alpha[44]	0.000000
Alpha[44]	0.979456
TNavParticleFilter::Modified Variance for beam 45 is 8.22 
Alpha[45]	0.000000
Alpha[45]	0.984605
TNavParticleFilter::Modified Variance for beam 46 is 8.26 
Alpha[46]	0.000000
Alpha[46]	0.986895
TNavParticleFilter::Modified Variance for beam 47 is 8.40 
Alpha[47]	0.000000
Alpha[47]	0.987703
TNavParticleFilter::Modified Variance for beam 48 is 7.66 
Alpha[48]	0.000000
Alpha[48]	0.987812
TNavParticleFilter::Modified Variance for beam 49 is 7.51 
Alpha[49]	0.000000
Alpha[49]	0.987577
TNavParticleFilter::Modified Variance for beam 50 is 7.38 
Alpha[50]	0.000000
Alpha[50]	0.986238
TNavParticleFilter::Modified Variance for beam 51 is 7.38 
Alpha[51]	0.000000
Alpha[51]	0.984397
TNavParticleFilter::Modified Variance for beam 52 is 7.50 
Alpha[52]	0.000000
Alpha[52]	0.986813
TNavParticleFilter::Modified Variance for beam 53 is 7.63 
Alpha[53]	0.000000
Alpha[53]	0.990184
TNavParticleFilter::Modified Variance for beam 54 is 7.59 
Alpha[54]	0.000000
Alpha[54]	0.991783
TNavParticleFilter::Modified Variance for beam 55 is 7.46 
Alpha[55]	0.000000
Alpha[55]	0.992882
TNavParticleFilter::Modified Variance for beam 56 is 7.34 
Alpha[56]	0.000000
Alpha[56]	0.993150
TNavParticleFilter::Modified Variance for beam 57 is 7.24 
Alpha[57]	0.000000
Alpha[57]	0.992506
TNavParticleFilter::Modified Variance for beam 58 is 6.50 
Alpha[58]	0.000000
Alpha[58]	0.991971
TNavParticleFilter::Modified Variance for beam 59 is 6.42 
Alpha[59]	0.000000
Alpha[59]	0.991525
TNavPF:: sumSquaredError = 631.165698 
TNavPF:: sumWeights = 0.000000 
TNavPF::Calculating NIS Matrices 
TNavPF::Calculated measDiffMean for beam 30 as -2.39. Range = 59.60 
TNavPF::Calculated measDiffMean for beam 31 as -0.49. Range = 60.32 
TNavPF::Calculated measDiffMean for beam 32 as 0.75. Range = 57.20 
TNavPF::Calculated measDiffMean for beam 33 as 1.97. Range = 56.95 
TNavPF::Calculated measDiffMean for beam 34 as -3.03. Range = 58.29 
TNavPF::Calculated measDiffMean for beam 35 as -3.09. Range = 57.68 
TNavPF::Calculated measDiffMean for beam 36 as -1.71. Range = 57.10 
TNavPF::Calculated measDiffMean for beam 37 as -0.77. Range = 54.26 
TNavPF::Calculated measDiffMean for beam 38 as 1.02. Range = 53.75 
TNavPF::Calculated measDiffMean for beam 39 as 16.45. Range = 53.28 
TNavPF::Calculated measDiffMean for beam 40 as 13.89. Range = 52.82 
TNavPF::Calculated measDiffMean for beam 41 as 12.39. Range = 52.39 
TNavPF::Calculated measDiffMean for beam 42 as 3.25. Range = 51.98 
TNavPF::Calculated measDiffMean for beam 43 as 1.73. Range = 53.77 
TNavPF::Calculated measDiffMean for beam 44 as 2.79. Range = 49.07 
TNavPF::Calculated measDiffMean for beam 45 as 3.37. Range = 48.74 
TNavPF::Calculated measDiffMean for beam 46 as 3.75. Range = 48.43 
TNavPF::Calculated measDiffMean for beam 47 as 4.17. Range = 48.14 
TNavPF::Calculated measDiffMean for beam 48 as 4.80. Range = 47.87 
TNavPF::Calculated measDiffMean for beam 49 as 5.67. Range = 47.61 
TNavPF::Calculated measDiffMean for beam 50 as 6.47. Range = 47.37 
TNavPF::Calculated measDiffMean for beam 51 as 15.35. Range = 49.22 
TNavPF::Calculated measDiffMean for beam 52 as 15.73. Range = 44.88 
TNavPF::Calculated measDiffMean for beam 53 as 15.97. Range = 44.69 
TNavPF::Calculated measDiffMean for beam 54 as 14.99. Range = 44.53 
TNavPF::Calculated measDiffMean for beam 55 as 14.38. Range = 46.41 
TNavPF::Calculated measDiffMean for beam 56 as 14.80. Range = 46.27 
TNavPF::Calculated measDiffMean for beam 57 as 15.33. Range = 42.08 
TNavPF::Calculated measDiffMean for beam 58 as 14.84. Range = 41.98 
TNavPF::Calculated measDiffMean for beam 59 as 14.01. Range = 41.89 
TNavPF::Calculated measDiffMean for beam 60 as 14.26. Range = 41.81 
TNavPF::Calculated measDiffMean for beam 61 as 14.44. Range = 41.74 
TNavPF::Calculated measDiffMean for beam 62 as 16.83. Range = 41.69 
TNavPF::Calculated measDiffMean for beam 63 as 16.99. Range = 41.65 
TNavPF::Calculated measDiffMean for beam 64 as 15.74. Range = 35.61 
TNavPF::Calculated measDiffMean for beam 65 as 15.05. Range = 33.59 
TNavPF::Calculated measDiffMean for beam 66 as 15.24. Range = 33.59 
TNavPF::Calculated measDiffMean for beam 67 as 15.45. Range = 33.60 
TNavPF::Calculated measDiffMean for beam 68 as 15.65. Range = 33.62 
TNavPF::Calculated measDiffMean for beam 69 as 15.85. Range = 47.70 
TNavPF::Calculated measDiffMean for beam 70 as 15.83. Range = 44.38 
TNavPF::Calculated measDiffMean for beam 71 as 14.67. Range = 41.79 
TNavPF::Calculated measDiffMean for beam 72 as 13.68. Range = 30.94 
TNavPF::Calculated measDiffMean for beam 73 as 9.60. Range = 27.81 
TNavPF::Calculated measDiffMean for beam 74 as 9.00. Range = 27.88 
TNavPF::Calculated measDiffMean for beam 75 as 8.39. Range = 27.95 
TNavPF::Calculated measDiffMean for beam 76 as 8.52. Range = 28.04 
TNavPF::Calculated measDiffMean for beam 77 as 8.80. Range = 28.13 
TNavPF::Calculated measDiffMean for beam 78 as 6.08. Range = 28.24 
TNavPF::Calculated measDiffMean for beam 79 as 5.25. Range = 28.35 
TNavPF::Calculated measDiffMean for beam 80 as 4.45. Range = 28.47 
TNavPF::Calculated measDiffMean for beam 81 as 4.10. Range = 36.91 
TNavPF::Calculated measDiffMean for beam 82 as 4.16. Range = 37.10 
TNavPF::Calculated measDiffMean for beam 83 as 4.08. Range = 37.29 
TNavPF::Calculated measDiffMean for beam 84 as 3.30. Range = 36.29 
TNavPF::Calculated measDiffMean for beam 85 as 2.14. Range = 35.60 
TNavPF::Calculated measDiffMean for beam 86 as 0.92. Range = 35.83 
TNavPF::Calculated measDiffMean for beam 87 as -0.16. Range = 36.07 
TNavPF::Calculated measDiffMean for beam 88 as -3.54. Range = 35.33 
TNavPF::Calculated measDiffMean for beam 89 as -4.26. Range = 34.41 
TNavPF::First Term of Map Covariance Matrix is 105.13 
TNavPF::Calculated NIS Value : 403.84 	numBeams normalized NIS: 6.73
TerrainNav::Resampling particle filter...
TerrainNav::motionUpdate - Measurement type 5 successfully incorporated from time = 1488323596.82 sec.
INS : North: 4070214.03, East: 589236.21, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 37.83, IDT[75] = 27.52
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323599.82 sec.; waiting for more recent INS data...
ARL : Estimation Bias(Max. Likelihood): (t = 1488323599.62)
ARL : North: 37.9934, East: -354.0342, Depth: -49.7322ARL : Estimation Bias  (Mean)         : (t = 1488323599.62)
ARL : North: 38.8293, East: -353.7770, Depth: -46.1599TerrainNav:: Windowed NIS average 1.42 exceeds the maximum allowed of 1.4.  Re-initializing the filter.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS : North: 4070215.83, East: 589232.57, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 37.54, IDT[75] = 21.57
TerrainNav::Measurement type 5 from time = 1488323602.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070218.20, East: 589229.30, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 30.20, IDT[75] = 22.32
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323605.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 12.13 
Alpha[0]	0.123000
Alpha[0]	0.999948
TNavParticleFilter::Modified Variance for beam 1 is 12.10 
Alpha[1]	0.000000
Alpha[1]	0.999949
TNavParticleFilter::Modified Variance for beam 2 is 12.19 
Alpha[2]	0.000000
Alpha[2]	0.999951
TNavParticleFilter::Modified Variance for beam 3 is 12.00 
Alpha[3]	0.000000
Alpha[3]	0.999952
TNavParticleFilter::Modified Variance for beam 4 is 11.19 
Alpha[4]	0.000000
Alpha[4]	0.999953
TNavParticleFilter::Modified Variance for beam 5 is 10.50 
Alpha[5]	0.000000
Alpha[5]	0.999955
TNavParticleFilter::Modified Variance for beam 6 is 9.90 
Alpha[6]	0.000000
Alpha[6]	0.999956
TNavParticleFilter::Modified Variance for beam 7 is 9.37 
Alpha[7]	0.000000
Alpha[7]	0.999958
TNavParticleFilter::Modified Variance for beam 8 is 6.16 
Alpha[8]	0.000000
Alpha[8]	0.999959
TNavParticleFilter::Modified Variance for beam 9 is 5.96 
Alpha[9]	0.000000
Alpha[9]	0.999961
TNavParticleFilter::Modified Variance for beam 10 is 5.91 
Alpha[10]	0.000000
Alpha[10]	0.999963
TNavParticleFilter::Modified Variance for beam 11 is 5.95 
Alpha[11]	0.000000
Alpha[11]	0.999964
TNavParticleFilter::Modified Variance for beam 12 is 6.00 
Alpha[12]	0.000000
Alpha[12]	0.999966
TNavParticleFilter::Modified Variance for beam 13 is 6.05 
Alpha[13]	0.000000
Alpha[13]	0.999968
TNavParticleFilter::Modified Variance for beam 14 is 7.91 
Alpha[14]	0.000000
Alpha[14]	0.999969
TNavParticleFilter::Modified Variance for beam 15 is 7.93 
Alpha[15]	0.000000
Alpha[15]	0.999971
TNavParticleFilter::Modified Variance for beam 16 is 7.68 
Alpha[16]	0.000000
Alpha[16]	0.999973
TNavParticleFilter::Modified Variance for beam 17 is 7.50 
Alpha[17]	0.000000
Alpha[17]	0.999974
TNavParticleFilter::Modified Variance for beam 18 is 7.59 
Alpha[18]	0.000000
Alpha[18]	0.999976
TNavParticleFilter::Modified Variance for beam 19 is 7.69 
Alpha[19]	0.000000
Alpha[19]	0.999977
TNavParticleFilter::Modified Variance for beam 20 is 6.89 
Alpha[20]	0.000000
Alpha[20]	0.999979
TNavParticleFilter::Modified Variance for beam 21 is 6.73 
Alpha[21]	0.000000
Alpha[21]	0.999980
TNavParticleFilter::Modified Variance for beam 22 is 6.64 
Alpha[22]	0.000000
Alpha[22]	0.999981
TNavParticleFilter::Modified Variance for beam 23 is 6.72 
Alpha[23]	0.000000
Alpha[23]	0.999982
TNavParticleFilter::Modified Variance for beam 24 is 6.82 
Alpha[24]	0.000000
Alpha[24]	0.999983
TNavParticleFilter::Modified Variance for beam 25 is 6.21 
Alpha[25]	0.000000
Alpha[25]	0.999983
TNavParticleFilter::Modified Variance for beam 26 is 6.10 
Alpha[26]	0.000000
Alpha[26]	0.999984
TNavParticleFilter::Modified Variance for beam 27 is 6.01 
Alpha[27]	0.000000
Alpha[27]	0.999985
TNavParticleFilter::Modified Variance for beam 28 is 5.91 
Alpha[28]	0.000000
Alpha[28]	0.999986
TNavParticleFilter::Modified Variance for beam 29 is 5.98 
Alpha[29]	0.000000
Alpha[29]	0.999987
TNavParticleFilter::Modified Variance for beam 30 is 6.07 
Alpha[30]	0.000000
Alpha[30]	0.999987
TNavParticleFilter::Modified Variance for beam 31 is 6.17 
Alpha[31]	0.000000
Alpha[31]	0.999988
TNavParticleFilter::Modified Variance for beam 32 is 6.85 
Alpha[32]	0.000000
Alpha[32]	0.999988
TNavParticleFilter::Modified Variance for beam 33 is 6.75 
Alpha[33]	0.000000
Alpha[33]	0.999989
TNavParticleFilter::Modified Variance for beam 34 is 6.65 
Alpha[34]	0.000000
Alpha[34]	0.999989
TNavParticleFilter::Modified Variance for beam 35 is 6.64 
Alpha[35]	0.000000
Alpha[35]	0.999990
TNavParticleFilter::Modified Variance for beam 36 is 5.89 
Alpha[36]	0.000000
Alpha[36]	0.999990
TNavParticleFilter::Modified Variance for beam 37 is 5.82 
Alpha[37]	0.000000
Alpha[37]	0.999991
TNavParticleFilter::Modified Variance for beam 38 is 5.76 
Alpha[38]	0.000000
Alpha[38]	0.999991
TNavParticleFilter::Modified Variance for beam 39 is 5.71 
Alpha[39]	0.000000
Alpha[39]	0.999991
TNavParticleFilter::Modified Variance for beam 40 is 5.72 
Alpha[40]	0.000000
Alpha[40]	0.999991
TNavParticleFilter::Modified Variance for beam 41 is 5.85 
Alpha[41]	0.000000
Alpha[41]	0.999991
TNavParticleFilter::Modified Variance for beam 42 is 5.98 
Alpha[42]	0.000000
Alpha[42]	0.999992
TNavParticleFilter::Modified Variance for beam 43 is 6.01 
Alpha[43]	0.000000
Alpha[43]	0.999992
TNavParticleFilter::Modified Variance for beam 44 is 5.95 
Alpha[44]	0.000000
Alpha[44]	0.999992
TNavParticleFilter::Modified Variance for beam 45 is 5.90 
Alpha[45]	0.000000
Alpha[45]	0.999992
TNavParticleFilter::Modified Variance for beam 46 is 5.86 
Alpha[46]	0.000000
Alpha[46]	0.999992
TNavParticleFilter::Modified Variance for beam 47 is 5.84 
Alpha[47]	0.000000
Alpha[47]	0.999992
TNavParticleFilter::Modified Variance for beam 48 is 6.01 
Alpha[48]	0.000000
Alpha[48]	0.999993
TNavParticleFilter::Modified Variance for beam 49 is 6.20 
Alpha[49]	0.000000
Alpha[49]	0.999993
TNavParticleFilter::Modified Variance for beam 50 is 6.18 
Alpha[50]	0.000000
Alpha[50]	0.999994
TNavParticleFilter::Modified Variance for beam 51 is 6.14 
Alpha[51]	0.000000
Alpha[51]	0.999994
TNavParticleFilter::Modified Variance for beam 52 is 6.10 
Alpha[52]	0.000000
Alpha[52]	0.999994
TNavParticleFilter::Modified Variance for beam 53 is 6.07 
Alpha[53]	0.000000
Alpha[53]	0.999994
TNavParticleFilter::Modified Variance for beam 54 is 6.13 
Alpha[54]	0.000000
Alpha[54]	0.999995
TNavParticleFilter::Modified Variance for beam 55 is 6.40 
Alpha[55]	0.000000
Alpha[55]	0.999995
TNavParticleFilter::Modified Variance for beam 56 is 6.71 
Alpha[56]	0.000000
Alpha[56]	0.999996
TNavParticleFilter::Modified Variance for beam 57 is 7.09 
Alpha[57]	0.000000
Alpha[57]	0.999996
TNavParticleFilter::Modified Variance for beam 58 is 7.53 
Alpha[58]	0.000000
Alpha[58]	0.999996
TNavParticleFilter::Modified Variance for beam 59 is 8.04 
Alpha[59]	0.000000
Alpha[59]	0.999997
TNavPF:Sum of squared error for particle 1 beam 49 is nan 
INS : North: 4070221.13, East: 589226.48, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 27.07, IDT[75] = 28.91
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323608.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 66 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 8.48 
Alpha[0]	0.123000
Alpha[0]	0.999966
TNavParticleFilter::Modified Variance for beam 1 is 8.15 
Alpha[1]	0.000000
Alpha[1]	0.999967
TNavParticleFilter::Modified Variance for beam 2 is 7.96 
Alpha[2]	0.000000
Alpha[2]	0.999969
TNavParticleFilter::Modified Variance for beam 3 is 8.04 
Alpha[3]	0.000000
Alpha[3]	0.999970
TNavParticleFilter::Modified Variance for beam 4 is 7.25 
Alpha[4]	0.000000
Alpha[4]	0.999972
TNavParticleFilter::Modified Variance for beam 5 is 7.01 
Alpha[5]	0.000000
Alpha[5]	0.999973
TNavParticleFilter::Modified Variance for beam 6 is 6.98 
Alpha[6]	0.000000
Alpha[6]	0.999975
TNavParticleFilter::Modified Variance for beam 7 is 7.06 
Alpha[7]	0.000000
Alpha[7]	0.999976
TNavParticleFilter::Modified Variance for beam 8 is 6.43 
Alpha[8]	0.000000
Alpha[8]	0.999977
TNavParticleFilter::Modified Variance for beam 9 is 6.27 
Alpha[9]	0.000000
Alpha[9]	0.999979
TNavParticleFilter::Modified Variance for beam 10 is 6.12 
Alpha[10]	0.000000
Alpha[10]	0.999980
TNavParticleFilter::Modified Variance for beam 11 is 6.16 
Alpha[11]	0.000000
Alpha[11]	0.999981
TNavParticleFilter::Modified Variance for beam 12 is 6.22 
Alpha[12]	0.000000
Alpha[12]	0.999982
TNavParticleFilter::Modified Variance for beam 13 is 6.29 
Alpha[13]	0.000000
Alpha[13]	0.999983
TNavParticleFilter::Modified Variance for beam 14 is 6.37 
Alpha[14]	0.000000
Alpha[14]	0.999984
TNavParticleFilter::Modified Variance for beam 15 is 7.05 
Alpha[15]	0.000000
Alpha[15]	0.999984
TNavParticleFilter::Modified Variance for beam 16 is 6.90 
Alpha[16]	0.000000
Alpha[16]	0.999985
TNavParticleFilter::Modified Variance for beam 17 is 6.77 
Alpha[17]	0.000000
Alpha[17]	0.999985
TNavParticleFilter::Modified Variance for beam 18 is 5.93 
Alpha[18]	0.000000
Alpha[18]	0.999986
TNavParticleFilter::Modified Variance for beam 19 is 5.84 
Alpha[19]	0.000000
Alpha[19]	0.999987
TNavParticleFilter::Modified Variance for beam 20 is 5.75 
Alpha[20]	0.000000
Alpha[20]	0.999987
TNavParticleFilter::Modified Variance for beam 21 is 5.72 
Alpha[21]	0.000000
Alpha[21]	0.999988
TNavParticleFilter::Modified Variance for beam 22 is 5.80 
Alpha[22]	0.000000
Alpha[22]	0.999988
TNavParticleFilter::Modified Variance for beam 23 is 5.89 
Alpha[23]	0.000000
Alpha[23]	0.999989
TNavParticleFilter::Modified Variance for beam 24 is 5.98 
Alpha[24]	0.000000
Alpha[24]	0.999989
TNavParticleFilter::Modified Variance for beam 25 is 5.95 
Alpha[25]	0.000000
Alpha[25]	0.999990
TNavParticleFilter::Modified Variance for beam 26 is 5.88 
Alpha[26]	0.000000
Alpha[26]	0.999990
TNavParticleFilter::Modified Variance for beam 27 is 5.81 
Alpha[27]	0.000000
Alpha[27]	0.999990
TNavParticleFilter::Modified Variance for beam 28 is 5.74 
Alpha[28]	0.000000
Alpha[28]	0.999991
TNavParticleFilter::Modified Variance for beam 29 is 5.80 
Alpha[29]	0.000000
Alpha[29]	0.999991
TNavParticleFilter::Modified Variance for beam 30 is 5.91 
Alpha[30]	0.000000
Alpha[30]	0.999991
TNavParticleFilter::Modified Variance for beam 31 is 6.04 
Alpha[31]	0.000000
Alpha[31]	0.999992
TNavParticleFilter::Modified Variance for beam 32 is 7.24 
Alpha[32]	0.000000
Alpha[32]	0.999992
TNavParticleFilter::Modified Variance for beam 33 is 7.24 
Alpha[33]	0.000000
Alpha[33]	0.999992
TNavParticleFilter::Modified Variance for beam 34 is 6.47 
Alpha[34]	0.000000
Alpha[34]	0.999992
TNavParticleFilter::Modified Variance for beam 35 is 6.40 
Alpha[35]	0.000000
Alpha[35]	0.999992
TNavParticleFilter::Modified Variance for beam 36 is 6.34 
Alpha[36]	0.000000
Alpha[36]	0.999992
TNavParticleFilter::Modified Variance for beam 37 is 6.04 
Alpha[37]	0.000000
Alpha[37]	0.999992
TNavParticleFilter::Modified Variance for beam 38 is 6.21 
Alpha[38]	0.000000
Alpha[38]	0.999992
TNavParticleFilter::Modified Variance for beam 39 is 6.40 
Alpha[39]	0.000000
Alpha[39]	0.999993
TNavParticleFilter::Modified Variance for beam 40 is 6.61 
Alpha[40]	0.000000
Alpha[40]	0.999993
TNavParticleFilter::Modified Variance for beam 41 is 6.84 
Alpha[41]	0.000000
Alpha[41]	0.999993
TNavParticleFilter::Modified Variance for beam 42 is 7.11 
Alpha[42]	0.000000
Alpha[42]	0.999993
TNavParticleFilter::Modified Variance for beam 43 is 7.41 
Alpha[43]	0.000000
Alpha[43]	0.999994
TNavParticleFilter::Modified Variance for beam 44 is 7.62 
Alpha[44]	0.000000
Alpha[44]	0.999994
TNavParticleFilter::Modified Variance for beam 45 is 7.56 
Alpha[45]	0.000000
Alpha[45]	0.999994
TNavParticleFilter::Modified Variance for beam 46 is 7.51 
Alpha[46]	0.000000
Alpha[46]	0.999995
TNavParticleFilter::Modified Variance for beam 47 is 7.46 
Alpha[47]	0.000000
Alpha[47]	0.999995
TNavParticleFilter::Modified Variance for beam 48 is 7.68 
Alpha[48]	0.000000
Alpha[48]	0.999995
TNavParticleFilter::Modified Variance for beam 49 is 8.61 
Alpha[49]	0.000000
Alpha[49]	0.999995
TNavParticleFilter::Modified Variance for beam 50 is 8.73 
Alpha[50]	0.000000
Alpha[50]	0.999996
TNavParticleFilter::Modified Variance for beam 51 is 9.42 
Alpha[51]	0.000000
Alpha[51]	0.999996
TNavParticleFilter::Modified Variance for beam 52 is 10.25 
Alpha[52]	0.000000
Alpha[52]	0.999997
TNavParticleFilter::Modified Variance for beam 53 is 11.28 
Alpha[53]	0.000000
Alpha[53]	0.999997
TNavPF:Sum of squared error for particle 1 beam 33 is nan 
INS : North: 4070224.43, East: 589224.05, Depth: 890.15
TerrainNav::measUpdate() - IDT[45] = 23.19, IDT[75] = 81.71
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323611.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 74 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323611.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070227.98, East: 589221.90, Depth: 890.17
TerrainNav::measUpdate() - IDT[45] = 25.46, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323614.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 77 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323614.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070231.48, East: 589219.65, Depth: 890.17
TerrainNav::measUpdate() - IDT[45] = 25.97, IDT[75] = 76.89
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323617.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 69 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 7.03 
Alpha[0]	0.123000
Alpha[0]	0.999966
TNavParticleFilter::Modified Variance for beam 1 is 7.08 
Alpha[1]	0.000000
Alpha[1]	0.999967
TNavParticleFilter::Modified Variance for beam 2 is 7.13 
Alpha[2]	0.000000
Alpha[2]	0.999968
TNavParticleFilter::Modified Variance for beam 3 is 6.83 
Alpha[3]	0.000000
Alpha[3]	0.999969
TNavParticleFilter::Modified Variance for beam 4 is 6.66 
Alpha[4]	0.000000
Alpha[4]	0.999970
TNavParticleFilter::Modified Variance for beam 5 is 6.71 
Alpha[5]	0.000000
Alpha[5]	0.999971
TNavParticleFilter::Modified Variance for beam 6 is 6.77 
Alpha[6]	0.000000
Alpha[6]	0.999972
TNavParticleFilter::Modified Variance for beam 7 is 6.82 
Alpha[7]	0.000000
Alpha[7]	0.999973
TNavParticleFilter::Modified Variance for beam 8 is 8.85 
Alpha[8]	0.000000
Alpha[8]	0.999974
TNavParticleFilter::Modified Variance for beam 9 is 8.95 
Alpha[9]	0.000000
Alpha[9]	0.999975
TNavParticleFilter::Modified Variance for beam 10 is 8.67 
Alpha[10]	0.000000
Alpha[10]	0.999976
TNavParticleFilter::Modified Variance for beam 11 is 8.37 
Alpha[11]	0.000000
Alpha[11]	0.999977
TNavParticleFilter::Modified Variance for beam 12 is 7.00 
Alpha[12]	0.000000
Alpha[12]	0.999978
TNavParticleFilter::Modified Variance for beam 13 is 6.81 
Alpha[13]	0.000000
Alpha[13]	0.999979
TNavParticleFilter::Modified Variance for beam 14 is 6.69 
Alpha[14]	0.000000
Alpha[14]	0.999980
TNavParticleFilter::Modified Variance for beam 15 is 6.77 
Alpha[15]	0.000000
Alpha[15]	0.999981
TNavParticleFilter::Modified Variance for beam 16 is 6.85 
Alpha[16]	0.000000
Alpha[16]	0.999982
TNavParticleFilter::Modified Variance for beam 17 is 6.94 
Alpha[17]	0.000000
Alpha[17]	0.999982
TNavParticleFilter::Modified Variance for beam 18 is 7.77 
Alpha[18]	0.000000
Alpha[18]	0.999983
TNavParticleFilter::Modified Variance for beam 19 is 7.84 
Alpha[19]	0.000000
Alpha[19]	0.999984
TNavParticleFilter::Modified Variance for beam 20 is 7.96 
Alpha[20]	0.000000
Alpha[20]	0.999984
TNavParticleFilter::Modified Variance for beam 21 is 8.10 
Alpha[21]	0.000000
Alpha[21]	0.999985
TNavParticleFilter::Modified Variance for beam 22 is 7.94 
Alpha[22]	0.000000
Alpha[22]	0.999986
TNavParticleFilter::Modified Variance for beam 23 is 7.77 
Alpha[23]	0.000000
Alpha[23]	0.999986
TNavParticleFilter::Modified Variance for beam 24 is 7.61 
Alpha[24]	0.000000
Alpha[24]	0.999987
TNavParticleFilter::Modified Variance for beam 25 is 7.47 
Alpha[25]	0.000000
Alpha[25]	0.999988
TNavParticleFilter::Modified Variance for beam 26 is 7.33 
Alpha[26]	0.000000
Alpha[26]	0.999988
TNavParticleFilter::Modified Variance for beam 27 is 7.34 
Alpha[27]	0.000000
Alpha[27]	0.999989
TNavParticleFilter::Modified Variance for beam 28 is 7.49 
Alpha[28]	0.000000
Alpha[28]	0.999989
TNavParticleFilter::Modified Variance for beam 29 is 7.65 
Alpha[29]	0.000000
Alpha[29]	0.999990
TNavParticleFilter::Modified Variance for beam 30 is 8.36 
Alpha[30]	0.000000
Alpha[30]	0.999990
TNavParticleFilter::Modified Variance for beam 31 is 8.22 
Alpha[31]	0.000000
Alpha[31]	0.999991
TNavParticleFilter::Modified Variance for beam 32 is 8.20 
Alpha[32]	0.000000
Alpha[32]	0.999991
TNavParticleFilter::Modified Variance for beam 33 is 8.41 
Alpha[33]	0.000000
Alpha[33]	0.999992
TNavParticleFilter::Modified Variance for beam 34 is 8.64 
Alpha[34]	0.000000
Alpha[34]	0.999992
TNavParticleFilter::Modified Variance for beam 35 is 8.89 
Alpha[35]	0.000000
Alpha[35]	0.999992
TNavParticleFilter::Modified Variance for beam 36 is 9.17 
Alpha[36]	0.000000
Alpha[36]	0.999993
TNavParticleFilter::Modified Variance for beam 37 is 9.47 
Alpha[37]	0.000000
Alpha[37]	0.999993
TNavParticleFilter::Modified Variance for beam 38 is 9.79 
Alpha[38]	0.000000
Alpha[38]	0.999993
TNavParticleFilter::Modified Variance for beam 39 is 10.15 
Alpha[39]	0.000000
Alpha[39]	0.999994
TNavParticleFilter::Modified Variance for beam 40 is 13.76 
Alpha[40]	0.000000
Alpha[40]	0.999994
TNavParticleFilter::Modified Variance for beam 41 is 23.11 
Alpha[41]	0.000000
Alpha[41]	0.999994
TNavParticleFilter::Modified Variance for beam 42 is 24.37 
Alpha[42]	0.000000
Alpha[42]	0.999994
TNavParticleFilter::Modified Variance for beam 43 is 30.69 
Alpha[43]	0.000000
Alpha[43]	0.999994
TNavParticleFilter::Modified Variance for beam 44 is 30.46 
Alpha[44]	0.000000
Alpha[44]	0.999994
TNavParticleFilter::Modified Variance for beam 45 is 32.43 
Alpha[45]	0.000000
Alpha[45]	0.999994
TNavParticleFilter::Modified Variance for beam 46 is 34.24 
Alpha[46]	0.000000
Alpha[46]	0.999995
TNavParticleFilter::Modified Variance for beam 47 is 33.76 
Alpha[47]	0.000000
Alpha[47]	0.999995
TNavParticleFilter::Modified Variance for beam 48 is 33.31 
Alpha[48]	0.000000
Alpha[48]	0.999995
TNavParticleFilter::Modified Variance for beam 49 is 34.29 
Alpha[49]	0.000000
Alpha[49]	0.999995
TNavParticleFilter::Modified Variance for beam 50 is 37.17 
Alpha[50]	0.000000
Alpha[50]	0.999995
TNavPF:Sum of squared error for particle 1 beam 36 is nan 
INS : North: 4070234.54, East: 589216.86, Depth: 890.14
TerrainNav::measUpdate() - IDT[45] = 33.86, IDT[75] = 36.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323620.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 8.61 
Alpha[0]	0.123000
Alpha[0]	0.999957
TNavParticleFilter::Modified Variance for beam 1 is 8.63 
Alpha[1]	0.000000
Alpha[1]	0.999958
TNavParticleFilter::Modified Variance for beam 2 is 7.85 
Alpha[2]	0.000000
Alpha[2]	0.999959
TNavParticleFilter::Modified Variance for beam 3 is 7.47 
Alpha[3]	0.000000
Alpha[3]	0.999959
TNavParticleFilter::Modified Variance for beam 4 is 7.50 
Alpha[4]	0.000000
Alpha[4]	0.999960
TNavParticleFilter::Modified Variance for beam 5 is 7.53 
Alpha[5]	0.000000
Alpha[5]	0.999961
TNavParticleFilter::Modified Variance for beam 6 is 7.56 
Alpha[6]	0.000000
Alpha[6]	0.999962
TNavParticleFilter::Modified Variance for beam 7 is 7.22 
Alpha[7]	0.000000
Alpha[7]	0.999963
TNavParticleFilter::Modified Variance for beam 8 is 7.06 
Alpha[8]	0.000000
Alpha[8]	0.999964
TNavParticleFilter::Modified Variance for beam 9 is 7.09 
Alpha[9]	0.000000
Alpha[9]	0.999965
TNavParticleFilter::Modified Variance for beam 10 is 7.13 
Alpha[10]	0.000000
Alpha[10]	0.999966
TNavParticleFilter::Modified Variance for beam 11 is 7.17 
Alpha[11]	0.000000
Alpha[11]	0.999966
TNavParticleFilter::Modified Variance for beam 12 is 9.14 
Alpha[12]	0.000000
Alpha[12]	0.999967
TNavParticleFilter::Modified Variance for beam 13 is 9.21 
Alpha[13]	0.000000
Alpha[13]	0.999968
TNavParticleFilter::Modified Variance for beam 14 is 9.28 
Alpha[14]	0.000000
Alpha[14]	0.999969
TNavParticleFilter::Modified Variance for beam 15 is 9.08 
Alpha[15]	0.000000
Alpha[15]	0.999970
TNavParticleFilter::Modified Variance for beam 16 is 7.14 
Alpha[16]	0.000000
Alpha[16]	0.999971
TNavParticleFilter::Modified Variance for beam 17 is 6.89 
Alpha[17]	0.000000
Alpha[17]	0.999972
TNavParticleFilter::Modified Variance for beam 18 is 6.95 
Alpha[18]	0.000000
Alpha[18]	0.999973
TNavParticleFilter::Modified Variance for beam 19 is 7.01 
Alpha[19]	0.000000
Alpha[19]	0.999974
TNavParticleFilter::Modified Variance for beam 20 is 7.07 
Alpha[20]	0.000000
Alpha[20]	0.999975
TNavParticleFilter::Modified Variance for beam 21 is 8.27 
Alpha[21]	0.000000
Alpha[21]	0.999976
TNavParticleFilter::Modified Variance for beam 22 is 7.97 
Alpha[22]	0.000000
Alpha[22]	0.999977
TNavParticleFilter::Modified Variance for beam 23 is 7.94 
Alpha[23]	0.000000
Alpha[23]	0.999978
TNavParticleFilter::Modified Variance for beam 24 is 8.03 
Alpha[24]	0.000000
Alpha[24]	0.999979
TNavParticleFilter::Modified Variance for beam 25 is 8.13 
Alpha[25]	0.000000
Alpha[25]	0.999980
TNavParticleFilter::Modified Variance for beam 26 is 8.07 
Alpha[26]	0.000000
Alpha[26]	0.999981
TNavParticleFilter::Modified Variance for beam 27 is 7.84 
Alpha[27]	0.000000
Alpha[27]	0.999981
TNavParticleFilter::Modified Variance for beam 28 is 7.62 
Alpha[28]	0.000000
Alpha[28]	0.999982
TNavParticleFilter::Modified Variance for beam 29 is 7.43 
Alpha[29]	0.000000
Alpha[29]	0.999983
TNavParticleFilter::Modified Variance for beam 30 is 7.24 
Alpha[30]	0.000000
Alpha[30]	0.999983
TNavParticleFilter::Modified Variance for beam 31 is 7.34 
Alpha[31]	0.000000
Alpha[31]	0.999984
TNavParticleFilter::Modified Variance for beam 32 is 7.45 
Alpha[32]	0.000000
Alpha[32]	0.999985
TNavParticleFilter::Modified Variance for beam 33 is 7.57 
Alpha[33]	0.000000
Alpha[33]	0.999985
TNavParticleFilter::Modified Variance for beam 34 is 7.69 
Alpha[34]	0.000000
Alpha[34]	0.999986
TNavParticleFilter::Modified Variance for beam 35 is 7.83 
Alpha[35]	0.000000
Alpha[35]	0.999987
TNavParticleFilter::Modified Variance for beam 36 is 7.97 
Alpha[36]	0.000000
Alpha[36]	0.999987
TNavParticleFilter::Modified Variance for beam 37 is 8.12 
Alpha[37]	0.000000
Alpha[37]	0.999988
TNavParticleFilter::Modified Variance for beam 38 is 8.28 
Alpha[38]	0.000000
Alpha[38]	0.999988
TNavParticleFilter::Modified Variance for beam 39 is 8.46 
Alpha[39]	0.000000
Alpha[39]	0.999989
TNavParticleFilter::Modified Variance for beam 40 is 8.65 
Alpha[40]	0.000000
Alpha[40]	0.999990
TNavParticleFilter::Modified Variance for beam 41 is 8.85 
Alpha[41]	0.000000
Alpha[41]	0.999990
TNavParticleFilter::Modified Variance for beam 42 is 9.06 
Alpha[42]	0.000000
Alpha[42]	0.999991
TNavParticleFilter::Modified Variance for beam 43 is 9.30 
Alpha[43]	0.000000
Alpha[43]	0.999991
TNavParticleFilter::Modified Variance for beam 44 is 9.55 
Alpha[44]	0.000000
Alpha[44]	0.999991
TNavParticleFilter::Modified Variance for beam 45 is 9.83 
Alpha[45]	0.000000
Alpha[45]	0.999992
TNavParticleFilter::Modified Variance for beam 46 is 12.75 
Alpha[46]	0.000000
Alpha[46]	0.999992
TNavParticleFilter::Modified Variance for beam 47 is 13.20 
Alpha[47]	0.000000
Alpha[47]	0.999992
TNavParticleFilter::Modified Variance for beam 48 is 20.91 
Alpha[48]	0.000000
Alpha[48]	0.999993
TNavParticleFilter::Modified Variance for beam 49 is 21.83 
Alpha[49]	0.000000
Alpha[49]	0.999993
TNavParticleFilter::Modified Variance for beam 50 is 22.82 
Alpha[50]	0.000000
Alpha[50]	0.999993
TNavParticleFilter::Modified Variance for beam 51 is 26.39 
Alpha[51]	0.000000
Alpha[51]	0.999994
TNavParticleFilter::Modified Variance for beam 52 is 29.68 
Alpha[52]	0.000000
Alpha[52]	0.999994
TNavParticleFilter::Modified Variance for beam 53 is 29.22 
Alpha[53]	0.000000
Alpha[53]	0.999994
TNavParticleFilter::Modified Variance for beam 54 is 30.87 
Alpha[54]	0.000000
Alpha[54]	0.999994
TNavParticleFilter::Modified Variance for beam 55 is 32.69 
Alpha[55]	0.000000
Alpha[55]	0.999995
TNavParticleFilter::Modified Variance for beam 56 is 32.60 
Alpha[56]	0.000000
Alpha[56]	0.999995
TNavParticleFilter::Modified Variance for beam 57 is 32.11 
Alpha[57]	0.000000
Alpha[57]	0.999995
TNavParticleFilter::Modified Variance for beam 58 is 32.01 
Alpha[58]	0.000000
Alpha[58]	0.999995
TNavParticleFilter::Modified Variance for beam 59 is 34.29 
Alpha[59]	0.000000
Alpha[59]	0.999995
TNavPF:Sum of squared error for particle 34 beam 41 is nan 
INS : North: 4070236.91, East: 589213.53, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 34.94, IDT[75] = 32.65
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323623.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 13.03 
Alpha[0]	0.123000
Alpha[0]	0.999954
TNavParticleFilter::Modified Variance for beam 1 is 13.02 
Alpha[1]	0.000000
Alpha[1]	0.999954
TNavParticleFilter::Modified Variance for beam 2 is 9.17 
Alpha[2]	0.000000
Alpha[2]	0.999954
TNavParticleFilter::Modified Variance for beam 3 is 9.17 
Alpha[3]	0.000000
Alpha[3]	0.999954
TNavParticleFilter::Modified Variance for beam 4 is 9.18 
Alpha[4]	0.000000
Alpha[4]	0.999954
TNavParticleFilter::Modified Variance for beam 5 is 7.92 
Alpha[5]	0.000000
Alpha[5]	0.999955
TNavParticleFilter::Modified Variance for beam 6 is 7.93 
Alpha[6]	0.000000
Alpha[6]	0.999956
TNavParticleFilter::Modified Variance for beam 7 is 7.94 
Alpha[7]	0.000000
Alpha[7]	0.999956
TNavParticleFilter::Modified Variance for beam 8 is 7.95 
Alpha[8]	0.000000
Alpha[8]	0.999957
TNavParticleFilter::Modified Variance for beam 9 is 7.49 
Alpha[9]	0.000000
Alpha[9]	0.999958
TNavParticleFilter::Modified Variance for beam 10 is 7.41 
Alpha[10]	0.000000
Alpha[10]	0.999958
TNavParticleFilter::Modified Variance for beam 11 is 7.43 
Alpha[11]	0.000000
Alpha[11]	0.999959
TNavParticleFilter::Modified Variance for beam 12 is 7.45 
Alpha[12]	0.000000
Alpha[12]	0.999960
TNavParticleFilter::Modified Variance for beam 13 is 7.47 
Alpha[13]	0.000000
Alpha[13]	0.999961
TNavParticleFilter::Modified Variance for beam 14 is 9.40 
Alpha[14]	0.000000
Alpha[14]	0.999961
TNavParticleFilter::Modified Variance for beam 15 is 9.45 
Alpha[15]	0.000000
Alpha[15]	0.999962
TNavParticleFilter::Modified Variance for beam 16 is 9.50 
Alpha[16]	0.000000
Alpha[16]	0.999963
TNavParticleFilter::Modified Variance for beam 17 is 7.57 
Alpha[17]	0.000000
Alpha[17]	0.999964
TNavParticleFilter::Modified Variance for beam 18 is 7.07 
Alpha[18]	0.000000
Alpha[18]	0.999965
TNavParticleFilter::Modified Variance for beam 19 is 7.10 
Alpha[19]	0.000000
Alpha[19]	0.999966
TNavParticleFilter::Modified Variance for beam 20 is 7.14 
Alpha[20]	0.000000
Alpha[20]	0.999966
TNavParticleFilter::Modified Variance for beam 21 is 7.18 
Alpha[21]	0.000000
Alpha[21]	0.999967
TNavParticleFilter::Modified Variance for beam 22 is 7.22 
Alpha[22]	0.000000
Alpha[22]	0.999968
TNavParticleFilter::Modified Variance for beam 23 is 8.53 
Alpha[23]	0.000000
Alpha[23]	0.999969
TNavParticleFilter::Modified Variance for beam 24 is 8.08 
Alpha[24]	0.000000
Alpha[24]	0.999970
TNavParticleFilter::Modified Variance for beam 25 is 8.00 
Alpha[25]	0.000000
Alpha[25]	0.999971
TNavParticleFilter::Modified Variance for beam 26 is 8.06 
Alpha[26]	0.000000
Alpha[26]	0.999972
TNavParticleFilter::Modified Variance for beam 27 is 8.14 
Alpha[27]	0.000000
Alpha[27]	0.999973
TNavParticleFilter::Modified Variance for beam 28 is 8.11 
Alpha[28]	0.000000
Alpha[28]	0.999974
TNavParticleFilter::Modified Variance for beam 29 is 7.63 
Alpha[29]	0.000000
Alpha[29]	0.999975
TNavParticleFilter::Modified Variance for beam 30 is 7.50 
Alpha[30]	0.000000
Alpha[30]	0.999976
TNavParticleFilter::Modified Variance for beam 31 is 7.24 
Alpha[31]	0.000000
Alpha[31]	0.999977
TNavParticleFilter::Modified Variance for beam 32 is 7.22 
Alpha[32]	0.000000
Alpha[32]	0.999977
TNavParticleFilter::Modified Variance for beam 33 is 7.30 
Alpha[33]	0.000000
Alpha[33]	0.999978
TNavParticleFilter::Modified Variance for beam 34 is 7.38 
Alpha[34]	0.000000
Alpha[34]	0.999979
TNavParticleFilter::Modified Variance for beam 35 is 8.15 
Alpha[35]	0.000000
Alpha[35]	0.999980
TNavParticleFilter::Modified Variance for beam 36 is 8.25 
Alpha[36]	0.000000
Alpha[36]	0.999981
TNavParticleFilter::Modified Variance for beam 37 is 8.01 
Alpha[37]	0.000000
Alpha[37]	0.999981
TNavParticleFilter::Modified Variance for beam 38 is 7.79 
Alpha[38]	0.000000
Alpha[38]	0.999982
TNavParticleFilter::Modified Variance for beam 39 is 7.86 
Alpha[39]	0.000000
Alpha[39]	0.999983
TNavParticleFilter::Modified Variance for beam 40 is 7.98 
Alpha[40]	0.000000
Alpha[40]	0.999983
TNavParticleFilter::Modified Variance for beam 41 is 8.10 
Alpha[41]	0.000000
Alpha[41]	0.999984
TNavParticleFilter::Modified Variance for beam 42 is 8.23 
Alpha[42]	0.000000
Alpha[42]	0.999985
TNavParticleFilter::Modified Variance for beam 43 is 8.38 
Alpha[43]	0.000000
Alpha[43]	0.999985
TNavParticleFilter::Modified Variance for beam 44 is 8.53 
Alpha[44]	0.000000
Alpha[44]	0.999986
TNavParticleFilter::Modified Variance for beam 45 is 8.69 
Alpha[45]	0.000000
Alpha[45]	0.999987
TNavParticleFilter::Modified Variance for beam 46 is 8.86 
Alpha[46]	0.000000
Alpha[46]	0.999987
TNavParticleFilter::Modified Variance for beam 47 is 9.04 
Alpha[47]	0.000000
Alpha[47]	0.999988
TNavParticleFilter::Modified Variance for beam 48 is 9.24 
Alpha[48]	0.000000
Alpha[48]	0.999988
TNavParticleFilter::Modified Variance for beam 49 is 11.60 
Alpha[49]	0.000000
Alpha[49]	0.999989
TNavParticleFilter::Modified Variance for beam 50 is 11.91 
Alpha[50]	0.000000
Alpha[50]	0.999989
TNavParticleFilter::Modified Variance for beam 51 is 12.24 
Alpha[51]	0.000000
Alpha[51]	0.999990
TNavParticleFilter::Modified Variance for beam 52 is 12.60 
Alpha[52]	0.000000
Alpha[52]	0.999991
TNavParticleFilter::Modified Variance for beam 53 is 19.18 
Alpha[53]	0.000000
Alpha[53]	0.999991
TNavParticleFilter::Modified Variance for beam 54 is 19.86 
Alpha[54]	0.000000
Alpha[54]	0.999991
TNavParticleFilter::Modified Variance for beam 55 is 20.61 
Alpha[55]	0.000000
Alpha[55]	0.999992
TNavParticleFilter::Modified Variance for beam 56 is 21.42 
Alpha[56]	0.000000
Alpha[56]	0.999992
TNavParticleFilter::Modified Variance for beam 57 is 22.30 
Alpha[57]	0.000000
Alpha[57]	0.999993
TNavParticleFilter::Modified Variance for beam 58 is 25.51 
Alpha[58]	0.000000
Alpha[58]	0.999993
TNavParticleFilter::Modified Variance for beam 59 is 28.26 
Alpha[59]	0.000000
Alpha[59]	0.999993
TNavPF:Sum of squared error for particle 134 beam 54 is nan 
INS : North: 4070238.94, East: 589209.93, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 31.69, IDT[75] = 55.91
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323626.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 7.99 
Alpha[0]	0.123000
Alpha[0]	0.999966
TNavParticleFilter::Modified Variance for beam 1 is 7.99 
Alpha[1]	0.000000
Alpha[1]	0.999966
TNavParticleFilter::Modified Variance for beam 2 is 9.97 
Alpha[2]	0.000000
Alpha[2]	0.999967
TNavParticleFilter::Modified Variance for beam 3 is 9.99 
Alpha[3]	0.000000
Alpha[3]	0.999967
TNavParticleFilter::Modified Variance for beam 4 is 10.01 
Alpha[4]	0.000000
Alpha[4]	0.999968
TNavParticleFilter::Modified Variance for beam 5 is 10.04 
Alpha[5]	0.000000
Alpha[5]	0.999968
TNavParticleFilter::Modified Variance for beam 6 is 7.48 
Alpha[6]	0.000000
Alpha[6]	0.999969
TNavParticleFilter::Modified Variance for beam 7 is 7.50 
Alpha[7]	0.000000
Alpha[7]	0.999969
TNavParticleFilter::Modified Variance for beam 8 is 7.52 
Alpha[8]	0.000000
Alpha[8]	0.999970
TNavParticleFilter::Modified Variance for beam 9 is 7.55 
Alpha[9]	0.000000
Alpha[9]	0.999971
TNavParticleFilter::Modified Variance for beam 10 is 8.82 
Alpha[10]	0.000000
Alpha[10]	0.999971
TNavParticleFilter::Modified Variance for beam 11 is 8.86 
Alpha[11]	0.000000
Alpha[11]	0.999972
TNavParticleFilter::Modified Variance for beam 12 is 8.59 
Alpha[12]	0.000000
Alpha[12]	0.999973
TNavParticleFilter::Modified Variance for beam 13 is 8.29 
Alpha[13]	0.000000
Alpha[13]	0.999973
TNavParticleFilter::Modified Variance for beam 14 is 8.34 
Alpha[14]	0.000000
Alpha[14]	0.999974
TNavParticleFilter::Modified Variance for beam 15 is 8.39 
Alpha[15]	0.000000
Alpha[15]	0.999975
TNavParticleFilter::Modified Variance for beam 16 is 8.41 
Alpha[16]	0.000000
Alpha[16]	0.999975
TNavParticleFilter::Modified Variance for beam 17 is 7.92 
Alpha[17]	0.000000
Alpha[17]	0.999976
TNavParticleFilter::Modified Variance for beam 18 is 7.49 
Alpha[18]	0.000000
Alpha[18]	0.999977
TNavParticleFilter::Modified Variance for beam 19 is 7.35 
Alpha[19]	0.000000
Alpha[19]	0.999978
TNavParticleFilter::Modified Variance for beam 20 is 7.40 
Alpha[20]	0.000000
Alpha[20]	0.999979
TNavParticleFilter::Modified Variance for beam 21 is 7.46 
Alpha[21]	0.000000
Alpha[21]	0.999979
TNavParticleFilter::Modified Variance for beam 22 is 7.52 
Alpha[22]	0.000000
Alpha[22]	0.999980
TNavParticleFilter::Modified Variance for beam 23 is 7.59 
Alpha[23]	0.000000
Alpha[23]	0.999981
TNavParticleFilter::Modified Variance for beam 24 is 7.65 
Alpha[24]	0.000000
Alpha[24]	0.999981
TNavParticleFilter::Modified Variance for beam 25 is 7.73 
Alpha[25]	0.000000
Alpha[25]	0.999982
TNavParticleFilter::Modified Variance for beam 26 is 9.03 
Alpha[26]	0.000000
Alpha[26]	0.999983
TNavParticleFilter::Modified Variance for beam 27 is 8.68 
Alpha[27]	0.000000
Alpha[27]	0.999983
TNavParticleFilter::Modified Variance for beam 28 is 8.68 
Alpha[28]	0.000000
Alpha[28]	0.999984
TNavParticleFilter::Modified Variance for beam 29 is 8.79 
Alpha[29]	0.000000
Alpha[29]	0.999985
TNavParticleFilter::Modified Variance for beam 30 is 8.90 
Alpha[30]	0.000000
Alpha[30]	0.999985
TNavParticleFilter::Modified Variance for beam 31 is 8.71 
Alpha[31]	0.000000
Alpha[31]	0.999986
TNavParticleFilter::Modified Variance for beam 32 is 8.44 
Alpha[32]	0.000000
Alpha[32]	0.999986
TNavParticleFilter::Modified Variance for beam 33 is 8.49 
Alpha[33]	0.000000
Alpha[33]	0.999987
TNavParticleFilter::Modified Variance for beam 34 is 8.62 
Alpha[34]	0.000000
Alpha[34]	0.999987
TNavParticleFilter::Modified Variance for beam 35 is 8.75 
Alpha[35]	0.000000
Alpha[35]	0.999988
TNavParticleFilter::Modified Variance for beam 36 is 10.67 
Alpha[36]	0.000000
Alpha[36]	0.999988
TNavParticleFilter::Modified Variance for beam 37 is 11.88 
Alpha[37]	0.000000
Alpha[37]	0.999988
TNavParticleFilter::Modified Variance for beam 38 is 12.12 
Alpha[38]	0.000000
Alpha[38]	0.999989
TNavParticleFilter::Modified Variance for beam 39 is 13.52 
Alpha[39]	0.000000
Alpha[39]	0.999989
TNavParticleFilter::Modified Variance for beam 40 is 16.39 
Alpha[40]	0.000000
Alpha[40]	0.999990
TNavParticleFilter::Modified Variance for beam 41 is 16.81 
Alpha[41]	0.000000
Alpha[41]	0.999990
TNavParticleFilter::Modified Variance for beam 42 is 17.25 
Alpha[42]	0.000000
Alpha[42]	0.999991
TNavParticleFilter::Modified Variance for beam 43 is 17.72 
Alpha[43]	0.000000
Alpha[43]	0.999991
TNavParticleFilter::Modified Variance for beam 44 is 18.23 
Alpha[44]	0.000000
Alpha[44]	0.999991
TNavParticleFilter::Modified Variance for beam 45 is 18.78 
Alpha[45]	0.000000
Alpha[45]	0.999991
TNavParticleFilter::Modified Variance for beam 46 is 19.37 
Alpha[46]	0.000000
Alpha[46]	0.999992
TNavParticleFilter::Modified Variance for beam 47 is 20.00 
Alpha[47]	0.000000
Alpha[47]	0.999992
TNavParticleFilter::Modified Variance for beam 48 is 22.52 
Alpha[48]	0.000000
Alpha[48]	0.999992
TNavParticleFilter::Modified Variance for beam 49 is 23.34 
Alpha[49]	0.000000
Alpha[49]	0.999993
TNavParticleFilter::Modified Variance for beam 50 is 24.22 
Alpha[50]	0.000000
Alpha[50]	0.999993
TNavParticleFilter::Modified Variance for beam 51 is 27.38 
Alpha[51]	0.000000
Alpha[51]	0.999993
TNavParticleFilter::Modified Variance for beam 52 is 28.52 
Alpha[52]	0.000000
Alpha[52]	0.999994
TNavParticleFilter::Modified Variance for beam 53 is 29.76 
Alpha[53]	0.000000
Alpha[53]	0.999994
TNavParticleFilter::Modified Variance for beam 54 is 30.78 
Alpha[54]	0.000000
Alpha[54]	0.999994
TNavParticleFilter::Modified Variance for beam 55 is 29.90 
Alpha[55]	0.000000
Alpha[55]	0.999994
TNavParticleFilter::Modified Variance for beam 56 is 29.56 
Alpha[56]	0.000000
Alpha[56]	0.999995
TNavParticleFilter::Modified Variance for beam 57 is 29.01 
Alpha[57]	0.000000
Alpha[57]	0.999995
TNavParticleFilter::Modified Variance for beam 58 is 28.86 
Alpha[58]	0.000000
Alpha[58]	0.999995
TNavParticleFilter::Modified Variance for beam 59 is 30.45 
Alpha[59]	0.000000
Alpha[59]	0.999995
TNavPF:Sum of squared error for particle 34 beam 37 is nan 
INS : North: 4070241.18, East: 589206.39, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 30.38, IDT[75] = 68.35
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323629.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 65 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 9.40 
Alpha[0]	0.123000
Alpha[0]	0.999968
TNavParticleFilter::Modified Variance for beam 1 is 9.42 
Alpha[1]	0.000000
Alpha[1]	0.999969
TNavParticleFilter::Modified Variance for beam 2 is 9.44 
Alpha[2]	0.000000
Alpha[2]	0.999969
TNavParticleFilter::Modified Variance for beam 3 is 8.91 
Alpha[3]	0.000000
Alpha[3]	0.999970
TNavParticleFilter::Modified Variance for beam 4 is 8.81 
Alpha[4]	0.000000
Alpha[4]	0.999970
TNavParticleFilter::Modified Variance for beam 5 is 8.84 
Alpha[5]	0.000000
Alpha[5]	0.999971
TNavParticleFilter::Modified Variance for beam 6 is 8.87 
Alpha[6]	0.000000
Alpha[6]	0.999971
TNavParticleFilter::Modified Variance for beam 7 is 8.43 
Alpha[7]	0.000000
Alpha[7]	0.999972
TNavParticleFilter::Modified Variance for beam 8 is 7.69 
Alpha[8]	0.000000
Alpha[8]	0.999973
TNavParticleFilter::Modified Variance for beam 9 is 7.72 
Alpha[9]	0.000000
Alpha[9]	0.999973
TNavParticleFilter::Modified Variance for beam 10 is 7.76 
Alpha[10]	0.000000
Alpha[10]	0.999974
TNavParticleFilter::Modified Variance for beam 11 is 7.80 
Alpha[11]	0.000000
Alpha[11]	0.999974
TNavParticleFilter::Modified Variance for beam 12 is 7.84 
Alpha[12]	0.000000
Alpha[12]	0.999975
TNavParticleFilter::Modified Variance for beam 13 is 7.88 
Alpha[13]	0.000000
Alpha[13]	0.999975
TNavParticleFilter::Modified Variance for beam 14 is 7.93 
Alpha[14]	0.000000
Alpha[14]	0.999976
TNavParticleFilter::Modified Variance for beam 15 is 7.99 
Alpha[15]	0.000000
Alpha[15]	0.999977
TNavParticleFilter::Modified Variance for beam 16 is 9.41 
Alpha[16]	0.000000
Alpha[16]	0.999978
TNavParticleFilter::Modified Variance for beam 17 is 9.03 
Alpha[17]	0.000000
Alpha[17]	0.999978
TNavParticleFilter::Modified Variance for beam 18 is 8.85 
Alpha[18]	0.000000
Alpha[18]	0.999979
TNavParticleFilter::Modified Variance for beam 19 is 8.93 
Alpha[19]	0.000000
Alpha[19]	0.999980
TNavParticleFilter::Modified Variance for beam 20 is 9.01 
Alpha[20]	0.000000
Alpha[20]	0.999980
TNavParticleFilter::Modified Variance for beam 21 is 8.91 
Alpha[21]	0.000000
Alpha[21]	0.999981
TNavParticleFilter::Modified Variance for beam 22 is 8.53 
Alpha[22]	0.000000
Alpha[22]	0.999982
TNavParticleFilter::Modified Variance for beam 23 is 8.56 
Alpha[23]	0.000000
Alpha[23]	0.999982
TNavParticleFilter::Modified Variance for beam 24 is 8.65 
Alpha[24]	0.000000
Alpha[24]	0.999983
TNavParticleFilter::Modified Variance for beam 25 is 8.75 
Alpha[25]	0.000000
Alpha[25]	0.999983
TNavParticleFilter::Modified Variance for beam 26 is 9.64 
Alpha[26]	0.000000
Alpha[26]	0.999984
TNavParticleFilter::Modified Variance for beam 27 is 10.62 
Alpha[27]	0.000000
Alpha[27]	0.999984
TNavParticleFilter::Modified Variance for beam 28 is 11.70 
Alpha[28]	0.000000
Alpha[28]	0.999985
TNavParticleFilter::Modified Variance for beam 29 is 11.88 
Alpha[29]	0.000000
Alpha[29]	0.999985
TNavParticleFilter::Modified Variance for beam 30 is 12.08 
Alpha[30]	0.000000
Alpha[30]	0.999986
TNavParticleFilter::Modified Variance for beam 31 is 13.34 
Alpha[31]	0.000000
Alpha[31]	0.999986
TNavParticleFilter::Modified Variance for beam 32 is 16.27 
Alpha[32]	0.000000
Alpha[32]	0.999987
TNavParticleFilter::Modified Variance for beam 33 is 16.25 
Alpha[33]	0.000000
Alpha[33]	0.999987
TNavParticleFilter::Modified Variance for beam 34 is 16.59 
Alpha[34]	0.000000
Alpha[34]	0.999988
TNavParticleFilter::Modified Variance for beam 35 is 16.97 
Alpha[35]	0.000000
Alpha[35]	0.999988
TNavParticleFilter::Modified Variance for beam 36 is 17.36 
Alpha[36]	0.000000
Alpha[36]	0.999989
TNavParticleFilter::Modified Variance for beam 37 is 17.78 
Alpha[37]	0.000000
Alpha[37]	0.999989
TNavParticleFilter::Modified Variance for beam 38 is 18.24 
Alpha[38]	0.000000
Alpha[38]	0.999990
TNavParticleFilter::Modified Variance for beam 39 is 18.72 
Alpha[39]	0.000000
Alpha[39]	0.999990
TNavParticleFilter::Modified Variance for beam 40 is 19.23 
Alpha[40]	0.000000
Alpha[40]	0.999990
TNavParticleFilter::Modified Variance for beam 41 is 21.43 
Alpha[41]	0.000000
Alpha[41]	0.999991
TNavParticleFilter::Modified Variance for beam 42 is 22.09 
Alpha[42]	0.000000
Alpha[42]	0.999991
TNavParticleFilter::Modified Variance for beam 43 is 21.02 
Alpha[43]	0.000000
Alpha[43]	0.999991
TNavParticleFilter::Modified Variance for beam 44 is 23.54 
Alpha[44]	0.000000
Alpha[44]	0.999992
TNavParticleFilter::Modified Variance for beam 45 is 26.36 
Alpha[45]	0.000000
Alpha[45]	0.999992
TNavParticleFilter::Modified Variance for beam 46 is 26.10 
Alpha[46]	0.000000
Alpha[46]	0.999992
TNavParticleFilter::Modified Variance for beam 47 is 26.17 
Alpha[47]	0.000000
Alpha[47]	0.999992
TNavParticleFilter::Modified Variance for beam 48 is 27.20 
Alpha[48]	0.000000
Alpha[48]	0.999993
TNavParticleFilter::Modified Variance for beam 49 is 28.31 
Alpha[49]	0.000000
Alpha[49]	0.999993
TNavParticleFilter::Modified Variance for beam 50 is 28.72 
Alpha[50]	0.000000
Alpha[50]	0.999993
TNavParticleFilter::Modified Variance for beam 51 is 28.11 
Alpha[51]	0.000000
Alpha[51]	0.999994
TNavParticleFilter::Modified Variance for beam 52 is 27.53 
Alpha[52]	0.000000
Alpha[52]	0.999994
TNavParticleFilter::Modified Variance for beam 53 is 28.40 
Alpha[53]	0.000000
Alpha[53]	0.999994
TNavParticleFilter::Modified Variance for beam 54 is 29.81 
Alpha[54]	0.000000
Alpha[54]	0.999994
TNavPF:Sum of squared error for particle 139 beam 19 is nan 
INS : North: 4070243.52, East: 589202.87, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 35.69, IDT[75] = 58.44
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323632.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 10.11 
Alpha[0]	0.123000
Alpha[0]	0.999968
TNavParticleFilter::Modified Variance for beam 1 is 10.10 
Alpha[1]	0.000000
Alpha[1]	0.999968
TNavParticleFilter::Modified Variance for beam 2 is 10.10 
Alpha[2]	0.000000
Alpha[2]	0.999968
TNavParticleFilter::Modified Variance for beam 3 is 9.40 
Alpha[3]	0.000000
Alpha[3]	0.999969
TNavParticleFilter::Modified Variance for beam 4 is 9.40 
Alpha[4]	0.000000
Alpha[4]	0.999969
TNavParticleFilter::Modified Variance for beam 5 is 9.41 
Alpha[5]	0.000000
Alpha[5]	0.999969
TNavParticleFilter::Modified Variance for beam 6 is 9.42 
Alpha[6]	0.000000
Alpha[6]	0.999969
TNavParticleFilter::Modified Variance for beam 7 is 8.14 
Alpha[7]	0.000000
Alpha[7]	0.999970
TNavParticleFilter::Modified Variance for beam 8 is 8.16 
Alpha[8]	0.000000
Alpha[8]	0.999970
TNavParticleFilter::Modified Variance for beam 9 is 8.18 
Alpha[9]	0.000000
Alpha[9]	0.999971
TNavParticleFilter::Modified Variance for beam 10 is 8.20 
Alpha[10]	0.000000
Alpha[10]	0.999971
TNavParticleFilter::Modified Variance for beam 11 is 8.22 
Alpha[11]	0.000000
Alpha[11]	0.999972
TNavParticleFilter::Modified Variance for beam 12 is 8.25 
Alpha[12]	0.000000
Alpha[12]	0.999972
TNavParticleFilter::Modified Variance for beam 13 is 8.28 
Alpha[13]	0.000000
Alpha[13]	0.999973
TNavParticleFilter::Modified Variance for beam 14 is 9.66 
Alpha[14]	0.000000
Alpha[14]	0.999973
TNavParticleFilter::Modified Variance for beam 15 is 9.71 
Alpha[15]	0.000000
Alpha[15]	0.999974
TNavParticleFilter::Modified Variance for beam 16 is 9.56 
Alpha[16]	0.000000
Alpha[16]	0.999974
TNavParticleFilter::Modified Variance for beam 17 is 9.11 
Alpha[17]	0.000000
Alpha[17]	0.999975
TNavParticleFilter::Modified Variance for beam 18 is 9.16 
Alpha[18]	0.000000
Alpha[18]	0.999976
TNavParticleFilter::Modified Variance for beam 19 is 9.22 
Alpha[19]	0.000000
Alpha[19]	0.999976
TNavParticleFilter::Modified Variance for beam 20 is 9.16 
Alpha[20]	0.000000
Alpha[20]	0.999977
TNavParticleFilter::Modified Variance for beam 21 is 8.65 
Alpha[21]	0.000000
Alpha[21]	0.999978
TNavParticleFilter::Modified Variance for beam 22 is 8.72 
Alpha[22]	0.000000
Alpha[22]	0.999978
TNavParticleFilter::Modified Variance for beam 23 is 8.79 
Alpha[23]	0.000000
Alpha[23]	0.999979
TNavParticleFilter::Modified Variance for beam 24 is 8.86 
Alpha[24]	0.000000
Alpha[24]	0.999979
TNavParticleFilter::Modified Variance for beam 25 is 9.67 
Alpha[25]	0.000000
Alpha[25]	0.999980
TNavParticleFilter::Modified Variance for beam 26 is 10.56 
Alpha[26]	0.000000
Alpha[26]	0.999980
TNavParticleFilter::Modified Variance for beam 27 is 10.67 
Alpha[27]	0.000000
Alpha[27]	0.999981
TNavParticleFilter::Modified Variance for beam 28 is 11.66 
Alpha[28]	0.000000
Alpha[28]	0.999982
TNavParticleFilter::Modified Variance for beam 29 is 11.81 
Alpha[29]	0.000000
Alpha[29]	0.999982
TNavParticleFilter::Modified Variance for beam 30 is 11.96 
Alpha[30]	0.000000
Alpha[30]	0.999983
TNavParticleFilter::Modified Variance for beam 31 is 12.12 
Alpha[31]	0.000000
Alpha[31]	0.999983
TNavParticleFilter::Modified Variance for beam 32 is 13.28 
Alpha[32]	0.000000
Alpha[32]	0.999984
TNavParticleFilter::Modified Variance for beam 33 is 16.48 
Alpha[33]	0.000000
Alpha[33]	0.999984
TNavParticleFilter::Modified Variance for beam 34 is 15.92 
Alpha[34]	0.000000
Alpha[34]	0.999985
TNavParticleFilter::Modified Variance for beam 35 is 16.20 
Alpha[35]	0.000000
Alpha[35]	0.999985
TNavParticleFilter::Modified Variance for beam 36 is 16.50 
Alpha[36]	0.000000
Alpha[36]	0.999986
TNavParticleFilter::Modified Variance for beam 37 is 16.81 
Alpha[37]	0.000000
Alpha[37]	0.999986
TNavParticleFilter::Modified Variance for beam 38 is 17.15 
Alpha[38]	0.000000
Alpha[38]	0.999987
TNavParticleFilter::Modified Variance for beam 39 is 17.50 
Alpha[39]	0.000000
Alpha[39]	0.999987
TNavParticleFilter::Modified Variance for beam 40 is 17.88 
Alpha[40]	0.000000
Alpha[40]	0.999988
TNavParticleFilter::Modified Variance for beam 41 is 18.29 
Alpha[41]	0.000000
Alpha[41]	0.999988
TNavParticleFilter::Modified Variance for beam 42 is 18.72 
Alpha[42]	0.000000
Alpha[42]	0.999988
TNavParticleFilter::Modified Variance for beam 43 is 20.69 
Alpha[43]	0.000000
Alpha[43]	0.999989
TNavParticleFilter::Modified Variance for beam 44 is 21.22 
Alpha[44]	0.000000
Alpha[44]	0.999989
TNavParticleFilter::Modified Variance for beam 45 is 20.20 
Alpha[45]	0.000000
Alpha[45]	0.999990
TNavParticleFilter::Modified Variance for beam 46 is 22.41 
Alpha[46]	0.000000
Alpha[46]	0.999990
TNavParticleFilter::Modified Variance for beam 47 is 24.87 
Alpha[47]	0.000000
Alpha[47]	0.999990
TNavParticleFilter::Modified Variance for beam 48 is 25.64 
Alpha[48]	0.000000
Alpha[48]	0.999991
TNavParticleFilter::Modified Variance for beam 49 is 25.08 
Alpha[49]	0.000000
Alpha[49]	0.999991
TNavParticleFilter::Modified Variance for beam 50 is 25.35 
Alpha[50]	0.000000
Alpha[50]	0.999991
TNavParticleFilter::Modified Variance for beam 51 is 26.23 
Alpha[51]	0.000000
Alpha[51]	0.999992
TNavParticleFilter::Modified Variance for beam 52 is 27.18 
Alpha[52]	0.000000
Alpha[52]	0.999992
TNavParticleFilter::Modified Variance for beam 53 is 27.64 
Alpha[53]	0.000000
Alpha[53]	0.999992
TNavParticleFilter::Modified Variance for beam 54 is 26.98 
Alpha[54]	0.000000
Alpha[54]	0.999993
TNavParticleFilter::Modified Variance for beam 55 is 26.36 
Alpha[55]	0.000000
Alpha[55]	0.999993
TNavParticleFilter::Modified Variance for beam 56 is 26.97 
Alpha[56]	0.000000
Alpha[56]	0.999993
TNavParticleFilter::Modified Variance for beam 57 is 28.14 
Alpha[57]	0.000000
Alpha[57]	0.999994
TNavParticleFilter::Modified Variance for beam 58 is 29.42 
Alpha[58]	0.000000
Alpha[58]	0.999994
TNavPF:Sum of squared error for particle 139 beam 22 is nan 
INS : North: 4070245.35, East: 589199.12, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 32.04, IDT[75] = 50.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323635.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 10.30 
Alpha[0]	0.123000
Alpha[0]	0.999969
TNavParticleFilter::Modified Variance for beam 1 is 10.80 
Alpha[1]	0.000000
Alpha[1]	0.999968
TNavParticleFilter::Modified Variance for beam 2 is 12.60 
Alpha[2]	0.000000
Alpha[2]	0.999968
TNavParticleFilter::Modified Variance for beam 3 is 9.41 
Alpha[3]	0.000000
Alpha[3]	0.999967
TNavParticleFilter::Modified Variance for beam 4 is 9.36 
Alpha[4]	0.000000
Alpha[4]	0.999967
TNavParticleFilter::Modified Variance for beam 5 is 9.32 
Alpha[5]	0.000000
Alpha[5]	0.999966
TNavParticleFilter::Modified Variance for beam 6 is 9.29 
Alpha[6]	0.000000
Alpha[6]	0.999966
TNavParticleFilter::Modified Variance for beam 7 is 10.70 
Alpha[7]	0.000000
Alpha[7]	0.999966
TNavParticleFilter::Modified Variance for beam 8 is 10.67 
Alpha[8]	0.000000
Alpha[8]	0.999965
TNavParticleFilter::Modified Variance for beam 9 is 10.64 
Alpha[9]	0.000000
Alpha[9]	0.999965
TNavParticleFilter::Modified Variance for beam 10 is 9.88 
Alpha[10]	0.000000
Alpha[10]	0.999966
TNavParticleFilter::Modified Variance for beam 11 is 9.86 
Alpha[11]	0.000000
Alpha[11]	0.999966
TNavParticleFilter::Modified Variance for beam 12 is 9.85 
Alpha[12]	0.000000
Alpha[12]	0.999966
TNavParticleFilter::Modified Variance for beam 13 is 8.50 
Alpha[13]	0.000000
Alpha[13]	0.999966
TNavParticleFilter::Modified Variance for beam 14 is 8.50 
Alpha[14]	0.000000
Alpha[14]	0.999966
TNavParticleFilter::Modified Variance for beam 15 is 8.49 
Alpha[15]	0.000000
Alpha[15]	0.999966
TNavParticleFilter::Modified Variance for beam 16 is 8.49 
Alpha[16]	0.000000
Alpha[16]	0.999967
TNavParticleFilter::Modified Variance for beam 17 is 8.50 
Alpha[17]	0.000000
Alpha[17]	0.999967
TNavParticleFilter::Modified Variance for beam 18 is 8.51 
Alpha[18]	0.000000
Alpha[18]	0.999967
TNavParticleFilter::Modified Variance for beam 19 is 8.52 
Alpha[19]	0.000000
Alpha[19]	0.999968
TNavParticleFilter::Modified Variance for beam 20 is 9.87 
Alpha[20]	0.000000
Alpha[20]	0.999968
TNavParticleFilter::Modified Variance for beam 21 is 9.89 
Alpha[21]	0.000000
Alpha[21]	0.999969
TNavParticleFilter::Modified Variance for beam 22 is 9.92 
Alpha[22]	0.000000
Alpha[22]	0.999969
TNavParticleFilter::Modified Variance for beam 23 is 9.25 
Alpha[23]	0.000000
Alpha[23]	0.999970
TNavParticleFilter::Modified Variance for beam 24 is 9.28 
Alpha[24]	0.000000
Alpha[24]	0.999970
TNavParticleFilter::Modified Variance for beam 25 is 9.31 
Alpha[25]	0.000000
Alpha[25]	0.999971
TNavParticleFilter::Modified Variance for beam 26 is 9.35 
Alpha[26]	0.000000
Alpha[26]	0.999971
TNavParticleFilter::Modified Variance for beam 27 is 8.71 
Alpha[27]	0.000000
Alpha[27]	0.999972
TNavParticleFilter::Modified Variance for beam 28 is 8.75 
Alpha[28]	0.000000
Alpha[28]	0.999972
TNavParticleFilter::Modified Variance for beam 29 is 8.80 
Alpha[29]	0.000000
Alpha[29]	0.999973
TNavParticleFilter::Modified Variance for beam 30 is 8.84 
Alpha[30]	0.000000
Alpha[30]	0.999973
TNavParticleFilter::Modified Variance for beam 31 is 9.60 
Alpha[31]	0.000000
Alpha[31]	0.999974
TNavParticleFilter::Modified Variance for beam 32 is 9.66 
Alpha[32]	0.000000
Alpha[32]	0.999975
TNavParticleFilter::Modified Variance for beam 33 is 10.48 
Alpha[33]	0.000000
Alpha[33]	0.999975
TNavParticleFilter::Modified Variance for beam 34 is 10.57 
Alpha[34]	0.000000
Alpha[34]	0.999976
TNavParticleFilter::Modified Variance for beam 35 is 11.47 
Alpha[35]	0.000000
Alpha[35]	0.999976
TNavParticleFilter::Modified Variance for beam 36 is 11.58 
Alpha[36]	0.000000
Alpha[36]	0.999977
TNavParticleFilter::Modified Variance for beam 37 is 10.85 
Alpha[37]	0.000000
Alpha[37]	0.999978
TNavParticleFilter::Modified Variance for beam 38 is 10.95 
Alpha[38]	0.000000
Alpha[38]	0.999978
TNavParticleFilter::Modified Variance for beam 39 is 11.07 
Alpha[39]	0.000000
Alpha[39]	0.999979
TNavParticleFilter::Modified Variance for beam 40 is 11.19 
Alpha[40]	0.000000
Alpha[40]	0.999979
TNavParticleFilter::Modified Variance for beam 41 is 11.31 
Alpha[41]	0.000000
Alpha[41]	0.999980
TNavParticleFilter::Modified Variance for beam 42 is 11.45 
Alpha[42]	0.000000
Alpha[42]	0.999980
TNavParticleFilter::Modified Variance for beam 43 is 15.61 
Alpha[43]	0.000000
Alpha[43]	0.999981
TNavParticleFilter::Modified Variance for beam 44 is 15.84 
Alpha[44]	0.000000
Alpha[44]	0.999982
TNavParticleFilter::Modified Variance for beam 45 is 16.09 
Alpha[45]	0.000000
Alpha[45]	0.999982
TNavParticleFilter::Modified Variance for beam 46 is 16.35 
Alpha[46]	0.000000
Alpha[46]	0.999983
TNavParticleFilter::Modified Variance for beam 47 is 16.62 
Alpha[47]	0.000000
Alpha[47]	0.999983
TNavParticleFilter::Modified Variance for beam 48 is 16.92 
Alpha[48]	0.000000
Alpha[48]	0.999984
TNavParticleFilter::Modified Variance for beam 49 is 17.23 
Alpha[49]	0.000000
Alpha[49]	0.999984
TNavParticleFilter::Modified Variance for beam 50 is 17.56 
Alpha[50]	0.000000
Alpha[50]	0.999984
TNavParticleFilter::Modified Variance for beam 51 is 17.91 
Alpha[51]	0.000000
Alpha[51]	0.999985
TNavParticleFilter::Modified Variance for beam 52 is 18.29 
Alpha[52]	0.000000
Alpha[52]	0.999985
TNavParticleFilter::Modified Variance for beam 53 is 18.69 
Alpha[53]	0.000000
Alpha[53]	0.999986
TNavParticleFilter::Modified Variance for beam 54 is 19.11 
Alpha[54]	0.000000
Alpha[54]	0.999986
TNavParticleFilter::Modified Variance for beam 55 is 21.06 
Alpha[55]	0.000000
Alpha[55]	0.999987
TNavParticleFilter::Modified Variance for beam 56 is 21.59 
Alpha[56]	0.000000
Alpha[56]	0.999987
TNavParticleFilter::Modified Variance for beam 57 is 23.81 
Alpha[57]	0.000000
Alpha[57]	0.999988
TNavParticleFilter::Modified Variance for beam 58 is 24.47 
Alpha[58]	0.000000
Alpha[58]	0.999988
TNavParticleFilter::Modified Variance for beam 59 is 23.80 
Alpha[59]	0.000000
Alpha[59]	0.999989
TNavPF:Sum of squared error for particle 139 beam 30 is nan 
INS : North: 4070246.33, East: 589195.10, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 39.31, IDT[75] = 38.43
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323638.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 35.74 
Alpha[0]	0.123000
Alpha[0]	0.999981
TNavParticleFilter::Modified Variance for beam 1 is 35.19 
Alpha[1]	0.000000
Alpha[1]	0.999980
TNavParticleFilter::Modified Variance for beam 2 is 14.18 
Alpha[2]	0.000000
Alpha[2]	0.999979
TNavParticleFilter::Modified Variance for beam 3 is 12.12 
Alpha[3]	0.000000
Alpha[3]	0.999978
TNavParticleFilter::Modified Variance for beam 4 is 11.13 
Alpha[4]	0.000000
Alpha[4]	0.999976
TNavParticleFilter::Modified Variance for beam 5 is 11.02 
Alpha[5]	0.000000
Alpha[5]	0.999975
TNavParticleFilter::Modified Variance for beam 6 is 10.92 
Alpha[6]	0.000000
Alpha[6]	0.999974
TNavParticleFilter::Modified Variance for beam 7 is 11.40 
Alpha[7]	0.000000
Alpha[7]	0.999972
TNavParticleFilter::Modified Variance for beam 8 is 12.24 
Alpha[8]	0.000000
Alpha[8]	0.999971
TNavParticleFilter::Modified Variance for beam 9 is 9.89 
Alpha[9]	0.000000
Alpha[9]	0.999970
TNavParticleFilter::Modified Variance for beam 10 is 9.82 
Alpha[10]	0.000000
Alpha[10]	0.999970
TNavParticleFilter::Modified Variance for beam 11 is 9.75 
Alpha[11]	0.000000
Alpha[11]	0.999969
TNavParticleFilter::Modified Variance for beam 12 is 10.41 
Alpha[12]	0.000000
Alpha[12]	0.999968
TNavParticleFilter::Modified Variance for beam 13 is 11.16 
Alpha[13]	0.000000
Alpha[13]	0.999968
TNavParticleFilter::Modified Variance for beam 14 is 11.09 
Alpha[14]	0.000000
Alpha[14]	0.999967
TNavParticleFilter::Modified Variance for beam 15 is 11.03 
Alpha[15]	0.000000
Alpha[15]	0.999967
TNavParticleFilter::Modified Variance for beam 16 is 10.22 
Alpha[16]	0.000000
Alpha[16]	0.999966
TNavParticleFilter::Modified Variance for beam 17 is 10.18 
Alpha[17]	0.000000
Alpha[17]	0.999966
TNavParticleFilter::Modified Variance for beam 18 is 8.76 
Alpha[18]	0.000000
Alpha[18]	0.999966
TNavParticleFilter::Modified Variance for beam 19 is 8.73 
Alpha[19]	0.000000
Alpha[19]	0.999966
TNavParticleFilter::Modified Variance for beam 20 is 8.71 
Alpha[20]	0.000000
Alpha[20]	0.999966
TNavParticleFilter::Modified Variance for beam 21 is 8.69 
Alpha[21]	0.000000
Alpha[21]	0.999966
TNavParticleFilter::Modified Variance for beam 22 is 8.67 
Alpha[22]	0.000000
Alpha[22]	0.999967
TNavParticleFilter::Modified Variance for beam 23 is 8.66 
Alpha[23]	0.000000
Alpha[23]	0.999967
TNavParticleFilter::Modified Variance for beam 24 is 8.67 
Alpha[24]	0.000000
Alpha[24]	0.999967
TNavParticleFilter::Modified Variance for beam 25 is 9.99 
Alpha[25]	0.000000
Alpha[25]	0.999967
TNavParticleFilter::Modified Variance for beam 26 is 9.99 
Alpha[26]	0.000000
Alpha[26]	0.999967
TNavParticleFilter::Modified Variance for beam 27 is 9.99 
Alpha[27]	0.000000
Alpha[27]	0.999968
TNavParticleFilter::Modified Variance for beam 28 is 9.30 
Alpha[28]	0.000000
Alpha[28]	0.999968
TNavParticleFilter::Modified Variance for beam 29 is 9.30 
Alpha[29]	0.000000
Alpha[29]	0.999968
TNavParticleFilter::Modified Variance for beam 30 is 9.31 
Alpha[30]	0.000000
Alpha[30]	0.999969
TNavParticleFilter::Modified Variance for beam 31 is 8.79 
Alpha[31]	0.000000
Alpha[31]	0.999969
TNavParticleFilter::Modified Variance for beam 32 is 8.68 
Alpha[32]	0.000000
Alpha[32]	0.999969
TNavParticleFilter::Modified Variance for beam 33 is 8.70 
Alpha[33]	0.000000
Alpha[33]	0.999970
TNavParticleFilter::Modified Variance for beam 34 is 8.72 
Alpha[34]	0.000000
Alpha[34]	0.999970
TNavParticleFilter::Modified Variance for beam 35 is 9.42 
Alpha[35]	0.000000
Alpha[35]	0.999971
TNavParticleFilter::Modified Variance for beam 36 is 9.45 
Alpha[36]	0.000000
Alpha[36]	0.999971
TNavParticleFilter::Modified Variance for beam 37 is 9.48 
Alpha[37]	0.000000
Alpha[37]	0.999972
TNavParticleFilter::Modified Variance for beam 38 is 10.25 
Alpha[38]	0.000000
Alpha[38]	0.999972
TNavParticleFilter::Modified Variance for beam 39 is 10.30 
Alpha[39]	0.000000
Alpha[39]	0.999973
TNavParticleFilter::Modified Variance for beam 40 is 10.35 
Alpha[40]	0.000000
Alpha[40]	0.999973
TNavParticleFilter::Modified Variance for beam 41 is 10.41 
Alpha[41]	0.000000
Alpha[41]	0.999974
TNavParticleFilter::Modified Variance for beam 42 is 10.47 
Alpha[42]	0.000000
Alpha[42]	0.999974
TNavParticleFilter::Modified Variance for beam 43 is 10.54 
Alpha[43]	0.000000
Alpha[43]	0.999975
TNavParticleFilter::Modified Variance for beam 44 is 10.62 
Alpha[44]	0.000000
Alpha[44]	0.999975
TNavParticleFilter::Modified Variance for beam 45 is 10.70 
Alpha[45]	0.000000
Alpha[45]	0.999976
TNavParticleFilter::Modified Variance for beam 46 is 10.79 
Alpha[46]	0.000000
Alpha[46]	0.999977
TNavParticleFilter::Modified Variance for beam 47 is 10.88 
Alpha[47]	0.000000
Alpha[47]	0.999977
TNavParticleFilter::Modified Variance for beam 48 is 10.98 
Alpha[48]	0.000000
Alpha[48]	0.999978
TNavParticleFilter::Modified Variance for beam 49 is 14.79 
Alpha[49]	0.000000
Alpha[49]	0.999978
TNavParticleFilter::Modified Variance for beam 50 is 14.96 
Alpha[50]	0.000000
Alpha[50]	0.999979
TNavParticleFilter::Modified Variance for beam 51 is 15.14 
Alpha[51]	0.000000
Alpha[51]	0.999979
TNavParticleFilter::Modified Variance for beam 52 is 15.33 
Alpha[52]	0.000000
Alpha[52]	0.999980
TNavParticleFilter::Modified Variance for beam 53 is 15.53 
Alpha[53]	0.000000
Alpha[53]	0.999980
TNavParticleFilter::Modified Variance for beam 54 is 15.74 
Alpha[54]	0.000000
Alpha[54]	0.999981
TNavParticleFilter::Modified Variance for beam 55 is 15.97 
Alpha[55]	0.000000
Alpha[55]	0.999982
TNavParticleFilter::Modified Variance for beam 56 is 16.21 
Alpha[56]	0.000000
Alpha[56]	0.999982
TNavParticleFilter::Modified Variance for beam 57 is 16.47 
Alpha[57]	0.000000
Alpha[57]	0.999982
TNavParticleFilter::Modified Variance for beam 58 is 16.74 
Alpha[58]	0.000000
Alpha[58]	0.999983
TNavParticleFilter::Modified Variance for beam 59 is 17.03 
Alpha[59]	0.000000
Alpha[59]	0.999983
TNavPF:Sum of squared error for particle 139 beam 39 is nan 
INS : North: 4070246.54, East: 589190.97, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 44.98, IDT[75] = 36.90
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323641.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 43.60 
Alpha[0]	0.123000
Alpha[0]	0.999989
TNavParticleFilter::Modified Variance for beam 1 is 42.76 
Alpha[1]	0.000000
Alpha[1]	0.999988
TNavParticleFilter::Modified Variance for beam 2 is 50.46 
Alpha[2]	0.000000
Alpha[2]	0.999987
TNavParticleFilter::Modified Variance for beam 3 is 45.07 
Alpha[3]	0.000000
Alpha[3]	0.999987
TNavParticleFilter::Modified Variance for beam 4 is 40.14 
Alpha[4]	0.000000
Alpha[4]	0.999985
TNavParticleFilter::Modified Variance for beam 5 is 37.50 
Alpha[5]	0.000000
Alpha[5]	0.999985
TNavParticleFilter::Modified Variance for beam 6 is 12.83 
Alpha[6]	0.000000
Alpha[6]	0.999983
TNavParticleFilter::Modified Variance for beam 7 is 11.72 
Alpha[7]	0.000000
Alpha[7]	0.999982
TNavParticleFilter::Modified Variance for beam 8 is 11.58 
Alpha[8]	0.000000
Alpha[8]	0.999981
TNavParticleFilter::Modified Variance for beam 9 is 11.58 
Alpha[9]	0.000000
Alpha[9]	0.999980
TNavParticleFilter::Modified Variance for beam 10 is 12.20 
Alpha[10]	0.000000
Alpha[10]	0.999979
TNavParticleFilter::Modified Variance for beam 11 is 10.36 
Alpha[11]	0.000000
Alpha[11]	0.999977
TNavParticleFilter::Modified Variance for beam 12 is 10.26 
Alpha[12]	0.000000
Alpha[12]	0.999976
TNavParticleFilter::Modified Variance for beam 13 is 10.16 
Alpha[13]	0.000000
Alpha[13]	0.999975
TNavParticleFilter::Modified Variance for beam 14 is 10.76 
Alpha[14]	0.000000
Alpha[14]	0.999974
TNavParticleFilter::Modified Variance for beam 15 is 13.38 
Alpha[15]	0.000000
Alpha[15]	0.999973
TNavParticleFilter::Modified Variance for beam 16 is 11.49 
Alpha[16]	0.000000
Alpha[16]	0.999972
TNavParticleFilter::Modified Variance for beam 17 is 10.59 
Alpha[17]	0.000000
Alpha[17]	0.999971
TNavParticleFilter::Modified Variance for beam 18 is 10.52 
Alpha[18]	0.000000
Alpha[18]	0.999971
TNavParticleFilter::Modified Variance for beam 19 is 8.99 
Alpha[19]	0.000000
Alpha[19]	0.999970
TNavParticleFilter::Modified Variance for beam 20 is 8.94 
Alpha[20]	0.000000
Alpha[20]	0.999969
TNavParticleFilter::Modified Variance for beam 21 is 8.89 
Alpha[21]	0.000000
Alpha[21]	0.999969
TNavParticleFilter::Modified Variance for beam 22 is 8.85 
Alpha[22]	0.000000
Alpha[22]	0.999969
TNavParticleFilter::Modified Variance for beam 23 is 8.81 
Alpha[23]	0.000000
Alpha[23]	0.999969
TNavParticleFilter::Modified Variance for beam 24 is 8.77 
Alpha[24]	0.000000
Alpha[24]	0.999969
TNavParticleFilter::Modified Variance for beam 25 is 8.92 
Alpha[25]	0.000000
Alpha[25]	0.999968
TNavParticleFilter::Modified Variance for beam 26 is 10.08 
Alpha[26]	0.000000
Alpha[26]	0.999968
TNavParticleFilter::Modified Variance for beam 27 is 10.05 
Alpha[27]	0.000000
Alpha[27]	0.999968
TNavParticleFilter::Modified Variance for beam 28 is 10.02 
Alpha[28]	0.000000
Alpha[28]	0.999968
TNavParticleFilter::Modified Variance for beam 29 is 9.30 
Alpha[29]	0.000000
Alpha[29]	0.999968
TNavParticleFilter::Modified Variance for beam 30 is 9.28 
Alpha[30]	0.000000
Alpha[30]	0.999969
TNavParticleFilter::Modified Variance for beam 31 is 9.26 
Alpha[31]	0.000000
Alpha[31]	0.999969
TNavParticleFilter::Modified Variance for beam 32 is 8.60 
Alpha[32]	0.000000
Alpha[32]	0.999969
TNavParticleFilter::Modified Variance for beam 33 is 8.59 
Alpha[33]	0.000000
Alpha[33]	0.999969
TNavParticleFilter::Modified Variance for beam 34 is 8.58 
Alpha[34]	0.000000
Alpha[34]	0.999969
TNavParticleFilter::Modified Variance for beam 35 is 8.58 
Alpha[35]	0.000000
Alpha[35]	0.999969
TNavParticleFilter::Modified Variance for beam 36 is 9.24 
Alpha[36]	0.000000
Alpha[36]	0.999970
TNavParticleFilter::Modified Variance for beam 37 is 9.24 
Alpha[37]	0.000000
Alpha[37]	0.999970
TNavParticleFilter::Modified Variance for beam 38 is 9.25 
Alpha[38]	0.000000
Alpha[38]	0.999971
TNavParticleFilter::Modified Variance for beam 39 is 9.96 
Alpha[39]	0.000000
Alpha[39]	0.999971
TNavParticleFilter::Modified Variance for beam 40 is 9.98 
Alpha[40]	0.000000
Alpha[40]	0.999971
TNavParticleFilter::Modified Variance for beam 41 is 10.00 
Alpha[41]	0.000000
Alpha[41]	0.999972
TNavParticleFilter::Modified Variance for beam 42 is 10.77 
Alpha[42]	0.000000
Alpha[42]	0.999972
TNavParticleFilter::Modified Variance for beam 43 is 10.06 
Alpha[43]	0.000000
Alpha[43]	0.999973
TNavParticleFilter::Modified Variance for beam 44 is 10.10 
Alpha[44]	0.000000
Alpha[44]	0.999973
TNavParticleFilter::Modified Variance for beam 45 is 10.14 
Alpha[45]	0.000000
Alpha[45]	0.999973
TNavParticleFilter::Modified Variance for beam 46 is 10.18 
Alpha[46]	0.000000
Alpha[46]	0.999974
TNavParticleFilter::Modified Variance for beam 47 is 10.23 
Alpha[47]	0.000000
Alpha[47]	0.999974
TNavParticleFilter::Modified Variance for beam 48 is 10.28 
Alpha[48]	0.000000
Alpha[48]	0.999975
TNavParticleFilter::Modified Variance for beam 49 is 10.34 
Alpha[49]	0.000000
Alpha[49]	0.999975
TNavParticleFilter::Modified Variance for beam 50 is 10.41 
Alpha[50]	0.000000
Alpha[50]	0.999976
TNavParticleFilter::Modified Variance for beam 51 is 12.98 
Alpha[51]	0.000000
Alpha[51]	0.999976
TNavParticleFilter::Modified Variance for beam 52 is 14.01 
Alpha[52]	0.000000
Alpha[52]	0.999977
TNavParticleFilter::Modified Variance for beam 53 is 14.13 
Alpha[53]	0.000000
Alpha[53]	0.999977
TNavParticleFilter::Modified Variance for beam 54 is 14.26 
Alpha[54]	0.000000
Alpha[54]	0.999978
TNavParticleFilter::Modified Variance for beam 55 is 14.39 
Alpha[55]	0.000000
Alpha[55]	0.999978
TNavParticleFilter::Modified Variance for beam 56 is 14.54 
Alpha[56]	0.000000
Alpha[56]	0.999979
TNavParticleFilter::Modified Variance for beam 57 is 14.69 
Alpha[57]	0.000000
Alpha[57]	0.999979
TNavParticleFilter::Modified Variance for beam 58 is 14.86 
Alpha[58]	0.000000
Alpha[58]	0.999980
TNavParticleFilter::Modified Variance for beam 59 is 15.04 
Alpha[59]	0.000000
Alpha[59]	0.999980
TNavPF:Sum of squared error for particle 139 beam 44 is nan 
INS : North: 4070246.19, East: 589186.81, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 41.52, IDT[75] = 35.92
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323644.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 47.09 
Alpha[0]	0.123000
Alpha[0]	0.999992
TNavParticleFilter::Modified Variance for beam 1 is 45.91 
Alpha[1]	0.000000
Alpha[1]	0.999991
TNavParticleFilter::Modified Variance for beam 2 is 44.80 
Alpha[2]	0.000000
Alpha[2]	0.999990
TNavParticleFilter::Modified Variance for beam 3 is 45.58 
Alpha[3]	0.000000
Alpha[3]	0.999990
TNavParticleFilter::Modified Variance for beam 4 is 42.79 
Alpha[4]	0.000000
Alpha[4]	0.999989
TNavParticleFilter::Modified Variance for beam 5 is 12.49 
Alpha[5]	0.000000
Alpha[5]	0.999988
TNavParticleFilter::Modified Variance for beam 6 is 12.29 
Alpha[6]	0.000000
Alpha[6]	0.999987
TNavParticleFilter::Modified Variance for beam 7 is 12.10 
Alpha[7]	0.000000
Alpha[7]	0.999986
TNavParticleFilter::Modified Variance for beam 8 is 12.50 
Alpha[8]	0.000000
Alpha[8]	0.999985
TNavParticleFilter::Modified Variance for beam 9 is 10.85 
Alpha[9]	0.000000
Alpha[9]	0.999984
TNavParticleFilter::Modified Variance for beam 10 is 10.70 
Alpha[10]	0.000000
Alpha[10]	0.999983
TNavParticleFilter::Modified Variance for beam 11 is 10.73 
Alpha[11]	0.000000
Alpha[11]	0.999981
TNavParticleFilter::Modified Variance for beam 12 is 11.24 
Alpha[12]	0.000000
Alpha[12]	0.999980
TNavParticleFilter::Modified Variance for beam 13 is 13.97 
Alpha[13]	0.000000
Alpha[13]	0.999979
TNavParticleFilter::Modified Variance for beam 14 is 11.91 
Alpha[14]	0.000000
Alpha[14]	0.999978
TNavParticleFilter::Modified Variance for beam 15 is 10.92 
Alpha[15]	0.000000
Alpha[15]	0.999977
TNavParticleFilter::Modified Variance for beam 16 is 9.26 
Alpha[16]	0.000000
Alpha[16]	0.999976
TNavParticleFilter::Modified Variance for beam 17 is 9.18 
Alpha[17]	0.000000
Alpha[17]	0.999975
TNavParticleFilter::Modified Variance for beam 18 is 9.10 
Alpha[18]	0.000000
Alpha[18]	0.999974
TNavParticleFilter::Modified Variance for beam 19 is 9.03 
Alpha[19]	0.000000
Alpha[19]	0.999973
TNavParticleFilter::Modified Variance for beam 20 is 8.96 
Alpha[20]	0.000000
Alpha[20]	0.999972
TNavParticleFilter::Modified Variance for beam 21 is 8.90 
Alpha[21]	0.000000
Alpha[21]	0.999972
TNavParticleFilter::Modified Variance for beam 22 is 9.25 
Alpha[22]	0.000000
Alpha[22]	0.999971
TNavParticleFilter::Modified Variance for beam 23 is 10.00 
Alpha[23]	0.000000
Alpha[23]	0.999971
TNavParticleFilter::Modified Variance for beam 24 is 10.15 
Alpha[24]	0.000000
Alpha[24]	0.999971
TNavParticleFilter::Modified Variance for beam 25 is 10.09 
Alpha[25]	0.000000
Alpha[25]	0.999970
TNavParticleFilter::Modified Variance for beam 26 is 9.33 
Alpha[26]	0.000000
Alpha[26]	0.999970
TNavParticleFilter::Modified Variance for beam 27 is 9.28 
Alpha[27]	0.000000
Alpha[27]	0.999970
TNavParticleFilter::Modified Variance for beam 28 is 9.24 
Alpha[28]	0.000000
Alpha[28]	0.999970
TNavParticleFilter::Modified Variance for beam 29 is 8.55 
Alpha[29]	0.000000
Alpha[29]	0.999970
TNavParticleFilter::Modified Variance for beam 30 is 8.52 
Alpha[30]	0.000000
Alpha[30]	0.999970
TNavParticleFilter::Modified Variance for beam 31 is 8.49 
Alpha[31]	0.000000
Alpha[31]	0.999970
TNavParticleFilter::Modified Variance for beam 32 is 8.83 
Alpha[32]	0.000000
Alpha[32]	0.999970
TNavParticleFilter::Modified Variance for beam 33 is 9.10 
Alpha[33]	0.000000
Alpha[33]	0.999970
TNavParticleFilter::Modified Variance for beam 34 is 9.08 
Alpha[34]	0.000000
Alpha[34]	0.999970
TNavParticleFilter::Modified Variance for beam 35 is 9.07 
Alpha[35]	0.000000
Alpha[35]	0.999970
TNavParticleFilter::Modified Variance for beam 36 is 9.74 
Alpha[36]	0.000000
Alpha[36]	0.999971
TNavParticleFilter::Modified Variance for beam 37 is 9.73 
Alpha[37]	0.000000
Alpha[37]	0.999971
TNavParticleFilter::Modified Variance for beam 38 is 9.73 
Alpha[38]	0.000000
Alpha[38]	0.999971
TNavParticleFilter::Modified Variance for beam 39 is 10.45 
Alpha[39]	0.000000
Alpha[39]	0.999971
TNavParticleFilter::Modified Variance for beam 40 is 10.45 
Alpha[40]	0.000000
Alpha[40]	0.999972
TNavParticleFilter::Modified Variance for beam 41 is 10.46 
Alpha[41]	0.000000
Alpha[41]	0.999972
TNavParticleFilter::Modified Variance for beam 42 is 9.75 
Alpha[42]	0.000000
Alpha[42]	0.999972
TNavParticleFilter::Modified Variance for beam 43 is 9.77 
Alpha[43]	0.000000
Alpha[43]	0.999972
TNavParticleFilter::Modified Variance for beam 44 is 9.79 
Alpha[44]	0.000000
Alpha[44]	0.999973
TNavParticleFilter::Modified Variance for beam 45 is 9.81 
Alpha[45]	0.000000
Alpha[45]	0.999973
TNavParticleFilter::Modified Variance for beam 46 is 9.83 
Alpha[46]	0.000000
Alpha[46]	0.999973
TNavParticleFilter::Modified Variance for beam 47 is 9.87 
Alpha[47]	0.000000
Alpha[47]	0.999974
TNavParticleFilter::Modified Variance for beam 48 is 9.90 
Alpha[48]	0.000000
Alpha[48]	0.999974
TNavParticleFilter::Modified Variance for beam 49 is 12.30 
Alpha[49]	0.000000
Alpha[49]	0.999975
TNavParticleFilter::Modified Variance for beam 50 is 13.23 
Alpha[50]	0.000000
Alpha[50]	0.999975
TNavParticleFilter::Modified Variance for beam 51 is 13.30 
Alpha[51]	0.000000
Alpha[51]	0.999975
TNavParticleFilter::Modified Variance for beam 52 is 13.38 
Alpha[52]	0.000000
Alpha[52]	0.999976
TNavParticleFilter::Modified Variance for beam 53 is 13.47 
Alpha[53]	0.000000
Alpha[53]	0.999976
TNavParticleFilter::Modified Variance for beam 54 is 13.56 
Alpha[54]	0.000000
Alpha[54]	0.999977
TNavParticleFilter::Modified Variance for beam 55 is 13.66 
Alpha[55]	0.000000
Alpha[55]	0.999977
TNavParticleFilter::Modified Variance for beam 56 is 13.77 
Alpha[56]	0.000000
Alpha[56]	0.999977
TNavParticleFilter::Modified Variance for beam 57 is 13.89 
Alpha[57]	0.000000
Alpha[57]	0.999978
TNavParticleFilter::Modified Variance for beam 58 is 14.01 
Alpha[58]	0.000000
Alpha[58]	0.999978
TNavPF:Sum of squared error for particle 139 beam 46 is nan 
INS : North: 4070245.50, East: 589182.65, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 34.81, IDT[75] = 34.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323647.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 61 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 31 32 33 34 
TNavParticleFilter::Modified Variance for beam 0 is 49.62 
Alpha[0]	0.123000
Alpha[0]	0.999994
TNavParticleFilter::Modified Variance for beam 1 is 48.25 
Alpha[1]	0.000000
Alpha[1]	0.999993
TNavParticleFilter::Modified Variance for beam 2 is 46.97 
Alpha[2]	0.000000
Alpha[2]	0.999993
TNavParticleFilter::Modified Variance for beam 3 is 46.58 
Alpha[3]	0.000000
Alpha[3]	0.999992
TNavParticleFilter::Modified Variance for beam 4 is 44.63 
Alpha[4]	0.000000
Alpha[4]	0.999991
TNavParticleFilter::Modified Variance for beam 5 is 43.57 
Alpha[5]	0.000000
Alpha[5]	0.999990
TNavParticleFilter::Modified Variance for beam 6 is 11.44 
Alpha[6]	0.000000
Alpha[6]	0.999990
TNavParticleFilter::Modified Variance for beam 7 is 11.25 
Alpha[7]	0.000000
Alpha[7]	0.999989
TNavParticleFilter::Modified Variance for beam 8 is 11.33 
Alpha[8]	0.000000
Alpha[8]	0.999988
TNavParticleFilter::Modified Variance for beam 9 is 11.77 
Alpha[9]	0.000000
Alpha[9]	0.999987
TNavParticleFilter::Modified Variance for beam 10 is 14.71 
Alpha[10]	0.000000
Alpha[10]	0.999986
TNavParticleFilter::Modified Variance for beam 11 is 12.43 
Alpha[11]	0.000000
Alpha[11]	0.999985
TNavParticleFilter::Modified Variance for beam 12 is 9.63 
Alpha[12]	0.000000
Alpha[12]	0.999983
TNavParticleFilter::Modified Variance for beam 13 is 9.51 
Alpha[13]	0.000000
Alpha[13]	0.999982
TNavParticleFilter::Modified Variance for beam 14 is 9.40 
Alpha[14]	0.000000
Alpha[14]	0.999981
TNavParticleFilter::Modified Variance for beam 15 is 9.30 
Alpha[15]	0.000000
Alpha[15]	0.999980
TNavParticleFilter::Modified Variance for beam 16 is 9.20 
Alpha[16]	0.000000
Alpha[16]	0.999979
TNavParticleFilter::Modified Variance for beam 17 is 9.11 
Alpha[17]	0.000000
Alpha[17]	0.999978
TNavParticleFilter::Modified Variance for beam 18 is 9.58 
Alpha[18]	0.000000
Alpha[18]	0.999977
TNavParticleFilter::Modified Variance for beam 19 is 10.11 
Alpha[19]	0.000000
Alpha[19]	0.999976
TNavParticleFilter::Modified Variance for beam 20 is 10.35 
Alpha[20]	0.000000
Alpha[20]	0.999976
TNavParticleFilter::Modified Variance for beam 21 is 10.26 
Alpha[21]	0.000000
Alpha[21]	0.999975
TNavParticleFilter::Modified Variance for beam 22 is 9.43 
Alpha[22]	0.000000
Alpha[22]	0.999974
TNavParticleFilter::Modified Variance for beam 23 is 9.36 
Alpha[23]	0.000000
Alpha[23]	0.999974
TNavParticleFilter::Modified Variance for beam 24 is 8.61 
Alpha[24]	0.000000
Alpha[24]	0.999974
TNavParticleFilter::Modified Variance for beam 25 is 8.55 
Alpha[25]	0.000000
Alpha[25]	0.999973
TNavParticleFilter::Modified Variance for beam 26 is 8.50 
Alpha[26]	0.000000
Alpha[26]	0.999973
TNavParticleFilter::Modified Variance for beam 27 is 8.54 
Alpha[27]	0.000000
Alpha[27]	0.999973
TNavParticleFilter::Modified Variance for beam 28 is 9.08 
Alpha[28]	0.000000
Alpha[28]	0.999972
TNavParticleFilter::Modified Variance for beam 29 is 9.03 
Alpha[29]	0.000000
Alpha[29]	0.999972
TNavParticleFilter::Modified Variance for beam 30 is 8.99 
Alpha[30]	0.000000
Alpha[30]	0.999972
TNavParticleFilter::Modified Variance for beam 31 is 8.96 
Alpha[31]	0.000000
Alpha[31]	0.999972
TNavParticleFilter::Modified Variance for beam 32 is 9.61 
Alpha[32]	0.000000
Alpha[32]	0.999972
TNavParticleFilter::Modified Variance for beam 33 is 9.57 
Alpha[33]	0.000000
Alpha[33]	0.999972
TNavParticleFilter::Modified Variance for beam 34 is 9.54 
Alpha[34]	0.000000
Alpha[34]	0.999972
TNavParticleFilter::Modified Variance for beam 35 is 9.78 
Alpha[35]	0.000000
Alpha[35]	0.999972
TNavParticleFilter::Modified Variance for beam 36 is 10.21 
Alpha[36]	0.000000
Alpha[36]	0.999972
TNavParticleFilter::Modified Variance for beam 37 is 10.19 
Alpha[37]	0.000000
Alpha[37]	0.999972
TNavParticleFilter::Modified Variance for beam 38 is 10.17 
Alpha[38]	0.000000
Alpha[38]	0.999972
TNavParticleFilter::Modified Variance for beam 39 is 10.16 
Alpha[39]	0.000000
Alpha[39]	0.999972
TNavParticleFilter::Modified Variance for beam 40 is 10.15 
Alpha[40]	0.000000
Alpha[40]	0.999973
TNavParticleFilter::Modified Variance for beam 41 is 10.15 
Alpha[41]	0.000000
Alpha[41]	0.999973
TNavParticleFilter::Modified Variance for beam 42 is 9.45 
Alpha[42]	0.000000
Alpha[42]	0.999973
TNavParticleFilter::Modified Variance for beam 43 is 9.45 
Alpha[43]	0.000000
Alpha[43]	0.999973
TNavParticleFilter::Modified Variance for beam 44 is 9.46 
Alpha[44]	0.000000
Alpha[44]	0.999973
TNavParticleFilter::Modified Variance for beam 45 is 11.71 
Alpha[45]	0.000000
Alpha[45]	0.999974
TNavParticleFilter::Modified Variance for beam 46 is 11.73 
Alpha[46]	0.000000
Alpha[46]	0.999974
TNavParticleFilter::Modified Variance for beam 47 is 12.59 
Alpha[47]	0.000000
Alpha[47]	0.999974
TNavParticleFilter::Modified Variance for beam 48 is 12.63 
Alpha[48]	0.000000
Alpha[48]	0.999975
TNavParticleFilter::Modified Variance for beam 49 is 12.67 
Alpha[49]	0.000000
Alpha[49]	0.999975
TNavParticleFilter::Modified Variance for beam 50 is 12.71 
Alpha[50]	0.000000
Alpha[50]	0.999975
TNavParticleFilter::Modified Variance for beam 51 is 12.76 
Alpha[51]	0.000000
Alpha[51]	0.999976
TNavParticleFilter::Modified Variance for beam 52 is 12.82 
Alpha[52]	0.000000
Alpha[52]	0.999976
TNavParticleFilter::Modified Variance for beam 53 is 12.89 
Alpha[53]	0.000000
Alpha[53]	0.999976
TNavParticleFilter::Modified Variance for beam 54 is 12.96 
Alpha[54]	0.000000
Alpha[54]	0.999976
TNavParticleFilter::Modified Variance for beam 55 is 13.04 
Alpha[55]	0.000000
Alpha[55]	0.999977
TNavParticleFilter::Modified Variance for beam 56 is 13.12 
Alpha[56]	0.000000
Alpha[56]	0.999977
TNavParticleFilter::Modified Variance for beam 57 is 13.22 
Alpha[57]	0.000000
Alpha[57]	0.999978
TNavParticleFilter::Modified Variance for beam 58 is 13.32 
Alpha[58]	0.000000
Alpha[58]	0.999978
TNavPF:Sum of squared error for particle 139 beam 44 is nan 
INS : North: 4070244.60, East: 589178.49, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 35.94, IDT[75] = 39.91
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323650.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 32 33 34 35 
TNavParticleFilter::Modified Variance for beam 0 is 51.17 
Alpha[0]	0.123000
Alpha[0]	0.999995
TNavParticleFilter::Modified Variance for beam 1 is 49.66 
Alpha[1]	0.000000
Alpha[1]	0.999994
TNavParticleFilter::Modified Variance for beam 2 is 48.24 
Alpha[2]	0.000000
Alpha[2]	0.999994
TNavParticleFilter::Modified Variance for beam 3 is 48.98 
Alpha[3]	0.000000
Alpha[3]	0.999993
TNavParticleFilter::Modified Variance for beam 4 is 11.82 
Alpha[4]	0.000000
Alpha[4]	0.999992
TNavParticleFilter::Modified Variance for beam 5 is 12.19 
Alpha[5]	0.000000
Alpha[5]	0.999992
TNavParticleFilter::Modified Variance for beam 6 is 43.42 
Alpha[6]	0.000000
Alpha[6]	0.999991
TNavParticleFilter::Modified Variance for beam 7 is 10.20 
Alpha[7]	0.000000
Alpha[7]	0.999990
TNavParticleFilter::Modified Variance for beam 8 is 10.03 
Alpha[8]	0.000000
Alpha[8]	0.999989
TNavParticleFilter::Modified Variance for beam 9 is 9.87 
Alpha[9]	0.000000
Alpha[9]	0.999988
TNavParticleFilter::Modified Variance for beam 10 is 9.73 
Alpha[10]	0.000000
Alpha[10]	0.999987
TNavParticleFilter::Modified Variance for beam 11 is 9.59 
Alpha[11]	0.000000
Alpha[11]	0.999986
TNavParticleFilter::Modified Variance for beam 12 is 9.46 
Alpha[12]	0.000000
Alpha[12]	0.999985
TNavParticleFilter::Modified Variance for beam 13 is 9.79 
Alpha[13]	0.000000
Alpha[13]	0.999984
TNavParticleFilter::Modified Variance for beam 14 is 10.19 
Alpha[14]	0.000000
Alpha[14]	0.999983
TNavParticleFilter::Modified Variance for beam 15 is 10.63 
Alpha[15]	0.000000
Alpha[15]	0.999982
TNavParticleFilter::Modified Variance for beam 16 is 10.59 
Alpha[16]	0.000000
Alpha[16]	0.999981
TNavParticleFilter::Modified Variance for beam 17 is 9.66 
Alpha[17]	0.000000
Alpha[17]	0.999980
TNavParticleFilter::Modified Variance for beam 18 is 9.56 
Alpha[18]	0.000000
Alpha[18]	0.999979
TNavParticleFilter::Modified Variance for beam 19 is 8.73 
Alpha[19]	0.000000
Alpha[19]	0.999978
TNavParticleFilter::Modified Variance for beam 20 is 8.65 
Alpha[20]	0.000000
Alpha[20]	0.999978
TNavParticleFilter::Modified Variance for beam 21 is 8.58 
Alpha[21]	0.000000
Alpha[21]	0.999977
TNavParticleFilter::Modified Variance for beam 22 is 8.91 
Alpha[22]	0.000000
Alpha[22]	0.999976
TNavParticleFilter::Modified Variance for beam 23 is 9.13 
Alpha[23]	0.000000
Alpha[23]	0.999976
TNavParticleFilter::Modified Variance for beam 24 is 9.06 
Alpha[24]	0.000000
Alpha[24]	0.999975
TNavParticleFilter::Modified Variance for beam 25 is 8.99 
Alpha[25]	0.000000
Alpha[25]	0.999975
TNavParticleFilter::Modified Variance for beam 26 is 9.12 
Alpha[26]	0.000000
Alpha[26]	0.999975
TNavParticleFilter::Modified Variance for beam 27 is 9.58 
Alpha[27]	0.000000
Alpha[27]	0.999974
TNavParticleFilter::Modified Variance for beam 28 is 9.52 
Alpha[28]	0.000000
Alpha[28]	0.999974
TNavParticleFilter::Modified Variance for beam 29 is 9.46 
Alpha[29]	0.000000
Alpha[29]	0.999974
TNavParticleFilter::Modified Variance for beam 30 is 9.54 
Alpha[30]	0.000000
Alpha[30]	0.999974
TNavParticleFilter::Modified Variance for beam 31 is 10.08 
Alpha[31]	0.000000
Alpha[31]	0.999974
TNavParticleFilter::Modified Variance for beam 32 is 10.03 
Alpha[32]	0.000000
Alpha[32]	0.999973
TNavParticleFilter::Modified Variance for beam 33 is 9.99 
Alpha[33]	0.000000
Alpha[33]	0.999973
TNavParticleFilter::Modified Variance for beam 34 is 9.95 
Alpha[34]	0.000000
Alpha[34]	0.999973
TNavParticleFilter::Modified Variance for beam 35 is 9.91 
Alpha[35]	0.000000
Alpha[35]	0.999973
TNavParticleFilter::Modified Variance for beam 36 is 9.88 
Alpha[36]	0.000000
Alpha[36]	0.999973
TNavParticleFilter::Modified Variance for beam 37 is 10.28 
Alpha[37]	0.000000
Alpha[37]	0.999973
TNavParticleFilter::Modified Variance for beam 38 is 10.57 
Alpha[38]	0.000000
Alpha[38]	0.999973
TNavParticleFilter::Modified Variance for beam 39 is 10.54 
Alpha[39]	0.000000
Alpha[39]	0.999973
TNavParticleFilter::Modified Variance for beam 40 is 9.89 
Alpha[40]	0.000000
Alpha[40]	0.999973
TNavParticleFilter::Modified Variance for beam 41 is 11.28 
Alpha[41]	0.000000
Alpha[41]	0.999974
TNavParticleFilter::Modified Variance for beam 42 is 11.27 
Alpha[42]	0.000000
Alpha[42]	0.999974
TNavParticleFilter::Modified Variance for beam 43 is 11.27 
Alpha[43]	0.000000
Alpha[43]	0.999974
TNavParticleFilter::Modified Variance for beam 44 is 12.07 
Alpha[44]	0.000000
Alpha[44]	0.999974
TNavParticleFilter::Modified Variance for beam 45 is 12.08 
Alpha[45]	0.000000
Alpha[45]	0.999974
TNavParticleFilter::Modified Variance for beam 46 is 12.09 
Alpha[46]	0.000000
Alpha[46]	0.999975
TNavParticleFilter::Modified Variance for beam 47 is 12.11 
Alpha[47]	0.000000
Alpha[47]	0.999975
TNavParticleFilter::Modified Variance for beam 48 is 12.13 
Alpha[48]	0.000000
Alpha[48]	0.999975
TNavParticleFilter::Modified Variance for beam 49 is 12.16 
Alpha[49]	0.000000
Alpha[49]	0.999975
TNavParticleFilter::Modified Variance for beam 50 is 12.19 
Alpha[50]	0.000000
Alpha[50]	0.999976
TNavParticleFilter::Modified Variance for beam 51 is 12.23 
Alpha[51]	0.000000
Alpha[51]	0.999976
TNavParticleFilter::Modified Variance for beam 52 is 12.28 
Alpha[52]	0.000000
Alpha[52]	0.999976
TNavParticleFilter::Modified Variance for beam 53 is 12.33 
Alpha[53]	0.000000
Alpha[53]	0.999976
TNavParticleFilter::Modified Variance for beam 54 is 12.38 
Alpha[54]	0.000000
Alpha[54]	0.999977
TNavParticleFilter::Modified Variance for beam 55 is 12.45 
Alpha[55]	0.000000
Alpha[55]	0.999977
TNavParticleFilter::Modified Variance for beam 56 is 12.51 
Alpha[56]	0.000000
Alpha[56]	0.999977
TNavParticleFilter::Modified Variance for beam 57 is 12.59 
Alpha[57]	0.000000
Alpha[57]	0.999977
TNavPF:Sum of squared error for particle 139 beam 43 is nan 
INS : North: 4070243.44, East: 589174.38, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 39.37, IDT[75] = 40.69
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323653.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 65 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 35 36 37 38 
TNavParticleFilter::Modified Variance for beam 0 is 12.63 
Alpha[0]	0.123000
Alpha[0]	0.999995
TNavParticleFilter::Modified Variance for beam 1 is 12.97 
Alpha[1]	0.000000
Alpha[1]	0.999994
TNavParticleFilter::Modified Variance for beam 2 is 10.76 
Alpha[2]	0.000000
Alpha[2]	0.999994
TNavParticleFilter::Modified Variance for beam 3 is 10.54 
Alpha[3]	0.000000
Alpha[3]	0.999993
TNavParticleFilter::Modified Variance for beam 4 is 10.33 
Alpha[4]	0.000000
Alpha[4]	0.999992
TNavParticleFilter::Modified Variance for beam 5 is 10.13 
Alpha[5]	0.000000
Alpha[5]	0.999992
TNavParticleFilter::Modified Variance for beam 6 is 9.95 
Alpha[6]	0.000000
Alpha[6]	0.999991
TNavParticleFilter::Modified Variance for beam 7 is 10.03 
Alpha[7]	0.000000
Alpha[7]	0.999990
TNavParticleFilter::Modified Variance for beam 8 is 10.35 
Alpha[8]	0.000000
Alpha[8]	0.999989
TNavParticleFilter::Modified Variance for beam 9 is 10.69 
Alpha[9]	0.000000
Alpha[9]	0.999988
TNavParticleFilter::Modified Variance for beam 10 is 11.06 
Alpha[10]	0.000000
Alpha[10]	0.999987
TNavParticleFilter::Modified Variance for beam 11 is 10.01 
Alpha[11]	0.000000
Alpha[11]	0.999986
TNavParticleFilter::Modified Variance for beam 12 is 9.06 
Alpha[12]	0.000000
Alpha[12]	0.999985
TNavParticleFilter::Modified Variance for beam 13 is 8.94 
Alpha[13]	0.000000
Alpha[13]	0.999984
TNavParticleFilter::Modified Variance for beam 14 is 8.83 
Alpha[14]	0.000000
Alpha[14]	0.999983
TNavParticleFilter::Modified Variance for beam 15 is 8.81 
Alpha[15]	0.000000
Alpha[15]	0.999982
TNavParticleFilter::Modified Variance for beam 16 is 9.16 
Alpha[16]	0.000000
Alpha[16]	0.999981
TNavParticleFilter::Modified Variance for beam 17 is 9.26 
Alpha[17]	0.000000
Alpha[17]	0.999981
TNavParticleFilter::Modified Variance for beam 18 is 9.16 
Alpha[18]	0.000000
Alpha[18]	0.999980
TNavParticleFilter::Modified Variance for beam 19 is 9.06 
Alpha[19]	0.000000
Alpha[19]	0.999979
TNavParticleFilter::Modified Variance for beam 20 is 9.27 
Alpha[20]	0.000000
Alpha[20]	0.999978
TNavParticleFilter::Modified Variance for beam 21 is 9.62 
Alpha[21]	0.000000
Alpha[21]	0.999978
TNavParticleFilter::Modified Variance for beam 22 is 9.53 
Alpha[22]	0.000000
Alpha[22]	0.999977
TNavParticleFilter::Modified Variance for beam 23 is 9.45 
Alpha[23]	0.000000
Alpha[23]	0.999977
TNavParticleFilter::Modified Variance for beam 24 is 9.48 
Alpha[24]	0.000000
Alpha[24]	0.999976
TNavParticleFilter::Modified Variance for beam 25 is 10.04 
Alpha[25]	0.000000
Alpha[25]	0.999976
TNavParticleFilter::Modified Variance for beam 26 is 9.96 
Alpha[26]	0.000000
Alpha[26]	0.999976
TNavParticleFilter::Modified Variance for beam 27 is 9.89 
Alpha[27]	0.000000
Alpha[27]	0.999975
TNavParticleFilter::Modified Variance for beam 28 is 9.82 
Alpha[28]	0.000000
Alpha[28]	0.999975
TNavParticleFilter::Modified Variance for beam 29 is 9.76 
Alpha[29]	0.000000
Alpha[29]	0.999975
TNavParticleFilter::Modified Variance for beam 30 is 9.70 
Alpha[30]	0.000000
Alpha[30]	0.999975
TNavParticleFilter::Modified Variance for beam 31 is 9.65 
Alpha[31]	0.000000
Alpha[31]	0.999975
TNavParticleFilter::Modified Variance for beam 32 is 10.33 
Alpha[32]	0.000000
Alpha[32]	0.999974
TNavParticleFilter::Modified Variance for beam 33 is 10.28 
Alpha[33]	0.000000
Alpha[33]	0.999974
TNavParticleFilter::Modified Variance for beam 34 is 10.24 
Alpha[34]	0.000000
Alpha[34]	0.999974
TNavParticleFilter::Modified Variance for beam 35 is 10.54 
Alpha[35]	0.000000
Alpha[35]	0.999974
TNavParticleFilter::Modified Variance for beam 36 is 10.91 
Alpha[36]	0.000000
Alpha[36]	0.999974
TNavParticleFilter::Modified Variance for beam 37 is 10.88 
Alpha[37]	0.000000
Alpha[37]	0.999974
TNavParticleFilter::Modified Variance for beam 38 is 10.85 
Alpha[38]	0.000000
Alpha[38]	0.999974
TNavParticleFilter::Modified Variance for beam 39 is 11.60 
Alpha[39]	0.000000
Alpha[39]	0.999974
TNavParticleFilter::Modified Variance for beam 40 is 11.58 
Alpha[40]	0.000000
Alpha[40]	0.999974
TNavParticleFilter::Modified Variance for beam 41 is 11.56 
Alpha[41]	0.000000
Alpha[41]	0.999974
TNavParticleFilter::Modified Variance for beam 42 is 11.55 
Alpha[42]	0.000000
Alpha[42]	0.999974
TNavParticleFilter::Modified Variance for beam 43 is 11.54 
Alpha[43]	0.000000
Alpha[43]	0.999975
TNavParticleFilter::Modified Variance for beam 44 is 11.53 
Alpha[44]	0.000000
Alpha[44]	0.999975
TNavParticleFilter::Modified Variance for beam 45 is 11.54 
Alpha[45]	0.000000
Alpha[45]	0.999975
TNavParticleFilter::Modified Variance for beam 46 is 11.54 
Alpha[46]	0.000000
Alpha[46]	0.999975
TNavParticleFilter::Modified Variance for beam 47 is 11.55 
Alpha[47]	0.000000
Alpha[47]	0.999975
TNavParticleFilter::Modified Variance for beam 48 is 11.57 
Alpha[48]	0.000000
Alpha[48]	0.999976
TNavParticleFilter::Modified Variance for beam 49 is 11.59 
Alpha[49]	0.000000
Alpha[49]	0.999976
TNavParticleFilter::Modified Variance for beam 50 is 11.62 
Alpha[50]	0.000000
Alpha[50]	0.999976
TNavParticleFilter::Modified Variance for beam 51 is 11.65 
Alpha[51]	0.000000
Alpha[51]	0.999976
TNavParticleFilter::Modified Variance for beam 52 is 11.69 
Alpha[52]	0.000000
Alpha[52]	0.999976
TNavParticleFilter::Modified Variance for beam 53 is 11.73 
Alpha[53]	0.000000
Alpha[53]	0.999977
TNavParticleFilter::Modified Variance for beam 54 is 11.77 
Alpha[54]	0.000000
Alpha[54]	0.999977
TNavPF:Sum of squared error for particle 139 beam 37 is nan 
INS : North: 4070242.01, East: 589170.33, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 34.55, IDT[75] = 39.42
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323656.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 66 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 36 37 38 39 
TNavParticleFilter::Modified Variance for beam 0 is 11.33 
Alpha[0]	0.123000
Alpha[0]	0.999996
TNavParticleFilter::Modified Variance for beam 1 is 11.04 
Alpha[1]	0.000000
Alpha[1]	0.999996
TNavParticleFilter::Modified Variance for beam 2 is 10.77 
Alpha[2]	0.000000
Alpha[2]	0.999995
TNavParticleFilter::Modified Variance for beam 3 is 10.52 
Alpha[3]	0.000000
Alpha[3]	0.999995
TNavParticleFilter::Modified Variance for beam 4 is 10.46 
Alpha[4]	0.000000
Alpha[4]	0.999994
TNavParticleFilter::Modified Variance for beam 5 is 10.73 
Alpha[5]	0.000000
Alpha[5]	0.999993
TNavParticleFilter::Modified Variance for beam 6 is 11.01 
Alpha[6]	0.000000
Alpha[6]	0.999993
TNavParticleFilter::Modified Variance for beam 7 is 11.32 
Alpha[7]	0.000000
Alpha[7]	0.999992
TNavParticleFilter::Modified Variance for beam 8 is 10.41 
Alpha[8]	0.000000
Alpha[8]	0.999991
TNavParticleFilter::Modified Variance for beam 9 is 9.31 
Alpha[9]	0.000000
Alpha[9]	0.999991
TNavParticleFilter::Modified Variance for beam 10 is 9.16 
Alpha[10]	0.000000
Alpha[10]	0.999990
TNavParticleFilter::Modified Variance for beam 11 is 9.01 
Alpha[11]	0.000000
Alpha[11]	0.999989
TNavParticleFilter::Modified Variance for beam 12 is 9.27 
Alpha[12]	0.000000
Alpha[12]	0.999988
TNavParticleFilter::Modified Variance for beam 13 is 9.55 
Alpha[13]	0.000000
Alpha[13]	0.999987
TNavParticleFilter::Modified Variance for beam 14 is 9.40 
Alpha[14]	0.000000
Alpha[14]	0.999986
TNavParticleFilter::Modified Variance for beam 15 is 9.27 
Alpha[15]	0.000000
Alpha[15]	0.999985
TNavParticleFilter::Modified Variance for beam 16 is 9.27 
Alpha[16]	0.000000
Alpha[16]	0.999984
TNavParticleFilter::Modified Variance for beam 17 is 9.61 
Alpha[17]	0.000000
Alpha[17]	0.999983
TNavParticleFilter::Modified Variance for beam 18 is 9.69 
Alpha[18]	0.000000
Alpha[18]	0.999983
TNavParticleFilter::Modified Variance for beam 19 is 9.57 
Alpha[19]	0.000000
Alpha[19]	0.999982
TNavParticleFilter::Modified Variance for beam 20 is 9.46 
Alpha[20]	0.000000
Alpha[20]	0.999981
TNavParticleFilter::Modified Variance for beam 21 is 9.73 
Alpha[21]	0.000000
Alpha[21]	0.999980
TNavParticleFilter::Modified Variance for beam 22 is 10.02 
Alpha[22]	0.000000
Alpha[22]	0.999980
TNavParticleFilter::Modified Variance for beam 23 is 9.92 
Alpha[23]	0.000000
Alpha[23]	0.999979
TNavParticleFilter::Modified Variance for beam 24 is 9.82 
Alpha[24]	0.000000
Alpha[24]	0.999979
TNavParticleFilter::Modified Variance for beam 25 is 9.72 
Alpha[25]	0.000000
Alpha[25]	0.999978
TNavParticleFilter::Modified Variance for beam 26 is 9.63 
Alpha[26]	0.000000
Alpha[26]	0.999978
TNavParticleFilter::Modified Variance for beam 27 is 9.55 
Alpha[27]	0.000000
Alpha[27]	0.999977
TNavParticleFilter::Modified Variance for beam 28 is 9.74 
Alpha[28]	0.000000
Alpha[28]	0.999977
TNavParticleFilter::Modified Variance for beam 29 is 10.14 
Alpha[29]	0.000000
Alpha[29]	0.999977
TNavParticleFilter::Modified Variance for beam 30 is 10.06 
Alpha[30]	0.000000
Alpha[30]	0.999977
TNavParticleFilter::Modified Variance for beam 31 is 9.99 
Alpha[31]	0.000000
Alpha[31]	0.999976
TNavParticleFilter::Modified Variance for beam 32 is 10.22 
Alpha[32]	0.000000
Alpha[32]	0.999976
TNavParticleFilter::Modified Variance for beam 33 is 11.15 
Alpha[33]	0.000000
Alpha[33]	0.999976
TNavParticleFilter::Modified Variance for beam 34 is 11.35 
Alpha[34]	0.000000
Alpha[34]	0.999976
TNavParticleFilter::Modified Variance for beam 35 is 11.28 
Alpha[35]	0.000000
Alpha[35]	0.999976
TNavParticleFilter::Modified Variance for beam 36 is 11.17 
Alpha[36]	0.000000
Alpha[36]	0.999976
TNavParticleFilter::Modified Variance for beam 37 is 11.17 
Alpha[37]	0.000000
Alpha[37]	0.999975
TNavParticleFilter::Modified Variance for beam 38 is 11.12 
Alpha[38]	0.000000
Alpha[38]	0.999975
TNavParticleFilter::Modified Variance for beam 39 is 11.08 
Alpha[39]	0.000000
Alpha[39]	0.999975
TNavParticleFilter::Modified Variance for beam 40 is 11.04 
Alpha[40]	0.000000
Alpha[40]	0.999975
TNavParticleFilter::Modified Variance for beam 41 is 11.01 
Alpha[41]	0.000000
Alpha[41]	0.999975
TNavParticleFilter::Modified Variance for beam 42 is 10.98 
Alpha[42]	0.000000
Alpha[42]	0.999975
TNavParticleFilter::Modified Variance for beam 43 is 10.95 
Alpha[43]	0.000000
Alpha[43]	0.999975
TNavParticleFilter::Modified Variance for beam 44 is 10.93 
Alpha[44]	0.000000
Alpha[44]	0.999975
TNavParticleFilter::Modified Variance for beam 45 is 10.92 
Alpha[45]	0.000000
Alpha[45]	0.999976
TNavParticleFilter::Modified Variance for beam 46 is 10.91 
Alpha[46]	0.000000
Alpha[46]	0.999976
TNavParticleFilter::Modified Variance for beam 47 is 10.90 
Alpha[47]	0.000000
Alpha[47]	0.999976
TNavParticleFilter::Modified Variance for beam 48 is 10.90 
Alpha[48]	0.000000
Alpha[48]	0.999976
TNavParticleFilter::Modified Variance for beam 49 is 10.91 
Alpha[49]	0.000000
Alpha[49]	0.999976
TNavParticleFilter::Modified Variance for beam 50 is 10.91 
Alpha[50]	0.000000
Alpha[50]	0.999976
TNavParticleFilter::Modified Variance for beam 51 is 10.93 
Alpha[51]	0.000000
Alpha[51]	0.999976
TNavParticleFilter::Modified Variance for beam 52 is 10.94 
Alpha[52]	0.000000
Alpha[52]	0.999977
TNavParticleFilter::Modified Variance for beam 53 is 10.97 
Alpha[53]	0.000000
Alpha[53]	0.999977
TNavPF:Sum of squared error for particle 52 beam 43 is nan 
INS : North: 4070240.21, East: 589166.43, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 34.69, IDT[75] = 38.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323659.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 63 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 33 34 35 36 
TNavParticleFilter::Modified Variance for beam 0 is 14.59 
Alpha[0]	0.123000
Alpha[0]	0.999998
TNavParticleFilter::Modified Variance for beam 1 is 14.09 
Alpha[1]	0.000000
Alpha[1]	0.999998
TNavParticleFilter::Modified Variance for beam 2 is 12.11 
Alpha[2]	0.000000
Alpha[2]	0.999998
TNavParticleFilter::Modified Variance for beam 3 is 11.72 
Alpha[3]	0.000000
Alpha[3]	0.999997
TNavParticleFilter::Modified Variance for beam 4 is 11.35 
Alpha[4]	0.000000
Alpha[4]	0.999997
TNavParticleFilter::Modified Variance for beam 5 is 11.02 
Alpha[5]	0.000000
Alpha[5]	0.999997
TNavParticleFilter::Modified Variance for beam 6 is 11.04 
Alpha[6]	0.000000
Alpha[6]	0.999996
TNavParticleFilter::Modified Variance for beam 7 is 11.27 
Alpha[7]	0.000000
Alpha[7]	0.999996
TNavParticleFilter::Modified Variance for beam 8 is 11.52 
Alpha[8]	0.000000
Alpha[8]	0.999995
TNavParticleFilter::Modified Variance for beam 9 is 11.78 
Alpha[9]	0.000000
Alpha[9]	0.999994
TNavParticleFilter::Modified Variance for beam 10 is 9.69 
Alpha[10]	0.000000
Alpha[10]	0.999994
TNavParticleFilter::Modified Variance for beam 11 is 9.47 
Alpha[11]	0.000000
Alpha[11]	0.999993
TNavParticleFilter::Modified Variance for beam 12 is 9.36 
Alpha[12]	0.000000
Alpha[12]	0.999992
TNavParticleFilter::Modified Variance for beam 13 is 9.58 
Alpha[13]	0.000000
Alpha[13]	0.999992
TNavParticleFilter::Modified Variance for beam 14 is 9.82 
Alpha[14]	0.000000
Alpha[14]	0.999991
TNavParticleFilter::Modified Variance for beam 15 is 9.63 
Alpha[15]	0.000000
Alpha[15]	0.999990
TNavParticleFilter::Modified Variance for beam 16 is 9.45 
Alpha[16]	0.000000
Alpha[16]	0.999989
TNavParticleFilter::Modified Variance for beam 17 is 9.51 
Alpha[17]	0.000000
Alpha[17]	0.999988
TNavParticleFilter::Modified Variance for beam 18 is 9.79 
Alpha[18]	0.000000
Alpha[18]	0.999987
TNavParticleFilter::Modified Variance for beam 19 is 9.83 
Alpha[19]	0.000000
Alpha[19]	0.999987
TNavParticleFilter::Modified Variance for beam 20 is 9.67 
Alpha[20]	0.000000
Alpha[20]	0.999986
TNavParticleFilter::Modified Variance for beam 21 is 9.52 
Alpha[21]	0.000000
Alpha[21]	0.999985
TNavParticleFilter::Modified Variance for beam 22 is 9.81 
Alpha[22]	0.000000
Alpha[22]	0.999984
TNavParticleFilter::Modified Variance for beam 23 is 10.08 
Alpha[23]	0.000000
Alpha[23]	0.999983
TNavParticleFilter::Modified Variance for beam 24 is 9.93 
Alpha[24]	0.000000
Alpha[24]	0.999982
TNavParticleFilter::Modified Variance for beam 25 is 9.80 
Alpha[25]	0.000000
Alpha[25]	0.999982
TNavParticleFilter::Modified Variance for beam 26 is 9.67 
Alpha[26]	0.000000
Alpha[26]	0.999981
TNavParticleFilter::Modified Variance for beam 27 is 9.55 
Alpha[27]	0.000000
Alpha[27]	0.999980
TNavParticleFilter::Modified Variance for beam 28 is 9.44 
Alpha[28]	0.000000
Alpha[28]	0.999980
TNavParticleFilter::Modified Variance for beam 29 is 9.64 
Alpha[29]	0.000000
Alpha[29]	0.999979
TNavParticleFilter::Modified Variance for beam 30 is 10.01 
Alpha[30]	0.000000
Alpha[30]	0.999979
TNavParticleFilter::Modified Variance for beam 31 is 9.90 
Alpha[31]	0.000000
Alpha[31]	0.999978
TNavParticleFilter::Modified Variance for beam 32 is 9.80 
Alpha[32]	0.000000
Alpha[32]	0.999978
TNavParticleFilter::Modified Variance for beam 33 is 9.87 
Alpha[33]	0.000000
Alpha[33]	0.999978
TNavParticleFilter::Modified Variance for beam 34 is 10.39 
Alpha[34]	0.000000
Alpha[34]	0.999977
TNavParticleFilter::Modified Variance for beam 35 is 10.30 
Alpha[35]	0.000000
Alpha[35]	0.999977
TNavParticleFilter::Modified Variance for beam 36 is 10.21 
Alpha[36]	0.000000
Alpha[36]	0.999977
TNavParticleFilter::Modified Variance for beam 37 is 10.27 
Alpha[37]	0.000000
Alpha[37]	0.999977
TNavParticleFilter::Modified Variance for beam 38 is 10.83 
Alpha[38]	0.000000
Alpha[38]	0.999976
TNavParticleFilter::Modified Variance for beam 39 is 10.75 
Alpha[39]	0.000000
Alpha[39]	0.999976
TNavParticleFilter::Modified Variance for beam 40 is 10.68 
Alpha[40]	0.000000
Alpha[40]	0.999976
TNavParticleFilter::Modified Variance for beam 41 is 10.61 
Alpha[41]	0.000000
Alpha[41]	0.999976
TNavParticleFilter::Modified Variance for beam 42 is 10.55 
Alpha[42]	0.000000
Alpha[42]	0.999976
TNavParticleFilter::Modified Variance for beam 43 is 10.49 
Alpha[43]	0.000000
Alpha[43]	0.999976
TNavParticleFilter::Modified Variance for beam 44 is 10.44 
Alpha[44]	0.000000
Alpha[44]	0.999976
TNavParticleFilter::Modified Variance for beam 45 is 10.39 
Alpha[45]	0.000000
Alpha[45]	0.999976
TNavParticleFilter::Modified Variance for beam 46 is 10.35 
Alpha[46]	0.000000
Alpha[46]	0.999976
TNavParticleFilter::Modified Variance for beam 47 is 10.31 
Alpha[47]	0.000000
Alpha[47]	0.999976
TNavParticleFilter::Modified Variance for beam 48 is 10.28 
Alpha[48]	0.000000
Alpha[48]	0.999976
TNavParticleFilter::Modified Variance for beam 49 is 10.25 
Alpha[49]	0.000000
Alpha[49]	0.999976
TNavParticleFilter::Modified Variance for beam 50 is 10.23 
Alpha[50]	0.000000
Alpha[50]	0.999976
TNavParticleFilter::Modified Variance for beam 51 is 10.20 
Alpha[51]	0.000000
Alpha[51]	0.999976
TNavParticleFilter::Modified Variance for beam 52 is 10.19 
Alpha[52]	0.000000
Alpha[52]	0.999976
TNavParticleFilter::Modified Variance for beam 53 is 10.18 
Alpha[53]	0.000000
Alpha[53]	0.999976
TNavParticleFilter::Modified Variance for beam 54 is 10.17 
Alpha[54]	0.000000
Alpha[54]	0.999976
TNavParticleFilter::Modified Variance for beam 55 is 10.16 
Alpha[55]	0.000000
Alpha[55]	0.999976
TNavParticleFilter::Modified Variance for beam 56 is 10.16 
Alpha[56]	0.000000
Alpha[56]	0.999976
TNavPF:Sum of squared error for particle 33 beam 20 is nan 
INS : North: 4070238.27, East: 589162.61, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 35.87, IDT[75] = 37.52
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323662.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323662.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.98, East: 589158.61, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 37.07, IDT[75] = 39.28
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323665.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323665.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.69, East: 589154.49, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 37.65, IDT[75] = 36.74
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323668.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323668.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.79, East: 589150.35, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 38.67, IDT[75] = 33.27
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323671.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323671.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.37, East: 589146.24, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 40.78, IDT[75] = 31.70
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323674.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323674.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070235.33, East: 589142.21, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 39.36, IDT[75] = 32.76
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323677.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323677.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070234.54, East: 589138.14, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 31.74, IDT[75] = 58.23
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323680.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323680.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070234.60, East: 589134.07, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 55.30, IDT[75] = 65.19
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323683.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323683.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070235.54, East: 589130.12, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 58.28, IDT[75] = 65.11
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323686.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323686.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.47, East: 589126.14, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 57.57, IDT[75] = 58.27
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323689.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323689.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.70, East: 589122.09, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 40.49, IDT[75] = 58.60
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323692.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323692.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070235.96, East: 589118.16, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 40.50, IDT[75] = 57.30
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323695.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323695.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070234.67, East: 589114.33, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 44.08, IDT[75] = 55.97
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323698.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323698.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070233.72, East: 589110.40, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 58.50, IDT[75] = 44.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323701.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323701.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070233.61, East: 589106.41, Depth: 889.91
TerrainNav::measUpdate() - IDT[45] = 56.30, IDT[75] = 51.77
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323704.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323704.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070234.49, East: 589102.57, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 57.81, IDT[75] = 46.16
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323707.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323707.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070235.78, East: 589098.80, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 58.48, IDT[75] = 44.15
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323710.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323710.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.65, East: 589094.89, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 60.33, IDT[75] = 30.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323713.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323713.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.67, East: 589090.93, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 67.07, IDT[75] = 50.26
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323716.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323716.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070235.94, East: 589087.00, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 65.59, IDT[75] = 45.68
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323719.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323719.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070235.40, East: 589083.01, Depth: 889.93
TerrainNav::measUpdate() - IDT[45] = 57.12, IDT[75] = 37.07
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323722.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323722.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070235.60, East: 589079.03, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 40.37, IDT[75] = 21.33
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323725.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323725.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070236.74, East: 589075.30, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 32.11, IDT[75] = 29.10
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323728.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323728.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070238.78, East: 589071.99, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 23.32, IDT[75] = 29.18
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323731.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323731.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070241.29, East: 589068.91, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 36.81, IDT[75] = 25.24
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323734.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323734.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070243.92, East: 589065.84, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 38.67, IDT[75] = 26.71
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323737.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323737.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070246.80, East: 589062.92, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 27.67, IDT[75] = 27.97
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323740.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323740.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070249.95, East: 589060.23, Depth: 890.14
TerrainNav::measUpdate() - IDT[45] = 25.63, IDT[75] = 33.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323743.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323743.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070253.31, East: 589057.72, Depth: 890.18
TerrainNav::measUpdate() - IDT[45] = 31.48, IDT[75] = 33.37
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323746.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323746.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070256.74, East: 589055.24, Depth: 890.21
TerrainNav::measUpdate() - IDT[45] = 29.95, IDT[75] = 36.22
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323749.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 63 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323749.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070259.95, East: 589052.49, Depth: 890.21
TerrainNav::measUpdate() - IDT[45] = 34.15, IDT[75] = 30.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323752.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323752.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070262.67, East: 589049.27, Depth: 890.17
TerrainNav::measUpdate() - IDT[45] = 30.90, IDT[75] = 34.17
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323755.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323755.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070265.36, East: 589045.96, Depth: 890.13
TerrainNav::measUpdate() - IDT[45] = 35.09, IDT[75] = 35.11
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323758.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323758.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070268.02, East: 589042.57, Depth: 890.10
TerrainNav::measUpdate() - IDT[45] = 34.03, IDT[75] = 41.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323761.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323761.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070270.60, East: 589039.08, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 32.24, IDT[75] = 42.57
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323764.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 64 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323764.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070273.14, East: 589035.53, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 32.53, IDT[75] = 44.13
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323767.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 62 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323767.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070275.60, East: 589031.92, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 34.05, IDT[75] = 43.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323770.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323770.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070277.69, East: 589028.09, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 35.02, IDT[75] = 41.24
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323773.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323773.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070279.32, East: 589024.05, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 36.08, IDT[75] = 39.85
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323776.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323776.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070280.51, East: 589019.86, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 37.12, IDT[75] = 38.60
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323779.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323779.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070281.22, East: 589015.56, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 38.15, IDT[75] = 37.34
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323782.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323782.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070281.46, East: 589011.22, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 36.98, IDT[75] = 36.33
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323785.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 22.84 
Alpha[0]	0.123000
Alpha[0]	0.999996
TNavParticleFilter::Modified Variance for beam 1 is 22.43 
Alpha[1]	0.000000
Alpha[1]	0.999996
TNavParticleFilter::Modified Variance for beam 2 is 23.06 
Alpha[2]	0.000000
Alpha[2]	0.999996
TNavParticleFilter::Modified Variance for beam 3 is 21.68 
Alpha[3]	0.000000
Alpha[3]	0.999995
TNavParticleFilter::Modified Variance for beam 4 is 20.03 
Alpha[4]	0.000000
Alpha[4]	0.999995
TNavParticleFilter::Modified Variance for beam 5 is 18.49 
Alpha[5]	0.000000
Alpha[5]	0.999995
TNavParticleFilter::Modified Variance for beam 6 is 18.23 
Alpha[6]	0.000000
Alpha[6]	0.999995
TNavParticleFilter::Modified Variance for beam 7 is 15.73 
Alpha[7]	0.000000
Alpha[7]	0.999995
TNavParticleFilter::Modified Variance for beam 8 is 12.56 
Alpha[8]	0.000000
Alpha[8]	0.999995
TNavParticleFilter::Modified Variance for beam 9 is 12.42 
Alpha[9]	0.000000
Alpha[9]	0.999995
TNavParticleFilter::Modified Variance for beam 10 is 11.42 
Alpha[10]	0.000000
Alpha[10]	0.999995
TNavParticleFilter::Modified Variance for beam 11 is 11.31 
Alpha[11]	0.000000
Alpha[11]	0.999995
TNavParticleFilter::Modified Variance for beam 12 is 11.21 
Alpha[12]	0.000000
Alpha[12]	0.999995
TNavParticleFilter::Modified Variance for beam 13 is 11.11 
Alpha[13]	0.000000
Alpha[13]	0.999995
TNavParticleFilter::Modified Variance for beam 14 is 10.24 
Alpha[14]	0.000000
Alpha[14]	0.999995
TNavParticleFilter::Modified Variance for beam 15 is 10.16 
Alpha[15]	0.000000
Alpha[15]	0.999995
TNavParticleFilter::Modified Variance for beam 16 is 10.10 
Alpha[16]	0.000000
Alpha[16]	0.999995
TNavParticleFilter::Modified Variance for beam 17 is 10.03 
Alpha[17]	0.000000
Alpha[17]	0.999995
TNavParticleFilter::Modified Variance for beam 18 is 9.97 
Alpha[18]	0.000000
Alpha[18]	0.999995
TNavParticleFilter::Modified Variance for beam 19 is 9.92 
Alpha[19]	0.000000
Alpha[19]	0.999994
TNavParticleFilter::Modified Variance for beam 20 is 9.87 
Alpha[20]	0.000000
Alpha[20]	0.999994
TNavParticleFilter::Modified Variance for beam 21 is 9.83 
Alpha[21]	0.000000
Alpha[21]	0.999994
TNavParticleFilter::Modified Variance for beam 22 is 9.78 
Alpha[22]	0.000000
Alpha[22]	0.999994
TNavParticleFilter::Modified Variance for beam 23 is 9.75 
Alpha[23]	0.000000
Alpha[23]	0.999994
TNavParticleFilter::Modified Variance for beam 24 is 10.44 
Alpha[24]	0.000000
Alpha[24]	0.999994
TNavParticleFilter::Modified Variance for beam 25 is 10.41 
Alpha[25]	0.000000
Alpha[25]	0.999994
TNavParticleFilter::Modified Variance for beam 26 is 10.38 
Alpha[26]	0.000000
Alpha[26]	0.999994
TNavParticleFilter::Modified Variance for beam 27 is 10.36 
Alpha[27]	0.000000
Alpha[27]	0.999994
TNavParticleFilter::Modified Variance for beam 28 is 10.34 
Alpha[28]	0.000000
Alpha[28]	0.999994
TNavParticleFilter::Modified Variance for beam 29 is 10.33 
Alpha[29]	0.000000
Alpha[29]	0.999994
TNavParticleFilter::Modified Variance for beam 30 is 10.32 
Alpha[30]	0.000000
Alpha[30]	0.999994
TNavParticleFilter::Modified Variance for beam 31 is 10.31 
Alpha[31]	0.000000
Alpha[31]	0.999994
TNavParticleFilter::Modified Variance for beam 32 is 10.31 
Alpha[32]	0.000000
Alpha[32]	0.999994
TNavParticleFilter::Modified Variance for beam 33 is 10.31 
Alpha[33]	0.000000
Alpha[33]	0.999994
TNavParticleFilter::Modified Variance for beam 34 is 10.32 
Alpha[34]	0.000000
Alpha[34]	0.999994
TNavParticleFilter::Modified Variance for beam 35 is 10.33 
Alpha[35]	0.000000
Alpha[35]	0.999994
TNavParticleFilter::Modified Variance for beam 36 is 10.35 
Alpha[36]	0.000000
Alpha[36]	0.999993
TNavParticleFilter::Modified Variance for beam 37 is 10.37 
Alpha[37]	0.000000
Alpha[37]	0.999994
TNavParticleFilter::Modified Variance for beam 38 is 10.39 
Alpha[38]	0.000000
Alpha[38]	0.999994
TNavParticleFilter::Modified Variance for beam 39 is 10.17 
Alpha[39]	0.000000
Alpha[39]	0.999994
TNavParticleFilter::Modified Variance for beam 40 is 9.72 
Alpha[40]	0.000000
Alpha[40]	0.999994
TNavParticleFilter::Modified Variance for beam 41 is 9.76 
Alpha[41]	0.000000
Alpha[41]	0.999994
TNavParticleFilter::Modified Variance for beam 42 is 9.79 
Alpha[42]	0.000000
Alpha[42]	0.999994
TNavParticleFilter::Modified Variance for beam 43 is 9.83 
Alpha[43]	0.000000
Alpha[43]	0.999994
TNavParticleFilter::Modified Variance for beam 44 is 9.88 
Alpha[44]	0.000000
Alpha[44]	0.999994
TNavParticleFilter::Modified Variance for beam 45 is 9.93 
Alpha[45]	0.000000
Alpha[45]	0.999994
TNavParticleFilter::Modified Variance for beam 46 is 9.99 
Alpha[46]	0.000000
Alpha[46]	0.999994
TNavParticleFilter::Modified Variance for beam 47 is 10.05 
Alpha[47]	0.000000
Alpha[47]	0.999994
TNavParticleFilter::Modified Variance for beam 48 is 10.11 
Alpha[48]	0.000000
Alpha[48]	0.999994
TNavParticleFilter::Modified Variance for beam 49 is 10.96 
Alpha[49]	0.000000
Alpha[49]	0.999994
TNavParticleFilter::Modified Variance for beam 50 is 11.04 
Alpha[50]	0.000000
Alpha[50]	0.999994
TNavParticleFilter::Modified Variance for beam 51 is 11.13 
Alpha[51]	0.000000
Alpha[51]	0.999994
TNavParticleFilter::Modified Variance for beam 52 is 11.23 
Alpha[52]	0.000000
Alpha[52]	0.999994
TNavParticleFilter::Modified Variance for beam 53 is 11.33 
Alpha[53]	0.000000
Alpha[53]	0.999994
TNavParticleFilter::Modified Variance for beam 54 is 12.32 
Alpha[54]	0.000000
Alpha[54]	0.999994
TNavParticleFilter::Modified Variance for beam 55 is 12.45 
Alpha[55]	0.000000
Alpha[55]	0.999994
TNavParticleFilter::Modified Variance for beam 56 is 12.58 
Alpha[56]	0.000000
Alpha[56]	0.999994
TNavParticleFilter::Modified Variance for beam 57 is 12.73 
Alpha[57]	0.000000
Alpha[57]	0.999994
TNavParticleFilter::Modified Variance for beam 58 is 12.89 
Alpha[58]	0.000000
Alpha[58]	0.999994
TNavParticleFilter::Modified Variance for beam 59 is 13.05 
Alpha[59]	0.000000
Alpha[59]	0.999994
TNavPF:Sum of squared error for particle 1 beam 35 is nan 
INS : North: 4070281.30, East: 589006.86, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 37.53, IDT[75] = 35.46
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323788.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavParticleFilter::Modified Variance for beam 0 is 23.78 
Alpha[0]	0.123000
Alpha[0]	0.999996
TNavParticleFilter::Modified Variance for beam 1 is 24.01 
Alpha[1]	0.000000
Alpha[1]	0.999996
TNavParticleFilter::Modified Variance for beam 2 is 23.59 
Alpha[2]	0.000000
Alpha[2]	0.999996
TNavParticleFilter::Modified Variance for beam 3 is 24.57 
Alpha[3]	0.000000
Alpha[3]	0.999996
TNavParticleFilter::Modified Variance for beam 4 is 22.64 
Alpha[4]	0.000000
Alpha[4]	0.999996
TNavParticleFilter::Modified Variance for beam 5 is 19.51 
Alpha[5]	0.000000
Alpha[5]	0.999996
TNavParticleFilter::Modified Variance for beam 6 is 19.18 
Alpha[6]	0.000000
Alpha[6]	0.999996
TNavParticleFilter::Modified Variance for beam 7 is 13.23 
Alpha[7]	0.000000
Alpha[7]	0.999996
TNavParticleFilter::Modified Variance for beam 8 is 12.09 
Alpha[8]	0.000000
Alpha[8]	0.999995
TNavParticleFilter::Modified Variance for beam 9 is 11.93 
Alpha[9]	0.000000
Alpha[9]	0.999995
TNavParticleFilter::Modified Variance for beam 10 is 11.79 
Alpha[10]	0.000000
Alpha[10]	0.999995
TNavParticleFilter::Modified Variance for beam 11 is 11.65 
Alpha[11]	0.000000
Alpha[11]	0.999995
TNavParticleFilter::Modified Variance for beam 12 is 10.67 
Alpha[12]	0.000000
Alpha[12]	0.999995
TNavParticleFilter::Modified Variance for beam 13 is 10.56 
Alpha[13]	0.000000
Alpha[13]	0.999995
TNavParticleFilter::Modified Variance for beam 14 is 10.46 
Alpha[14]	0.000000
Alpha[14]	0.999995
TNavParticleFilter::Modified Variance for beam 15 is 10.37 
Alpha[15]	0.000000
Alpha[15]	0.999995
TNavParticleFilter::Modified Variance for beam 16 is 10.28 
Alpha[16]	0.000000
Alpha[16]	0.999995
TNavParticleFilter::Modified Variance for beam 17 is 10.19 
Alpha[17]	0.000000
Alpha[17]	0.999995
TNavParticleFilter::Modified Variance for beam 18 is 10.11 
Alpha[18]	0.000000
Alpha[18]	0.999995
TNavParticleFilter::Modified Variance for beam 19 is 10.04 
Alpha[19]	0.000000
Alpha[19]	0.999995
TNavParticleFilter::Modified Variance for beam 20 is 9.97 
Alpha[20]	0.000000
Alpha[20]	0.999995
TNavParticleFilter::Modified Variance for beam 21 is 10.45 
Alpha[21]	0.000000
Alpha[21]	0.999995
TNavParticleFilter::Modified Variance for beam 22 is 10.60 
Alpha[22]	0.000000
Alpha[22]	0.999994
TNavParticleFilter::Modified Variance for beam 23 is 10.54 
Alpha[23]	0.000000
Alpha[23]	0.999994
TNavParticleFilter::Modified Variance for beam 24 is 10.49 
Alpha[24]	0.000000
Alpha[24]	0.999994
TNavParticleFilter::Modified Variance for beam 25 is 10.44 
Alpha[25]	0.000000
Alpha[25]	0.999994
TNavParticleFilter::Modified Variance for beam 26 is 10.39 
Alpha[26]	0.000000
Alpha[26]	0.999994
TNavParticleFilter::Modified Variance for beam 27 is 10.35 
Alpha[27]	0.000000
Alpha[27]	0.999994
TNavParticleFilter::Modified Variance for beam 28 is 10.32 
Alpha[28]	0.000000
Alpha[28]	0.999994
TNavParticleFilter::Modified Variance for beam 29 is 10.29 
Alpha[29]	0.000000
Alpha[29]	0.999994
TNavParticleFilter::Modified Variance for beam 30 is 10.26 
Alpha[30]	0.000000
Alpha[30]	0.999994
TNavParticleFilter::Modified Variance for beam 31 is 10.24 
Alpha[31]	0.000000
Alpha[31]	0.999994
TNavParticleFilter::Modified Variance for beam 32 is 10.22 
Alpha[32]	0.000000
Alpha[32]	0.999994
TNavParticleFilter::Modified Variance for beam 33 is 10.20 
Alpha[33]	0.000000
Alpha[33]	0.999994
TNavParticleFilter::Modified Variance for beam 34 is 10.19 
Alpha[34]	0.000000
Alpha[34]	0.999994
TNavParticleFilter::Modified Variance for beam 35 is 10.19 
Alpha[35]	0.000000
Alpha[35]	0.999994
TNavParticleFilter::Modified Variance for beam 36 is 10.18 
Alpha[36]	0.000000
Alpha[36]	0.999994
TNavParticleFilter::Modified Variance for beam 37 is 9.48 
Alpha[37]	0.000000
Alpha[37]	0.999994
TNavParticleFilter::Modified Variance for beam 38 is 9.48 
Alpha[38]	0.000000
Alpha[38]	0.999993
TNavParticleFilter::Modified Variance for beam 39 is 9.49 
Alpha[39]	0.000000
Alpha[39]	0.999993
TNavParticleFilter::Modified Variance for beam 40 is 9.51 
Alpha[40]	0.000000
Alpha[40]	0.999993
TNavParticleFilter::Modified Variance for beam 41 is 9.52 
Alpha[41]	0.000000
Alpha[41]	0.999993
TNavParticleFilter::Modified Variance for beam 42 is 9.54 
Alpha[42]	0.000000
Alpha[42]	0.999993
TNavParticleFilter::Modified Variance for beam 43 is 9.57 
Alpha[43]	0.000000
Alpha[43]	0.999993
TNavParticleFilter::Modified Variance for beam 44 is 9.59 
Alpha[44]	0.000000
Alpha[44]	0.999994
TNavParticleFilter::Modified Variance for beam 45 is 9.63 
Alpha[45]	0.000000
Alpha[45]	0.999994
TNavParticleFilter::Modified Variance for beam 46 is 9.66 
Alpha[46]	0.000000
Alpha[46]	0.999994
TNavParticleFilter::Modified Variance for beam 47 is 10.44 
Alpha[47]	0.000000
Alpha[47]	0.999994
TNavParticleFilter::Modified Variance for beam 48 is 10.49 
Alpha[48]	0.000000
Alpha[48]	0.999994
TNavParticleFilter::Modified Variance for beam 49 is 10.54 
Alpha[49]	0.000000
Alpha[49]	0.999994
TNavParticleFilter::Modified Variance for beam 50 is 10.60 
Alpha[50]	0.000000
Alpha[50]	0.999994
TNavParticleFilter::Modified Variance for beam 51 is 10.66 
Alpha[51]	0.000000
Alpha[51]	0.999994
TNavParticleFilter::Modified Variance for beam 52 is 11.54 
Alpha[52]	0.000000
Alpha[52]	0.999994
TNavParticleFilter::Modified Variance for beam 53 is 11.62 
Alpha[53]	0.000000
Alpha[53]	0.999994
TNavParticleFilter::Modified Variance for beam 54 is 11.71 
Alpha[54]	0.000000
Alpha[54]	0.999994
TNavParticleFilter::Modified Variance for beam 55 is 11.81 
Alpha[55]	0.000000
Alpha[55]	0.999994
TNavParticleFilter::Modified Variance for beam 56 is 11.91 
Alpha[56]	0.000000
Alpha[56]	0.999994
TNavParticleFilter::Modified Variance for beam 57 is 12.03 
Alpha[57]	0.000000
Alpha[57]	0.999994
TNavParticleFilter::Modified Variance for beam 58 is 12.14 
Alpha[58]	0.000000
Alpha[58]	0.999994
TNavParticleFilter::Modified Variance for beam 59 is 12.27 
Alpha[59]	0.000000
Alpha[59]	0.999994
TNavPF:Sum of squared error for particle 1 beam 34 is nan 
INS : North: 4070280.83, East: 589002.52, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 37.85, IDT[75] = 36.55
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323791.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323791.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070280.08, East: 588998.21, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 39.70, IDT[75] = 35.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323794.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323794.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070279.12, East: 588993.92, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 39.43, IDT[75] = 36.49
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323797.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323797.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070278.04, East: 588989.66, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 39.16, IDT[75] = 35.30
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323800.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323800.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070276.75, East: 588985.46, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 35.99, IDT[75] = 33.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323803.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323803.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070275.31, East: 588981.30, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 35.39, IDT[75] = 34.55
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323806.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323806.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070274.11, East: 588977.11, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 36.13, IDT[75] = 39.46
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323809.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323809.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070272.88, East: 588972.96, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 36.78, IDT[75] = 34.27
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323812.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323812.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070271.06, East: 588969.06, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 36.82, IDT[75] = 36.47
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323815.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323815.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070269.45, East: 588965.11, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 34.77, IDT[75] = 42.93
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323818.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323818.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070268.68, East: 588960.97, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 38.55, IDT[75] = 47.47
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323821.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323821.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070268.28, East: 588956.79, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 39.79, IDT[75] = 43.90
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323824.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323824.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070267.34, East: 588952.73, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 40.30, IDT[75] = 42.85
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323827.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323827.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070265.55, East: 588949.01, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 41.30, IDT[75] = 41.69
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323830.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323830.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070263.60, East: 588945.35, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 42.67, IDT[75] = 38.88
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323833.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323833.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070262.25, East: 588941.48, Depth: 889.90
TerrainNav::measUpdate() - IDT[45] = 43.12, IDT[75] = 30.21
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323836.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323836.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070261.79, East: 588937.43, Depth: 889.92
TerrainNav::measUpdate() - IDT[45] = 34.78, IDT[75] = 29.20
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323839.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323839.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070261.95, East: 588933.33, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 30.56, IDT[75] = 26.48
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323842.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323842.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070262.55, East: 588929.23, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 29.21, IDT[75] = 28.79
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323845.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323845.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070263.58, East: 588925.19, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 26.59, IDT[75] = 29.78
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323848.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323848.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070265.01, East: 588921.24, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 26.34, IDT[75] = 28.08
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323851.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323851.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070266.63, East: 588917.33, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 29.66, IDT[75] = 23.84
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323854.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323854.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070268.01, East: 588913.31, Depth: 890.13
TerrainNav::measUpdate() - IDT[45] = 32.68, IDT[75] = 21.92
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323857.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323857.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070269.04, East: 588909.15, Depth: 890.13
TerrainNav::measUpdate() - IDT[45] = 33.64, IDT[75] = 21.61
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323860.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323860.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070269.84, East: 588904.91, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 32.44, IDT[75] = 27.13
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323863.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323863.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070270.78, East: 588900.69, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 23.63, IDT[75] = 32.81
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323866.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323866.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070272.13, East: 588896.57, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 27.30, IDT[75] = 38.74
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323869.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323869.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070273.68, East: 588892.51, Depth: 890.10
TerrainNav::measUpdate() - IDT[45] = 30.64, IDT[75] = 39.31
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323872.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323872.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070275.04, East: 588888.37, Depth: 890.09
TerrainNav::measUpdate() - IDT[45] = 31.66, IDT[75] = 38.08
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323875.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323875.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070275.95, East: 588884.11, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 32.61, IDT[75] = 36.83
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323878.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323878.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070276.42, East: 588879.78, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 33.52, IDT[75] = 35.75
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323881.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323881.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070276.41, East: 588875.42, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 34.39, IDT[75] = 34.59
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323884.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323884.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070275.95, East: 588871.09, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 34.71, IDT[75] = 33.64
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323887.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323887.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070275.24, East: 588866.78, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 33.80, IDT[75] = 35.47
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323890.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323890.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070274.94, East: 588862.47, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 34.44, IDT[75] = 35.67
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323893.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323893.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070274.66, East: 588858.14, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 34.76, IDT[75] = 34.77
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323896.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323896.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070274.15, East: 588853.82, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 36.79, IDT[75] = 31.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323899.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323899.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070273.61, East: 588849.51, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 34.93, IDT[75] = 32.56
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323902.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323902.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070273.58, East: 588845.18, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 34.48, IDT[75] = 31.22
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323905.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323905.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070273.79, East: 588840.84, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 32.53, IDT[75] = 29.81
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323908.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323908.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070274.17, East: 588836.49, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 32.81, IDT[75] = 28.74
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323911.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323911.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070274.78, East: 588832.16, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 31.37, IDT[75] = 26.65
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323914.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323914.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070275.61, East: 588827.86, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 30.27, IDT[75] = 25.45
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323917.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323917.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070276.70, East: 588823.61, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 27.57, IDT[75] = 24.01
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323920.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323920.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070278.10, East: 588819.45, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 25.44, IDT[75] = 24.45
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323923.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323923.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070279.87, East: 588815.44, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 25.82, IDT[75] = 26.24
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323926.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323926.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070281.93, East: 588811.59, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 24.77, IDT[75] = 28.36
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323929.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323929.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070284.43, East: 588808.04, Depth: 890.07
TerrainNav::measUpdate() - IDT[45] = 26.89, IDT[75] = 33.08
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323932.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323932.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070287.28, East: 588804.75, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 27.28, IDT[75] = 35.54
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323935.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323935.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070289.90, East: 588801.30, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 28.77, IDT[75] = 34.91
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323938.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323938.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070292.23, East: 588797.63, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 30.25, IDT[75] = 37.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323941.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323941.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070294.27, East: 588793.77, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 29.68, IDT[75] = 34.19
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323944.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323944.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070295.96, East: 588789.75, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 32.94, IDT[75] = 34.20
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323947.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323947.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070297.41, East: 588785.61, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 32.20, IDT[75] = 35.46
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323950.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323950.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070298.67, East: 588781.41, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 31.33, IDT[75] = 35.89
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323953.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323953.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070299.72, East: 588777.14, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 34.32, IDT[75] = 35.64
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323956.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323956.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070300.48, East: 588772.81, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 35.18, IDT[75] = 35.21
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323959.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323959.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070300.94, East: 588768.43, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 34.30, IDT[75] = 35.18
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323962.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323962.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070301.44, East: 588764.10, Depth: 889.97
TerrainNav::measUpdate() - IDT[45] = 34.09, IDT[75] = 34.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323965.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323965.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070302.41, East: 588759.85, Depth: 889.98
TerrainNav::measUpdate() - IDT[45] = 35.08, IDT[75] = 35.30
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323968.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323968.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070303.46, East: 588755.60, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 36.10, IDT[75] = 36.13
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323971.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323971.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070304.42, East: 588751.31, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 37.03, IDT[75] = 32.41
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323974.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323974.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070305.32, East: 588747.01, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 33.95, IDT[75] = 30.93
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323977.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323977.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070306.35, East: 588742.72, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 35.14, IDT[75] = 27.12
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323980.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323980.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070307.65, East: 588738.52, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 30.87, IDT[75] = 25.77
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323983.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323983.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070309.33, East: 588734.47, Depth: 890.04
TerrainNav::measUpdate() - IDT[45] = 27.30, IDT[75] = 26.84
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323986.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323986.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070311.42, East: 588730.62, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 26.19, IDT[75] = 30.08
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323989.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323989.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070313.83, East: 588726.96, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 29.43, IDT[75] = 31.81
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323992.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323992.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070316.41, East: 588723.40, Depth: 890.06
TerrainNav::measUpdate() - IDT[45] = 27.94, IDT[75] = 32.08
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323995.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323995.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070319.01, East: 588719.84, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 30.46, IDT[75] = 32.20
TerrainNav::Delayed incorporating measurement type 5 from time = 1488323998.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488323998.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070321.54, East: 588716.22, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 28.34, IDT[75] = 29.70
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324001.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324001.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070323.92, East: 588712.49, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 30.37, IDT[75] = 31.17
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324004.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324004.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070326.16, East: 588708.66, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 32.40, IDT[75] = 29.37
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324007.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324007.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070328.30, East: 588704.78, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 32.42, IDT[75] = 29.90
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324010.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324010.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070330.41, East: 588700.87, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 28.53, IDT[75] = 27.29
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324013.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324013.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070332.57, East: 588696.98, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 30.96, IDT[75] = 28.12
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324016.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324016.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070334.80, East: 588693.13, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 29.26, IDT[75] = 25.98
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324019.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324019.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070337.06, East: 588689.30, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 31.59, IDT[75] = 32.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324022.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324022.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070339.31, East: 588685.47, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 29.05, IDT[75] = 32.53
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324025.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324025.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070341.12, East: 588681.46, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 30.00, IDT[75] = 31.03
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324028.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324028.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070342.52, East: 588677.29, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 29.29, IDT[75] = 29.58
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324031.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324031.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070343.78, East: 588673.06, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 28.51, IDT[75] = 33.18
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324034.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324034.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070344.99, East: 588668.81, Depth: 889.94
TerrainNav::measUpdate() - IDT[45] = 29.73, IDT[75] = 32.25
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324037.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324037.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070346.19, East: 588664.55, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 30.87, IDT[75] = 37.77
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324040.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324040.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070347.25, East: 588660.26, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 31.85, IDT[75] = 36.95
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324043.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324043.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070347.92, East: 588655.91, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 30.65, IDT[75] = 36.24
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324046.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324046.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070348.26, East: 588651.51, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 33.27, IDT[75] = 33.68
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324049.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324049.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070348.41, East: 588647.12, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 33.08, IDT[75] = 45.95
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324052.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324052.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070349.07, East: 588642.86, Depth: 889.96
TerrainNav::measUpdate() - IDT[45] = 38.23, IDT[75] = 59.15
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324055.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TNavPF::Projecting Measurements 
TNavFilter::Excluded 60 beam(s) from correlation due to poor sonar data.
TNavPF::Measurements Projected 
TNavPF::Beam Correspondances 30 31 32 33 
TNavPF::Measurement from time = 1488324055.82 sec. not included; encountered NaN values in the correlation map segment for at least one particle on each beam
INS : North: 4070350.67, East: 588639.00, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 54.27, IDT[75] = 71.88
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324058.82 sec.; waiting for more recent INS data...

TerrainNav::measUpdate() - IDT[45] = 54.27, IDT[75] = 71.88
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324058.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TerrainNav::Measurement type 5 not incorporated from time = 1488324058.82 sec.; No relevant navigation data available
TerrainNav::Measurement type 5 not incorporated from time = 1488324058.82 sec.; No relevant navigation data available
INS : North: 4070356.37, East: 588633.54, Depth: 889.89
TerrainNav::measUpdate() - IDT[45] = 79.20, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324064.82 sec.; waiting for more recent INS data...

TerrainNav::measUpdate() - IDT[45] = 79.20, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488324064.82 sec.; waiting for more recent INS data...
TerrainNav::No valid bottom velocity measurements for the past 100.0 seconds.  Re-initializing the filter.
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070363.78, East: 588632.01, Depth: 889.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324070.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324070.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070370.79, East: 588634.44, Depth: 889.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324076.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324076.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070376.79, East: 588639.32, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324082.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324082.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070382.91, East: 588644.56, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324088.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324088.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070389.90, East: 588648.98, Depth: 890.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324094.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324094.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070397.58, East: 588652.50, Depth: 890.15
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324100.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324100.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070405.72, East: 588655.31, Depth: 890.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324106.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324106.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070414.14, East: 588657.57, Depth: 890.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324112.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324112.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070422.74, East: 588659.41, Depth: 890.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324118.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324118.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070431.45, East: 588660.99, Depth: 890.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324124.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324124.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070440.20, East: 588662.48, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324130.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324130.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070448.97, East: 588664.03, Depth: 890.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324136.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324136.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070457.72, East: 588665.71, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324142.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324142.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070466.44, East: 588667.56, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324148.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324148.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070475.13, East: 588669.55, Depth: 890.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324154.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324154.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070483.80, East: 588671.63, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324160.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324160.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070492.47, East: 588673.77, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324166.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324166.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070501.13, East: 588675.90, Depth: 890.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324172.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324172.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070509.81, East: 588677.99, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324178.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324178.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070518.49, East: 588680.04, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324184.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324184.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070527.19, East: 588682.05, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324190.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324190.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070535.89, East: 588684.02, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324196.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324196.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070544.60, East: 588685.97, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324202.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324202.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070553.31, East: 588687.92, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324208.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324208.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070562.01, East: 588689.88, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324214.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324214.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070570.72, East: 588691.84, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324220.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070575.07, East: 588692.83, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324223.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070579.39, East: 588693.85, Depth: 890.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324226.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070583.45, East: 588695.39, Depth: 889.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324229.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070586.89, East: 588697.81, Depth: 889.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324232.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070589.44, East: 588700.98, Depth: 889.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324235.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070590.96, East: 588704.65, Depth: 889.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324238.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070591.44, East: 588708.58, Depth: 889.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324241.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070591.16, East: 588712.62, Depth: 889.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324244.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070590.50, East: 588716.73, Depth: 888.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324247.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070589.79, East: 588720.94, Depth: 888.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324250.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070589.30, East: 588725.28, Depth: 888.10
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324253.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070589.19, East: 588729.72, Depth: 887.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324256.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070589.50, East: 588734.21, Depth: 887.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324259.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070590.21, East: 588738.72, Depth: 886.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324262.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070591.24, East: 588743.23, Depth: 885.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324265.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070592.53, East: 588747.72, Depth: 885.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324268.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070593.99, East: 588752.21, Depth: 884.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324271.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070595.54, East: 588756.69, Depth: 883.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324274.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070597.15, East: 588761.19, Depth: 883.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324277.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070598.77, East: 588765.71, Depth: 882.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324280.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070600.38, East: 588770.24, Depth: 881.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324283.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070601.98, East: 588774.79, Depth: 881.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324286.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070603.57, East: 588779.35, Depth: 880.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324289.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070605.14, East: 588783.92, Depth: 879.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324292.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070606.70, East: 588788.50, Depth: 879.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324295.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070608.26, East: 588793.09, Depth: 878.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324298.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070609.82, East: 588797.68, Depth: 878.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324301.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070611.38, East: 588802.26, Depth: 877.49
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324304.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070612.94, East: 588806.85, Depth: 876.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324307.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070614.49, East: 588811.44, Depth: 876.26
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324310.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070616.05, East: 588816.03, Depth: 875.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324313.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070617.61, East: 588820.62, Depth: 875.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324316.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070619.17, East: 588825.20, Depth: 874.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324319.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070620.73, East: 588829.79, Depth: 873.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324322.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070622.29, East: 588834.37, Depth: 873.23
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324325.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070623.85, East: 588838.96, Depth: 872.63
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324328.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070625.41, East: 588843.54, Depth: 872.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324331.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070626.97, East: 588848.13, Depth: 871.43
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324334.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070628.53, East: 588852.71, Depth: 870.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324337.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070630.09, East: 588857.29, Depth: 870.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324340.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070631.65, East: 588861.87, Depth: 869.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324343.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070633.21, East: 588866.45, Depth: 869.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324346.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070634.76, East: 588871.03, Depth: 868.45
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324349.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070636.32, East: 588875.62, Depth: 867.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324352.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070637.88, East: 588880.19, Depth: 867.26
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324355.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070639.44, East: 588884.77, Depth: 866.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324358.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070640.99, East: 588889.35, Depth: 866.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324361.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070642.55, East: 588893.93, Depth: 865.49
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324364.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070644.11, East: 588898.51, Depth: 864.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324367.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070645.67, East: 588903.09, Depth: 864.31
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324370.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070647.22, East: 588907.66, Depth: 863.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324373.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070648.78, East: 588912.24, Depth: 863.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324376.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070650.34, East: 588916.82, Depth: 862.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324379.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070651.89, East: 588921.39, Depth: 861.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324382.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070653.45, East: 588925.97, Depth: 861.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324385.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070655.01, East: 588930.54, Depth: 860.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324388.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070656.56, East: 588935.12, Depth: 860.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324391.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070658.12, East: 588939.69, Depth: 859.63
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324394.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070659.68, East: 588944.27, Depth: 859.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324397.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070661.23, East: 588948.84, Depth: 858.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324400.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070662.79, East: 588953.42, Depth: 857.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324403.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070664.34, East: 588957.99, Depth: 857.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324406.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070665.90, East: 588962.57, Depth: 856.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324409.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070667.46, East: 588967.14, Depth: 856.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324412.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070669.01, East: 588971.71, Depth: 855.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324415.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070670.57, East: 588976.29, Depth: 854.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324418.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070672.12, East: 588980.86, Depth: 854.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324421.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070673.68, East: 588985.43, Depth: 853.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324424.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070675.23, East: 588990.00, Depth: 853.23
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324427.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070676.79, East: 588994.58, Depth: 852.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324430.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070678.35, East: 588999.15, Depth: 852.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324433.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070679.90, East: 589003.72, Depth: 851.49
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324436.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070681.46, East: 589008.29, Depth: 850.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324439.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070683.01, East: 589012.87, Depth: 850.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324442.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070684.57, East: 589017.44, Depth: 849.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324445.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070686.12, East: 589022.01, Depth: 849.18
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324448.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070687.68, East: 589026.58, Depth: 848.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324451.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070689.23, East: 589031.15, Depth: 848.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324454.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070690.79, East: 589035.72, Depth: 847.45
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324457.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070692.34, East: 589040.29, Depth: 846.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324460.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070693.90, East: 589044.87, Depth: 846.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324463.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070695.45, East: 589049.44, Depth: 845.71
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324466.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070697.01, East: 589054.01, Depth: 845.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324469.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070698.56, East: 589058.58, Depth: 844.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324472.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070700.12, East: 589063.15, Depth: 843.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324475.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070701.67, East: 589067.72, Depth: 843.41
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324478.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070703.23, East: 589072.29, Depth: 842.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324481.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070704.78, East: 589076.86, Depth: 842.25
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324484.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070706.34, East: 589081.43, Depth: 841.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324487.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070707.89, East: 589086.00, Depth: 841.10
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324490.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070709.45, East: 589090.57, Depth: 840.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324493.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070711.00, East: 589095.14, Depth: 839.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324496.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070712.56, East: 589099.71, Depth: 839.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324499.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070714.11, East: 589104.28, Depth: 838.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324502.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070715.67, East: 589108.85, Depth: 838.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324505.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070717.22, East: 589113.42, Depth: 837.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324508.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070718.78, East: 589117.99, Depth: 837.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324511.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070720.33, East: 589122.57, Depth: 836.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324514.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070721.88, East: 589127.14, Depth: 835.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324517.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070723.44, East: 589131.71, Depth: 835.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324520.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070724.99, East: 589136.28, Depth: 834.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324523.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070726.55, East: 589140.85, Depth: 834.19
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324526.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070728.10, East: 589145.42, Depth: 833.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324529.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070729.66, East: 589149.98, Depth: 833.04
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324532.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070731.21, East: 589154.55, Depth: 832.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324535.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070732.77, East: 589159.12, Depth: 831.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324538.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070734.32, East: 589163.69, Depth: 831.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324541.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070735.88, East: 589168.26, Depth: 830.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324544.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070737.43, East: 589172.83, Depth: 830.17
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324547.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070738.98, East: 589177.40, Depth: 829.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324550.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070740.54, East: 589181.97, Depth: 829.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324553.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070742.09, East: 589186.54, Depth: 828.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324556.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070743.65, East: 589191.11, Depth: 827.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324559.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070745.20, East: 589195.68, Depth: 827.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324562.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070746.76, East: 589200.25, Depth: 826.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324565.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070748.31, East: 589204.82, Depth: 826.15
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324568.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070749.87, East: 589209.39, Depth: 825.57
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324571.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070751.42, East: 589213.96, Depth: 825.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324574.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070752.98, East: 589218.53, Depth: 824.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324577.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070754.53, East: 589223.10, Depth: 823.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324580.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070756.08, East: 589227.67, Depth: 823.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324583.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070757.64, East: 589232.24, Depth: 822.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324586.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070759.19, East: 589236.81, Depth: 822.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324589.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070760.75, East: 589241.38, Depth: 821.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324592.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070762.30, East: 589245.95, Depth: 820.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324595.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070763.86, East: 589250.52, Depth: 820.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324598.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070765.41, East: 589255.09, Depth: 819.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324601.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070766.97, East: 589259.66, Depth: 819.25
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324604.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070768.52, East: 589264.22, Depth: 818.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324607.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070770.07, East: 589268.79, Depth: 818.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324610.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070771.63, East: 589273.36, Depth: 817.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324613.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070773.18, East: 589277.93, Depth: 816.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324616.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070774.74, East: 589282.50, Depth: 816.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324619.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070776.29, East: 589287.07, Depth: 815.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324622.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070777.85, East: 589291.64, Depth: 815.23
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324625.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070779.40, East: 589296.21, Depth: 814.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324628.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070780.96, East: 589300.78, Depth: 814.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324631.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070782.51, East: 589305.35, Depth: 813.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324634.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070784.06, East: 589309.92, Depth: 812.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324637.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070785.62, East: 589314.49, Depth: 812.36
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324640.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070787.17, East: 589319.06, Depth: 811.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324643.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070788.73, East: 589323.63, Depth: 811.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324646.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070790.28, East: 589328.20, Depth: 810.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324649.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070791.84, East: 589332.77, Depth: 810.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324652.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070793.39, East: 589337.33, Depth: 809.49
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324655.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070794.95, East: 589341.90, Depth: 808.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324658.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070796.50, East: 589346.47, Depth: 808.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324661.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070798.05, East: 589351.04, Depth: 807.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324664.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070799.61, East: 589355.61, Depth: 807.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324667.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070801.16, East: 589360.18, Depth: 806.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324670.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070802.72, East: 589364.75, Depth: 806.05
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324673.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070804.27, East: 589369.32, Depth: 805.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324676.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070805.83, East: 589373.89, Depth: 804.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324679.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070807.38, East: 589378.46, Depth: 804.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324682.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070808.94, East: 589383.03, Depth: 803.75
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324685.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070810.49, East: 589387.60, Depth: 803.18
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324688.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070812.04, East: 589392.17, Depth: 802.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324691.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070813.60, East: 589396.74, Depth: 802.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324694.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070815.15, East: 589401.30, Depth: 801.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324697.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070816.71, East: 589405.87, Depth: 800.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324700.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070818.26, East: 589410.44, Depth: 800.31
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324703.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070819.82, East: 589415.01, Depth: 799.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324706.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070821.37, East: 589419.58, Depth: 799.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324709.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070822.92, East: 589424.15, Depth: 798.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324712.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070824.48, East: 589428.72, Depth: 798.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324715.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070826.03, East: 589433.29, Depth: 797.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324718.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070827.59, East: 589437.86, Depth: 796.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324721.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070829.14, East: 589442.43, Depth: 796.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324724.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070830.70, East: 589447.00, Depth: 795.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324727.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070832.25, East: 589451.57, Depth: 795.14
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324730.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070833.81, East: 589456.14, Depth: 794.57
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324733.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070835.36, East: 589460.70, Depth: 794.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324736.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070836.91, East: 589465.27, Depth: 793.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324739.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070838.47, East: 589469.84, Depth: 792.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324742.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070840.02, East: 589474.41, Depth: 792.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324745.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070841.58, East: 589478.98, Depth: 791.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324748.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070843.13, East: 589483.55, Depth: 791.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324751.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070844.69, East: 589488.12, Depth: 790.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324754.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070846.24, East: 589492.69, Depth: 789.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324757.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070847.79, East: 589497.26, Depth: 789.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324760.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070849.35, East: 589501.83, Depth: 788.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324763.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070850.90, East: 589506.40, Depth: 788.26
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324766.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070852.46, East: 589510.97, Depth: 787.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324769.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070854.01, East: 589515.54, Depth: 787.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324772.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070855.57, East: 589520.10, Depth: 786.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324775.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070857.12, East: 589524.67, Depth: 785.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324778.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070858.68, East: 589529.24, Depth: 785.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324781.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070860.23, East: 589533.81, Depth: 784.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324784.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070861.78, East: 589538.38, Depth: 784.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324787.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070863.34, East: 589542.95, Depth: 783.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324790.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070864.89, East: 589547.52, Depth: 783.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324793.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070866.45, East: 589552.09, Depth: 782.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324796.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070868.00, East: 589556.66, Depth: 781.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324799.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070869.56, East: 589561.23, Depth: 781.37
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324802.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070871.11, East: 589565.80, Depth: 780.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324805.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070872.67, East: 589570.37, Depth: 780.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324808.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070874.10, East: 589574.93, Depth: 779.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324811.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070874.63, East: 589579.54, Depth: 779.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324814.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070873.86, East: 589583.95, Depth: 778.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324817.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070872.01, East: 589587.95, Depth: 778.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324820.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070869.51, East: 589591.59, Depth: 778.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324823.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070866.73, East: 589595.03, Depth: 777.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324826.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070863.90, East: 589598.44, Depth: 777.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324829.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070861.18, East: 589601.94, Depth: 777.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324832.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070858.68, East: 589605.58, Depth: 777.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324835.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070856.41, East: 589609.35, Depth: 778.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324838.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070854.36, East: 589613.23, Depth: 778.17
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324841.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070852.48, East: 589617.19, Depth: 778.28
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324844.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070850.74, East: 589621.21, Depth: 778.38
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324847.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070849.08, East: 589625.26, Depth: 778.49
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324850.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070847.47, East: 589629.33, Depth: 778.59
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324853.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070845.87, East: 589633.41, Depth: 778.69
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324856.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070844.28, East: 589637.49, Depth: 778.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324859.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070842.69, East: 589641.57, Depth: 778.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324862.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070841.08, East: 589645.66, Depth: 778.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324865.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070839.46, East: 589649.74, Depth: 778.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324868.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070837.83, East: 589653.83, Depth: 779.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324871.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070836.20, East: 589657.92, Depth: 779.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324874.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070834.56, East: 589662.02, Depth: 779.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324877.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070832.92, East: 589666.11, Depth: 779.16
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324880.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070831.28, East: 589670.21, Depth: 779.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324883.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070829.63, East: 589674.31, Depth: 779.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324886.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070827.99, East: 589678.42, Depth: 779.27
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324889.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070826.34, East: 589682.53, Depth: 779.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324892.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070824.70, East: 589686.64, Depth: 779.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324895.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070823.05, East: 589690.75, Depth: 779.36
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324898.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070821.40, East: 589694.87, Depth: 779.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324901.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070819.76, East: 589698.98, Depth: 779.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324904.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070818.11, East: 589703.10, Depth: 779.45
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324907.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070816.46, East: 589707.22, Depth: 779.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324910.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070814.81, East: 589711.34, Depth: 779.50
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324913.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070813.16, East: 589715.46, Depth: 779.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324916.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070811.52, East: 589719.58, Depth: 779.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324919.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070809.87, East: 589723.71, Depth: 779.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324922.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070808.22, East: 589727.83, Depth: 779.58
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324925.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070806.56, East: 589731.95, Depth: 779.60
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324928.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070804.91, East: 589736.08, Depth: 779.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324931.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070803.26, East: 589740.20, Depth: 779.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324934.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070801.61, East: 589744.33, Depth: 779.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324937.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070799.96, East: 589748.46, Depth: 779.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324940.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070798.31, East: 589752.59, Depth: 779.69
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324943.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070796.65, East: 589756.72, Depth: 779.70
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324946.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070795.00, East: 589760.85, Depth: 779.72
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324949.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070793.35, East: 589764.98, Depth: 779.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324952.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070791.70, East: 589769.11, Depth: 779.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324955.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070790.04, East: 589773.24, Depth: 779.75
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324958.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070788.39, East: 589777.37, Depth: 779.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324961.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070786.74, East: 589781.50, Depth: 779.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324964.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070785.08, East: 589785.64, Depth: 779.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324967.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070783.43, East: 589789.77, Depth: 779.80
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324970.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070781.77, East: 589793.90, Depth: 779.81
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324973.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070780.12, East: 589798.04, Depth: 779.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324976.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070778.46, East: 589802.17, Depth: 779.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324979.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070776.81, East: 589806.31, Depth: 779.83
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324982.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070775.15, East: 589810.44, Depth: 779.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324985.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070773.50, East: 589814.58, Depth: 779.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324988.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070771.84, East: 589818.71, Depth: 779.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324991.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070770.19, East: 589822.85, Depth: 779.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324994.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070768.53, East: 589826.99, Depth: 779.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488324997.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070766.88, East: 589831.12, Depth: 779.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325000.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070765.22, East: 589835.26, Depth: 779.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325003.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070763.57, East: 589839.40, Depth: 779.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325006.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070761.91, East: 589843.53, Depth: 779.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325009.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070760.25, East: 589847.67, Depth: 779.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325012.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070758.60, East: 589851.81, Depth: 779.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325015.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070756.94, East: 589855.95, Depth: 779.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325018.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070755.29, East: 589860.09, Depth: 779.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325021.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070753.63, East: 589864.22, Depth: 779.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325024.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070751.97, East: 589868.36, Depth: 779.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325027.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070750.32, East: 589872.50, Depth: 779.92
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325030.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070748.66, East: 589876.64, Depth: 779.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325033.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070747.00, East: 589880.78, Depth: 779.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325036.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070745.35, East: 589884.92, Depth: 779.93
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325039.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070743.69, East: 589889.06, Depth: 779.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325042.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070742.03, East: 589893.20, Depth: 779.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325045.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070740.38, East: 589897.34, Depth: 779.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325048.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070738.72, East: 589901.48, Depth: 779.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325051.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070737.06, East: 589905.62, Depth: 779.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325054.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070735.41, East: 589909.76, Depth: 779.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325057.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070733.75, East: 589913.90, Depth: 779.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325060.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070732.09, East: 589918.04, Depth: 779.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325063.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070730.44, East: 589922.18, Depth: 779.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325066.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070728.78, East: 589926.32, Depth: 779.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325069.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070727.12, East: 589930.46, Depth: 779.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325072.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070725.47, East: 589934.60, Depth: 779.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325075.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070723.81, East: 589938.74, Depth: 779.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325078.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070722.15, East: 589942.88, Depth: 779.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325081.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070720.49, East: 589947.02, Depth: 779.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325084.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070718.84, East: 589951.16, Depth: 779.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325087.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070717.18, East: 589955.31, Depth: 779.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325090.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070715.52, East: 589959.45, Depth: 779.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325093.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070713.86, East: 589963.59, Depth: 779.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325096.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070712.21, East: 589967.73, Depth: 779.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325099.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070710.55, East: 589971.87, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325102.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070708.89, East: 589976.01, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325105.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070707.24, East: 589980.15, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325108.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070705.58, East: 589984.29, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325111.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070703.92, East: 589988.44, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325114.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070702.26, East: 589992.58, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325117.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070700.61, East: 589996.72, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325120.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070698.95, East: 590000.86, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325123.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070697.29, East: 590005.00, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325126.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070695.63, East: 590009.14, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325129.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070693.98, East: 590013.28, Depth: 779.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325132.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070692.32, East: 590017.43, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325135.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070690.66, East: 590021.57, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325138.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070689.00, East: 590025.71, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325141.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070687.35, East: 590029.85, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325144.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070685.69, East: 590033.99, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325147.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070684.03, East: 590038.14, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325150.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070682.37, East: 590042.28, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325153.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070680.72, East: 590046.42, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325156.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070679.06, East: 590050.56, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325159.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070677.40, East: 590054.70, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325162.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070675.74, East: 590058.84, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325165.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070674.09, East: 590062.99, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325168.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070672.43, East: 590067.13, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325171.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070670.77, East: 590071.27, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325174.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070669.11, East: 590075.41, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325177.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070667.45, East: 590079.55, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325180.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070665.80, East: 590083.70, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325183.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070664.14, East: 590087.84, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325186.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070662.48, East: 590091.98, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325189.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070660.82, East: 590096.12, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325192.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070659.17, East: 590100.26, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325195.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070657.51, East: 590104.41, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325198.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070655.85, East: 590108.55, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325201.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070654.19, East: 590112.69, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325204.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070652.54, East: 590116.83, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325207.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070650.88, East: 590120.98, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325210.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070649.22, East: 590125.12, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325213.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070647.56, East: 590129.26, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325216.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070645.90, East: 590133.40, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325219.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070644.25, East: 590137.54, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325222.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070642.59, East: 590141.69, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325225.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070640.93, East: 590145.83, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325228.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070639.27, East: 590149.97, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325231.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070637.62, East: 590154.11, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325234.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070635.96, East: 590158.25, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325237.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070634.30, East: 590162.40, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325240.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070632.64, East: 590166.54, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325243.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070630.99, East: 590170.68, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325246.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070629.33, East: 590174.82, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325249.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070627.67, East: 590178.97, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325252.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070626.01, East: 590183.11, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325255.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070624.35, East: 590187.25, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325258.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070622.70, East: 590191.39, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325261.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070621.04, East: 590195.53, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325264.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070619.38, East: 590199.68, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325267.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070617.72, East: 590203.82, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325270.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070616.07, East: 590207.96, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325273.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070614.41, East: 590212.10, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325276.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070612.75, East: 590216.25, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325279.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070611.09, East: 590220.39, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325282.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070609.43, East: 590224.53, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325285.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070607.78, East: 590228.67, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325288.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070606.12, East: 590232.82, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325291.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070604.46, East: 590236.96, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325294.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070602.80, East: 590241.10, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325297.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070601.15, East: 590245.24, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325300.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070599.49, East: 590249.38, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325303.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070597.83, East: 590253.53, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325306.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070596.17, East: 590257.67, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325309.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070594.51, East: 590261.81, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325312.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070592.86, East: 590265.95, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325315.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070591.20, East: 590270.10, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325318.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070589.54, East: 590274.24, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325321.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070587.88, East: 590278.38, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325324.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070586.23, East: 590282.52, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325327.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070584.57, East: 590286.66, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325330.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070582.91, East: 590290.81, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325333.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070581.25, East: 590294.95, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325336.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070579.60, East: 590299.09, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325339.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070577.94, East: 590303.23, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325342.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070576.28, East: 590307.38, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325345.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070574.62, East: 590311.52, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325348.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070572.96, East: 590315.66, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325351.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070571.31, East: 590319.80, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325354.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070569.65, East: 590323.95, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325357.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070567.99, East: 590328.09, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325360.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070566.33, East: 590332.23, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325363.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070564.68, East: 590336.37, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325366.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070563.02, East: 590340.51, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325369.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070561.36, East: 590344.66, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325372.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070559.70, East: 590348.80, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325375.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070558.04, East: 590352.94, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325378.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070556.39, East: 590357.08, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325381.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070554.73, East: 590361.23, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325384.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070553.07, East: 590365.37, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325387.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070551.34, East: 590369.44, Depth: 780.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325390.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070548.98, East: 590373.04, Depth: 779.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325393.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325393.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
INS : North: 4070542.64, East: 590378.58, Depth: 778.94
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488325399.82 sec.; waiting for more recent INS data...

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488325399.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TerrainNav::Measurement type 5 not incorporated from time = 1488325399.82 sec.; No relevant navigation data available
TerrainNav::Measurement type 5 not incorporated from time = 1488325399.82 sec.; No relevant navigation data available
INS : North: 4070536.36, East: 590384.09, Depth: 774.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488325405.82 sec.; waiting for more recent INS data...

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488325405.82 sec.; waiting for more recent INS data...
TerrainNav::No valid bottom velocity measurements for the past 100.0 seconds.  Re-initializing the filter.
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data
INS : North: 4070531.37, East: 590390.87, Depth: 767.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325411.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325411.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070528.59, East: 590399.14, Depth: 760.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325417.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325417.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070528.78, East: 590408.11, Depth: 752.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325423.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325423.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070532.18, East: 590416.55, Depth: 744.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325429.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325429.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070538.45, East: 590423.25, Depth: 736.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325435.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325435.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070546.76, East: 590427.20, Depth: 728.23
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325441.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325441.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070555.97, East: 590427.82, Depth: 720.03
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325447.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325447.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070564.76, East: 590425.00, Depth: 711.82
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325453.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325453.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070571.89, East: 590419.12, Depth: 703.61
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325459.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325459.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070576.35, East: 590411.03, Depth: 695.39
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325465.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325465.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070577.50, East: 590401.86, Depth: 687.17
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325471.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325471.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070575.18, East: 590392.91, Depth: 678.95
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325477.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325477.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070569.71, East: 590385.46, Depth: 670.73
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325483.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325483.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070561.88, East: 590380.56, Depth: 662.51
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325489.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325489.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070552.78, East: 590378.90, Depth: 654.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325495.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325495.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070543.72, East: 590380.72, Depth: 646.06
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325501.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325501.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070535.98, East: 590385.77, Depth: 637.84
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325507.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325507.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070530.65, East: 590393.32, Depth: 629.62
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325513.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325513.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070528.49, East: 590402.31, Depth: 621.40
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325519.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325519.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070529.81, East: 590411.46, Depth: 613.18
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325525.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325525.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070534.41, East: 590419.47, Depth: 604.96
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325531.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325531.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070541.66, East: 590425.21, Depth: 596.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325537.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325537.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070550.52, East: 590427.86, Depth: 588.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325543.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325543.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070559.72, East: 590427.05, Depth: 580.29
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325549.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325549.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070567.98, East: 590422.89, Depth: 572.07
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325555.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325555.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070574.11, East: 590415.98, Depth: 563.85
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325561.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325561.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070577.25, East: 590407.28, Depth: 555.63
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325567.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325567.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070576.95, East: 590398.04, Depth: 547.41
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325573.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325573.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070573.26, East: 590389.57, Depth: 539.19
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325579.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325579.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070566.69, East: 590383.07, Depth: 530.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325585.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325585.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070558.18, East: 590379.45, Depth: 522.74
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325591.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325591.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070548.94, East: 590379.24, Depth: 514.52
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325597.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325597.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070540.28, East: 590382.46, Depth: 506.30
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325603.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325603.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070533.42, East: 590388.65, Depth: 498.08
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325609.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325609.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070529.34, East: 590396.95, Depth: 489.86
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325615.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325615.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070528.61, East: 590406.16, Depth: 481.64
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325621.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325621.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070531.35, East: 590414.99, Depth: 473.42
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325627.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325627.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070537.15, East: 590422.18, Depth: 465.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325633.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325633.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070545.21, East: 590426.72, Depth: 456.97
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325639.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325639.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070554.37, East: 590427.95, Depth: 448.75
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325645.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325645.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070563.34, East: 590425.71, Depth: 440.53
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325651.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325651.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070570.84, East: 590420.31, Depth: 432.31
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325657.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325657.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070575.81, East: 590412.52, Depth: 424.09
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325663.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325663.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070577.55, East: 590403.44, Depth: 415.87
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325669.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325669.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070575.81, East: 590394.36, Depth: 407.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325675.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325675.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070570.84, East: 590386.57, Depth: 399.43
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325681.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325681.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070563.33, East: 590381.17, Depth: 391.20
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325687.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325687.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070554.36, East: 590378.93, Depth: 382.98
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325693.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325693.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070545.20, East: 590380.17, Depth: 374.76
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325699.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325699.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070537.15, East: 590384.71, Depth: 366.54
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325705.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325705.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070531.34, East: 590391.90, Depth: 358.32
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325711.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325711.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070528.61, East: 590400.73, Depth: 350.10
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325717.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325717.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070529.34, East: 590409.95, Depth: 341.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325723.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325723.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070533.42, East: 590418.24, Depth: 333.65
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325729.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325729.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070540.28, East: 590424.44, Depth: 325.43
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325735.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325735.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070548.95, East: 590427.65, Depth: 317.21
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325741.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325741.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070558.19, East: 590427.44, Depth: 308.99
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325747.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325747.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070566.70, East: 590423.82, Depth: 300.77
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325753.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325753.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070573.26, East: 590417.31, Depth: 292.55
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325759.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325759.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070576.95, East: 590408.83, Depth: 284.33
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325765.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325765.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070577.25, East: 590399.60, Depth: 276.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325771.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325771.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070574.11, East: 590390.90, Depth: 267.88
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325777.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325777.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070567.97, East: 590383.99, Depth: 259.66
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325783.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325783.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070559.72, East: 590379.83, Depth: 251.44
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325789.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325789.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070550.51, East: 590379.02, Depth: 243.22
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325795.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325795.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070541.65, East: 590381.68, Depth: 235.00
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325801.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325801.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070534.41, East: 590387.42, Depth: 226.78
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325807.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325807.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070529.80, East: 590395.44, Depth: 218.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325813.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325813.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070528.49, East: 590404.59, Depth: 210.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325819.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325819.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070530.65, East: 590413.57, Depth: 202.11
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325825.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325825.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070535.98, East: 590421.13, Depth: 193.89
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325831.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325831.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070543.73, East: 590426.17, Depth: 185.67
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325837.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325837.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070552.79, East: 590427.99, Depth: 177.45
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325843.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325843.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070561.89, East: 590426.33, Depth: 169.23
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325849.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325849.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070569.72, East: 590421.42, Depth: 161.01
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325855.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325855.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070575.18, East: 590413.97, Depth: 152.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325861.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325861.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070577.50, East: 590405.02, Depth: 144.56
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325867.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325867.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070576.35, East: 590395.85, Depth: 136.34
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325873.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325873.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070571.88, East: 590387.75, Depth: 128.12
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325879.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325879.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070564.74, East: 590381.88, Depth: 119.90
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325885.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325885.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070555.94, East: 590379.07, Depth: 111.68
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325891.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325891.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070546.71, East: 590379.72, Depth: 103.46
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325897.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325897.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070538.39, East: 590383.73, Depth: 95.24
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325903.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325903.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070532.13, East: 590390.53, Depth: 87.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325909.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325909.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070528.84, East: 590399.17, Depth: 78.79
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325915.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325915.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070528.97, East: 590408.41, Depth: 70.57
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325921.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325921.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070532.51, East: 590416.95, Depth: 62.35
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325927.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325927.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070538.96, East: 590423.57, Depth: 54.13
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325933.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325933.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070547.40, East: 590427.34, Depth: 45.91
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325939.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325939.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070556.64, East: 590427.72, Depth: 37.69
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325945.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325945.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Filter not initialized - vehicle currently does not have good range measurements
INS : North: 4070565.36, East: 590424.66, Depth: 29.47
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325951.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::Cannot compute pose estimate; motion has not been initialized.
TerrainNav::Cannot compute pose estimate; motion has not been initialized.

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Measurement type 5 from time = 1488325951.82 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1
TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m
TNAVPF: Opening particles in /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/particles_860v2.cfg
TNAVPF: Successfully initialized particles 
TerrainNav:: vehicle motion has been initialized
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TerrainNav::motionUpdate() - Invalid velocity, using prior value
INS : North: 4070572.33, East: 590418.58, Depth: 21.25
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488325957.82 sec.; waiting for more recent INS data...

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 0.00
TerrainNav::Delayed incorporating measurement type 5 from time = 1488325957.82 sec.; waiting for more recent INS data...
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
INS : North: 4070222.68, East: 589628.08, Depth: 889.77TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
TerrainNav::motionUpdate() - Invalid velocity
TerrainNav::motionUpdate() - Invalid velocity, using prior value
TerrainNav::Measurement type 5 not incorporated from time = 1488325957.82 sec.; No relevant navigation data available
TerrainNav::Measurement type 5 not incorporated from time = 1488325957.82 sec.; No relevant navigation data available
INS : North: 4070576.56, East: 590410.36, Depth: 13.02
TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 64.62
TerrainNav::Delayed incorporating measurement type 5 from time = 1488325963.82 sec.; waiting for more recent INS data...

TerrainNav::measUpdate() - IDT[45] = 0.00, IDT[75] = 64.62
TerrainNav::Delayed incorporating measurement type 5 from time = 1488325963.82 sec.; waiting for more recent INS data...
TerrainNav::No valid bottom velocity measurements for the past 100.0 seconds.  Re-initializing the filter.
TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4.  Keep on Trucking.
Loading vehicle config file... /ProjectLibrary/901504.FullSpeed/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg
Vehicle name: mappingAUV
Number of sensors: 3

Sensor #1: 
Sensor name:  rdiDVL
Sensor type: 1
Number of beams per measurement: 4
Sensor #1 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #2: 
Sensor name:  resonSeabat8101
Sensor type: 2
Number of beams per measurement: 20
Sensor #2 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Sensor #3: 
Sensor name:  imagenexdeltat
Sensor type: 5
Number of beams per measurement: 120
Sensor #3 to vehicle transformation information: 
Rotation angles (phi, theta, psi): 
 (90.000000 ,0.000000, 0.000000)
Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)

Opening homerMmse 2017.059.04-TRN/homerMmse.txtTerrainNav::TNavFilter initialized with type 2
TerrainNav::motionUpdate() - filter unhealthy, skipping this update
INS :get_msg timeout, errno: 0, sl = 0: Success