Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor::c: WorkSite::WorkSite -- Adding attributes reateT: WorkSite::WorkSite -- Loading parameters from file /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/workSite.cfg ask() - navigationServer : Using default vehicle config file "/home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/vehicle.cfg" : starting LC: layeredControlServer -plan ../missions/2017_WallTest_1v3Ed.cfg.pp -abort ../missions/abortSimPlan.cfg Supervisor::createTask() - layeredControlServer -plan ../missions/2017_WallTest_1v3Ed.cfg.pp -abort ../missions/abortSimPlan.cfg Supervisor::createTask() - dynamicControlServer : Creating NavigationServer... : *** NavigationServer::NavigationServer()... Supervisor::createTask() - simulator : layeredControlServer - creating non dynamic version Supervisor::createTask() - simDepthSensor : Supervisor: configDirPath = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging Supervisor::createTask() - simKearfott : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x23208 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... Supervisor::createTask() - simAhrs : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 1 : Navigation - Using only the Dvl to compute altitude. : **** FastTime ctor [0007d144] **** : ****Time::gettime using FastTime instance [0007d144] : Navigation/EchoSounder:: epoch = (1488317794,817758685) : Navigation: Opening Acoustic Modem Interface: S: Create simulator... upervisor::createTask() - simTailCone : **** FastTime ctor [0007b608] **** : ****Time::gettime using FastTime instance [0007b608] : Create VehicleConfigurationIF... : Okay... : Create attributes... : Simulator::Simulator() - msSimDelay = 0 : Simulator:: initPsi = 0.000000 Su: Done creating attributes. Parse 'em... pervis: SimulatedDepthSensor - connecting... or::cre: SimulatedDepthSensor - connected OK ateTask() - simGps Supervi: SimulatedKearfott:: Constructor. sor::crea: SimulatedKearfott::Setting utm zone to 10 teTask: Running SimulatedKearfott now () - simDvl Supervisor::createTask() - simDvlSide : **** FastTime ctor [000a30d4] **** : ****Time::gettime using FastTime instance [000a30d4] Supervisor::createTask() - simDeltaT Superviso: Simulator:: initPsi = 225.000000 r::cre: Simulator:: zMax = 210.000000 ateTask() - : The utm zone is 10 simCtd : Simulator: The lat/long in workSite.cfg is 0.642245, -2.12882 : Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.07295e+006, 591684 : Simulator: _nydepths = 10 : Simulator: 0 _depth=100.0, _ydepth-_position0[2]=-450.0 : Simulator: 1 _depth=100.0, _ydepth-_position0[2]=-390.0 : Simulator: 2 _depth=100.0, _ydepth-_position0[2]=-312.0 : Simulator: 3 _depth=100.0, _ydepth-_position0[2]=-310.0 : Simulator: 4 _depth=100.0, _ydepth-_position0[2]=-230.0 : Simulator: 5 _depth=100.0, _ydepth-_position0[2]=-220.0 : Simulator: 6 _depth=100.0, _ydepth-_position0[2]=-140.0 : Simulator: 7 _depth=100.0, _ydepth-_position0[2]=-130.0 : Simulator: 8 _depth=100.0, _ydepth-_position0[2]=-50.0 : Simulator: 9 _depth=100.0, _ydepth-_position0[2]=0.0 : Simulator: _nydepths = 10 : Simulator: 0 _depth=100.0, _ydepth-_position0[2]=-450.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 1 _depth=100.0, _ydepth-_position0[2]=-390.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 2 _depth=100.0, _ydepth-_position0[2]=-312.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 3 _depth=100.0, _ydepth-_position0[2]=-310.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 4 _depth=100.0, _ydepth-_position0[2]=-230.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 5 _depth=100.0, _ydepth-_position0[2]=-220.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 6 _depth=100.0, _ydepth-_position0[2]=-140.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 7 _depth=100.0, _ydepth-_position0[2]=-130.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 8 _depth=100.0, _ydepth-_position0[2]=-50.0, _slope=0.00e+000, _yinter=1.00e+002 : Simulator: 9 _depth=100.0, _ydepth-_position0[2]=0.0, _slope=0.00e+000, _yinter=0.00e+000 : Octree map file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/TheWall_2m.bo : Simulator:: Octree map = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/TheWall_2m.bo : Running SimDvl now Supervisor::createTask() - simBluefinBatt : Running SimDvlSide now Supervisor::create: **** FastTime ctor [0002d5f4] **** Task() : ****Time::gettime using FastTime instance [0002d5f4] - simH: SimulatedDeltaT::Constructor starting at t = 0 ydros: SimulatedDeltaT::minGrazing = 0.00 deg. cat Supervisor::createTask() - simIsus Supervisor::createTask() - simGulper Supervisor::createTask() - simReson Supervisor::createTask() - simModem S: Begin simGulper. upervisor::c: Begin SimulatedGulperServer constructor. reateTask() - simUsbl : gulperLog:: Constructor completed. : End SimulatedGulperServer constructor. Supervisor::createTask() - simTerrainAid Supervisor::createTask() - simCathx Supervi: SimulatedUsbl:: Initial beacon interrogation address is V7_7 sor::createTask() - simCarl : Navigation: acommsIF = 0x81540 : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 0. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 0. : Navigation::connectSensors core - connecting to Nav->KearfottServer at t = 0. : Navigation::connectSensors core - connecting to Nav->Dvl at t = 0. : Navigation::connectSensors aux - connecting to Nav->Gps at t = 0. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 0. : SimulatedUsbl:: There are 5 beacons in the table. : SimulatedUsbl:: beacon 27 V11_2 lat=36.81249 lon=-121.97346 SimulatedUsbl:: northing = 4074563.1 easting=591562.4 : SimulatedUsbl:: beacon 50 V4_5 lat=36.81611 lon=-121.98352 SimulatedUsbl:: northing = 4074955.6 easting=590661.2 : SimulatedUsbl:: beacon 28 V12_2 lat=36.81249 lon=-121.97346 SimulatedUsbl:: northing = 4074563.1 easting=591562.4 : SimulatedUsbl:: beacon 29 V13_2 lat=36.81349 lon=-121.97746 SimulatedUsbl:: northing = 4074670.2 easting=591204.4 : SimulatedUsbl:: beacon 0 V7_7 lat=36.60682 lon=-121.87457 SimulatedUsbl:: northing = 4051846.5 easting=600651.5 : SimulatedUsbl:: Changing to beacon 0 at (4051846.5, 600651.5) : Simulating Usbl with Gaussian noise. : Running SimUsbl now Supervisor::createTask: TerrainAidServer::TerrainAidServer - sim () - cameraServer -dev tcp:172.20.64.214:10002 -sim : Configuration file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/terrainAid.cfg : cathxServer - initializing... : cathxServer - running... Supervisor::createTask() - simEchoSounder Supervisor::createTask() - sysDataDriver -f5 : WaypointWall::Converted lastLatitude = 36.77941200 degrees to 4070872.06 m : WaypointWall::Converted lastLongitude = -121.99624900 degrees to 589568.46 m : WaypointWall::validInput() - Opening IF to rangeInst = 3 : Using range finder 3. : WaypointWall::Converted lastLatitude = 36.77680900 degrees to 4070574.12 m : WaypointWall::Converted lastLongitude = -122.00609700 degrees to 588692.66 m : WaypointWall::validInput() - Opening IF to rangeInst = 3 : Using range finder 3. : **** FastTime ctor [0003bfdc] **** : ****Time::gettime using FastTime instance [0003bfdc] : SimulatedEchoSounder::Constructor starting at t = 0 : SimulatedEchoSounder::minGrazing = 0.00 deg. : WaypointWall::validInput() - Opening IF to rangeInst = 3 : Using range finder 3. : WaypointWall::Converted lastLatitude = 36.77622700 degrees to 4070514.57 m : WaypointWall::Converted lastLongitude = -122.00070300 degrees to 589174.69 m : WaypointWall::validInput() - Opening IF to rangeInst = 3 : Using range finder 3. : WaypointWall::validInput() - Opening IF to rangeInst = 3 : Using range finder 3. : WaypointWall::Converted lastLatitude = 36.77480900 degrees to 4070363.88 m : WaypointWall::Converted lastLongitude = -121.99363600 degrees to 589807.00 m : WaypointWall::validInput() - Opening IF to rangeInst = 3 : Using range finder 3. : WaypointWall::validInput() - Opening IF to rangeInst = 3 : Using range finder 3. : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : TerrainAid -- configuration: : CameraDriver:: Before navigation IF. : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : mapFileName = TheWall_2m.bo : map_type = 2 : particlesName = particles_860v2.cfg : vehicleCfgName = mappingAUV_specsSide20.cfg : terrainNavServer = 134.89.10.239:27027 : forceLowGradeFilter = false : allowFilterReinits = true : useModifiedWeighting = true : samplePeriod = 3000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : useIDTData = true : useDVLSide = true : Vehicle Configuration now : Vehicle configuration file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg : Map file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/TheWall_2m.bo : TerrainAidDriver:: RollOffset is 0.00 : TerrainAidDriver: Using TerrainNavClient at 134.89.10.239 on port 27027 and map TheWall_2m.bo : TerrainAidDriver - logs/latest is 2017.059.04-TRN/ : TerrainAidDriver::Connected to server. : TerrainAidDriver::TerrainAidDriver - ctor complete : Running simTerrainAid now : Simulator::Octree Map /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/TheWall_2m.bo loaded successfully. : Simulator::Octree lower bounds ( 4069512.00 586730.00 100.00 ) : Simulator::Octree upper bounds ( 4077704.00 594922.00 8292.00 ) : Simulator::Octree number of branch nodes = 1370579. : Simulator::Octree number of leaf nodes = 9594054. : Simulator::Octree size in RAM >= 98681693 bytes. : **** FastTime ctor [00084b80] **** : ****Simulator::init_simulation [0006b478] using FastTime instance [00084b80] : Invoke simulator->run()... : SimulatedDeltaT:: _verticalMount = 0, _fwdEnabled = 1 : SimulatedDeltaT:: _tbeams = 210, _nbeams = 120 : SimulatedEchoSounder - sector = 30. : SimulatedEchoSounder:: epoch = (1488317794,817758685) : SimulatedEchoSounder::Constructor finished at t = 0 : Running SimEchoSounder now : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 0. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 0. : Navigation: Setting simulator callback : Navigation::Navigation(). _es->valid() = 0 at t = 0. : PeriodicTask::run() (navigation) - sampleInterval=2000, maxInterval=0 : ============== Navigation giving simulation a push start in 2... : SimulatedDeltaT:: epoch = (1488317794,817758685) : SimulatedDeltaT::Constructor finished at t = 0 : sysDataDriver: Frequency is 5 : sysDataDriver - frequency = 5 : PeriodicTask::run() (sysdata) - sampleInterval=200, maxInterval=200 : **** FastTime ctor [0002145c] **** : ****Time::gettime using FastTime instance [0002145c] : **** FastTime ctor [000201dc] **** : ****Time::gettime using FastTime instance [000201dc] : **** FastTime ctor [0003b1f4] **** : ****Time::gettime using FastTime instance [0003b1f4] : **** FastTime ctor [000313bc] **** : ****Time::gettime using FastTime instance [000313bc] : **** FastTime ctor [0004ad24] **** : ****Time::gettime using FastTime instance [0004ad24] : Navigation:: deltaT = 0.00 is impermissible. : **** EventTriggers::add() - attaching proxy : Reson Behavior::log=0,sbp=0,0.000000 | hiss=0,0.000000,-1.000000,200.000000 | loss=0,0.000000,-1.000000,200.000000 | mb=1,0.000000,3.000000,200.000000,33.000000,0.000030,0.000000 | pulse="","" : Reson Behavior: Stopping subbottom profiler : Reson Behavior: Setting SBP gain to 128.000000 : Reson Behavior: Setting SBP duration to 300.000000 : Reson Behavior: Setting SSLo range to 200.000000 : Reson Behavior: Stopping lo-freq SS : Reson Behavior: Setting SSHi range to 200.000000 : Reson Behavior: Stopping hi-freq SS : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB power to 0.000000 : Reson Behavior: Setting MB range to 200.000000 : Reson Behavior: Setting MB rate to 3.000000 : Reson Behavior: Setting MB gain to 33.000000 : Reson Behavior: Setting MB pulse width to 0.000030 : Reson Behavior: Setting MB Bottom detection filter 15.000000:200.000000:0.000000:200.000000 : Reson Behavior: Turning on snippet control - window size = 200 : Reson Behavior: Turning on bottom detection modes: 0, 1 : Reson Behavior: Starting MB pinging : Reson Behavior: Stopping logging : Reson Behavior: Stopping 7k Center Logging : LayeredControl::execute() -- (t = 0.000000) Behavior reson:-1 has changed to state Active : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** FastTime ctor [0003af80] **** : ****Time::gettime using FastTime instance [0003af80] : **** EventTriggers::add() - attaching proxy : *** Mission started *** : **** EventTriggers::add() - attaching proxy : !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl" : Event received at _simTime=0.02 : Simulator::missionStatusCallback() - mission started : **** FastTime ctor [0002a7b4] **** : ****Time::gettime using FastTime instance [0002a7b4] : TerrainAidDriver:: _navTime0 = 0.00 : TerrainAidDriver:: _dvlTime0 = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.70, 591683.55) : _tercom->outstandingMeas() = 0 : **** FastTime ctor [000dd1b4] **** : ****Time::gettime using FastTime instance [000dd1b4] : Simulator:: Before the call to motion(): simTime = 0.00, (simTime - realTime) = 0.00 Heading = 225.00 Depth = 0.00 Speed = 0.00 Pitch = 0.00 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 3 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.70, 591683.55) : _tercom->outstandingMeas() = 0 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : SimulatedDeltaT: Surface detected at simtime = 6.00. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.70, 591683.55) : _tercom->outstandingMeas() = 0 : Behavior reson - Timed out! : LayeredControl::execute() -- (t = 6.200000) Behavior reson:-1 has changed to state Finished : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.200000) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.200000) Behavior setpoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 1 at t = 8.20 sec. : DynamicControlServer::Begin vertical mode 1 at t = 8.20 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.68, 591683.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 112.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.28, 591683.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072944.38, 591682.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072942.98, 591680.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072941.08, 591679.39) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 112.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 14.90, IDT[75] = 0.00 : _navData-> (x,y) = (4072938.68, 591677.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 14.90, IDT[75] = 0.00 : _navData-> (x,y) = (4072935.85, 591676.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 6.33, IDT[75] = 0.00 : _navData-> (x,y) = (4072932.70, 591676.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 6.33, IDT[75] = 0.00 : _navData-> (x,y) = (4072929.31, 591675.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 114.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 8.08, IDT[75] = 0.00 : _navData-> (x,y) = (4072925.77, 591675.81) : _tercom->outstandingMeas() = 0 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 38.400000) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 38.400000) Behavior descend:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 8.08, IDT[75] = 0.00 : _navData-> (x,y) = (4072922.12, 591675.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 12.88, IDT[75] = 0.00 : _navData-> (x,y) = (4072918.41, 591676.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 12.88, IDT[75] = 0.00 : _navData-> (x,y) = (4072914.89, 591676.52) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 118.0 Dvl range = 10.4, range = 24.0 numValidBeams = 2 beam1 range = 18.5, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 5.5, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 23.18, IDT[75] = 0.00 : _navData-> (x,y) = (4072911.67, 591676.78) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on depth 3.078043 > 3.000000 at time 49.600000 : LayeredControl::execute() -- (t = 49.600000) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 49.600000) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 49.60 (wplog) The current location (N,E) = 4072910.1 , 591676.9 (wplog) The next waypoint = 4073031.6 , 591706.5 (wplog) The bearing to the next w.p. is 13.7 Degrees. : LayeredControl::execute() -- (t = 49.600000) Behavior waypoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 3 at t = 49.60 sec. : DynamicControlServer::Begin vertical mode 2 at t = 49.60 sec. : TerrainAidDriver::readData() - IDT[45] = 23.18, IDT[75] = 0.00 : _navData-> (x,y) = (4072908.73, 591677.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 40.44, IDT[75] = 0.00 : _navData-> (x,y) = (4072905.99, 591677.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 40.44, IDT[75] = 0.00 : _navData-> (x,y) = (4072903.21, 591677.69) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 120.0 Dvl range = 25.3, range = 58.5 numValidBeams = 2 beam1 range = 37.5, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 21.0, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 81.85, IDT[75] = 0.00 : _navData-> (x,y) = (4072900.40, 591678.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 81.85, IDT[75] = 0.00 : _navData-> (x,y) = (4072897.77, 591680.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 82.09, IDT[75] = 0.00 : _navData-> (x,y) = (4072895.53, 591682.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 82.09, IDT[75] = 0.00 : _navData-> (x,y) = (4072893.84, 591684.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 120.0 Dvl range = 47.5, range = 109.7 numValidBeams = 2 beam1 range = 84.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 25.7, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 69.08, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.81, 591686.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 69.08, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.40, 591689.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 72.36, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.53, 591691.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 72.36, IDT[75] = 0.00 : _navData-> (x,y) = (4072893.12, 591693.48) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 120.0 Dvl range = 92.5, range = 213.6 numValidBeams = 2 beam1 range = 178.2, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 35.4, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 81.64, IDT[75] = 0.00 : _navData-> (x,y) = (4072894.07, 591695.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 81.64, IDT[75] = 0.00 : _navData-> (x,y) = (4072895.31, 591696.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 91.88, IDT[75] = 0.00 : _navData-> (x,y) = (4072896.77, 591697.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 91.88, IDT[75] = 0.00 : _navData-> (x,y) = (4072898.39, 591698.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 120.0 Dvl range = 105.1, range = 242.7 numValidBeams = 2 beam1 range = 198.4, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 44.3, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072900.12, 591699.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072901.90, 591699.29) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 100.00, (simTime - realTime) = 0.00 Heading = -12.46 Depth = 17.44 Speed = 0.60 Pitch = -35.23 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072903.68, 591699.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072905.41, 591698.75) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 116.0 Dvl range = 45.1, range = 52.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 52.0, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072907.04, 591698.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072908.55, 591697.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072909.95, 591695.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072911.25, 591694.70) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 116.0 Dvl range = 50.8, range = 58.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 58.6, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072912.52, 591693.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072913.78, 591692.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072915.08, 591691.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072916.46, 591689.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 116.0 Dvl range = 57.3, range = 66.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 66.2, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072917.92, 591689.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072919.45, 591688.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072921.05, 591687.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072922.71, 591687.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 114.0 Dvl range = 64.4, range = 74.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 74.3, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072924.39, 591686.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072926.10, 591686.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072927.82, 591686.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072929.55, 591686.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 114.0 Dvl range = 71.2, range = 82.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 82.2, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072931.28, 591686.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072933.01, 591686.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072934.73, 591686.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072936.46, 591686.37) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 112.0 Dvl range = 78.6, range = 90.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 90.8, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072938.18, 591686.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072939.91, 591686.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072941.63, 591686.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072943.35, 591686.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 112.0 Dvl range = 85.9, range = 99.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 99.2, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.07, 591686.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072946.79, 591686.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072948.51, 591686.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072950.23, 591686.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 93.1, range = 107.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 107.5, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072951.94, 591686.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072953.65, 591686.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072955.36, 591686.60) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 200.00, (simTime - realTime) = 0.00 Heading = 9.37 Depth = 42.11 Speed = 0.60 Pitch = -39.71 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072957.06, 591686.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 100.3, range = 115.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 115.8, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072958.76, 591687.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072960.45, 591687.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072962.13, 591687.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072963.81, 591688.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 137.3, range = 317.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 192.8, iterations = 0, grazing = 0.0 beam4 range = 124.3, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072965.48, 591688.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072967.14, 591689.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072968.81, 591689.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072970.49, 591690.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 137.2, range = 316.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 183.4, iterations = 0, grazing = 0.0 beam4 range = 133.4, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072972.18, 591690.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072973.90, 591691.17) : _tercom->outstandingMeas() = 0 : SimulatedDeltaT: Surface lost at simtime = 234.00. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072975.65, 591691.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072977.42, 591692.43) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 137.7, range = 318.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 174.7, iterations = 0, grazing = 0.0 beam4 range = 143.4, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072979.24, 591693.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072981.11, 591693.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072983.03, 591694.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072985.02, 591695.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 139.6, range = 322.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 167.2, iterations = 0, grazing = 0.0 beam4 range = 155.1, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072987.08, 591695.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072989.22, 591696.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072991.46, 591697.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072993.80, 591698.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 106.0 Dvl range = 144.5, range = 333.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 163.1, iterations = 0, grazing = 0.0 beam4 range = 170.7, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072996.26, 591698.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072998.84, 591699.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073001.57, 591700.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073004.44, 591700.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 106.0 Dvl range = 155.8, range = 359.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 167.4, iterations = 0, grazing = 0.0 beam4 range = 192.5, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073007.46, 591701.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073010.64, 591702.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073013.98, 591702.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073017.49, 591703.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 152.8, range = 176.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 176.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073021.14, 591704.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073024.94, 591705.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073028.88, 591705.83) : _tercom->outstandingMeas() = 0 : Waypoint has set the state to finished. : Waypoint (4073031.6, 591706.5), reached at t = 296.20 (wplog) : Vehicle Position is error is (-0.2, 0.1) : LayeredControl::execute() -- (t = 296.200000) Behavior waypoint:-1 has changed to state Finished : Reson Behavior::log=0,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,218.000000,3.000000,200.000000,33.000000,0.000030,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB power to 218.000000 : Reson Behavior: Setting MB range to 200.000000 : Reson Behavior: Setting MB rate to 3.000000 : Reson Behavior: Setting MB gain to 33.000000 : Reson Behavior: Setting MB pulse width to 0.000030 : Reson Behavior: Setting MB Bottom detection filter 15.000000:200.000000:0.000000:200.000000 : Reson Behavior: Turning on snippet control - window size = 200 : Reson Behavior: Turning on bottom detection modes: 0, 1 : Reson Behavior: Stopping logging : Reson Behavior: Stopping 7k Center Logging : LayeredControl::execute() -- (t = 296.200000) Behavior reson:-1 has changed to state Finished : Reson Behavior::log=2,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : Reson Behavior: Stopping logging : Reson Behavior: Starting 7k Center Logging : LayeredControl::execute() -- (t = 296.200000) Behavior reson:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 296.200000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 296.200000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 296.20 (wplog) The current location (N,E) = 4073031.8 , 591706.4 (wplog) The next waypoint = 4071994.6 , 591781.7 (wplog) The bearing to the next w.p. is 175.9 Degrees. The distance to the next w.p. is 1040.0 Meters. The slope to the next w.p. is -0.2359. The initial commanded depth is 56.1 meters. The final commanded depth is 301.5 meters. : LayeredControl::execute() -- (t = 296.200000) Behavior waypoint_depth:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 4 at t = 296.20 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073032.93, 591706.65) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 172.8, range = 199.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 199.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073037.06, 591707.53) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 300.00, (simTime - realTime) = 0.00 Heading = 18.29 Depth = 60.94 Speed = 1.41 Pitch = 0.42 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073041.02, 591708.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073044.46, 591711.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073047.08, 591714.48) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 170.1, range = 196.4 numValidBeams = 1 beam1 range = 196.4, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = fc : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073048.68, 591718.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073049.13, 591722.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073048.40, 591726.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073046.55, 591729.80) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 166.1, range = 191.8 numValidBeams = 1 beam1 range = 191.8, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = fc : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073043.75, 591732.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073040.24, 591734.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073036.36, 591735.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073032.45, 591735.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 157.7, range = 182.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 182.1, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073028.84, 591734.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073025.79, 591732.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073023.41, 591729.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073021.48, 591726.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 149.1, range = 172.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 172.2, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073019.67, 591723.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073017.72, 591720.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073015.49, 591717.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073012.92, 591715.50) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 106.0 Dvl range = 161.4, range = 372.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 187.5, iterations = 0, grazing = 0.0 beam4 range = 185.3, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073010.05, 591713.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073006.94, 591712.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073003.66, 591711.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073000.28, 591710.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 106.0 Dvl range = 150.9, range = 348.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 157.1, iterations = 0, grazing = 0.0 beam4 range = 191.4, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072996.84, 591709.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072993.37, 591709.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072989.90, 591709.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072986.42, 591708.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 147.5, range = 340.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 144.0, iterations = 0, grazing = 0.0 beam4 range = 196.5, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072982.97, 591708.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072979.52, 591708.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072976.10, 591709.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072972.70, 591709.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 113.5, range = 131.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 131.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072969.31, 591709.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072965.94, 591709.79) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 400.00, (simTime - realTime) = 0.00 Heading = 173.49 Depth = 69.58 Speed = 1.15 Pitch = -20.41 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072962.59, 591710.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072959.26, 591710.56) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 108.9, range = 125.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 125.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072955.93, 591710.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072952.62, 591711.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072949.31, 591711.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072946.00, 591712.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 100.7, range = 116.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 116.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072942.69, 591712.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072939.38, 591713.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072936.07, 591713.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072932.75, 591713.94) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 114.0 Dvl range = 134.6, range = 310.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 194.6, iterations = 0, grazing = 0.0 beam3 range = 116.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072929.43, 591714.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072926.10, 591714.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072922.76, 591714.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072919.42, 591715.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 116.0 Dvl range = 123.9, range = 286.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.4, iterations = 0, grazing = 0.0 beam3 range = 112.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072916.07, 591715.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072912.69, 591715.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072909.27, 591715.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072905.82, 591715.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 118.0 Dvl range = 112.8, range = 260.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 148.3, iterations = 0, grazing = 0.0 beam3 range = 112.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072902.32, 591716.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072898.80, 591716.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072895.25, 591716.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072891.69, 591716.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 122.0 Dvl range = 109.5, range = 252.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 143.1, iterations = 0, grazing = 0.0 beam3 range = 109.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072888.11, 591716.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072884.52, 591717.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072880.93, 591717.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072877.33, 591717.49) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 124.0 Dvl range = 106.0, range = 244.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 137.8, iterations = 0, grazing = 0.0 beam3 range = 106.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072873.72, 591717.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072870.11, 591717.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072866.51, 591718.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072862.92, 591718.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 128.0 Dvl range = 104.8, range = 242.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 140.1, iterations = 0, grazing = 0.0 beam3 range = 101.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072859.36, 591718.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072855.81, 591719.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072852.27, 591719.34) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 500.00, (simTime - realTime) = 0.00 Heading = 175.43 Depth = 95.54 Speed = 1.20 Pitch = -18.22 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072848.74, 591719.62) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 132.0 Dvl range = 103.8, range = 239.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 135.6, iterations = 0, grazing = 0.0 beam3 range = 104.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072845.23, 591719.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072841.73, 591720.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072838.24, 591720.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072834.78, 591720.73) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 136.0 Dvl range = 102.7, range = 237.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 131.5, iterations = 0, grazing = 0.0 beam3 range = 105.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072831.34, 591720.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072827.91, 591721.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072824.49, 591721.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072821.08, 591721.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 138.0 Dvl range = 97.9, range = 226.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 126.0, iterations = 0, grazing = 0.0 beam3 range = 100.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072817.69, 591722.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072814.31, 591722.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072810.95, 591722.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072807.61, 591722.73) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 142.0 Dvl range = 99.9, range = 230.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 129.2, iterations = 0, grazing = 0.0 beam3 range = 101.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072804.28, 591722.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072800.95, 591723.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072797.60, 591723.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072794.26, 591723.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 146.0 Dvl range = 97.1, range = 224.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 120.5, iterations = 0, grazing = 0.0 beam3 range = 103.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072790.91, 591723.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072787.57, 591724.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072784.25, 591724.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072780.93, 591724.61) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 148.0 Dvl range = 99.1, range = 228.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 123.7, iterations = 0, grazing = 0.0 beam3 range = 105.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072777.62, 591724.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072774.32, 591725.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072771.03, 591725.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072767.75, 591725.56) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 152.0 Dvl range = 100.2, range = 231.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 125.3, iterations = 0, grazing = 0.0 beam3 range = 106.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072764.48, 591725.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072761.23, 591726.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072757.99, 591726.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072754.76, 591726.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 156.0 Dvl range = 99.5, range = 229.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 122.6, iterations = 0, grazing = 0.0 beam3 range = 107.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072751.53, 591726.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072748.30, 591726.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072745.06, 591727.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072741.83, 591727.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 158.0 Dvl range = 99.2, range = 229.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 120.2, iterations = 0, grazing = 0.0 beam3 range = 108.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072738.60, 591727.69) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 600.00, (simTime - realTime) = 0.00 Heading = 175.80 Depth = 124.59 Speed = 1.11 Pitch = -21.49 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072735.36, 591727.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072732.12, 591728.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072728.87, 591728.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 160.0 Dvl range = 99.8, range = 230.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 119.1, iterations = 0, grazing = 0.0 beam3 range = 111.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072725.61, 591728.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072722.34, 591728.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072719.04, 591729.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072715.74, 591729.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 164.0 Dvl range = 101.6, range = 234.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 119.9, iterations = 0, grazing = 0.0 beam3 range = 114.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072712.42, 591729.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072709.08, 591729.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072705.73, 591730.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072702.37, 591730.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 168.0 Dvl range = 104.4, range = 241.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 123.0, iterations = 0, grazing = 0.0 beam3 range = 118.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072698.99, 591730.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072695.61, 591730.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072692.21, 591731.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072688.81, 591731.32) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 172.0 Dvl range = 108.1, range = 249.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 128.5, iterations = 0, grazing = 0.0 beam3 range = 121.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072685.40, 591731.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072681.99, 591731.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072678.57, 591732.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072675.14, 591732.31) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 176.0 Dvl range = 112.1, range = 258.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 134.7, iterations = 0, grazing = 0.0 beam3 range = 124.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072671.71, 591732.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072668.29, 591732.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072664.85, 591733.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072661.42, 591733.30) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 180.0 Dvl range = 112.0, range = 258.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 134.4, iterations = 0, grazing = 0.0 beam3 range = 124.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072657.99, 591733.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072654.55, 591733.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072651.12, 591734.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072647.68, 591734.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 182.0 Dvl range = 112.1, range = 258.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 136.2, iterations = 0, grazing = 0.0 beam3 range = 122.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072644.25, 591734.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072640.81, 591734.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072637.38, 591735.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072633.94, 591735.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 186.0 Dvl range = 114.1, range = 263.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 138.2, iterations = 0, grazing = 0.0 beam3 range = 125.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072630.51, 591735.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072627.07, 591735.78) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 700.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 151.59 Speed = 1.17 Pitch = -18.92 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072623.64, 591736.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072620.21, 591736.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 190.0 Dvl range = 118.0, range = 272.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 144.4, iterations = 0, grazing = 0.0 beam3 range = 128.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072616.77, 591736.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072613.34, 591736.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072609.91, 591737.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072606.48, 591737.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 194.0 Dvl range = 120.8, range = 278.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 148.2, iterations = 0, grazing = 0.0 beam3 range = 130.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072603.05, 591737.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072599.61, 591737.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072596.18, 591738.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072592.75, 591738.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 198.0 Dvl range = 121.5, range = 280.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 147.1, iterations = 0, grazing = 0.0 beam3 range = 133.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072589.32, 591738.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072585.89, 591738.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072582.46, 591739.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072579.03, 591739.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 202.0 Dvl range = 124.0, range = 286.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 150.4, iterations = 0, grazing = 0.0 beam3 range = 136.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072575.61, 591739.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072572.18, 591739.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072568.75, 591740.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072565.32, 591740.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 206.0 Dvl range = 123.3, range = 284.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 153.1, iterations = 0, grazing = 0.0 beam3 range = 131.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072561.89, 591740.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072558.46, 591740.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072555.04, 591741.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072551.61, 591741.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 208.0 Dvl range = 130.1, range = 300.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 159.1, iterations = 0, grazing = 0.0 beam3 range = 141.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072548.18, 591741.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072544.75, 591741.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072541.33, 591742.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072537.90, 591742.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 212.0 Dvl range = 132.7, range = 306.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 162.4, iterations = 0, grazing = 0.0 beam3 range = 144.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072534.47, 591742.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072531.05, 591742.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072527.62, 591743.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072524.19, 591743.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 216.0 Dvl range = 132.4, range = 305.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 159.2, iterations = 0, grazing = 0.0 beam3 range = 146.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072520.77, 591743.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072517.34, 591743.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072513.91, 591743.99) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 800.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 178.54 Speed = 1.17 Pitch = -19.01 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072510.49, 591744.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 220.0 Dvl range = 132.6, range = 306.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 163.8, iterations = 0, grazing = 0.0 beam3 range = 142.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072507.06, 591744.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072503.64, 591744.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072500.21, 591744.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072496.79, 591745.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 222.0 Dvl range = 135.3, range = 312.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 167.4, iterations = 0, grazing = 0.0 beam3 range = 145.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072493.36, 591745.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072489.93, 591745.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072486.51, 591745.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072483.08, 591746.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 224.0 Dvl range = 138.9, range = 320.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.1, iterations = 0, grazing = 0.0 beam3 range = 147.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072479.66, 591746.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072476.23, 591746.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072472.81, 591746.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072469.38, 591747.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 228.0 Dvl range = 141.5, range = 326.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 176.5, iterations = 0, grazing = 0.0 beam3 range = 150.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072465.96, 591747.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072462.53, 591747.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072459.11, 591747.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072455.68, 591748.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 230.0 Dvl range = 142.8, range = 329.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 176.9, iterations = 0, grazing = 0.0 beam3 range = 153.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072452.26, 591748.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072448.83, 591748.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072445.41, 591748.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072441.98, 591749.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 234.0 Dvl range = 143.5, range = 331.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 175.6, iterations = 0, grazing = 0.0 beam3 range = 155.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072438.56, 591749.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072435.13, 591749.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072431.71, 591749.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072428.28, 591750.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 236.0 Dvl range = 147.2, range = 339.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 181.6, iterations = 0, grazing = 0.0 beam3 range = 158.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072424.86, 591750.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072421.43, 591750.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072418.01, 591750.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072414.58, 591751.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 240.0 Dvl range = 149.0, range = 344.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 183.0, iterations = 0, grazing = 0.0 beam3 range = 161.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072411.16, 591751.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072407.73, 591751.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072404.31, 591751.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072400.88, 591752.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 244.0 Dvl range = 143.0, range = 330.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.6, iterations = 0, grazing = 0.0 beam3 range = 156.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072397.46, 591752.44) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 900.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 205.54 Speed = 1.17 Pitch = -19.03 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072394.03, 591752.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072390.61, 591752.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072387.19, 591753.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 248.0 Dvl range = 148.6, range = 343.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 183.8, iterations = 0, grazing = 0.0 beam3 range = 159.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072383.76, 591753.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072380.34, 591753.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072376.91, 591753.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072373.49, 591754.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 250.0 Dvl range = 145.5, range = 336.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 174.1, iterations = 0, grazing = 0.0 beam3 range = 162.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072370.06, 591754.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072366.64, 591754.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072363.21, 591754.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072359.79, 591755.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 254.0 Dvl range = 150.1, range = 346.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 182.0, iterations = 0, grazing = 0.0 beam3 range = 164.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072356.36, 591755.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072352.94, 591755.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072349.52, 591755.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072346.09, 591756.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 258.0 Dvl range = 154.1, range = 355.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.5, iterations = 0, grazing = 0.0 beam3 range = 167.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072342.67, 591756.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072339.24, 591756.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072335.82, 591756.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072332.39, 591757.16) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 262.0 Dvl range = 148.7, range = 343.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 180.4, iterations = 0, grazing = 0.0 beam3 range = 163.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072328.97, 591757.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072325.54, 591757.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072322.12, 591757.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072318.69, 591758.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 266.0 Dvl range = 156.5, range = 361.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 195.9, iterations = 0, grazing = 0.0 beam3 range = 165.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072315.27, 591758.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072311.85, 591758.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072308.42, 591758.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072305.00, 591759.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 270.0 Dvl range = 139.7, range = 161.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 161.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072301.57, 591759.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072298.15, 591759.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072294.72, 591759.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072291.30, 591760.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 272.0 Dvl range = 142.0, range = 164.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 164.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072287.87, 591760.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072284.45, 591760.64) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1000.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 232.54 Speed = 1.17 Pitch = -19.03 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072281.03, 591760.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072277.60, 591761.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 276.0 Dvl range = 140.4, range = 162.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 162.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072274.18, 591761.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072270.75, 591761.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072267.33, 591761.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072263.90, 591762.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 280.0 Dvl range = 140.5, range = 162.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 162.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072260.48, 591762.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072257.05, 591762.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072253.63, 591762.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072250.21, 591763.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 284.0 Dvl range = 142.8, range = 164.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 164.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072246.78, 591763.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072243.36, 591763.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072239.93, 591763.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072236.51, 591764.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 286.0 Dvl range = 139.1, range = 160.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 160.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072233.08, 591764.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072229.66, 591764.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072226.23, 591764.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072222.81, 591765.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 290.0 Dvl range = 141.4, range = 163.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 163.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072219.39, 591765.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072215.96, 591765.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072212.54, 591765.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072209.11, 591766.10) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 294.0 Dvl range = 154.8, range = 357.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 198.6, iterations = 0, grazing = 0.0 beam3 range = 158.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072205.69, 591766.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072202.26, 591766.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072198.84, 591766.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072195.42, 591767.10) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 298.0 Dvl range = 153.9, range = 355.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 193.9, iterations = 0, grazing = 0.0 beam3 range = 161.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072191.99, 591767.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072188.57, 591767.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072185.14, 591767.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072181.72, 591768.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 302.0 Dvl range = 154.0, range = 355.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 198.5, iterations = 0, grazing = 0.0 beam3 range = 157.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072178.29, 591768.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072174.87, 591768.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072171.44, 591768.83) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1100.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 259.54 Speed = 1.17 Pitch = -19.03 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072168.02, 591769.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 304.0 Dvl range = 138.5, range = 159.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 159.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072164.60, 591769.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072161.17, 591769.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072157.75, 591769.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072154.32, 591770.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 308.0 Dvl range = 152.6, range = 352.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 196.9, iterations = 0, grazing = 0.0 beam3 range = 155.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072150.90, 591770.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072147.47, 591770.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072144.05, 591770.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072140.62, 591771.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 312.0 Dvl range = 148.7, range = 343.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.5, iterations = 0, grazing = 0.0 beam3 range = 155.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072137.20, 591771.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072133.78, 591771.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072130.35, 591771.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072126.93, 591772.06) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 316.0 Dvl range = 141.7, range = 327.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.5, iterations = 0, grazing = 0.0 beam3 range = 153.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072123.50, 591772.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072120.08, 591772.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072116.65, 591772.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072113.23, 591773.06) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 318.0 Dvl range = 142.2, range = 328.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 178.8, iterations = 0, grazing = 0.0 beam3 range = 149.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072109.81, 591773.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072106.38, 591773.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072102.96, 591773.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072099.53, 591774.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 322.0 Dvl range = 147.6, range = 340.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.6, iterations = 0, grazing = 0.0 beam3 range = 152.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072096.11, 591774.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072092.68, 591774.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072089.26, 591774.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072085.83, 591775.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 326.0 Dvl range = 144.3, range = 333.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.4, iterations = 0, grazing = 0.0 beam3 range = 147.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072082.41, 591775.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072078.99, 591775.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072075.56, 591775.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072072.14, 591776.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 328.0 Dvl range = 141.4, range = 326.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 182.1, iterations = 0, grazing = 0.0 beam3 range = 144.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072068.71, 591776.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072065.29, 591776.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072061.86, 591776.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072058.44, 591777.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 332.0 Dvl range = 143.6, range = 331.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.4, iterations = 0, grazing = 0.0 beam3 range = 146.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072055.01, 591777.28) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1200.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 286.54 Speed = 1.17 Pitch = -19.03 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072051.59, 591777.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072048.17, 591777.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072044.74, 591778.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 336.0 Dvl range = 143.3, range = 330.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.7, iterations = 0, grazing = 0.0 beam3 range = 142.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072041.32, 591778.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072037.89, 591778.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072034.47, 591778.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072031.04, 591779.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 338.0 Dvl range = 141.3, range = 326.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 182.0, iterations = 0, grazing = 0.0 beam3 range = 144.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072027.62, 591779.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072024.20, 591779.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072020.77, 591779.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072017.35, 591780.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 342.0 Dvl range = 137.7, range = 317.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 177.8, iterations = 0, grazing = 0.0 beam3 range = 140.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072013.92, 591780.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072010.50, 591780.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072007.07, 591780.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072003.65, 591781.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 344.0 Dvl range = 139.0, range = 321.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 178.2, iterations = 0, grazing = 0.0 beam3 range = 142.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072000.22, 591781.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071996.80, 591781.50) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4071994.6, 591781.7), reached at t = 1253.00 (wplog) : Vehicle Position error is (0.1, 0.0) : LayeredControl::execute() -- (t = 1253.000000) Behavior waypoint_depth:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 1253.000000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 1253.00 (wplog) The current location (N,E) = 4071994.5 , 591781.7 (wplog) The next waypoint = 4070394.7 , 590832.7 (wplog) The bearing to the next w.p. is 210.7 Degrees. The distance to the next w.p. is 1860.1 Meters. The slope to the next w.p. is -0.2474. The initial commanded depth is 301.5 meters. The final commanded depth is 761.7 meters. : LayeredControl::execute() -- (t = 1253.000000) Behavior waypoint_depth:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071993.38, 591781.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071989.97, 591781.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 348.0 Dvl range = 142.7, range = 164.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 164.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071986.61, 591781.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071983.40, 591781.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071980.49, 591779.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071977.84, 591777.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 352.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071975.40, 591775.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071973.06, 591773.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071970.78, 591770.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071968.50, 591768.41) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 354.0 Dvl range = 171.7, range = 198.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 198.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071966.20, 591766.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071963.84, 591763.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071961.42, 591761.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071958.92, 591759.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 358.0 Dvl range = 161.6, range = 186.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 186.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071956.33, 591757.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071953.66, 591755.11) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1300.00, (simTime - realTime) = 0.00 Heading = 213.67 Depth = 312.97 Speed = 1.14 Pitch = -19.82 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071950.91, 591753.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071948.09, 591751.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 362.0 Dvl range = 150.1, range = 173.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 173.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071945.20, 591749.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071942.26, 591748.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071939.29, 591746.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071936.28, 591745.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 366.0 Dvl range = 157.2, range = 363.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 197.1, iterations = 0, grazing = 0.0 beam3 range = 165.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071933.25, 591743.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071930.21, 591742.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071927.17, 591740.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071924.12, 591739.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 370.0 Dvl range = 145.5, range = 168.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 168.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071921.09, 591737.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071918.07, 591736.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071915.07, 591735.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071912.09, 591733.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 372.0 Dvl range = 147.9, range = 170.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 170.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071909.13, 591731.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071906.19, 591730.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071903.28, 591728.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071900.39, 591726.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 376.0 Dvl range = 149.9, range = 173.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 173.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071897.51, 591725.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071894.65, 591723.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071891.81, 591721.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071888.97, 591719.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 378.0 Dvl range = 161.7, range = 373.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 198.0, iterations = 0, grazing = 0.0 beam3 range = 175.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071886.14, 591717.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071883.31, 591716.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071880.48, 591714.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071877.64, 591712.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 382.0 Dvl range = 157.6, range = 363.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 192.6, iterations = 0, grazing = 0.0 beam3 range = 171.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071874.80, 591710.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071871.95, 591708.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071869.09, 591707.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071866.22, 591705.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 386.0 Dvl range = 157.2, range = 363.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 190.6, iterations = 0, grazing = 0.0 beam3 range = 172.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071863.33, 591703.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071860.44, 591701.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071857.55, 591700.04) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1400.00, (simTime - realTime) = 0.00 Heading = 210.29 Depth = 340.78 Speed = 1.15 Pitch = -19.83 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071854.64, 591698.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 390.0 Dvl range = 153.7, range = 355.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.7, iterations = 0, grazing = 0.0 beam3 range = 168.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071851.73, 591696.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071848.81, 591694.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071845.89, 591693.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071842.97, 591691.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 394.0 Dvl range = 153.0, range = 353.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.9, iterations = 0, grazing = 0.0 beam3 range = 166.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071840.04, 591689.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071837.12, 591688.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071834.20, 591686.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071831.28, 591684.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 396.0 Dvl range = 153.4, range = 354.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.3, iterations = 0, grazing = 0.0 beam3 range = 165.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071828.36, 591683.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071825.45, 591681.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071822.53, 591679.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071819.63, 591678.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 398.0 Dvl range = 150.4, range = 347.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.9, iterations = 0, grazing = 0.0 beam3 range = 161.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071816.72, 591676.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071813.82, 591674.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071810.92, 591672.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071808.03, 591671.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 402.0 Dvl range = 148.6, range = 343.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.5, iterations = 0, grazing = 0.0 beam3 range = 156.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071805.13, 591669.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071802.24, 591667.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071799.34, 591665.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071796.45, 591664.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 404.0 Dvl range = 147.2, range = 339.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.5, iterations = 0, grazing = 0.0 beam3 range = 152.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071793.56, 591662.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071790.67, 591660.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071787.77, 591659.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071784.88, 591657.30) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 408.0 Dvl range = 145.7, range = 336.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.3, iterations = 0, grazing = 0.0 beam3 range = 150.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071781.98, 591655.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071779.08, 591653.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071776.18, 591652.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071773.28, 591650.39) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 410.0 Dvl range = 145.8, range = 336.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.1, iterations = 0, grazing = 0.0 beam3 range = 149.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071770.38, 591648.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071767.48, 591646.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071764.58, 591645.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071761.67, 591643.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 412.0 Dvl range = 146.8, range = 339.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.2, iterations = 0, grazing = 0.0 beam3 range = 151.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071758.77, 591641.80) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1500.00, (simTime - realTime) = 0.00 Heading = 210.56 Depth = 368.63 Speed = 1.15 Pitch = -19.81 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071755.87, 591640.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071752.96, 591638.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071750.06, 591636.65) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 416.0 Dvl range = 141.8, range = 327.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 179.7, iterations = 0, grazing = 0.0 beam3 range = 147.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071747.15, 591634.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071744.25, 591633.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071741.34, 591631.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071738.44, 591629.78) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 420.0 Dvl range = 138.3, range = 319.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 169.8, iterations = 0, grazing = 0.0 beam3 range = 149.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071735.53, 591628.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071732.63, 591626.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071729.73, 591624.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071726.83, 591622.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 422.0 Dvl range = 137.6, range = 317.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.9, iterations = 0, grazing = 0.0 beam3 range = 151.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071723.92, 591621.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071721.02, 591619.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071718.12, 591617.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071715.22, 591616.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 424.0 Dvl range = 136.6, range = 315.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 164.3, iterations = 0, grazing = 0.0 beam3 range = 151.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071712.32, 591614.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071709.42, 591612.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071706.52, 591610.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071703.62, 591609.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 428.0 Dvl range = 139.5, range = 322.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.7, iterations = 0, grazing = 0.0 beam3 range = 156.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071700.71, 591607.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071697.81, 591605.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071694.91, 591603.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071692.01, 591602.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 430.0 Dvl range = 141.5, range = 326.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 164.6, iterations = 0, grazing = 0.0 beam3 range = 162.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071689.11, 591600.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071686.21, 591598.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071683.30, 591597.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071680.40, 591595.34) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 434.0 Dvl range = 141.4, range = 326.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.5, iterations = 0, grazing = 0.0 beam3 range = 161.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071677.50, 591593.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071674.60, 591591.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071671.70, 591590.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071668.79, 591588.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 436.0 Dvl range = 144.1, range = 332.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 169.5, iterations = 0, grazing = 0.0 beam3 range = 163.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071665.89, 591586.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071662.99, 591585.01) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1600.00, (simTime - realTime) = 0.00 Heading = 210.65 Depth = 396.46 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071660.08, 591583.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071657.18, 591581.57) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 438.0 Dvl range = 147.4, range = 340.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 174.8, iterations = 0, grazing = 0.0 beam3 range = 165.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071654.28, 591579.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071651.38, 591578.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071648.47, 591576.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071645.57, 591574.69) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 442.0 Dvl range = 147.2, range = 340.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 178.6, iterations = 0, grazing = 0.0 beam3 range = 161.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071642.67, 591572.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071639.77, 591571.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071636.87, 591569.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071633.96, 591567.80) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 446.0 Dvl range = 151.0, range = 348.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.5, iterations = 0, grazing = 0.0 beam3 range = 163.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071631.06, 591566.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071628.16, 591564.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071625.26, 591562.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071622.35, 591560.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 448.0 Dvl range = 153.6, range = 354.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 190.9, iterations = 0, grazing = 0.0 beam3 range = 163.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071619.45, 591559.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071616.55, 591557.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071613.65, 591555.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071610.75, 591554.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 452.0 Dvl range = 156.3, range = 360.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 195.8, iterations = 0, grazing = 0.0 beam3 range = 165.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071607.84, 591552.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071604.94, 591550.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071602.04, 591548.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071599.14, 591547.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 454.0 Dvl range = 155.1, range = 358.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 194.6, iterations = 0, grazing = 0.0 beam3 range = 163.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071596.23, 591545.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071593.33, 591543.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071590.43, 591541.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071587.53, 591540.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 460.0 Dvl range = 154.5, range = 356.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 191.4, iterations = 0, grazing = 0.0 beam3 range = 165.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071584.63, 591538.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071581.72, 591536.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071578.82, 591535.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071575.92, 591533.37) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 462.0 Dvl range = 157.5, range = 363.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 196.1, iterations = 0, grazing = 0.0 beam3 range = 167.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071573.02, 591531.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071570.11, 591529.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071567.21, 591528.21) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1700.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 424.29 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071564.31, 591526.48) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 466.0 Dvl range = 159.1, range = 367.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 197.4, iterations = 0, grazing = 0.0 beam3 range = 170.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071561.41, 591524.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071558.50, 591523.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071555.60, 591521.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071552.70, 591519.60) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 470.0 Dvl range = 158.7, range = 366.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 194.2, iterations = 0, grazing = 0.0 beam3 range = 172.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071549.80, 591517.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071546.89, 591516.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071543.99, 591514.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071541.09, 591512.71) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 472.0 Dvl range = 160.6, range = 370.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 195.9, iterations = 0, grazing = 0.0 beam3 range = 175.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071538.19, 591510.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071535.29, 591509.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071532.38, 591507.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071529.48, 591505.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 476.0 Dvl range = 159.3, range = 183.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 183.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071526.58, 591504.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071523.68, 591502.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071520.77, 591500.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071517.87, 591498.94) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 480.0 Dvl range = 158.4, range = 182.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 182.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071514.97, 591497.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071512.07, 591495.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071509.16, 591493.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071506.26, 591492.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 484.0 Dvl range = 163.3, range = 188.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 188.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071503.36, 591490.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071500.46, 591488.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071497.56, 591486.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071494.65, 591485.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 488.0 Dvl range = 165.3, range = 190.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 190.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071491.75, 591483.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071488.85, 591481.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071485.95, 591480.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071483.04, 591478.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 490.0 Dvl range = 167.2, range = 193.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 193.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071480.14, 591476.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071477.24, 591474.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071474.34, 591473.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071471.43, 591471.39) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 494.0 Dvl range = 169.2, range = 195.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 195.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071468.53, 591469.67) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1800.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 452.13 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071465.63, 591467.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071462.73, 591466.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071459.83, 591464.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 498.0 Dvl range = 171.2, range = 197.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 197.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071456.92, 591462.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071454.02, 591461.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071451.12, 591459.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071448.22, 591457.62) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 502.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071445.31, 591455.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071442.41, 591454.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071439.51, 591452.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071436.61, 591450.74) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 504.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071433.70, 591449.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071430.80, 591447.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071427.90, 591445.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071425.00, 591443.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 508.0 Dvl range = 173.0, range = 199.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 199.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071422.10, 591442.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071419.19, 591440.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071416.29, 591438.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071413.39, 591436.96) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 512.0 Dvl range = 173.2, range = 199.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 199.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071410.49, 591435.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071407.58, 591433.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071404.68, 591431.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071401.78, 591430.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 516.0 Dvl range = 169.1, range = 195.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 195.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071398.88, 591428.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071395.97, 591426.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071393.07, 591424.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071390.17, 591423.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 520.0 Dvl range = 172.2, range = 198.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 198.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071387.27, 591421.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071384.36, 591419.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071381.46, 591418.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071378.56, 591416.30) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 524.0 Dvl range = 167.1, range = 192.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 192.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071375.66, 591414.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071372.76, 591412.86) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1900.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 479.96 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071369.85, 591411.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071366.95, 591409.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 528.0 Dvl range = 167.3, range = 193.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 193.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071364.05, 591407.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071361.15, 591405.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071358.24, 591404.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071355.34, 591402.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 532.0 Dvl range = 165.0, range = 190.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 190.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071352.44, 591400.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071349.54, 591399.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071346.63, 591397.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071343.73, 591395.65) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 534.0 Dvl range = 167.0, range = 192.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 192.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071340.83, 591393.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071337.93, 591392.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071335.03, 591390.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071332.12, 591388.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 538.0 Dvl range = 163.3, range = 188.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 188.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071329.22, 591387.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071326.32, 591385.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071323.42, 591383.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071320.51, 591381.87) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 540.0 Dvl range = 161.0, range = 185.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 185.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071317.61, 591380.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071314.71, 591378.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071311.81, 591376.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071308.90, 591374.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 542.0 Dvl range = 158.3, range = 182.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 182.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071306.00, 591373.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071303.10, 591371.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071300.20, 591369.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071297.30, 591368.10) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 546.0 Dvl range = 159.4, range = 184.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 184.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071294.39, 591366.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071291.49, 591364.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071288.59, 591362.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071285.69, 591361.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 548.0 Dvl range = 158.9, range = 183.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 183.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071282.78, 591359.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071279.88, 591357.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071276.98, 591356.05) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2000.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 507.79 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071274.08, 591354.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 552.0 Dvl range = 152.0, range = 175.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 175.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071271.17, 591352.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071268.27, 591350.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071265.37, 591349.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071262.47, 591347.44) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 554.0 Dvl range = 150.7, range = 174.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 174.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071259.57, 591345.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071256.66, 591344.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071253.76, 591342.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071250.86, 591340.56) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 558.0 Dvl range = 149.4, range = 172.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 172.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071247.96, 591338.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071245.05, 591337.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071242.15, 591335.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071239.25, 591333.67) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 560.0 Dvl range = 148.7, range = 171.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 171.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071236.35, 591331.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071233.44, 591330.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071230.54, 591328.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071227.64, 591326.78) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 562.0 Dvl range = 144.7, range = 167.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 167.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071224.74, 591325.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071221.83, 591323.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071218.93, 591321.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071216.03, 591319.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 564.0 Dvl range = 140.7, range = 162.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 162.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071213.13, 591318.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071210.23, 591316.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071207.32, 591314.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071204.42, 591313.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 568.0 Dvl range = 137.1, range = 158.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 158.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071201.52, 591311.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071198.62, 591309.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071195.71, 591307.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071192.81, 591306.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 572.0 Dvl range = 135.8, range = 156.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 156.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071189.91, 591304.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071187.01, 591302.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071184.10, 591300.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071181.20, 591299.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 574.0 Dvl range = 134.6, range = 155.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 155.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071178.30, 591297.52) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2100.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 535.62 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071175.40, 591295.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071172.50, 591294.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071169.59, 591292.35) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 576.0 Dvl range = 130.5, range = 150.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 150.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071166.69, 591290.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071163.79, 591288.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071160.89, 591287.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071157.98, 591285.47) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 580.0 Dvl range = 145.0, range = 334.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.1, iterations = 0, grazing = 0.0 beam3 range = 146.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071155.08, 591283.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071152.18, 591282.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071149.28, 591280.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071146.37, 591278.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 582.0 Dvl range = 147.7, range = 341.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 193.1, iterations = 0, grazing = 0.0 beam3 range = 148.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071143.47, 591276.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071140.57, 591275.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071137.67, 591273.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071134.77, 591271.69) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 584.0 Dvl range = 143.9, range = 332.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.6, iterations = 0, grazing = 0.0 beam3 range = 143.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071131.86, 591269.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071128.96, 591268.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071126.06, 591266.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071123.16, 591264.81) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 586.0 Dvl range = 141.9, range = 327.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.8, iterations = 0, grazing = 0.0 beam3 range = 139.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071120.25, 591263.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071117.35, 591261.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071114.45, 591259.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071111.55, 591257.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 588.0 Dvl range = 139.1, range = 321.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 183.1, iterations = 0, grazing = 0.0 beam3 range = 138.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071108.64, 591256.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071105.74, 591254.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071102.84, 591252.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071099.94, 591251.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 592.0 Dvl range = 138.2, range = 319.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 182.4, iterations = 0, grazing = 0.0 beam3 range = 136.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071097.03, 591249.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071094.13, 591247.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071091.22, 591245.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071088.31, 591244.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 594.0 Dvl range = 134.4, range = 310.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 177.3, iterations = 0, grazing = 0.0 beam3 range = 133.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071085.39, 591242.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071082.46, 591240.67) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2200.00, (simTime - realTime) = 0.00 Heading = 210.67 Depth = 563.34 Speed = 1.16 Pitch = -18.41 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071079.51, 591238.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071076.55, 591237.16) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 596.0 Dvl range = 129.6, range = 299.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 167.6, iterations = 0, grazing = 0.0 beam3 range = 131.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071073.56, 591235.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071070.56, 591233.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071067.53, 591231.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071064.47, 591230.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 600.0 Dvl range = 131.0, range = 302.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 164.6, iterations = 0, grazing = 0.0 beam3 range = 138.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071061.39, 591228.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071058.28, 591226.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071055.17, 591224.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071052.05, 591222.65) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 602.0 Dvl range = 129.1, range = 298.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 163.0, iterations = 0, grazing = 0.0 beam3 range = 135.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071048.93, 591220.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071045.80, 591218.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071042.66, 591217.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071039.53, 591215.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 604.0 Dvl range = 125.2, range = 289.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 156.3, iterations = 0, grazing = 0.0 beam3 range = 132.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071036.39, 591213.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071033.25, 591211.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071030.10, 591209.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071026.95, 591207.75) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 610.0 Dvl range = 131.8, range = 304.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 167.6, iterations = 0, grazing = 0.0 beam3 range = 136.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071023.79, 591205.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071020.65, 591204.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071017.52, 591202.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071014.41, 591200.31) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 612.0 Dvl range = 129.2, range = 298.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 164.7, iterations = 0, grazing = 0.0 beam3 range = 133.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071011.30, 591198.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071008.19, 591196.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071005.09, 591194.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071002.01, 591192.94) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 616.0 Dvl range = 131.1, range = 302.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.9, iterations = 0, grazing = 0.0 beam3 range = 128.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070998.96, 591191.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070995.95, 591189.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070992.95, 591187.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070989.97, 591185.79) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 620.0 Dvl range = 130.1, range = 300.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.3, iterations = 0, grazing = 0.0 beam3 range = 127.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070987.00, 591184.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070984.05, 591182.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070981.13, 591180.55) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2300.00, (simTime - realTime) = 0.00 Heading = 210.67 Depth = 588.05 Speed = 1.16 Pitch = -21.01 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070978.22, 591178.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 626.0 Dvl range = 129.1, range = 298.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 178.0, iterations = 0, grazing = 0.0 beam3 range = 120.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070975.34, 591177.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070972.49, 591175.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070969.65, 591173.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070966.81, 591172.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 630.0 Dvl range = 122.6, range = 283.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 168.6, iterations = 0, grazing = 0.0 beam3 range = 114.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070963.99, 591170.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070961.16, 591168.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070958.34, 591167.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070955.52, 591165.35) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 632.0 Dvl range = 124.3, range = 287.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 171.2, iterations = 0, grazing = 0.0 beam3 range = 115.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070952.71, 591163.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070949.91, 591162.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070947.12, 591160.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070944.33, 591158.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 634.0 Dvl range = 118.3, range = 273.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 163.3, iterations = 0, grazing = 0.0 beam3 range = 109.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070941.55, 591157.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070938.78, 591155.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070936.00, 591153.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070933.22, 591152.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 638.0 Dvl range = 113.9, range = 263.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 156.0, iterations = 0, grazing = 0.0 beam3 range = 107.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070930.45, 591150.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070927.66, 591148.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070924.87, 591147.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070922.06, 591145.52) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 642.0 Dvl range = 108.7, range = 251.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 143.6, iterations = 0, grazing = 0.0 beam3 range = 107.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070919.24, 591143.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070916.42, 591142.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070913.60, 591140.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070910.78, 591138.84) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 644.0 Dvl range = 105.2, range = 242.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 140.9, iterations = 0, grazing = 0.0 beam3 range = 102.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070907.97, 591137.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070905.15, 591135.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070902.33, 591133.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070899.50, 591132.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 648.0 Dvl range = 100.3, range = 231.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 132.0, iterations = 0, grazing = 0.0 beam3 range = 99.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070896.66, 591130.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070893.81, 591128.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070890.95, 591127.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070888.11, 591125.39) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 652.0 Dvl range = 99.2, range = 229.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 130.0, iterations = 0, grazing = 0.0 beam3 range = 99.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070885.27, 591123.71) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2400.00, (simTime - realTime) = 0.00 Heading = 210.65 Depth = 617.47 Speed = 1.13 Pitch = -21.25 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070882.45, 591122.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070879.62, 591120.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070876.80, 591118.69) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 656.0 Dvl range = 99.7, range = 230.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 134.8, iterations = 0, grazing = 0.0 beam3 range = 95.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070873.99, 591117.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070871.19, 591115.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070868.41, 591113.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070865.66, 591112.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 660.0 Dvl range = 97.3, range = 224.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 131.6, iterations = 0, grazing = 0.0 beam3 range = 93.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070862.93, 591110.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070860.21, 591108.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070857.50, 591107.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070854.79, 591105.62) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 666.0 Dvl range = 95.8, range = 221.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 127.4, iterations = 0, grazing = 0.0 beam3 range = 93.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070852.09, 591104.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070849.40, 591102.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070846.73, 591100.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070844.06, 591099.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 670.0 Dvl range = 88.3, range = 204.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 115.3, iterations = 0, grazing = 0.0 beam3 range = 88.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070841.39, 591097.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070838.72, 591096.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070836.03, 591094.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070833.34, 591092.88) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 672.0 Dvl range = 86.0, range = 198.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.6, iterations = 0, grazing = 0.0 beam3 range = 90.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070830.63, 591091.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070827.89, 591089.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070825.14, 591088.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070822.37, 591086.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 676.0 Dvl range = 85.6, range = 197.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.0, iterations = 0, grazing = 0.0 beam3 range = 90.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070819.59, 591084.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070816.78, 591083.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070813.96, 591081.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070811.12, 591079.73) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 678.0 Dvl range = 85.3, range = 197.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 105.0, iterations = 0, grazing = 0.0 beam3 range = 91.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070808.26, 591078.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070805.40, 591076.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070802.53, 591074.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070799.64, 591072.94) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 680.0 Dvl range = 83.5, range = 192.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 99.7, iterations = 0, grazing = 0.0 beam3 range = 93.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070796.75, 591071.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070793.85, 591069.51) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2500.00, (simTime - realTime) = 0.00 Heading = 210.67 Depth = 646.94 Speed = 1.15 Pitch = -19.42 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070790.95, 591067.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070788.04, 591066.06) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 684.0 Dvl range = 86.3, range = 199.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.7, iterations = 0, grazing = 0.0 beam3 range = 94.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070785.14, 591064.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070782.22, 591062.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070779.31, 591060.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070776.39, 591059.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 686.0 Dvl range = 83.1, range = 192.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 101.6, iterations = 0, grazing = 0.0 beam3 range = 90.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070773.48, 591057.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070770.56, 591055.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070767.64, 591053.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070764.72, 591052.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 688.0 Dvl range = 83.8, range = 193.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 100.7, iterations = 0, grazing = 0.0 beam3 range = 92.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070761.80, 591050.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070758.89, 591048.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070755.97, 591047.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070753.05, 591045.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 692.0 Dvl range = 84.3, range = 194.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 101.9, iterations = 0, grazing = 0.0 beam3 range = 92.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070750.13, 591043.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070747.21, 591041.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070744.30, 591040.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070741.38, 591038.34) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 696.0 Dvl range = 83.0, range = 191.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 100.4, iterations = 0, grazing = 0.0 beam3 range = 91.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070738.46, 591036.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070735.54, 591034.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070732.63, 591033.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070729.71, 591031.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 700.0 Dvl range = 84.3, range = 194.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 101.7, iterations = 0, grazing = 0.0 beam3 range = 92.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070726.79, 591029.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070723.88, 591027.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070720.96, 591026.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070718.05, 591024.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 702.0 Dvl range = 87.3, range = 201.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 106.4, iterations = 0, grazing = 0.0 beam3 range = 95.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070715.14, 591022.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070712.22, 591021.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070709.30, 591019.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070706.38, 591017.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 706.0 Dvl range = 85.0, range = 196.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 105.3, iterations = 0, grazing = 0.0 beam3 range = 91.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070703.45, 591015.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070700.52, 591014.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070697.60, 591012.38) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2600.00, (simTime - realTime) = 0.00 Heading = 210.65 Depth = 674.41 Speed = 1.16 Pitch = -19.75 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070694.67, 591010.65) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 708.0 Dvl range = 85.4, range = 197.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.1, iterations = 0, grazing = 0.0 beam3 range = 93.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070691.76, 591008.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070688.85, 591007.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070685.94, 591005.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070683.04, 591003.75) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 712.0 Dvl range = 85.2, range = 196.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.4, iterations = 0, grazing = 0.0 beam3 range = 89.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070680.13, 591002.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070677.22, 591000.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070674.31, 590998.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070671.41, 590996.84) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 716.0 Dvl range = 84.3, range = 194.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.0, iterations = 0, grazing = 0.0 beam3 range = 90.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070668.50, 590995.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070665.59, 590993.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070662.69, 590991.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070659.79, 590989.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 720.0 Dvl range = 85.1, range = 196.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 103.8, iterations = 0, grazing = 0.0 beam3 range = 92.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070656.89, 590988.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070653.99, 590986.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070651.10, 590984.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070648.20, 590983.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 726.0 Dvl range = 88.1, range = 203.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.5, iterations = 0, grazing = 0.0 beam3 range = 94.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070645.31, 590981.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070642.41, 590979.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070639.52, 590977.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070636.63, 590976.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 730.0 Dvl range = 90.1, range = 208.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 110.8, iterations = 0, grazing = 0.0 beam3 range = 97.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070633.73, 590974.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070630.83, 590972.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070627.94, 590971.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070625.04, 590969.34) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 734.0 Dvl range = 90.6, range = 209.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 109.6, iterations = 0, grazing = 0.0 beam3 range = 99.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070622.14, 590967.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070619.24, 590965.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070616.34, 590964.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070613.44, 590962.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 740.0 Dvl range = 87.6, range = 202.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.5, iterations = 0, grazing = 0.0 beam3 range = 94.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070610.54, 590960.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070607.63, 590959.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070604.73, 590957.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070601.83, 590955.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 744.0 Dvl range = 88.6, range = 204.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.3, iterations = 0, grazing = 0.0 beam3 range = 97.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070598.93, 590953.86) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2700.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 702.32 Speed = 1.15 Pitch = -19.78 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070596.02, 590952.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070593.12, 590950.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070590.22, 590948.69) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 748.0 Dvl range = 87.6, range = 202.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 106.2, iterations = 0, grazing = 0.0 beam3 range = 96.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070587.31, 590946.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070584.41, 590945.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070581.51, 590943.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070578.61, 590941.80) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 752.0 Dvl range = 88.7, range = 204.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.4, iterations = 0, grazing = 0.0 beam3 range = 97.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.70, 590940.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070572.80, 590938.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070569.90, 590936.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070566.99, 590934.91) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 758.0 Dvl range = 88.9, range = 205.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.0, iterations = 0, grazing = 0.0 beam3 range = 97.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070564.09, 590933.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070561.19, 590931.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070558.28, 590929.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070555.38, 590928.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 762.0 Dvl range = 88.5, range = 204.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.8, iterations = 0, grazing = 0.0 beam3 range = 99.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070552.48, 590926.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070549.57, 590924.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070546.67, 590922.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070543.77, 590921.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 764.0 Dvl range = 87.8, range = 202.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.3, iterations = 0, grazing = 0.0 beam3 range = 95.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070540.87, 590919.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070537.96, 590917.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070535.06, 590915.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070532.16, 590914.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 766.0 Dvl range = 88.7, range = 204.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 110.8, iterations = 0, grazing = 0.0 beam3 range = 94.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.25, 590912.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070526.35, 590910.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070523.45, 590909.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070520.55, 590907.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 770.0 Dvl range = 86.2, range = 199.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.5, iterations = 0, grazing = 0.0 beam3 range = 91.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070517.64, 590905.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070514.74, 590903.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070511.84, 590902.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070508.93, 590900.47) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 772.0 Dvl range = 84.4, range = 195.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.2, iterations = 0, grazing = 0.0 beam3 range = 87.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070506.03, 590898.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070503.13, 590897.03) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2800.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 730.14 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070500.23, 590895.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070497.32, 590893.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 772.0 Dvl range = 80.7, range = 186.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 103.2, iterations = 0, grazing = 0.0 beam3 range = 83.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070494.42, 590891.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070491.52, 590890.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070488.62, 590888.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070485.71, 590886.70) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 774.0 Dvl range = 78.1, range = 180.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 97.9, iterations = 0, grazing = 0.0 beam3 range = 82.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070482.81, 590884.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070479.91, 590883.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070477.01, 590881.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070474.10, 590879.81) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 776.0 Dvl range = 74.7, range = 172.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 94.7, iterations = 0, grazing = 0.0 beam3 range = 77.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070471.20, 590878.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070468.30, 590876.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070465.40, 590874.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070462.49, 590872.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 776.0 Dvl range = 71.4, range = 164.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 93.5, iterations = 0, grazing = 0.0 beam3 range = 71.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070459.59, 590871.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070456.69, 590869.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070453.79, 590867.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070450.88, 590866.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 778.0 Dvl range = 69.1, range = 159.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 90.3, iterations = 0, grazing = 0.0 beam3 range = 69.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070447.98, 590864.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070445.08, 590862.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070442.18, 590860.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070439.27, 590859.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 780.0 Dvl range = 65.8, range = 151.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 85.0, iterations = 0, grazing = 0.0 beam3 range = 66.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070436.37, 590857.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070433.46, 590855.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070430.54, 590853.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070427.59, 590852.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 782.0 Dvl range = 60.2, range = 138.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 73.9, iterations = 0, grazing = 0.0 beam3 range = 65.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070424.61, 590850.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070421.59, 590848.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070418.54, 590846.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070415.46, 590845.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 784.0 Dvl range = 60.1, range = 138.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 73.8, iterations = 0, grazing = 0.0 beam3 range = 64.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070412.36, 590843.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070409.24, 590841.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070406.11, 590839.49) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2900.00, (simTime - realTime) = 0.00 Heading = 210.60 Depth = 756.45 Speed = 1.23 Pitch = -15.29 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070402.97, 590837.63) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 790.0 Dvl range = 60.9, range = 140.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 74.7, iterations = 0, grazing = 0.0 beam3 range = 66.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070399.82, 590835.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070396.67, 590833.91) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070394.7, 590832.7), reached at t = 2909.00 (wplog) : Vehicle Position error is (0.1, 0.0) : LayeredControl::execute() -- (t = 2909.000000) Behavior waypoint_depth:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 2909.000000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 2909.00 (wplog) The current location (N,E) = 4070394.6 , 590832.7 (wplog) The next waypoint = 4070235.3 , 590698.4 (wplog) The bearing to the next w.p. is 220.1 Degrees. The distance to the next w.p. is 208.3 Meters. The slope to the next w.p. is -0.2416. The initial commanded depth is 761.7 meters. The final commanded depth is 812.1 meters. : LayeredControl::execute() -- (t = 2909.000000) Behavior waypoint_depth:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070393.53, 590832.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070390.43, 590830.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 794.0 Dvl range = 63.2, range = 146.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 75.2, iterations = 0, grazing = 0.0 beam3 range = 70.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070387.48, 590828.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070384.72, 590825.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070382.12, 590823.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070379.62, 590821.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 800.0 Dvl range = 68.0, range = 157.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 78.4, iterations = 0, grazing = 0.0 beam3 range = 78.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070377.19, 590818.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070374.78, 590816.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070372.37, 590813.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070369.95, 590811.48) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 804.0 Dvl range = 69.4, range = 160.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 78.6, iterations = 0, grazing = 0.0 beam3 range = 81.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070367.52, 590809.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070365.07, 590806.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070362.60, 590804.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.14, 590802.49) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 69.2, range = 159.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 81.1, iterations = 0, grazing = 0.0 beam3 range = 78.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070357.68, 590800.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070355.23, 590798.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070352.77, 590796.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070350.31, 590794.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 812.0 Dvl range = 69.0, range = 159.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 80.3, iterations = 0, grazing = 0.0 beam3 range = 79.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070347.85, 590792.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070345.38, 590790.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070342.92, 590788.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070340.46, 590786.71) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 814.0 Dvl range = 70.3, range = 162.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 86.5, iterations = 0, grazing = 0.0 beam3 range = 75.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070338.00, 590784.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070335.54, 590782.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070333.07, 590780.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070330.59, 590778.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 818.0 Dvl range = 68.6, range = 158.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 87.2, iterations = 0, grazing = 0.0 beam3 range = 71.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070328.11, 590776.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070325.62, 590774.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070323.12, 590772.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070320.62, 590770.75) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 822.0 Dvl range = 68.9, range = 159.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 87.2, iterations = 0, grazing = 0.0 beam3 range = 71.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070318.11, 590768.65) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3000.00, (simTime - realTime) = 0.00 Heading = 220.28 Depth = 785.57 Speed = 1.12 Pitch = -19.95 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070315.60, 590766.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070313.08, 590764.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070310.55, 590762.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 64.4, range = 148.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 80.7, iterations = 0, grazing = 0.0 beam3 range = 68.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070308.02, 590760.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070305.48, 590757.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070302.94, 590755.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070300.39, 590753.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 828.0 Dvl range = 64.4, range = 148.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 77.7, iterations = 0, grazing = 0.0 beam3 range = 71.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070297.83, 590751.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070295.26, 590748.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 98.49 : _navData-> (x,y) = (4070292.68, 590746.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 98.49 : _navData-> (x,y) = (4070290.10, 590744.52) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 830.0 Dvl range = 63.1, range = 145.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 75.7, iterations = 0, grazing = 0.0 beam3 range = 69.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 95.91 : _navData-> (x,y) = (4070287.51, 590742.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 95.91 : _navData-> (x,y) = (4070284.92, 590740.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 93.67 : _navData-> (x,y) = (4070282.31, 590737.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 93.67 : _navData-> (x,y) = (4070279.70, 590735.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 834.0 Dvl range = 62.3, range = 143.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 76.4, iterations = 0, grazing = 0.0 beam3 range = 67.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 89.92 : _navData-> (x,y) = (4070277.09, 590733.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 89.92 : _navData-> (x,y) = (4070274.47, 590731.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 86.07 : _navData-> (x,y) = (4070271.85, 590729.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 86.07 : _navData-> (x,y) = (4070269.23, 590726.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 834.0 Dvl range = 60.6, range = 139.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 75.0, iterations = 0, grazing = 0.0 beam3 range = 65.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 87.39 : _navData-> (x,y) = (4070266.61, 590724.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 87.39 : _navData-> (x,y) = (4070263.98, 590722.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 84.96 : _navData-> (x,y) = (4070261.36, 590720.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 84.96 : _navData-> (x,y) = (4070258.74, 590718.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 834.0 Dvl range = 92.0, range = 318.7 numValidBeams = 3 beam1 range = 185.8, iterations = 0, grazing = 0.0 beam2 range = 72.1, iterations = 0, grazing = 0.0 beam3 range = 60.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 82.36 : _navData-> (x,y) = (4070256.11, 590715.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 82.36 : _navData-> (x,y) = (4070253.48, 590713.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 84.52 : _navData-> (x,y) = (4070250.83, 590711.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 84.52 : _navData-> (x,y) = (4070248.15, 590709.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 836.0 Dvl range = 55.0, range = 126.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 67.6, iterations = 0, grazing = 0.0 beam3 range = 59.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 84.63 : _navData-> (x,y) = (4070245.45, 590707.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 84.63 : _navData-> (x,y) = (4070242.72, 590704.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 99.61, IDT[75] = 85.82 : _navData-> (x,y) = (4070239.96, 590702.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 99.61, IDT[75] = 85.82 : _navData-> (x,y) = (4070237.18, 590700.04) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070235.3, 590698.4), reached at t = 3095.20 (wplog) : Vehicle Position error is (0.2, 0.1) : LayeredControl::execute() -- (t = 3095.200000) Behavior waypoint_depth:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 3095.200000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 3095.20 (wplog) The current location (N,E) = 4070235.1 , 590698.3 (wplog) The next waypoint = 4070104.4 , 590495.1 (wplog) The bearing to the next w.p. is 237.2 Degrees. The distance to the next w.p. is 241.6 Meters. The slope to the next w.p. is -0.2116. The initial commanded depth is 812.1 meters. The final commanded depth is 863.2 meters. : LayeredControl::execute() -- (t = 3095.200000) Behavior waypoint_depth:-1 has changed to state Active : SimulatedDvlSide::get() waterDepth(0.,0.) = 842.0 Dvl range = 53.4, range = 123.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 64.6, iterations = 0, grazing = 0.0 beam3 range = 58.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 95.98, IDT[75] = 83.55 : _navData-> (x,y) = (4070234.38, 590697.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 95.98, IDT[75] = 83.55 : _navData-> (x,y) = (4070231.62, 590695.32) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3100.00, (simTime - realTime) = 0.00 Heading = 228.83 Depth = 811.20 Speed = 1.21 Pitch = -16.26 : TerrainAidDriver::readData() - IDT[45] = 99.89, IDT[75] = 89.98 : _navData-> (x,y) = (4070229.16, 590692.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 99.89, IDT[75] = 89.98 : _navData-> (x,y) = (4070227.06, 590689.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 848.0 Dvl range = 59.6, range = 137.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 70.2, iterations = 0, grazing = 0.0 beam3 range = 67.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070225.27, 590686.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070223.71, 590683.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070222.29, 590680.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070220.95, 590677.41) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 854.0 Dvl range = 61.6, range = 142.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 74.1, iterations = 0, grazing = 0.0 beam3 range = 68.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070219.61, 590674.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070218.25, 590671.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 96.20 : _navData-> (x,y) = (4070216.83, 590668.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 96.20 : _navData-> (x,y) = (4070215.34, 590665.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 858.0 Dvl range = 62.5, range = 144.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 72.5, iterations = 0, grazing = 0.0 beam3 range = 71.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 95.41 : _navData-> (x,y) = (4070213.76, 590662.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 95.41 : _navData-> (x,y) = (4070212.09, 590659.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 91.98 : _navData-> (x,y) = (4070210.34, 590656.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 91.98 : _navData-> (x,y) = (4070208.50, 590653.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 866.0 Dvl range = 62.2, range = 143.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 71.2, iterations = 0, grazing = 0.0 beam3 range = 72.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 97.36, IDT[75] = 91.26 : _navData-> (x,y) = (4070206.60, 590651.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.36, IDT[75] = 91.26 : _navData-> (x,y) = (4070204.63, 590648.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 96.84, IDT[75] = 87.66 : _navData-> (x,y) = (4070202.62, 590645.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 96.84, IDT[75] = 87.66 : _navData-> (x,y) = (4070200.57, 590642.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 872.0 Dvl range = 60.9, range = 140.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 71.0, iterations = 0, grazing = 0.0 beam3 range = 69.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 97.30, IDT[75] = 85.50 : _navData-> (x,y) = (4070198.49, 590640.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.30, IDT[75] = 85.50 : _navData-> (x,y) = (4070196.40, 590637.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 98.50, IDT[75] = 85.34 : _navData-> (x,y) = (4070194.31, 590634.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 98.50, IDT[75] = 85.34 : _navData-> (x,y) = (4070192.22, 590631.60) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 870.0 Dvl range = 61.2, range = 141.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 74.5, iterations = 0, grazing = 0.0 beam3 range = 66.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 99.60, IDT[75] = 82.97 : _navData-> (x,y) = (4070190.15, 590628.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 99.60, IDT[75] = 82.97 : _navData-> (x,y) = (4070188.10, 590625.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.44, IDT[75] = 81.62 : _navData-> (x,y) = (4070186.08, 590622.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.44, IDT[75] = 81.62 : _navData-> (x,y) = (4070184.08, 590620.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 874.0 Dvl range = 60.5, range = 139.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 73.5, iterations = 0, grazing = 0.0 beam3 range = 66.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 97.67, IDT[75] = 86.65 : _navData-> (x,y) = (4070182.12, 590617.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.67, IDT[75] = 86.65 : _navData-> (x,y) = (4070180.18, 590614.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 96.82, IDT[75] = 66.00 : _navData-> (x,y) = (4070178.27, 590611.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 96.82, IDT[75] = 66.00 : _navData-> (x,y) = (4070176.37, 590608.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 876.0 Dvl range = 59.0, range = 136.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 70.3, iterations = 0, grazing = 0.0 beam3 range = 65.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 94.75, IDT[75] = 0.00 : _navData-> (x,y) = (4070174.50, 590605.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 94.75, IDT[75] = 0.00 : _navData-> (x,y) = (4070172.64, 590601.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 93.35, IDT[75] = 0.00 : _navData-> (x,y) = (4070170.78, 590598.90) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3200.00, (simTime - realTime) = 0.00 Heading = 238.80 Depth = 837.27 Speed = 1.21 Pitch = -17.10 : TerrainAidDriver::readData() - IDT[45] = 93.35, IDT[75] = 0.00 : _navData-> (x,y) = (4070168.93, 590595.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 876.0 Dvl range = 57.2, range = 132.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 68.0, iterations = 0, grazing = 0.0 beam3 range = 64.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 98.06, IDT[75] = 0.00 : _navData-> (x,y) = (4070167.08, 590592.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 98.06, IDT[75] = 0.00 : _navData-> (x,y) = (4070165.22, 590589.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070163.35, 590586.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070161.48, 590583.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 878.0 Dvl range = 56.9, range = 131.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 68.3, iterations = 0, grazing = 0.0 beam3 range = 63.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070159.59, 590580.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070157.69, 590577.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 65.83, IDT[75] = 0.00 : _navData-> (x,y) = (4070155.78, 590574.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 65.83, IDT[75] = 0.00 : _navData-> (x,y) = (4070153.86, 590571.55) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 882.0 Dvl range = 57.6, range = 133.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 69.3, iterations = 0, grazing = 0.0 beam3 range = 63.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 65.44, IDT[75] = 0.00 : _navData-> (x,y) = (4070151.93, 590568.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 65.44, IDT[75] = 0.00 : _navData-> (x,y) = (4070149.99, 590565.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070148.04, 590562.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070146.09, 590559.57) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 884.0 Dvl range = 56.7, range = 131.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 65.8, iterations = 0, grazing = 0.0 beam3 range = 65.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070144.14, 590556.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070142.18, 590553.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070140.22, 590550.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070138.26, 590547.65) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 886.0 Dvl range = 60.0, range = 138.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 67.9, iterations = 0, grazing = 0.0 beam3 range = 70.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070136.31, 590544.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070134.36, 590541.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070132.41, 590538.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070130.47, 590535.71) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 888.0 Dvl range = 61.8, range = 142.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 67.8, iterations = 0, grazing = 0.0 beam3 range = 74.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070128.53, 590532.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070126.60, 590529.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070124.67, 590526.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070122.75, 590523.74) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 892.0 Dvl range = 67.6, range = 156.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 73.3, iterations = 0, grazing = 0.0 beam3 range = 82.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070120.82, 590520.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070118.90, 590517.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070116.99, 590514.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070115.07, 590511.74) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 896.0 Dvl range = 75.7, range = 174.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 80.6, iterations = 0, grazing = 0.0 beam3 range = 94.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070113.15, 590508.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070111.24, 590505.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070109.32, 590502.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070107.40, 590499.74) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 888.0 Dvl range = 77.0, range = 177.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 87.6, iterations = 0, grazing = 0.0 beam3 range = 90.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070105.48, 590496.74) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3300.00, (simTime - realTime) = 0.00 Heading = 237.36 Depth = 862.20 Speed = 1.21 Pitch = -17.29 : WaypointDepth has set the state to finished. : Waypoint (4070104.4, 590495.1), reached at t = 3301.80 (wplog) : Vehicle Position error is (0.1, 0.2) : LayeredControl::execute() -- (t = 3301.800000) Behavior waypoint_depth:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 3301.800000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 3301.80 (wplog) The current location (N,E) = 4070104.3 , 590494.9 (wplog) The next waypoint = 4070362.1 , 590015.0 (wplog) The bearing to the next w.p. is 298.2 Degrees. The distance to the next w.p. is 544.8 Meters. The slope to the next w.p. is -0.0703. The initial commanded depth is 863.2 meters. The final commanded depth is 901.4 meters. : LayeredControl::execute() -- (t = 3301.800000) Behavior waypoint_depth:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070103.56, 590493.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070101.67, 590490.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070100.15, 590487.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 892.0 Dvl range = 105.8, range = 244.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.2, iterations = 0, grazing = 0.0 beam3 range = 137.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070099.33, 590484.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070099.33, 590480.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070100.18, 590477.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070101.84, 590474.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 888.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070104.23, 590471.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070107.14, 590469.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070110.40, 590467.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070113.82, 590464.94) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 880.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070117.23, 590462.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070120.49, 590459.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070123.55, 590456.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070126.38, 590453.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 908.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070128.94, 590449.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070131.26, 590446.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070133.37, 590443.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070135.32, 590440.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 910.0 Dvl range = 163.5, range = 188.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 188.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070137.16, 590436.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070138.92, 590433.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070140.64, 590430.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070142.32, 590426.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 914.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070143.98, 590423.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070145.64, 590419.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070147.31, 590416.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070149.00, 590412.57) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 918.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070150.71, 590408.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070152.47, 590405.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070154.26, 590401.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070156.11, 590397.87) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070157.99, 590394.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070159.92, 590390.44) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3400.00, (simTime - realTime) = 0.00 Heading = 298.08 Depth = 872.44 Speed = 1.40 Pitch = -7.01 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070161.89, 590386.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070163.89, 590383.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 922.0 Dvl range = 169.5, range = 195.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 195.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070165.92, 590379.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070167.98, 590375.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070170.04, 590371.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070172.11, 590368.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 922.0 Dvl range = 167.9, range = 193.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 193.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070174.18, 590364.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070176.25, 590360.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070178.31, 590357.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070180.37, 590353.44) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 924.0 Dvl range = 155.0, range = 178.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 178.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070182.41, 590349.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070184.44, 590346.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070186.45, 590342.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070188.46, 590338.61) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 924.0 Dvl range = 151.0, range = 174.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 174.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070190.45, 590334.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070192.44, 590331.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070194.42, 590327.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070196.40, 590323.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 154.0, range = 177.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 177.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070198.37, 590319.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070200.34, 590316.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070202.31, 590312.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070204.29, 590308.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 150.0, range = 173.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 173.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070206.26, 590305.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070208.24, 590301.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070210.22, 590297.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070212.21, 590293.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 146.1, range = 168.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 168.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070214.19, 590290.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070216.18, 590286.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070218.18, 590282.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070220.17, 590279.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 155.0, range = 358.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 191.7, iterations = 0, grazing = 0.0 beam3 range = 166.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070222.17, 590275.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070224.16, 590271.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070226.16, 590268.04) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3500.00, (simTime - realTime) = 0.00 Heading = 298.33 Depth = 881.40 Speed = 1.40 Pitch = -8.06 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070228.15, 590264.34) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 151.1, range = 348.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 189.4, iterations = 0, grazing = 0.0 beam3 range = 159.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070230.15, 590260.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070232.14, 590256.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070234.13, 590253.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070236.12, 590249.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 146.9, range = 339.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 184.3, iterations = 0, grazing = 0.0 beam3 range = 155.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070238.11, 590245.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070240.10, 590242.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070242.09, 590238.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070244.08, 590234.74) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 140.7, range = 324.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 174.6, iterations = 0, grazing = 0.0 beam3 range = 150.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070246.06, 590231.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070248.05, 590227.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070250.03, 590223.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070252.02, 590219.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 137.3, range = 317.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 170.4, iterations = 0, grazing = 0.0 beam3 range = 146.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070254.00, 590216.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070255.99, 590212.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070257.97, 590208.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070259.96, 590205.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 133.9, range = 309.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 166.2, iterations = 0, grazing = 0.0 beam3 range = 143.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070261.94, 590201.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070263.93, 590197.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070265.91, 590194.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070267.90, 590190.34) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 129.2, range = 298.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 161.9, iterations = 0, grazing = 0.0 beam3 range = 136.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070269.89, 590186.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070271.87, 590182.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070273.86, 590179.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070275.84, 590175.55) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 930.0 Dvl range = 129.1, range = 298.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.4, iterations = 0, grazing = 0.0 beam3 range = 132.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070277.83, 590171.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070279.82, 590168.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070281.80, 590164.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070283.79, 590160.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 116.5, range = 269.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 147.2, iterations = 0, grazing = 0.0 beam3 range = 121.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070285.77, 590157.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070287.76, 590153.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070289.74, 590149.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070291.73, 590145.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 116.0, range = 401.7 numValidBeams = 3 beam1 range = 134.9, iterations = 0, grazing = 0.0 beam2 range = 145.1, iterations = 0, grazing = 0.0 beam3 range = 121.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070293.72, 590142.27) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3600.00, (simTime - realTime) = 0.00 Heading = 298.24 Depth = 891.09 Speed = 1.40 Pitch = -8.17 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070295.70, 590138.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070297.68, 590134.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070299.67, 590131.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 930.0 Dvl range = 111.8, range = 387.3 numValidBeams = 3 beam1 range = 131.9, iterations = 0, grazing = 0.0 beam2 range = 140.9, iterations = 0, grazing = 0.0 beam3 range = 114.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070301.65, 590127.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070303.64, 590123.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070305.62, 590120.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070307.61, 590116.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 932.0 Dvl range = 108.2, range = 249.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 136.6, iterations = 0, grazing = 0.0 beam3 range = 113.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070309.59, 590112.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070311.58, 590109.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070313.56, 590105.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070315.55, 590101.62) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 932.0 Dvl range = 103.7, range = 239.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 127.4, iterations = 0, grazing = 0.0 beam3 range = 112.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070317.53, 590097.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070319.52, 590094.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070321.50, 590090.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070323.48, 590086.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 932.0 Dvl range = 110.1, range = 381.5 numValidBeams = 3 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 119.8, iterations = 0, grazing = 0.0 beam3 range = 127.6, iterations = 0, grazing = 0.0 beam4 range = 134.0, iterations = 0, grazing = 0.0 bottomStatus = 3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070325.47, 590083.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070327.45, 590079.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070329.44, 590075.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070331.42, 590072.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 934.0 Dvl range = 103.9, range = 239.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 117.7, iterations = 0, grazing = 0.0 beam3 range = 122.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070333.41, 590068.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070335.39, 590064.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070337.38, 590060.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070339.36, 590057.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 109.6, range = 253.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 115.6, iterations = 0, grazing = 0.0 beam3 range = 137.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070341.35, 590053.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070343.33, 590049.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070345.31, 590046.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070347.30, 590042.49) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 938.0 Dvl range = 115.8, range = 267.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 121.7, iterations = 0, grazing = 0.0 beam3 range = 145.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070349.28, 590038.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070351.27, 590035.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070353.25, 590031.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070355.24, 590027.71) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 938.0 Dvl range = 129.7, range = 299.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 140.4, iterations = 0, grazing = 0.0 beam3 range = 159.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070357.22, 590024.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070359.20, 590020.32) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3700.00, (simTime - realTime) = 0.00 Heading = 298.24 Depth = 900.89 Speed = 1.40 Pitch = -8.19 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070361.19, 590016.62) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070362.1, 590015.0), reached at t = 3703.40 (wplog) : Vehicle Position error is (0.0, 0.1) : LayeredControl::execute() -- (t = 3703.400000) Behavior waypoint_depth:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 3703.400000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 3703.40 (wplog) The current location (N,E) = 4070362.1 , 590014.9 (wplog) The next waypoint = 4070363.9 , 589807.0 (wplog) The bearing to the next w.p. is 270.5 Degrees. The distance to the next w.p. is 207.9 Meters. The slope to the next w.p. is 0.0551. The initial commanded depth is 901.4 meters. The final commanded depth is 890.0 meters. : LayeredControl::execute() -- (t = 3703.400000) Behavior waypoint_depth:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.18, 590012.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 123.5, range = 285.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 141.5, iterations = 0, grazing = 0.0 beam3 range = 143.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070365.00, 590009.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070366.08, 590005.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070366.34, 590001.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070365.96, 589997.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 942.0 Dvl range = 119.7, range = 276.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 152.4, iterations = 0, grazing = 0.0 beam3 range = 124.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070365.13, 589993.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070364.03, 589989.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070362.84, 589985.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070361.71, 589980.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 116.3, range = 268.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 138.1, iterations = 0, grazing = 0.0 beam3 range = 130.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.75, 589976.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.02, 589972.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070359.56, 589967.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070359.37, 589963.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 119.9, range = 277.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 131.5, iterations = 0, grazing = 0.0 beam3 range = 145.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070359.42, 589958.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070359.68, 589954.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.10, 589949.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.62, 589945.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 125.9, range = 290.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 137.1, iterations = 0, grazing = 0.0 beam3 range = 153.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070361.21, 589940.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070361.80, 589935.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070362.36, 589931.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070362.86, 589926.50) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 123.3, range = 284.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 134.7, iterations = 0, grazing = 0.0 beam3 range = 150.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.27, 589921.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.59, 589917.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.82, 589912.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.95, 589907.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 128.4, range = 296.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 139.8, iterations = 0, grazing = 0.0 beam3 range = 156.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070364.01, 589903.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.99, 589898.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.93, 589893.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.83, 589889.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 129.5, range = 299.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 145.9, iterations = 0, grazing = 0.0 beam3 range = 153.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.71, 589884.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.59, 589879.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.48, 589875.12) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3800.00, (simTime - realTime) = 0.00 Heading = 268.96 Depth = 894.43 Speed = 1.56 Pitch = 0.13 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.38, 589870.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 136.9, range = 316.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 147.9, iterations = 0, grazing = 0.0 beam3 range = 168.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.31, 589865.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.26, 589861.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.24, 589856.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.24, 589851.79) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 137.1, range = 316.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 158.2, iterations = 0, grazing = 0.0 beam3 range = 158.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.27, 589847.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.32, 589842.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.39, 589837.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.46, 589833.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 142.6, range = 329.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 157.6, iterations = 0, grazing = 0.0 beam3 range = 171.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.54, 589828.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.63, 589823.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.71, 589819.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.79, 589814.50) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 142.0, range = 327.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 158.1, iterations = 0, grazing = 0.0 beam3 range = 169.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.86, 589809.85) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070363.9, 589807.0), reached at t = 3842.00 (wplog) : Vehicle Position error is (0.0, 0.3) : LayeredControl::execute() -- (t = 3842.000000) Behavior waypoint_depth:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 3842.000000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 3842.000000) Behavior reson:-1 has changed to state Finished : WaypointWall::Escape - escape is true. Check to see if a wall was present. : WaypointWall::Escape - wallAbsentTime = 70.0, : WaypointWall::Escape - _lastWallTime = 0.0, mission time = 3842.00, _wallBearing = 0.0 : WaypointWall::Escape - Wall absent for 1488321636.8 seconds at 1488321636.82 . Terminate. : WaypointWall::Escape - current position (4070363.9, 589806.7), reached at t = 3842.00 : LayeredControl::execute() -- (t = 3842.000000) Behavior waypoint_wall:-1 has changed to state Finished : WaypointWall initialization: Begin waypoint control at t= 3842.00 (wplog) The current location (N,E) = 4070363.9 , 589806.7 (wplog) The next waypoint = 4070208.0 , 589628.6 (wplog) The bearing to the next w.p. is 228.9 Degrees. The distance to the next w.p. is 236.7 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 890.0 meters. The final commanded depth is 890.0 meters. : WaypointWall:: standOff = 50.00 at 3842.00 : WaypointWall:: projection = 3 at 3842.00 : WaypointWall:: windowLen = 31 at 3842.00 : WaypointWall:: filterType = 3 at 3842.00 : WaypointWall:: escape = 0 at 3842.00 : WaypointWall:: waypointPriority = 0 at 3842.00 : WaypointWall::Forward-looking DeltaT IS enabled at t=3842.00 sec. : WaypointWall: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : WaypointWall::Total number of beams is 210, t=3842.00 sec. : LayeredControl::execute() -- (t = 3842.000000) Behavior waypoint_wall:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 5 at t = 3842.00 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.93, 589805.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.92, 589800.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.16, 589796.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 142.0, range = 163.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 163.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070361.31, 589792.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070358.51, 589788.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070355.14, 589786.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070351.47, 589784.10) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 150.2, range = 173.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 173.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070347.71, 589781.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070344.00, 589779.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070340.40, 589777.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070336.98, 589774.63) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 954.0 Dvl range = 127.5, range = 147.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 147.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070333.72, 589771.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070330.61, 589768.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070327.62, 589765.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070324.70, 589762.35) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 135.4, range = 312.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 178.1, iterations = 0, grazing = 0.0 beam3 range = 134.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070321.82, 589759.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070318.96, 589755.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070316.10, 589752.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070313.22, 589749.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 130.8, range = 302.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 177.4, iterations = 0, grazing = 0.0 beam3 range = 124.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070310.34, 589745.68) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3900.00, (simTime - realTime) = 0.00 Heading = 229.14 Depth = 889.71 Speed = 1.47 Pitch = -3.83 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070307.44, 589742.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070304.54, 589738.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070301.62, 589735.65) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 954.0 Dvl range = 124.6, range = 287.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 160.7, iterations = 0, grazing = 0.0 beam3 range = 126.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070298.69, 589732.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070295.77, 589728.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070292.84, 589725.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070289.91, 589722.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 110.3, range = 254.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 142.8, iterations = 0, grazing = 0.0 beam3 range = 111.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070286.98, 589718.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070284.05, 589715.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070281.12, 589712.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070278.19, 589708.86) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 101.7, range = 234.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 128.5, iterations = 0, grazing = 0.0 beam3 range = 106.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070275.26, 589705.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070272.33, 589702.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070269.40, 589698.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070266.47, 589695.44) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 99.7, range = 230.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 128.0, iterations = 0, grazing = 0.0 beam3 range = 102.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070263.54, 589692.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070260.61, 589688.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070257.68, 589685.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070254.75, 589682.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 94.8, range = 218.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 113.9, iterations = 0, grazing = 0.0 beam3 range = 105.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070251.82, 589678.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070248.89, 589675.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070245.96, 589671.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070243.02, 589668.61) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: wallPresent set to 1 at 3971.40 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3971.80 sec. : DynamicControlServer:: RHT set to 1 at 3971.80 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 100.1, range = 346.8 numValidBeams = 3 beam1 range = 144.9, iterations = 0, grazing = 0.0 beam2 range = 108.3, iterations = 0, grazing = 0.0 beam3 range = 93.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070240.09, 589665.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070237.15, 589661.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070234.55, 589658.40) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: RHT set to 0 at 3978.20 : DynamicControlServer:: _wallBearing reset to 5.06 at 3978.20 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3978.40 sec. : DynamicControlServer:: RHT set to 1 at 3978.40 : DynamicControlServer:: RHT set to 0 at 3978.80 : DynamicControlServer:: _wallBearing reset to 5.04 at 3978.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070232.87, 589654.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 79.8, range = 276.3 numValidBeams = 3 beam1 range = 120.9, iterations = 0, grazing = 0.0 beam2 range = 77.5, iterations = 0, grazing = 0.0 beam3 range = 78.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070232.18, 589650.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070231.50, 589646.27) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3988.20 sec. : DynamicControlServer:: RHT set to 1 at 3988.20 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 96.87 : _navData-> (x,y) = (4070230.14, 589642.37) : _tercom->outstandingMeas() = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=3990.40 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070227.93, 589638.93) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3995.40 sec. : SimulatedDvlSide::get() waterDepth(0.,0.) = 942.0 Dvl range = 99.7, range = 345.5 numValidBeams = 3 beam1 range = 165.6, iterations = 0, grazing = 0.0 beam2 range = 103.0, iterations = 0, grazing = 0.0 beam3 range = 76.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 95.17 : _navData-> (x,y) = (4070225.52, 589635.59) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: RHT set to 0 at 3998.40 : DynamicControlServer:: _wallBearing reset to 5.11 at 3998.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 88.96 : _navData-> (x,y) = (4070223.65, 589631.96) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3999.40 sec. : DynamicControlServer:: RHT set to 1 at 3999.40 : DynamicControlServer:: RHT set to 0 at 3999.80 : DynamicControlServer:: _wallBearing reset to 5.18 at 3999.80 by L/RHT. : Simulator:: Before the call to motion(): simTime = 4000.00, (simTime - realTime) = 0.00 Heading = 259.83 Depth = 889.75 Speed = 1.33 Pitch = -4.88 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4000.20 sec. : DynamicControlServer:: RHT set to 1 at 4000.20 : DynamicControlServer:: RHT set to 0 at 4001.40 : DynamicControlServer:: _wallBearing reset to 5.32 at 4001.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 79.40 : _navData-> (x,y) = (4070222.68, 589628.08) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 4002.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 89.57, IDT[75] = 64.27 : _navData-> (x,y) = (4070222.77, 589624.15) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321799.62) : ARL North: 7.4784, East: -412.0699, Depth: -33.5452 : ARL Estimation Bias (Mean): (t = 1488321799.62) : ARL North: 7.4720, East: -413.5172, Depth: -34.7983 : ARL North Sigma: 1.74, East Sigma: 9.50, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4005.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 938.0 Dvl range = 70.3, range = 324.9 numValidBeams = 4 beam1 range = 79.8, iterations = 0, grazing = 0.0 beam2 range = 71.5, iterations = 0, grazing = 0.0 beam3 range = 63.4, iterations = 0, grazing = 0.0 beam4 range = 110.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 90.57, IDT[75] = 62.77 : _navData-> (x,y) = (4070223.47, 589620.25) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321802.62) : ARL North: 7.3109, East: -417.9289, Depth: -40.5544 : ARL Estimation Bias (Mean): (t = 1488321802.62) : ARL North: 8.2915, East: -417.2320, Depth: -38.3230 : ARL North Sigma: 0.63, East Sigma: 0.66, Depth Sigma: 2.26 : DynamicControlServer:: TerrainNav has new data at 4008.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 73.10 : _navData-> (x,y) = (4070223.88, 589616.28) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321805.62) : ARL North: 9.1966, East: -421.0484, Depth: -31.1485 : ARL Estimation Bias (Mean): (t = 1488321805.62) : ARL North: 8.4719, East: -421.7267, Depth: -39.1731 : ARL North Sigma: 0.69, East Sigma: 0.62, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4011.00. Valid = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4011.80 sec. : DynamicControlServer:: RHT set to 1 at 4011.80 : DynamicControlServer:: RHT set to 0 at 4012.20 : DynamicControlServer:: _wallBearing reset to 5.28 at 4012.20 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4013.80 sec. : DynamicControlServer:: RHT set to 1 at 4013.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 78.79 : _navData-> (x,y) = (4070223.49, 589612.33) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321808.62) : ARL North: 9.5057, East: -424.9208, Depth: -36.6313 : ARL Estimation Bias (Mean): (t = 1488321808.62) : ARL North: 7.8420, East: -426.2204, Depth: -36.8180 : ARL North Sigma: 0.71, East Sigma: 0.58, Depth Sigma: 2.10 : DynamicControlServer:: TerrainNav has new data at 4014.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4014.20 : DynamicControlServer:: _wallBearing reset to 5.17 at 4014.20 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4014.40 sec. : DynamicControlServer:: RHT set to 1 at 4014.40 : DynamicControlServer:: RHT set to 0 at 4014.80 : DynamicControlServer:: _wallBearing reset to 5.16 at 4014.80 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4015.20 sec. : DynamicControlServer:: RHT set to 1 at 4015.20 : DynamicControlServer:: RHT set to 0 at 4015.60 : DynamicControlServer:: _wallBearing reset to 5.15 at 4015.60 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4016.40 sec. : DynamicControlServer:: RHT set to 1 at 4016.40 : DynamicControlServer:: RHT set to 0 at 4016.80 : DynamicControlServer:: _wallBearing reset to 5.08 at 4016.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 75.89 : _navData-> (x,y) = (4070222.47, 589608.47) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321811.62) : ARL North: 7.1960, East: -428.5220, Depth: -39.3851 : ARL Estimation Bias (Mean): (t = 1488321811.62) : ARL North: 6.0065, East: -429.7227, Depth: -38.3745 : ARL North Sigma: 0.75, East Sigma: 0.72, Depth Sigma: 2.19 : DynamicControlServer:: TerrainNav has new data at 4017.00. Valid = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4017.40 sec. : DynamicControlServer:: RHT set to 1 at 4017.40 : DynamicControlServer:: RHT set to 0 at 4017.80 : DynamicControlServer:: _wallBearing reset to 5.15 at 4017.80 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4019.00 sec. : DynamicControlServer:: RHT set to 1 at 4019.00 : DynamicControlServer:: RHT set to 0 at 4019.40 : DynamicControlServer:: _wallBearing reset to 5.12 at 4019.40 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 73.6, range = 339.9 numValidBeams = 4 beam1 range = 78.5, iterations = 0, grazing = 0.0 beam2 range = 77.9, iterations = 0, grazing = 0.0 beam3 range = 58.1, iterations = 0, grazing = 0.0 beam4 range = 125.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 55.56 : _navData-> (x,y) = (4070221.60, 589604.50) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321814.62) : ARL North: 6.5529, East: -432.7262, Depth: -40.9170 : ARL Estimation Bias (Mean): (t = 1488321814.62) : ARL North: 4.9248, East: -433.7282, Depth: -38.0678 : ARL North Sigma: 0.76, East Sigma: 0.68, Depth Sigma: 2.20 : DynamicControlServer:: TerrainNav has new data at 4020.00. Valid = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4020.20 sec. : DynamicControlServer:: RHT set to 1 at 4020.20 : DynamicControlServer:: RHT set to 0 at 4020.40 : DynamicControlServer:: _wallBearing reset to 5.10 at 4020.40 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4021.60 sec. : DynamicControlServer:: RHT set to 1 at 4021.60 : DynamicControlServer:: RHT set to 0 at 4022.00 : DynamicControlServer:: _wallBearing reset to 5.36 at 4022.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 89.43, IDT[75] = 60.15 : _navData-> (x,y) = (4070221.04, 589600.42) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321817.62) : ARL North: 4.8765, East: -437.8755, Depth: -39.2013 : ARL Estimation Bias (Mean): (t = 1488321817.62) : ARL North: 5.1225, East: -438.0221, Depth: -39.2747 : ARL North Sigma: 0.67, East Sigma: 0.54, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4023.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 78.08, IDT[75] = 57.24 : _navData-> (x,y) = (4070220.88, 589596.31) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321820.62) : ARL North: 5.3826, East: -441.5208, Depth: -39.2398 : ARL Estimation Bias (Mean): (t = 1488321820.62) : ARL North: 6.2938, East: -443.2966, Depth: -39.2160 : ARL North Sigma: 0.74, East Sigma: 0.59, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4026.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.08, IDT[75] = 52.18 : _navData-> (x,y) = (4070221.40, 589592.22) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321823.62) : ARL North: 5.2510, East: -446.0319, Depth: -38.1459 : ARL Estimation Bias (Mean): (t = 1488321823.62) : ARL North: 5.3854, East: -446.0771, Depth: -38.1829 : ARL North Sigma: 0.60, East Sigma: 0.46, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4029.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 51.7, range = 238.8 numValidBeams = 4 beam1 range = 67.6, iterations = 0, grazing = 0.0 beam2 range = 53.2, iterations = 0, grazing = 0.0 beam3 range = 49.0, iterations = 0, grazing = 0.0 beam4 range = 69.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 61.09, IDT[75] = 52.26 : _navData-> (x,y) = (4070222.33, 589588.15) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321826.62) : ARL North: 5.2848, East: -448.5148, Depth: -34.5476 : ARL Estimation Bias (Mean): (t = 1488321826.62) : ARL North: 4.9318, East: -449.1141, Depth: -36.7494 : ARL North Sigma: 0.47, East Sigma: 0.51, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4032.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.26, IDT[75] = 51.97 : _navData-> (x,y) = (4070223.43, 589584.08) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321829.62) : ARL North: 5.9862, East: -452.8644, Depth: -38.8923 : ARL Estimation Bias (Mean): (t = 1488321829.62) : ARL North: 5.1491, East: -452.0275, Depth: -37.0979 : ARL North Sigma: 0.45, East Sigma: 0.46, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4035.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.51, IDT[75] = 67.83 : _navData-> (x,y) = (4070224.65, 589580.00) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321832.62) : ARL North: 6.2620, East: -455.1976, Depth: -37.4662 : ARL Estimation Bias (Mean): (t = 1488321832.62) : ARL North: 5.8517, East: -455.2768, Depth: -36.8182 : ARL North Sigma: 0.51, East Sigma: 0.52, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4038.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.75, IDT[75] = 73.96 : _navData-> (x,y) = (4070225.90, 589575.89) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321835.62) : ARL North: 8.0379, East: -459.3870, Depth: -35.3618 : ARL Estimation Bias (Mean): (t = 1488321835.62) : ARL North: 6.8873, East: -457.8731, Depth: -36.3312 : ARL North Sigma: 0.46, East Sigma: 0.48, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4041.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 942.0 Dvl range = 56.8, range = 262.3 numValidBeams = 4 beam1 range = 78.3, iterations = 0, grazing = 0.0 beam2 range = 50.0, iterations = 0, grazing = 0.0 beam3 range = 64.2, iterations = 0, grazing = 0.0 beam4 range = 69.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.91, IDT[75] = 72.02 : _navData-> (x,y) = (4070227.16, 589571.75) : _tercom->outstandingMeas() = 1 : TerrainAidDriver::readData() - IDT[45] = 54.96, IDT[75] = 71.07 : _navData-> (x,y) = (4070228.31, 589567.55) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 4047.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.97, IDT[75] = 69.70 : _navData-> (x,y) = (4070229.23, 589563.28) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321844.62) : ARL North: -5.9724, East: -81.4921, Depth: -24.1628 : ARL Estimation Bias (Mean): (t = 1488321844.62) : ARL North: -6.2725, East: -82.7479, Depth: -24.7975 : ARL North Sigma: 0.85, East Sigma: 2.11, Depth Sigma: 2.24 : DynamicControlServer:: TerrainNav has new data at 4050.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.87, IDT[75] = 70.91 : _navData-> (x,y) = (4070229.90, 589558.95) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321847.62) : ARL North: -5.7327, East: -86.0447, Depth: -26.4266 : ARL Estimation Bias (Mean): (t = 1488321847.62) : ARL North: -5.2750, East: -86.2343, Depth: -25.2184 : ARL North Sigma: 0.70, East Sigma: 1.10, Depth Sigma: 2.08 : DynamicControlServer:: TerrainNav has new data at 4053.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 57.1, range = 263.8 numValidBeams = 4 beam1 range = 74.1, iterations = 0, grazing = 0.0 beam2 range = 50.6, iterations = 0, grazing = 0.0 beam3 range = 62.5, iterations = 0, grazing = 0.0 beam4 range = 76.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.77, IDT[75] = 69.77 : _navData-> (x,y) = (4070230.35, 589554.57) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321850.62) : ARL North: -6.0150, East: -90.2092, Depth: -25.3957 : ARL Estimation Bias (Mean): (t = 1488321850.62) : ARL North: -4.8225, East: -90.1329, Depth: -25.1711 : ARL North Sigma: 0.64, East Sigma: 0.79, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4056.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.93, IDT[75] = 66.12 : _navData-> (x,y) = (4070230.52, 589550.17) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321853.62) : ARL North: -5.6531, East: -93.5002, Depth: -28.2486 : ARL Estimation Bias (Mean): (t = 1488321853.62) : ARL North: -4.8347, East: -94.4435, Depth: -25.0881 : ARL North Sigma: 0.64, East Sigma: 0.72, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4059.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 58.32, IDT[75] = 66.62 : _navData-> (x,y) = (4070230.32, 589545.77) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321856.62) : ARL North: -4.8265, East: -100.2090, Depth: -27.8516 : ARL Estimation Bias (Mean): (t = 1488321856.62) : ARL North: -5.3493, East: -99.3267, Depth: -25.2907 : ARL North Sigma: 0.64, East Sigma: 0.71, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4062.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 64.67, IDT[75] = 63.19 : _navData-> (x,y) = (4070229.73, 589541.41) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321859.62) : ARL North: -5.2907, East: -104.7273, Depth: -25.5832 : ARL Estimation Bias (Mean): (t = 1488321859.62) : ARL North: -6.1664, East: -103.9500, Depth: -25.3086 : ARL North Sigma: 0.65, East Sigma: 0.74, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4065.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 70.3, range = 324.5 numValidBeams = 4 beam1 range = 65.4, iterations = 0, grazing = 0.0 beam2 range = 64.7, iterations = 0, grazing = 0.0 beam3 range = 59.2, iterations = 0, grazing = 0.0 beam4 range = 135.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 81.37, IDT[75] = 60.10 : _navData-> (x,y) = (4070228.70, 589537.15) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321862.62) : ARL North: -6.4590, East: -107.6455, Depth: -21.5188 : ARL Estimation Bias (Mean): (t = 1488321862.62) : ARL North: -7.3957, East: -108.3243, Depth: -24.9701 : ARL North Sigma: 0.70, East Sigma: 0.80, Depth Sigma: 2.19 : DynamicControlServer:: TerrainNav has new data at 4068.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 85.34, IDT[75] = 59.56 : _navData-> (x,y) = (4070227.07, 589533.12) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321865.62) : ARL North: -7.5011, East: -111.4285, Depth: -17.5830 : ARL Estimation Bias (Mean): (t = 1488321865.62) : ARL North: -9.1583, East: -112.3814, Depth: -24.1182 : ARL North Sigma: 0.73, East Sigma: 0.81, Depth Sigma: 2.25 : DynamicControlServer:: TerrainNav has new data at 4071.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 87.58, IDT[75] = 58.68 : _navData-> (x,y) = (4070224.95, 589529.33) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321868.62) : ARL North: -8.9648, East: -115.3816, Depth: -22.0243 : ARL Estimation Bias (Mean): (t = 1488321868.62) : ARL North: -11.3517, East: -116.0915, Depth: -23.4225 : ARL North Sigma: 0.81, East Sigma: 0.99, Depth Sigma: 2.51 : DynamicControlServer:: TerrainNav has new data at 4074.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 89.06, IDT[75] = 57.07 : _navData-> (x,y) = (4070222.50, 589525.71) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321871.62) : ARL North: -10.8094, East: -118.8958, Depth: -19.3662 : ARL Estimation Bias (Mean): (t = 1488321871.62) : ARL North: -13.5376, East: -118.9663, Depth: -23.0364 : ARL North Sigma: 0.95, East Sigma: 1.18, Depth Sigma: 2.62 : DynamicControlServer:: TerrainNav has new data at 4077.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4079.40 sec. : DynamicControlServer:: RHT set to 1 at 4079.40 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 58.3, range = 201.9 numValidBeams = 3 beam1 range = 61.2, iterations = 0, grazing = 0.0 beam2 range = 85.3, iterations = 0, grazing = 0.0 beam3 range = 55.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 89.43, IDT[75] = 55.11 : _navData-> (x,y) = (4070219.88, 589522.22) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321874.62) : ARL North: -15.0558, East: -122.1456, Depth: -24.2262 : ARL Estimation Bias (Mean): (t = 1488321874.62) : ARL North: -16.0690, East: -121.6069, Depth: -23.3608 : ARL North Sigma: 0.91, East Sigma: 1.14, Depth Sigma: 2.46 : DynamicControlServer:: TerrainNav has new data at 4080.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 75.41, IDT[75] = 53.98 : _navData-> (x,y) = (4070217.11, 589518.84) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321877.62) : ARL North: -19.0420, East: -127.1072, Depth: -20.7375 : ARL Estimation Bias (Mean): (t = 1488321877.62) : ARL North: -18.8358, East: -124.4396, Depth: -22.9794 : ARL North Sigma: 0.94, East Sigma: 1.11, Depth Sigma: 2.60 : DynamicControlServer:: TerrainNav has new data at 4083.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4083.20 : DynamicControlServer:: _wallBearing reset to 4.80 at 4083.20 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 56.77, IDT[75] = 56.44 : _navData-> (x,y) = (4070214.72, 589515.25) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321880.62) : ARL North: -21.5175, East: -127.8754, Depth: -26.0529 : ARL Estimation Bias (Mean): (t = 1488321880.62) : ARL North: -20.4173, East: -126.4438, Depth: -23.1694 : ARL North Sigma: 0.68, East Sigma: 0.76, Depth Sigma: 2.35 : DynamicControlServer:: TerrainNav has new data at 4086.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.55, IDT[75] = 52.21 : _navData-> (x,y) = (4070212.94, 589511.34) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321883.62) : ARL North: -20.6133, East: -130.7378, Depth: -20.6120 : ARL Estimation Bias (Mean): (t = 1488321883.62) : ARL North: -21.8086, East: -130.7111, Depth: -21.2190 : ARL North Sigma: 0.65, East Sigma: 0.69, Depth Sigma: 2.31 : DynamicControlServer:: TerrainNav has new data at 4089.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 47.9, range = 221.2 numValidBeams = 4 beam1 range = 63.7, iterations = 0, grazing = 0.0 beam2 range = 50.3, iterations = 0, grazing = 0.0 beam3 range = 49.2, iterations = 0, grazing = 0.0 beam4 range = 57.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.52, IDT[75] = 54.79 : _navData-> (x,y) = (4070211.52, 589507.27) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321886.62) : ARL North: -22.9744, East: -134.0079, Depth: -23.8789 : ARL Estimation Bias (Mean): (t = 1488321886.62) : ARL North: -22.3071, East: -135.4463, Depth: -21.1206 : ARL North Sigma: 0.73, East Sigma: 0.80, Depth Sigma: 2.56 : DynamicControlServer:: TerrainNav has new data at 4092.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.92, IDT[75] = 51.50 : _navData-> (x,y) = (4070210.23, 589503.14) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321889.62) : ARL North: -21.9444, East: -138.6750, Depth: -19.2550 : ARL Estimation Bias (Mean): (t = 1488321889.62) : ARL North: -22.8646, East: -139.6301, Depth: -19.5685 : ARL North Sigma: 0.82, East Sigma: 0.82, Depth Sigma: 3.08 : DynamicControlServer:: TerrainNav has new data at 4095.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.58, IDT[75] = 52.23 : _navData-> (x,y) = (4070208.95, 589498.97) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321892.62) : ARL North: -24.0522, East: -143.5830, Depth: -20.3774 : ARL Estimation Bias (Mean): (t = 1488321892.62) : ARL North: -22.7312, East: -144.1861, Depth: -12.7817 : ARL North Sigma: 0.93, East Sigma: 0.70, Depth Sigma: 3.38 : DynamicControlServer:: TerrainNav has new data at 4098.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 4100.00, (simTime - realTime) = 0.00 Heading = 253.78 Depth = 890.05 Speed = 1.46 Pitch = -4.06 : TerrainAidDriver::readData() - IDT[45] = 57.18, IDT[75] = 52.99 : _navData-> (x,y) = (4070207.71, 589494.78) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321895.62) : ARL North: -27.1872, East: -147.5393, Depth: -23.6530 : ARL Estimation Bias (Mean): (t = 1488321895.62) : ARL North: -23.7266, East: -149.0618, Depth: -11.6990 : ARL North Sigma: 0.65, East Sigma: 0.55, Depth Sigma: 2.17 : DynamicControlServer:: TerrainNav has new data at 4101.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 47.5, range = 219.2 numValidBeams = 4 beam1 range = 56.4, iterations = 0, grazing = 0.0 beam2 range = 53.2, iterations = 0, grazing = 0.0 beam3 range = 48.1, iterations = 0, grazing = 0.0 beam4 range = 61.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.08, IDT[75] = 51.79 : _navData-> (x,y) = (4070206.49, 589490.57) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321898.62) : ARL North: -24.6669, East: -152.5618, Depth: -12.0788 : ARL Estimation Bias (Mean): (t = 1488321898.62) : ARL North: -24.7414, East: -153.2834, Depth: -10.9481 : ARL North Sigma: 0.68, East Sigma: 0.48, Depth Sigma: 2.16 : DynamicControlServer:: TerrainNav has new data at 4104.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.24, IDT[75] = 52.62 : _navData-> (x,y) = (4070205.30, 589486.33) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321901.62) : ARL North: -25.2060, East: -157.1398, Depth: -14.8162 : ARL Estimation Bias (Mean): (t = 1488321901.62) : ARL North: -25.6354, East: -157.7298, Depth: -11.1747 : ARL North Sigma: 1.22, East Sigma: 0.74, Depth Sigma: 3.30 : DynamicControlServer:: TerrainNav has new data at 4107.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.42, IDT[75] = 49.52 : _navData-> (x,y) = (4070204.15, 589482.07) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321904.62) : ARL North: -26.7480, East: -162.5175, Depth: -12.3538 : ARL Estimation Bias (Mean): (t = 1488321904.62) : ARL North: -31.1883, East: -160.7990, Depth: -22.0816 : ARL North Sigma: 2.60, East Sigma: 1.03, Depth Sigma: 6.28 : DynamicControlServer:: TerrainNav has new data at 4110.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.65, IDT[75] = 50.53 : _navData-> (x,y) = (4070203.08, 589477.78) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321907.62) : ARL North: -32.3112, East: -163.1283, Depth: -27.6729 : ARL Estimation Bias (Mean): (t = 1488321907.62) : ARL North: -32.9525, East: -164.6978, Depth: -24.9111 : ARL North Sigma: 0.61, East Sigma: 0.58, Depth Sigma: 2.15 : DynamicControlServer:: TerrainNav has new data at 4113.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 46.8, range = 216.3 numValidBeams = 4 beam1 range = 60.1, iterations = 0, grazing = 0.0 beam2 range = 51.5, iterations = 0, grazing = 0.0 beam3 range = 41.4, iterations = 0, grazing = 0.0 beam4 range = 63.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 49.41, IDT[75] = 43.47 : _navData-> (x,y) = (4070202.06, 589473.47) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321910.62) : ARL North: -34.4195, East: -169.1011, Depth: -22.8499 : ARL Estimation Bias (Mean): (t = 1488321910.62) : ARL North: -33.4255, East: -169.2938, Depth: -24.2279 : ARL North Sigma: 0.62, East Sigma: 0.70, Depth Sigma: 2.15 : DynamicControlServer:: TerrainNav has new data at 4116.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 51.97, IDT[75] = 44.61 : _navData-> (x,y) = (4070201.05, 589469.15) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321913.62) : ARL North: -34.6355, East: -173.5350, Depth: -19.3642 : ARL Estimation Bias (Mean): (t = 1488321913.62) : ARL North: -34.0189, East: -173.6620, Depth: -23.7455 : ARL North Sigma: 0.63, East Sigma: 0.85, Depth Sigma: 2.15 : DynamicControlServer:: TerrainNav has new data at 4119.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.38, IDT[75] = 46.71 : _navData-> (x,y) = (4070200.24, 589464.80) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321916.62) : ARL North: -34.7167, East: -177.3846, Depth: -26.1159 : ARL Estimation Bias (Mean): (t = 1488321916.62) : ARL North: -34.5613, East: -177.9782, Depth: -24.8714 : ARL North Sigma: 0.70, East Sigma: 0.96, Depth Sigma: 2.38 : DynamicControlServer:: TerrainNav has new data at 4122.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 47.52, IDT[75] = 47.56 : _navData-> (x,y) = (4070199.90, 589460.40) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321919.62) : ARL North: -34.2461, East: -180.3164, Depth: -20.6548 : ARL Estimation Bias (Mean): (t = 1488321919.62) : ARL North: -33.8689, East: -180.3396, Depth: -24.3306 : ARL North Sigma: 1.29, East Sigma: 1.41, Depth Sigma: 3.47 : DynamicControlServer:: TerrainNav has new data at 4125.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 942.0 Dvl range = 41.5, range = 191.7 numValidBeams = 4 beam1 range = 52.3, iterations = 0, grazing = 0.0 beam2 range = 39.6, iterations = 0, grazing = 0.0 beam3 range = 42.9, iterations = 0, grazing = 0.0 beam4 range = 57.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 45.01, IDT[75] = 44.38 : _navData-> (x,y) = (4070199.92, 589455.99) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321922.62) : ARL North: -33.5406, East: -182.5562, Depth: -20.7049 : ARL Estimation Bias (Mean): (t = 1488321922.62) : ARL North: -32.4865, East: -182.4913, Depth: -17.4089 : ARL North Sigma: 0.55, East Sigma: 0.51, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4128.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 47.08, IDT[75] = 47.59 : _navData-> (x,y) = (4070200.19, 589451.59) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321925.62) : ARL North: -32.4853, East: -185.2138, Depth: -17.7877 : ARL Estimation Bias (Mean): (t = 1488321925.62) : ARL North: -31.5756, East: -185.4497, Depth: -17.2846 : ARL North Sigma: 0.54, East Sigma: 0.50, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4131.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 47.43, IDT[75] = 57.27 : _navData-> (x,y) = (4070200.64, 589447.19) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321928.62) : ARL North: -31.0774, East: -189.8657, Depth: -15.7365 : ARL Estimation Bias (Mean): (t = 1488321928.62) : ARL North: -30.3050, East: -189.0473, Depth: -16.8704 : ARL North Sigma: 0.51, East Sigma: 0.60, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4134.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 47.94, IDT[75] = 64.76 : _navData-> (x,y) = (4070201.20, 589442.80) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321931.62) : ARL North: -30.0213, East: -192.4164, Depth: -18.8818 : ARL Estimation Bias (Mean): (t = 1488321931.62) : ARL North: -28.7486, East: -192.1455, Depth: -16.6986 : ARL North Sigma: 0.55, East Sigma: 0.69, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4137.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 47.7, range = 220.4 numValidBeams = 4 beam1 range = 72.4, iterations = 0, grazing = 0.0 beam2 range = 42.8, iterations = 0, grazing = 0.0 beam3 range = 53.3, iterations = 0, grazing = 0.0 beam4 range = 51.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 46.50, IDT[75] = 70.55 : _navData-> (x,y) = (4070201.82, 589438.41) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321934.62) : ARL North: -27.7810, East: -196.7179, Depth: -15.8862 : ARL Estimation Bias (Mean): (t = 1488321934.62) : ARL North: -27.6230, East: -195.5518, Depth: -16.0859 : ARL North Sigma: 0.60, East Sigma: 0.67, Depth Sigma: 2.07 : DynamicControlServer:: TerrainNav has new data at 4140.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 47.70, IDT[75] = 63.73 : _navData-> (x,y) = (4070202.50, 589434.05) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321937.62) : ARL North: -25.2060, East: -201.0898, Depth: -11.6283 : ARL Estimation Bias (Mean): (t = 1488321937.62) : ARL North: -25.2301, East: -200.9840, Depth: -6.1282 : ARL North Sigma: 0.46, East Sigma: 0.49, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4143.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.59, IDT[75] = 56.55 : _navData-> (x,y) = (4070202.58, 589429.70) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321940.62) : ARL North: -24.5457, East: -205.3303, Depth: -7.4728 : ARL Estimation Bias (Mean): (t = 1488321940.62) : ARL North: -24.2071, East: -205.6090, Depth: -6.0200 : ARL North Sigma: 0.57, East Sigma: 0.64, Depth Sigma: 2.11 : DynamicControlServer:: TerrainNav has new data at 4146.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4146.20 sec. : DynamicControlServer:: RHT set to 1 at 4146.20 : TerrainAidDriver::readData() - IDT[45] = 54.18, IDT[75] = 53.22 : _navData-> (x,y) = (4070201.86, 589425.45) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321943.62) : ARL North: -25.7498, East: -209.0753, Depth: -5.2493 : ARL Estimation Bias (Mean): (t = 1488321943.62) : ARL North: -24.4471, East: -209.3955, Depth: -7.0237 : ARL North Sigma: 0.59, East Sigma: 0.66, Depth Sigma: 2.13 : DynamicControlServer:: TerrainNav has new data at 4149.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4151.40 : DynamicControlServer:: _wallBearing reset to 4.75 at 4151.40 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 47.1, range = 217.8 numValidBeams = 4 beam1 range = 66.2, iterations = 0, grazing = 0.0 beam2 range = 42.5, iterations = 0, grazing = 0.0 beam3 range = 55.0, iterations = 0, grazing = 0.0 beam4 range = 54.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 47.72, IDT[75] = 63.58 : _navData-> (x,y) = (4070200.94, 589421.25) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321946.62) : ARL North: -26.1498, East: -213.7450, Depth: -7.3148 : ARL Estimation Bias (Mean): (t = 1488321946.62) : ARL North: -25.2716, East: -212.6759, Depth: -7.1846 : ARL North Sigma: 0.60, East Sigma: 0.67, Depth Sigma: 2.15 : DynamicControlServer:: TerrainNav has new data at 4152.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.72, IDT[75] = 50.21 : _navData-> (x,y) = (4070200.71, 589417.02) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321949.62) : ARL North: -25.7096, East: -217.1727, Depth: -2.1646 : ARL Estimation Bias (Mean): (t = 1488321949.62) : ARL North: -25.0488, East: -216.7694, Depth: -3.5578 : ARL North Sigma: 0.65, East Sigma: 0.76, Depth Sigma: 2.08 : DynamicControlServer:: TerrainNav has new data at 4155.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.61, IDT[75] = 47.03 : _navData-> (x,y) = (4070201.02, 589412.80) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321952.62) : ARL North: -23.8612, East: -221.0621, Depth: -3.5658 : ARL Estimation Bias (Mean): (t = 1488321952.62) : ARL North: -24.0746, East: -220.9957, Depth: -2.4787 : ARL North Sigma: 0.68, East Sigma: 0.76, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4158.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 59.06, IDT[75] = 45.35 : _navData-> (x,y) = (4070201.07, 589408.54) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321955.62) : ARL North: -23.0634, East: -225.1615, Depth: -0.5045 : ARL Estimation Bias (Mean): (t = 1488321955.62) : ARL North: -23.2549, East: -223.9519, Depth: -1.5235 : ARL North Sigma: 0.75, East Sigma: 0.96, Depth Sigma: 2.11 : DynamicControlServer:: TerrainNav has new data at 4161.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 938.0 Dvl range = 50.9, range = 235.1 numValidBeams = 4 beam1 range = 64.7, iterations = 0, grazing = 0.0 beam2 range = 55.3, iterations = 0, grazing = 0.0 beam3 range = 44.3, iterations = 0, grazing = 0.0 beam4 range = 70.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 62.49, IDT[75] = 45.84 : _navData-> (x,y) = (4070201.14, 589404.25) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321958.62) : ARL North: -23.1477, East: -229.3767, Depth: -5.0320 : ARL Estimation Bias (Mean): (t = 1488321958.62) : ARL North: -22.1507, East: -226.4693, Depth: -0.2136 : ARL North Sigma: 0.62, East Sigma: 0.67, Depth Sigma: 2.09 : DynamicControlServer:: TerrainNav has new data at 4164.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 66.24, IDT[75] = 40.17 : _navData-> (x,y) = (4070201.50, 589399.97) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321961.62) : ARL North: -22.3836, East: -229.9379, Depth: -3.6550 : ARL Estimation Bias (Mean): (t = 1488321961.62) : ARL North: -21.4496, East: -230.1222, Depth: 0.3605 : ARL North Sigma: 0.62, East Sigma: 0.52, Depth Sigma: 2.06 : DynamicControlServer:: TerrainNav has new data at 4167.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 45.59, IDT[75] = 33.71 : _navData-> (x,y) = (4070202.36, 589395.79) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321964.62) : ARL North: -20.8963, East: -235.3406, Depth: 0.4937 : ARL Estimation Bias (Mean): (t = 1488321964.62) : ARL North: -20.2830, East: -234.0741, Depth: 0.4502 : ARL North Sigma: 0.62, East Sigma: 0.50, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4170.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 35.78, IDT[75] = 39.95 : _navData-> (x,y) = (4070203.97, 589391.93) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321967.62) : ARL North: -17.8390, East: -237.1157, Depth: 3.3488 : ARL Estimation Bias (Mean): (t = 1488321967.62) : ARL North: -18.4295, East: -237.4342, Depth: 0.4189 : ARL North Sigma: 0.59, East Sigma: 0.50, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4173.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 37.3, range = 172.2 numValidBeams = 4 beam1 range = 53.3, iterations = 0, grazing = 0.0 beam2 range = 35.8, iterations = 0, grazing = 0.0 beam3 range = 43.1, iterations = 0, grazing = 0.0 beam4 range = 39.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 35.78, IDT[75] = 46.27 : _navData-> (x,y) = (4070206.40, 589388.61) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321970.62) : ARL North: -16.7191, East: -240.0496, Depth: 1.6161 : ARL Estimation Bias (Mean): (t = 1488321970.62) : ARL North: -15.5463, East: -240.7583, Depth: 0.2970 : ARL North Sigma: 0.57, East Sigma: 0.54, Depth Sigma: 2.07 : DynamicControlServer:: TerrainNav has new data at 4176.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4178.40 sec. : DynamicControlServer:: LHT set to 1 at 4178.40 : TerrainAidDriver::readData() - IDT[45] = 40.91, IDT[75] = 55.85 : _navData-> (x,y) = (4070209.42, 589385.81) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321973.62) : ARL North: -12.8474, East: -244.3759, Depth: 1.1087 : ARL Estimation Bias (Mean): (t = 1488321973.62) : ARL North: -12.1223, East: -243.5515, Depth: 0.7797 : ARL North Sigma: 0.51, East Sigma: 0.59, Depth Sigma: 2.14 : DynamicControlServer:: TerrainNav has new data at 4179.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4180.60 : DynamicControlServer:: _wallBearing reset to 5.39 at 4180.60 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4181.00 sec. : DynamicControlServer:: LHT set to 1 at 4181.00 : DynamicControlServer:: LHT set to 0 at 4181.40 : DynamicControlServer:: _wallBearing reset to 5.38 at 4181.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 42.64, IDT[75] = 0.00 : _navData-> (x,y) = (4070212.78, 589383.37) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321976.62) : ARL North: -8.2987, East: -246.5748, Depth: 4.7529 : ARL Estimation Bias (Mean): (t = 1488321976.62) : ARL North: -8.2848, East: -246.1086, Depth: 0.2940 : ARL North Sigma: 0.56, East Sigma: 0.65, Depth Sigma: 2.16 : DynamicControlServer:: TerrainNav has new data at 4182.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4182.20 sec. : DynamicControlServer:: LHT set to 1 at 4182.20 : DynamicControlServer:: LHT set to 0 at 4182.80 : DynamicControlServer:: _wallBearing reset to 5.33 at 4182.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4183.60 sec. : DynamicControlServer:: LHT set to 1 at 4183.60 : DynamicControlServer:: LHT set to 0 at 4184.80 : DynamicControlServer:: _wallBearing reset to 5.37 at 4184.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 43.41, IDT[75] = 0.00 : _navData-> (x,y) = (4070216.19, 589380.93) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321979.62) : ARL North: -4.3720, East: -247.6437, Depth: -0.6274 : ARL Estimation Bias (Mean): (t = 1488321979.62) : ARL North: -4.7835, East: -248.5134, Depth: 0.4949 : ARL North Sigma: 0.57, East Sigma: 0.68, Depth Sigma: 2.14 : DynamicControlServer:: TerrainNav has new data at 4185.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4185.20 sec. : DynamicControlServer:: LHT set to 1 at 4185.20 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 71.0, range = 246.1 numValidBeams = 3 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 44.7, iterations = 0, grazing = 0.0 beam3 range = 102.1, iterations = 0, grazing = 0.0 beam4 range = 99.3, iterations = 0, grazing = 0.0 bottomStatus = 3 : TerrainAidDriver::readData() - IDT[45] = 46.59, IDT[75] = 0.00 : _navData-> (x,y) = (4070219.70, 589378.57) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321982.62) : ARL North: -2.7264, East: -252.5816, Depth: -1.7605 : ARL Estimation Bias (Mean): (t = 1488321982.62) : ARL North: -1.1287, East: -250.7684, Depth: 0.7464 : ARL North Sigma: 0.55, East Sigma: 0.67, Depth Sigma: 2.12 : DynamicControlServer:: TerrainNav has new data at 4188.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4188.40 : DynamicControlServer:: _wallBearing reset to 5.50 at 4188.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4188.80 sec. : DynamicControlServer:: LHT set to 1 at 4188.80 : DynamicControlServer:: LHT set to 0 at 4189.60 : DynamicControlServer:: _wallBearing reset to 5.41 at 4189.60 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4190.00 sec. : DynamicControlServer:: LHT set to 1 at 4190.00 : TerrainAidDriver::readData() - IDT[45] = 45.63, IDT[75] = 0.00 : _navData-> (x,y) = (4070223.00, 589375.94) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321985.62) : ARL North: 1.0698, East: -254.4848, Depth: 4.9162 : ARL Estimation Bias (Mean): (t = 1488321985.62) : ARL North: 2.3477, East: -253.6181, Depth: 0.7797 : ARL North Sigma: 0.59, East Sigma: 0.69, Depth Sigma: 2.17 : DynamicControlServer:: TerrainNav has new data at 4191.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4191.20 : DynamicControlServer:: _wallBearing reset to 5.38 at 4191.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4191.40 sec. : DynamicControlServer:: LHT set to 1 at 4191.40 : DynamicControlServer:: LHT set to 0 at 4191.80 : DynamicControlServer:: _wallBearing reset to 5.29 at 4191.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4192.60 sec. : DynamicControlServer:: LHT set to 1 at 4192.60 : DynamicControlServer:: LHT set to 0 at 4193.40 : DynamicControlServer:: _wallBearing reset to 5.42 at 4193.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 48.30, IDT[75] = 0.00 : _navData-> (x,y) = (4070226.10, 589373.02) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321988.62) : ARL North: 5.0740, East: -255.2682, Depth: 1.8444 : ARL Estimation Bias (Mean): (t = 1488321988.62) : ARL North: 5.2778, East: -256.6295, Depth: 0.8536 : ARL North Sigma: 0.59, East Sigma: 0.65, Depth Sigma: 2.28 : DynamicControlServer:: TerrainNav has new data at 4194.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4194.20 sec. : DynamicControlServer:: LHT set to 1 at 4194.20 : DynamicControlServer:: LHT set to 0 at 4194.40 : DynamicControlServer:: _wallBearing reset to 5.37 at 4194.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 49.72, IDT[75] = 0.00 : _navData-> (x,y) = (4070229.03, 589369.90) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321991.62) : ARL North: 8.2139, East: -257.9689, Depth: 1.4588 : ARL Estimation Bias (Mean): (t = 1488321991.62) : ARL North: 8.1537, East: -259.7690, Depth: 1.0246 : ARL North Sigma: 0.60, East Sigma: 0.68, Depth Sigma: 2.25 : DynamicControlServer:: TerrainNav has new data at 4197.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4197.80 sec. : DynamicControlServer:: LHT set to 1 at 4197.80 : DynamicControlServer:: LHT set to 0 at 4199.00 : DynamicControlServer:: _wallBearing reset to 5.10 at 4199.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4199.40 sec. : DynamicControlServer:: LHT set to 1 at 4199.40 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 75.0, range = 346.5 numValidBeams = 4 beam1 range = 132.0, iterations = 0, grazing = 0.0 beam2 range = 49.4, iterations = 0, grazing = 0.0 beam3 range = 67.1, iterations = 0, grazing = 0.0 beam4 range = 98.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 49.63, IDT[75] = 0.00 : _navData-> (x,y) = (4070231.88, 589366.66) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321994.62) : ARL North: 11.5200, East: -263.0116, Depth: -1.8803 : ARL Estimation Bias (Mean): (t = 1488321994.62) : ARL North: 10.8695, East: -263.0507, Depth: 0.9044 : ARL North Sigma: 0.59, East Sigma: 0.64, Depth Sigma: 2.12 : DynamicControlServer:: TerrainNav has new data at 4200.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 4200.00, (simTime - realTime) = 0.00 Heading = 308.28 Depth = 890.02 Speed = 1.43 Pitch = -3.90 : DynamicControlServer:: LHT set to 0 at 4200.20 : DynamicControlServer:: _wallBearing reset to 5.02 at 4200.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4201.60 sec. : DynamicControlServer:: LHT set to 1 at 4201.60 : DynamicControlServer:: LHT set to 0 at 4202.00 : DynamicControlServer:: _wallBearing reset to 5.03 at 4202.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 50.83, IDT[75] = 83.37 : _navData-> (x,y) = (4070234.43, 589363.23) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321997.62) : ARL North: 13.4208, East: -266.9482, Depth: -0.4051 : ARL Estimation Bias (Mean): (t = 1488321997.62) : ARL North: 13.6389, East: -266.9540, Depth: 0.5233 : ARL North Sigma: 0.63, East Sigma: 0.64, Depth Sigma: 2.19 : DynamicControlServer:: TerrainNav has new data at 4203.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.36, IDT[75] = 57.02 : _navData-> (x,y) = (4070236.33, 589359.41) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322000.62) : ARL North: 16.0118, East: -270.9023, Depth: 1.8755 : ARL Estimation Bias (Mean): (t = 1488322000.62) : ARL North: 15.3247, East: -271.1952, Depth: 0.5905 : ARL North Sigma: 0.59, East Sigma: 0.59, Depth Sigma: 2.07 : DynamicControlServer:: TerrainNav has new data at 4206.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.36, IDT[75] = 54.53 : _navData-> (x,y) = (4070237.71, 589355.37) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322003.62) : ARL North: 16.8423, East: -275.4560, Depth: -0.1289 : ARL Estimation Bias (Mean): (t = 1488322003.62) : ARL North: 16.2334, East: -275.2893, Depth: 0.7495 : ARL North Sigma: 0.61, East Sigma: 0.60, Depth Sigma: 2.17 : DynamicControlServer:: TerrainNav has new data at 4209.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 75.5, range = 348.6 numValidBeams = 4 beam1 range = 94.0, iterations = 0, grazing = 0.0 beam2 range = 58.5, iterations = 0, grazing = 0.0 beam3 range = 51.1, iterations = 0, grazing = 0.0 beam4 range = 145.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 57.56, IDT[75] = 52.64 : _navData-> (x,y) = (4070238.62, 589351.18) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322006.62) : ARL North: 16.7792, East: -279.0621, Depth: 3.8284 : ARL Estimation Bias (Mean): (t = 1488322006.62) : ARL North: 16.7022, East: -279.4891, Depth: 0.6240 : ARL North Sigma: 0.61, East Sigma: 0.61, Depth Sigma: 2.15 : DynamicControlServer:: TerrainNav has new data at 4212.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 60.88, IDT[75] = 51.25 : _navData-> (x,y) = (4070239.10, 589346.91) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322009.62) : ARL North: 17.6029, East: -284.2937, Depth: 5.4533 : ARL Estimation Bias (Mean): (t = 1488322009.62) : ARL North: 16.8383, East: -283.8969, Depth: 0.6158 : ARL North Sigma: 0.56, East Sigma: 0.52, Depth Sigma: 2.06 : DynamicControlServer:: TerrainNav has new data at 4215.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 62.18, IDT[75] = 50.07 : _navData-> (x,y) = (4070239.18, 589342.60) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322012.62) : ARL North: 17.9433, East: -288.0535, Depth: 0.8748 : ARL Estimation Bias (Mean): (t = 1488322012.62) : ARL North: 16.6653, East: -288.2019, Depth: 0.5893 : ARL North Sigma: 0.56, East Sigma: 0.51, Depth Sigma: 2.07 : DynamicControlServer:: TerrainNav has new data at 4218.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 62.49, IDT[75] = 49.46 : _navData-> (x,y) = (4070238.93, 589338.28) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322015.62) : ARL North: 16.9926, East: -292.1668, Depth: 2.1634 : ARL Estimation Bias (Mean): (t = 1488322015.62) : ARL North: 16.2242, East: -292.5114, Depth: 0.4796 : ARL North Sigma: 0.58, East Sigma: 0.53, Depth Sigma: 2.08 : DynamicControlServer:: TerrainNav has new data at 4221.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 964.0 Dvl range = 75.0, range = 346.5 numValidBeams = 4 beam1 range = 79.8, iterations = 0, grazing = 0.0 beam2 range = 53.7, iterations = 0, grazing = 0.0 beam3 range = 53.4, iterations = 0, grazing = 0.0 beam4 range = 159.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 52.54, IDT[75] = 52.28 : _navData-> (x,y) = (4070238.63, 589333.95) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322018.62) : ARL North: 16.4805, East: -296.5654, Depth: -0.6448 : ARL Estimation Bias (Mean): (t = 1488322018.62) : ARL North: 15.8121, East: -296.4274, Depth: 0.0994 : ARL North Sigma: 0.58, East Sigma: 0.53, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4224.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 49.88, IDT[75] = 72.37 : _navData-> (x,y) = (4070238.64, 589329.61) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322021.62) : ARL North: 15.3056, East: -300.7551, Depth: -2.2491 : ARL Estimation Bias (Mean): (t = 1488322021.62) : ARL North: 15.9302, East: -300.5203, Depth: 0.5331 : ARL North Sigma: 0.58, East Sigma: 0.52, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4227.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 50.03, IDT[75] = 77.05 : _navData-> (x,y) = (4070238.86, 589325.25) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322024.62) : ARL North: 15.2657, East: -304.9231, Depth: 2.2748 : ARL Estimation Bias (Mean): (t = 1488322024.62) : ARL North: 16.2399, East: -304.9259, Depth: 0.6147 : ARL North Sigma: 0.61, East Sigma: 0.52, Depth Sigma: 2.10 : DynamicControlServer:: TerrainNav has new data at 4230.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.46, IDT[75] = 74.78 : _navData-> (x,y) = (4070239.11, 589320.89) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322027.62) : ARL North: 15.6472, East: -309.8566, Depth: 0.0177 : ARL Estimation Bias (Mean): (t = 1488322027.62) : ARL North: 16.5073, East: -309.5514, Depth: 0.4659 : ARL North Sigma: 0.60, East Sigma: 0.51, Depth Sigma: 2.08 : DynamicControlServer:: TerrainNav has new data at 4233.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 964.0 Dvl range = 63.9, range = 295.3 numValidBeams = 4 beam1 range = 84.8, iterations = 0, grazing = 0.0 beam2 range = 52.2, iterations = 0, grazing = 0.0 beam3 range = 64.8, iterations = 0, grazing = 0.0 beam4 range = 93.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 51.07, IDT[75] = 73.74 : _navData-> (x,y) = (4070239.28, 589316.51) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322030.62) : ARL North: 15.7773, East: -313.6281, Depth: -4.0023 : ARL Estimation Bias (Mean): (t = 1488322030.62) : ARL North: 16.7522, East: -314.0236, Depth: 0.6465 : ARL North Sigma: 0.63, East Sigma: 0.52, Depth Sigma: 2.07 : DynamicControlServer:: TerrainNav has new data at 4236.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.31, IDT[75] = 73.97 : _navData-> (x,y) = (4070239.22, 589312.12) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322033.62) : ARL North: 17.9337, East: -317.6269, Depth: 0.9442 : ARL Estimation Bias (Mean): (t = 1488322033.62) : ARL North: 16.7018, East: -318.7964, Depth: 0.6017 : ARL North Sigma: 0.64, East Sigma: 0.54, Depth Sigma: 2.10 : DynamicControlServer:: TerrainNav has new data at 4239.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.14, IDT[75] = 69.97 : _navData-> (x,y) = (4070238.68, 589307.82) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322036.62) : ARL North: 15.7537, East: -324.2274, Depth: -2.4508 : ARL Estimation Bias (Mean): (t = 1488322036.62) : ARL North: 15.7402, East: -323.4064, Depth: 0.7392 : ARL North Sigma: 0.65, East Sigma: 0.55, Depth Sigma: 2.12 : DynamicControlServer:: TerrainNav has new data at 4242.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4242.20 sec. : DynamicControlServer:: RHT set to 1 at 4242.20 : TerrainAidDriver::readData() - IDT[45] = 82.93, IDT[75] = 53.70 : _navData-> (x,y) = (4070237.24, 589303.86) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322039.62) : ARL North: 13.6060, East: -328.6695, Depth: -1.7144 : ARL Estimation Bias (Mean): (t = 1488322039.62) : ARL North: 12.8775, East: -327.8064, Depth: 0.3146 : ARL North Sigma: 0.56, East Sigma: 0.51, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 4245.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 966.0 Dvl range = 60.1, range = 208.0 numValidBeams = 3 beam1 range = 87.7, iterations = 0, grazing = 0.0 beam2 range = 71.1, iterations = 0, grazing = 0.0 beam3 range = 49.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 75.59, IDT[75] = 54.64 : _navData-> (x,y) = (4070235.01, 589300.30) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322042.62) : ARL North: 10.8911, East: -330.9110, Depth: -1.5442 : ARL Estimation Bias (Mean): (t = 1488322042.62) : ARL North: 10.8471, East: -330.4800, Depth: 0.3315 : ARL North Sigma: 0.60, East Sigma: 0.63, Depth Sigma: 2.16 : DynamicControlServer:: TerrainNav has new data at 4248.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 51.51, IDT[75] = 64.30 : _navData-> (x,y) = (4070232.93, 589296.67) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322045.62) : ARL North: 8.6042, East: -333.5626, Depth: 0.0967 : ARL Estimation Bias (Mean): (t = 1488322045.62) : ARL North: 9.1940, East: -332.8540, Depth: 0.4370 : ARL North Sigma: 0.58, East Sigma: 0.60, Depth Sigma: 2.06 : DynamicControlServer:: TerrainNav has new data at 4251.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4252.60 : DynamicControlServer:: _wallBearing reset to 5.05 at 4252.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 65.45, IDT[75] = 66.37 : _navData-> (x,y) = (4070231.63, 589292.76) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322048.62) : ARL North: 8.6295, East: -336.3770, Depth: 3.7439 : ARL Estimation Bias (Mean): (t = 1488322048.62) : ARL North: 8.3156, East: -336.5205, Depth: 0.3268 : ARL North Sigma: 0.60, East Sigma: 0.58, Depth Sigma: 2.06 : DynamicControlServer:: TerrainNav has new data at 4254.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 67.10, IDT[75] = 66.53 : _navData-> (x,y) = (4070231.34, 589288.72) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322051.62) : ARL North: 7.8097, East: -341.1168, Depth: -2.1387 : ARL Estimation Bias (Mean): (t = 1488322051.62) : ARL North: 8.1596, East: -340.8122, Depth: -0.0462 : ARL North Sigma: 0.64, East Sigma: 0.61, Depth Sigma: 2.15 : DynamicControlServer:: TerrainNav has new data at 4257.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 55.5, range = 256.3 numValidBeams = 4 beam1 range = 70.6, iterations = 0, grazing = 0.0 beam2 range = 60.4, iterations = 0, grazing = 0.0 beam3 range = 53.6, iterations = 0, grazing = 0.0 beam4 range = 71.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 67.19, IDT[75] = 62.08 : _navData-> (x,y) = (4070231.37, 589284.64) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322054.62) : ARL North: 8.0162, East: -344.5769, Depth: -1.4303 : ARL Estimation Bias (Mean): (t = 1488322054.62) : ARL North: 8.3838, East: -345.3759, Depth: -0.4998 : ARL North Sigma: 0.70, East Sigma: 0.74, Depth Sigma: 2.35 : DynamicControlServer:: TerrainNav has new data at 4260.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4262.00 sec. : DynamicControlServer:: RHT set to 1 at 4262.00 : TerrainAidDriver::readData() - IDT[45] = 61.88, IDT[75] = 60.15 : _navData-> (x,y) = (4070230.87, 589280.61) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322057.62) : ARL North: 8.2162, East: -349.1415, Depth: -0.1248 : ARL Estimation Bias (Mean): (t = 1488322057.62) : ARL North: 7.8311, East: -350.1383, Depth: -0.2514 : ARL North Sigma: 0.68, East Sigma: 0.67, Depth Sigma: 2.13 : DynamicControlServer:: TerrainNav has new data at 4263.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 62.11, IDT[75] = 59.28 : _navData-> (x,y) = (4070229.52, 589276.79) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322060.62) : ARL North: 7.1020, East: -353.6633, Depth: 2.1608 : ARL Estimation Bias (Mean): (t = 1488322060.62) : ARL North: 6.1916, East: -353.8433, Depth: 0.3486 : ARL North Sigma: 0.68, East Sigma: 0.60, Depth Sigma: 2.14 : DynamicControlServer:: TerrainNav has new data at 4266.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 69.36, IDT[75] = 59.23 : _navData-> (x,y) = (4070227.95, 589273.03) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322063.62) : ARL North: 4.8959, East: -357.6014, Depth: 2.7606 : ARL Estimation Bias (Mean): (t = 1488322063.62) : ARL North: 4.7366, East: -357.0668, Depth: 0.7366 : ARL North Sigma: 0.67, East Sigma: 0.69, Depth Sigma: 2.09 : DynamicControlServer:: TerrainNav has new data at 4269.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4270.60 : DynamicControlServer:: _wallBearing reset to 5.07 at 4270.60 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 964.0 Dvl range = 57.7, range = 266.7 numValidBeams = 4 beam1 range = 66.6, iterations = 0, grazing = 0.0 beam2 range = 63.4, iterations = 0, grazing = 0.0 beam3 range = 63.7, iterations = 0, grazing = 0.0 beam4 range = 73.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 59.83, IDT[75] = 60.07 : _navData-> (x,y) = (4070226.94, 589269.11) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322066.62) : ARL North: 4.0317, East: -361.7279, Depth: 2.0277 : ARL Estimation Bias (Mean): (t = 1488322066.62) : ARL North: 3.7757, East: -360.5624, Depth: 0.3879 : ARL North Sigma: 0.69, East Sigma: 0.66, Depth Sigma: 2.19 : DynamicControlServer:: TerrainNav has new data at 4272.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 63.93, IDT[75] = 59.60 : _navData-> (x,y) = (4070226.66, 589265.07) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322069.62) : ARL North: 3.6441, East: -365.0829, Depth: 3.3402 : ARL Estimation Bias (Mean): (t = 1488322069.62) : ARL North: 3.7563, East: -365.0009, Depth: 0.4027 : ARL North Sigma: 0.67, East Sigma: 0.66, Depth Sigma: 2.21 : DynamicControlServer:: TerrainNav has new data at 4275.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 65.07, IDT[75] = 58.37 : _navData-> (x,y) = (4070226.29, 589260.98) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322072.62) : ARL North: 4.6365, East: -368.9615, Depth: 0.2768 : ARL Estimation Bias (Mean): (t = 1488322072.62) : ARL North: 3.4028, East: -369.4364, Depth: 0.4733 : ARL North Sigma: 0.66, East Sigma: 0.61, Depth Sigma: 2.14 : DynamicControlServer:: TerrainNav has new data at 4278.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 65.06, IDT[75] = 55.54 : _navData-> (x,y) = (4070225.69, 589256.86) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322075.62) : ARL North: 2.6093, East: -373.5990, Depth: -0.3374 : ARL Estimation Bias (Mean): (t = 1488322075.62) : ARL North: 2.7804, East: -373.6094, Depth: 0.4046 : ARL North Sigma: 0.65, East Sigma: 0.59, Depth Sigma: 2.17 : DynamicControlServer:: TerrainNav has new data at 4281.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 55.7, range = 257.5 numValidBeams = 4 beam1 range = 85.4, iterations = 0, grazing = 0.0 beam2 range = 52.5, iterations = 0, grazing = 0.0 beam3 range = 51.2, iterations = 0, grazing = 0.0 beam4 range = 68.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 61.31, IDT[75] = 46.15 : _navData-> (x,y) = (4070225.08, 589252.71) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322078.62) : ARL North: 1.6447, East: -377.5918, Depth: 3.6541 : ARL Estimation Bias (Mean): (t = 1488322078.62) : ARL North: 2.1287, East: -377.4244, Depth: 0.5225 : ARL North Sigma: 0.65, East Sigma: 0.58, Depth Sigma: 2.13 : DynamicControlServer:: TerrainNav has new data at 4284.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.76, IDT[75] = 50.42 : _navData-> (x,y) = (4070225.06, 589248.57) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322081.62) : ARL North: 3.3143, East: -381.0310, Depth: -2.0708 : ARL Estimation Bias (Mean): (t = 1488322081.62) : ARL North: 2.3282, East: -381.3879, Depth: 0.9701 : ARL North Sigma: 0.59, East Sigma: 0.48, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 4287.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.92, IDT[75] = 49.01 : _navData-> (x,y) = (4070225.89, 589244.53) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322084.62) : ARL North: 2.5286, East: -386.3105, Depth: 0.4144 : ARL Estimation Bias (Mean): (t = 1488322084.62) : ARL North: 3.3919, East: -385.3114, Depth: 0.4976 : ARL North Sigma: 0.55, East Sigma: 0.47, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4290.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.27, IDT[75] = 35.42 : _navData-> (x,y) = (4070227.17, 589240.56) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322087.62) : ARL North: 4.1363, East: -389.8875, Depth: 0.5161 : ARL Estimation Bias (Mean): (t = 1488322087.62) : ARL North: 5.1348, East: -389.6379, Depth: 0.5402 : ARL North Sigma: 0.53, East Sigma: 0.47, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4293.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 40.9, range = 189.1 numValidBeams = 4 beam1 range = 53.7, iterations = 0, grazing = 0.0 beam2 range = 33.6, iterations = 0, grazing = 0.0 beam3 range = 32.8, iterations = 0, grazing = 0.0 beam4 range = 69.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 48.94, IDT[75] = 34.78 : _navData-> (x,y) = (4070228.59, 589236.62) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322090.62) : ARL North: 7.5381, East: -393.1778, Depth: 3.7206 : ARL Estimation Bias (Mean): (t = 1488322090.62) : ARL North: 6.6439, East: -393.2708, Depth: 0.5821 : ARL North Sigma: 0.55, East Sigma: 0.46, Depth Sigma: 1.98 : DynamicControlServer:: TerrainNav has new data at 4296.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 42.80, IDT[75] = 39.71 : _navData-> (x,y) = (4070230.59, 589233.00) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322093.62) : ARL North: 8.3372, East: -396.9299, Depth: 0.1000 : ARL Estimation Bias (Mean): (t = 1488322093.62) : ARL North: 8.8935, East: -396.5233, Depth: 0.5558 : ARL North Sigma: 0.49, East Sigma: 0.46, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4299.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4299.40 sec. : DynamicControlServer:: LHT set to 1 at 4299.40 : DynamicControlServer:: LHT set to 0 at 4299.80 : DynamicControlServer:: _wallBearing reset to 5.26 at 4299.80 by L/RHT. : Simulator:: Before the call to motion(): simTime = 4300.00, (simTime - realTime) = 0.00 Heading = 316.37 Depth = 890.12 Speed = 1.35 Pitch = -4.16 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4300.60 sec. : DynamicControlServer:: LHT set to 1 at 4300.60 : TerrainAidDriver::readData() - IDT[45] = 33.50, IDT[75] = 0.00 : _navData-> (x,y) = (4070233.33, 589230.02) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322096.62) : ARL North: 11.3053, East: -399.2887, Depth: -1.2022 : ARL Estimation Bias (Mean): (t = 1488322096.62) : ARL North: 11.7070, East: -399.3865, Depth: 0.4592 : ARL North Sigma: 0.47, East Sigma: 0.48, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4302.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4302.80 : DynamicControlServer:: _wallBearing reset to 5.60 at 4302.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4304.80 sec. : DynamicControlServer:: LHT set to 1 at 4304.80 : TerrainAidDriver::readData() - IDT[45] = 39.92, IDT[75] = 0.00 : _navData-> (x,y) = (4070236.64, 589227.68) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322099.62) : ARL North: 15.8414, East: -402.5892, Depth: 2.2134 : ARL Estimation Bias (Mean): (t = 1488322099.62) : ARL North: 15.6088, East: -401.4939, Depth: 0.4968 : ARL North Sigma: 0.48, East Sigma: 0.48, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 4305.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4305.20 : DynamicControlServer:: _wallBearing reset to 5.46 at 4305.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4305.80 sec. : DynamicControlServer:: LHT set to 1 at 4305.80 : WaypointWall::processDeltaT - WARNING. All valid beams in port quarter or too few beams at t = 4307.0 seconds. : WaypointWall::processDeltaT - There are 62 good beams. Discarding least-squares solution and substituting minimum beam. : SimulatedDvlSide::get() waterDepth(0.,0.) = 968.0 Dvl range = 80.8, range = 279.9 numValidBeams = 3 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 38.8, iterations = 0, grazing = 0.0 beam3 range = 108.0, iterations = 0, grazing = 0.0 beam4 range = 133.2, iterations = 0, grazing = 0.0 bottomStatus = 3 : TerrainAidDriver::readData() - IDT[45] = 56.50, IDT[75] = 0.00 : _navData-> (x,y) = (4070240.22, 589225.72) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322102.62) : ARL North: 19.9118, East: -403.5315, Depth: 1.1028 : ARL Estimation Bias (Mean): (t = 1488322102.62) : ARL North: 19.1389, East: -403.5078, Depth: 0.6803 : ARL North Sigma: 0.50, East Sigma: 0.51, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4308.00. Valid = 0 : WaypointWall::processDeltaT - At least one valid beam ahead at t = 4310.6 seconds. : WaypointWall::processDeltaT - There are 63 good beams. Use least-squares solution. : WaypointWall::processDeltaT - Beam 60 is ahead. : WaypointWall::processDeltaT - Beam 61 is ahead. : DynamicControlServer:: LHT set to 0 at 4310.80 : DynamicControlServer:: _wallBearing reset to 5.42 at 4310.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 46.13, IDT[75] = 0.00 : _navData-> (x,y) = (4070243.95, 589224.01) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322105.62) : ARL North: 23.7512, East: -404.8195, Depth: 1.6011 : ARL Estimation Bias (Mean): (t = 1488322105.62) : ARL North: 23.3543, East: -405.3059, Depth: 0.1813 : ARL North Sigma: 0.58, East Sigma: 0.62, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4311.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4311.20 sec. : DynamicControlServer:: LHT set to 1 at 4311.20 : DynamicControlServer:: LHT set to 0 at 4311.40 : DynamicControlServer:: _wallBearing reset to 5.40 at 4311.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4312.60 sec. : DynamicControlServer:: LHT set to 1 at 4312.60 : DynamicControlServer:: LHT set to 0 at 4313.80 : DynamicControlServer:: _wallBearing reset to 5.36 at 4313.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 47.97, IDT[75] = 0.00 : _navData-> (x,y) = (4070247.46, 589221.85) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322108.62) : ARL North: 27.1612, East: -407.0922, Depth: 0.7840 : ARL Estimation Bias (Mean): (t = 1488322108.62) : ARL North: 27.0797, East: -407.6888, Depth: 0.6355 : ARL North Sigma: 0.56, East Sigma: 0.63, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4314.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4314.40 sec. : DynamicControlServer:: LHT set to 1 at 4314.40 : TerrainAidDriver::readData() - IDT[45] = 49.35, IDT[75] = 0.00 : _navData-> (x,y) = (4070250.84, 589219.43) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322111.62) : ARL North: 30.2603, East: -410.0776, Depth: 1.0865 : ARL Estimation Bias (Mean): (t = 1488322111.62) : ARL North: 30.3862, East: -410.1603, Depth: 1.0048 : ARL North Sigma: 0.56, East Sigma: 0.59, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4317.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4317.40 : DynamicControlServer:: _wallBearing reset to 5.28 at 4317.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4318.20 sec. : DynamicControlServer:: LHT set to 1 at 4318.20 : DynamicControlServer:: LHT set to 0 at 4318.60 : DynamicControlServer:: _wallBearing reset to 5.30 at 4318.60 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 69.8, range = 322.5 numValidBeams = 4 beam1 range = 152.5, iterations = 0, grazing = 0.0 beam2 range = 42.0, iterations = 0, grazing = 0.0 beam3 range = 64.1, iterations = 0, grazing = 0.0 beam4 range = 63.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 45.68, IDT[75] = 88.66 : _navData-> (x,y) = (4070253.89, 589216.61) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322114.62) : ARL North: 32.4734, East: -413.7569, Depth: -0.8451 : ARL Estimation Bias (Mean): (t = 1488322114.62) : ARL North: 33.4384, East: -413.2064, Depth: 0.4351 : ARL North Sigma: 0.60, East Sigma: 0.60, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4320.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4321.60 sec. : DynamicControlServer:: LHT set to 1 at 4321.60 : TerrainAidDriver::readData() - IDT[45] = 51.91, IDT[75] = 87.53 : _navData-> (x,y) = (4070256.58, 589213.40) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322117.62) : ARL North: 34.8462, East: -416.6768, Depth: 4.1543 : ARL Estimation Bias (Mean): (t = 1488322117.62) : ARL North: 35.8251, East: -416.5224, Depth: 0.5468 : ARL North Sigma: 0.57, East Sigma: 0.49, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4323.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4325.00 : DynamicControlServer:: _wallBearing reset to 5.08 at 4325.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 47.30, IDT[75] = 83.19 : _navData-> (x,y) = (4070259.04, 589210.01) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322120.62) : ARL North: 37.0650, East: -420.7567, Depth: 2.2185 : ARL Estimation Bias (Mean): (t = 1488322120.62) : ARL North: 38.3204, East: -420.2723, Depth: 0.5427 : ARL North Sigma: 0.59, East Sigma: 0.55, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4326.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.00, IDT[75] = 72.79 : _navData-> (x,y) = (4070260.90, 589206.26) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322123.62) : ARL North: 40.1640, East: -424.7460, Depth: -2.8806 : ARL Estimation Bias (Mean): (t = 1488322123.62) : ARL North: 39.9220, East: -424.2441, Depth: 0.3720 : ARL North Sigma: 0.58, East Sigma: 0.49, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4329.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 57.8, range = 266.7 numValidBeams = 4 beam1 range = 80.6, iterations = 0, grazing = 0.0 beam2 range = 47.2, iterations = 0, grazing = 0.0 beam3 range = 53.6, iterations = 0, grazing = 0.0 beam4 range = 85.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 54.98, IDT[75] = 69.70 : _navData-> (x,y) = (4070262.31, 589202.29) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322126.62) : ARL North: 41.3006, East: -427.6397, Depth: -1.7366 : ARL Estimation Bias (Mean): (t = 1488322126.62) : ARL North: 40.6453, East: -428.3918, Depth: 0.4296 : ARL North Sigma: 0.52, East Sigma: 0.45, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4332.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.08, IDT[75] = 67.33 : _navData-> (x,y) = (4070263.31, 589198.17) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322129.62) : ARL North: 42.4804, East: -432.7001, Depth: 2.6204 : ARL Estimation Bias (Mean): (t = 1488322129.62) : ARL North: 41.5275, East: -432.4856, Depth: 0.3829 : ARL North Sigma: 0.56, East Sigma: 0.47, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4335.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.14, IDT[75] = 65.81 : _navData-> (x,y) = (4070263.93, 589193.95) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322132.62) : ARL North: 42.1635, East: -437.1269, Depth: 1.8210 : ARL Estimation Bias (Mean): (t = 1488322132.62) : ARL North: 41.8023, East: -436.6752, Depth: 0.5114 : ARL North Sigma: 0.58, East Sigma: 0.47, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4338.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 60.08, IDT[75] = 64.83 : _navData-> (x,y) = (4070264.24, 589189.67) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322135.62) : ARL North: 42.7135, East: -441.3803, Depth: -0.3764 : ARL Estimation Bias (Mean): (t = 1488322135.62) : ARL North: 41.9290, East: -441.0046, Depth: 0.4008 : ARL North Sigma: 0.56, East Sigma: 0.48, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4341.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 972.0 Dvl range = 62.8, range = 290.0 numValidBeams = 4 beam1 range = 74.3, iterations = 0, grazing = 0.0 beam2 range = 52.0, iterations = 0, grazing = 0.0 beam3 range = 52.8, iterations = 0, grazing = 0.0 beam4 range = 110.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 61.12, IDT[75] = 63.62 : _navData-> (x,y) = (4070264.31, 589185.36) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322138.62) : ARL North: 43.5914, East: -445.2498, Depth: 2.4595 : ARL Estimation Bias (Mean): (t = 1488322138.62) : ARL North: 41.7396, East: -445.4344, Depth: 0.3519 : ARL North Sigma: 0.58, East Sigma: 0.51, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4344.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 64.79, IDT[75] = 62.19 : _navData-> (x,y) = (4070264.06, 589181.05) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322141.62) : ARL North: 41.1166, East: -449.7224, Depth: 0.0752 : ARL Estimation Bias (Mean): (t = 1488322141.62) : ARL North: 41.3323, East: -449.8527, Depth: 0.3165 : ARL North Sigma: 0.60, East Sigma: 0.51, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4347.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 58.63, IDT[75] = 60.75 : _navData-> (x,y) = (4070263.43, 589176.78) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322144.62) : ARL North: 40.3931, East: -453.9859, Depth: 2.4074 : ARL Estimation Bias (Mean): (t = 1488322144.62) : ARL North: 40.4264, East: -454.1360, Depth: 0.2710 : ARL North Sigma: 0.62, East Sigma: 0.53, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4350.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 59.01, IDT[75] = 59.56 : _navData-> (x,y) = (4070262.29, 589172.62) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322147.62) : ARL North: 39.3809, East: -458.2190, Depth: 0.0851 : ARL Estimation Bias (Mean): (t = 1488322147.62) : ARL North: 39.2179, East: -457.9874, Depth: 0.4824 : ARL North Sigma: 0.61, East Sigma: 0.54, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4353.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 972.0 Dvl range = 73.3, range = 338.6 numValidBeams = 4 beam1 range = 69.5, iterations = 0, grazing = 0.0 beam2 range = 56.6, iterations = 0, grazing = 0.0 beam3 range = 49.0, iterations = 0, grazing = 0.0 beam4 range = 163.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 78.15, IDT[75] = 58.28 : _navData-> (x,y) = (4070260.96, 589168.49) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322150.62) : ARL North: 39.1805, East: -462.2199, Depth: -0.2144 : ARL Estimation Bias (Mean): (t = 1488322150.62) : ARL North: 37.7939, East: -461.9585, Depth: 0.5665 : ARL North Sigma: 0.60, East Sigma: 0.53, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4356.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.78, IDT[75] = 56.91 : _navData-> (x,y) = (4070259.46, 589164.39) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322153.62) : ARL North: 36.2630, East: -466.2535, Depth: -1.3325 : ARL Estimation Bias (Mean): (t = 1488322153.62) : ARL North: 36.2415, East: -465.9418, Depth: 0.5119 : ARL North Sigma: 0.61, East Sigma: 0.57, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4359.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.08, IDT[75] = 55.59 : _navData-> (x,y) = (4070257.78, 589160.36) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322156.62) : ARL North: 34.5951, East: -470.3361, Depth: 1.3137 : ARL Estimation Bias (Mean): (t = 1488322156.62) : ARL North: 34.3360, East: -470.1267, Depth: 0.4811 : ARL North Sigma: 0.60, East Sigma: 0.60, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 4362.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4362.20 sec. : DynamicControlServer:: RHT set to 1 at 4362.20 : TerrainAidDriver::readData() - IDT[45] = 53.41, IDT[75] = 53.62 : _navData-> (x,y) = (4070255.87, 589156.41) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322159.62) : ARL North: 32.5575, East: -473.0675, Depth: 2.2713 : ARL Estimation Bias (Mean): (t = 1488322159.62) : ARL North: 32.4039, East: -474.0063, Depth: 0.9984 : ARL North Sigma: 0.62, East Sigma: 0.64, Depth Sigma: 2.07 : DynamicControlServer:: TerrainNav has new data at 4365.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4366.20 : DynamicControlServer:: _wallBearing reset to 4.62 at 4366.20 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 972.0 Dvl range = 50.5, range = 233.4 numValidBeams = 4 beam1 range = 72.8, iterations = 0, grazing = 0.0 beam2 range = 47.7, iterations = 0, grazing = 0.0 beam3 range = 45.6, iterations = 0, grazing = 0.0 beam4 range = 67.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 57.35, IDT[75] = 55.49 : _navData-> (x,y) = (4070254.17, 589152.43) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322162.62) : ARL North: 30.2638, East: -477.0565, Depth: 4.7377 : ARL Estimation Bias (Mean): (t = 1488322162.62) : ARL North: 30.7333, East: -477.7433, Depth: 0.9681 : ARL North Sigma: 0.64, East Sigma: 0.68, Depth Sigma: 2.16 : DynamicControlServer:: TerrainNav has new data at 4368.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 58.72, IDT[75] = 52.25 : _navData-> (x,y) = (4070252.97, 589148.28) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322165.62) : ARL North: 29.9518, East: -481.4680, Depth: 2.0113 : ARL Estimation Bias (Mean): (t = 1488322165.62) : ARL North: 29.6247, East: -481.9989, Depth: 0.6825 : ARL North Sigma: 0.64, East Sigma: 0.61, Depth Sigma: 2.14 : DynamicControlServer:: TerrainNav has new data at 4371.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4373.00 sec. : DynamicControlServer:: RHT set to 1 at 4373.00 : TerrainAidDriver::readData() - IDT[45] = 57.61, IDT[75] = 46.99 : _navData-> (x,y) = (4070251.72, 589144.12) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322168.62) : ARL North: 28.9590, East: -486.3088, Depth: -0.5419 : ARL Estimation Bias (Mean): (t = 1488322168.62) : ARL North: 28.3547, East: -486.3277, Depth: 0.4946 : ARL North Sigma: 0.64, East Sigma: 0.53, Depth Sigma: 2.20 : DynamicControlServer:: TerrainNav has new data at 4374.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4376.00 : DynamicControlServer:: _wallBearing reset to 4.54 at 4376.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 55.40, IDT[75] = 70.24 : _navData-> (x,y) = (4070250.50, 589139.95) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322171.62) : ARL North: 28.0017, East: -489.5156, Depth: 0.5752 : ARL Estimation Bias (Mean): (t = 1488322171.62) : ARL North: 27.2977, East: -490.2269, Depth: 0.6551 : ARL North Sigma: 0.66, East Sigma: 0.52, Depth Sigma: 2.32 : DynamicControlServer:: TerrainNav has new data at 4377.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4379.00 sec. : DynamicControlServer:: RHT set to 1 at 4379.00 : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 51.4, range = 237.6 numValidBeams = 4 beam1 range = 76.4, iterations = 0, grazing = 0.0 beam2 range = 49.6, iterations = 0, grazing = 0.0 beam3 range = 49.3, iterations = 0, grazing = 0.0 beam4 range = 62.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 57.55, IDT[75] = 69.26 : _navData-> (x,y) = (4070249.73, 589135.70) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322174.62) : ARL North: 26.3203, East: -495.3136, Depth: -2.9930 : ARL Estimation Bias (Mean): (t = 1488322174.62) : ARL North: 26.6039, East: -494.5006, Depth: 0.9022 : ARL North Sigma: 0.69, East Sigma: 0.50, Depth Sigma: 2.44 : DynamicControlServer:: TerrainNav has new data at 4380.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.75, IDT[75] = 67.99 : _navData-> (x,y) = (4070248.69, 589131.53) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322177.62) : ARL North: 24.7673, East: -498.1677, Depth: -2.7261 : ARL Estimation Bias (Mean): (t = 1488322177.62) : ARL North: 25.5503, East: -498.9238, Depth: 0.5967 : ARL North Sigma: 0.67, East Sigma: 0.52, Depth Sigma: 2.31 : DynamicControlServer:: TerrainNav has new data at 4383.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4385.80 : DynamicControlServer:: _wallBearing reset to 4.80 at 4385.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 47.89, IDT[75] = 70.55 : _navData-> (x,y) = (4070247.67, 589127.38) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322180.62) : ARL North: 23.1756, East: -502.1780, Depth: 0.1042 : ARL Estimation Bias (Mean): (t = 1488322180.62) : ARL North: 24.5879, East: -502.3349, Depth: 0.6825 : ARL North Sigma: 0.67, East Sigma: 0.50, Depth Sigma: 2.38 : DynamicControlServer:: TerrainNav has new data at 4386.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 70.44, IDT[75] = 73.71 : _navData-> (x,y) = (4070247.47, 589123.19) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322183.62) : ARL North: 23.8708, East: -506.4140, Depth: 2.9678 : ARL Estimation Bias (Mean): (t = 1488322183.62) : ARL North: 24.6679, East: -506.3334, Depth: 0.8604 : ARL North Sigma: 0.65, East Sigma: 0.52, Depth Sigma: 2.19 : DynamicControlServer:: TerrainNav has new data at 4389.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 61.7, range = 285.0 numValidBeams = 4 beam1 range = 82.0, iterations = 0, grazing = 0.0 beam2 range = 60.2, iterations = 0, grazing = 0.0 beam3 range = 65.1, iterations = 0, grazing = 0.0 beam4 range = 77.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 71.31, IDT[75] = 71.48 : _navData-> (x,y) = (4070247.97, 589119.03) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322186.62) : ARL North: 26.2450, East: -511.0427, Depth: -0.2007 : ARL Estimation Bias (Mean): (t = 1488322186.62) : ARL North: 25.4580, East: -511.3773, Depth: 0.0039 : ARL North Sigma: 0.63, East Sigma: 0.52, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4392.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4394.80 sec. : DynamicControlServer:: RHT set to 1 at 4394.80 : TerrainAidDriver::readData() - IDT[45] = 57.63, IDT[75] = 66.46 : _navData-> (x,y) = (4070248.17, 589114.86) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322189.62) : ARL North: 26.6589, East: -515.7649, Depth: -2.6337 : ARL Estimation Bias (Mean): (t = 1488322189.62) : ARL North: 25.8600, East: -516.3705, Depth: 0.5094 : ARL North Sigma: 0.57, East Sigma: 0.48, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4395.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.73, IDT[75] = 71.10 : _navData-> (x,y) = (4070247.53, 589110.81) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322192.62) : ARL North: 24.8994, East: -520.1690, Depth: -1.1544 : ARL Estimation Bias (Mean): (t = 1488322192.62) : ARL North: 24.8016, East: -520.7015, Depth: 0.8109 : ARL North Sigma: 0.63, East Sigma: 0.50, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 4398.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 4400.00, (simTime - realTime) = 0.00 Heading = 243.55 Depth = 889.89 Speed = 1.36 Pitch = -3.57 : TerrainAidDriver::readData() - IDT[45] = 56.25, IDT[75] = 70.00 : _navData-> (x,y) = (4070245.97, 589107.03) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322195.62) : ARL North: 22.8804, East: -524.9486, Depth: 6.5825 : ARL Estimation Bias (Mean): (t = 1488322195.62) : ARL North: 22.8699, East: -524.0974, Depth: 1.2031 : ARL North Sigma: 0.64, East Sigma: 0.56, Depth Sigma: 2.50 : DynamicControlServer:: TerrainNav has new data at 4401.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 968.0 Dvl range = 58.9, range = 272.1 numValidBeams = 4 beam1 range = 72.8, iterations = 0, grazing = 0.0 beam2 range = 55.5, iterations = 0, grazing = 0.0 beam3 range = 64.4, iterations = 0, grazing = 0.0 beam4 range = 79.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 71.67, IDT[75] = 65.65 : _navData-> (x,y) = (4070244.35, 589103.26) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322198.62) : ARL North: 21.7578, East: -527.5711, Depth: 1.4424 : ARL Estimation Bias (Mean): (t = 1488322198.62) : ARL North: 21.4437, East: -526.7232, Depth: 0.5886 : ARL North Sigma: 0.67, East Sigma: 0.58, Depth Sigma: 2.42 : DynamicControlServer:: TerrainNav has new data at 4404.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 70.20, IDT[75] = 58.99 : _navData-> (x,y) = (4070243.38, 589099.31) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322201.62) : ARL North: 21.2714, East: -530.3219, Depth: 1.9250 : ARL Estimation Bias (Mean): (t = 1488322201.62) : ARL North: 20.2848, East: -530.1333, Depth: 0.1568 : ARL North Sigma: 0.58, East Sigma: 0.46, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4407.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4407.20 : DynamicControlServer:: _wallBearing reset to 5.27 at 4407.20 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 66.09, IDT[75] = 51.59 : _navData-> (x,y) = (4070243.38, 589095.31) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322204.62) : ARL North: 21.2075, East: -534.2871, Depth: 4.4882 : ARL Estimation Bias (Mean): (t = 1488322204.62) : ARL North: 20.7549, East: -534.3894, Depth: 0.4401 : ARL North Sigma: 0.57, East Sigma: 0.47, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4410.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 61.77, IDT[75] = 38.09 : _navData-> (x,y) = (4070244.23, 589091.41) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322207.62) : ARL North: 22.0563, East: -538.0131, Depth: 2.5064 : ARL Estimation Bias (Mean): (t = 1488322207.62) : ARL North: 21.7774, East: -538.3342, Depth: 0.4269 : ARL North Sigma: 0.63, East Sigma: 0.57, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4413.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 948.0 Dvl range = 44.6, range = 206.0 numValidBeams = 4 beam1 range = 64.4, iterations = 0, grazing = 0.0 beam2 range = 43.5, iterations = 0, grazing = 0.0 beam3 range = 33.6, iterations = 0, grazing = 0.0 beam4 range = 64.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 51.06, IDT[75] = 51.63 : _navData-> (x,y) = (4070245.78, 589087.75) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322210.62) : ARL North: 23.4591, East: -541.5671, Depth: 1.2139 : ARL Estimation Bias (Mean): (t = 1488322210.62) : ARL North: 23.6785, East: -541.8283, Depth: 0.4925 : ARL North Sigma: 0.54, East Sigma: 0.54, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4416.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 40.66, IDT[75] = 43.57 : _navData-> (x,y) = (4070248.08, 589084.57) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322213.62) : ARL North: 27.2944, East: -544.2939, Depth: 2.0785 : ARL Estimation Bias (Mean): (t = 1488322213.62) : ARL North: 26.1375, East: -544.8954, Depth: 0.2953 : ARL North Sigma: 0.54, East Sigma: 0.52, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4419.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.53, IDT[75] = 47.49 : _navData-> (x,y) = (4070251.02, 589081.92) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322216.62) : ARL North: 29.5195, East: -547.5155, Depth: 0.0353 : ARL Estimation Bias (Mean): (t = 1488322216.62) : ARL North: 29.6637, East: -547.6263, Depth: 0.6572 : ARL North Sigma: 0.51, East Sigma: 0.50, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4422.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 51.12, IDT[75] = 52.74 : _navData-> (x,y) = (4070254.27, 589079.54) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322219.62) : ARL North: 33.6135, East: -550.8079, Depth: 1.6577 : ARL Estimation Bias (Mean): (t = 1488322219.62) : ARL North: 33.1951, East: -549.7175, Depth: 0.6396 : ARL North Sigma: 0.52, East Sigma: 0.51, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4425.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 966.0 Dvl range = 46.4, range = 214.5 numValidBeams = 4 beam1 range = 65.6, iterations = 0, grazing = 0.0 beam2 range = 45.6, iterations = 0, grazing = 0.0 beam3 range = 44.5, iterations = 0, grazing = 0.0 beam4 range = 58.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 47.46, IDT[75] = 51.19 : _navData-> (x,y) = (4070257.64, 589077.23) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322222.62) : ARL North: 36.8016, East: -553.4740, Depth: 2.5120 : ARL Estimation Bias (Mean): (t = 1488322222.62) : ARL North: 37.0924, East: -552.2178, Depth: 0.4358 : ARL North Sigma: 0.51, East Sigma: 0.51, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4428.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 43.78, IDT[75] = 51.72 : _navData-> (x,y) = (4070260.98, 589074.76) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322225.62) : ARL North: 40.3082, East: -555.0383, Depth: -3.0581 : ARL Estimation Bias (Mean): (t = 1488322225.62) : ARL North: 40.2843, East: -554.7206, Depth: 0.4829 : ARL North Sigma: 0.51, East Sigma: 0.52, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 4431.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 43.66, IDT[75] = 56.97 : _navData-> (x,y) = (4070264.35, 589072.25) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322228.62) : ARL North: 43.3748, East: -557.1892, Depth: 0.1715 : ARL Estimation Bias (Mean): (t = 1488322228.62) : ARL North: 43.6489, East: -557.2942, Depth: 0.5863 : ARL North Sigma: 0.53, East Sigma: 0.55, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4434.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 46.82, IDT[75] = 58.69 : _navData-> (x,y) = (4070267.71, 589069.65) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322231.62) : ARL North: 47.0343, East: -559.3838, Depth: 1.2154 : ARL Estimation Bias (Mean): (t = 1488322231.62) : ARL North: 46.9922, East: -559.9140, Depth: 0.6755 : ARL North Sigma: 0.53, East Sigma: 0.55, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4437.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 48.8, range = 225.3 numValidBeams = 4 beam1 range = 65.7, iterations = 0, grazing = 0.0 beam2 range = 47.0, iterations = 0, grazing = 0.0 beam3 range = 54.2, iterations = 0, grazing = 0.0 beam4 range = 58.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 51.88, IDT[75] = 63.73 : _navData-> (x,y) = (4070271.04, 589066.95) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322234.62) : ARL North: 50.7417, East: -561.7302, Depth: 5.6806 : ARL Estimation Bias (Mean): (t = 1488322234.62) : ARL North: 50.1687, East: -562.6214, Depth: 0.7742 : ARL North Sigma: 0.53, East Sigma: 0.58, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 4440.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 51.79, IDT[75] = 62.96 : _navData-> (x,y) = (4070274.28, 589064.09) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322237.62) : ARL North: 53.8623, East: -566.4691, Depth: 1.0954 : ARL Estimation Bias (Mean): (t = 1488322237.62) : ARL North: 53.4298, East: -565.4944, Depth: 0.6591 : ARL North Sigma: 0.54, East Sigma: 0.59, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 4443.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 49.31, IDT[75] = 64.60 : _navData-> (x,y) = (4070277.41, 589061.08) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322240.62) : ARL North: 55.9040, East: -568.9373, Depth: 5.1913 : ARL Estimation Bias (Mean): (t = 1488322240.62) : ARL North: 56.5092, East: -568.4939, Depth: 0.7910 : ARL North Sigma: 0.52, East Sigma: 0.63, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 4446.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.54, IDT[75] = 64.40 : _navData-> (x,y) = (4070280.41, 589057.91) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322243.62) : ARL North: 60.0040, East: -570.7432, Depth: -3.2701 : ARL Estimation Bias (Mean): (t = 1488322243.62) : ARL North: 59.6863, East: -571.8054, Depth: 0.7920 : ARL North Sigma: 0.56, East Sigma: 0.65, Depth Sigma: 2.09 : DynamicControlServer:: TerrainNav has new data at 4449.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 53.7, range = 247.9 numValidBeams = 4 beam1 range = 71.3, iterations = 0, grazing = 0.0 beam2 range = 49.6, iterations = 0, grazing = 0.0 beam3 range = 64.3, iterations = 0, grazing = 0.0 beam4 range = 62.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.53, IDT[75] = 65.31 : _navData-> (x,y) = (4070283.27, 589054.58) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322246.62) : ARL North: 62.5036, East: -573.8144, Depth: -0.6836 : ARL Estimation Bias (Mean): (t = 1488322246.62) : ARL North: 62.3967, East: -575.0391, Depth: 1.1519 : ARL North Sigma: 0.58, East Sigma: 0.71, Depth Sigma: 2.25 : DynamicControlServer:: TerrainNav has new data at 4452.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.09, IDT[75] = 65.44 : _navData-> (x,y) = (4070285.99, 589051.12) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322249.62) : ARL North: 65.4078, East: -579.8419, Depth: 3.4077 : ARL Estimation Bias (Mean): (t = 1488322249.62) : ARL North: 64.9866, East: -578.7419, Depth: 0.7974 : ARL North Sigma: 0.60, East Sigma: 0.64, Depth Sigma: 2.20 : DynamicControlServer:: TerrainNav has new data at 4455.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.46, IDT[75] = 64.52 : _navData-> (x,y) = (4070288.53, 589047.52) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322252.62) : ARL North: 68.4442, East: -581.5731, Depth: 0.7778 : ARL Estimation Bias (Mean): (t = 1488322252.62) : ARL North: 67.4233, East: -582.5374, Depth: 0.8688 : ARL North Sigma: 0.60, East Sigma: 0.64, Depth Sigma: 2.19 : DynamicControlServer:: TerrainNav has new data at 4458.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.50, IDT[75] = 62.64 : _navData-> (x,y) = (4070290.85, 589043.77) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322255.62) : ARL North: 68.6702, East: -586.1216, Depth: -2.3748 : ARL Estimation Bias (Mean): (t = 1488322255.62) : ARL North: 69.5662, East: -586.3546, Depth: 0.6208 : ARL North Sigma: 0.60, East Sigma: 0.62, Depth Sigma: 2.13 : DynamicControlServer:: TerrainNav has new data at 4461.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 978.0 Dvl range = 55.1, range = 254.6 numValidBeams = 4 beam1 range = 67.9, iterations = 0, grazing = 0.0 beam2 range = 54.2, iterations = 0, grazing = 0.0 beam3 range = 60.3, iterations = 0, grazing = 0.0 beam4 range = 72.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 58.42, IDT[75] = 60.44 : _navData-> (x,y) = (4070292.86, 589039.84) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322258.62) : ARL North: 71.3150, East: -589.9315, Depth: -1.3546 : ARL Estimation Bias (Mean): (t = 1488322258.62) : ARL North: 71.3168, East: -590.7135, Depth: 0.4073 : ARL North Sigma: 0.60, East Sigma: 0.62, Depth Sigma: 2.19 : DynamicControlServer:: TerrainNav has new data at 4464.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 59.47, IDT[75] = 58.94 : _navData-> (x,y) = (4070294.52, 589035.76) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322261.62) : ARL North: 71.7924, East: -594.7238, Depth: 0.5598 : ARL Estimation Bias (Mean): (t = 1488322261.62) : ARL North: 72.8659, East: -594.7986, Depth: 0.0904 : ARL North Sigma: 0.59, East Sigma: 0.56, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4467.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 60.59, IDT[75] = 58.24 : _navData-> (x,y) = (4070295.88, 589031.56) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322264.62) : ARL North: 73.9526, East: -599.9444, Depth: -0.1477 : ARL Estimation Bias (Mean): (t = 1488322264.62) : ARL North: 74.1734, East: -598.9053, Depth: 0.3344 : ARL North Sigma: 0.58, East Sigma: 0.52, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4470.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 61.67, IDT[75] = 57.57 : _navData-> (x,y) = (4070297.00, 589027.29) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322267.62) : ARL North: 74.5319, East: -602.7903, Depth: -0.3003 : ARL Estimation Bias (Mean): (t = 1488322267.62) : ARL North: 75.1545, East: -603.2440, Depth: 0.4639 : ARL North Sigma: 0.59, East Sigma: 0.52, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4473.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 67.8, range = 313.2 numValidBeams = 4 beam1 range = 62.9, iterations = 0, grazing = 0.0 beam2 range = 57.4, iterations = 0, grazing = 0.0 beam3 range = 57.5, iterations = 0, grazing = 0.0 beam4 range = 135.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 62.67, IDT[75] = 59.15 : _navData-> (x,y) = (4070297.85, 589022.96) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322270.62) : ARL North: 75.7150, East: -606.8541, Depth: 0.2686 : ARL Estimation Bias (Mean): (t = 1488322270.62) : ARL North: 75.8934, East: -607.5293, Depth: 0.6716 : ARL North Sigma: 0.60, East Sigma: 0.53, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4476.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.42, IDT[75] = 58.96 : _navData-> (x,y) = (4070298.50, 589018.58) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322273.62) : ARL North: 76.5612, East: -612.1455, Depth: 1.6887 : ARL Estimation Bias (Mean): (t = 1488322273.62) : ARL North: 76.3249, East: -611.9476, Depth: 0.5480 : ARL North Sigma: 0.59, East Sigma: 0.54, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 4479.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.16, IDT[75] = 60.75 : _navData-> (x,y) = (4070299.01, 589014.19) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322276.62) : ARL North: 76.1809, East: -616.2600, Depth: -0.4761 : ARL Estimation Bias (Mean): (t = 1488322276.62) : ARL North: 76.5776, East: -616.5070, Depth: 0.2625 : ARL North Sigma: 0.62, East Sigma: 0.57, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 4482.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.85, IDT[75] = 60.09 : _navData-> (x,y) = (4070299.34, 589009.77) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322279.62) : ARL North: 75.8151, East: -620.1958, Depth: -1.5860 : ARL Estimation Bias (Mean): (t = 1488322279.62) : ARL North: 76.8332, East: -620.6829, Depth: 0.4630 : ARL North Sigma: 0.58, East Sigma: 0.55, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4485.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 978.0 Dvl range = 67.9, range = 313.6 numValidBeams = 4 beam1 range = 63.4, iterations = 0, grazing = 0.0 beam2 range = 56.9, iterations = 0, grazing = 0.0 beam3 range = 58.5, iterations = 0, grazing = 0.0 beam4 range = 134.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.59, IDT[75] = 59.21 : _navData-> (x,y) = (4070299.48, 589005.35) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322282.62) : ARL North: 76.2962, East: -625.0805, Depth: -2.2675 : ARL Estimation Bias (Mean): (t = 1488322282.62) : ARL North: 76.9407, East: -625.5158, Depth: 0.5530 : ARL North Sigma: 0.59, East Sigma: 0.56, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 4488.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.34, IDT[75] = 58.22 : _navData-> (x,y) = (4070299.38, 589000.92) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322285.62) : ARL North: 76.5027, East: -630.9166, Depth: -0.8288 : ARL Estimation Bias (Mean): (t = 1488322285.62) : ARL North: 76.8254, East: -630.0007, Depth: 0.5906 : ARL North Sigma: 0.61, East Sigma: 0.60, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4491.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.17, IDT[75] = 57.11 : _navData-> (x,y) = (4070299.03, 588996.51) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322288.62) : ARL North: 75.3972, East: -634.5992, Depth: 3.1156 : ARL Estimation Bias (Mean): (t = 1488322288.62) : ARL North: 76.2350, East: -634.2749, Depth: 0.8240 : ARL North Sigma: 0.59, East Sigma: 0.55, Depth Sigma: 2.04 : DynamicControlServer:: TerrainNav has new data at 4494.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 58.20, IDT[75] = 55.92 : _navData-> (x,y) = (4070298.39, 588992.14) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322291.62) : ARL North: 76.1709, East: -639.0557, Depth: 0.1687 : ARL Estimation Bias (Mean): (t = 1488322291.62) : ARL North: 75.4425, East: -638.7635, Depth: 0.8015 : ARL North Sigma: 0.60, East Sigma: 0.57, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 4497.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 978.0 Dvl range = 67.1, range = 309.7 numValidBeams = 4 beam1 range = 59.4, iterations = 0, grazing = 0.0 beam2 range = 61.1, iterations = 0, grazing = 0.0 beam3 range = 55.3, iterations = 0, grazing = 0.0 beam4 range = 134.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 58.61, IDT[75] = 54.77 : _navData-> (x,y) = (4070297.45, 588987.82) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322294.62) : ARL North: 73.9554, East: -644.6806, Depth: -0.2945 : ARL Estimation Bias (Mean): (t = 1488322294.62) : ARL North: 74.3531, East: -643.0363, Depth: 0.6273 : ARL North Sigma: 0.62, East Sigma: 0.62, Depth Sigma: 2.08 : DynamicControlServer:: TerrainNav has new data at 4500.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 4500.00, (simTime - realTime) = 0.00 Heading = 254.99 Depth = 889.99 Speed = 1.47 Pitch = -3.72 : TerrainAidDriver::readData() - IDT[45] = 60.23, IDT[75] = 53.56 : _navData-> (x,y) = (4070296.29, 588983.55) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322297.62) : ARL North: 73.8667, East: -646.9395, Depth: 3.9893 : ARL Estimation Bias (Mean): (t = 1488322297.62) : ARL North: 73.1505, East: -647.2476, Depth: 0.7504 : ARL North Sigma: 0.62, East Sigma: 0.63, Depth Sigma: 2.07 : DynamicControlServer:: TerrainNav has new data at 4503.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 61.76, IDT[75] = 54.25 : _navData-> (x,y) = (4070294.89, 588979.35) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322300.62) : ARL North: 72.0145, East: -650.2936, Depth: 2.4599 : ARL Estimation Bias (Mean): (t = 1488322300.62) : ARL North: 71.6506, East: -651.2980, Depth: 0.5988 : ARL North Sigma: 0.63, East Sigma: 0.64, Depth Sigma: 2.07 : DynamicControlServer:: TerrainNav has new data at 4506.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 61.77, IDT[75] = 52.84 : _navData-> (x,y) = (4070293.28, 588975.23) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322303.62) : ARL North: 70.7832, East: -654.1149, Depth: 4.2931 : ARL Estimation Bias (Mean): (t = 1488322303.62) : ARL North: 69.8375, East: -655.3781, Depth: 0.3388 : ARL North Sigma: 0.63, East Sigma: 0.61, Depth Sigma: 2.08 : DynamicControlServer:: TerrainNav has new data at 4509.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 978.0 Dvl range = 74.0, range = 341.7 numValidBeams = 4 beam1 range = 56.6, iterations = 0, grazing = 0.0 beam2 range = 65.6, iterations = 0, grazing = 0.0 beam3 range = 54.8, iterations = 0, grazing = 0.0 beam4 range = 164.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 61.96, IDT[75] = 53.41 : _navData-> (x,y) = (4070291.48, 588971.18) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322306.62) : ARL North: 69.1105, East: -658.8216, Depth: 2.3789 : ARL Estimation Bias (Mean): (t = 1488322306.62) : ARL North: 67.9996, East: -659.1631, Depth: 0.2714 : ARL North Sigma: 0.59, East Sigma: 0.58, Depth Sigma: 2.06 : DynamicControlServer:: TerrainNav has new data at 4512.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4514.40 sec. : DynamicControlServer:: RHT set to 1 at 4514.40 : TerrainAidDriver::readData() - IDT[45] = 62.46, IDT[75] = 51.94 : _navData-> (x,y) = (4070289.47, 588967.24) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322309.62) : ARL North: 66.4219, East: -664.8689, Depth: 1.0129 : ARL Estimation Bias (Mean): (t = 1488322309.62) : ARL North: 65.7525, East: -663.1427, Depth: 0.6212 : ARL North Sigma: 0.63, East Sigma: 0.58, Depth Sigma: 2.16 : DynamicControlServer:: TerrainNav has new data at 4515.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4517.00 : DynamicControlServer:: _wallBearing reset to 4.70 at 4517.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 55.61, IDT[75] = 55.11 : _navData-> (x,y) = (4070287.28, 588963.41) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322312.62) : ARL North: 64.3050, East: -666.2353, Depth: 0.1916 : ARL Estimation Bias (Mean): (t = 1488322312.62) : ARL North: 63.5460, East: -666.6987, Depth: 0.4813 : ARL North Sigma: 0.63, East Sigma: 0.62, Depth Sigma: 2.09 : DynamicControlServer:: TerrainNav has new data at 4518.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.03, IDT[75] = 55.30 : _navData-> (x,y) = (4070285.40, 588959.45) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322315.62) : ARL North: 61.5601, East: -671.1449, Depth: -0.6462 : ARL Estimation Bias (Mean): (t = 1488322315.62) : ARL North: 61.8309, East: -670.7501, Depth: 0.9456 : ARL North Sigma: 0.62, East Sigma: 0.63, Depth Sigma: 2.12 : DynamicControlServer:: TerrainNav has new data at 4521.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4522.20 sec. : DynamicControlServer:: RHT set to 1 at 4522.20 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 49.6, range = 229.2 numValidBeams = 4 beam1 range = 61.3, iterations = 0, grazing = 0.0 beam2 range = 58.1, iterations = 0, grazing = 0.0 beam3 range = 50.7, iterations = 0, grazing = 0.0 beam4 range = 59.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.92, IDT[75] = 53.75 : _navData-> (x,y) = (4070283.39, 588955.55) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322318.62) : ARL North: 58.7643, East: -675.6215, Depth: 1.9924 : ARL Estimation Bias (Mean): (t = 1488322318.62) : ARL North: 59.7158, East: -674.8083, Depth: 0.5681 : ARL North Sigma: 0.64, East Sigma: 0.66, Depth Sigma: 2.21 : DynamicControlServer:: TerrainNav has new data at 4524.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4525.60 : DynamicControlServer:: _wallBearing reset to 4.49 at 4525.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 52.57, IDT[75] = 58.75 : _navData-> (x,y) = (4070281.35, 588951.69) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322321.62) : ARL North: 58.4763, East: -679.3565, Depth: -2.8605 : ARL Estimation Bias (Mean): (t = 1488322321.62) : ARL North: 57.7553, East: -678.4819, Depth: 0.3542 : ARL North Sigma: 0.63, East Sigma: 0.72, Depth Sigma: 2.39 : DynamicControlServer:: TerrainNav has new data at 4527.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.64, IDT[75] = 55.18 : _navData-> (x,y) = (4070279.74, 588947.67) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322324.62) : ARL North: 56.3858, East: -683.8305, Depth: -2.0807 : ARL Estimation Bias (Mean): (t = 1488322324.62) : ARL North: 56.1187, East: -682.5987, Depth: 0.1403 : ARL North Sigma: 0.64, East Sigma: 0.68, Depth Sigma: 2.25 : DynamicControlServer:: TerrainNav has new data at 4530.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.44, IDT[75] = 51.38 : _navData-> (x,y) = (4070278.09, 588943.64) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322327.62) : ARL North: 54.5897, East: -686.8157, Depth: 0.3433 : ARL Estimation Bias (Mean): (t = 1488322327.62) : ARL North: 54.4264, East: -686.6014, Depth: 0.2394 : ARL North Sigma: 0.65, East Sigma: 0.70, Depth Sigma: 2.24 : DynamicControlServer:: TerrainNav has new data at 4533.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 46.2, range = 213.2 numValidBeams = 4 beam1 range = 56.7, iterations = 0, grazing = 0.0 beam2 range = 51.5, iterations = 0, grazing = 0.0 beam3 range = 42.2, iterations = 0, grazing = 0.0 beam4 range = 62.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 56.22, IDT[75] = 44.25 : _navData-> (x,y) = (4070276.71, 588939.52) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322330.62) : ARL North: 53.3553, East: -689.6086, Depth: -0.9772 : ARL Estimation Bias (Mean): (t = 1488322330.62) : ARL North: 53.2057, East: -690.4977, Depth: -0.0661 : ARL North Sigma: 0.65, East Sigma: 0.68, Depth Sigma: 2.24 : DynamicControlServer:: TerrainNav has new data at 4536.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.49, IDT[75] = 40.74 : _navData-> (x,y) = (4070275.91, 588935.28) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322333.62) : ARL North: 52.9416, East: -694.3792, Depth: -2.7581 : ARL Estimation Bias (Mean): (t = 1488322333.62) : ARL North: 52.6143, East: -694.6559, Depth: 0.2886 : ARL North Sigma: 0.68, East Sigma: 0.68, Depth Sigma: 2.22 : DynamicControlServer:: TerrainNav has new data at 4539.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 44.66, IDT[75] = 38.35 : _navData-> (x,y) = (4070275.75, 588930.98) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322336.62) : ARL North: 51.8307, East: -696.7370, Depth: 1.7094 : ARL Estimation Bias (Mean): (t = 1488322336.62) : ARL North: 52.7188, East: -698.9310, Depth: 0.2066 : ARL North Sigma: 0.67, East Sigma: 0.65, Depth Sigma: 2.27 : DynamicControlServer:: TerrainNav has new data at 4542.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 42.91, IDT[75] = 42.37 : _navData-> (x,y) = (4070276.20, 588926.74) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322339.62) : ARL North: 52.3111, East: -703.8904, Depth: -1.7771 : ARL Estimation Bias (Mean): (t = 1488322339.62) : ARL North: 53.5137, East: -703.1094, Depth: 0.4838 : ARL North Sigma: 0.63, East Sigma: 0.63, Depth Sigma: 2.12 : DynamicControlServer:: TerrainNav has new data at 4545.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 37.9, range = 174.9 numValidBeams = 4 beam1 range = 45.2, iterations = 0, grazing = 0.0 beam2 range = 38.0, iterations = 0, grazing = 0.0 beam3 range = 33.8, iterations = 0, grazing = 0.0 beam4 range = 57.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 38.53, IDT[75] = 35.08 : _navData-> (x,y) = (4070277.30, 588922.62) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322342.62) : ARL North: 55.4105, East: -706.6324, Depth: 1.7266 : ARL Estimation Bias (Mean): (t = 1488322342.62) : ARL North: 54.9882, East: -707.3662, Depth: 0.5451 : ARL North Sigma: 0.62, East Sigma: 0.59, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 4548.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4550.80 sec. : DynamicControlServer:: LHT set to 1 at 4550.80 : TerrainAidDriver::readData() - IDT[45] = 44.87, IDT[75] = 45.03 : _navData-> (x,y) = (4070278.86, 588918.64) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322345.62) : ARL North: 56.9693, East: -710.8239, Depth: -3.5037 : ARL Estimation Bias (Mean): (t = 1488322345.62) : ARL North: 56.6165, East: -711.3762, Depth: 0.0541 : ARL North Sigma: 0.62, East Sigma: 0.59, Depth Sigma: 2.18 : DynamicControlServer:: TerrainNav has new data at 4551.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4552.20 : DynamicControlServer:: _wallBearing reset to 4.96 at 4552.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4552.60 sec. : DynamicControlServer:: LHT set to 1 at 4552.60 : DynamicControlServer:: LHT set to 0 at 4553.80 : DynamicControlServer:: _wallBearing reset to 4.96 at 4553.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 42.91, IDT[75] = 48.36 : _navData-> (x,y) = (4070280.73, 588914.77) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322348.62) : ARL North: 57.6335, East: -715.8879, Depth: -0.3845 : ARL Estimation Bias (Mean): (t = 1488322348.62) : ARL North: 58.7601, East: -715.4038, Depth: 0.0692 : ARL North Sigma: 0.58, East Sigma: 0.58, Depth Sigma: 2.13 : DynamicControlServer:: TerrainNav has new data at 4554.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4556.40 sec. : DynamicControlServer:: LHT set to 1 at 4556.40 : TerrainAidDriver::readData() - IDT[45] = 39.14, IDT[75] = 58.28 : _navData-> (x,y) = (4070282.67, 588910.91) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322351.62) : ARL North: 61.4207, East: -718.3352, Depth: 2.4825 : ARL Estimation Bias (Mean): (t = 1488322351.62) : ARL North: 60.7897, East: -719.2203, Depth: 0.1076 : ARL North Sigma: 0.59, East Sigma: 0.58, Depth Sigma: 2.13 : DynamicControlServer:: TerrainNav has new data at 4557.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4559.80 : DynamicControlServer:: _wallBearing reset to 5.10 at 4559.80 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 42.8, range = 197.6 numValidBeams = 4 beam1 range = 64.6, iterations = 0, grazing = 0.0 beam2 range = 33.8, iterations = 0, grazing = 0.0 beam3 range = 51.7, iterations = 0, grazing = 0.0 beam4 range = 47.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 38.79, IDT[75] = 61.49 : _navData-> (x,y) = (4070284.78, 588907.13) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322354.62) : ARL North: 63.7913, East: -721.6098, Depth: 2.7283 : ARL Estimation Bias (Mean): (t = 1488322354.62) : ARL North: 63.0698, East: -723.1112, Depth: 0.0208 : ARL North Sigma: 0.58, East Sigma: 0.59, Depth Sigma: 2.13 : DynamicControlServer:: TerrainNav has new data at 4560.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 40.12, IDT[75] = 58.52 : _navData-> (x,y) = (4070286.58, 588903.23) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322357.62) : ARL North: 65.9923, East: -725.1078, Depth: 3.7268 : ARL Estimation Bias (Mean): (t = 1488322357.62) : ARL North: 64.9591, East: -727.0968, Depth: 0.0525 : ARL North Sigma: 0.58, East Sigma: 0.58, Depth Sigma: 2.11 : DynamicControlServer:: TerrainNav has new data at 4563.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4564.20 sec. : DynamicControlServer:: LHT set to 1 at 4564.20 : DynamicControlServer:: LHT set to 0 at 4565.40 : DynamicControlServer:: _wallBearing reset to 4.94 at 4565.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4565.80 sec. : DynamicControlServer:: LHT set to 1 at 4565.80 : TerrainAidDriver::readData() - IDT[45] = 48.12, IDT[75] = 70.70 : _navData-> (x,y) = (4070288.45, 588899.37) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322360.62) : ARL North: 65.5996, East: -730.6705, Depth: -0.5000 : ARL Estimation Bias (Mean): (t = 1488322360.62) : ARL North: 66.5675, East: -730.6143, Depth: 0.1378 : ARL North Sigma: 0.59, East Sigma: 0.63, Depth Sigma: 2.16 : DynamicControlServer:: TerrainNav has new data at 4566.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4566.20 : DynamicControlServer:: _wallBearing reset to 4.93 at 4566.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4566.40 sec. : DynamicControlServer:: LHT set to 1 at 4566.40 : TerrainAidDriver::readData() - IDT[45] = 49.17, IDT[75] = 67.99 : _navData-> (x,y) = (4070290.70, 588895.72) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322363.62) : ARL North: 68.3138, East: -733.1953, Depth: -3.3961 : ARL Estimation Bias (Mean): (t = 1488322363.62) : ARL North: 69.1517, East: -734.3679, Depth: 0.1990 : ARL North Sigma: 0.64, East Sigma: 0.73, Depth Sigma: 2.44 : DynamicControlServer:: TerrainNav has new data at 4569.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4569.20 : DynamicControlServer:: _wallBearing reset to 4.83 at 4569.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4569.40 sec. : DynamicControlServer:: LHT set to 1 at 4569.40 : DynamicControlServer:: LHT set to 0 at 4569.80 : DynamicControlServer:: _wallBearing reset to 4.84 at 4569.80 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 47.7, range = 220.1 numValidBeams = 4 beam1 range = 68.6, iterations = 0, grazing = 0.0 beam2 range = 43.4, iterations = 0, grazing = 0.0 beam3 range = 57.9, iterations = 0, grazing = 0.0 beam4 range = 50.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 49.35, IDT[75] = 62.90 : _navData-> (x,y) = (4070292.53, 588891.89) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322366.62) : ARL North: 71.0445, East: -738.7141, Depth: 1.1033 : ARL Estimation Bias (Mean): (t = 1488322366.62) : ARL North: 71.2290, East: -738.3026, Depth: 0.2694 : ARL North Sigma: 0.66, East Sigma: 0.81, Depth Sigma: 2.44 : DynamicControlServer:: TerrainNav has new data at 4572.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 50.41, IDT[75] = 60.88 : _navData-> (x,y) = (4070293.77, 588887.81) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322369.62) : ARL North: 71.6954, East: -743.1399, Depth: -0.7423 : ARL Estimation Bias (Mean): (t = 1488322369.62) : ARL North: 72.1310, East: -742.6506, Depth: 0.5851 : ARL North Sigma: 0.66, East Sigma: 0.75, Depth Sigma: 2.31 : DynamicControlServer:: TerrainNav has new data at 4575.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 51.45, IDT[75] = 59.48 : _navData-> (x,y) = (4070294.64, 588883.61) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322372.62) : ARL North: 72.5832, East: -747.9101, Depth: -0.0923 : ARL Estimation Bias (Mean): (t = 1488322372.62) : ARL North: 72.7377, East: -747.0360, Depth: 0.4607 : ARL North Sigma: 0.63, East Sigma: 0.65, Depth Sigma: 2.25 : DynamicControlServer:: TerrainNav has new data at 4578.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 50.66, IDT[75] = 57.53 : _navData-> (x,y) = (4070295.15, 588879.34) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322375.62) : ARL North: 74.9262, East: -752.2986, Depth: 5.7313 : ARL Estimation Bias (Mean): (t = 1488322375.62) : ARL North: 72.9959, East: -751.4607, Depth: 0.5315 : ARL North Sigma: 0.62, East Sigma: 0.64, Depth Sigma: 2.22 : DynamicControlServer:: TerrainNav has new data at 4581.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 47.8, range = 221.0 numValidBeams = 4 beam1 range = 60.2, iterations = 0, grazing = 0.0 beam2 range = 49.1, iterations = 0, grazing = 0.0 beam3 range = 53.5, iterations = 0, grazing = 0.0 beam4 range = 58.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 51.95, IDT[75] = 56.00 : _navData-> (x,y) = (4070295.22, 588875.03) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322378.62) : ARL North: 72.5839, East: -755.7365, Depth: -4.1316 : ARL Estimation Bias (Mean): (t = 1488322378.62) : ARL North: 72.8730, East: -755.7785, Depth: 0.5008 : ARL North Sigma: 0.63, East Sigma: 0.62, Depth Sigma: 2.21 : DynamicControlServer:: TerrainNav has new data at 4584.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.49, IDT[75] = 54.57 : _navData-> (x,y) = (4070294.85, 588870.73) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322381.62) : ARL North: 71.7873, East: -759.2533, Depth: 0.0294 : ARL Estimation Bias (Mean): (t = 1488322381.62) : ARL North: 72.1996, East: -760.1504, Depth: 0.5699 : ARL North Sigma: 0.63, East Sigma: 0.61, Depth Sigma: 2.24 : DynamicControlServer:: TerrainNav has new data at 4587.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.18, IDT[75] = 53.45 : _navData-> (x,y) = (4070294.07, 588866.48) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322384.62) : ARL North: 71.5410, East: -763.6357, Depth: 0.8221 : ARL Estimation Bias (Mean): (t = 1488322384.62) : ARL North: 71.1633, East: -764.2513, Depth: 0.6829 : ARL North Sigma: 0.62, East Sigma: 0.62, Depth Sigma: 2.19 : DynamicControlServer:: TerrainNav has new data at 4590.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.94, IDT[75] = 52.34 : _navData-> (x,y) = (4070293.03, 588862.26) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322387.62) : ARL North: 69.0370, East: -767.7581, Depth: 0.7665 : ARL Estimation Bias (Mean): (t = 1488322387.62) : ARL North: 69.8951, East: -768.5904, Depth: 0.6606 : ARL North Sigma: 0.62, East Sigma: 0.60, Depth Sigma: 2.25 : DynamicControlServer:: TerrainNav has new data at 4593.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 46.7, range = 215.7 numValidBeams = 4 beam1 range = 57.9, iterations = 0, grazing = 0.0 beam2 range = 51.8, iterations = 0, grazing = 0.0 beam3 range = 49.5, iterations = 0, grazing = 0.0 beam4 range = 56.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 54.19, IDT[75] = 51.27 : _navData-> (x,y) = (4070291.91, 588858.05) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322390.62) : ARL North: 68.0706, East: -771.6632, Depth: -3.0235 : ARL Estimation Bias (Mean): (t = 1488322390.62) : ARL North: 68.8295, East: -772.3906, Depth: 0.5688 : ARL North Sigma: 0.63, East Sigma: 0.62, Depth Sigma: 2.27 : DynamicControlServer:: TerrainNav has new data at 4596.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.22, IDT[75] = 50.39 : _navData-> (x,y) = (4070290.86, 588853.80) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322393.62) : ARL North: 66.5288, East: -776.3066, Depth: -0.6925 : ARL Estimation Bias (Mean): (t = 1488322393.62) : ARL North: 67.7159, East: -776.7346, Depth: 1.1436 : ARL North Sigma: 0.62, East Sigma: 0.67, Depth Sigma: 2.29 : DynamicControlServer:: TerrainNav has new data at 4599.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 4600.00, (simTime - realTime) = 0.00 Heading = 259.19 Depth = 890.00 Speed = 1.46 Pitch = -4.22 : TerrainAidDriver::readData() - IDT[45] = 53.85, IDT[75] = 48.01 : _navData-> (x,y) = (4070289.99, 588849.51) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322396.62) : ARL North: 65.7863, East: -781.0774, Depth: -2.9117 : ARL Estimation Bias (Mean): (t = 1488322396.62) : ARL North: 66.8832, East: -780.9406, Depth: 1.2457 : ARL North Sigma: 0.63, East Sigma: 0.75, Depth Sigma: 2.42 : DynamicControlServer:: TerrainNav has new data at 4602.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.89, IDT[75] = 46.37 : _navData-> (x,y) = (4070289.44, 588845.17) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322399.62) : ARL North: 65.9243, East: -784.9081, Depth: 1.0748 : ARL Estimation Bias (Mean): (t = 1488322399.62) : ARL North: 66.5029, East: -785.1712, Depth: 1.3368 : ARL North Sigma: 0.66, East Sigma: 0.80, Depth Sigma: 2.52 : DynamicControlServer:: TerrainNav has new data at 4605.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 43.0, range = 198.7 numValidBeams = 4 beam1 range = 50.3, iterations = 0, grazing = 0.0 beam2 range = 49.3, iterations = 0, grazing = 0.0 beam3 range = 42.6, iterations = 0, grazing = 0.0 beam4 range = 56.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 50.52, IDT[75] = 45.66 : _navData-> (x,y) = (4070289.27, 588840.80) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322402.62) : ARL North: 66.4825, East: -789.8694, Depth: -4.0839 : ARL Estimation Bias (Mean): (t = 1488322402.62) : ARL North: 66.4634, East: -789.4936, Depth: 0.5114 : ARL North Sigma: 0.69, East Sigma: 0.78, Depth Sigma: 2.52 : DynamicControlServer:: TerrainNav has new data at 4608.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 48.24, IDT[75] = 43.21 : _navData-> (x,y) = (4070289.54, 588836.45) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322405.62) : ARL North: 66.6783, East: -793.7703, Depth: -2.3646 : ARL Estimation Bias (Mean): (t = 1488322405.62) : ARL North: 66.8594, East: -793.7541, Depth: 0.2567 : ARL North Sigma: 0.70, East Sigma: 0.72, Depth Sigma: 2.49 : DynamicControlServer:: TerrainNav has new data at 4611.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 45.02, IDT[75] = 40.56 : _navData-> (x,y) = (4070290.29, 588832.16) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322408.62) : ARL North: 67.7107, East: -797.6709, Depth: -5.2715 : ARL Estimation Bias (Mean): (t = 1488322408.62) : ARL North: 67.7657, East: -797.9457, Depth: 0.1280 : ARL North Sigma: 0.70, East Sigma: 0.66, Depth Sigma: 2.57 : DynamicControlServer:: TerrainNav has new data at 4614.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 44.82, IDT[75] = 40.57 : _navData-> (x,y) = (4070291.48, 588827.97) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322411.62) : ARL North: 68.3373, East: -803.0406, Depth: -2.3066 : ARL Estimation Bias (Mean): (t = 1488322411.62) : ARL North: 69.0897, East: -801.9697, Depth: 0.0831 : ARL North Sigma: 0.69, East Sigma: 0.72, Depth Sigma: 2.68 : DynamicControlServer:: TerrainNav has new data at 4617.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 36.4, range = 168.0 numValidBeams = 4 beam1 range = 44.7, iterations = 0, grazing = 0.0 beam2 range = 38.7, iterations = 0, grazing = 0.0 beam3 range = 40.4, iterations = 0, grazing = 0.0 beam4 range = 44.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 39.69, IDT[75] = 42.48 : _navData-> (x,y) = (4070293.14, 588823.97) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322414.62) : ARL North: 69.8482, East: -805.0051, Depth: -3.8250 : ARL Estimation Bias (Mean): (t = 1488322414.62) : ARL North: 70.9606, East: -805.9338, Depth: -0.3870 : ARL North Sigma: 0.66, East Sigma: 0.73, Depth Sigma: 2.67 : DynamicControlServer:: TerrainNav has new data at 4620.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4622.00 sec. : DynamicControlServer:: LHT set to 1 at 4622.00 : DynamicControlServer:: LHT set to 0 at 4622.80 : DynamicControlServer:: _wallBearing reset to 5.19 at 4622.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 39.61, IDT[75] = 48.76 : _navData-> (x,y) = (4070295.29, 588820.21) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322417.62) : ARL North: 72.4630, East: -808.8846, Depth: -0.0746 : ARL Estimation Bias (Mean): (t = 1488322417.62) : ARL North: 73.4048, East: -809.5540, Depth: -0.1267 : ARL North Sigma: 0.60, East Sigma: 0.71, Depth Sigma: 2.70 : DynamicControlServer:: TerrainNav has new data at 4623.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4623.20 sec. : DynamicControlServer:: LHT set to 1 at 4623.20 : DynamicControlServer:: LHT set to 0 at 4623.40 : DynamicControlServer:: _wallBearing reset to 5.28 at 4623.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4624.60 sec. : DynamicControlServer:: LHT set to 1 at 4624.60 : DynamicControlServer:: LHT set to 0 at 4625.00 : DynamicControlServer:: _wallBearing reset to 5.23 at 4625.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4625.40 sec. : DynamicControlServer:: LHT set to 1 at 4625.40 : TerrainAidDriver::readData() - IDT[45] = 42.43, IDT[75] = 55.44 : _navData-> (x,y) = (4070297.81, 588816.70) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322420.62) : ARL North: 75.9170, East: -812.0099, Depth: -0.5012 : ARL Estimation Bias (Mean): (t = 1488322420.62) : ARL North: 76.0936, East: -812.9056, Depth: 0.7545 : ARL North Sigma: 0.54, East Sigma: 0.65, Depth Sigma: 2.58 : DynamicControlServer:: TerrainNav has new data at 4626.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4626.40 : DynamicControlServer:: _wallBearing reset to 5.28 at 4626.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4627.20 sec. : DynamicControlServer:: LHT set to 1 at 4627.20 : TerrainAidDriver::readData() - IDT[45] = 44.97, IDT[75] = 73.45 : _navData-> (x,y) = (4070300.74, 588813.54) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322423.62) : ARL North: 79.9721, East: -816.2587, Depth: 0.6187 : ARL Estimation Bias (Mean): (t = 1488322423.62) : ARL North: 79.1739, East: -815.9903, Depth: 0.6627 : ARL North Sigma: 0.55, East Sigma: 0.64, Depth Sigma: 2.75 : DynamicControlServer:: TerrainNav has new data at 4629.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4630.60 : DynamicControlServer:: _wallBearing reset to 5.27 at 4630.60 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4631.00 sec. : DynamicControlServer:: LHT set to 1 at 4631.00 : DynamicControlServer:: LHT set to 0 at 4631.80 : DynamicControlServer:: _wallBearing reset to 5.15 at 4631.80 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 45.7, range = 211.1 numValidBeams = 4 beam1 range = 61.7, iterations = 0, grazing = 0.0 beam2 range = 44.6, iterations = 0, grazing = 0.0 beam3 range = 58.8, iterations = 0, grazing = 0.0 beam4 range = 46.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 46.17, IDT[75] = 66.75 : _navData-> (x,y) = (4070303.82, 588810.52) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322426.62) : ARL North: 82.5900, East: -818.5557, Depth: 1.0973 : ARL Estimation Bias (Mean): (t = 1488322426.62) : ARL North: 82.7650, East: -819.1506, Depth: 0.4239 : ARL North Sigma: 0.58, East Sigma: 0.68, Depth Sigma: 2.94 : DynamicControlServer:: TerrainNav has new data at 4632.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4632.20 sec. : DynamicControlServer:: LHT set to 1 at 4632.20 : DynamicControlServer:: LHT set to 0 at 4633.20 : DynamicControlServer:: _wallBearing reset to 5.14 at 4633.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4634.40 sec. : DynamicControlServer:: LHT set to 1 at 4634.40 : DynamicControlServer:: LHT set to 0 at 4634.80 : DynamicControlServer:: _wallBearing reset to 5.18 at 4634.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 45.89, IDT[75] = 65.12 : _navData-> (x,y) = (4070306.61, 588807.23) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322429.62) : ARL North: 86.3965, East: -822.1180, Depth: 0.9741 : ARL Estimation Bias (Mean): (t = 1488322429.62) : ARL North: 85.6413, East: -822.6878, Depth: 0.5434 : ARL North Sigma: 0.58, East Sigma: 0.68, Depth Sigma: 3.13 : DynamicControlServer:: TerrainNav has new data at 4635.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4636.20 sec. : DynamicControlServer:: LHT set to 1 at 4636.20 : DynamicControlServer:: LHT set to 0 at 4637.80 : DynamicControlServer:: _wallBearing reset to 5.09 at 4637.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 47.33, IDT[75] = 65.21 : _navData-> (x,y) = (4070309.21, 588803.76) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322432.62) : ARL North: 88.3016, East: -825.5786, Depth: 1.0007 : ARL Estimation Bias (Mean): (t = 1488322432.62) : ARL North: 88.0880, East: -826.2564, Depth: 1.2007 : ARL North Sigma: 0.58, East Sigma: 0.66, Depth Sigma: 3.11 : DynamicControlServer:: TerrainNav has new data at 4638.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 48.15, IDT[75] = 61.64 : _navData-> (x,y) = (4070311.58, 588800.12) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322435.62) : ARL North: 90.4577, East: -828.8626, Depth: 2.9217 : ARL Estimation Bias (Mean): (t = 1488322435.62) : ARL North: 90.4268, East: -830.0864, Depth: 1.6201 : ARL North Sigma: 0.58, East Sigma: 0.66, Depth Sigma: 3.18 : DynamicControlServer:: TerrainNav has new data at 4641.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 46.4, range = 214.5 numValidBeams = 4 beam1 range = 58.5, iterations = 0, grazing = 0.0 beam2 range = 49.0, iterations = 0, grazing = 0.0 beam3 range = 56.8, iterations = 0, grazing = 0.0 beam4 range = 50.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 51.52, IDT[75] = 60.81 : _navData-> (x,y) = (4070313.63, 588796.28) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322438.62) : ARL North: 92.7082, East: -833.6499, Depth: 1.5391 : ARL Estimation Bias (Mean): (t = 1488322438.62) : ARL North: 92.3163, East: -834.0489, Depth: 1.3215 : ARL North Sigma: 0.59, East Sigma: 0.66, Depth Sigma: 3.14 : DynamicControlServer:: TerrainNav has new data at 4644.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.70, IDT[75] = 59.77 : _navData-> (x,y) = (4070315.44, 588792.31) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322441.62) : ARL North: 95.6236, East: -837.7593, Depth: 0.3293 : ARL Estimation Bias (Mean): (t = 1488322441.62) : ARL North: 93.9651, East: -838.0924, Depth: 1.6360 : ARL North Sigma: 0.60, East Sigma: 0.67, Depth Sigma: 3.22 : DynamicControlServer:: TerrainNav has new data at 4647.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 51.81, IDT[75] = 58.62 : _navData-> (x,y) = (4070316.99, 588788.21) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322444.62) : ARL North: 95.0130, East: -843.2149, Depth: -2.3040 : ARL Estimation Bias (Mean): (t = 1488322444.62) : ARL North: 95.3416, East: -842.2294, Depth: 1.6187 : ARL North Sigma: 0.61, East Sigma: 0.66, Depth Sigma: 3.29 : DynamicControlServer:: TerrainNav has new data at 4650.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.88, IDT[75] = 57.28 : _navData-> (x,y) = (4070318.23, 588784.01) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322447.62) : ARL North: 96.7527, East: -846.3794, Depth: -1.1498 : ARL Estimation Bias (Mean): (t = 1488322447.62) : ARL North: 96.4303, East: -846.5541, Depth: 1.5516 : ARL North Sigma: 0.61, East Sigma: 0.67, Depth Sigma: 3.30 : DynamicControlServer:: TerrainNav has new data at 4653.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 48.0, range = 221.8 numValidBeams = 4 beam1 range = 55.2, iterations = 0, grazing = 0.0 beam2 range = 54.6, iterations = 0, grazing = 0.0 beam3 range = 54.4, iterations = 0, grazing = 0.0 beam4 range = 57.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 53.92, IDT[75] = 56.14 : _navData-> (x,y) = (4070319.16, 588779.73) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322450.62) : ARL North: 97.4875, East: -849.8501, Depth: 1.6899 : ARL Estimation Bias (Mean): (t = 1488322450.62) : ARL North: 97.1754, East: -850.8846, Depth: 1.4344 : ARL North Sigma: 0.61, East Sigma: 0.68, Depth Sigma: 3.41 : DynamicControlServer:: TerrainNav has new data at 4656.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.97, IDT[75] = 54.97 : _navData-> (x,y) = (4070319.77, 588775.38) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322453.62) : ARL North: 97.6540, East: -853.6744, Depth: 4.2168 : ARL Estimation Bias (Mean): (t = 1488322453.62) : ARL North: 97.5888, East: -855.2687, Depth: 1.1979 : ARL North Sigma: 0.61, East Sigma: 0.69, Depth Sigma: 3.36 : DynamicControlServer:: TerrainNav has new data at 4659.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.84, IDT[75] = 54.09 : _navData-> (x,y) = (4070320.05, 588771.00) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322456.62) : ARL North: 97.7675, East: -858.9911, Depth: 0.0826 : ARL Estimation Bias (Mean): (t = 1488322456.62) : ARL North: 97.6882, East: -859.6939, Depth: 0.8882 : ARL North Sigma: 0.60, East Sigma: 0.69, Depth Sigma: 3.31 : DynamicControlServer:: TerrainNav has new data at 4662.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.19, IDT[75] = 51.57 : _navData-> (x,y) = (4070320.10, 588766.60) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322459.62) : ARL North: 97.1036, East: -863.0235, Depth: -1.7847 : ARL Estimation Bias (Mean): (t = 1488322459.62) : ARL North: 97.5789, East: -864.0205, Depth: 0.8707 : ARL North Sigma: 0.60, East Sigma: 0.70, Depth Sigma: 3.25 : DynamicControlServer:: TerrainNav has new data at 4665.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 46.6, range = 215.3 numValidBeams = 4 beam1 range = 51.2, iterations = 0, grazing = 0.0 beam2 range = 55.4, iterations = 0, grazing = 0.0 beam3 range = 52.7, iterations = 0, grazing = 0.0 beam4 range = 56.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 56.21, IDT[75] = 53.55 : _navData-> (x,y) = (4070320.03, 588762.19) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322462.62) : ARL North: 97.0654, East: -868.9055, Depth: -0.5177 : ARL Estimation Bias (Mean): (t = 1488322462.62) : ARL North: 97.4025, East: -868.3344, Depth: 0.9890 : ARL North Sigma: 0.61, East Sigma: 0.69, Depth Sigma: 3.28 : DynamicControlServer:: TerrainNav has new data at 4668.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.34, IDT[75] = 52.03 : _navData-> (x,y) = (4070319.97, 588757.78) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322465.62) : ARL North: 97.0486, East: -873.6290, Depth: -3.2589 : ARL Estimation Bias (Mean): (t = 1488322465.62) : ARL North: 97.3413, East: -872.6293, Depth: 1.2122 : ARL North Sigma: 0.61, East Sigma: 0.68, Depth Sigma: 3.32 : DynamicControlServer:: TerrainNav has new data at 4671.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.09, IDT[75] = 47.40 : _navData-> (x,y) = (4070320.10, 588753.37) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322468.62) : ARL North: 97.0214, East: -877.9984, Depth: 1.6528 : ARL Estimation Bias (Mean): (t = 1488322468.62) : ARL North: 97.4739, East: -876.8243, Depth: 0.7785 : ARL North Sigma: 0.62, East Sigma: 0.69, Depth Sigma: 3.03 : DynamicControlServer:: TerrainNav has new data at 4674.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.24, IDT[75] = 43.96 : _navData-> (x,y) = (4070320.58, 588748.99) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322471.62) : ARL North: 97.2173, East: -881.7910, Depth: 3.6715 : ARL Estimation Bias (Mean): (t = 1488322471.62) : ARL North: 98.0717, East: -881.0739, Depth: 0.5296 : ARL North Sigma: 0.63, East Sigma: 0.64, Depth Sigma: 2.67 : DynamicControlServer:: TerrainNav has new data at 4677.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 39.6, range = 182.8 numValidBeams = 4 beam1 range = 41.8, iterations = 0, grazing = 0.0 beam2 range = 50.5, iterations = 0, grazing = 0.0 beam3 range = 41.0, iterations = 0, grazing = 0.0 beam4 range = 49.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 50.40, IDT[75] = 39.58 : _navData-> (x,y) = (4070321.56, 588744.73) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322474.62) : ARL North: 99.2897, East: -884.4460, Depth: 1.5736 : ARL Estimation Bias (Mean): (t = 1488322474.62) : ARL North: 99.1788, East: -885.2027, Depth: 0.4332 : ARL North Sigma: 0.63, East Sigma: 0.62, Depth Sigma: 2.41 : DynamicControlServer:: TerrainNav has new data at 4680.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 45.56, IDT[75] = 44.26 : _navData-> (x,y) = (4070323.09, 588740.67) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322477.62) : ARL North: 100.3437, East: -888.2177, Depth: -2.6493 : ARL Estimation Bias (Mean): (t = 1488322477.62) : ARL North: 100.9385, East: -889.1494, Depth: 1.2061 : ARL North Sigma: 0.60, East Sigma: 0.60, Depth Sigma: 2.23 : DynamicControlServer:: TerrainNav has new data at 4683.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 41.32, IDT[75] = 47.38 : _navData-> (x,y) = (4070325.17, 588736.88) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322480.62) : ARL North: 101.5259, East: -892.1037, Depth: 2.9498 : ARL Estimation Bias (Mean): (t = 1488322480.62) : ARL North: 103.2440, East: -892.8164, Depth: 0.8617 : ARL North Sigma: 0.60, East Sigma: 0.61, Depth Sigma: 2.26 : DynamicControlServer:: TerrainNav has new data at 4686.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4686.20 sec. : DynamicControlServer:: LHT set to 1 at 4686.20 : DynamicControlServer:: LHT set to 0 at 4686.40 : DynamicControlServer:: _wallBearing reset to 5.46 at 4686.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 42.97, IDT[75] = 50.75 : _navData-> (x,y) = (4070327.70, 588733.40) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322483.62) : ARL North: 104.6826, East: -895.6379, Depth: 1.1334 : ARL Estimation Bias (Mean): (t = 1488322483.62) : ARL North: 105.8878, East: -896.2704, Depth: 0.6497 : ARL North Sigma: 0.58, East Sigma: 0.62, Depth Sigma: 2.37 : DynamicControlServer:: TerrainNav has new data at 4689.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4690.20 sec. : DynamicControlServer:: LHT set to 1 at 4690.20 : DynamicControlServer:: LHT set to 0 at 4691.00 : DynamicControlServer:: _wallBearing reset to 5.27 at 4691.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4691.40 sec. : DynamicControlServer:: LHT set to 1 at 4691.40 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 45.1, range = 208.3 numValidBeams = 4 beam1 range = 60.5, iterations = 0, grazing = 0.0 beam2 range = 46.5, iterations = 0, grazing = 0.0 beam3 range = 54.2, iterations = 0, grazing = 0.0 beam4 range = 47.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 45.54, IDT[75] = 56.52 : _navData-> (x,y) = (4070330.74, 588730.42) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322486.62) : ARL North: 109.4719, East: -899.3273, Depth: 2.1967 : ARL Estimation Bias (Mean): (t = 1488322486.62) : ARL North: 109.0553, East: -899.0557, Depth: 1.1103 : ARL North Sigma: 0.56, East Sigma: 0.62, Depth Sigma: 2.36 : DynamicControlServer:: TerrainNav has new data at 4692.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4692.80 : DynamicControlServer:: _wallBearing reset to 5.38 at 4692.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4693.20 sec. : DynamicControlServer:: LHT set to 1 at 4693.20 : DynamicControlServer:: LHT set to 0 at 4694.00 : DynamicControlServer:: _wallBearing reset to 5.28 at 4694.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4694.40 sec. : DynamicControlServer:: LHT set to 1 at 4694.40 : TerrainAidDriver::readData() - IDT[45] = 47.59, IDT[75] = 55.24 : _navData-> (x,y) = (4070334.12, 588727.86) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322489.62) : ARL North: 112.7579, East: -902.1854, Depth: -0.0112 : ARL Estimation Bias (Mean): (t = 1488322489.62) : ARL North: 113.4846, East: -901.7836, Depth: -0.2892 : ARL North Sigma: 0.50, East Sigma: 0.65, Depth Sigma: 2.28 : DynamicControlServer:: TerrainNav has new data at 4695.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4695.80 : DynamicControlServer:: _wallBearing reset to 5.32 at 4695.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4697.40 sec. : DynamicControlServer:: LHT set to 1 at 4697.40 : DynamicControlServer:: LHT set to 0 at 4697.80 : DynamicControlServer:: _wallBearing reset to 5.41 at 4697.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 49.79, IDT[75] = 53.86 : _navData-> (x,y) = (4070337.39, 588725.12) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322492.62) : ARL North: 115.2877, East: -903.7759, Depth: -3.3828 : ARL Estimation Bias (Mean): (t = 1488322492.62) : ARL North: 116.7501, East: -904.5284, Depth: 0.4881 : ARL North Sigma: 0.54, East Sigma: 0.64, Depth Sigma: 2.56 : DynamicControlServer:: TerrainNav has new data at 4698.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4698.40 sec. : DynamicControlServer:: LHT set to 1 at 4698.40 : DynamicControlServer:: LHT set to 0 at 4699.20 : DynamicControlServer:: _wallBearing reset to 5.22 at 4699.20 by L/RHT. : Simulator:: Before the call to motion(): simTime = 4700.00, (simTime - realTime) = 0.00 Heading = 312.02 Depth = 890.00 Speed = 1.43 Pitch = -3.76 : TerrainAidDriver::readData() - IDT[45] = 51.01, IDT[75] = 52.78 : _navData-> (x,y) = (4070340.39, 588722.06) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322495.62) : ARL North: 119.1712, East: -907.1399, Depth: 6.2308 : ARL Estimation Bias (Mean): (t = 1488322495.62) : ARL North: 119.7818, East: -907.7160, Depth: 0.6433 : ARL North Sigma: 0.54, East Sigma: 0.63, Depth Sigma: 2.62 : DynamicControlServer:: TerrainNav has new data at 4701.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4701.20 sec. : DynamicControlServer:: LHT set to 1 at 4701.20 : DynamicControlServer:: LHT set to 0 at 4701.40 : DynamicControlServer:: _wallBearing reset to 5.47 at 4701.40 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 45.2, range = 208.8 numValidBeams = 4 beam1 range = 56.5, iterations = 0, grazing = 0.0 beam2 range = 51.3, iterations = 0, grazing = 0.0 beam3 range = 50.1, iterations = 0, grazing = 0.0 beam4 range = 50.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 50.30, IDT[75] = 51.74 : _navData-> (x,y) = (4070343.11, 588718.73) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322498.62) : ARL North: 121.8285, East: -910.2135, Depth: 4.6022 : ARL Estimation Bias (Mean): (t = 1488322498.62) : ARL North: 122.1705, East: -911.0511, Depth: 0.9381 : ARL North Sigma: 0.55, East Sigma: 0.64, Depth Sigma: 2.73 : DynamicControlServer:: TerrainNav has new data at 4704.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4704.40 sec. : DynamicControlServer:: LHT set to 1 at 4704.40 : DynamicControlServer:: LHT set to 0 at 4704.80 : DynamicControlServer:: _wallBearing reset to 5.17 at 4704.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4705.20 sec. : DynamicControlServer:: LHT set to 1 at 4705.20 : DynamicControlServer:: LHT set to 0 at 4706.00 : DynamicControlServer:: _wallBearing reset to 5.02 at 4706.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 52.93, IDT[75] = 52.95 : _navData-> (x,y) = (4070345.76, 588715.33) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322501.62) : ARL North: 124.2188, East: -913.3142, Depth: 6.2531 : ARL Estimation Bias (Mean): (t = 1488322501.62) : ARL North: 124.5765, East: -914.5149, Depth: 1.0229 : ARL North Sigma: 0.56, East Sigma: 0.62, Depth Sigma: 2.67 : DynamicControlServer:: TerrainNav has new data at 4707.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.38, IDT[75] = 49.57 : _navData-> (x,y) = (4070348.18, 588711.78) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322504.62) : ARL North: 128.3754, East: -917.9762, Depth: 4.2862 : ARL Estimation Bias (Mean): (t = 1488322504.62) : ARL North: 127.2124, East: -918.4732, Depth: 0.5863 : ARL North Sigma: 0.56, East Sigma: 0.60, Depth Sigma: 2.57 : DynamicControlServer:: TerrainNav has new data at 4710.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.23, IDT[75] = 47.80 : _navData-> (x,y) = (4070350.03, 588707.91) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322507.62) : ARL North: 128.5764, East: -920.9636, Depth: -3.5194 : ARL Estimation Bias (Mean): (t = 1488322507.62) : ARL North: 128.8321, East: -922.5251, Depth: 0.6656 : ARL North Sigma: 0.57, East Sigma: 0.58, Depth Sigma: 2.49 : DynamicControlServer:: TerrainNav has new data at 4713.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 45.7, range = 211.3 numValidBeams = 4 beam1 range = 48.6, iterations = 0, grazing = 0.0 beam2 range = 56.6, iterations = 0, grazing = 0.0 beam3 range = 50.4, iterations = 0, grazing = 0.0 beam4 range = 55.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 54.56, IDT[75] = 46.27 : _navData-> (x,y) = (4070351.55, 588703.88) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322510.62) : ARL North: 129.1767, East: -926.3961, Depth: -2.0431 : ARL Estimation Bias (Mean): (t = 1488322510.62) : ARL North: 129.9773, East: -926.5508, Depth: -0.0827 : ARL North Sigma: 0.60, East Sigma: 0.59, Depth Sigma: 2.39 : DynamicControlServer:: TerrainNav has new data at 4716.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.13, IDT[75] = 43.79 : _navData-> (x,y) = (4070352.99, 588699.78) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322513.62) : ARL North: 130.6838, East: -931.5450, Depth: -0.5307 : ARL Estimation Bias (Mean): (t = 1488322513.62) : ARL North: 131.2372, East: -930.4282, Depth: -0.0107 : ARL North Sigma: 0.59, East Sigma: 0.57, Depth Sigma: 2.43 : DynamicControlServer:: TerrainNav has new data at 4719.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 50.70, IDT[75] = 49.53 : _navData-> (x,y) = (4070354.51, 588695.70) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322516.62) : ARL North: 131.9015, East: -934.2491, Depth: -1.5028 : ARL Estimation Bias (Mean): (t = 1488322516.62) : ARL North: 132.6105, East: -934.3923, Depth: 0.5949 : ARL North Sigma: 0.59, East Sigma: 0.57, Depth Sigma: 2.44 : DynamicControlServer:: TerrainNav has new data at 4722.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 50.02, IDT[75] = 50.98 : _navData-> (x,y) = (4070356.17, 588691.66) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322519.62) : ARL North: 133.5996, East: -938.7927, Depth: -1.3963 : ARL Estimation Bias (Mean): (t = 1488322519.62) : ARL North: 134.2401, East: -938.3208, Depth: 0.5620 : ARL North Sigma: 0.57, East Sigma: 0.56, Depth Sigma: 2.36 : DynamicControlServer:: TerrainNav has new data at 4725.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 47.6, range = 219.6 numValidBeams = 4 beam1 range = 61.6, iterations = 0, grazing = 0.0 beam2 range = 49.7, iterations = 0, grazing = 0.0 beam3 range = 53.6, iterations = 0, grazing = 0.0 beam4 range = 54.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 46.26, IDT[75] = 58.15 : _navData-> (x,y) = (4070358.01, 588687.69) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322522.62) : ARL North: 135.3217, East: -942.9039, Depth: 0.8433 : ARL Estimation Bias (Mean): (t = 1488322522.62) : ARL North: 136.2406, East: -942.3771, Depth: 0.6097 : ARL North Sigma: 0.55, East Sigma: 0.55, Depth Sigma: 2.16 : DynamicControlServer:: TerrainNav has new data at 4728.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 46.45, IDT[75] = 61.79 : _navData-> (x,y) = (4070360.00, 588683.77) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322525.62) : ARL North: 138.0961, East: -945.8444, Depth: 1.0339 : ARL Estimation Bias (Mean): (t = 1488322525.62) : ARL North: 138.3848, East: -946.3156, Depth: 0.6461 : ARL North Sigma: 0.56, East Sigma: 0.55, Depth Sigma: 2.21 : DynamicControlServer:: TerrainNav has new data at 4731.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4733.00 sec. : DynamicControlServer:: LHT set to 1 at 4733.00 : DynamicControlServer:: LHT set to 0 at 4733.40 : DynamicControlServer:: _wallBearing reset to 5.13 at 4733.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 48.49, IDT[75] = 80.64 : _navData-> (x,y) = (4070362.05, 588679.88) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322528.62) : ARL North: 139.7997, East: -951.0844, Depth: -1.8716 : ARL Estimation Bias (Mean): (t = 1488322528.62) : ARL North: 140.6231, East: -950.3784, Depth: 1.0709 : ARL North Sigma: 0.56, East Sigma: 0.55, Depth Sigma: 2.26 : DynamicControlServer:: TerrainNav has new data at 4734.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 50.38, IDT[75] = 84.98 : _navData-> (x,y) = (4070364.08, 588675.96) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322531.62) : ARL North: 141.3808, East: -953.6470, Depth: -4.7271 : ARL Estimation Bias (Mean): (t = 1488322531.62) : ARL North: 142.4456, East: -954.1346, Depth: 0.5797 : ARL North Sigma: 0.57, East Sigma: 0.55, Depth Sigma: 2.30 : DynamicControlServer:: TerrainNav has new data at 4737.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 65.1, range = 300.7 numValidBeams = 4 beam1 range = 119.4, iterations = 0, grazing = 0.0 beam2 range = 51.6, iterations = 0, grazing = 0.0 beam3 range = 68.3, iterations = 0, grazing = 0.0 beam4 range = 61.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 52.06, IDT[75] = 85.45 : _navData-> (x,y) = (4070366.06, 588672.01) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322534.62) : ARL North: 144.0061, East: -958.4784, Depth: 0.8784 : ARL Estimation Bias (Mean): (t = 1488322534.62) : ARL North: 144.6032, East: -958.3772, Depth: 0.6910 : ARL North Sigma: 0.59, East Sigma: 0.59, Depth Sigma: 2.32 : DynamicControlServer:: TerrainNav has new data at 4740.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4740.80 sec. : DynamicControlServer:: LHT set to 1 at 4740.80 : DynamicControlServer:: LHT set to 0 at 4742.00 : DynamicControlServer:: _wallBearing reset to 4.79 at 4742.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 53.02, IDT[75] = 82.62 : _navData-> (x,y) = (4070367.93, 588668.00) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322537.62) : ARL North: 144.9871, East: -962.6401, Depth: -3.3571 : ARL Estimation Bias (Mean): (t = 1488322537.62) : ARL North: 146.4342, East: -962.4252, Depth: 0.9875 : ARL North Sigma: 0.61, East Sigma: 0.59, Depth Sigma: 2.36 : DynamicControlServer:: TerrainNav has new data at 4743.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4743.20 sec. : DynamicControlServer:: LHT set to 1 at 4743.20 : DynamicControlServer:: LHT set to 0 at 4744.20 : DynamicControlServer:: _wallBearing reset to 4.82 at 4744.20 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 54.07, IDT[75] = 67.49 : _navData-> (x,y) = (4070369.35, 588663.88) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322540.62) : ARL North: 147.8082, East: -966.8109, Depth: 3.9453 : ARL Estimation Bias (Mean): (t = 1488322540.62) : ARL North: 147.9168, East: -967.0003, Depth: 0.9097 : ARL North Sigma: 0.61, East Sigma: 0.61, Depth Sigma: 2.35 : DynamicControlServer:: TerrainNav has new data at 4746.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.82, IDT[75] = 57.05 : _navData-> (x,y) = (4070369.95, 588659.60) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322543.62) : ARL North: 149.2314, East: -971.8675, Depth: 3.1216 : ARL Estimation Bias (Mean): (t = 1488322543.62) : ARL North: 148.2117, East: -971.3957, Depth: 1.0202 : ARL North Sigma: 0.62, East Sigma: 0.57, Depth Sigma: 2.40 : DynamicControlServer:: TerrainNav has new data at 4749.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 54.8, range = 253.2 numValidBeams = 4 beam1 range = 58.5, iterations = 0, grazing = 0.0 beam2 range = 61.3, iterations = 0, grazing = 0.0 beam3 range = 54.1, iterations = 0, grazing = 0.0 beam4 range = 79.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.25, IDT[75] = 56.42 : _navData-> (x,y) = (4070369.94, 588655.28) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322546.62) : ARL North: 147.0422, East: -975.2525, Depth: 0.1328 : ARL Estimation Bias (Mean): (t = 1488322546.62) : ARL North: 147.4991, East: -975.6839, Depth: 1.1533 : ARL North Sigma: 0.61, East Sigma: 0.59, Depth Sigma: 2.41 : DynamicControlServer:: TerrainNav has new data at 4752.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.97, IDT[75] = 55.32 : _navData-> (x,y) = (4070369.50, 588650.97) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322549.62) : ARL North: 146.8778, East: -980.2922, Depth: -0.4246 : ARL Estimation Bias (Mean): (t = 1488322549.62) : ARL North: 146.8474, East: -980.0716, Depth: 1.0236 : ARL North Sigma: 0.59, East Sigma: 0.55, Depth Sigma: 2.27 : DynamicControlServer:: TerrainNav has new data at 4755.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 58.50, IDT[75] = 54.34 : _navData-> (x,y) = (4070368.78, 588646.68) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322552.62) : ARL North: 146.5225, East: -984.1361, Depth: 1.5635 : ARL Estimation Bias (Mean): (t = 1488322552.62) : ARL North: 145.9027, East: -984.1308, Depth: 0.7848 : ARL North Sigma: 0.58, East Sigma: 0.62, Depth Sigma: 2.32 : DynamicControlServer:: TerrainNav has new data at 4758.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 58.16, IDT[75] = 51.34 : _navData-> (x,y) = (4070367.90, 588642.40) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322555.62) : ARL North: 145.1043, East: -989.3974, Depth: 5.8973 : ARL Estimation Bias (Mean): (t = 1488322555.62) : ARL North: 144.8215, East: -988.1836, Depth: 0.5455 : ARL North Sigma: 0.57, East Sigma: 0.64, Depth Sigma: 2.26 : DynamicControlServer:: TerrainNav has new data at 4761.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 54.0, range = 249.2 numValidBeams = 4 beam1 range = 69.2, iterations = 0, grazing = 0.0 beam2 range = 60.1, iterations = 0, grazing = 0.0 beam3 range = 50.6, iterations = 0, grazing = 0.0 beam4 range = 69.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 57.71, IDT[75] = 58.25 : _navData-> (x,y) = (4070366.91, 588638.14) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322558.62) : ARL North: 142.9253, East: -991.9792, Depth: 3.4283 : ARL Estimation Bias (Mean): (t = 1488322558.62) : ARL North: 143.5975, East: -992.4436, Depth: 0.0586 : ARL North Sigma: 0.57, East Sigma: 0.57, Depth Sigma: 2.09 : DynamicControlServer:: TerrainNav has new data at 4764.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 59.61, IDT[75] = 55.09 : _navData-> (x,y) = (4070365.78, 588633.91) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322561.62) : ARL North: 142.4513, East: -995.5115, Depth: 0.7159 : ARL Estimation Bias (Mean): (t = 1488322561.62) : ARL North: 142.3822, East: -996.7266, Depth: 0.2296 : ARL North Sigma: 0.57, East Sigma: 0.57, Depth Sigma: 2.10 : DynamicControlServer:: TerrainNav has new data at 4767.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4769.80 sec. : DynamicControlServer:: RHT set to 1 at 4769.80 : TerrainAidDriver::readData() - IDT[45] = 64.58, IDT[75] = 48.29 : _navData-> (x,y) = (4070364.20, 588629.86) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322564.62) : ARL North: 141.1715, East: -1001.1566, Depth: 3.9572 : ARL Estimation Bias (Mean): (t = 1488322564.62) : ARL North: 140.5628, East: -1000.9055, Depth: 0.4633 : ARL North Sigma: 0.58, East Sigma: 0.58, Depth Sigma: 2.09 : DynamicControlServer:: TerrainNav has new data at 4770.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 62.50, IDT[75] = 52.43 : _navData-> (x,y) = (4070362.11, 588626.06) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322567.62) : ARL North: 139.5520, East: -1004.5031, Depth: 1.4135 : ARL Estimation Bias (Mean): (t = 1488322567.62) : ARL North: 138.3230, East: -1004.5359, Depth: 0.1488 : ARL North Sigma: 0.58, East Sigma: 0.64, Depth Sigma: 2.26 : DynamicControlServer:: TerrainNav has new data at 4773.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4775.00 : DynamicControlServer:: _wallBearing reset to 4.64 at 4775.00 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 988.0 Dvl range = 47.9, range = 221.2 numValidBeams = 4 beam1 range = 66.6, iterations = 0, grazing = 0.0 beam2 range = 51.5, iterations = 0, grazing = 0.0 beam3 range = 44.1, iterations = 0, grazing = 0.0 beam4 range = 59.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 49.16, IDT[75] = 55.42 : _navData-> (x,y) = (4070360.15, 588622.24) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322570.62) : ARL North: 135.6496, East: -1007.9108, Depth: 2.1880 : ARL Estimation Bias (Mean): (t = 1488322570.62) : ARL North: 136.4324, East: -1008.0506, Depth: 0.8240 : ARL North Sigma: 0.60, East Sigma: 0.71, Depth Sigma: 2.42 : DynamicControlServer:: TerrainNav has new data at 4776.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 52.17, IDT[75] = 56.14 : _navData-> (x,y) = (4070358.87, 588618.18) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322573.62) : ARL North: 134.9464, East: -1012.3726, Depth: -0.3794 : ARL Estimation Bias (Mean): (t = 1488322573.62) : ARL North: 135.3859, East: -1012.0376, Depth: 1.2465 : ARL North Sigma: 0.60, East Sigma: 0.64, Depth Sigma: 2.28 : DynamicControlServer:: TerrainNav has new data at 4779.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=4781.40 sec. : DynamicControlServer:: RHT set to 1 at 4781.40 : TerrainAidDriver::readData() - IDT[45] = 50.56, IDT[75] = 54.91 : _navData-> (x,y) = (4070357.50, 588614.13) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322576.62) : ARL North: 132.7333, East: -1015.7855, Depth: -7.3408 : ARL Estimation Bias (Mean): (t = 1488322576.62) : ARL North: 134.0471, East: -1016.2387, Depth: 1.0638 : ARL North Sigma: 0.61, East Sigma: 0.65, Depth Sigma: 2.34 : DynamicControlServer:: TerrainNav has new data at 4782.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 51.63, IDT[75] = 53.18 : _navData-> (x,y) = (4070355.91, 588610.14) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322579.62) : ARL North: 130.2335, East: -1020.1060, Depth: -4.6838 : ARL Estimation Bias (Mean): (t = 1488322579.62) : ARL North: 132.4548, East: -1020.0822, Depth: 1.1545 : ARL North Sigma: 0.61, East Sigma: 0.65, Depth Sigma: 2.36 : DynamicControlServer:: TerrainNav has new data at 4785.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4785.20 : DynamicControlServer:: _wallBearing reset to 4.74 at 4785.20 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 968.0 Dvl range = 49.1, range = 226.6 numValidBeams = 4 beam1 range = 57.1, iterations = 0, grazing = 0.0 beam2 range = 50.3, iterations = 0, grazing = 0.0 beam3 range = 52.3, iterations = 0, grazing = 0.0 beam4 range = 66.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 55.36, IDT[75] = 50.49 : _navData-> (x,y) = (4070354.71, 588606.05) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322582.62) : ARL North: 131.2096, East: -1022.5202, Depth: 1.2855 : ARL Estimation Bias (Mean): (t = 1488322582.62) : ARL North: 131.4161, East: -1023.9311, Depth: 1.7126 : ARL North Sigma: 0.62, East Sigma: 0.68, Depth Sigma: 2.63 : DynamicControlServer:: TerrainNav has new data at 4788.00. Valid = 0 : Behavior waypoint_wall - Timed out! : LayeredControl::execute() -- (t = 4789.200000) Behavior waypoint_wall:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 4789.200000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 4789.200000) Behavior reson:-1 has changed to state Finished : WaypointWall::Escape - escape is true. Check to see if a wall was present. : WaypointWall::Escape - wallAbsentTime = 70.0, : WaypointWall::Escape - _lastWallTime = 1488322583.8, mission time = 4789.20, _wallBearing = -89.8 : WaypointWall:: Escape - The wall is to our left, so turn right. : WaypointWall::Escape - The last good wall bearing was -89.83. Escape bearing is 0.17 : WaypointWall::Escape - Latching depth = 890.0, at mission time = 4789.20. : WaypointWall initialization: Begin waypoint control at t= 4789.20 (wplog) The current location (N,E) = 4070354.4 , 588604.4 (wplog) The next waypoint = 4070364.4 , 588604.4 (wplog) The bearing to the next w.p. is 0.2 Degrees. The distance to the next w.p. is 10.0 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 890.0 meters. The final commanded depth is 890.0 meters. : WaypointWall:: standOff = 50.00 at 4789.20 : WaypointWall:: projection = 3 at 4789.20 : WaypointWall:: windowLen = 31 at 4789.20 : WaypointWall:: filterType = 3 at 4789.20 : WaypointWall:: escape = 1 at 4789.20 : WaypointWall:: waypointPriority = 2 at 4789.20 : WaypointWall::Forward-looking DeltaT IS enabled at t=4789.20 sec. : WaypointWall: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : WaypointWall::Total number of beams is 210, t=4789.20 sec. : LayeredControl::execute() -- (t = 4789.200000) Behavior waypoint_wall:-1 has changed to state Active : DynamicControlServer:: useWaypointBearing set to 1 at 4789.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4790.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4790.60, with new bearing 10.98 : WaypointWall:: wallBearing -85.03 deg. at t = 4790.60 : WaypointWall:: Compute new bearing 10.98 deg. at t = 4790.60 : DynamicControlServer:: initializeWallBearing set to 1 at 4790.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4790.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4790.80, with new bearing 12.44 : WaypointWall:: wallBearing -84.61 deg. at t = 4790.80 : WaypointWall:: Compute new bearing 12.44 deg. at t = 4790.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4791.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4791.00, with new bearing 13.87 : WaypointWall:: wallBearing -86.13 deg. at t = 4791.00 : WaypointWall:: Compute new bearing 13.87 deg. at t = 4791.00 : TerrainAidDriver::readData() - IDT[45] = 57.26, IDT[75] = 48.46 : _navData-> (x,y) = (4070353.98, 588601.83) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322585.62) : ARL North: 130.5686, East: -1026.0946, Depth: 4.0272 : ARL Estimation Bias (Mean): (t = 1488322585.62) : ARL North: 130.8990, East: -1028.2244, Depth: 0.6583 : ARL North Sigma: 0.63, East Sigma: 0.73, Depth Sigma: 2.78 : DynamicControlServer:: TerrainNav has new data at 4791.00. Valid = 0 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4791.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4791.20, with new bearing 15.27 : WaypointWall:: wallBearing -92.59 deg. at t = 4791.20 : WaypointWall:: Compute new bearing 15.27 deg. at t = 4791.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4791.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4791.40, with new bearing 16.65 : WaypointWall:: wallBearing -91.99 deg. at t = 4791.40 : WaypointWall:: Compute new bearing 16.65 deg. at t = 4791.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4791.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4791.60, with new bearing 18.00 : WaypointWall:: wallBearing -73.34 deg. at t = 4791.60 : WaypointWall:: Compute new bearing 18.00 deg. at t = 4791.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4791.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4791.80, with new bearing 19.33 : WaypointWall:: wallBearing -72.64 deg. at t = 4791.80 : WaypointWall:: Compute new bearing 19.33 deg. at t = 4791.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4792.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4792.00, with new bearing 20.63 : WaypointWall:: wallBearing -87.90 deg. at t = 4792.00 : WaypointWall:: Compute new bearing 20.63 deg. at t = 4792.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4792.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4792.20, with new bearing 21.91 : WaypointWall:: wallBearing -87.12 deg. at t = 4792.20 : WaypointWall:: Compute new bearing 21.91 deg. at t = 4792.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4792.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4792.40, with new bearing 23.17 : WaypointWall:: wallBearing -88.31 deg. at t = 4792.40 : WaypointWall:: Compute new bearing 23.17 deg. at t = 4792.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4792.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4792.60, with new bearing 24.40 : WaypointWall:: wallBearing -87.46 deg. at t = 4792.60 : WaypointWall:: Compute new bearing 24.40 deg. at t = 4792.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4792.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4792.80, with new bearing 25.61 : WaypointWall:: wallBearing -90.59 deg. at t = 4792.80 : WaypointWall:: Compute new bearing 25.61 deg. at t = 4792.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4793.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4793.00, with new bearing 26.80 : WaypointWall:: wallBearing -89.70 deg. at t = 4793.00 : WaypointWall:: Compute new bearing 26.80 deg. at t = 4793.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4793.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4793.20, with new bearing 27.97 : WaypointWall:: wallBearing -73.78 deg. at t = 4793.20 : WaypointWall:: Compute new bearing 27.97 deg. at t = 4793.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4793.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4793.40, with new bearing 29.12 : WaypointWall:: wallBearing -72.84 deg. at t = 4793.40 : WaypointWall:: Compute new bearing 29.12 deg. at t = 4793.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4793.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4793.60, with new bearing 30.25 : WaypointWall:: wallBearing -75.89 deg. at t = 4793.60 : WaypointWall:: Compute new bearing 30.25 deg. at t = 4793.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4793.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4793.80, with new bearing 31.36 : WaypointWall:: wallBearing -74.91 deg. at t = 4793.80 : WaypointWall:: Compute new bearing 31.36 deg. at t = 4793.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4794.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4794.00, with new bearing 32.46 : WaypointWall:: wallBearing -77.93 deg. at t = 4794.00 : WaypointWall:: Compute new bearing 32.46 deg. at t = 4794.00 : TerrainAidDriver::readData() - IDT[45] = 50.55, IDT[75] = 47.49 : _navData-> (x,y) = (4070353.70, 588597.60) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322588.62) : ARL North: 129.7955, East: -1033.7601, Depth: -1.5386 : ARL Estimation Bias (Mean): (t = 1488322588.62) : ARL North: 130.7396, East: -1032.3427, Depth: -0.0661 : ARL North Sigma: 0.64, East Sigma: 0.78, Depth Sigma: 2.92 : DynamicControlServer:: TerrainNav has new data at 4794.00. Valid = 0 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4794.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4794.20, with new bearing 33.54 : WaypointWall:: wallBearing -78.93 deg. at t = 4794.20 : WaypointWall:: Compute new bearing 33.54 deg. at t = 4794.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4794.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4794.40, with new bearing 34.60 : WaypointWall:: wallBearing -77.92 deg. at t = 4794.40 : WaypointWall:: Compute new bearing 34.60 deg. at t = 4794.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4794.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4794.60, with new bearing 35.65 : WaypointWall:: wallBearing -70.90 deg. at t = 4794.60 : WaypointWall:: Compute new bearing 35.65 deg. at t = 4794.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4794.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4794.80, with new bearing 36.68 : WaypointWall:: wallBearing -78.88 deg. at t = 4794.80 : WaypointWall:: Compute new bearing 36.68 deg. at t = 4794.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4795.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4795.00, with new bearing 37.70 : WaypointWall:: wallBearing -81.84 deg. at t = 4795.00 : WaypointWall:: Compute new bearing 37.70 deg. at t = 4795.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4795.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4795.20, with new bearing 38.71 : WaypointWall:: wallBearing -80.80 deg. at t = 4795.20 : WaypointWall:: Compute new bearing 38.71 deg. at t = 4795.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4795.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4795.40, with new bearing 39.70 : WaypointWall:: wallBearing -84.75 deg. at t = 4795.40 : WaypointWall:: Compute new bearing 39.70 deg. at t = 4795.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4795.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4795.60, with new bearing 40.68 : WaypointWall:: wallBearing -82.69 deg. at t = 4795.60 : WaypointWall:: Compute new bearing 40.68 deg. at t = 4795.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4795.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4795.80, with new bearing 41.65 : WaypointWall:: wallBearing -72.63 deg. at t = 4795.80 : WaypointWall:: Compute new bearing 41.65 deg. at t = 4795.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4796.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4796.00, with new bearing 42.61 : WaypointWall:: wallBearing -71.57 deg. at t = 4796.00 : WaypointWall:: Compute new bearing 42.61 deg. at t = 4796.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4796.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4796.20, with new bearing 43.55 : WaypointWall:: wallBearing -73.50 deg. at t = 4796.20 : WaypointWall:: Compute new bearing 43.55 deg. at t = 4796.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4796.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4796.40, with new bearing 44.49 : WaypointWall:: wallBearing -86.43 deg. at t = 4796.40 : WaypointWall:: Compute new bearing 44.49 deg. at t = 4796.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4796.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4796.60, with new bearing 45.41 : WaypointWall:: wallBearing -75.36 deg. at t = 4796.60 : WaypointWall:: Compute new bearing 45.41 deg. at t = 4796.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4796.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4796.80, with new bearing 46.33 : WaypointWall:: wallBearing -74.28 deg. at t = 4796.80 : WaypointWall:: Compute new bearing 46.33 deg. at t = 4796.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4797.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4797.00, with new bearing 47.23 : WaypointWall:: wallBearing -77.20 deg. at t = 4797.00 : WaypointWall:: Compute new bearing 47.23 deg. at t = 4797.00 : TerrainAidDriver::readData() - IDT[45] = 49.85, IDT[75] = 49.76 : _navData-> (x,y) = (4070354.32, 588593.52) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488322591.62) : ARL North: 131.5219, East: -1037.0072, Depth: 2.8150 : ARL Estimation Bias (Mean): (t = 1488322591.62) : ARL North: 131.6518, East: -1036.2712, Depth: 0.2288 : ARL North Sigma: 0.64, East Sigma: 0.79, Depth Sigma: 2.66 : DynamicControlServer:: TerrainNav has new data at 4797.00. Valid = 0 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 4797.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 4797.20, with new bearing 48.13 : WaypointWall:: wallBearing -77.12 deg. at t = 4797.20 : WaypointWall:: Compute new bearing 48.13 deg. at t = 4797.20 : Behavior waypoint_wall - Timed out! : LayeredControl::execute() -- (t = 4797.400000) Behavior waypoint_wall:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 4797.40 (wplog) The current location (N,E) = 4070354.5 , 588593.0 (wplog) The next waypoint = 4070514.6 , 589174.7 (wplog) The bearing to the next w.p. is 74.6 Degrees. The distance to the next w.p. is 603.3 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 890.0 meters. The final commanded depth is 890.0 meters. : LayeredControl::execute() -- (t = 4797.400000) Behavior waypoint_depth:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 4 at t = 4797.40 sec. : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 54.3, range = 188.1 numValidBeams = 3 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 46.2, iterations = 0, grazing = 0.0 beam3 range = 49.9, iterations = 0, grazing = 0.0 beam4 range = 92.0, iterations = 0, grazing = 0.0 bottomStatus = 3 : TerrainAidDriver::readData() - IDT[45] = 50.11, IDT[75] = 49.20 : _navData-> (x,y) = (4070355.95, 588589.85) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488321796.62) : ARL North: 6.8423, East: -2.2220, Depth: 5.0447 : ARL Estimation Bias (Mean): (t = 1488321796.62) : ARL North: -0.0012, East: -1.7469, Depth: -0.0693 : ARL North Sigma: 7.28, East Sigma: 7.31, Depth Sigma: 3.32 : DynamicControlServer:: TerrainNav has new data at 4800.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 4800.00, (simTime - realTime) = 0.00 Heading = 309.04 Depth = 890.02 Speed = 1.31 Pitch = -4.14 : TerrainAidDriver::readData() - IDT[45] = 55.84, IDT[75] = 0.00 : _navData-> (x,y) = (4070358.47, 588586.85) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 4803.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.84, IDT[75] = 0.00 : _navData-> (x,y) = (4070361.64, 588584.70) : _tercom->outstandingMeas() = 1 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070365.22, 588583.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 988.0 Dvl range = 127.3, range = 294.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 115.5, iterations = 0, grazing = 0.0 beam3 range = 178.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070368.95, 588583.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070372.56, 588584.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070375.81, 588585.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070378.49, 588588.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070380.44, 588591.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070381.54, 588594.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070381.72, 588598.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070380.98, 588601.86) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070379.37, 588605.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070377.15, 588608.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070374.65, 588610.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070372.19, 588613.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 988.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070370.02, 588617.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070368.31, 588620.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070367.16, 588624.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070366.55, 588628.81) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070366.41, 588632.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070366.64, 588637.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070367.15, 588641.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070367.88, 588645.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070368.79, 588649.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070369.84, 588653.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070371.01, 588658.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070372.27, 588662.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070373.59, 588666.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070374.95, 588670.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070376.34, 588674.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070377.73, 588679.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070379.12, 588683.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070380.48, 588687.52) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 4900.00, (simTime - realTime) = 0.00 Heading = 432.68 Depth = 890.08 Speed = 1.48 Pitch = -3.62 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070381.81, 588691.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070383.11, 588696.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070384.37, 588700.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070385.60, 588704.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070386.80, 588708.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070387.97, 588713.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070389.11, 588717.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070390.24, 588721.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070391.37, 588726.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070392.48, 588730.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070393.60, 588734.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070394.73, 588739.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070395.86, 588743.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070397.00, 588747.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070398.16, 588752.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070399.32, 588756.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070400.49, 588760.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070401.68, 588764.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 978.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070402.87, 588769.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070404.07, 588773.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070405.27, 588777.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070406.47, 588782.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 168.5, range = 194.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 194.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070407.67, 588786.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070408.87, 588790.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070410.07, 588795.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070411.27, 588799.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 978.0 Dvl range = 161.2, range = 186.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 186.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070412.47, 588803.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070413.66, 588807.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070414.85, 588812.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070416.04, 588816.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 974.0 Dvl range = 156.0, range = 180.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 180.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070417.22, 588820.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070418.40, 588825.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070419.58, 588829.44) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 5000.00, (simTime - realTime) = 0.00 Heading = 434.69 Depth = 890.01 Speed = 1.48 Pitch = -3.70 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070420.76, 588833.74) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 972.0 Dvl range = 150.1, range = 173.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 173.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070421.94, 588838.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070423.12, 588842.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070424.30, 588846.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070425.47, 588850.96) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 972.0 Dvl range = 145.8, range = 168.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 168.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070426.65, 588855.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070427.84, 588859.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070429.02, 588863.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070430.20, 588868.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 972.0 Dvl range = 139.3, range = 160.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 160.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070431.38, 588872.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070432.57, 588876.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070433.75, 588881.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070434.94, 588885.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 131.9, range = 152.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 152.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070436.12, 588889.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070437.31, 588893.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070438.50, 588898.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070439.68, 588902.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 974.0 Dvl range = 147.8, range = 341.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 193.8, iterations = 0, grazing = 0.0 beam3 range = 147.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070440.87, 588906.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070442.05, 588911.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070443.24, 588915.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070444.42, 588919.79) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 139.3, range = 321.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.3, iterations = 0, grazing = 0.0 beam3 range = 136.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070445.61, 588924.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070446.79, 588928.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070447.97, 588932.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070449.16, 588937.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 968.0 Dvl range = 134.6, range = 310.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 175.4, iterations = 0, grazing = 0.0 beam3 range = 135.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070450.34, 588941.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070451.52, 588945.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070452.71, 588949.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070453.89, 588954.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 966.0 Dvl range = 128.5, range = 296.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.8, iterations = 0, grazing = 0.0 beam3 range = 130.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070455.07, 588958.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070456.26, 588962.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070457.44, 588967.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070458.63, 588971.41) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 964.0 Dvl range = 122.6, range = 283.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 156.0, iterations = 0, grazing = 0.0 beam3 range = 127.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070459.81, 588975.71) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 5100.00, (simTime - realTime) = 0.00 Heading = 434.62 Depth = 890.00 Speed = 1.48 Pitch = -3.70 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070460.99, 588980.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070462.18, 588984.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070463.36, 588988.62) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 116.0, range = 267.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 146.7, iterations = 0, grazing = 0.0 beam3 range = 121.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070464.54, 588992.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070465.73, 588997.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070466.91, 589001.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070468.10, 589005.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 113.4, range = 262.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 143.4, iterations = 0, grazing = 0.0 beam3 range = 118.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070469.28, 589010.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070470.47, 589014.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070471.65, 589018.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070472.83, 589023.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 109.2, range = 252.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 136.6, iterations = 0, grazing = 0.0 beam3 range = 115.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070474.02, 589027.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070475.20, 589031.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070476.39, 589035.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070477.57, 589040.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 954.0 Dvl range = 105.0, range = 242.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 129.8, iterations = 0, grazing = 0.0 beam3 range = 112.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070478.75, 589044.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070479.94, 589048.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070481.12, 589053.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070482.31, 589057.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 102.6, range = 236.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 126.8, iterations = 0, grazing = 0.0 beam3 range = 110.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070483.49, 589061.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070484.67, 589066.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070485.86, 589070.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070487.04, 589074.65) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 100.1, range = 231.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 121.0, iterations = 0, grazing = 0.0 beam3 range = 110.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070488.22, 589078.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070489.41, 589083.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070490.59, 589087.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070491.78, 589091.86) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 948.0 Dvl range = 97.9, range = 226.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 117.7, iterations = 0, grazing = 0.0 beam3 range = 108.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070492.96, 589096.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070494.14, 589100.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070495.33, 589104.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070496.51, 589109.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 948.0 Dvl range = 97.3, range = 224.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 117.1, iterations = 0, grazing = 0.0 beam3 range = 107.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070497.70, 589113.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070498.88, 589117.67) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 5200.00, (simTime - realTime) = 0.00 Heading = 434.62 Depth = 890.00 Speed = 1.48 Pitch = -3.70 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070500.06, 589121.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070501.25, 589126.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 96.7, range = 223.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 116.4, iterations = 0, grazing = 0.0 beam3 range = 106.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070502.43, 589130.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070503.62, 589134.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070504.80, 589139.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070505.98, 589143.48) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 95.8, range = 221.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 115.1, iterations = 0, grazing = 0.0 beam3 range = 106.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070507.17, 589147.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070508.35, 589152.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070509.54, 589156.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070510.72, 589160.69) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 95.5, range = 220.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 113.2, iterations = 0, grazing = 0.0 beam3 range = 107.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070511.90, 589164.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070513.09, 589169.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070514.27, 589173.60) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070514.6, 589174.7), reached at t = 5238.80 (wplog) : Vehicle Position error is (0.0, -0.1) : LayeredControl::execute() -- (t = 5238.800000) Behavior waypoint_depth:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 5238.800000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 5238.800000) Behavior reson:-1 has changed to state Finished : WaypointWall initialization: Begin waypoint control at t= 5238.80 (wplog) The current location (N,E) = 4070514.6 , 589174.7 (wplog) The next waypoint = 4070208.0 , 589628.6 (wplog) The bearing to the next w.p. is 124.0 Degrees. The distance to the next w.p. is 547.7 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 890.0 meters. The final commanded depth is 890.0 meters. : WaypointWall:: standOff = 30.00 at 5238.80 : WaypointWall:: projection = 3 at 5238.80 : WaypointWall:: windowLen = 31 at 5238.80 : WaypointWall:: filterType = 3 at 5238.80 : WaypointWall:: escape = 0 at 5238.80 : WaypointWall:: waypointPriority = 0 at 5238.80 : WaypointWall::Forward-looking DeltaT IS enabled at t=5238.80 sec. : WaypointWall: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : WaypointWall::Total number of beams is 210, t=5238.80 sec. : LayeredControl::execute() -- (t = 5238.800000) Behavior waypoint_wall:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 5 at t = 5238.80 sec. : DynamicControlServer:: useWaypointBearing set to 0 at 5238.80 : DynamicControlServer:: initializeWallBearing set to 0 at 5238.80 : DynamicControlServer:: wallPresent set to 0 at 5238.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070515.46, 589177.89) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 942.0 Dvl range = 98.7, range = 228.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 113.2, iterations = 0, grazing = 0.0 beam3 range = 114.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070516.40, 589182.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070516.41, 589186.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070515.33, 589190.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070513.24, 589193.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 157.2, range = 181.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 181.6, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070510.40, 589196.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070507.14, 589199.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070503.68, 589201.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070500.19, 589203.60) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 153.9, range = 177.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 177.7, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070496.78, 589206.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070493.54, 589208.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070490.49, 589211.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070487.64, 589215.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 948.0 Dvl range = 155.7, range = 359.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 167.0, iterations = 0, grazing = 0.0 beam3 range = 192.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070484.95, 589218.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070482.39, 589221.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070479.90, 589225.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070477.46, 589229.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 151.9, range = 175.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 175.5, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070475.03, 589232.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070472.60, 589236.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070470.17, 589240.24) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 5300.00, (simTime - realTime) = 0.00 Heading = 483.69 Depth = 890.04 Speed = 1.48 Pitch = -3.69 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070467.71, 589243.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 954.0 Dvl range = 160.3, range = 185.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.1, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070465.25, 589247.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070462.77, 589251.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070460.28, 589255.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070457.79, 589258.69) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 168.7, range = 194.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 194.8, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070455.29, 589262.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070452.80, 589266.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070450.30, 589269.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070447.80, 589273.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070445.30, 589277.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070442.81, 589280.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070440.31, 589284.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070437.81, 589288.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070435.32, 589291.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070432.82, 589295.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070430.32, 589299.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070427.82, 589303.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070425.33, 589306.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070422.83, 589310.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070420.33, 589314.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070417.84, 589317.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070415.34, 589321.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070412.84, 589325.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070410.35, 589328.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070407.85, 589332.62) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070405.35, 589336.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070402.85, 589340.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070400.36, 589343.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070397.86, 589347.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070395.36, 589351.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070392.87, 589354.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070390.37, 589358.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070387.87, 589362.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070385.38, 589365.89) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 5400.00, (simTime - realTime) = 0.00 Heading = 484.04 Depth = 890.00 Speed = 1.48 Pitch = -3.70 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070382.88, 589369.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070380.38, 589373.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070377.88, 589376.98) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070375.39, 589380.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070372.89, 589384.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070370.39, 589388.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070367.90, 589391.77) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070365.40, 589395.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070362.90, 589399.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.40, 589402.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070357.91, 589406.56) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 962.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070355.41, 589410.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070352.91, 589413.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070350.42, 589417.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070347.92, 589421.35) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070345.42, 589425.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070342.92, 589428.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070340.43, 589432.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070337.93, 589436.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070335.43, 589439.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070332.94, 589443.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070330.44, 589447.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070327.94, 589450.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070325.45, 589454.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070322.95, 589458.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070320.45, 589462.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070317.95, 589465.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070315.46, 589469.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070312.96, 589473.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070310.46, 589476.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070307.97, 589480.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070305.47, 589484.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070302.97, 589487.91) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 5500.00, (simTime - realTime) = 0.00 Heading = 484.04 Depth = 890.00 Speed = 1.48 Pitch = -3.70 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070300.47, 589491.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070297.98, 589495.30) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070295.48, 589499.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070292.98, 589502.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070290.49, 589506.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070287.99, 589510.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070285.49, 589513.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070282.99, 589517.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070280.50, 589521.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070278.00, 589524.88) : _tercom->outstandingMeas() = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5531.60 sec. : DynamicControlServer:: RHT set to 1 at 5531.60 : DynamicControlServer:: wallPresent set to 1 at 5531.60 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070275.50, 589528.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070273.00, 589532.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070270.14, 589535.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070266.69, 589537.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070262.84, 589539.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070258.90, 589539.43) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=5547.20 sec. : DynamicControlServer:: RHT set to 0 at 5549.20 : DynamicControlServer:: _wallBearing reset to 10.64 at 5549.20 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070255.14, 589538.52) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=5550.20 sec. : DynamicControlServer:: RHT set to 1 at 5550.20 : DynamicControlServer:: RHT set to 0 at 5552.60 : DynamicControlServer:: _wallBearing reset to 10.84 at 5552.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070251.83, 589536.67) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 85.4, range = 295.7 numValidBeams = 3 beam1 range = 103.7, iterations = 0, grazing = 0.0 beam2 range = 120.1, iterations = 0, grazing = 0.0 beam3 range = 71.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 71.41 : _navData-> (x,y) = (4070249.16, 589534.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 70.23 : _navData-> (x,y) = (4070246.96, 589530.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 80.71 : _navData-> (x,y) = (4070244.56, 589527.82) : _tercom->outstandingMeas() = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5564.20 sec. : DynamicControlServer:: RHT set to 1 at 5564.20 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070241.67, 589525.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 954.0 Dvl range = 94.4, range = 109.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 109.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070238.25, 589523.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070234.62, 589521.89) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=5574.00 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 61.56 : _navData-> (x,y) = (4070231.15, 589519.98) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: RHT set to 0 at 5574.60 : DynamicControlServer:: _wallBearing reset to 10.90 at 5574.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 65.02 : _navData-> (x,y) = (4070228.20, 589517.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 58.3, range = 202.0 numValidBeams = 3 beam1 range = 69.4, iterations = 0, grazing = 0.0 beam2 range = 72.7, iterations = 0, grazing = 0.0 beam3 range = 59.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 61.79 : _navData-> (x,y) = (4070225.88, 589514.27) : _tercom->outstandingMeas() = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5582.60 sec. : DynamicControlServer:: RHT set to 1 at 5582.60 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 61.13 : _navData-> (x,y) = (4070223.54, 589511.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 62.17 : _navData-> (x,y) = (4070220.72, 589508.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 63.75 : _navData-> (x,y) = (4070217.40, 589506.06) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 54.8, range = 189.9 numValidBeams = 3 beam1 range = 63.3, iterations = 0, grazing = 0.0 beam2 range = 71.5, iterations = 0, grazing = 0.0 beam3 range = 55.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 54.34 : _navData-> (x,y) = (4070214.09, 589503.77) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: RHT set to 0 at 5593.80 : DynamicControlServer:: _wallBearing reset to 10.73 at 5593.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 64.34, IDT[75] = 54.35 : _navData-> (x,y) = (4070211.26, 589500.95) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 5595.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 59.08, IDT[75] = 52.75 : _navData-> (x,y) = (4070209.21, 589497.57) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5598.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 5600.00, (simTime - realTime) = 0.00 Heading = 603.04 Depth = 890.02 Speed = 1.33 Pitch = -4.63 : TerrainAidDriver::readData() - IDT[45] = 59.92, IDT[75] = 54.02 : _navData-> (x,y) = (4070207.48, 589493.96) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5601.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5602.40 sec. : DynamicControlServer:: RHT set to 1 at 5602.40 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 54.1, range = 249.8 numValidBeams = 4 beam1 range = 60.5, iterations = 0, grazing = 0.0 beam2 range = 65.4, iterations = 0, grazing = 0.0 beam3 range = 49.5, iterations = 0, grazing = 0.0 beam4 range = 74.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 67.94, IDT[75] = 50.22 : _navData-> (x,y) = (4070205.36, 589490.56) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5604.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 68.56, IDT[75] = 54.75 : _navData-> (x,y) = (4070202.57, 589487.71) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5607.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 69.21, IDT[75] = 49.60 : _navData-> (x,y) = (4070199.36, 589485.27) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323404.62) : ARL North: -5.8883, East: -528.2209, Depth: -20.0641 : ARL Estimation Bias (Mean): (t = 1488323404.62) : ARL North: 10.3896, East: -550.4400, Depth: -24.9365 : ARL North Sigma: 38.16, East Sigma: 268.40, Depth Sigma: 6.05 : DynamicControlServer:: TerrainNav has new data at 5610.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.34, IDT[75] = 42.02 : _navData-> (x,y) = (4070196.36, 589482.57) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323407.62) : ARL North: 27.2127, East: -707.6249, Depth: -29.2288 : ARL Estimation Bias (Mean): (t = 1488323407.62) : ARL North: 14.9077, East: -666.4196, Depth: -29.1971 : ARL North Sigma: 18.70, East Sigma: 85.10, Depth Sigma: 2.91 : DynamicControlServer:: TerrainNav has new data at 5613.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 938.0 Dvl range = 39.3, range = 181.5 numValidBeams = 4 beam1 range = 48.2, iterations = 0, grazing = 0.0 beam2 range = 42.8, iterations = 0, grazing = 0.0 beam3 range = 35.8, iterations = 0, grazing = 0.0 beam4 range = 54.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 46.79, IDT[75] = 43.39 : _navData-> (x,y) = (4070194.01, 589479.35) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323410.62) : ARL North: 25.1114, East: -712.0452, Depth: -26.7165 : ARL Estimation Bias (Mean): (t = 1488323410.62) : ARL North: 23.9056, East: -714.6235, Depth: -28.8865 : ARL North Sigma: 2.82, East Sigma: 11.09, Depth Sigma: 2.22 : DynamicControlServer:: TerrainNav has new data at 5616.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5617.40 : DynamicControlServer:: _wallBearing reset to 10.73 at 5617.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 41.30, IDT[75] = 37.43 : _navData-> (x,y) = (4070192.56, 589475.72) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323413.62) : ARL North: 23.6766, East: -714.3505, Depth: -29.8408 : ARL Estimation Bias (Mean): (t = 1488323413.62) : ARL North: 21.6738, East: -707.3094, Depth: -29.8880 : ARL North Sigma: 10.09, East Sigma: 39.69, Depth Sigma: 3.27 : DynamicControlServer:: TerrainNav has new data at 5619.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 45.77, IDT[75] = 37.30 : _navData-> (x,y) = (4070192.11, 589471.86) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323416.62) : ARL North: 23.1082, East: -718.8098, Depth: -33.6740 : ARL Estimation Bias (Mean): (t = 1488323416.62) : ARL North: 26.6327, East: -720.2963, Depth: -25.5251 : ARL North Sigma: 1.06, East Sigma: 0.77, Depth Sigma: 2.78 : DynamicControlServer:: TerrainNav has new data at 5622.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 45.08, IDT[75] = 35.88 : _navData-> (x,y) = (4070191.94, 589467.92) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323419.62) : ARL North: 23.3423, East: -722.4878, Depth: -34.9715 : ARL Estimation Bias (Mean): (t = 1488323419.62) : ARL North: 24.4387, East: -721.1013, Depth: -33.0702 : ARL North Sigma: 0.97, East Sigma: 0.96, Depth Sigma: 2.22 : DynamicControlServer:: TerrainNav has new data at 5625.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5626.40 sec. : DynamicControlServer:: RHT set to 1 at 5626.40 : SimulatedDvlSide::get() waterDepth(0.,0.) = 934.0 Dvl range = 35.8, range = 165.4 numValidBeams = 4 beam1 range = 40.8, iterations = 0, grazing = 0.0 beam2 range = 44.7, iterations = 0, grazing = 0.0 beam3 range = 30.7, iterations = 0, grazing = 0.0 beam4 range = 49.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 46.04, IDT[75] = 32.51 : _navData-> (x,y) = (4070191.28, 589464.01) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323422.62) : ARL North: 24.3234, East: -724.8997, Depth: -32.9292 : ARL Estimation Bias (Mean): (t = 1488323422.62) : ARL North: 24.2667, East: -723.7987, Depth: -31.5205 : ARL North Sigma: 0.50, East Sigma: 0.48, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 5628.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 46.70, IDT[75] = 33.16 : _navData-> (x,y) = (4070189.88, 589460.27) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323425.62) : ARL North: 23.5444, East: -726.3820, Depth: -30.5205 : ARL Estimation Bias (Mean): (t = 1488323425.62) : ARL North: 22.3969, East: -726.3067, Depth: -30.2602 : ARL North Sigma: 0.66, East Sigma: 0.63, Depth Sigma: 2.15 : DynamicControlServer:: TerrainNav has new data at 5631.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 40.40, IDT[75] = 31.98 : _navData-> (x,y) = (4070188.49, 589456.49) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323428.62) : ARL North: 21.9533, East: -728.3028, Depth: -29.6712 : ARL Estimation Bias (Mean): (t = 1488323428.62) : ARL North: 23.1616, East: -731.3680, Depth: -25.0215 : ARL North Sigma: 0.51, East Sigma: 0.52, Depth Sigma: 2.10 : DynamicControlServer:: TerrainNav has new data at 5634.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5635.40 : DynamicControlServer:: _wallBearing reset to 11.07 at 5635.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 34.77, IDT[75] = 33.33 : _navData-> (x,y) = (4070187.77, 589452.56) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323431.62) : ARL North: 21.2285, East: -732.8089, Depth: -29.4298 : ARL Estimation Bias (Mean): (t = 1488323431.62) : ARL North: 21.1234, East: -731.8544, Depth: -30.2812 : ARL North Sigma: 0.43, East Sigma: 0.45, Depth Sigma: 1.98 : DynamicControlServer:: TerrainNav has new data at 5637.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 932.0 Dvl range = 29.4, range = 136.0 numValidBeams = 4 beam1 range = 38.3, iterations = 0, grazing = 0.0 beam2 range = 31.4, iterations = 0, grazing = 0.0 beam3 range = 28.6, iterations = 0, grazing = 0.0 beam4 range = 37.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 34.61, IDT[75] = 35.30 : _navData-> (x,y) = (4070187.97, 589448.59) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323434.62) : ARL North: 19.7900, East: -734.6708, Depth: -33.9187 : ARL Estimation Bias (Mean): (t = 1488323434.62) : ARL North: 20.2507, East: -734.0112, Depth: -31.9213 : ARL North Sigma: 0.43, East Sigma: 0.44, Depth Sigma: 1.98 : DynamicControlServer:: TerrainNav has new data at 5640.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 35.41, IDT[75] = 31.95 : _navData-> (x,y) = (4070188.42, 589444.60) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323437.62) : ARL North: 20.7229, East: -737.1549, Depth: -39.4958 : ARL Estimation Bias (Mean): (t = 1488323437.62) : ARL North: 21.1819, East: -737.0988, Depth: -37.7091 : ARL North Sigma: 0.44, East Sigma: 0.44, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5643.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5645.60 sec. : DynamicControlServer:: RHT set to 1 at 5645.60 : TerrainAidDriver::readData() - IDT[45] = 36.07, IDT[75] = 31.15 : _navData-> (x,y) = (4070188.52, 589440.51) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: RHT set to 0 at 5648.60 : DynamicControlServer:: _wallBearing reset to 11.15 at 5648.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 35.56, IDT[75] = 41.79 : _navData-> (x,y) = (4070188.35, 589436.37) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 5649.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 930.0 Dvl range = 33.3, range = 153.6 numValidBeams = 4 beam1 range = 54.6, iterations = 0, grazing = 0.0 beam2 range = 27.7, iterations = 0, grazing = 0.0 beam3 range = 32.4, iterations = 0, grazing = 0.0 beam4 range = 38.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 31.40, IDT[75] = 46.53 : _navData-> (x,y) = (4070188.46, 589432.22) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323446.62) : ARL North: -25.7847, East: -91.1758, Depth: -24.0218 : ARL Estimation Bias (Mean): (t = 1488323446.62) : ARL North: -12.0072, East: -299.1670, Depth: -22.6561 : ARL North Sigma: 21.18, East Sigma: 223.23, Depth Sigma: 6.19 : DynamicControlServer:: TerrainNav has new data at 5652.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5653.40 sec. : DynamicControlServer:: RHT set to 1 at 5653.40 : TerrainAidDriver::readData() - IDT[45] = 32.92, IDT[75] = 42.25 : _navData-> (x,y) = (4070188.45, 589428.08) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323449.62) : ARL North: -24.2343, East: -95.5842, Depth: -24.0353 : ARL Estimation Bias (Mean): (t = 1488323449.62) : ARL North: -20.2195, East: -165.7637, Depth: -21.0588 : ARL North Sigma: 11.59, East Sigma: 146.99, Depth Sigma: 2.91 : DynamicControlServer:: TerrainNav has new data at 5655.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.76, IDT[75] = 41.23 : _navData-> (x,y) = (4070187.72, 589423.99) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323452.62) : ARL North: -26.4574, East: -99.7837, Depth: -18.3487 : ARL Estimation Bias (Mean): (t = 1488323452.62) : ARL North: -13.5456, East: -272.2931, Depth: -19.5832 : ARL North Sigma: 14.53, East Sigma: 186.92, Depth Sigma: 2.76 : DynamicControlServer:: TerrainNav has new data at 5658.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 37.53, IDT[75] = 50.28 : _navData-> (x,y) = (4070187.00, 589419.90) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323455.62) : ARL North: -28.3180, East: -104.0574, Depth: -21.2468 : ARL Estimation Bias (Mean): (t = 1488323455.62) : ARL North: -17.6208, East: -232.6752, Depth: -20.1068 : ARL North Sigma: 13.82, East Sigma: 178.04, Depth Sigma: 2.96 : DynamicControlServer:: TerrainNav has new data at 5661.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5661.60 : DynamicControlServer:: _wallBearing reset to 11.05 at 5661.60 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 40.1, range = 185.3 numValidBeams = 4 beam1 range = 61.9, iterations = 0, grazing = 0.0 beam2 range = 37.6, iterations = 0, grazing = 0.0 beam3 range = 34.7, iterations = 0, grazing = 0.0 beam4 range = 51.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 45.68, IDT[75] = 37.85 : _navData-> (x,y) = (4070187.02, 589415.80) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323458.62) : ARL North: -28.0193, East: -108.1892, Depth: -20.2953 : ARL Estimation Bias (Mean): (t = 1488323458.62) : ARL North: -28.1301, East: -108.6009, Depth: -19.7901 : ARL North Sigma: 0.62, East Sigma: 0.90, Depth Sigma: 2.31 : DynamicControlServer:: TerrainNav has new data at 5664.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 50.58, IDT[75] = 34.96 : _navData-> (x,y) = (4070187.90, 589411.81) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323461.62) : ARL North: -29.9162, East: -113.3913, Depth: -17.2820 : ARL Estimation Bias (Mean): (t = 1488323461.62) : ARL North: -30.2977, East: -113.5371, Depth: -18.5615 : ARL North Sigma: 0.44, East Sigma: 0.44, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5667.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 47.84, IDT[75] = 34.55 : _navData-> (x,y) = (4070188.75, 589407.79) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323464.62) : ARL North: -30.7201, East: -118.2184, Depth: -18.0729 : ARL Estimation Bias (Mean): (t = 1488323464.62) : ARL North: -30.9440, East: -117.0210, Depth: -17.2737 : ARL North Sigma: 0.65, East Sigma: 0.45, Depth Sigma: 3.67 : DynamicControlServer:: TerrainNav has new data at 5670.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5671.00 sec. : DynamicControlServer:: RHT set to 1 at 5671.00 : TerrainAidDriver::readData() - IDT[45] = 48.29, IDT[75] = 32.79 : _navData-> (x,y) = (4070188.88, 589403.71) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323467.62) : ARL North: -32.2204, East: -120.4736, Depth: -20.2270 : ARL Estimation Bias (Mean): (t = 1488323467.62) : ARL North: -32.6133, East: -120.6829, Depth: -19.6918 : ARL North Sigma: 0.45, East Sigma: 0.45, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 5673.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 932.0 Dvl range = 40.3, range = 186.1 numValidBeams = 4 beam1 range = 55.2, iterations = 0, grazing = 0.0 beam2 range = 43.9, iterations = 0, grazing = 0.0 beam3 range = 31.7, iterations = 0, grazing = 0.0 beam4 range = 55.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 50.86, IDT[75] = 30.69 : _navData-> (x,y) = (4070188.39, 589399.62) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: RHT set to 0 at 5677.80 : DynamicControlServer:: _wallBearing reset to 11.44 at 5677.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 34.87, IDT[75] = 26.61 : _navData-> (x,y) = (4070188.21, 589395.52) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 5679.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.16, IDT[75] = 22.45 : _navData-> (x,y) = (4070188.87, 589391.53) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323476.62) : ARL North: -115.1584, East: 118.9081, Depth: -39.5544 : ARL Estimation Bias (Mean): (t = 1488323476.62) : ARL North: -115.0760, East: 118.9300, Depth: -37.8708 : ARL North Sigma: 0.44, East Sigma: 0.46, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5682.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 21.54, IDT[75] = 22.50 : _navData-> (x,y) = (4070190.45, 589387.88) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323479.62) : ARL North: -113.7068, East: 115.8079, Depth: -34.3678 : ARL Estimation Bias (Mean): (t = 1488323479.62) : ARL North: -114.8804, East: 115.8502, Depth: -37.2435 : ARL North Sigma: 0.48, East Sigma: 0.56, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 5685.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5687.60 sec. : DynamicControlServer:: LHT set to 1 at 5687.60 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 22.1, range = 101.9 numValidBeams = 4 beam1 range = 31.4, iterations = 0, grazing = 0.0 beam2 range = 21.3, iterations = 0, grazing = 0.0 beam3 range = 26.0, iterations = 0, grazing = 0.0 beam4 range = 23.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 20.21, IDT[75] = 28.06 : _navData-> (x,y) = (4070192.83, 589384.72) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323482.62) : ARL North: -112.8439, East: 113.4924, Depth: -32.3995 : ARL Estimation Bias (Mean): (t = 1488323482.62) : ARL North: -113.0949, East: 113.4857, Depth: -35.3540 : ARL North Sigma: 0.44, East Sigma: 0.47, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5688.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 5688.00 : DynamicControlServer:: _wallBearing reset to 11.69 at 5688.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5689.40 sec. : DynamicControlServer:: LHT set to 1 at 5689.40 : DynamicControlServer:: LHT set to 0 at 5689.80 : DynamicControlServer:: _wallBearing reset to 11.60 at 5689.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5690.60 sec. : DynamicControlServer:: LHT set to 1 at 5690.60 : TerrainAidDriver::readData() - IDT[45] = 25.50, IDT[75] = 34.55 : _navData-> (x,y) = (4070195.78, 589382.04) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323485.62) : ARL North: -110.8011, East: 111.5559, Depth: -33.6616 : ARL Estimation Bias (Mean): (t = 1488323485.62) : ARL North: -111.2156, East: 111.4931, Depth: -33.8901 : ARL North Sigma: 0.43, East Sigma: 0.43, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 5691.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 5692.80 : DynamicControlServer:: _wallBearing reset to 11.65 at 5692.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5693.60 sec. : DynamicControlServer:: LHT set to 1 at 5693.60 : TerrainAidDriver::readData() - IDT[45] = 27.12, IDT[75] = 35.98 : _navData-> (x,y) = (4070199.07, 589379.71) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323488.62) : ARL North: -107.2675, East: 109.3047, Depth: -35.4271 : ARL Estimation Bias (Mean): (t = 1488323488.62) : ARL North: -107.9188, East: 109.1615, Depth: -33.8783 : ARL North Sigma: 0.63, East Sigma: 0.63, Depth Sigma: 3.48 : DynamicControlServer:: TerrainNav has new data at 5694.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 5695.00 : DynamicControlServer:: _wallBearing reset to 11.59 at 5695.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5695.80 sec. : DynamicControlServer:: LHT set to 1 at 5695.80 : DynamicControlServer:: LHT set to 0 at 5696.60 : DynamicControlServer:: _wallBearing reset to 11.56 at 5696.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 29.16, IDT[75] = 35.19 : _navData-> (x,y) = (4070202.32, 589377.22) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323491.62) : ARL North: -104.0994, East: 107.5360, Depth: -32.8245 : ARL Estimation Bias (Mean): (t = 1488323491.62) : ARL North: -104.6748, East: 106.6749, Depth: -33.8959 : ARL North Sigma: 0.77, East Sigma: 0.77, Depth Sigma: 4.46 : DynamicControlServer:: TerrainNav has new data at 5697.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5697.20 sec. : DynamicControlServer:: LHT set to 1 at 5697.20 : DynamicControlServer:: LHT set to 0 at 5697.60 : DynamicControlServer:: _wallBearing reset to 11.52 at 5697.60 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 942.0 Dvl range = 28.5, range = 131.8 numValidBeams = 4 beam1 range = 35.5, iterations = 0, grazing = 0.0 beam2 range = 28.3, iterations = 0, grazing = 0.0 beam3 range = 33.9, iterations = 0, grazing = 0.0 beam4 range = 34.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 30.35, IDT[75] = 34.12 : _navData-> (x,y) = (4070205.37, 589374.43) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323494.62) : ARL North: -100.7958, East: 104.1436, Depth: -32.5541 : ARL Estimation Bias (Mean): (t = 1488323494.62) : ARL North: -101.6203, East: 103.8853, Depth: -33.9294 : ARL North Sigma: 0.91, East Sigma: 0.90, Depth Sigma: 5.29 : DynamicControlServer:: TerrainNav has new data at 5700.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 5700.00, (simTime - realTime) = 0.00 Heading = 671.52 Depth = 890.05 Speed = 1.38 Pitch = -4.42 : TerrainAidDriver::readData() - IDT[45] = 31.64, IDT[75] = 32.64 : _navData-> (x,y) = (4070208.10, 589371.29) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323497.62) : ARL North: -97.8940, East: 100.9125, Depth: -32.6491 : ARL Estimation Bias (Mean): (t = 1488323497.62) : ARL North: -98.8927, East: 100.7462, Depth: -33.9029 : ARL North Sigma: 1.02, East Sigma: 1.01, Depth Sigma: 5.98 : DynamicControlServer:: TerrainNav has new data at 5703.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 31.08, IDT[75] = 31.42 : _navData-> (x,y) = (4070210.53, 589367.85) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323500.62) : ARL North: -94.5422, East: 96.8463, Depth: -28.6659 : ARL Estimation Bias (Mean): (t = 1488323500.62) : ARL North: -96.4650, East: 97.3106, Depth: -33.8738 : ARL North Sigma: 1.12, East Sigma: 1.12, Depth Sigma: 6.66 : DynamicControlServer:: TerrainNav has new data at 5706.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.74, IDT[75] = 29.82 : _navData-> (x,y) = (4070212.70, 589364.21) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323503.62) : ARL North: -91.5728, East: 93.8423, Depth: -27.4431 : ARL Estimation Bias (Mean): (t = 1488323503.62) : ARL North: -91.7446, East: 93.7196, Depth: -29.6065 : ARL North Sigma: 0.46, East Sigma: 0.45, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 5709.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 948.0 Dvl range = 30.1, range = 138.9 numValidBeams = 4 beam1 range = 38.9, iterations = 0, grazing = 0.0 beam2 range = 31.6, iterations = 0, grazing = 0.0 beam3 range = 29.7, iterations = 0, grazing = 0.0 beam4 range = 38.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 32.18, IDT[75] = 31.48 : _navData-> (x,y) = (4070214.69, 589360.42) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323506.62) : ARL North: -89.8811, East: 90.5528, Depth: -29.7172 : ARL Estimation Bias (Mean): (t = 1488323506.62) : ARL North: -90.6952, East: 90.6870, Depth: -29.4074 : ARL North Sigma: 0.45, East Sigma: 0.45, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 5712.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.11, IDT[75] = 35.72 : _navData-> (x,y) = (4070216.56, 589356.53) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323509.62) : ARL North: -89.3422, East: 86.1673, Depth: -26.4828 : ARL Estimation Bias (Mean): (t = 1488323509.62) : ARL North: -89.8858, East: 86.4527, Depth: -29.3494 : ARL North Sigma: 0.50, East Sigma: 0.54, Depth Sigma: 1.98 : DynamicControlServer:: TerrainNav has new data at 5715.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 31.71, IDT[75] = 37.28 : _navData-> (x,y) = (4070218.35, 589352.58) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323512.62) : ARL North: -88.4812, East: 81.4909, Depth: -26.7104 : ARL Estimation Bias (Mean): (t = 1488323512.62) : ARL North: -88.5524, East: 81.7123, Depth: -29.0915 : ARL North Sigma: 0.50, East Sigma: 0.84, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 5718.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5720.20 sec. : DynamicControlServer:: LHT set to 1 at 5720.20 : TerrainAidDriver::readData() - IDT[45] = 31.22, IDT[75] = 41.03 : _navData-> (x,y) = (4070220.05, 589348.56) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323515.62) : ARL North: -86.6982, East: 78.0148, Depth: -23.9644 : ARL Estimation Bias (Mean): (t = 1488323515.62) : ARL North: -87.1309, East: 79.0800, Depth: -27.2931 : ARL North Sigma: 0.62, East Sigma: 0.51, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5721.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 35.2, range = 162.7 numValidBeams = 4 beam1 range = 62.8, iterations = 0, grazing = 0.0 beam2 range = 34.2, iterations = 0, grazing = 0.0 beam3 range = 36.3, iterations = 0, grazing = 0.0 beam4 range = 29.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 32.22, IDT[75] = 36.61 : _navData-> (x,y) = (4070221.59, 589344.49) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323518.62) : ARL North: -85.1920, East: 76.7262, Depth: -26.6135 : ARL Estimation Bias (Mean): (t = 1488323518.62) : ARL North: -85.1821, East: 76.3845, Depth: -27.1608 : ARL North Sigma: 0.82, East Sigma: 0.58, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5724.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 5725.00 : DynamicControlServer:: _wallBearing reset to 10.85 at 5725.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 37.82, IDT[75] = 33.41 : _navData-> (x,y) = (4070222.43, 589340.31) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323521.62) : ARL North: -85.6396, East: 72.9680, Depth: -28.7609 : ARL Estimation Bias (Mean): (t = 1488323521.62) : ARL North: -85.6919, East: 73.2585, Depth: -27.5065 : ARL North Sigma: 0.48, East Sigma: 0.45, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 5727.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 39.58, IDT[75] = 31.98 : _navData-> (x,y) = (4070222.31, 589336.09) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323524.62) : ARL North: -85.1074, East: 68.5651, Depth: -27.2746 : ARL Estimation Bias (Mean): (t = 1488323524.62) : ARL North: -85.6170, East: 69.0615, Depth: -27.9239 : ARL North Sigma: 0.63, East Sigma: 0.65, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 5730.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 41.35, IDT[75] = 30.89 : _navData-> (x,y) = (4070221.57, 589331.91) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323527.62) : ARL North: -86.4749, East: 65.0204, Depth: -26.5116 : ARL Estimation Bias (Mean): (t = 1488323527.62) : ARL North: -86.2691, East: 66.7680, Depth: -29.3096 : ARL North Sigma: 0.48, East Sigma: 0.60, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 5733.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 30.6, range = 141.6 numValidBeams = 4 beam1 range = 35.8, iterations = 0, grazing = 0.0 beam2 range = 41.6, iterations = 0, grazing = 0.0 beam3 range = 31.7, iterations = 0, grazing = 0.0 beam4 range = 32.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 34.81, IDT[75] = 29.76 : _navData-> (x,y) = (4070220.49, 589327.77) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323530.62) : ARL North: -86.7851, East: 61.1670, Depth: -28.2383 : ARL Estimation Bias (Mean): (t = 1488323530.62) : ARL North: -87.0873, East: 62.6632, Depth: -27.8827 : ARL North Sigma: 0.55, East Sigma: 0.82, Depth Sigma: 2.10 : DynamicControlServer:: TerrainNav has new data at 5736.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5739.00 sec. : TerrainAidDriver::readData() - IDT[45] = 33.44, IDT[75] = 30.57 : _navData-> (x,y) = (4070219.30, 589323.62) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323533.62) : ARL North: -88.7452, East: 57.4760, Depth: -28.3273 : ARL Estimation Bias (Mean): (t = 1488323533.62) : ARL North: -88.7761, East: 58.3459, Depth: -27.2262 : ARL North Sigma: 0.55, East Sigma: 0.61, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5739.00. Valid = 0 : DynamicControlServer:: RHT set to 1 at 5739.00 : TerrainAidDriver::readData() - IDT[45] = 28.77, IDT[75] = 35.56 : _navData-> (x,y) = (4070218.09, 589319.47) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323536.62) : ARL North: -90.1787, East: 57.1614, Depth: -27.5231 : ARL Estimation Bias (Mean): (t = 1488323536.62) : ARL North: -89.7308, East: 57.4434, Depth: -27.3761 : ARL North Sigma: 0.53, East Sigma: 0.59, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5742.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5742.00 : DynamicControlServer:: _wallBearing reset to 10.80 at 5742.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 29.65, IDT[75] = 49.38 : _navData-> (x,y) = (4070217.31, 589315.26) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323539.62) : ARL North: -91.8702, East: 53.8875, Depth: -25.8890 : ARL Estimation Bias (Mean): (t = 1488323539.62) : ARL North: -90.6639, East: 54.2928, Depth: -26.9395 : ARL North Sigma: 0.53, East Sigma: 0.54, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 5745.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5745.20 sec. : DynamicControlServer:: RHT set to 1 at 5745.20 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 31.9, range = 147.5 numValidBeams = 4 beam1 range = 48.1, iterations = 0, grazing = 0.0 beam2 range = 31.6, iterations = 0, grazing = 0.0 beam3 range = 31.8, iterations = 0, grazing = 0.0 beam4 range = 36.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 31.58, IDT[75] = 47.94 : _navData-> (x,y) = (4070216.59, 589311.06) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323542.62) : ARL North: -91.5600, East: 51.1427, Depth: -26.7535 : ARL Estimation Bias (Mean): (t = 1488323542.62) : ARL North: -90.9000, East: 51.4721, Depth: -26.0966 : ARL North Sigma: 0.46, East Sigma: 0.46, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 5748.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 33.87, IDT[75] = 49.67 : _navData-> (x,y) = (4070215.60, 589306.91) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323545.62) : ARL North: -92.7260, East: 47.5777, Depth: -28.9011 : ARL Estimation Bias (Mean): (t = 1488323545.62) : ARL North: -91.4832, East: 48.2358, Depth: -26.9532 : ARL North Sigma: 0.53, East Sigma: 0.54, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5751.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5752.00 : DynamicControlServer:: _wallBearing reset to 10.82 at 5752.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 48.06, IDT[75] = 53.14 : _navData-> (x,y) = (4070215.19, 589302.73) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323548.62) : ARL North: -91.2866, East: 45.4373, Depth: -21.7913 : ARL Estimation Bias (Mean): (t = 1488323548.62) : ARL North: -91.7345, East: 45.6117, Depth: -27.1219 : ARL North Sigma: 0.73, East Sigma: 0.51, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 5754.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 50.38, IDT[75] = 53.36 : _navData-> (x,y) = (4070215.70, 589298.60) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323551.62) : ARL North: -92.1008, East: 42.6579, Depth: -35.2031 : ARL Estimation Bias (Mean): (t = 1488323551.62) : ARL North: -92.2057, East: 43.3609, Depth: -32.5239 : ARL North Sigma: 0.45, East Sigma: 0.45, Depth Sigma: 1.99 : DynamicControlServer:: TerrainNav has new data at 5757.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 43.1, range = 199.1 numValidBeams = 4 beam1 range = 55.9, iterations = 0, grazing = 0.0 beam2 range = 42.5, iterations = 0, grazing = 0.0 beam3 range = 49.2, iterations = 0, grazing = 0.0 beam4 range = 51.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 49.86, IDT[75] = 50.25 : _navData-> (x,y) = (4070216.30, 589294.48) : _tercom->outstandingMeas() = 1 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5761.40 sec. : DynamicControlServer:: RHT set to 1 at 5761.40 : TerrainAidDriver::readData() - IDT[45] = 51.87, IDT[75] = 45.63 : _navData-> (x,y) = (4070216.22, 589290.36) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 5763.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 45.09, IDT[75] = 46.88 : _navData-> (x,y) = (4070215.16, 589286.45) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323560.62) : ARL North: 33.8364, East: -690.7668, Depth: -30.0777 : ARL Estimation Bias (Mean): (t = 1488323560.62) : ARL North: 29.2093, East: -684.8575, Depth: -36.5905 : ARL North Sigma: 9.22, East Sigma: 73.48, Depth Sigma: 2.91 : DynamicControlServer:: TerrainNav has new data at 5766.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.56, IDT[75] = 42.82 : _navData-> (x,y) = (4070213.45, 589282.75) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323563.62) : ARL North: 23.8244, East: -698.5535, Depth: -39.2806 : ARL Estimation Bias (Mean): (t = 1488323563.62) : ARL North: 23.1340, East: -698.0298, Depth: -41.3510 : ARL North Sigma: 0.55, East Sigma: 0.61, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 5769.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 39.8, range = 184.1 numValidBeams = 4 beam1 range = 47.8, iterations = 0, grazing = 0.0 beam2 range = 43.2, iterations = 0, grazing = 0.0 beam3 range = 35.2, iterations = 0, grazing = 0.0 beam4 range = 57.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 50.53, IDT[75] = 43.68 : _navData-> (x,y) = (4070212.02, 589278.92) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323566.62) : ARL North: 22.5933, East: -702.9476, Depth: -38.5209 : ARL Estimation Bias (Mean): (t = 1488323566.62) : ARL North: 22.3930, East: -702.2941, Depth: -40.3973 : ARL North Sigma: 0.58, East Sigma: 0.59, Depth Sigma: 2.05 : DynamicControlServer:: TerrainNav has new data at 5772.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5774.20 : DynamicControlServer:: _wallBearing reset to 11.26 at 5774.20 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 46.42, IDT[75] = 50.52 : _navData-> (x,y) = (4070211.40, 589274.95) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323569.62) : ARL North: 23.0224, East: -706.5921, Depth: -41.4933 : ARL Estimation Bias (Mean): (t = 1488323569.62) : ARL North: 21.1289, East: -706.0985, Depth: -46.4951 : ARL North Sigma: 0.62, East Sigma: 0.61, Depth Sigma: 2.23 : DynamicControlServer:: TerrainNav has new data at 5775.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 44.57, IDT[75] = 48.34 : _navData-> (x,y) = (4070211.81, 589271.01) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323572.62) : ARL North: 23.5661, East: -711.2607, Depth: -42.9133 : ARL Estimation Bias (Mean): (t = 1488323572.62) : ARL North: 24.0186, East: -710.9725, Depth: -38.9093 : ARL North Sigma: 0.53, East Sigma: 1.24, Depth Sigma: 2.11 : DynamicControlServer:: TerrainNav has new data at 5778.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 47.39, IDT[75] = 47.85 : _navData-> (x,y) = (4070212.75, 589267.13) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323575.62) : ARL North: 25.1078, East: -714.2175, Depth: -38.7411 : ARL Estimation Bias (Mean): (t = 1488323575.62) : ARL North: 26.1352, East: -714.8550, Depth: -37.7201 : ARL North Sigma: 0.53, East Sigma: 0.80, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 5781.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5784.00 sec. : SimulatedDvlSide::get() waterDepth(0.,0.) = 954.0 Dvl range = 41.8, range = 193.1 numValidBeams = 4 beam1 range = 54.5, iterations = 0, grazing = 0.0 beam2 range = 35.7, iterations = 0, grazing = 0.0 beam3 range = 49.9, iterations = 0, grazing = 0.0 beam4 range = 53.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 49.34, IDT[75] = 45.79 : _navData-> (x,y) = (4070213.33, 589263.17) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323578.62) : ARL North: 25.9370, East: -718.0071, Depth: -40.2474 : ARL Estimation Bias (Mean): (t = 1488323578.62) : ARL North: 27.4399, East: -720.3320, Depth: -38.4454 : ARL North Sigma: 0.66, East Sigma: 1.21, Depth Sigma: 2.21 : DynamicControlServer:: TerrainNav has new data at 5784.00. Valid = 0 : DynamicControlServer:: RHT set to 1 at 5784.00 : TerrainAidDriver::readData() - IDT[45] = 54.02, IDT[75] = 44.40 : _navData-> (x,y) = (4070213.11, 589259.20) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323581.62) : ARL North: 28.1453, East: -722.9510, Depth: -36.6978 : ARL Estimation Bias (Mean): (t = 1488323581.62) : ARL North: 28.2746, East: -724.9083, Depth: -35.0650 : ARL North Sigma: 0.54, East Sigma: 0.60, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 5787.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 53.69, IDT[75] = 43.28 : _navData-> (x,y) = (4070212.03, 589255.36) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323584.62) : ARL North: 26.3254, East: -729.0404, Depth: -38.2706 : ARL Estimation Bias (Mean): (t = 1488323584.62) : ARL North: 27.1435, East: -729.0166, Depth: -35.6912 : ARL North Sigma: 0.58, East Sigma: 0.72, Depth Sigma: 2.03 : DynamicControlServer:: TerrainNav has new data at 5790.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 49.92, IDT[75] = 38.13 : _navData-> (x,y) = (4070210.95, 589251.48) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323587.62) : ARL North: 26.5170, East: -731.8214, Depth: -34.2183 : ARL Estimation Bias (Mean): (t = 1488323587.62) : ARL North: 26.5393, East: -732.1542, Depth: -35.1741 : ARL North Sigma: 0.59, East Sigma: 0.48, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5793.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5795.20 : DynamicControlServer:: _wallBearing reset to 11.58 at 5795.20 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 31.4, range = 144.9 numValidBeams = 4 beam1 range = 17.0, iterations = 0, grazing = 0.0 beam2 range = 45.8, iterations = 0, grazing = 0.0 beam3 range = 31.1, iterations = 0, grazing = 0.0 beam4 range = 51.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 43.35, IDT[75] = 15.95 : _navData-> (x,y) = (4070210.54, 589247.51) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323590.62) : ARL North: 25.0099, East: -736.7119, Depth: -38.8292 : ARL Estimation Bias (Mean): (t = 1488323590.62) : ARL North: 25.2209, East: -736.1292, Depth: -38.2522 : ARL North Sigma: 0.52, East Sigma: 0.50, Depth Sigma: 2.00 : DynamicControlServer:: TerrainNav has new data at 5796.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.19, IDT[75] = 36.88 : _navData-> (x,y) = (4070211.08, 589243.62) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323593.62) : ARL North: 25.1330, East: -738.1298, Depth: -41.8318 : ARL Estimation Bias (Mean): (t = 1488323593.62) : ARL North: 25.0849, East: -738.4054, Depth: -38.3078 : ARL North Sigma: 0.43, East Sigma: 0.44, Depth Sigma: 2.01 : DynamicControlServer:: TerrainNav has new data at 5799.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 5800.00, (simTime - realTime) = 0.00 Heading = 653.57 Depth = 889.96 Speed = 1.31 Pitch = -4.97 : TerrainAidDriver::readData() - IDT[45] = 27.95, IDT[75] = 30.73 : _navData-> (x,y) = (4070212.45, 589239.92) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323596.62) : ARL North: 26.9351, East: -742.2566, Depth: -40.0755 : ARL Estimation Bias (Mean): (t = 1488323596.62) : ARL North: 27.5307, East: -742.1618, Depth: -41.9992 : ARL North Sigma: 0.45, East Sigma: 0.54, Depth Sigma: 2.02 : DynamicControlServer:: TerrainNav has new data at 5802.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 37.83, IDT[75] = 27.52 : _navData-> (x,y) = (4070214.03, 589236.21) : _tercom->outstandingMeas() = 1 : ARL Estimation Bias (Max. Likelihood): (t = 1488323599.62) : ARL North: 29.3444, East: -745.8972, Depth: -49.4879 : ARL Estimation Bias (Mean): (t = 1488323599.62) : ARL North: 30.1803, East: -745.6400, Depth: -45.9157 : ARL North Sigma: 0.54, East Sigma: 0.82, Depth Sigma: 2.72 : DynamicControlServer:: TerrainNav has new data at 5805.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 29.1, range = 134.4 numValidBeams = 4 beam1 range = 37.8, iterations = 0, grazing = 0.0 beam2 range = 27.4, iterations = 0, grazing = 0.0 beam3 range = 20.5, iterations = 0, grazing = 0.0 beam4 range = 48.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 37.54, IDT[75] = 21.57 : _navData-> (x,y) = (4070215.83, 589232.57) : _tercom->outstandingMeas() = 1 : TerrainAidDriver::readData() - IDT[45] = 30.20, IDT[75] = 22.32 : _navData-> (x,y) = (4070218.20, 589229.30) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 5811.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 27.07, IDT[75] = 28.91 : _navData-> (x,y) = (4070221.13, 589226.48) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5814.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 23.19, IDT[75] = 81.71 : _navData-> (x,y) = (4070224.43, 589224.05) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5817.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5817.20 sec. : DynamicControlServer:: LHT set to 1 at 5817.20 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 59.3, range = 274.1 numValidBeams = 4 beam1 range = 182.2, iterations = 0, grazing = 0.0 beam2 range = 21.7, iterations = 0, grazing = 0.0 beam3 range = 34.8, iterations = 0, grazing = 0.0 beam4 range = 35.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 25.46, IDT[75] = 0.00 : _navData-> (x,y) = (4070227.98, 589221.90) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5820.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 5821.40 : DynamicControlServer:: _wallBearing reset to 11.71 at 5821.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5821.80 sec. : DynamicControlServer:: LHT set to 1 at 5821.80 : TerrainAidDriver::readData() - IDT[45] = 25.97, IDT[75] = 76.89 : _navData-> (x,y) = (4070231.48, 589219.65) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5823.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 5823.60 : DynamicControlServer:: _wallBearing reset to 11.74 at 5823.60 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5824.00 sec. : DynamicControlServer:: LHT set to 1 at 5824.00 : DynamicControlServer:: LHT set to 0 at 5825.20 : DynamicControlServer:: _wallBearing reset to 11.72 at 5825.20 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 33.86, IDT[75] = 36.03 : _navData-> (x,y) = (4070234.54, 589216.86) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5826.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.94, IDT[75] = 32.65 : _navData-> (x,y) = (4070236.91, 589213.53) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5829.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 964.0 Dvl range = 36.4, range = 168.2 numValidBeams = 4 beam1 range = 64.8, iterations = 0, grazing = 0.0 beam2 range = 26.1, iterations = 0, grazing = 0.0 beam3 range = 32.8, iterations = 0, grazing = 0.0 beam4 range = 44.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 31.69, IDT[75] = 55.91 : _navData-> (x,y) = (4070238.94, 589209.93) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5832.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5834.20 sec. : DynamicControlServer:: LHT set to 1 at 5834.20 : TerrainAidDriver::readData() - IDT[45] = 30.38, IDT[75] = 68.35 : _navData-> (x,y) = (4070241.18, 589206.39) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5835.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 5835.00 : DynamicControlServer:: _wallBearing reset to 11.38 at 5835.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5835.20 sec. : DynamicControlServer:: LHT set to 1 at 5835.20 : DynamicControlServer:: LHT set to 0 at 5835.60 : DynamicControlServer:: _wallBearing reset to 11.34 at 5835.60 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5836.00 sec. : DynamicControlServer:: LHT set to 1 at 5836.00 : DynamicControlServer:: LHT set to 0 at 5836.40 : DynamicControlServer:: _wallBearing reset to 11.34 at 5836.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 35.69, IDT[75] = 58.44 : _navData-> (x,y) = (4070243.52, 589202.87) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5838.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.04, IDT[75] = 50.75 : _navData-> (x,y) = (4070245.35, 589199.12) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5841.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 968.0 Dvl range = 39.2, range = 181.1 numValidBeams = 4 beam1 range = 43.8, iterations = 0, grazing = 0.0 beam2 range = 33.8, iterations = 0, grazing = 0.0 beam3 range = 32.6, iterations = 0, grazing = 0.0 beam4 range = 70.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 39.31, IDT[75] = 38.43 : _navData-> (x,y) = (4070246.33, 589195.10) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5844.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 44.98, IDT[75] = 36.90 : _navData-> (x,y) = (4070246.54, 589190.97) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5847.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 41.52, IDT[75] = 35.92 : _navData-> (x,y) = (4070246.19, 589186.81) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5850.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.81, IDT[75] = 34.98 : _navData-> (x,y) = (4070245.50, 589182.65) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5853.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 968.0 Dvl range = 57.1, range = 263.8 numValidBeams = 4 beam1 range = 52.3, iterations = 0, grazing = 0.0 beam2 range = 34.2, iterations = 0, grazing = 0.0 beam3 range = 31.8, iterations = 0, grazing = 0.0 beam4 range = 145.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 35.94, IDT[75] = 39.91 : _navData-> (x,y) = (4070244.60, 589178.49) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5856.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 39.37, IDT[75] = 40.69 : _navData-> (x,y) = (4070243.44, 589174.38) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5859.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.55, IDT[75] = 39.42 : _navData-> (x,y) = (4070242.01, 589170.33) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5862.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5862.60 sec. : DynamicControlServer:: RHT set to 1 at 5862.60 : TerrainAidDriver::readData() - IDT[45] = 34.69, IDT[75] = 38.03 : _navData-> (x,y) = (4070240.21, 589166.43) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5865.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 966.0 Dvl range = 31.6, range = 146.1 numValidBeams = 4 beam1 range = 42.0, iterations = 0, grazing = 0.0 beam2 range = 31.0, iterations = 0, grazing = 0.0 beam3 range = 27.5, iterations = 0, grazing = 0.0 beam4 range = 45.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 35.87, IDT[75] = 37.52 : _navData-> (x,y) = (4070238.27, 589162.61) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5868.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5869.80 : DynamicControlServer:: _wallBearing reset to 10.93 at 5869.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 37.07, IDT[75] = 39.28 : _navData-> (x,y) = (4070236.98, 589158.61) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5871.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 37.65, IDT[75] = 36.74 : _navData-> (x,y) = (4070236.69, 589154.49) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5874.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5874.20 sec. : DynamicControlServer:: LHT set to 1 at 5874.20 : DynamicControlServer:: LHT set to 0 at 5874.60 : DynamicControlServer:: _wallBearing reset to 10.99 at 5874.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 38.67, IDT[75] = 33.27 : _navData-> (x,y) = (4070236.79, 589150.35) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5877.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5878.40 sec. : DynamicControlServer:: RHT set to 1 at 5878.40 : SimulatedDvlSide::get() waterDepth(0.,0.) = 964.0 Dvl range = 34.0, range = 157.1 numValidBeams = 4 beam1 range = 43.8, iterations = 0, grazing = 0.0 beam2 range = 36.2, iterations = 0, grazing = 0.0 beam3 range = 31.5, iterations = 0, grazing = 0.0 beam4 range = 45.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 40.78, IDT[75] = 31.70 : _navData-> (x,y) = (4070236.37, 589146.24) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5880.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 39.36, IDT[75] = 32.76 : _navData-> (x,y) = (4070235.33, 589142.21) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5883.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 31.74, IDT[75] = 58.23 : _navData-> (x,y) = (4070234.54, 589138.14) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5886.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5886.60 : DynamicControlServer:: _wallBearing reset to 11.12 at 5886.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 55.30, IDT[75] = 65.19 : _navData-> (x,y) = (4070234.60, 589134.07) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5889.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 55.5, range = 256.5 numValidBeams = 4 beam1 range = 76.1, iterations = 0, grazing = 0.0 beam2 range = 56.5, iterations = 0, grazing = 0.0 beam3 range = 57.9, iterations = 0, grazing = 0.0 beam4 range = 66.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 58.28, IDT[75] = 65.11 : _navData-> (x,y) = (4070235.54, 589130.12) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5892.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.57, IDT[75] = 58.27 : _navData-> (x,y) = (4070236.47, 589126.14) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5895.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5896.00 sec. : DynamicControlServer:: RHT set to 1 at 5896.00 : TerrainAidDriver::readData() - IDT[45] = 40.49, IDT[75] = 58.60 : _navData-> (x,y) = (4070236.70, 589122.09) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5898.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 5900.00, (simTime - realTime) = 0.00 Heading = 611.65 Depth = 889.95 Speed = 1.33 Pitch = -3.70 : TerrainAidDriver::readData() - IDT[45] = 40.50, IDT[75] = 57.30 : _navData-> (x,y) = (4070235.96, 589118.16) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5901.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 50.1, range = 231.4 numValidBeams = 4 beam1 range = 64.9, iterations = 0, grazing = 0.0 beam2 range = 41.2, iterations = 0, grazing = 0.0 beam3 range = 58.5, iterations = 0, grazing = 0.0 beam4 range = 66.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 44.08, IDT[75] = 55.97 : _navData-> (x,y) = (4070234.67, 589114.33) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5904.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 58.50, IDT[75] = 44.53 : _navData-> (x,y) = (4070233.72, 589110.40) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5907.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5908.80 : DynamicControlServer:: _wallBearing reset to 11.41 at 5908.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 56.30, IDT[75] = 51.77 : _navData-> (x,y) = (4070233.61, 589106.41) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5910.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.81, IDT[75] = 46.16 : _navData-> (x,y) = (4070234.49, 589102.57) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5913.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 960.0 Dvl range = 48.0, range = 221.6 numValidBeams = 4 beam1 range = 61.4, iterations = 0, grazing = 0.0 beam2 range = 52.7, iterations = 0, grazing = 0.0 beam3 range = 43.4, iterations = 0, grazing = 0.0 beam4 range = 64.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 58.48, IDT[75] = 44.15 : _navData-> (x,y) = (4070235.78, 589098.80) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5916.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=5919.00 sec. : TerrainAidDriver::readData() - IDT[45] = 60.33, IDT[75] = 30.03 : _navData-> (x,y) = (4070236.65, 589094.89) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5919.00. Valid = 0 : DynamicControlServer:: RHT set to 1 at 5919.00 : TerrainAidDriver::readData() - IDT[45] = 67.07, IDT[75] = 50.26 : _navData-> (x,y) = (4070236.67, 589090.93) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5922.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 65.59, IDT[75] = 45.68 : _navData-> (x,y) = (4070235.94, 589087.00) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5925.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 936.0 Dvl range = 44.3, range = 204.8 numValidBeams = 4 beam1 range = 51.1, iterations = 0, grazing = 0.0 beam2 range = 51.9, iterations = 0, grazing = 0.0 beam3 range = 34.2, iterations = 0, grazing = 0.0 beam4 range = 67.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 57.12, IDT[75] = 37.07 : _navData-> (x,y) = (4070235.40, 589083.01) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5928.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 5929.40 : DynamicControlServer:: _wallBearing reset to 11.73 at 5929.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 40.37, IDT[75] = 21.33 : _navData-> (x,y) = (4070235.60, 589079.03) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5931.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.11, IDT[75] = 29.10 : _navData-> (x,y) = (4070236.74, 589075.30) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5934.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 23.32, IDT[75] = 29.18 : _navData-> (x,y) = (4070238.78, 589071.99) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5937.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 25.9, range = 119.6 numValidBeams = 4 beam1 range = 38.8, iterations = 0, grazing = 0.0 beam2 range = 19.0, iterations = 0, grazing = 0.0 beam3 range = 27.3, iterations = 0, grazing = 0.0 beam4 range = 34.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 36.81, IDT[75] = 25.24 : _navData-> (x,y) = (4070241.29, 589068.91) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5940.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 38.67, IDT[75] = 26.71 : _navData-> (x,y) = (4070243.92, 589065.84) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5943.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 27.67, IDT[75] = 27.97 : _navData-> (x,y) = (4070246.80, 589062.92) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5946.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 25.63, IDT[75] = 33.00 : _navData-> (x,y) = (4070249.95, 589060.23) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5949.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 938.0 Dvl range = 30.8, range = 142.3 numValidBeams = 4 beam1 range = 43.9, iterations = 0, grazing = 0.0 beam2 range = 27.4, iterations = 0, grazing = 0.0 beam3 range = 33.1, iterations = 0, grazing = 0.0 beam4 range = 37.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 31.48, IDT[75] = 33.37 : _navData-> (x,y) = (4070253.31, 589057.72) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5952.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5953.80 sec. : DynamicControlServer:: LHT set to 1 at 5953.80 : TerrainAidDriver::readData() - IDT[45] = 29.95, IDT[75] = 36.22 : _navData-> (x,y) = (4070256.74, 589055.24) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5955.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 5955.00 : DynamicControlServer:: _wallBearing reset to 11.55 at 5955.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5955.20 sec. : DynamicControlServer:: LHT set to 1 at 5955.20 : DynamicControlServer:: LHT set to 0 at 5956.80 : DynamicControlServer:: _wallBearing reset to 11.82 at 5956.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 34.15, IDT[75] = 30.79 : _navData-> (x,y) = (4070259.95, 589052.49) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5958.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 30.90, IDT[75] = 34.17 : _navData-> (x,y) = (4070262.67, 589049.27) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5961.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 30.3, range = 140.1 numValidBeams = 4 beam1 range = 39.8, iterations = 0, grazing = 0.0 beam2 range = 27.7, iterations = 0, grazing = 0.0 beam3 range = 31.5, iterations = 0, grazing = 0.0 beam4 range = 41.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 35.09, IDT[75] = 35.11 : _navData-> (x,y) = (4070265.36, 589045.96) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5964.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.03, IDT[75] = 41.03 : _navData-> (x,y) = (4070268.02, 589042.57) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5967.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.24, IDT[75] = 42.57 : _navData-> (x,y) = (4070270.60, 589039.08) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5970.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=5973.00 sec. : TerrainAidDriver::readData() - IDT[45] = 32.53, IDT[75] = 44.13 : _navData-> (x,y) = (4070273.14, 589035.53) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5973.00. Valid = 0 : DynamicControlServer:: LHT set to 1 at 5973.00 : DynamicControlServer:: LHT set to 0 at 5973.60 : DynamicControlServer:: _wallBearing reset to 11.52 at 5973.60 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 36.4, range = 167.9 numValidBeams = 4 beam1 range = 47.4, iterations = 0, grazing = 0.0 beam2 range = 33.0, iterations = 0, grazing = 0.0 beam3 range = 42.9, iterations = 0, grazing = 0.0 beam4 range = 44.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 34.05, IDT[75] = 43.53 : _navData-> (x,y) = (4070275.60, 589031.92) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5976.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 35.02, IDT[75] = 41.24 : _navData-> (x,y) = (4070277.69, 589028.09) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5979.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 36.08, IDT[75] = 39.85 : _navData-> (x,y) = (4070279.32, 589024.05) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5982.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 37.12, IDT[75] = 38.60 : _navData-> (x,y) = (4070280.51, 589019.86) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5985.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 978.0 Dvl range = 37.1, range = 171.5 numValidBeams = 4 beam1 range = 44.9, iterations = 0, grazing = 0.0 beam2 range = 36.7, iterations = 0, grazing = 0.0 beam3 range = 40.1, iterations = 0, grazing = 0.0 beam4 range = 49.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 38.15, IDT[75] = 37.34 : _navData-> (x,y) = (4070281.22, 589015.56) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5988.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 36.98, IDT[75] = 36.33 : _navData-> (x,y) = (4070281.46, 589011.22) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5991.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 37.53, IDT[75] = 35.46 : _navData-> (x,y) = (4070281.30, 589006.86) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5994.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 37.85, IDT[75] = 36.55 : _navData-> (x,y) = (4070280.83, 589002.52) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 5997.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 34.3, range = 158.6 numValidBeams = 4 beam1 range = 35.3, iterations = 0, grazing = 0.0 beam2 range = 41.7, iterations = 0, grazing = 0.0 beam3 range = 37.3, iterations = 0, grazing = 0.0 beam4 range = 44.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 39.70, IDT[75] = 35.53 : _navData-> (x,y) = (4070280.08, 588998.21) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6000.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 6000.00, (simTime - realTime) = 0.00 Heading = 617.34 Depth = 889.95 Speed = 1.46 Pitch = -4.01 : TerrainAidDriver::readData() - IDT[45] = 39.43, IDT[75] = 36.49 : _navData-> (x,y) = (4070279.12, 588993.92) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6003.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 39.16, IDT[75] = 35.30 : _navData-> (x,y) = (4070278.04, 588989.66) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6006.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=6009.00 sec. : TerrainAidDriver::readData() - IDT[45] = 35.99, IDT[75] = 33.98 : _navData-> (x,y) = (4070276.75, 588985.46) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6009.00. Valid = 0 : DynamicControlServer:: RHT set to 1 at 6009.00 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 33.1, range = 152.8 numValidBeams = 4 beam1 range = 38.7, iterations = 0, grazing = 0.0 beam2 range = 36.1, iterations = 0, grazing = 0.0 beam3 range = 34.7, iterations = 0, grazing = 0.0 beam4 range = 43.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 35.39, IDT[75] = 34.55 : _navData-> (x,y) = (4070275.31, 588981.30) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6012.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 6012.00 : DynamicControlServer:: _wallBearing reset to 10.72 at 6012.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 36.13, IDT[75] = 39.46 : _navData-> (x,y) = (4070274.11, 588977.11) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6015.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=6016.80 sec. : DynamicControlServer:: RHT set to 1 at 6016.80 : TerrainAidDriver::readData() - IDT[45] = 36.78, IDT[75] = 34.27 : _navData-> (x,y) = (4070272.88, 588972.96) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6018.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 36.82, IDT[75] = 36.47 : _navData-> (x,y) = (4070271.06, 588969.06) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6021.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 6022.80 : DynamicControlServer:: _wallBearing reset to 11.00 at 6022.80 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 966.0 Dvl range = 34.8, range = 160.7 numValidBeams = 4 beam1 range = 49.3, iterations = 0, grazing = 0.0 beam2 range = 34.1, iterations = 0, grazing = 0.0 beam3 range = 38.7, iterations = 0, grazing = 0.0 beam4 range = 38.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 34.77, IDT[75] = 42.93 : _navData-> (x,y) = (4070269.45, 588965.11) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6024.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 38.55, IDT[75] = 47.47 : _navData-> (x,y) = (4070268.68, 588960.97) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6027.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 39.79, IDT[75] = 43.90 : _navData-> (x,y) = (4070268.28, 588956.79) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6030.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=6031.80 sec. : DynamicControlServer:: RHT set to 1 at 6031.80 : TerrainAidDriver::readData() - IDT[45] = 40.30, IDT[75] = 42.85 : _navData-> (x,y) = (4070267.34, 588952.73) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6033.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 37.0, range = 171.0 numValidBeams = 4 beam1 range = 46.8, iterations = 0, grazing = 0.0 beam2 range = 40.7, iterations = 0, grazing = 0.0 beam3 range = 40.9, iterations = 0, grazing = 0.0 beam4 range = 42.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 41.30, IDT[75] = 41.69 : _navData-> (x,y) = (4070265.55, 588949.01) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6036.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 42.67, IDT[75] = 38.88 : _navData-> (x,y) = (4070263.60, 588945.35) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6039.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 6040.80 : DynamicControlServer:: _wallBearing reset to 11.21 at 6040.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 43.12, IDT[75] = 30.21 : _navData-> (x,y) = (4070262.25, 588941.48) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6042.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.78, IDT[75] = 29.20 : _navData-> (x,y) = (4070261.79, 588937.43) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6045.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 924.0 Dvl range = 27.7, range = 128.2 numValidBeams = 4 beam1 range = 31.4, iterations = 0, grazing = 0.0 beam2 range = 28.6, iterations = 0, grazing = 0.0 beam3 range = 26.4, iterations = 0, grazing = 0.0 beam4 range = 41.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 30.56, IDT[75] = 26.48 : _navData-> (x,y) = (4070261.95, 588933.33) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6048.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 29.21, IDT[75] = 28.79 : _navData-> (x,y) = (4070262.55, 588929.23) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6051.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 26.59, IDT[75] = 29.78 : _navData-> (x,y) = (4070263.58, 588925.19) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6054.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6056.20 sec. : DynamicControlServer:: LHT set to 1 at 6056.20 : TerrainAidDriver::readData() - IDT[45] = 26.34, IDT[75] = 28.08 : _navData-> (x,y) = (4070265.01, 588921.24) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6057.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 6057.60 : DynamicControlServer:: _wallBearing reset to 11.16 at 6057.60 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 25.1, range = 115.9 numValidBeams = 4 beam1 range = 31.9, iterations = 0, grazing = 0.0 beam2 range = 25.4, iterations = 0, grazing = 0.0 beam3 range = 22.6, iterations = 0, grazing = 0.0 beam4 range = 36.0, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 29.66, IDT[75] = 23.84 : _navData-> (x,y) = (4070266.63, 588917.33) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6060.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.68, IDT[75] = 21.92 : _navData-> (x,y) = (4070268.01, 588913.31) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6063.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 33.64, IDT[75] = 21.61 : _navData-> (x,y) = (4070269.04, 588909.15) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6066.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.44, IDT[75] = 27.13 : _navData-> (x,y) = (4070269.84, 588904.91) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6069.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 978.0 Dvl range = 23.7, range = 109.6 numValidBeams = 4 beam1 range = 32.8, iterations = 0, grazing = 0.0 beam2 range = 19.8, iterations = 0, grazing = 0.0 beam3 range = 27.1, iterations = 0, grazing = 0.0 beam4 range = 29.9, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 23.63, IDT[75] = 32.81 : _navData-> (x,y) = (4070270.78, 588900.69) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6072.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6073.80 sec. : DynamicControlServer:: LHT set to 1 at 6073.80 : DynamicControlServer:: LHT set to 0 at 6074.20 : DynamicControlServer:: _wallBearing reset to 11.13 at 6074.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6074.60 sec. : DynamicControlServer:: LHT set to 1 at 6074.60 : TerrainAidDriver::readData() - IDT[45] = 27.30, IDT[75] = 38.74 : _navData-> (x,y) = (4070272.13, 588896.57) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6075.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 6075.00 : DynamicControlServer:: _wallBearing reset to 11.11 at 6075.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 30.64, IDT[75] = 39.31 : _navData-> (x,y) = (4070273.68, 588892.51) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6078.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 31.66, IDT[75] = 38.08 : _navData-> (x,y) = (4070275.04, 588888.37) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6081.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 29.3, range = 135.2 numValidBeams = 4 beam1 range = 39.8, iterations = 0, grazing = 0.0 beam2 range = 28.8, iterations = 0, grazing = 0.0 beam3 range = 33.2, iterations = 0, grazing = 0.0 beam4 range = 33.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 32.61, IDT[75] = 36.83 : _navData-> (x,y) = (4070275.95, 588884.11) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6084.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 33.52, IDT[75] = 35.75 : _navData-> (x,y) = (4070276.42, 588879.78) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6087.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.39, IDT[75] = 34.59 : _navData-> (x,y) = (4070276.41, 588875.42) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6090.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=6092.20 sec. : DynamicControlServer:: RHT set to 1 at 6092.20 : TerrainAidDriver::readData() - IDT[45] = 34.71, IDT[75] = 33.64 : _navData-> (x,y) = (4070275.95, 588871.09) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6093.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 6095.60 : DynamicControlServer:: _wallBearing reset to 11.14 at 6095.60 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 30.7, range = 141.7 numValidBeams = 4 beam1 range = 41.2, iterations = 0, grazing = 0.0 beam2 range = 32.0, iterations = 0, grazing = 0.0 beam3 range = 34.1, iterations = 0, grazing = 0.0 beam4 range = 34.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 33.80, IDT[75] = 35.47 : _navData-> (x,y) = (4070275.24, 588866.78) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6096.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.44, IDT[75] = 35.67 : _navData-> (x,y) = (4070274.94, 588862.47) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6099.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 6100.00, (simTime - realTime) = 0.00 Heading = 626.06 Depth = 889.95 Speed = 1.44 Pitch = -3.95 : TerrainAidDriver::readData() - IDT[45] = 34.76, IDT[75] = 34.77 : _navData-> (x,y) = (4070274.66, 588858.14) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6102.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=6103.40 sec. : DynamicControlServer:: RHT set to 1 at 6103.40 : TerrainAidDriver::readData() - IDT[45] = 36.79, IDT[75] = 31.98 : _navData-> (x,y) = (4070274.15, 588853.82) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6105.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 6106.40 : DynamicControlServer:: _wallBearing reset to 11.19 at 6106.40 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 30.1, range = 139.1 numValidBeams = 4 beam1 range = 35.9, iterations = 0, grazing = 0.0 beam2 range = 29.3, iterations = 0, grazing = 0.0 beam3 range = 33.3, iterations = 0, grazing = 0.0 beam4 range = 40.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 34.93, IDT[75] = 32.56 : _navData-> (x,y) = (4070273.61, 588849.51) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6108.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.48, IDT[75] = 31.22 : _navData-> (x,y) = (4070273.58, 588845.18) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6111.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.53, IDT[75] = 29.81 : _navData-> (x,y) = (4070273.79, 588840.84) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6114.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.81, IDT[75] = 28.74 : _navData-> (x,y) = (4070274.17, 588836.49) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6117.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 974.0 Dvl range = 26.3, range = 121.5 numValidBeams = 4 beam1 range = 30.7, iterations = 0, grazing = 0.0 beam2 range = 29.3, iterations = 0, grazing = 0.0 beam3 range = 27.4, iterations = 0, grazing = 0.0 beam4 range = 34.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 31.37, IDT[75] = 26.65 : _navData-> (x,y) = (4070274.78, 588832.16) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6120.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 30.27, IDT[75] = 25.45 : _navData-> (x,y) = (4070275.61, 588827.86) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6123.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 27.57, IDT[75] = 24.01 : _navData-> (x,y) = (4070276.70, 588823.61) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6126.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 25.44, IDT[75] = 24.45 : _navData-> (x,y) = (4070278.10, 588819.45) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6129.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6131.20 sec. : DynamicControlServer:: LHT set to 1 at 6131.20 : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 22.3, range = 102.8 numValidBeams = 4 beam1 range = 27.9, iterations = 0, grazing = 0.0 beam2 range = 22.6, iterations = 0, grazing = 0.0 beam3 range = 24.9, iterations = 0, grazing = 0.0 beam4 range = 27.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 25.82, IDT[75] = 26.24 : _navData-> (x,y) = (4070279.87, 588815.44) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6132.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 6132.00 : DynamicControlServer:: _wallBearing reset to 11.56 at 6132.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 24.77, IDT[75] = 28.36 : _navData-> (x,y) = (4070281.93, 588811.59) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6135.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6136.80 sec. : DynamicControlServer:: LHT set to 1 at 6136.80 : TerrainAidDriver::readData() - IDT[45] = 26.89, IDT[75] = 33.08 : _navData-> (x,y) = (4070284.43, 588808.04) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6138.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 6138.20 : DynamicControlServer:: _wallBearing reset to 11.41 at 6138.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6138.60 sec. : DynamicControlServer:: LHT set to 1 at 6138.60 : DynamicControlServer:: LHT set to 0 at 6139.00 : DynamicControlServer:: _wallBearing reset to 11.38 at 6139.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6139.40 sec. : DynamicControlServer:: LHT set to 1 at 6139.40 : DynamicControlServer:: LHT set to 0 at 6140.60 : DynamicControlServer:: _wallBearing reset to 11.48 at 6140.60 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6141.00 sec. : TerrainAidDriver::readData() - IDT[45] = 27.28, IDT[75] = 35.54 : _navData-> (x,y) = (4070287.28, 588804.75) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6141.00. Valid = 0 : DynamicControlServer:: LHT set to 1 at 6141.00 : DynamicControlServer:: LHT set to 0 at 6141.20 : DynamicControlServer:: _wallBearing reset to 11.45 at 6141.20 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6141.60 sec. : DynamicControlServer:: LHT set to 1 at 6141.60 : DynamicControlServer:: LHT set to 0 at 6142.00 : DynamicControlServer:: _wallBearing reset to 11.42 at 6142.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6142.80 sec. : DynamicControlServer:: LHT set to 1 at 6142.80 : DynamicControlServer:: LHT set to 0 at 6143.60 : DynamicControlServer:: _wallBearing reset to 11.37 at 6143.60 by L/RHT. : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 26.9, range = 124.1 numValidBeams = 4 beam1 range = 33.4, iterations = 0, grazing = 0.0 beam2 range = 27.4, iterations = 0, grazing = 0.0 beam3 range = 35.2, iterations = 0, grazing = 0.0 beam4 range = 28.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 28.77, IDT[75] = 34.91 : _navData-> (x,y) = (4070289.90, 588801.30) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6144.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 30.25, IDT[75] = 37.53 : _navData-> (x,y) = (4070292.23, 588797.63) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6147.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6148.00 sec. : DynamicControlServer:: LHT set to 1 at 6148.00 : DynamicControlServer:: LHT set to 0 at 6148.40 : DynamicControlServer:: _wallBearing reset to 11.31 at 6148.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6148.80 sec. : DynamicControlServer:: LHT set to 1 at 6148.80 : DynamicControlServer:: LHT set to 0 at 6149.60 : DynamicControlServer:: _wallBearing reset to 11.39 at 6149.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 29.68, IDT[75] = 34.19 : _navData-> (x,y) = (4070294.27, 588793.77) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6150.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.94, IDT[75] = 34.20 : _navData-> (x,y) = (4070295.96, 588789.75) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6153.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 966.0 Dvl range = 29.7, range = 137.1 numValidBeams = 4 beam1 range = 35.6, iterations = 0, grazing = 0.0 beam2 range = 31.9, iterations = 0, grazing = 0.0 beam3 range = 37.1, iterations = 0, grazing = 0.0 beam4 range = 32.5, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 32.20, IDT[75] = 35.46 : _navData-> (x,y) = (4070297.41, 588785.61) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6156.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 31.33, IDT[75] = 35.89 : _navData-> (x,y) = (4070298.67, 588781.41) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6159.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 34.32, IDT[75] = 35.64 : _navData-> (x,y) = (4070299.72, 588777.14) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6162.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 35.18, IDT[75] = 35.21 : _navData-> (x,y) = (4070300.48, 588772.81) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6165.00. Valid = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=6165.60 sec. : DynamicControlServer:: RHT set to 1 at 6165.60 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 30.4, range = 140.4 numValidBeams = 4 beam1 range = 33.8, iterations = 0, grazing = 0.0 beam2 range = 36.3, iterations = 0, grazing = 0.0 beam3 range = 35.6, iterations = 0, grazing = 0.0 beam4 range = 34.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 34.30, IDT[75] = 35.18 : _navData-> (x,y) = (4070300.94, 588768.43) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6168.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 6169.00 : DynamicControlServer:: _wallBearing reset to 11.55 at 6169.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 34.09, IDT[75] = 34.00 : _navData-> (x,y) = (4070301.44, 588764.10) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6171.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 35.08, IDT[75] = 35.30 : _navData-> (x,y) = (4070302.41, 588759.85) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6174.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 36.10, IDT[75] = 36.13 : _navData-> (x,y) = (4070303.46, 588755.60) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6177.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 30.3, range = 140.0 numValidBeams = 4 beam1 range = 32.7, iterations = 0, grazing = 0.0 beam2 range = 37.1, iterations = 0, grazing = 0.0 beam3 range = 34.5, iterations = 0, grazing = 0.0 beam4 range = 35.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 37.03, IDT[75] = 32.41 : _navData-> (x,y) = (4070304.42, 588751.31) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6180.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 33.95, IDT[75] = 30.93 : _navData-> (x,y) = (4070305.32, 588747.01) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6183.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 35.14, IDT[75] = 27.12 : _navData-> (x,y) = (4070306.35, 588742.72) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6186.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 30.87, IDT[75] = 25.77 : _navData-> (x,y) = (4070307.65, 588738.52) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6189.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 23.4, range = 108.2 numValidBeams = 4 beam1 range = 28.7, iterations = 0, grazing = 0.0 beam2 range = 28.2, iterations = 0, grazing = 0.0 beam3 range = 26.6, iterations = 0, grazing = 0.0 beam4 range = 24.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 27.30, IDT[75] = 26.84 : _navData-> (x,y) = (4070309.33, 588734.47) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6192.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 26.19, IDT[75] = 30.08 : _navData-> (x,y) = (4070311.42, 588730.62) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6195.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 29.43, IDT[75] = 31.81 : _navData-> (x,y) = (4070313.83, 588726.96) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6198.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 6200.00, (simTime - realTime) = 0.00 Heading = 666.62 Depth = 890.06 Speed = 1.46 Pitch = -3.79 : TerrainAidDriver::readData() - IDT[45] = 27.94, IDT[75] = 32.08 : _navData-> (x,y) = (4070316.41, 588723.40) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6201.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 27.0, range = 124.5 numValidBeams = 4 beam1 range = 33.6, iterations = 0, grazing = 0.0 beam2 range = 28.9, iterations = 0, grazing = 0.0 beam3 range = 32.2, iterations = 0, grazing = 0.0 beam4 range = 29.8, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 30.46, IDT[75] = 32.20 : _navData-> (x,y) = (4070319.01, 588719.84) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6204.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 28.34, IDT[75] = 29.70 : _navData-> (x,y) = (4070321.54, 588716.22) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6207.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 30.37, IDT[75] = 31.17 : _navData-> (x,y) = (4070323.92, 588712.49) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6210.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 32.40, IDT[75] = 29.37 : _navData-> (x,y) = (4070326.16, 588708.66) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6213.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 27.1, range = 125.0 numValidBeams = 4 beam1 range = 31.3, iterations = 0, grazing = 0.0 beam2 range = 31.4, iterations = 0, grazing = 0.0 beam3 range = 30.1, iterations = 0, grazing = 0.0 beam4 range = 32.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 32.42, IDT[75] = 29.90 : _navData-> (x,y) = (4070328.30, 588704.78) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6216.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 28.53, IDT[75] = 27.29 : _navData-> (x,y) = (4070330.41, 588700.87) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6219.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 30.96, IDT[75] = 28.12 : _navData-> (x,y) = (4070332.57, 588696.98) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6222.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 29.26, IDT[75] = 25.98 : _navData-> (x,y) = (4070334.80, 588693.13) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6225.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 26.4, range = 121.9 numValidBeams = 4 beam1 range = 30.7, iterations = 0, grazing = 0.0 beam2 range = 30.4, iterations = 0, grazing = 0.0 beam3 range = 29.6, iterations = 0, grazing = 0.0 beam4 range = 31.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 31.59, IDT[75] = 32.00 : _navData-> (x,y) = (4070337.06, 588689.30) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6228.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6228.20 sec. : DynamicControlServer:: LHT set to 1 at 6228.20 : DynamicControlServer:: LHT set to 0 at 6229.00 : DynamicControlServer:: _wallBearing reset to 11.24 at 6229.00 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6229.40 sec. : DynamicControlServer:: LHT set to 1 at 6229.40 : DynamicControlServer:: LHT set to 0 at 6230.60 : DynamicControlServer:: _wallBearing reset to 11.18 at 6230.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 29.05, IDT[75] = 32.53 : _navData-> (x,y) = (4070339.31, 588685.47) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6231.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 30.00, IDT[75] = 31.03 : _navData-> (x,y) = (4070341.12, 588681.46) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6234.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 29.29, IDT[75] = 29.58 : _navData-> (x,y) = (4070342.52, 588677.29) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6237.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 25.6, range = 118.2 numValidBeams = 4 beam1 range = 30.8, iterations = 0, grazing = 0.0 beam2 range = 26.1, iterations = 0, grazing = 0.0 beam3 range = 32.6, iterations = 0, grazing = 0.0 beam4 range = 28.7, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 28.51, IDT[75] = 33.18 : _navData-> (x,y) = (4070343.78, 588673.06) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6240.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 29.73, IDT[75] = 32.25 : _navData-> (x,y) = (4070344.99, 588668.81) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6243.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6245.60 sec. : DynamicControlServer:: LHT set to 1 at 6245.60 : TerrainAidDriver::readData() - IDT[45] = 30.87, IDT[75] = 37.77 : _navData-> (x,y) = (4070346.19, 588664.55) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6246.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 6247.00 : DynamicControlServer:: _wallBearing reset to 11.13 at 6247.00 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 31.85, IDT[75] = 36.95 : _navData-> (x,y) = (4070347.25, 588660.26) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6249.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 28.9, range = 133.5 numValidBeams = 4 beam1 range = 35.0, iterations = 0, grazing = 0.0 beam2 range = 33.1, iterations = 0, grazing = 0.0 beam3 range = 33.9, iterations = 0, grazing = 0.0 beam4 range = 31.4, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 30.65, IDT[75] = 36.24 : _navData-> (x,y) = (4070347.92, 588655.91) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6252.00. Valid = 0 : Behavior waypoint_wall - Timed out! : LayeredControl::execute() -- (t = 6254.000000) Behavior waypoint_wall:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 6254.000000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 6254.000000) Behavior reson:-1 has changed to state Finished : WaypointWall::Escape - escape is true. Check to see if a wall was present. : WaypointWall::Escape - wallAbsentTime = 70.0, : WaypointWall::Escape - _lastWallTime = 1488324048.6, mission time = 6254.00, _wallBearing = -84.9 : WaypointWall:: Escape - The wall is to our left, so turn right. : WaypointWall::Escape - The last good wall bearing was -84.87. Escape bearing is 5.13 : WaypointWall::Escape - Latching depth = 890.0, at mission time = 6254.00. : WaypointWall initialization: Begin waypoint control at t= 6254.00 (wplog) The current location (N,E) = 4070348.2 , 588653.0 (wplog) The next waypoint = 4070358.1 , 588653.9 (wplog) The bearing to the next w.p. is 5.1 Degrees. The distance to the next w.p. is 10.0 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 890.0 meters. The final commanded depth is 890.0 meters. : WaypointWall:: standOff = 50.00 at 6254.00 : WaypointWall:: projection = 3 at 6254.00 : WaypointWall:: windowLen = 31 at 6254.00 : WaypointWall:: filterType = 3 at 6254.00 : WaypointWall:: escape = 1 at 6254.00 : WaypointWall:: waypointPriority = 2 at 6254.00 : WaypointWall::Forward-looking DeltaT IS enabled at t=6254.00 sec. : WaypointWall: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : WaypointWall::Total number of beams is 210, t=6254.00 sec. : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6254.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6254.00, with new bearing 5.13 : WaypointWall:: wallBearing -96.73 deg. at t = 6254.00 : WaypointWall:: Compute new bearing 5.13 deg. at t = 6254.00 : LayeredControl::execute() -- (t = 6254.000000) Behavior waypoint_wall:-1 has changed to state Active : DynamicControlServer:: useWaypointBearing set to 1 at 6254.00 : DynamicControlServer:: initializeWallBearing set to 1 at 6254.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6254.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6254.20, with new bearing 6.82 : WaypointWall:: wallBearing -96.94 deg. at t = 6254.20 : WaypointWall:: Compute new bearing 6.82 deg. at t = 6254.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6254.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6254.40, with new bearing 8.49 : WaypointWall:: wallBearing -98.14 deg. at t = 6254.40 : WaypointWall:: Compute new bearing 8.49 deg. at t = 6254.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6254.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6254.60, with new bearing 10.16 : WaypointWall:: wallBearing -98.34 deg. at t = 6254.60 : WaypointWall:: Compute new bearing 10.16 deg. at t = 6254.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6254.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6254.80, with new bearing 11.81 : WaypointWall:: wallBearing -99.53 deg. at t = 6254.80 : WaypointWall:: Compute new bearing 11.81 deg. at t = 6254.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6255.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6255.00, with new bearing 13.45 : WaypointWall:: wallBearing -99.70 deg. at t = 6255.00 : WaypointWall:: Compute new bearing 13.45 deg. at t = 6255.00 : TerrainAidDriver::readData() - IDT[45] = 33.27, IDT[75] = 33.68 : _navData-> (x,y) = (4070348.26, 588651.51) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6255.00. Valid = 0 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6255.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6255.20, with new bearing 15.07 : WaypointWall:: wallBearing -100.82 deg. at t = 6255.20 : WaypointWall:: Compute new bearing 15.07 deg. at t = 6255.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6255.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6255.40, with new bearing 16.66 : WaypointWall:: wallBearing -78.88 deg. at t = 6255.40 : WaypointWall:: Compute new bearing 16.66 deg. at t = 6255.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6255.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6255.60, with new bearing 18.24 : WaypointWall:: wallBearing -78.88 deg. at t = 6255.60 : WaypointWall:: Compute new bearing 18.24 deg. at t = 6255.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6255.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6255.80, with new bearing 19.78 : WaypointWall:: wallBearing -78.80 deg. at t = 6255.80 : WaypointWall:: Compute new bearing 19.78 deg. at t = 6255.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6256.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6256.00, with new bearing 21.29 : WaypointWall:: wallBearing -78.64 deg. at t = 6256.00 : WaypointWall:: Compute new bearing 21.29 deg. at t = 6256.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6256.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6256.20, with new bearing 22.78 : WaypointWall:: wallBearing -101.40 deg. at t = 6256.20 : WaypointWall:: Compute new bearing 22.78 deg. at t = 6256.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6256.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6256.40, with new bearing 24.23 : WaypointWall:: wallBearing -101.07 deg. at t = 6256.40 : WaypointWall:: Compute new bearing 24.23 deg. at t = 6256.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6256.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6256.60, with new bearing 25.65 : WaypointWall:: wallBearing -78.67 deg. at t = 6256.60 : WaypointWall:: Compute new bearing 25.65 deg. at t = 6256.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6256.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6256.80, with new bearing 27.04 : WaypointWall:: wallBearing -78.21 deg. at t = 6256.80 : WaypointWall:: Compute new bearing 27.04 deg. at t = 6256.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6257.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6257.00, with new bearing 28.40 : WaypointWall:: wallBearing -78.68 deg. at t = 6257.00 : WaypointWall:: Compute new bearing 28.40 deg. at t = 6257.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6257.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6257.20, with new bearing 29.73 : WaypointWall:: wallBearing -78.10 deg. at t = 6257.20 : WaypointWall:: Compute new bearing 29.73 deg. at t = 6257.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6257.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6257.40, with new bearing 31.03 : WaypointWall:: wallBearing -78.47 deg. at t = 6257.40 : WaypointWall:: Compute new bearing 31.03 deg. at t = 6257.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6257.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6257.60, with new bearing 32.30 : WaypointWall:: wallBearing -77.80 deg. at t = 6257.60 : WaypointWall:: Compute new bearing 32.30 deg. at t = 6257.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6257.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6257.80, with new bearing 33.54 : WaypointWall:: wallBearing -79.08 deg. at t = 6257.80 : WaypointWall:: Compute new bearing 33.54 deg. at t = 6257.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6258.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6258.00, with new bearing 34.76 : WaypointWall:: wallBearing -78.33 deg. at t = 6258.00 : WaypointWall:: Compute new bearing 34.76 deg. at t = 6258.00 : TerrainAidDriver::readData() - IDT[45] = 33.08, IDT[75] = 45.95 : _navData-> (x,y) = (4070348.41, 588647.12) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6258.00. Valid = 0 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6258.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6258.20, with new bearing 35.95 : WaypointWall:: wallBearing -100.54 deg. at t = 6258.20 : WaypointWall:: Compute new bearing 35.95 deg. at t = 6258.20 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=6258.40 sec. : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6258.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6258.40, with new bearing 37.12 : WaypointWall:: wallBearing -102.72 deg. at t = 6258.40 : WaypointWall:: Compute new bearing 37.12 deg. at t = 6258.40 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6258.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6258.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6258.60, with new bearing 38.26 : WaypointWall:: wallBearing -101.88 deg. at t = 6258.60 : WaypointWall:: Compute new bearing 38.26 deg. at t = 6258.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6258.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6258.80, with new bearing 39.39 : WaypointWall:: wallBearing -103.00 deg. at t = 6258.80 : WaypointWall:: Compute new bearing 39.39 deg. at t = 6258.80 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6258.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6259.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6259.00, with new bearing 40.49 : WaypointWall:: wallBearing -102.10 deg. at t = 6259.00 : WaypointWall:: Compute new bearing 40.49 deg. at t = 6259.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6259.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6259.20, with new bearing 41.57 : WaypointWall:: wallBearing -104.19 deg. at t = 6259.20 : WaypointWall:: Compute new bearing 41.57 deg. at t = 6259.20 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6259.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6259.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6259.40, with new bearing 42.63 : WaypointWall:: wallBearing -103.25 deg. at t = 6259.40 : WaypointWall:: Compute new bearing 42.63 deg. at t = 6259.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6259.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6259.60, with new bearing 43.67 : WaypointWall:: wallBearing -104.29 deg. at t = 6259.60 : WaypointWall:: Compute new bearing 43.67 deg. at t = 6259.60 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6259.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6259.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6259.80, with new bearing 44.70 : WaypointWall:: wallBearing -103.32 deg. at t = 6259.80 : WaypointWall:: Compute new bearing 44.70 deg. at t = 6259.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6260.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6260.00, with new bearing 45.70 : WaypointWall:: wallBearing -105.33 deg. at t = 6260.00 : WaypointWall:: Compute new bearing 45.70 deg. at t = 6260.00 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6260.00 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6260.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6260.20, with new bearing 46.69 : WaypointWall:: wallBearing -104.33 deg. at t = 6260.20 : WaypointWall:: Compute new bearing 46.69 deg. at t = 6260.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6260.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6260.40, with new bearing 47.67 : WaypointWall:: wallBearing -106.31 deg. at t = 6260.40 : WaypointWall:: Compute new bearing 47.67 deg. at t = 6260.40 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6260.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6260.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6260.60, with new bearing 48.63 : WaypointWall:: wallBearing -105.29 deg. at t = 6260.60 : WaypointWall:: Compute new bearing 48.63 deg. at t = 6260.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6260.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6260.80, with new bearing 49.58 : WaypointWall:: wallBearing -107.25 deg. at t = 6260.80 : WaypointWall:: Compute new bearing 49.58 deg. at t = 6260.80 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6260.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6261.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6261.00, with new bearing 50.52 : WaypointWall:: wallBearing -106.21 deg. at t = 6261.00 : WaypointWall:: Compute new bearing 50.52 deg. at t = 6261.00 : TerrainAidDriver::readData() - IDT[45] = 38.23, IDT[75] = 59.15 : _navData-> (x,y) = (4070349.07, 588642.86) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6261.00. Valid = 0 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6261.20 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6261.20, with new bearing 51.44 : WaypointWall:: wallBearing -106.16 deg. at t = 6261.20 : WaypointWall:: Compute new bearing 51.44 deg. at t = 6261.20 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6261.20 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6261.40 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6261.40, with new bearing 52.35 : WaypointWall:: wallBearing -94.10 deg. at t = 6261.40 : WaypointWall:: Compute new bearing 52.35 deg. at t = 6261.40 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6261.40 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6261.60 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6261.60, with new bearing 53.25 : WaypointWall:: wallBearing -93.04 deg. at t = 6261.60 : WaypointWall:: Compute new bearing 53.25 deg. at t = 6261.60 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6261.80 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6261.80, with new bearing 54.14 : WaypointWall:: wallBearing -95.96 deg. at t = 6261.80 : WaypointWall:: Compute new bearing 54.14 deg. at t = 6261.80 : WaypointWall:: Priority = 2; Unsetting left-hand turn at t = 6261.80 : WaypointWall:: Priority = 2; Transitioning to wall-following at t = 6262.00 : WaypointWall:: Priority = 2; Resume waypoint guidance at t = 6262.00, with new bearing 55.01 : WaypointWall:: wallBearing -94.89 deg. at t = 6262.00 : WaypointWall:: Compute new bearing 55.01 deg. at t = 6262.00 : Behavior waypoint_wall - Timed out! : LayeredControl::execute() -- (t = 6262.200000) Behavior waypoint_wall:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 6262.20 (wplog) The current location (N,E) = 4070349.6 , 588641.3 (wplog) The next waypoint = 4070574.1 , 588692.7 (wplog) The bearing to the next w.p. is 12.9 Degrees. The distance to the next w.p. is 230.3 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 890.0 meters. The final commanded depth is 890.0 meters. : LayeredControl::execute() -- (t = 6262.200000) Behavior waypoint_depth:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 4 at t = 6262.20 sec. : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 80.3, range = 371.1 numValidBeams = 4 beam1 range = 194.2, iterations = 0, grazing = 0.0 beam2 range = 46.3, iterations = 0, grazing = 0.0 beam3 range = 62.0, iterations = 0, grazing = 0.0 beam4 range = 68.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 54.27, IDT[75] = 71.88 : _navData-> (x,y) = (4070350.67, 588639.00) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6264.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 54.27, IDT[75] = 71.88 : _navData-> (x,y) = (4070353.17, 588635.83) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6267.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 79.20, IDT[75] = 0.00 : _navData-> (x,y) = (4070356.37, 588633.54) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 6270.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 79.20, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.00, 588632.26) : _tercom->outstandingMeas() = 1 : SimulatedDvlSide::get() waterDepth(0.,0.) = 986.0 Dvl range = 127.0, range = 146.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 146.6, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.78, 588632.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070367.43, 588632.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070370.79, 588634.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070373.86, 588636.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070376.79, 588639.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070379.76, 588641.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070382.91, 588644.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070386.29, 588646.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070389.90, 588648.98) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 6300.00, (simTime - realTime) = 0.00 Heading = 746.26 Depth = 890.12 Speed = 1.39 Pitch = -4.53 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070393.67, 588650.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070397.58, 588652.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070401.61, 588653.98) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 165.6, range = 191.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 191.2, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070405.72, 588655.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070409.90, 588656.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070414.14, 588657.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070418.42, 588658.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 167.6, range = 193.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 193.5, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070422.74, 588659.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070427.09, 588660.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070431.45, 588660.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070435.82, 588661.74) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 984.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070440.20, 588662.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070444.59, 588663.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070448.97, 588664.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070453.34, 588664.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 982.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070457.72, 588665.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070462.08, 588666.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070466.44, 588667.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070470.79, 588668.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 980.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070475.13, 588669.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070479.47, 588670.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070483.80, 588671.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070488.13, 588672.70) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 976.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070492.47, 588673.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070496.80, 588674.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070501.13, 588675.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070505.47, 588676.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 974.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070509.81, 588677.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070514.15, 588679.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070518.49, 588680.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070522.84, 588681.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 970.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070527.19, 588682.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070531.54, 588683.04) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 6400.00, (simTime - realTime) = 0.00 Heading = 732.70 Depth = 890.00 Speed = 1.48 Pitch = -3.70 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070535.89, 588684.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070540.25, 588684.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 964.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070544.60, 588685.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070548.95, 588686.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070553.31, 588687.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070557.66, 588688.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 958.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070562.01, 588689.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070566.37, 588690.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070570.72, 588691.84) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070574.1, 588692.7), reached at t = 6428.40 (wplog) : Vehicle Position error is (-0.1, 0.0) : LayeredControl::execute() -- (t = 6428.400000) Behavior waypoint_depth:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 6428.400000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 6428.400000) Behavior reson:-1 has changed to state Finished : WaypointWall initialization: Begin waypoint control at t= 6428.40 (wplog) The current location (N,E) = 4070574.2 , 588692.6 (wplog) The next waypoint = 4070872.1 , 589568.5 (wplog) The bearing to the next w.p. is 71.2 Degrees. The distance to the next w.p. is 925.1 Meters. The slope to the next w.p. is 0.1189. The initial commanded depth is 890.0 meters. The final commanded depth is 780.0 meters. : WaypointWall:: standOff = 70.00 at 6428.40 : WaypointWall:: projection = 3 at 6428.40 : WaypointWall:: windowLen = 31 at 6428.40 : WaypointWall:: filterType = 3 at 6428.40 : WaypointWall:: escape = 0 at 6428.40 : WaypointWall:: waypointPriority = 2 at 6428.40 : WaypointWall::Forward-looking DeltaT IS enabled at t=6428.40 sec. : WaypointWall: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : WaypointWall::Total number of beams is 210, t=6428.40 sec. : LayeredControl::execute() -- (t = 6428.400000) Behavior waypoint_wall:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 5 at t = 6428.40 sec. : DynamicControlServer:: initializeWallBearing set to 0 at 6428.40 : DynamicControlServer:: wallPresent set to 0 at 6428.40 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.07, 588692.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070579.39, 588693.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070583.45, 588695.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070586.89, 588697.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070589.44, 588700.98) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070590.96, 588704.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070591.44, 588708.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070591.16, 588712.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070590.50, 588716.73) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 166.5, range = 192.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 192.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070589.79, 588720.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070589.30, 588725.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070589.19, 588729.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070589.50, 588734.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070590.21, 588738.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070591.24, 588743.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070592.53, 588747.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070593.99, 588752.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070595.54, 588756.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070597.15, 588761.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070598.77, 588765.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070600.38, 588770.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 936.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070601.98, 588774.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070603.57, 588779.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070605.14, 588783.92) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 6500.00, (simTime - realTime) = 0.00 Heading = 791.20 Depth = 879.56 Speed = 1.62 Pitch = 4.32 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070606.70, 588788.50) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 930.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070608.26, 588793.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070609.82, 588797.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070611.38, 588802.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070612.94, 588806.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070614.49, 588811.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070616.05, 588816.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070617.61, 588820.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070619.17, 588825.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 922.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070620.73, 588829.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070622.29, 588834.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070623.85, 588838.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070625.41, 588843.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 922.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070626.97, 588848.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070628.53, 588852.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070630.09, 588857.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070631.65, 588861.87) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070633.21, 588866.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070634.76, 588871.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070636.32, 588875.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070637.88, 588880.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070639.44, 588884.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070640.99, 588889.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070642.55, 588893.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070644.11, 588898.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070645.67, 588903.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070647.22, 588907.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070648.78, 588912.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070650.34, 588916.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070651.89, 588921.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070653.45, 588925.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070655.01, 588930.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070656.56, 588935.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070658.12, 588939.69) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 6600.00, (simTime - realTime) = 0.00 Heading = 791.22 Depth = 859.63 Speed = 1.62 Pitch = 3.84 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070659.68, 588944.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070661.23, 588948.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070662.79, 588953.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070664.34, 588957.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070665.90, 588962.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070667.46, 588967.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070669.01, 588971.71) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070670.57, 588976.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070672.12, 588980.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070673.68, 588985.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070675.23, 588990.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070676.79, 588994.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070678.35, 588999.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070679.90, 589003.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070681.46, 589008.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070683.01, 589012.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070684.57, 589017.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070686.12, 589022.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070687.68, 589026.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070689.23, 589031.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070690.79, 589035.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070692.34, 589040.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070693.90, 589044.87) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070695.45, 589049.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070697.01, 589054.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070698.56, 589058.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070700.12, 589063.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 922.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070701.67, 589067.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070703.23, 589072.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070704.78, 589076.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070706.34, 589081.43) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070707.89, 589086.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070709.45, 589090.57) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 6700.00, (simTime - realTime) = 0.00 Heading = 791.22 Depth = 840.33 Speed = 1.62 Pitch = 3.75 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070711.00, 589095.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070712.56, 589099.71) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070714.11, 589104.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070715.67, 589108.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070717.22, 589113.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070718.78, 589117.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 158.1, range = 182.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 182.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070720.33, 589122.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070721.88, 589127.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070723.44, 589131.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070724.99, 589136.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070726.55, 589140.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070728.10, 589145.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070729.66, 589149.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070731.21, 589154.55) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070732.77, 589159.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070734.32, 589163.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070735.88, 589168.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070737.43, 589172.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070738.98, 589177.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070740.54, 589181.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070742.09, 589186.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070743.65, 589191.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070745.20, 589195.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070746.76, 589200.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070748.31, 589204.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070749.87, 589209.39) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070751.42, 589213.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070752.98, 589218.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070754.53, 589223.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070756.08, 589227.67) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070757.64, 589232.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070759.19, 589236.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070760.75, 589241.38) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 6800.00, (simTime - realTime) = 0.00 Heading = 791.22 Depth = 821.17 Speed = 1.62 Pitch = 3.73 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070762.30, 589245.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070763.86, 589250.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070765.41, 589255.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070766.97, 589259.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070768.52, 589264.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070770.07, 589268.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070771.63, 589273.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070773.18, 589277.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070774.74, 589282.50) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070776.29, 589287.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070777.85, 589291.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070779.40, 589296.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070780.96, 589300.78) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070782.51, 589305.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070784.06, 589309.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070785.62, 589314.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070787.17, 589319.06) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070788.73, 589323.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070790.28, 589328.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070791.84, 589332.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070793.39, 589337.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070794.95, 589341.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070796.50, 589346.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070798.05, 589351.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070799.61, 589355.61) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070801.16, 589360.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070802.72, 589364.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070804.27, 589369.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070805.83, 589373.89) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070807.38, 589378.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070808.94, 589383.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070810.49, 589387.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070812.04, 589392.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070813.60, 589396.74) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 6900.00, (simTime - realTime) = 0.00 Heading = 791.22 Depth = 802.03 Speed = 1.62 Pitch = 3.72 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070815.15, 589401.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070816.71, 589405.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070818.26, 589410.44) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070819.82, 589415.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070821.37, 589419.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070822.92, 589424.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070824.48, 589428.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070826.03, 589433.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070827.59, 589437.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070829.14, 589442.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070830.70, 589447.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070832.25, 589451.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070833.81, 589456.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070835.36, 589460.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070836.91, 589465.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070838.47, 589469.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070840.02, 589474.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070841.58, 589478.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070843.13, 589483.55) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070844.69, 589488.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070846.24, 589492.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070847.79, 589497.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070849.35, 589501.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070850.90, 589506.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070852.46, 589510.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070854.01, 589515.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070855.57, 589520.10) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070857.12, 589524.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070858.68, 589529.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070860.23, 589533.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070861.78, 589538.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070863.34, 589542.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070864.89, 589547.52) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7000.00, (simTime - realTime) = 0.00 Heading = 791.22 Depth = 782.90 Speed = 1.62 Pitch = 3.72 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070866.45, 589552.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070868.00, 589556.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070869.56, 589561.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070871.11, 589565.80) : _tercom->outstandingMeas() = 0 : WaypointWall has set the state to finished. : WaypointWall (4070872.1, 589568.5), reached at t = 7012.80 (wplog) : Vehicle Position is error is (0.0, -0.1) : LayeredControl::execute() -- (t = 7012.800000) Behavior waypoint_wall:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 7012.800000) Behavior reson:-1 has changed to state Finished : WaypointWall initialization: Begin waypoint control at t= 7012.80 (wplog) The current location (N,E) = 4070872.0 , 589568.5 (wplog) The next waypoint = 4070550.6 , 590371.8 (wplog) The bearing to the next w.p. is 111.8 Degrees. The distance to the next w.p. is 865.2 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 780.0 meters. The final commanded depth is 780.0 meters. : WaypointWall:: standOff = 70.00 at 7012.80 : WaypointWall:: projection = 3 at 7012.80 : WaypointWall:: windowLen = 31 at 7012.80 : WaypointWall:: filterType = 3 at 7012.80 : WaypointWall:: escape = 0 at 7012.80 : WaypointWall:: waypointPriority = 2 at 7012.80 : WaypointWall::Forward-looking DeltaT IS enabled at t=7012.80 sec. : WaypointWall: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : WaypointWall::Total number of beams is 210, t=7012.80 sec. : LayeredControl::execute() -- (t = 7012.800000) Behavior waypoint_wall:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070872.67, 589570.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070874.10, 589574.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070874.63, 589579.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070873.86, 589583.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070872.01, 589587.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070869.51, 589591.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070866.73, 589595.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070863.90, 589598.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070861.18, 589601.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070858.68, 589605.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070856.41, 589609.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070854.36, 589613.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070852.48, 589617.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070850.74, 589621.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070849.08, 589625.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070847.47, 589629.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070845.87, 589633.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070844.28, 589637.49) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070842.69, 589641.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070841.08, 589645.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070839.46, 589649.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070837.83, 589653.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070836.20, 589657.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070834.56, 589662.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070832.92, 589666.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070831.28, 589670.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070829.63, 589674.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070827.99, 589678.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070826.34, 589682.53) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7100.00, (simTime - realTime) = 0.00 Heading = 831.82 Depth = 779.32 Speed = 1.47 Pitch = -4.15 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070824.70, 589686.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070823.05, 589690.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070821.40, 589694.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070819.76, 589698.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070818.11, 589703.10) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070816.46, 589707.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070814.81, 589711.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070813.16, 589715.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070811.52, 589719.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070809.87, 589723.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070808.22, 589727.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070806.56, 589731.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070804.91, 589736.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070803.26, 589740.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070801.61, 589744.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070799.96, 589748.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070798.31, 589752.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070796.65, 589756.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070795.00, 589760.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070793.35, 589764.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070791.70, 589769.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 131.9, range = 152.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 152.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070790.04, 589773.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070788.39, 589777.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070786.74, 589781.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070785.08, 589785.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 94.0, range = 108.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 108.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070783.43, 589789.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070781.77, 589793.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070780.12, 589798.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070778.46, 589802.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 110.4, range = 127.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 127.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070776.81, 589806.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070775.15, 589810.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070773.50, 589814.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070771.84, 589818.71) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 117.6, range = 135.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 135.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070770.19, 589822.85) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7200.00, (simTime - realTime) = 0.00 Heading = 831.81 Depth = 779.86 Speed = 1.48 Pitch = -3.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070768.53, 589826.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070766.88, 589831.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070765.22, 589835.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = -1.0 Dvl range = 105.6, range = 243.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.1, iterations = 0, grazing = 0.0 beam3 range = 135.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070763.57, 589839.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070761.91, 589843.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070760.25, 589847.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070758.60, 589851.81) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 838.0 Dvl range = 123.2, range = 284.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 137.2, iterations = 0, grazing = 0.0 beam3 range = 147.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070756.94, 589855.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070755.29, 589860.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070753.63, 589864.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070751.97, 589868.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 856.0 Dvl range = 125.4, range = 289.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 145.5, iterations = 0, grazing = 0.0 beam3 range = 144.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070750.32, 589872.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070748.66, 589876.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070747.00, 589880.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070745.35, 589884.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 846.0 Dvl range = 126.5, range = 292.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 146.8, iterations = 0, grazing = 0.0 beam3 range = 145.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070743.69, 589889.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070742.03, 589893.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070740.38, 589897.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070738.72, 589901.48) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 848.0 Dvl range = 108.2, range = 249.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 156.4, iterations = 0, grazing = 0.0 beam3 range = 93.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070737.06, 589905.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070735.41, 589909.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070733.75, 589913.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070732.09, 589918.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 854.0 Dvl range = 130.7, range = 301.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 156.4, iterations = 0, grazing = 0.0 beam3 range = 145.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070730.44, 589922.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070728.78, 589926.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070727.12, 589930.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070725.47, 589934.60) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 852.0 Dvl range = 130.0, range = 300.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 156.3, iterations = 0, grazing = 0.0 beam3 range = 144.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070723.81, 589938.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070722.15, 589942.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070720.49, 589947.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070718.84, 589951.16) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 854.0 Dvl range = 125.7, range = 290.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 150.7, iterations = 0, grazing = 0.0 beam3 range = 139.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070717.18, 589955.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070715.52, 589959.45) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7300.00, (simTime - realTime) = 0.00 Heading = 831.82 Depth = 779.97 Speed = 1.48 Pitch = -3.72 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070713.86, 589963.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070712.21, 589967.73) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 850.0 Dvl range = 131.4, range = 303.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.7, iterations = 0, grazing = 0.0 beam3 range = 137.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070710.55, 589971.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070708.89, 589976.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070707.24, 589980.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070705.58, 589984.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 860.0 Dvl range = 125.4, range = 289.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 156.2, iterations = 0, grazing = 0.0 beam3 range = 133.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070703.92, 589988.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070702.26, 589992.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070700.61, 589996.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070698.95, 590000.86) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 854.0 Dvl range = 121.1, range = 279.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 152.7, iterations = 0, grazing = 0.0 beam3 range = 127.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070697.29, 590005.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070695.63, 590009.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070693.98, 590013.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070692.32, 590017.43) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 852.0 Dvl range = 118.7, range = 274.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 147.2, iterations = 0, grazing = 0.0 beam3 range = 127.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070690.66, 590021.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070689.00, 590025.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070687.35, 590029.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070685.69, 590033.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 850.0 Dvl range = 117.8, range = 272.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 146.4, iterations = 0, grazing = 0.0 beam3 range = 125.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070684.03, 590038.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070682.37, 590042.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070680.72, 590046.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070679.06, 590050.56) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 848.0 Dvl range = 113.3, range = 261.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 140.2, iterations = 0, grazing = 0.0 beam3 range = 121.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070677.40, 590054.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070675.74, 590058.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070674.09, 590062.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070672.43, 590067.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 844.0 Dvl range = 110.5, range = 255.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 136.6, iterations = 0, grazing = 0.0 beam3 range = 118.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070670.77, 590071.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070669.11, 590075.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070667.45, 590079.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070665.80, 590083.70) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 844.0 Dvl range = 109.1, range = 251.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 133.3, iterations = 0, grazing = 0.0 beam3 range = 118.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070664.14, 590087.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070662.48, 590091.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070660.82, 590096.12) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7400.00, (simTime - realTime) = 0.00 Heading = 831.82 Depth = 779.99 Speed = 1.48 Pitch = -3.71 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070659.17, 590100.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 842.0 Dvl range = 108.5, range = 250.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 131.9, iterations = 0, grazing = 0.0 beam3 range = 118.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070657.51, 590104.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070655.85, 590108.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070654.19, 590112.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070652.54, 590116.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 842.0 Dvl range = 105.6, range = 243.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 126.9, iterations = 0, grazing = 0.0 beam3 range = 117.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070650.88, 590120.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070649.22, 590125.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070647.56, 590129.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070645.90, 590133.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 840.0 Dvl range = 104.9, range = 242.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 126.9, iterations = 0, grazing = 0.0 beam3 range = 115.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070644.25, 590137.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070642.59, 590141.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070640.93, 590145.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070639.27, 590149.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 838.0 Dvl range = 102.6, range = 237.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 126.9, iterations = 0, grazing = 0.0 beam3 range = 110.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070637.62, 590154.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070635.96, 590158.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070634.30, 590162.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070632.64, 590166.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 840.0 Dvl range = 103.1, range = 238.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 124.2, iterations = 0, grazing = 0.0 beam3 range = 114.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070630.99, 590170.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070629.33, 590174.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070627.67, 590178.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070626.01, 590183.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 836.0 Dvl range = 99.8, range = 230.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 122.8, iterations = 0, grazing = 0.0 beam3 range = 107.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070624.35, 590187.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070622.70, 590191.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070621.04, 590195.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070619.38, 590199.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 836.0 Dvl range = 95.5, range = 220.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 117.1, iterations = 0, grazing = 0.0 beam3 range = 103.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070617.72, 590203.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070616.07, 590207.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070614.41, 590212.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070612.75, 590216.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 834.0 Dvl range = 97.7, range = 225.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 124.1, iterations = 0, grazing = 0.0 beam3 range = 101.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070611.09, 590220.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070609.43, 590224.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070607.78, 590228.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070606.12, 590232.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 836.0 Dvl range = 92.7, range = 214.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 112.4, iterations = 0, grazing = 0.0 beam3 range = 101.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070604.46, 590236.96) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7500.00, (simTime - realTime) = 0.00 Heading = 831.82 Depth = 780.00 Speed = 1.48 Pitch = -3.70 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070602.80, 590241.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070601.15, 590245.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070599.49, 590249.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 834.0 Dvl range = 92.6, range = 213.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 113.0, iterations = 0, grazing = 0.0 beam3 range = 100.8, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070597.83, 590253.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070596.17, 590257.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070594.51, 590261.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070592.86, 590265.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 832.0 Dvl range = 88.3, range = 203.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.4, iterations = 0, grazing = 0.0 beam3 range = 96.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070591.20, 590270.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070589.54, 590274.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070587.88, 590278.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070586.23, 590282.52) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 830.0 Dvl range = 86.8, range = 200.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.4, iterations = 0, grazing = 0.0 beam3 range = 93.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070584.57, 590286.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070582.91, 590290.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070581.25, 590294.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070579.60, 590299.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 832.0 Dvl range = 85.7, range = 197.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.7, iterations = 0, grazing = 0.0 beam3 range = 93.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.94, 590303.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.28, 590307.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070574.62, 590311.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070572.96, 590315.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 828.0 Dvl range = 83.1, range = 191.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 101.2, iterations = 0, grazing = 0.0 beam3 range = 90.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070571.31, 590319.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070569.65, 590323.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070567.99, 590328.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070566.33, 590332.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 828.0 Dvl range = 79.0, range = 182.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 97.8, iterations = 0, grazing = 0.0 beam3 range = 84.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070564.68, 590336.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070563.02, 590340.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070561.36, 590344.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070559.70, 590348.80) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 826.0 Dvl range = 79.0, range = 182.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 97.6, iterations = 0, grazing = 0.0 beam3 range = 84.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070558.04, 590352.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070556.39, 590357.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070554.73, 590361.23) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=7591.60 sec. : DynamicControlServer:: RHT set to 1 at 7591.60 : DynamicControlServer:: wallPresent set to 1 at 7591.60 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070553.07, 590365.37) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 826.0 Dvl range = 73.0, range = 168.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 90.5, iterations = 0, grazing = 0.0 beam3 range = 78.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070551.34, 590369.44) : _tercom->outstandingMeas() = 0 : WaypointWall has set the state to finished. : WaypointWall (4070550.6, 590371.8), reached at t = 7597.80 (wplog) : Vehicle Position is error is (0.6, 0.1) : LayeredControl::execute() -- (t = 7597.800000) Behavior waypoint_wall:-1 has changed to state Finished : Reson Behavior::log=0,sbp=0,-1.000000 | hiss=0,-1.000000,-1.000000,-1.000000 | loss=0,-1.000000,-1.000000,-1.000000 | mb=-1,0.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : Reson Behavior: Stopping subbottom profiler : Reson Behavior: Stopping lo-freq SS : Reson Behavior: Stopping hi-freq SS : Reson Behavior: Setting MB power to 0.000000 : Reson Behavior: Stopping logging : Reson Behavior: Stopping 7k Center Logging : LayeredControl::execute() -- (t = 7597.800000) Behavior reson:-1 has changed to state Active : sending status via acoustic modem : LayeredControl::execute() -- (t = 7597.800000) Behavior acousticUpdate:-1 has changed to state Finished : LayeredControl::execute() -- (t = 7597.800000) Behavior ascend:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 0 at t = 7597.80 sec. : DynamicControlServer::Begin vertical mode 1 at t = 7597.80 sec. : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : LayeredControl::execute() -- (t = 7598.000000) Behavior reson:-1 has changed to state Finished : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070548.98, 590373.04) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7600.00, (simTime - realTime) = 0.00 Heading = 859.42 Depth = 780.00 Speed = 1.40 Pitch = -1.35 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070545.92, 590375.94) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 7602.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070542.64, 590378.58) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 7605.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 62.3, range = 71.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 71.9, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070539.40, 590381.24) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 7608.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070536.36, 590384.09) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 7611.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070533.65, 590387.28) : _tercom->outstandingMeas() = 1 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070531.37, 590390.87) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 96.7, range = 223.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 95.2, iterations = 0, grazing = 0.0 beam3 range = 128.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.65, 590394.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.59, 590399.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.29, 590403.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.78, 590408.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 818.0 Dvl range = 136.4, range = 157.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 157.5, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = f3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070530.09, 590412.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070532.18, 590416.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070535.00, 590420.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070538.45, 590423.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 814.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070542.42, 590425.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070546.76, 590427.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070551.34, 590427.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070555.97, 590427.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070560.50, 590426.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070564.76, 590425.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070568.61, 590422.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070571.89, 590419.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 806.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070574.51, 590415.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.35, 590411.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.36, 590406.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.50, 590401.86) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 812.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.77, 590397.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.18, 590392.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070572.80, 590388.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070569.71, 590385.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 816.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070566.03, 590382.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070561.88, 590380.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070557.41, 590379.30) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7700.00, (simTime - realTime) = 0.00 Heading = 539.93 Depth = 655.66 Speed = 2.07 Pitch = 40.24 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070552.78, 590378.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070548.17, 590379.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070543.72, 590380.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070539.61, 590382.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070535.98, 590385.77) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070532.95, 590389.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070530.65, 590393.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.14, 590397.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.49, 590402.31) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 820.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.71, 590406.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.81, 590411.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070531.73, 590415.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070534.41, 590419.47) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 814.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070537.77, 590422.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070541.66, 590425.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070545.96, 590426.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070550.52, 590427.86) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 810.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070555.16, 590427.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070559.72, 590427.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070564.05, 590425.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070567.98, 590422.89) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 806.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070571.37, 590419.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070574.11, 590415.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.09, 590411.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.25, 590407.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 810.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.54, 590402.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.95, 590398.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.51, 590393.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070573.26, 590389.57) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 814.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070570.28, 590386.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070566.69, 590383.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070562.61, 590380.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070558.18, 590379.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 822.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070553.57, 590378.90) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7800.00, (simTime - realTime) = 0.00 Heading = 178.15 Depth = 518.63 Speed = 2.07 Pitch = 40.24 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070548.94, 590379.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070544.46, 590380.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070540.28, 590382.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070536.55, 590385.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070533.42, 590388.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070530.98, 590392.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.34, 590396.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 822.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.54, 590401.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.61, 590406.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.56, 590410.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070531.35, 590414.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 816.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070533.91, 590418.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070537.15, 590422.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070540.97, 590424.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070545.21, 590426.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 812.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070549.73, 590427.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070554.37, 590427.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070558.96, 590427.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070563.34, 590425.71) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070567.35, 590423.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070570.84, 590420.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070573.70, 590416.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.81, 590412.52) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.12, 590408.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.55, 590403.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.11, 590398.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.81, 590394.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 814.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070573.69, 590390.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070570.84, 590386.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070567.34, 590383.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070563.33, 590381.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 822.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070558.95, 590379.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070554.36, 590378.93) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 7900.00, (simTime - realTime) = 0.00 Heading = -183.62 Depth = 381.61 Speed = 2.07 Pitch = 40.24 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070549.72, 590379.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070545.20, 590380.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070540.96, 590382.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070537.15, 590384.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070533.90, 590388.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070531.34, 590391.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.56, 590396.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.61, 590400.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.54, 590405.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.34, 590409.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 818.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070530.99, 590414.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070533.42, 590418.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070536.56, 590421.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070540.28, 590424.44) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 812.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070544.46, 590426.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070548.95, 590427.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070553.58, 590427.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070558.19, 590427.44) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070562.62, 590426.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070566.70, 590423.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070570.29, 590420.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070573.26, 590417.31) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.51, 590413.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.95, 590408.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.54, 590404.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.25, 590399.60) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 812.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.09, 590395.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070574.11, 590390.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070571.37, 590387.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070567.97, 590383.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 818.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070564.04, 590381.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070559.72, 590379.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070555.15, 590378.99) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 8000.00, (simTime - realTime) = 0.00 Heading = -545.40 Depth = 244.59 Speed = 2.07 Pitch = 40.24 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070550.51, 590379.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070545.95, 590379.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070541.65, 590381.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070537.76, 590384.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070534.41, 590387.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070531.73, 590391.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.80, 590395.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.71, 590399.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.49, 590404.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 820.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070529.14, 590409.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070530.65, 590413.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070532.96, 590417.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070535.98, 590421.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 814.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070539.62, 590424.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070543.73, 590426.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070548.17, 590427.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070552.79, 590427.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 810.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070557.42, 590427.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070561.89, 590426.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070566.04, 590424.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070569.72, 590421.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070572.81, 590417.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.18, 590413.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.77, 590409.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.50, 590405.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 810.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070577.36, 590400.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070576.35, 590395.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070574.50, 590391.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070571.88, 590387.75) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 816.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070568.59, 590384.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070564.74, 590381.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070560.47, 590380.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070555.94, 590379.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070551.29, 590378.96) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 8100.00, (simTime - realTime) = 0.00 Heading = -907.17 Depth = 107.57 Speed = 2.07 Pitch = 40.24 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070546.71, 590379.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070542.36, 590381.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070538.39, 590383.73) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070534.93, 590386.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070532.13, 590390.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070530.07, 590394.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.84, 590399.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 822.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.46, 590403.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070528.97, 590408.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070530.34, 590412.85) : _tercom->outstandingMeas() = 0 : SimulatedDeltaT: Surface detected at simtime = 8133.00. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070532.51, 590416.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 816.0 Dvl range = 145.8, range = 168.4 numValidBeams = 1 beam1 range = 168.4, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = fc : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070535.42, 590420.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070538.96, 590423.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070543.00, 590425.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070547.40, 590427.34) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 810.0 Dvl range = 105.0, range = 121.3 numValidBeams = 1 beam1 range = 121.3, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = fc : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070552.00, 590427.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070556.64, 590427.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070561.14, 590426.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070565.36, 590424.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 64.2, range = 74.1 numValidBeams = 1 beam1 range = 74.1, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = fc : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070569.13, 590421.95) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 8160.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070572.33, 590418.58) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 8163.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070574.83, 590414.67) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 8166.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 64.62 : _navData-> (x,y) = (4070576.56, 590410.36) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 8169.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 808.0 Dvl range = 23.4, range = 27.0 numValidBeams = 1 beam1 range = 27.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = fc : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 64.62 : _navData-> (x,y) = (4070577.44, 590405.81) : _tercom->outstandingMeas() = 1 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 17.74 : _navData-> (x,y) = (4070577.45, 590401.16) : _tercom->outstandingMeas() = 0 : LayeredControl::execute() -- (t = 8177.200000) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8177.200000) Behavior getgps:-1 has changed to state Active : DynamicControlServer::Begin vertical mode 2 at t = 8177.20 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 17.74 : _navData-> (x,y) = (4070576.59, 590396.62) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 8178.00. Valid = 0 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 1 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 3 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070575.06, 590392.45) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: TerrainNav has new data at 8181.00. Valid = 0 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : SimulatedDvlSide::get() waterDepth(0.,0.) = 814.0 Dvl range = 0.0, range = 0.0 numValidBeams = 0 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 0.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = ff : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070573.26, 590388.24) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 8184.00. Valid = 0 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070571.50, 590384.33) : _tercom->outstandingMeas() = 1 : DynamicControlServer:: TerrainNav has new data at 8187.00. Valid = 0 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8187.200000) Behavior getgps:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : CARL - Id:108, Duration:1.000000, cameraSwitch:-1, recorderSwitch:-1, lightSwitch:0, brightness:-1, record:0, homeIris:1, fstop:-1, auto-iris:-1.00 : CARL Behavior 108: Home the iris motor : CARL Behavior 108: Turning lights off : CARL Behavior 108: cut! : SimulatedCarl::stop_recording()... : CARL Behavior 108: resetting record : LayeredControl::execute() -- (t = 8187.400000) Behavior CARL:108 has changed to state Active : LayeredControl::execute() -- (t = 8187.400000) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8187.400000) Behavior missionTimer:-1 has changed to state Active : Stack empty after processing. Aborting. : *** LayeredControl - initiating vehicle shutdown... *** : ****LayeredControl::initiateShutdown - enter : ****LayeredControl::initiateShutdown - exit to system : ****Time::cleanup FastTime instance[000a30d4]] : **** FastTime dtor [000a30d4] **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify //1/home/henthorn/AUV/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:0005C458. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer -plan ../missions/2017_WallTest_1v3Ed.cfg.pp -abort ../missions/abortSimPlan.cfg : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task SimulatorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[0007d144]] : TaskServer::signalHandler() for task InsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[0007b608]] : ****Time::cleanup FastTime instance[0002145c]] : **** FastTime dtor [0007d144] **** : ****Time::cleanup FastTime instance[0003b1f4]] : ****Time::cleanup FastTime instance[000201dc]] : ****Time::cleanup FastTime instance[0004ad24]] : ****Time::cleanup FastTime instance[000313bc]] : ****Time::cleanup FastTime instance[0003bfdc]] : **** FastTime dtor [0007b608] **** : **** FastTime dtor [0002145c] **** : **** SharedData destructor for object FastTime **** : **** FastTime dtor [0003b1f4] **** : **** FastTime dtor [000201dc] **** : **** FastTime dtor [0004ad24] **** : **** FastTime dtor [000313bc] **** : **** FastTime dtor [0003bfdc] **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlSideIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task DeltaTIFServer - exit() on signal 2 : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2 : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : destroying segment navigationOutput : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : destroying prot sem navigationOutput_prot : TaskServer::signalHandler() for task CARL_IFServer - exit() on signal 2 : destroying notify sem navigationOutput_notify : ****Time::cleanup FastTime instance[0003af80]] : ****Time::cleanup FastTime instance[0002a7b4]] : ****Time::cleanup FastTime instance[0002d5f4]] : **** FastTime dtor [00084b80] **** : **** SharedData destructor for object FastTime **** : ****Time::cleanup FastTime instance[000dd1b4]] : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : **** FastTime dtor [0003af80] **** : **** FastTime dtor [0002a7b4] **** : **** FastTime dtor [0002d5f4] **** : **** FastTime dtor [000dd1b4] **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.20, at t=8187.20. : TerrainAidDestructor Executing. : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : TaskServer::signalHandler() for task CathxIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : CameraDestructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object CameraOutput **** : SerialDeviceExt::closeSD() - closed : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ctdDriver - exit() on signal 2 : TaskServer::signalHandler() for task BluefinBatteryIFServer - exit() on signal 2 : TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2 : TaskServer::signalHandler() for task IsusIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2 : Supervisor::signalHandler - caught signal 2 : destroying segment TerrainAidOutput : **** SharedData destructor for object navigationOutput **** : destroying prot sem TerrainAidOutput_prot : destroying segment CameraOutput : destroying notify sem TerrainAidOutput_notify : **** SharedData destructor for object CameraOutput **** : destroying prot sem CameraOutput_prot : destroying segment navigationOutput : destroying segment CameraOutput : destroying notify sem CameraOutput_notify : destroying prot sem navigationOutput_prot : destroying prot sem CameraOutput_prot : destroying notify sem navigationOutput_notify : destroying notify sem CameraOutput_notify : failed to unlink queue NavigationInput : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : Supervisor::signalHandler - setting exit flag [1] : **** SharedData destructor for object GulperOutput **** : Supervisor::signalHandler - setting exit flag [1] : Supervisor::shutdown - cleaning up : destroying segment GulperOutput : Supervisor::shutdown - deleting FastTime [0001d1e4] : destroying prot sem GulperOutput_prot : **** FastTime dtor [0001d1e4] **** : failed to unlink queue TerrainAidMsgs : destroying notify sem GulperOutput_notify : **** SharedData destructor for object TerrainAidOutput **** : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : Supervisor::shutdown - deleting output : **** SharedData destructor for object SupervisorOutout **** : destroying segment SupervisorOutout : destroying prot sem SupervisorOutout_prot : destroying notify sem SupervisorOutout_notify : Supervisor::shutdown - done : Supervisor::~Supervisor - dtor : Supervisor::~Supervisor - deleting FastTime [0001d1e4] : **** FastTime dtor [0001d1e4] **** : **** SharedData destructor for object È **** : destroying segment È : destroying prot sem  : destroying notify sem FastTime_notify : ****Time::cleanup FastTime instance[0001d2e4]] : **** FastTime dtor [0001d2e4] **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : SysData Destructor Executing. : layeredControlServer - creating non dynamic version : Illegal option: -restart : usage: layeredControl [-plan file][-abort file] : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify