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RxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRxRx4#############################################################################################                                 _ZN6MatrixD2Ev_ZN6MatrixD1Ev_ZN6MatrixD0Ev_ZN6MatrixaSERKS__ZSt3powdi_ZN10TerrainMap18setMapInterpMethodERKi_ZN10TerrainMap15GetInterpMethodEv_ZN12compassBiasT15evalCompassBiasEd_ZN10TNavFilter18setMapInterpMethodERKi_ZN10TNavFilter18GetInterpMapMethodEv_ZN10TNavFilter21setInterpMeasAttitudeEb_ZN10TNavFilter19setVehicleDriftRateERKd_ZN10TNavFilter18setInitDistribTypeERKi_ZN10TNavFilter17useLowGradeFilterEv_ZN10TNavFilter18useHighGradeFilterEv_ZN10TNavFilter20setModifiedWeightingEb_ZN10TerrainNav15outstandingMeasEv_ZN10TerrainNav18lastMeasSuccessfulEv_ZN10TerrainNav21setInterpMeasAttitudeEb_ZN10TerrainNav18setMapInterpMethodERKi_ZN10TerrainNav19setVehicleDriftRateERKd_ZN10TerrainNav11isConvergedEv_ZN10TerrainNav13getFilterTypeEv_ZN10TerrainNav17useLowGradeFilterEv_ZN10TerrainNav18useHighGradeFilterEv_ZN10TerrainNav15setFilterReinitEb_ZN10TerrainNav20setModifiedWeightingEb_ZN10TerrainNav14getFilterStateEv_ZN10TerrainNav13getNumReinitsEv_ZN10TerrainNav11initializedEv_ZN10TNavConfig8instanceEv_ZZN10TNavConfig8instanceEvE9_instance_ZN10TerrainNavC2EPc_ZTV10TerrainNav_ZN10TerrainNav13initVariablesEv_ZN10TerrainNavC1EPc_ZN10TerrainNavC2EPcS0__ZN10TerrainNavC1EPcS0__ZN10TerrainNavC2EPcS0_RKi_ZN10TerrainNavC1EPcS0_RKi_ZN10TerrainNavC2EPcS0_RKiS0__ZN10TerrainNavC1EPcS0_RKiS0__ZN10TerrainNavC2EPcS0_RKiS2__ZN10TerrainNavC1EPcS0_RKiS2__ZN10TerrainNavC2EPcS0_RKiS2_S0__ZN10TerrainNavC1EPcS0_RKiS2_S0__ZN10TerrainNavC2EPcS0_S0_RKiS2_S0__ZN10TerrainNavC1EPcS0_S0_RKiS2_S0__ZN10TerrainNavD2Ev_ZN10TerrainNavD1Ev_ZN10TerrainNavD0Ev_ZN10TerrainNav12estimatePoseEP5poseTRKi_ZN10TerrainNav10measUpdateEP5measTRKi_ZN10TerrainNav18checkRangeValidityER5measT_ZN10TerrainNav19computeMeasVarianceER5measT_ZN10TerrainNav8mbUpdateEP3mbT_ZN10TerrainNav12motionUpdateEP5poseT_ZN10TerrainNav17attemptInitFilterER5poseT_ZN10TerrainNav17checkFilterHealthEv_ZN10TerrainNav21checkVelocityValidityER5poseT_ZN10TerrainNav16interpolatePosesERK5poseTS2_RS0_d_ZN10TerrainNav12createFilterEiPKd_ZN10TerrainNav12copyToLogDirEv_ZN10TerrainNav10initMotionER5poseT_ZN10TerrainNav12reinitFilterEb_ZTI10TerrainNav_ZTS10TerrainNav_ZN7Janitor7CleanUpEv_ZN7JanitorD2Ev_ZTV7Janitor_ZN7JanitorD1Ev_ZN7JanitorD0Ev_ZN20ArrayLengthSpecifierC2Ei_ZN20ArrayLengthSpecifierC1Ei_ZNK13GeneralMatrix5NcolsEv_ZN6MatrixC2Ev_ZN6MatrixC1Ev_ZN6MatrixD2Ev_ZN6MatrixD1Ev_ZN6MatrixD0Ev_ZN6MatrixaSERKS__ZN6MatrixC2ERKS__ZN6MatrixC1ERKS__ZN15SymmetricMatrixD2Ev_ZN15SymmetricMatrixD1Ev_ZN15SymmetricMatrixD0Ev_ZN15SymmetricMatrixaSERKS__ZN10BaseMatrixD2Ev_ZN10BaseMatrixD1Ev_ZN10BaseMatrixD0Ev_ZN16MultipliedMatrixD2Ev_ZN16MultipliedMatrixD1Ev_ZN16MultipliedMatrixD0Ev_ZN11AddedMatrixD2Ev_ZN11AddedMatrixD1Ev_ZN11AddedMatrixD0Ev_ZN13NegatedMatrixD2Ev_ZN13NegatedMatrixD1Ev_ZN13NegatedMatrixD0Ev_ZN16TransposedMatrixD2Ev_ZN16TransposedMatrixD1Ev_ZN16TransposedMatrixD0Ev_ZN14InvertedMatrixD2Ev_ZN14InvertedMatrixD1Ev_ZN14InvertedMatrixD0Ev_ZN12GetSubMatrixD2Ev_ZN12GetSubMatrixD1Ev_ZN12GetSubMatrixD0Ev_ZN12compassBiasTD2Ev_ZN12compassBiasTD1Ev_ZN10TNavFilter17GetMapResolutionXEv_ZN10TNavFilter17GetMapResolutionYEv_ZN10TNavFilterC2EP10TerrainMapPcS2_PKdRKi_ZTV10TNavFilter_ZN10TNavFilter13initVariablesEv_ZN10TNavFilterC1EP10TerrainMapPcS2_PKdRKi_ZN10TNavFilterD2Ev_ZN10TNavFilterD1Ev_ZN10TNavFilterD0Ev_ZN10TNavFilter12withinRefMapEv_ZN10TNavFilter20withinValidMapRegionERKdS1__ZN10TNavFilter25withinValidMapRegionPointERKdS1__ZN10TNavFilter11isConvergedEv_ZN10TNavFilter19findMeasSensorIndexEiRi_ZN10TNavFilter13applyRotationEPKdRK6Matrix_ZN10TNavFilter13getTerrainMapER4mapT_ZN10TNavFilter19getTerrainMapBoundsEPd_ZN10TNavFilter21increaseInitSearchWinEPd_ZN10TNavFilter12getRotMatrixEPKd_ZN10TNavFilter13projectMeasVFER6MatrixRK5measTPi_ZN10TNavFilter13projectMeasSFER6MatrixRK5measTPi_ZN10TNavFilter16applyDVLrotationERK6Matrix_ZN10TNavFilter12calculateNISER15SymmetricMatrixR12ColumnVectorRdRK5measTPi_ZN10TNavFilter15updateNISwindowERd_ZTI10TNavFilter_ZTI7Janitor_ZTS10TNavFilter_ZTS7Janitor_ZSt3powdi_ZStorSt13_Ios_OpenmodeS__ZN7Janitor7CleanUpEv_ZN7JanitorC2Ev_ZTV7Janitor_ZN7JanitorC1Ev_ZN7JanitorD2Ev_ZN7JanitorD1Ev_ZN7JanitorD0Ev_ZNK20ArrayLengthSpecifier5ValueEv_ZN20ArrayLengthSpecifierC2Ei_ZN20ArrayLengthSpecifierC1Ei_ZNK13GeneralMatrix5NrowsEv_ZNK13GeneralMatrix5NcolsEv_ZN6MatrixC2Ev_ZN6MatrixC1Ev_ZN6MatrixD2Ev_ZN6MatrixD1Ev_ZN6MatrixD0Ev_ZN6MatrixaSEd_ZN6MatrixaSERKS__ZN6MatrixC2ERKS__ZN6MatrixC1ERKS__ZN15SymmetricMatrixC2Ev_ZN15SymmetricMatrixC1Ev_ZN15SymmetricMatrixD2Ev_ZN15SymmetricMatrixD1Ev_ZN15SymmetricMatrixD0Ev_ZN15SymmetricMatrixaSEd_ZN15SymmetricMatrixC2ERKS__ZN15SymmetricMatrixC1ERKS__ZN14DiagonalMatrixD2Ev_ZN14DiagonalMatrixD1Ev_ZN14DiagonalMatrixD0Ev_ZN12ColumnVectorD2Ev_ZN12ColumnVectorD1Ev_ZN12ColumnVectorD0Ev_ZN12ColumnVectorC2E20ArrayLengthSpecifier_ZN12ColumnVectorC1E20ArrayLengthSpecifier_ZN10BaseMatrixC2Ev_ZN10BaseMatrixC1Ev_ZN10BaseMatrixD2Ev_ZN10BaseMatrixD1Ev_ZN10BaseMatrixD0Ev_ZN16MultipliedMatrixD2Ev_ZN16MultipliedMatrixD1Ev_ZN16MultipliedMatrixD0Ev_ZN11AddedMatrixD2Ev_ZN11AddedMatrixD1Ev_ZN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106 ` TNavPointMassFilter.o/ TNavParticleFilter.o/ TerrainMapOctree.o/ matrixArrayCalcs.o/ TerrainNavClient.o/ TerrainNav.o/ 1489074499 506 20 100777 125176 ` 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HEHUHHH}HEHHEHUHHH}HuHUHEHHUHH E}}EEHEHEEUHHH}HuHEHEPUHHH}HE@UHH0H}EHEH@HEEHEHUHcHHU؋E*YEYEEHEH@UHcHH]ЋE*YEYEXEMXEEHE@;EgHEHEEUHHH}HuHEHHHUHHUHHH}HEHHHUHHH}EHEUUHHH}HuHEHPHEHHUHHH}HuHEHEPUHHH}HEƀHEƀUHHH}HEƀHEƀUHHH}EHEUUHHH}HEdUHHH}HEdUHHH}EUHEH@HUHHH}HuHEH@HUHHUHHH}HuHEH@HUHHUHHH}HEH@HUHHH}HEfUHHH}HEH@HUHHH}HEH@HUHHH}EHEUXfUHHH}EUHEH@HUHHH}UHHH}HE\fUHHH}HEfUHATSHHt H; HHHHIHLH[A\] &1FWmappingAUV_specs.cfgTerrainNav::Number of reinitializations: %i TerrainNav::Cannot compute pose estimate; motion has not been initialized. TerrainNav::Measurement type %i from time = %.2f sec. not included; vehicle motion has not been initialized. lastMeasValid = %d TerrainNav::Measurement type %i from time = %.2f sec. not included; vehicle is operating outside the given reference maps. TerrainNav::Delayed incorporating measurement type %i from time = %.2f sec.; waiting for more recent INS data... TerrainNav::measUpdate - Measurement type %i successfully incorporated from time = %.2f sec. TerrainNav::Did not incorporate measurement type %i from time= %.2f sec.; no INS pose data available. TerrainNav::mbUpdate - recv mbT %d ranges from time = %.2f sec. TerrainNav::motionUpdate() - filter unhealthy, skipping this update TerrainNav::motionUpdate() - Invalid velocity TerrainNav::motionUpdate() - Invalid velocity, using prior value TerrainNav::Measurement type %i not incorporated from time = %.2f sec.; No relevant navigation data available TerrainNav::motionUpdate - Measurement type %i successfully incorporated from time = %.2f sec. Loading vehicle config file... %s TerrainNav::TNavFilter initialized with type %i TerrainNav::attemptInitFilter is increasing Init Search Window by %f m TerrainNav::Filter not initialized - vehicle is currently within a non-valid region of the reference map TerrainNav::Filter not initialized - vehicle is currently on the surface TerrainNav::Filter not initialized - vehicle currently does not have good range measurements TerrainNav::Filter not initialized - vehicle currently does not have bottom lock or good velocity data TerrainNav:: vehicle motion has been initialized TerrainNav:: Throwing out all beams beacause more than two are equal at t=%.2f. TerrainNav::measUpdate() - IDT[45] = %.2f, IDT[75] = %.2f TerrainNav::No valid range measurements for the past %.1f seconds. Re-initializing the filter. TerrainNav::No valid bottom velocity measurements for the past %.1f seconds. Re-initializing the filter. TerrainNav:: Windowed NIS average %.2f exceeds the maximum allowed of %.1f. Re-initializing the filter. TerrainNav:: Windowed NIS is %.1f, in allowable region under %.1f. Keep on Trucking. latestcp %s %s/.Y@@?Q?@-C6??k@$@i@ffffff?-;[-?_-Cc-Gg-Gg-Kk-KkV}0)  %RGI(r_10TerrainNavU(^intee > 0 . ^     ( 0 8 @ H P X =` Ch ^p ^t lx 0 E I Y %w . / 0 1 2 4^ 6_ @  S}  Vd X7 \} T^ ]E  ^9   l  77  = = C ^  Y ou n^ a7 jstd@,Yt5Z{/Uu*D^xRh ,GgÇħ<\s̊ͨ#  $ 4$Հ_Tp0>5u$6%7%eR%S%T\&e&h9&iN&`azcm&d&e&f&g&h&i&j'k2'oM'pr'r's't'v'w(x(y&(~8(M(g(y(((((v)wE){))))*,*G*]*x*****++,+K+j+++u)++),+ ,C,\r_a-b>5cI5dO5q g5s-8 g5!m5yHS g5 ^"hi#H O $R S T %V y5%Z y5!5&e y5!5M Kyn'q5L R 5'u5i o 5'y* 5%| 5% 5!5* % 5!% 5!!5%  5 ^' * 5 5!(H X 5! !)l w 5! 5  R o _Tp#wRwތ !RWY _ 5*p { 5!5= *' 5!1 !5!5 +6 5!5+ 5 ^,5  5!5- + 5!1 !5. 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" # %4 = %1`"i %b@ %n %  %  %&<E %Wd\bZ %j T %4Z X.#x% %'x+-:/$3- %L7l9u %TNavFilter.o/ 1489074499 506 20 100777 97472 ` ELF>(@@)+-/13579;=>@BDFHJLNPRTVXZ\^`bdhjlnopUHATSH@H}HuHUHMLELMHEHHEH HHEHE؉xHEHUHH HHEHHHEHXHEH@HEHUH@HEƀE.EHHHEHHHU؋MHcH*HDE}#~HEHHUHHEHHHUHHEH0IHLHHEH HHHH@[A\]UHSHH}HEHHEH@HtHEH@HHEH@HEH@HtHEHXHtHHHEH@HEH@HtHEHXHtHHHEH@HEH Ht.HEH HHEH HHHH[]UHHH}HEHHEHÐUHH H}HEH@HHEHEH@H@HEHEHHHH HHEHHHUHEHUMHEEHÐUHATSH@H}HuHUHf@HEHEHHHH(HHEHHEHHuHHHUMHEEHф}HEHHHH(L HEHHEUHEXfTXEXEHEHHH]MHAԄ HEHHHH(L HEHHEUHEXfTU\f(\EHEHHH]MHAԄHEHHHH(HHE]HEhfTXEXEHEHHUHHf(HEEHӄHEHHHH(HHE]HEhfT]\f(\EHEHHUHHf(HEEHӄHEHHHH(HHE eHEhfTXEXEEHE(mHEXfTXEXEHEHHMHӄHEHHHH(HHE0uHEhfTXEXEEHE eHEXfTe\f(\EHEHHMHӄYHEHHHH(HHE(mHEhfTm\f(\EEHE8}HEXfTXEXEHEHHMHӄHEHHHH(HHE0uHEhfTu\f(\EEHE8}HEXfT}\f(\EHEHHMHӄttH@[A\]UHH H}HuHUHEHHHH(HHEHHEHHuHHHUMHEEHфtUHHH}HEUHHH}uHUHEHEPHEHEH@HHEHcHHHHHHHȋ@;EHEHEH@9!ȄuHEHEH@9|UHSHHXHPHHH@H@HXHHHHHH888H8HhHHHH888H8HpHHHHH888H8HxHHHHH888H8HEHHHHH888H8HEHHHHH888H8HEEYpEEYhEEYxEEYxEMfWEMfWf(YhEYEXEEf(YhEYEXExYpEEf(YpEYEXEMfWf(YpEYEXExYhEDžddHXHHËdH@HYE8dH@HYEX88dH@HYEX8dHXHHËdH@HYE8dH@HYEX88dH@HYEX8dHXHHËdH@HYE8dH@HYEX88dH@HYEX8dH@H;dHHXHHHHXH[]ÐUHHH}HuHEHHHH@HHUHHHMHHÐUHHH}HuHEHHHHHHHUHHHMHHÐUHH H}HuEHHEUHcH*LEHHHEHXHEUHcH*DE}#~ÐUHSHHH}HEH@HHEH@HEƀHEƀHUHB HUHB(HUHHHUHEHUEHHHHʃE}~EHUEHHHHʃE}~HEǀPEEHEH@HEHcHHHHHHHȋ@HEH@;E!ЄuHEH@HEHHH H)HHHHEHHEHHEHMHHHEH HEHHHEHHHEHHHHH[]ÐUHSHhHHHHHHH0HHPxHPHDžHHHHHtjHHHPHH9HH@HHHH H)HHHHpHHHHpH0HHHpHHH@HHHH H)HHHPHHHHHH`HHPHHHDžHEHPAAйHHH0HHHHUHHHHHHHHHHEAAйHHHEHHHEHHHHHHHHEHHPH;HPHH0HHHHHpHaHHEHHHHHHHHHHHHEHHHPHHH0HHHHHHHh[]UHSHH8H0H(H DžLDžPHpHH(HHLH8HtH8H@HLHcHHHHHHHHHHPHpHHDžTH(H@pTHcHHtH(@ t; H8H@HLHcHHHHHHHHHTHHH H)HH8HH@HXH8H@HLHcHHHHHHHHHTHHH H)HH8HH@H`PPH0HHHXHH`HYH(H@HTHcHHHYPPH0HHHXHH`HYH(H@HTHcHHHYPPH0HHHXHH(H@HTHcHHHYPPH0HHH(H@XTHcHHHHHPPH0HHH(H@PTHcHHHHHPPH0HHH(H@`THcHHHHHPPH0HHH(H@HH(H@HYPPH0HH¸HPPH0HHH(H@HH(H@HYH8H@HLHcHHHHHHHHHTHHH H)HH8HHHhH8H@HLHcHHHHHHHHHTHHH H)HH8HH@HXH8H@HLHcHHHHHHHHHTHHH H)HH8HH@H`PPH0HHHXHH`HYH(H@HTHcHHHYPPH0HHHXHH`HYH(H@HTHcHHHYPPH0HHHXHH(H@HTHcHHHYPHPPH0HEAAйHHpHEHHHEHPHHH HЋTPTH(@x;T#Pu/H(HHzH(@x;Pt!H(@x+PƿH0HEPѺHHUH0HHHEHHpH?HHEHHHEHHHpHHHH[]UHSHhH}HuHUHEHHEHHEEEHEHEHEHHEEEHEHEHEHHHEEEHEHEHEHHHEEEHEHEHEHHHEEEHEHEHEHHHEEEHEHEEYEEEYEEHEHEYEHEHEYEHEHMfWHEHMfWf(YMEYEXHEHEf(YMEYEXHEHEYEHEHEf(YMEYEXHEHMfWf(YMEYEXHEHEYEHHEHHHHEHh[]UHSHHH}HuHUHUHEHHEUHEؾHHHEH HMUHEȾHYEEHEH HUUHEȾHYEXEEHEH H]UHEȾHYEXEUHEؾHHHEH H eUHEȾHYEEHEH H(mUHEȾHYEXEEHEH H0uUHEȾHYEXEUHEؾHHHEH H8}UHEȾHYEEHEH HMUHEȾHYEXEEHEH HUUHEȾHYEXEEHEH;E'HHEHHHHEHH[]ÐUHSHH8H0H(H LLH0HHEЉHUHEHH0HEHHDžLiLPLHHEHHHR@LHcH4HH HcHHXLH0H;LwHEHH(H`HUHHH(HPHHHpH`HPHHHEHpHHHHUHEHHHEHHpHHPHH`HHEкHHH HH H0H*^f(H HEHHEHxHHEHHHpHHHPHHH`HHHEHHHEHHHH[]ÐUHH H}HuHUHB(E`EPHEHcHHHUMHcHHHEH(HEUHcH^XHE@(E}~HEHHUHHEH(HE^XHE@(UHHH}UHHH}HEHt HEHUHHH}HEHHEHUHHH}uHEUUHHH}HE@UHHH}HEHHEHUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HuHUHEHHUHSHH}HuHEHHEHHUHEHHHHEHHHH[] ;BWUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HuHUHEHHUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HEHHEHt HEHUHHH}HEHHEHUHHH}HEHHtHEHHHEH@HtHEH@HUHHH}HEHHHHPHHUHHHEHEHEEUHHH}HEHHHHXHHUHHHEHEHEE@i{cA VAPn'U_+(H>f|TNavFilter:: Invalid measurement type. 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Ignoring write command.randParticles.txtresampParticles.txthomerParticles.txthomerMmse.txtOpening homerMmse %smeasWeights.txtTNAVPF: Opening particles in %s Error opening file: particles.cfgTNAVPF: Successfully initialized particles Error:Tried to write homer location particle data to an unopened file. Ignoring write command.Error:Tried to write homer location mmse data to an unopened file. Ignoring write command.TerrainNav::Resampling particle filter... 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