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 2017_WallTest_1v3Ed.cfg.pp -abort abortSimPlan.cfg Supervisor::createTask() - layeredControlServer -plan 2017_WallTest_1v3Ed.cfg.pp -abort abortSimPlan.cfg Supervisor::createTask() - dynamicControlServer : Creating NavigationServer... : *** NavigationServer::NavigationServer()... Supervisor::crea: 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: 0x23204 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... teTask() - simulator : layeredControlServer - creating non dynamic version Supervisor::createTask() - simDepthSensor : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 1 : Navigation - Using only the Dvl to compute altitude. : **** FastTime ctor [0007d140] **** : ****Time::gettime using FastTime instance [0007d140] : Navigation/EchoSounder:: epoch = (1489085565,381391135) : Navigation: Opening Acoustic Modem Interface: : Supervisor: configDirPath = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging Supervisor::createTask() - simKearfott : Create simulator... Supervisor::createTask() - simAhrs : **** FastTime ctor [0007b608] **** : ****Time::gettime using FastTime instance [0007b608] : Create VehicleConfigurationIF... : Okay... : Create attributes... : Simulator::Simulator() - msSimDelay = 0 : **** FastTime ctor [000a30b8] **** : ****Time::gettime using FastTime instance [000a30b8] : Simulator:: initPsi = 0.000000 Superv: Done creating attributes. Parse 'em... iso: SimulatedDepthSensor - connecting... r::crea: SimulatedDepthSensor - connected OK teTask() - simTailCone : SimulatedKearfott:: Constructor. Supervis: SimulatedKearfott::Setting utm zone to 10 or::cr: Running SimulatedKearfott now eateTask() - simGps Supervisor::createTask() - simDvl Superv: Simulator:: initPsi = 225.000000 isor::: Simulator:: zMax = 210.000000 createTask: The utm zone is 10 () - sim: Simulator: The lat/long in workSite.cfg is 0.642245, -2.12882 DvlSid: Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.07295e+006, 591684 e : 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 Supervisor::createTask() - simDeltaT Supervisor::createTask() - simCtd: Running SimDvl now Supervisor::createTask() - si: Running SimDvlSide now mBluefinBatt Supervisor::creat: **** FastTime ctor [0002d5f4] **** eTask(): ****Time::gettime using FastTime instance [0002d5f4] - si: SimulatedDeltaT::Constructor starting at t = 0 mHydro: SimulatedDeltaT::minGrazing = 0.00 deg. scat Supervisor::createTask() - simIsus Supervisor::createTask() - simGulper Supervisor::createTask() - simReson Supervisor::createTask() - simModem : Begin simGulper. Supervisor::: Begin SimulatedGulperServer constructor. createTask() - simUsbl Superviso: gulperLog:: Constructor completed. r::cr: End SimulatedGulperServer constructor. eateTask() - simTerrainAid Supervisor::createTask() - simCathx Superv: SimulatedUsbl:: Initial beacon interrogation address is V7_7 isor::createTask() - simCarl : 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 : 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. Supervisor::createTask: TerrainAidServer::TerrainAidServer - sim () - cameraSe: cathxServer - initializing... : cathxServer - running... rver -dev tcp:172.20.64.214:10002 -sim : Configuration file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/terrainAid.cfg Supervisor::createTask() - simEchoSounder Supervisor::createTask() - sysDataDriver -f5 : CameraDriver:: Before navigation IF. : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : 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. : 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 : **** FastTime ctor [0003bfd8] **** : ****Time::gettime using FastTime instance [0003bfd8] : SimulatedEchoSounder::Constructor starting at t = 0 : SimulatedEchoSounder::minGrazing = 0.00 deg. : TerrainAid -- configuration: : mapFileName = TheWall_2m.bo : map_type = 2 : particlesName = particles900v1.cfg : vehicleCfgName = mappingAUV_specsSide20.cfg : 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()... : terrainNavServer = 134.89.10.239:27027 : SimulatedDeltaT:: _verticalMount = 0, _fwdEnabled = 1 : forceLowGradeFilter = false : SimulatedDeltaT:: _tbeams = 210, _nbeams = 120 : 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 : SimulatedEchoSounder - sector = 30. : SimulatedEchoSounder:: epoch = (1489085565,381391135) : 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... : TerrainAidDriver - logs/latest is 2017.068.06-TRN/ : SimulatedDeltaT:: epoch = (1489085565,381391135) : SimulatedDeltaT::Constructor finished at t = 0 : sysDataDriver: Frequency is 5 : sysDataDriver - frequency = 5 : PeriodicTask::run() (sysdata) - sampleInterval=200, maxInterval=200 : **** FastTime ctor [00021458] **** : ****Time::gettime using FastTime instance [00021458] : **** FastTime ctor [000201dc] **** : ****Time::gettime using FastTime instance [000201dc] : **** FastTime ctor [0003b1f4] **** : ****Time::gettime using FastTime instance [0003b1f4] : **** FastTime ctor [000313b8] **** : ****Time::gettime using FastTime instance [000313b8] : **** FastTime ctor [0004ad20] **** : ****Time::gettime using FastTime instance [0004ad20] : 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 [0003af7c] **** : ****Time::gettime using FastTime instance [0003af7c] : **** 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 : TerrainAidDriver::Connected to server. : TerrainAidDriver::TerrainAidDriver - ctor complete : Running simTerrainAid now : **** FastTime ctor [0002a7b0] **** : ****Time::gettime using FastTime instance [0002a7b0] : 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 : 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: 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 : 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 : 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: 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 : 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: 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 : 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 = 8.800000) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.800000) Behavior setpoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 1 at t = 8.80 sec. : DynamicControlServer::Begin vertical mode 1 at t = 8.80 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.69, 591683.53) : _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) = (4072945.37, 591683.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072944.55, 591682.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072943.21, 591681.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072941.35, 591679.59) : _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] = 19.37, IDT[75] = 0.00 : _navData-> (x,y) = (4072938.98, 591678.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 19.37, IDT[75] = 0.00 : _navData-> (x,y) = (4072936.18, 591676.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 7.10, IDT[75] = 0.00 : _navData-> (x,y) = (4072933.03, 591676.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 7.10, IDT[75] = 0.00 : _navData-> (x,y) = (4072929.65, 591675.87) : _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] = 8.14, IDT[75] = 0.00 : _navData-> (x,y) = (4072926.11, 591675.84) : _tercom->outstandingMeas() = 0 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 39.000000) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 39.000000) Behavior descend:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 8.14, IDT[75] = 0.00 : _navData-> (x,y) = (4072922.45, 591676.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 12.59, IDT[75] = 0.00 : _navData-> (x,y) = (4072918.71, 591676.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 12.59, IDT[75] = 0.00 : _navData-> (x,y) = (4072915.12, 591676.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 118.0 Dvl range = 8.9, range = 20.5 numValidBeams = 2 beam1 range = 15.6, 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 = 4.9, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 22.06, IDT[75] = 0.00 : _navData-> (x,y) = (4072911.83, 591676.80) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on depth 3.018810 > 3.000000 at time 50.000000 : LayeredControl::execute() -- (t = 50.000000) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 50.000000) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 50.00 (wplog) The current location (N,E) = 4072909.8 , 591677.0 (wplog) The next waypoint = 4073031.6 , 591706.5 (wplog) The bearing to the next w.p. is 13.6 Degrees. : LayeredControl::execute() -- (t = 50.000000) Behavior waypoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 3 at t = 50.00 sec. : DynamicControlServer::Begin vertical mode 2 at t = 50.00 sec. : TerrainAidDriver::readData() - IDT[45] = 22.06, IDT[75] = 0.00 : _navData-> (x,y) = (4072908.84, 591677.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 37.38, IDT[75] = 0.00 : _navData-> (x,y) = (4072906.06, 591677.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 37.38, IDT[75] = 0.00 : _navData-> (x,y) = (4072903.27, 591677.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 120.0 Dvl range = 24.5, range = 56.7 numValidBeams = 2 beam1 range = 36.4, 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 = 20.3, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 77.50, IDT[75] = 0.00 : _navData-> (x,y) = (4072900.45, 591678.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 77.50, IDT[75] = 0.00 : _navData-> (x,y) = (4072897.78, 591680.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 81.98, IDT[75] = 0.00 : _navData-> (x,y) = (4072895.47, 591681.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 81.98, IDT[75] = 0.00 : _navData-> (x,y) = (4072893.72, 591684.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 120.0 Dvl range = 45.5, range = 105.2 numValidBeams = 2 beam1 range = 79.9, 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 = 25.3, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 69.01, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.61, 591686.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 69.01, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.14, 591689.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 71.60, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.22, 591691.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 71.60, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.77, 591693.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 120.0 Dvl range = 91.5, range = 211.4 numValidBeams = 2 beam1 range = 176.4, 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 = 35.0, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 80.75, IDT[75] = 0.00 : _navData-> (x,y) = (4072893.69, 591695.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 80.75, IDT[75] = 0.00 : _navData-> (x,y) = (4072894.91, 591696.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 91.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072896.35, 591697.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 91.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072897.97, 591698.60) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 118.0 Dvl range = 104.6, range = 241.6 numValidBeams = 2 beam1 range = 197.7, 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 = 43.9, iterations = 0, grazing = 0.0 bottomStatus = 3c : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072899.69, 591699.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072901.47, 591699.36) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 100.00, (simTime - realTime) = 0.00 Heading = -11.67 Depth = 17.31 Speed = 0.61 Pitch = -35.27 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072903.25, 591699.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072904.98, 591698.87) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 116.0 Dvl range = 44.7, range = 51.7 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 = 51.7, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072906.62, 591698.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072908.14, 591697.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072909.55, 591696.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072910.86, 591694.87) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 116.0 Dvl range = 50.5, range = 58.3 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 = 58.3, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072912.12, 591693.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072913.38, 591692.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072914.68, 591691.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072916.05, 591690.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 116.0 Dvl range = 57.0, range = 65.9 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 = 65.9, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072917.49, 591689.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072919.02, 591688.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072920.62, 591687.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072922.26, 591687.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 114.0 Dvl range = 64.1, range = 74.0 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 = 74.0, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072923.95, 591686.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072925.65, 591686.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072927.38, 591686.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072929.10, 591686.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 114.0 Dvl range = 70.9, range = 81.9 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 = 81.9, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072930.83, 591686.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072932.56, 591686.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072934.29, 591686.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072936.01, 591686.39) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 112.0 Dvl range = 78.3, range = 90.4 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 = 90.4, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072937.73, 591686.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072939.46, 591686.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072941.18, 591686.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072942.90, 591686.30) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 112.0 Dvl range = 85.6, range = 98.9 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 = 98.9, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072944.62, 591686.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072946.34, 591686.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072948.06, 591686.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072949.78, 591686.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 92.8, range = 107.1 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 = 107.1, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072951.49, 591686.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072953.21, 591686.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072954.91, 591686.58) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 200.00, (simTime - realTime) = 0.00 Heading = 9.21 Depth = 41.98 Speed = 0.60 Pitch = -39.71 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072956.62, 591686.80) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 100.0, range = 115.5 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 = 115.5, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072958.32, 591687.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072960.01, 591687.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072961.69, 591687.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072963.36, 591688.09) : _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 = 193.2, iterations = 0, grazing = 0.0 beam4 range = 123.9, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072965.03, 591688.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072966.70, 591688.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072968.36, 591689.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072970.04, 591689.96) : _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 = 183.8, iterations = 0, grazing = 0.0 beam4 range = 132.9, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072971.73, 591690.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072973.44, 591691.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072975.18, 591691.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072976.95, 591692.35) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 137.7, range = 318.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 175.1, iterations = 0, grazing = 0.0 beam4 range = 142.9, iterations = 0, grazing = 0.0 bottomStatus = f : SimulatedDeltaT: Surface lost at simtime = 240.00. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072978.76, 591693.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072980.62, 591693.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072982.53, 591694.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072984.51, 591695.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 139.4, range = 322.0 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 = 154.5, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072986.55, 591695.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072988.68, 591696.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072990.90, 591697.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072993.22, 591698.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 106.0 Dvl range = 144.2, range = 332.9 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 = 169.8, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072995.66, 591698.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072998.22, 591699.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073000.91, 591700.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073003.75, 591700.79) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 106.0 Dvl range = 155.1, range = 358.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 166.9, iterations = 0, grazing = 0.0 beam4 range = 191.3, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073006.75, 591701.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073009.90, 591702.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073013.21, 591702.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073016.69, 591703.49) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 151.9, range = 175.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 175.4, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073020.32, 591704.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073024.09, 591704.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073028.00, 591705.65) : _tercom->outstandingMeas() = 0 : Waypoint has set the state to finished. : Waypoint (4073031.6, 591706.5), reached at t = 296.80 (wplog) : Vehicle Position is error is (-0.2, 0.1) : LayeredControl::execute() -- (t = 296.800000) 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 = 296.800000) 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 = 296.800000) Behavior reson:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 296.800000) 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 = 296.800000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 296.80 (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 175.8 Degrees. The distance to the next w.p. is 1039.9 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 = 296.800000) Behavior waypoint_depth:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 4 at t = 296.80 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073032.04, 591706.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 169.9, range = 196.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 196.2, 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) = (4073036.16, 591707.30) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 300.00, (simTime - realTime) = 0.00 Heading = 16.04 Depth = 61.01 Speed = 1.41 Pitch = 0.29 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073040.18, 591708.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073043.75, 591710.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073046.56, 591713.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 171.2, range = 197.6 numValidBeams = 1 beam1 range = 197.6, 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) = (4073048.38, 591717.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073049.06, 591721.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073048.57, 591725.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073046.93, 591729.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 165.5, range = 191.1 numValidBeams = 1 beam1 range = 191.1, 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) = (4073044.30, 591732.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073040.91, 591734.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073037.07, 591735.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073033.14, 591735.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 158.8, 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 = 0.0, iterations = 0, grazing = 0.0 beam4 range = 183.4, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073029.45, 591734.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073026.27, 591732.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073023.76, 591729.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073021.77, 591726.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 104.0 Dvl range = 148.7, range = 171.7 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 = 171.7, iterations = 0, grazing = 0.0 bottomStatus = 3f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073019.96, 591723.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073018.06, 591720.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073015.88, 591718.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073013.38, 591715.89) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 106.0 Dvl range = 161.3, range = 372.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 187.7, iterations = 0, grazing = 0.0 beam4 range = 184.8, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073010.56, 591713.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073007.50, 591712.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073004.25, 591711.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4073000.88, 591710.37) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 106.0 Dvl range = 151.1, range = 348.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 157.6, iterations = 0, grazing = 0.0 beam4 range = 191.3, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072997.45, 591709.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072993.99, 591709.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072990.51, 591709.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072987.04, 591708.94) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 147.6, range = 340.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 144.7, iterations = 0, grazing = 0.0 beam4 range = 196.2, iterations = 0, grazing = 0.0 bottomStatus = f : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072983.58, 591708.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072980.13, 591708.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072976.70, 591708.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072973.30, 591709.16) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 108.0 Dvl range = 114.1, range = 131.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 131.7, 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) = (4072969.91, 591709.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072966.54, 591709.70) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 400.00, (simTime - realTime) = 0.00 Heading = 173.63 Depth = 69.41 Speed = 1.16 Pitch = -20.39 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072963.18, 591710.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072959.85, 591710.44) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 106.1, range = 122.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 122.5, 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) = (4072956.52, 591710.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072953.20, 591711.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072949.89, 591711.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072946.58, 591712.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 110.0 Dvl range = 105.2, range = 121.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 121.5, 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) = (4072943.27, 591712.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072939.96, 591713.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072936.65, 591713.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072933.33, 591713.84) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 112.0 Dvl range = 135.9, range = 313.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 197.0, iterations = 0, grazing = 0.0 beam3 range = 116.9, 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) = (4072930.01, 591714.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072926.68, 591714.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072923.35, 591714.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072920.01, 591715.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 116.0 Dvl range = 125.2, range = 289.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 176.0, iterations = 0, grazing = 0.0 beam3 range = 113.1, 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) = (4072916.66, 591715.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072913.29, 591715.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072909.88, 591715.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072906.43, 591715.86) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 118.0 Dvl range = 112.1, range = 258.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 149.6, iterations = 0, grazing = 0.0 beam3 range = 109.2, 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) = (4072902.95, 591716.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072899.43, 591716.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072895.89, 591716.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.32, 591716.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 122.0 Dvl range = 110.0, range = 254.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 143.9, iterations = 0, grazing = 0.0 beam3 range = 110.2, 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) = (4072888.75, 591716.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072885.16, 591716.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072881.57, 591717.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072877.98, 591717.41) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 122.0 Dvl range = 106.5, range = 246.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 138.7, 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) = (4072874.37, 591717.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072870.76, 591717.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072867.16, 591718.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072863.57, 591718.43) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 128.0 Dvl range = 105.4, range = 243.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 141.0, iterations = 0, grazing = 0.0 beam3 range = 102.5, 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) = (4072860.01, 591718.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072856.45, 591718.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072852.91, 591719.26) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 500.00, (simTime - realTime) = 0.00 Heading = 175.43 Depth = 95.40 Speed = 1.20 Pitch = -18.19 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072849.38, 591719.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 132.0 Dvl range = 104.5, range = 241.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 136.6, iterations = 0, grazing = 0.0 beam3 range = 104.7, 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) = (4072845.87, 591719.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072842.37, 591720.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072838.88, 591720.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072835.42, 591720.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 136.0 Dvl range = 101.5, range = 234.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 132.6, iterations = 0, grazing = 0.0 beam3 range = 101.8, 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) = (4072831.97, 591720.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072828.54, 591721.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072825.12, 591721.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072821.71, 591721.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 138.0 Dvl range = 98.2, range = 226.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 126.1, 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) = (4072818.31, 591721.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072814.93, 591722.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072811.57, 591722.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072808.23, 591722.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 142.0 Dvl range = 100.9, range = 233.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 131.2, 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) = (4072804.90, 591722.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072801.57, 591723.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072798.23, 591723.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072794.88, 591723.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 146.0 Dvl range = 96.7, range = 223.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 118.9, iterations = 0, grazing = 0.0 beam3 range = 104.5, 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) = (4072791.54, 591723.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072788.19, 591724.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072784.87, 591724.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072781.55, 591724.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 148.0 Dvl range = 99.9, range = 230.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 125.1, iterations = 0, grazing = 0.0 beam3 range = 105.7, 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) = (4072778.24, 591724.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072774.93, 591725.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072771.64, 591725.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072768.36, 591725.49) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 152.0 Dvl range = 99.7, range = 230.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 123.7, iterations = 0, grazing = 0.0 beam3 range = 106.5, 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) = (4072765.09, 591725.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072761.83, 591725.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072758.59, 591726.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072755.36, 591726.43) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 154.0 Dvl range = 99.1, range = 228.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 121.0, iterations = 0, grazing = 0.0 beam3 range = 107.8, 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) = (4072752.13, 591726.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072748.90, 591726.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072745.66, 591727.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072742.43, 591727.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 158.0 Dvl range = 100.0, range = 231.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 121.5, iterations = 0, grazing = 0.0 beam3 range = 109.5, 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) = (4072739.19, 591727.61) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 600.00, (simTime - realTime) = 0.00 Heading = 175.79 Depth = 124.42 Speed = 1.11 Pitch = -21.46 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072735.96, 591727.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072732.72, 591728.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072729.47, 591728.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 160.0 Dvl range = 100.7, range = 232.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 120.5, 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) = (4072726.20, 591728.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072722.93, 591728.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072719.64, 591729.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072716.33, 591729.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 164.0 Dvl range = 102.2, range = 236.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 120.7, iterations = 0, grazing = 0.0 beam3 range = 115.3, 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) = (4072713.01, 591729.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072709.68, 591729.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072706.33, 591730.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072702.96, 591730.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 168.0 Dvl range = 105.2, range = 242.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 124.2, iterations = 0, grazing = 0.0 beam3 range = 118.7, 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) = (4072699.59, 591730.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072696.21, 591730.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072692.81, 591731.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072689.41, 591731.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 170.0 Dvl range = 107.2, range = 247.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 129.7, iterations = 0, grazing = 0.0 beam3 range = 117.9, 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) = (4072686.00, 591731.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072682.59, 591731.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072679.17, 591731.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072675.74, 591732.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 176.0 Dvl range = 108.8, range = 251.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 133.5, iterations = 0, grazing = 0.0 beam3 range = 117.7, 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) = (4072672.32, 591732.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072668.89, 591732.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072665.46, 591732.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072662.02, 591733.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 180.0 Dvl range = 109.8, range = 253.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 133.0, iterations = 0, grazing = 0.0 beam3 range = 120.5, 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) = (4072658.59, 591733.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072655.16, 591733.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072651.72, 591733.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072648.29, 591734.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 182.0 Dvl range = 112.4, range = 259.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 136.3, iterations = 0, grazing = 0.0 beam3 range = 123.2, 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) = (4072644.85, 591734.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072641.42, 591734.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072637.98, 591734.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072634.55, 591735.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 186.0 Dvl range = 114.9, range = 265.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 139.4, iterations = 0, grazing = 0.0 beam3 range = 125.9, 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) = (4072631.11, 591735.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072627.68, 591735.71) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 700.00, (simTime - realTime) = 0.00 Heading = 175.83 Depth = 151.43 Speed = 1.17 Pitch = -18.92 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072624.25, 591735.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072620.81, 591736.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 190.0 Dvl range = 118.7, range = 274.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 145.6, iterations = 0, grazing = 0.0 beam3 range = 128.6, 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) = (4072617.38, 591736.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072613.95, 591736.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072610.51, 591736.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072607.08, 591737.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 194.0 Dvl range = 120.0, range = 277.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 145.9, iterations = 0, grazing = 0.0 beam3 range = 131.2, 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) = (4072603.65, 591737.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072600.22, 591737.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072596.79, 591737.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072593.36, 591738.21) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 198.0 Dvl range = 121.7, range = 281.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 147.2, iterations = 0, grazing = 0.0 beam3 range = 133.9, 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) = (4072589.93, 591738.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072586.50, 591738.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072583.07, 591738.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072579.64, 591739.20) : _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 = 149.8, iterations = 0, grazing = 0.0 beam3 range = 136.6, 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) = (4072576.21, 591739.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072572.78, 591739.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072569.36, 591739.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072565.93, 591740.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 204.0 Dvl range = 124.1, range = 286.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 154.3, iterations = 0, grazing = 0.0 beam3 range = 132.2, 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) = (4072562.50, 591740.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072559.07, 591740.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072555.64, 591740.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072552.22, 591741.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 208.0 Dvl range = 130.9, range = 302.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 160.3, iterations = 0, grazing = 0.0 beam3 range = 141.9, 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) = (4072548.79, 591741.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072545.36, 591741.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072541.94, 591741.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072538.51, 591742.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 212.0 Dvl range = 132.9, range = 307.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 162.4, iterations = 0, grazing = 0.0 beam3 range = 144.6, 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) = (4072535.08, 591742.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072531.66, 591742.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072528.23, 591742.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072524.80, 591743.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 216.0 Dvl range = 132.0, range = 304.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 157.5, iterations = 0, grazing = 0.0 beam3 range = 147.2, 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) = (4072521.38, 591743.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072517.95, 591743.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072514.52, 591743.93) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 800.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 178.39 Speed = 1.17 Pitch = -19.02 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072511.10, 591744.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 220.0 Dvl range = 132.3, range = 305.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 162.6, iterations = 0, grazing = 0.0 beam3 range = 142.9, 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) = (4072507.67, 591744.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072504.25, 591744.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072500.82, 591744.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072497.40, 591745.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 222.0 Dvl range = 139.1, range = 321.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 168.6, iterations = 0, grazing = 0.0 beam3 range = 152.6, 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) = (4072493.97, 591745.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072490.54, 591745.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072487.12, 591745.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072483.69, 591746.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 224.0 Dvl range = 138.4, range = 319.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 171.4, iterations = 0, grazing = 0.0 beam3 range = 148.2, 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) = (4072480.27, 591746.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072476.84, 591746.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072473.42, 591746.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072469.99, 591747.16) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 228.0 Dvl range = 139.2, range = 321.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 170.6, iterations = 0, grazing = 0.0 beam3 range = 150.9, 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) = (4072466.57, 591747.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072463.14, 591747.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072459.72, 591747.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072456.29, 591748.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 230.0 Dvl range = 142.5, range = 329.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 175.5, iterations = 0, grazing = 0.0 beam3 range = 153.6, 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) = (4072452.87, 591748.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072449.44, 591748.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072446.02, 591748.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072442.59, 591749.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 234.0 Dvl range = 144.2, range = 333.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 176.8, iterations = 0, grazing = 0.0 beam3 range = 156.2, 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) = (4072439.17, 591749.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072435.74, 591749.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072432.32, 591749.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072428.89, 591750.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 236.0 Dvl range = 147.9, range = 341.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 182.8, 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) = (4072425.47, 591750.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072422.04, 591750.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072418.62, 591750.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072415.20, 591751.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 240.0 Dvl range = 149.2, range = 344.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 183.1, 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) = (4072411.77, 591751.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072408.35, 591751.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072404.92, 591751.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072401.50, 591752.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 244.0 Dvl range = 143.1, range = 330.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.3, 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) = (4072398.07, 591752.38) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 900.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 205.38 Speed = 1.17 Pitch = -19.03 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072394.65, 591752.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072391.22, 591752.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072387.80, 591753.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 248.0 Dvl range = 149.3, range = 344.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.0, iterations = 0, grazing = 0.0 beam3 range = 159.9, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072384.37, 591753.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072380.95, 591753.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072377.52, 591753.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072374.10, 591754.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 250.0 Dvl range = 146.3, range = 337.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 175.3, iterations = 0, grazing = 0.0 beam3 range = 162.5, 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) = (4072370.68, 591754.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072367.25, 591754.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072363.83, 591754.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072360.40, 591755.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 254.0 Dvl range = 150.0, range = 346.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 181.3, iterations = 0, grazing = 0.0 beam3 range = 165.2, 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) = (4072356.98, 591755.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072353.55, 591755.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072350.13, 591755.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072346.70, 591756.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 258.0 Dvl range = 154.3, range = 356.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.6, 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) = (4072343.28, 591756.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072339.86, 591756.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072336.43, 591756.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072333.01, 591757.10) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 262.0 Dvl range = 148.2, range = 342.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 178.8, iterations = 0, grazing = 0.0 beam3 range = 163.5, 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) = (4072329.58, 591757.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072326.16, 591757.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072322.73, 591757.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072319.31, 591758.10) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 266.0 Dvl range = 156.4, range = 361.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 195.1, iterations = 0, grazing = 0.0 beam3 range = 166.2, 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) = (4072315.89, 591758.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072312.46, 591758.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072309.04, 591758.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072305.61, 591759.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 268.0 Dvl range = 140.1, range = 161.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 161.8, 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) = (4072302.19, 591759.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072298.76, 591759.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072295.34, 591759.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072291.91, 591760.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 272.0 Dvl range = 142.4, range = 164.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 164.5, 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) = (4072288.49, 591760.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072285.07, 591760.58) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1000.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 232.39 Speed = 1.17 Pitch = -19.03 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072281.64, 591760.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072278.22, 591761.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 276.0 Dvl range = 150.9, range = 348.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.3, 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) = (4072274.79, 591761.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072271.37, 591761.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072267.94, 591761.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072264.52, 591762.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 280.0 Dvl range = 141.0, range = 162.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 162.8, 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) = (4072261.10, 591762.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072257.67, 591762.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072254.25, 591762.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072250.82, 591763.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 284.0 Dvl range = 143.3, range = 165.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 165.5, 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) = (4072247.40, 591763.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072243.97, 591763.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072240.55, 591763.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072237.13, 591764.06) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 286.0 Dvl range = 139.5, range = 161.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 161.1, 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) = (4072233.70, 591764.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072230.28, 591764.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072226.85, 591764.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072223.43, 591765.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 290.0 Dvl range = 154.9, range = 357.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 193.8, iterations = 0, grazing = 0.0 beam3 range = 163.8, 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) = (4072220.00, 591765.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072216.58, 591765.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072213.16, 591765.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072209.73, 591766.05) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 294.0 Dvl range = 138.1, range = 159.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 159.4, 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) = (4072206.31, 591766.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072202.88, 591766.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072199.46, 591766.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072196.03, 591767.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 298.0 Dvl range = 153.4, range = 354.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 192.2, 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) = (4072192.61, 591767.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072189.18, 591767.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072185.76, 591767.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072182.34, 591768.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 302.0 Dvl range = 153.5, range = 354.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 196.8, iterations = 0, grazing = 0.0 beam3 range = 157.7, 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) = (4072178.91, 591768.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072175.49, 591768.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072172.06, 591768.78) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1100.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 259.39 Speed = 1.17 Pitch = -19.03 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072168.64, 591769.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 304.0 Dvl range = 138.9, range = 160.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 160.4, 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) = (4072165.21, 591769.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072161.79, 591769.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072158.37, 591769.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072154.94, 591770.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 308.0 Dvl range = 150.2, range = 346.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 190.8, iterations = 0, grazing = 0.0 beam3 range = 156.1, 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) = (4072151.52, 591770.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072148.09, 591770.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072144.67, 591770.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072141.24, 591771.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 312.0 Dvl range = 148.7, range = 343.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.6, 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) = (4072137.82, 591771.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072134.40, 591771.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072130.97, 591771.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072127.55, 591772.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 314.0 Dvl range = 142.0, range = 327.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.5, iterations = 0, grazing = 0.0 beam3 range = 154.4, 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) = (4072124.12, 591772.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072120.70, 591772.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072117.27, 591772.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072113.85, 591773.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 318.0 Dvl range = 142.4, range = 328.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 178.9, 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) = (4072110.43, 591773.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072107.00, 591773.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072103.58, 591773.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072100.15, 591774.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 322.0 Dvl range = 143.8, range = 332.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.4, 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) = (4072096.73, 591774.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072093.30, 591774.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072089.88, 591774.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072086.46, 591775.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 326.0 Dvl range = 144.5, range = 333.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.4, iterations = 0, grazing = 0.0 beam3 range = 148.4, 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) = (4072083.03, 591775.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072079.61, 591775.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072076.18, 591775.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072072.76, 591775.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 328.0 Dvl range = 141.4, range = 326.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 182.2, 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) = (4072069.33, 591776.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072065.91, 591776.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072062.49, 591776.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072059.06, 591776.98) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 332.0 Dvl range = 144.4, range = 333.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.9, 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) = (4072055.64, 591777.23) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1200.00, (simTime - realTime) = 0.00 Heading = 175.84 Depth = 286.39 Speed = 1.17 Pitch = -19.03 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072052.21, 591777.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072048.79, 591777.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072045.36, 591777.98) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 336.0 Dvl range = 144.3, range = 333.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 190.9, 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) = (4072041.94, 591778.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072038.52, 591778.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072035.09, 591778.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072031.67, 591778.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 338.0 Dvl range = 142.1, range = 328.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 183.1, 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) = (4072028.24, 591779.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072024.82, 591779.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072021.39, 591779.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072017.97, 591779.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 342.0 Dvl range = 137.9, range = 318.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 177.9, iterations = 0, grazing = 0.0 beam3 range = 140.6, 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) = (4072014.55, 591780.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072011.12, 591780.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072007.70, 591780.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072004.27, 591780.96) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 344.0 Dvl range = 139.7, range = 322.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 179.4, iterations = 0, grazing = 0.0 beam3 range = 143.3, 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) = (4072000.85, 591781.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071997.42, 591781.46) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4071994.6, 591781.7), reached at t = 1253.60 (wplog) : Vehicle Position error is (0.1, 0.0) : LayeredControl::execute() -- (t = 1253.600000) 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 = 1253.600000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 1253.60 (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 1860.0 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 = 1253.600000) Behavior waypoint_depth:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071994.00, 591781.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071990.58, 591781.96) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 348.0 Dvl range = 141.8, range = 163.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 163.8, 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) = (4071987.21, 591781.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071983.96, 591781.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071980.98, 591780.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071978.29, 591778.17) : _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) = (4071975.81, 591776.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071973.46, 591773.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071971.16, 591771.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071968.89, 591768.89) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 354.0 Dvl range = 172.3, 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) = (4071966.59, 591766.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071964.25, 591764.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071961.84, 591761.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071959.35, 591759.63) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 358.0 Dvl range = 162.4, range = 187.5 numValidBeams = 1 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 = 0.0, iterations = 0, grazing = 0.0 bottomStatus = cf : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071956.78, 591757.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071954.12, 591755.49) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1300.00, (simTime - realTime) = 0.00 Heading = 214.10 Depth = 312.81 Speed = 1.14 Pitch = -19.82 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071951.39, 591753.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071948.58, 591751.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 362.0 Dvl range = 149.8, range = 173.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 173.0, 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) = (4071945.70, 591750.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071942.78, 591748.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071939.81, 591746.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071936.80, 591745.37) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 366.0 Dvl range = 157.3, range = 363.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 196.8, iterations = 0, grazing = 0.0 beam3 range = 166.5, 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) = (4071933.78, 591743.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071930.74, 591742.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071927.69, 591741.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071924.65, 591739.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 370.0 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) = (4071921.62, 591738.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071918.59, 591736.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071915.59, 591735.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071912.60, 591733.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 372.0 Dvl range = 148.4, range = 171.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 171.3, 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) = (4071909.64, 591732.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071906.70, 591730.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071903.78, 591728.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071900.88, 591727.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 376.0 Dvl range = 150.4, range = 173.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 173.7, 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) = (4071898.01, 591725.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071895.14, 591723.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071892.30, 591721.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071889.46, 591720.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 380.0 Dvl range = 162.5, range = 375.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 199.4, iterations = 0, grazing = 0.0 beam3 range = 176.0, 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) = (4071886.63, 591718.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071883.80, 591716.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071880.97, 591714.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071878.13, 591712.77) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 382.0 Dvl range = 157.4, range = 363.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 192.3, 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) = (4071875.29, 591710.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071872.44, 591709.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071869.58, 591707.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071866.71, 591705.60) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 386.0 Dvl range = 156.9, range = 362.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 190.3, iterations = 0, grazing = 0.0 beam3 range = 172.1, 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) = (4071863.83, 591703.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071860.95, 591702.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071858.05, 591700.38) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1400.00, (simTime - realTime) = 0.00 Heading = 210.34 Depth = 340.62 Speed = 1.15 Pitch = -19.83 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071855.14, 591698.67) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 390.0 Dvl range = 153.8, range = 355.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.4, iterations = 0, grazing = 0.0 beam3 range = 168.9, 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) = (4071852.23, 591696.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071849.32, 591695.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071846.40, 591693.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071843.47, 591691.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 394.0 Dvl range = 152.6, range = 352.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.2, iterations = 0, grazing = 0.0 beam3 range = 164.2, 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) = (4071840.55, 591690.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071837.63, 591688.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071834.70, 591686.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071831.78, 591685.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 396.0 Dvl range = 153.5, range = 354.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.0, iterations = 0, grazing = 0.0 beam3 range = 166.5, 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) = (4071828.87, 591683.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071825.95, 591681.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071823.04, 591680.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071820.13, 591678.39) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 398.0 Dvl range = 151.1, range = 348.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.1, iterations = 0, grazing = 0.0 beam3 range = 161.9, 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) = (4071817.23, 591676.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071814.32, 591674.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071811.43, 591673.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071808.53, 591671.51) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 402.0 Dvl range = 149.4, range = 345.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.8, 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) = (4071805.63, 591669.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071802.74, 591668.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071799.85, 591666.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071796.95, 591664.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 404.0 Dvl range = 147.4, range = 340.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.2, iterations = 0, grazing = 0.0 beam3 range = 153.2, 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) = (4071794.06, 591662.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071791.17, 591661.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071788.28, 591659.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071785.38, 591657.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 406.0 Dvl range = 145.3, range = 335.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 186.0, 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) = (4071782.49, 591655.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071779.59, 591654.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071776.69, 591652.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071773.79, 591650.73) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 410.0 Dvl range = 146.2, range = 337.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 187.5, 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) = (4071770.89, 591649.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071767.99, 591647.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071765.08, 591645.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071762.18, 591643.85) : _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 = 187.6, iterations = 0, grazing = 0.0 beam3 range = 151.5, 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) = (4071759.28, 591642.13) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1500.00, (simTime - realTime) = 0.00 Heading = 210.56 Depth = 368.47 Speed = 1.15 Pitch = -19.81 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071756.37, 591640.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071753.47, 591638.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071750.56, 591636.98) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 416.0 Dvl range = 142.0, range = 328.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 180.2, 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) = (4071747.66, 591635.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071744.75, 591633.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071741.85, 591631.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071738.94, 591630.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 418.0 Dvl range = 139.0, range = 320.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 170.8, 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) = (4071736.04, 591628.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071733.14, 591626.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071730.23, 591624.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071727.33, 591623.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 422.0 Dvl range = 137.7, range = 318.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.6, 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) = (4071724.43, 591621.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071721.53, 591619.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071718.63, 591618.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071715.73, 591616.35) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 424.0 Dvl range = 136.0, range = 314.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.6, iterations = 0, grazing = 0.0 beam3 range = 148.4, 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) = (4071712.83, 591614.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071709.92, 591612.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071707.02, 591611.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071704.12, 591609.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 428.0 Dvl range = 137.6, range = 317.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.4, iterations = 0, grazing = 0.0 beam3 range = 152.3, 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) = (4071701.22, 591607.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071698.32, 591606.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071695.42, 591604.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071692.52, 591602.56) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 430.0 Dvl range = 140.1, range = 323.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 164.2, 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) = (4071689.62, 591600.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071686.71, 591599.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071683.81, 591597.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071680.91, 591595.67) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 432.0 Dvl range = 141.6, range = 327.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.4, 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) = (4071678.01, 591593.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071675.11, 591592.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071672.20, 591590.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071669.30, 591588.79) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 436.0 Dvl range = 144.9, range = 334.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 170.8, 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) = (4071666.40, 591587.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071663.50, 591585.35) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1600.00, (simTime - realTime) = 0.00 Heading = 210.65 Depth = 396.30 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071660.59, 591583.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071657.69, 591581.91) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 438.0 Dvl range = 148.2, range = 342.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 176.1, iterations = 0, grazing = 0.0 beam3 range = 166.2, 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) = (4071654.79, 591580.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071651.88, 591578.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071648.98, 591576.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071646.08, 591575.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 442.0 Dvl range = 147.3, range = 340.1 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) = (4071643.18, 591573.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071640.28, 591571.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071637.37, 591569.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071634.47, 591568.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 446.0 Dvl range = 151.2, range = 349.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 185.3, iterations = 0, grazing = 0.0 beam3 range = 163.8, 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) = (4071631.57, 591566.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071628.67, 591564.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071625.76, 591562.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071622.86, 591561.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 448.0 Dvl range = 153.2, range = 353.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 190.4, iterations = 0, grazing = 0.0 beam3 range = 163.4, 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) = (4071619.96, 591559.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071617.06, 591557.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071614.16, 591556.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071611.25, 591554.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 452.0 Dvl range = 150.6, range = 347.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 183.0, iterations = 0, grazing = 0.0 beam3 range = 164.6, 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) = (4071608.35, 591552.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071605.45, 591550.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071602.55, 591549.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071599.65, 591547.47) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 454.0 Dvl range = 154.1, range = 356.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 192.2, iterations = 0, grazing = 0.0 beam3 range = 163.7, 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) = (4071596.74, 591545.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071593.84, 591544.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071590.94, 591542.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071588.04, 591540.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 460.0 Dvl range = 155.0, range = 358.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 192.0, iterations = 0, grazing = 0.0 beam3 range = 166.0, 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) = (4071585.13, 591538.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071582.23, 591537.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071579.33, 591535.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071576.43, 591533.70) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 462.0 Dvl range = 157.8, range = 364.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 196.1, 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) = (4071573.53, 591531.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071570.62, 591530.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071567.72, 591528.54) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1700.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 424.13 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071564.82, 591526.82) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 466.0 Dvl range = 159.2, range = 367.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 197.0, iterations = 0, grazing = 0.0 beam3 range = 170.6, 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) = (4071561.92, 591525.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071559.01, 591523.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071556.11, 591521.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071553.21, 591519.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 468.0 Dvl range = 157.9, range = 364.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 191.8, iterations = 0, grazing = 0.0 beam3 range = 172.9, 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) = (4071550.31, 591518.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071547.40, 591516.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071544.50, 591514.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071541.60, 591513.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 472.0 Dvl range = 161.3, range = 372.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 197.2, iterations = 0, grazing = 0.0 beam3 range = 175.2, 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) = (4071538.70, 591511.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071535.80, 591509.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071532.89, 591507.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071529.99, 591506.16) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 476.0 Dvl range = 154.6, range = 178.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 178.5, 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) = (4071527.09, 591504.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071524.19, 591502.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071521.28, 591500.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071518.38, 591499.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 480.0 Dvl range = 158.0, 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) = (4071515.48, 591497.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071512.58, 591495.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071509.68, 591494.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071506.77, 591492.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 484.0 Dvl range = 168.3, range = 388.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 199.6, iterations = 0, grazing = 0.0 beam3 range = 189.1, 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) = (4071503.87, 591490.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071500.97, 591488.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071498.07, 591487.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071495.16, 591485.50) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 488.0 Dvl range = 165.7, range = 191.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 191.4, 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) = (4071492.26, 591483.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071489.36, 591482.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071486.46, 591480.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071483.56, 591478.61) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 490.0 Dvl range = 167.7, range = 193.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 193.7, 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) = (4071480.65, 591476.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071477.75, 591475.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071474.85, 591473.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071471.95, 591471.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 494.0 Dvl range = 171.6, range = 198.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 198.2, 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) = (4071469.04, 591470.00) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1800.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 451.97 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071466.14, 591468.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071463.24, 591466.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071460.34, 591464.84) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 498.0 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) = (4071457.44, 591463.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071454.53, 591461.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071451.63, 591459.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071448.73, 591457.95) : _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) = (4071445.83, 591456.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071442.92, 591454.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071440.02, 591452.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071437.12, 591451.07) : _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) = (4071434.22, 591449.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071431.31, 591447.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071428.41, 591445.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071425.51, 591444.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 508.0 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) = (4071422.61, 591442.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071419.71, 591440.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071416.80, 591439.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071413.90, 591437.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 512.0 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) = (4071411.00, 591435.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071408.10, 591433.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071405.19, 591432.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071402.29, 591430.41) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 516.0 Dvl range = 169.6, range = 195.8 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 195.8, 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) = (4071399.39, 591428.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071396.49, 591426.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071393.59, 591425.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071390.68, 591423.52) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 520.0 Dvl range = 171.9, range = 198.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 198.4, 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) = (4071387.78, 591421.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071384.88, 591420.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071381.98, 591418.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071379.07, 591416.63) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 524.0 Dvl range = 167.5, range = 193.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 193.5, 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) = (4071376.17, 591414.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071373.27, 591413.19) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 1900.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 479.80 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071370.37, 591411.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071367.47, 591409.75) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 528.0 Dvl range = 166.9, range = 192.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 192.7, 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) = (4071364.56, 591408.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071361.66, 591406.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071358.76, 591404.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071355.86, 591402.86) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 532.0 Dvl range = 165.6, range = 191.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 191.2, 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) = (4071352.95, 591401.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071350.05, 591399.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071347.15, 591397.70) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071344.25, 591395.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 534.0 Dvl range = 167.5, range = 193.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 193.4, 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) = (4071341.34, 591394.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071338.44, 591392.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071335.54, 591390.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071332.64, 591389.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 538.0 Dvl range = 163.4, range = 188.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 188.7, 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) = (4071329.74, 591387.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071326.83, 591385.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071323.93, 591383.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071321.03, 591382.20) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 540.0 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) = (4071318.13, 591380.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071315.22, 591378.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071312.32, 591377.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071309.42, 591375.32) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 542.0 Dvl range = 158.0, range = 182.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 182.4, 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) = (4071306.52, 591373.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071303.62, 591371.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071300.71, 591370.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071297.81, 591368.43) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 546.0 Dvl range = 154.3, range = 178.2 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 178.2, 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) = (4071294.91, 591366.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071292.01, 591364.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071289.10, 591363.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071286.20, 591361.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 548.0 Dvl range = 159.3, 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) = (4071283.30, 591359.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071280.40, 591358.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071277.50, 591356.38) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2000.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 507.63 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071274.59, 591354.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 552.0 Dvl range = 152.7, range = 176.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 176.3, 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) = (4071271.69, 591352.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071268.79, 591351.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071265.89, 591349.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071262.98, 591347.77) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 554.0 Dvl range = 150.4, range = 173.7 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 173.7, 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) = (4071260.08, 591346.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071257.18, 591344.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071254.28, 591342.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071251.37, 591340.88) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 558.0 Dvl range = 149.0, range = 172.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 172.1, 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) = (4071248.47, 591339.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071245.57, 591337.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071242.67, 591335.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071239.77, 591334.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 560.0 Dvl range = 147.7, range = 170.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 170.6, 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) = (4071236.86, 591332.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071233.96, 591330.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071231.06, 591328.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071228.16, 591327.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 562.0 Dvl range = 145.2, range = 167.6 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 167.6, 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) = (4071225.25, 591325.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071222.35, 591323.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071219.45, 591321.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071216.55, 591320.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 564.0 Dvl range = 141.1, range = 163.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 163.0, 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) = (4071213.65, 591318.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071210.74, 591316.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071207.84, 591315.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071204.94, 591313.34) : _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) = (4071202.04, 591311.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071199.13, 591309.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071196.23, 591308.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071193.33, 591306.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 570.0 Dvl range = 135.4, range = 156.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 156.3, 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) = (4071190.43, 591304.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071187.52, 591303.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071184.62, 591301.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071181.72, 591299.57) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 574.0 Dvl range = 135.0, range = 155.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 155.9, 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) = (4071178.82, 591297.84) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2100.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 535.47 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071175.92, 591296.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071173.01, 591294.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071170.11, 591292.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 576.0 Dvl range = 131.0, range = 151.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 151.3, 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) = (4071167.21, 591290.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071164.31, 591289.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071161.40, 591287.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071158.50, 591285.79) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 578.0 Dvl range = 145.5, range = 336.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 189.4, 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) = (4071155.60, 591284.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071152.70, 591282.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071149.80, 591280.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071146.89, 591278.91) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 582.0 Dvl range = 147.4, range = 340.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 192.8, 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) = (4071143.99, 591277.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071141.09, 591275.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071138.19, 591273.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071135.28, 591272.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 584.0 Dvl range = 144.7, range = 334.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 189.9, iterations = 0, grazing = 0.0 beam3 range = 144.2, 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) = (4071132.38, 591270.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071129.48, 591268.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071126.58, 591266.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071123.68, 591265.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 586.0 Dvl range = 142.0, range = 328.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 188.4, iterations = 0, grazing = 0.0 beam3 range = 139.6, 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) = (4071120.77, 591263.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071117.87, 591261.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071114.97, 591259.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071112.07, 591258.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 588.0 Dvl range = 139.4, range = 322.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 184.4, 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) = (4071109.16, 591256.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071106.26, 591254.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071103.36, 591253.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071100.46, 591251.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 592.0 Dvl range = 135.7, range = 313.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 180.0, 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) = (4071097.55, 591249.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071094.65, 591247.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071091.74, 591246.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071088.83, 591244.47) : _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 = 176.9, 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) = (4071085.92, 591242.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071082.99, 591241.00) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2200.00, (simTime - realTime) = 0.00 Heading = 210.67 Depth = 563.20 Speed = 1.16 Pitch = -18.52 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071080.05, 591239.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071077.08, 591237.49) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 596.0 Dvl range = 130.3, range = 300.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 169.3, iterations = 0, grazing = 0.0 beam3 range = 131.5, 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) = (4071074.10, 591235.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071071.11, 591233.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071068.08, 591232.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071065.03, 591230.35) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 600.0 Dvl range = 129.8, range = 299.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 165.7, iterations = 0, grazing = 0.0 beam3 range = 134.0, 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) = (4071061.95, 591228.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071058.85, 591226.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071055.74, 591224.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071052.62, 591223.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 602.0 Dvl range = 129.2, range = 298.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 162.8, iterations = 0, grazing = 0.0 beam3 range = 135.7, 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) = (4071049.50, 591221.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071046.37, 591219.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071043.24, 591217.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071040.10, 591215.58) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 604.0 Dvl range = 125.7, range = 290.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 157.3, 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) = (4071036.97, 591213.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071033.82, 591211.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071030.67, 591209.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071027.52, 591208.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 608.0 Dvl range = 132.3, range = 305.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 168.2, iterations = 0, grazing = 0.0 beam3 range = 137.3, 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) = (4071024.37, 591206.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071021.23, 591204.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071018.09, 591202.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071014.98, 591200.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 612.0 Dvl range = 129.6, range = 299.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 166.0, iterations = 0, grazing = 0.0 beam3 range = 133.2, 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) = (4071011.87, 591198.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071008.76, 591196.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071005.65, 591195.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4071002.57, 591193.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 616.0 Dvl range = 131.0, range = 302.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 174.2, iterations = 0, grazing = 0.0 beam3 range = 128.4, 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) = (4070999.52, 591191.48) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070996.49, 591189.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070993.49, 591187.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070990.50, 591186.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 620.0 Dvl range = 130.2, range = 300.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 173.0, iterations = 0, grazing = 0.0 beam3 range = 127.8, 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) = (4070987.53, 591184.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070984.58, 591182.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070981.65, 591180.87) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2300.00, (simTime - realTime) = 0.00 Heading = 210.67 Depth = 587.88 Speed = 1.16 Pitch = -20.92 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070978.74, 591179.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 626.0 Dvl range = 129.2, range = 298.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 177.7, iterations = 0, grazing = 0.0 beam3 range = 120.7, 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) = (4070975.86, 591177.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070973.00, 591175.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070970.15, 591174.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070967.32, 591172.37) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 630.0 Dvl range = 123.7, range = 285.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 170.5, iterations = 0, grazing = 0.0 beam3 range = 115.1, 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) = (4070964.49, 591170.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070961.67, 591169.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070958.85, 591167.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070956.04, 591165.67) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 632.0 Dvl range = 124.1, range = 286.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 170.9, 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) = (4070953.22, 591164.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070950.42, 591162.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070947.62, 591160.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070944.84, 591159.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 634.0 Dvl range = 119.2, range = 275.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 164.9, iterations = 0, grazing = 0.0 beam3 range = 110.5, 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) = (4070942.06, 591157.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070939.28, 591155.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070936.51, 591154.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070933.73, 591152.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 638.0 Dvl range = 113.6, range = 262.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 155.7, iterations = 0, grazing = 0.0 beam3 range = 106.6, 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) = (4070930.95, 591150.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070928.17, 591149.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070925.38, 591147.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070922.57, 591145.84) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 640.0 Dvl range = 109.4, range = 252.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 144.7, iterations = 0, grazing = 0.0 beam3 range = 108.1, 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) = (4070919.75, 591144.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070916.93, 591142.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070914.11, 591140.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070911.30, 591139.16) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 644.0 Dvl range = 105.3, range = 243.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 140.6, iterations = 0, grazing = 0.0 beam3 range = 102.6, 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) = (4070908.48, 591137.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070905.67, 591135.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070902.85, 591134.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070900.02, 591132.48) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 648.0 Dvl range = 100.8, range = 232.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 133.6, 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) = (4070897.19, 591130.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070894.34, 591129.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070891.48, 591127.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070888.63, 591125.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 652.0 Dvl range = 99.4, range = 229.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 129.8, iterations = 0, grazing = 0.0 beam3 range = 99.7, 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) = (4070885.80, 591124.04) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2400.00, (simTime - realTime) = 0.00 Heading = 210.65 Depth = 617.32 Speed = 1.13 Pitch = -21.25 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070882.97, 591122.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070880.15, 591120.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070877.33, 591119.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 656.0 Dvl range = 97.6, range = 225.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 130.4, iterations = 0, grazing = 0.0 beam3 range = 95.1, 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) = (4070874.51, 591117.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070871.71, 591115.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070868.93, 591114.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070866.17, 591112.39) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 660.0 Dvl range = 98.3, range = 227.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 133.2, iterations = 0, grazing = 0.0 beam3 range = 93.8, 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) = (4070863.44, 591110.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070860.72, 591109.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070858.00, 591107.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070855.30, 591105.93) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 666.0 Dvl range = 94.2, range = 217.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 123.0, 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) = (4070852.59, 591104.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070849.90, 591102.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070847.22, 591101.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070844.55, 591099.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 670.0 Dvl range = 89.0, range = 205.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 117.3, iterations = 0, grazing = 0.0 beam3 range = 88.3, 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) = (4070841.88, 591097.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070839.21, 591096.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070836.53, 591094.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070833.83, 591093.18) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 672.0 Dvl range = 87.0, range = 200.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 110.4, iterations = 0, grazing = 0.0 beam3 range = 90.5, 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) = (4070831.12, 591091.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070828.39, 591089.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070825.65, 591088.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070822.88, 591086.69) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 676.0 Dvl range = 85.9, range = 198.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.1, 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) = (4070820.09, 591085.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070817.29, 591083.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070814.47, 591081.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070811.63, 591080.04) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 678.0 Dvl range = 85.0, range = 196.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.7, iterations = 0, grazing = 0.0 beam3 range = 91.5, 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) = (4070808.78, 591078.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070805.92, 591076.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070803.05, 591074.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070800.16, 591073.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 680.0 Dvl range = 83.5, range = 192.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 100.0, 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) = (4070797.27, 591071.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070794.38, 591069.83) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2500.00, (simTime - realTime) = 0.00 Heading = 210.67 Depth = 646.79 Speed = 1.15 Pitch = -19.42 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070791.48, 591068.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070788.57, 591066.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 684.0 Dvl range = 86.0, range = 198.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.5, 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) = (4070785.66, 591064.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070782.75, 591062.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070779.83, 591061.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070776.92, 591059.46) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 686.0 Dvl range = 83.2, range = 192.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 101.3, iterations = 0, grazing = 0.0 beam3 range = 90.9, 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) = (4070774.00, 591057.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070771.09, 591055.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070768.17, 591054.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070765.25, 591052.52) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 686.0 Dvl range = 84.5, range = 195.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 102.0, iterations = 0, grazing = 0.0 beam3 range = 93.3, 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) = (4070762.33, 591050.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070759.41, 591049.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070756.49, 591047.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070753.58, 591045.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 692.0 Dvl range = 84.7, range = 195.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 103.2, iterations = 0, grazing = 0.0 beam3 range = 92.3, 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) = (4070750.66, 591043.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070747.74, 591042.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070744.82, 591040.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070741.91, 591038.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 696.0 Dvl range = 82.7, range = 191.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 100.0, iterations = 0, grazing = 0.0 beam3 range = 91.0, 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) = (4070738.99, 591036.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070736.07, 591035.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070733.15, 591033.47) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070730.24, 591031.75) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 698.0 Dvl range = 85.0, range = 196.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 102.9, 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) = (4070727.32, 591030.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070724.41, 591028.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070721.49, 591026.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070718.58, 591024.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 702.0 Dvl range = 87.4, range = 201.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 106.0, iterations = 0, grazing = 0.0 beam3 range = 95.8, 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) = (4070715.66, 591023.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070712.75, 591021.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070709.83, 591019.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070706.91, 591017.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 706.0 Dvl range = 85.1, range = 196.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 105.0, 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) = (4070703.98, 591016.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070701.05, 591014.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070698.13, 591012.71) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2600.00, (simTime - realTime) = 0.00 Heading = 210.65 Depth = 674.25 Speed = 1.16 Pitch = -19.71 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070695.21, 591010.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 708.0 Dvl range = 85.6, range = 197.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.7, 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) = (4070692.29, 591009.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070689.38, 591007.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070686.47, 591005.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070683.57, 591004.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 712.0 Dvl range = 85.6, range = 197.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.7, iterations = 0, grazing = 0.0 beam3 range = 88.9, 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) = (4070680.66, 591002.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070677.75, 591000.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070674.84, 590998.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070671.93, 590997.16) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 716.0 Dvl range = 84.4, range = 194.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 103.6, 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) = (4070669.02, 590995.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070666.11, 590993.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070663.21, 590991.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070660.31, 590990.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 720.0 Dvl range = 85.9, range = 198.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 105.1, iterations = 0, grazing = 0.0 beam3 range = 93.3, 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) = (4070657.41, 590988.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070654.51, 590986.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070651.62, 590985.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070648.72, 590983.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 726.0 Dvl range = 87.7, range = 202.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.5, iterations = 0, grazing = 0.0 beam3 range = 95.1, 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) = (4070645.83, 590981.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070642.94, 590979.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070640.04, 590978.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070637.15, 590976.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 730.0 Dvl range = 90.2, range = 208.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 110.5, iterations = 0, grazing = 0.0 beam3 range = 97.8, 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) = (4070634.26, 590974.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070631.36, 590973.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070628.46, 590971.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070625.56, 590969.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 734.0 Dvl range = 90.7, range = 209.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 109.3, iterations = 0, grazing = 0.0 beam3 range = 100.1, 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) = (4070622.67, 590967.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070619.77, 590966.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070616.87, 590964.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070613.96, 590962.78) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 740.0 Dvl range = 88.4, range = 204.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.7, 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) = (4070611.06, 590961.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070608.16, 590959.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070605.26, 590957.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070602.36, 590955.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 744.0 Dvl range = 88.4, range = 204.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.0, 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) = (4070599.46, 590954.17) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2700.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 702.17 Speed = 1.15 Pitch = -19.78 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070596.55, 590952.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070593.65, 590950.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070590.75, 590949.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 748.0 Dvl range = 87.3, range = 201.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 105.8, iterations = 0, grazing = 0.0 beam3 range = 95.7, 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) = (4070587.84, 590947.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070584.94, 590945.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070582.04, 590943.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070579.13, 590942.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 752.0 Dvl range = 89.0, range = 205.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.6, iterations = 0, grazing = 0.0 beam3 range = 96.9, 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) = (4070576.23, 590940.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070573.33, 590938.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070570.43, 590936.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070567.52, 590935.23) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 758.0 Dvl range = 89.0, range = 205.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.7, iterations = 0, grazing = 0.0 beam3 range = 97.8, 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) = (4070564.62, 590933.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070561.72, 590931.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070558.81, 590930.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070555.91, 590928.34) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 762.0 Dvl range = 88.6, range = 204.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.5, iterations = 0, grazing = 0.0 beam3 range = 100.1, 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) = (4070553.01, 590926.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070550.10, 590924.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070547.20, 590923.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070544.30, 590921.45) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 764.0 Dvl range = 88.3, range = 203.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.6, iterations = 0, grazing = 0.0 beam3 range = 95.4, 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) = (4070541.40, 590919.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070538.49, 590918.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070535.59, 590916.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070532.69, 590914.57) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 766.0 Dvl range = 88.4, range = 204.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 110.4, iterations = 0, grazing = 0.0 beam3 range = 93.6, 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) = (4070529.78, 590912.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070526.88, 590911.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070523.98, 590909.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070521.08, 590907.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 768.0 Dvl range = 86.3, range = 199.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 107.2, iterations = 0, grazing = 0.0 beam3 range = 92.1, 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) = (4070518.17, 590905.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070515.27, 590904.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070512.37, 590902.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070509.47, 590900.79) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 772.0 Dvl range = 85.2, range = 196.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 108.4, iterations = 0, grazing = 0.0 beam3 range = 88.4, 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) = (4070506.56, 590899.07) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070503.66, 590897.35) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2800.00, (simTime - realTime) = 0.00 Heading = 210.66 Depth = 729.99 Speed = 1.15 Pitch = -19.80 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070500.76, 590895.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070497.86, 590893.90) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 772.0 Dvl range = 80.8, range = 186.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 102.8, iterations = 0, grazing = 0.0 beam3 range = 83.7, 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) = (4070494.95, 590892.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070492.05, 590890.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070489.15, 590888.74) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070486.25, 590887.02) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 774.0 Dvl range = 78.2, range = 180.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 98.5, iterations = 0, grazing = 0.0 beam3 range = 82.1, 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) = (4070483.34, 590885.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070480.44, 590883.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070477.54, 590881.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070474.64, 590880.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 776.0 Dvl range = 74.6, range = 172.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 94.3, iterations = 0, grazing = 0.0 beam3 range = 77.9, 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) = (4070471.73, 590878.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070468.83, 590876.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070465.93, 590874.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070463.03, 590873.24) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 776.0 Dvl range = 71.1, range = 164.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 93.2, 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) = (4070460.12, 590871.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070457.22, 590869.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070454.32, 590868.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070451.42, 590866.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 778.0 Dvl range = 69.0, range = 159.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 90.0, iterations = 0, grazing = 0.0 beam3 range = 69.4, 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) = (4070448.51, 590864.64) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070445.61, 590862.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070442.71, 590861.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070439.81, 590859.47) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 780.0 Dvl range = 65.9, range = 152.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 84.7, iterations = 0, grazing = 0.0 beam3 range = 67.4, 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) = (4070436.90, 590857.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070433.99, 590856.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070431.07, 590854.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070428.13, 590852.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 782.0 Dvl range = 60.1, range = 138.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 73.6, 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) = (4070425.16, 590850.78) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070422.14, 590848.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070419.10, 590847.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070416.02, 590845.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 784.0 Dvl range = 61.0, range = 140.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 75.0, iterations = 0, grazing = 0.0 beam3 range = 65.8, 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) = (4070412.93, 590843.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070409.81, 590841.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070406.68, 590839.83) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 2900.00, (simTime - realTime) = 0.00 Heading = 210.60 Depth = 756.33 Speed = 1.23 Pitch = -15.29 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070403.54, 590837.97) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 788.0 Dvl range = 60.6, range = 139.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 74.3, iterations = 0, grazing = 0.0 beam3 range = 65.5, 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) = (4070400.39, 590836.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070397.24, 590834.25) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070394.7, 590832.7), reached at t = 2909.60 (wplog) : Vehicle Position error is (0.2, 0.1) : LayeredControl::execute() -- (t = 2909.600000) 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 = 2909.600000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 2909.60 (wplog) The current location (N,E) = 4070394.5 , 590832.6 (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 = 2909.600000) Behavior waypoint_depth:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070394.11, 590832.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070390.99, 590830.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 794.0 Dvl range = 62.4, range = 144.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 74.4, iterations = 0, grazing = 0.0 beam3 range = 69.8, 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) = (4070388.00, 590828.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070385.21, 590826.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070382.57, 590824.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070380.06, 590821.64) : _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 = 77.9, iterations = 0, grazing = 0.0 beam3 range = 79.1, 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) = (4070377.62, 590819.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070375.21, 590816.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070372.80, 590814.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070370.39, 590811.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 804.0 Dvl range = 69.7, range = 161.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 79.7, iterations = 0, grazing = 0.0 beam3 range = 81.3, 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) = (4070367.96, 590809.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070365.51, 590807.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.05, 590805.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.58, 590802.88) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 806.0 Dvl range = 69.4, range = 160.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 80.8, iterations = 0, grazing = 0.0 beam3 range = 79.4, 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) = (4070358.13, 590800.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070355.68, 590798.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070353.22, 590796.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070350.76, 590794.78) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 812.0 Dvl range = 69.1, range = 159.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 79.9, iterations = 0, grazing = 0.0 beam3 range = 79.6, 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) = (4070348.29, 590792.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070345.83, 590790.90) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070343.37, 590788.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070340.91, 590787.07) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 814.0 Dvl range = 69.5, range = 160.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 84.0, iterations = 0, grazing = 0.0 beam3 range = 76.5, 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) = (4070338.45, 590785.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070335.98, 590783.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070333.51, 590781.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070331.04, 590779.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 818.0 Dvl range = 69.2, range = 159.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 88.0, 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) = (4070328.55, 590777.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070326.06, 590775.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070323.57, 590773.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070321.07, 590771.13) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 822.0 Dvl range = 69.3, range = 160.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 88.7, iterations = 0, grazing = 0.0 beam3 range = 71.4, 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) = (4070318.56, 590769.03) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3000.00, (simTime - realTime) = 0.00 Heading = 220.24 Depth = 785.42 Speed = 1.12 Pitch = -19.98 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070316.05, 590766.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070313.53, 590764.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070311.00, 590762.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 824.0 Dvl range = 64.4, range = 148.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 80.2, iterations = 0, grazing = 0.0 beam3 range = 68.6, 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) = (4070308.47, 590760.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070305.94, 590758.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070303.39, 590756.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070300.84, 590753.80) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 828.0 Dvl range = 65.1, range = 150.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 78.8, iterations = 0, grazing = 0.0 beam3 range = 71.5, 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) = (4070298.28, 590751.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070295.72, 590749.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 99.03 : _navData-> (x,y) = (4070293.14, 590747.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 99.03 : _navData-> (x,y) = (4070290.56, 590744.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 830.0 Dvl range = 62.6, range = 144.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 75.3, 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] = 97.87 : _navData-> (x,y) = (4070287.98, 590742.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 97.87 : _navData-> (x,y) = (4070285.38, 590740.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 94.22 : _navData-> (x,y) = (4070282.78, 590738.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 94.22 : _navData-> (x,y) = (4070280.17, 590736.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 834.0 Dvl range = 61.8, range = 142.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 76.0, 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] = 0.00, IDT[75] = 89.59 : _navData-> (x,y) = (4070277.56, 590733.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 89.59 : _navData-> (x,y) = (4070274.94, 590731.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 86.53 : _navData-> (x,y) = (4070272.32, 590729.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 86.53 : _navData-> (x,y) = (4070269.70, 590727.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 834.0 Dvl range = 60.3, range = 139.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 74.5, iterations = 0, grazing = 0.0 beam3 range = 64.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 87.06 : _navData-> (x,y) = (4070267.08, 590725.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 87.06 : _navData-> (x,y) = (4070264.46, 590722.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 84.27 : _navData-> (x,y) = (4070261.83, 590720.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 84.27 : _navData-> (x,y) = (4070259.21, 590718.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 834.0 Dvl range = 92.3, range = 319.6 numValidBeams = 3 beam1 range = 185.1, iterations = 0, grazing = 0.0 beam2 range = 73.2, iterations = 0, grazing = 0.0 beam3 range = 61.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 82.00 : _navData-> (x,y) = (4070256.59, 590716.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 82.00 : _navData-> (x,y) = (4070253.96, 590714.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 85.14 : _navData-> (x,y) = (4070251.31, 590711.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 85.14 : _navData-> (x,y) = (4070248.64, 590709.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 836.0 Dvl range = 55.3, range = 127.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 68.1, iterations = 0, grazing = 0.0 beam3 range = 59.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 83.88 : _navData-> (x,y) = (4070245.95, 590707.42) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 83.88 : _navData-> (x,y) = (4070243.22, 590705.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 99.13, IDT[75] = 85.07 : _navData-> (x,y) = (4070240.47, 590702.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 99.13, IDT[75] = 85.07 : _navData-> (x,y) = (4070237.69, 590700.47) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070235.3, 590698.4), reached at t = 3095.80 (wplog) : Vehicle Position error is (0.2, 0.1) : LayeredControl::execute() -- (t = 3095.800000) 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 = 3095.800000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 3095.80 (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 237.3 Degrees. The distance to the next w.p. is 241.5 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 = 3095.800000) Behavior waypoint_depth:-1 has changed to state Active : SimulatedDvlSide::get() waterDepth(0.,0.) = 840.0 Dvl range = 53.6, range = 123.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 65.3, iterations = 0, grazing = 0.0 beam3 range = 58.5, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 95.48, IDT[75] = 82.80 : _navData-> (x,y) = (4070234.90, 590698.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 95.48, IDT[75] = 82.80 : _navData-> (x,y) = (4070232.11, 590695.77) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3100.00, (simTime - realTime) = 0.00 Heading = 227.20 Depth = 811.08 Speed = 1.22 Pitch = -16.13 : TerrainAidDriver::readData() - IDT[45] = 98.60, IDT[75] = 86.88 : _navData-> (x,y) = (4070229.58, 590693.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 98.60, IDT[75] = 86.88 : _navData-> (x,y) = (4070227.41, 590690.38) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 848.0 Dvl range = 60.6, range = 139.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 71.7, iterations = 0, grazing = 0.0 beam3 range = 68.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 99.00 : _navData-> (x,y) = (4070225.57, 590687.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 99.00 : _navData-> (x,y) = (4070223.97, 590684.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070222.53, 590681.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070221.17, 590678.00) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 854.0 Dvl range = 61.3, range = 141.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 73.6, 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) = (4070219.84, 590674.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070218.49, 590671.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 96.35 : _navData-> (x,y) = (4070217.08, 590668.81) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 96.35 : _navData-> (x,y) = (4070215.60, 590665.84) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 858.0 Dvl range = 62.4, range = 144.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 72.4, iterations = 0, grazing = 0.0 beam3 range = 71.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 95.36 : _navData-> (x,y) = (4070214.04, 590662.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 95.36 : _navData-> (x,y) = (4070212.39, 590660.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 91.93 : _navData-> (x,y) = (4070210.65, 590657.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 91.93 : _navData-> (x,y) = (4070208.83, 590654.36) : _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 = 70.7, iterations = 0, grazing = 0.0 beam3 range = 73.0, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 97.53, IDT[75] = 91.52 : _navData-> (x,y) = (4070206.94, 590651.57) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.53, IDT[75] = 91.52 : _navData-> (x,y) = (4070204.98, 590648.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 98.94, IDT[75] = 88.00 : _navData-> (x,y) = (4070202.98, 590646.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 98.94, IDT[75] = 88.00 : _navData-> (x,y) = (4070200.93, 590643.26) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 870.0 Dvl range = 61.0, range = 140.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 70.6, iterations = 0, grazing = 0.0 beam3 range = 70.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 97.70, IDT[75] = 85.90 : _navData-> (x,y) = (4070198.86, 590640.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.70, IDT[75] = 85.90 : _navData-> (x,y) = (4070196.77, 590637.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.74, IDT[75] = 85.43 : _navData-> (x,y) = (4070194.67, 590634.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.74, IDT[75] = 85.43 : _navData-> (x,y) = (4070192.58, 590632.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 870.0 Dvl range = 61.7, range = 142.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 75.3, iterations = 0, grazing = 0.0 beam3 range = 67.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 98.75, IDT[75] = 82.56 : _navData-> (x,y) = (4070190.51, 590629.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 98.75, IDT[75] = 82.56 : _navData-> (x,y) = (4070188.46, 590626.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 82.87 : _navData-> (x,y) = (4070186.43, 590623.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 82.87 : _navData-> (x,y) = (4070184.43, 590620.56) : _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 = 73.1, iterations = 0, grazing = 0.0 beam3 range = 66.6, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 96.77, IDT[75] = 85.54 : _navData-> (x,y) = (4070182.46, 590617.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 96.77, IDT[75] = 85.54 : _navData-> (x,y) = (4070180.52, 590614.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.43, IDT[75] = 66.37 : _navData-> (x,y) = (4070178.60, 590611.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.43, IDT[75] = 66.37 : _navData-> (x,y) = (4070176.70, 590608.59) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 876.0 Dvl range = 58.8, range = 135.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 69.5, iterations = 0, grazing = 0.0 beam3 range = 66.3, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 93.91, IDT[75] = 0.00 : _navData-> (x,y) = (4070174.83, 590605.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 93.91, IDT[75] = 0.00 : _navData-> (x,y) = (4070172.96, 590602.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 93.82, IDT[75] = 0.00 : _navData-> (x,y) = (4070171.11, 590599.46) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3200.00, (simTime - realTime) = 0.00 Heading = 238.81 Depth = 837.13 Speed = 1.21 Pitch = -17.10 : TerrainAidDriver::readData() - IDT[45] = 93.82, IDT[75] = 0.00 : _navData-> (x,y) = (4070169.25, 590596.40) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 876.0 Dvl range = 56.5, range = 130.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 67.3, iterations = 0, grazing = 0.0 beam3 range = 63.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 97.32, IDT[75] = 0.00 : _navData-> (x,y) = (4070167.40, 590593.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 97.32, IDT[75] = 0.00 : _navData-> (x,y) = (4070165.54, 590590.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070163.68, 590587.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070161.81, 590584.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 878.0 Dvl range = 56.5, range = 130.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 68.8, iterations = 0, grazing = 0.0 beam3 range = 61.6, 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) = (4070159.92, 590581.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070158.03, 590578.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 65.36, IDT[75] = 0.00 : _navData-> (x,y) = (4070156.12, 590575.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 65.36, IDT[75] = 0.00 : _navData-> (x,y) = (4070154.20, 590572.09) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 882.0 Dvl range = 57.5, range = 132.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 68.6, iterations = 0, grazing = 0.0 beam3 range = 64.1, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c3 : TerrainAidDriver::readData() - IDT[45] = 64.73, IDT[75] = 0.00 : _navData-> (x,y) = (4070152.27, 590569.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 64.73, IDT[75] = 0.00 : _navData-> (x,y) = (4070150.34, 590566.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070148.39, 590563.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070146.44, 590560.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 884.0 Dvl range = 56.5, range = 130.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 66.8, iterations = 0, grazing = 0.0 beam3 range = 63.8, 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) = (4070144.48, 590557.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070142.53, 590554.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070140.57, 590551.17) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070138.61, 590548.19) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 886.0 Dvl range = 59.5, range = 137.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 68.2, 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) = (4070136.66, 590545.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070134.71, 590542.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070132.76, 590539.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070130.82, 590536.25) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 888.0 Dvl range = 62.2, range = 143.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 68.4, iterations = 0, grazing = 0.0 beam3 range = 75.3, 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) = (4070128.88, 590533.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070126.95, 590530.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070125.02, 590527.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070123.09, 590524.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 892.0 Dvl range = 67.3, range = 155.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 74.3, iterations = 0, grazing = 0.0 beam3 range = 81.3, 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) = (4070121.17, 590521.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070119.25, 590518.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070117.33, 590515.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070115.42, 590512.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 896.0 Dvl range = 76.3, range = 176.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 81.6, iterations = 0, grazing = 0.0 beam3 range = 94.7, 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) = (4070113.50, 590509.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070111.58, 590506.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070109.67, 590503.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070107.75, 590500.29) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 888.0 Dvl range = 77.6, range = 179.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 88.6, 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) = (4070105.83, 590497.29) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3300.00, (simTime - realTime) = 0.00 Heading = 237.37 Depth = 862.06 Speed = 1.21 Pitch = -17.30 : WaypointDepth has set the state to finished. : Waypoint (4070104.4, 590495.1), reached at t = 3302.20 (wplog) : Vehicle Position error is (0.0, 0.0) : LayeredControl::execute() -- (t = 3302.200000) 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 = 3302.200000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 3302.20 (wplog) The current location (N,E) = 4070104.4 , 590495.1 (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 544.9 Meters. The slope to the next w.p. is -0.0702. The initial commanded depth is 863.2 meters. The final commanded depth is 901.4 meters. : LayeredControl::execute() -- (t = 3302.200000) Behavior waypoint_depth:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070103.91, 590494.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070102.00, 590491.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070100.41, 590488.12) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 892.0 Dvl range = 90.4, range = 104.3 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 104.3, 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) = (4070099.49, 590484.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070099.38, 590481.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070100.11, 590477.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070101.66, 590474.77) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 892.0 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) = (4070103.96, 590472.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070106.81, 590469.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070110.02, 590467.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070113.42, 590465.42) : _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) = (4070116.84, 590462.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070120.14, 590460.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070123.23, 590457.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070126.08, 590453.88) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 906.0 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) = (4070128.67, 590450.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070131.00, 590447.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070133.12, 590443.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070135.09, 590440.68) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 910.0 Dvl range = 163.7, range = 189.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 189.1, 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) = (4070136.93, 590437.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070138.71, 590434.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070140.42, 590430.77) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070142.11, 590427.38) : _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) = (4070143.77, 590423.94) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070145.43, 590420.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070147.10, 590416.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070148.79, 590413.29) : _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) = (4070150.50, 590409.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070152.25, 590405.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070154.04, 590402.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070155.88, 590398.59) : _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) = (4070157.76, 590394.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070159.68, 590391.15) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3400.00, (simTime - realTime) = 0.00 Heading = 297.99 Depth = 872.40 Speed = 1.40 Pitch = -6.99 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070161.64, 590387.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070163.64, 590383.72) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 920.0 Dvl range = 170.6, range = 197.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 197.0, 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) = (4070165.67, 590380.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070167.72, 590376.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070169.78, 590372.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070171.85, 590368.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 924.0 Dvl range = 167.6, range = 193.5 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 193.5, 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) = (4070173.92, 590365.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070175.99, 590361.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070178.05, 590357.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070180.10, 590354.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 924.0 Dvl range = 155.1, range = 179.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 179.1, 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) = (4070182.14, 590350.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070184.17, 590346.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070186.19, 590343.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070188.20, 590339.31) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 924.0 Dvl range = 151.7, range = 175.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 175.1, 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) = (4070190.19, 590335.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070192.18, 590331.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070194.16, 590328.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070196.13, 590324.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 154.1, range = 178.0 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 178.0, 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) = (4070198.11, 590320.69) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070200.08, 590316.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070202.05, 590313.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070204.02, 590309.52) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 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) = (4070206.00, 590305.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070207.97, 590302.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070209.95, 590298.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070211.94, 590294.66) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 146.3, range = 168.9 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 168.9, 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) = (4070213.92, 590290.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070215.91, 590287.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070217.90, 590283.54) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070219.90, 590279.83) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 155.5, range = 359.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 193.3, 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) = (4070221.89, 590276.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070223.88, 590272.43) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070225.88, 590268.73) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3500.00, (simTime - realTime) = 0.00 Heading = 298.32 Depth = 881.35 Speed = 1.40 Pitch = -8.06 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070227.87, 590265.03) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 148.9, range = 343.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 189.1, iterations = 0, grazing = 0.0 beam3 range = 154.8, 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) = (4070229.87, 590261.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070231.86, 590257.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070233.85, 590253.92) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070235.84, 590250.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 147.2, range = 339.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 184.8, 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) = (4070237.83, 590246.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070239.82, 590242.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070241.81, 590239.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070243.79, 590235.42) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 140.9, range = 325.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 175.0, iterations = 0, grazing = 0.0 beam3 range = 150.5, 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) = (4070245.78, 590231.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070247.76, 590228.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070249.74, 590224.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070251.73, 590220.61) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 137.4, range = 317.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 171.2, 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) = (4070253.71, 590216.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070255.70, 590213.21) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070257.68, 590209.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070259.66, 590205.81) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 134.5, range = 310.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 167.1, iterations = 0, grazing = 0.0 beam3 range = 143.4, 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) = (4070261.65, 590202.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070263.63, 590198.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070265.62, 590194.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070267.60, 590191.01) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 926.0 Dvl range = 129.8, range = 299.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 163.1, iterations = 0, grazing = 0.0 beam3 range = 136.6, 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) = (4070269.59, 590187.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070271.57, 590183.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070273.56, 590179.91) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070275.54, 590176.22) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 130.0, range = 300.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 167.8, iterations = 0, grazing = 0.0 beam3 range = 132.4, 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) = (4070277.53, 590172.52) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070279.51, 590168.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070281.50, 590165.12) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070283.48, 590161.43) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 116.2, range = 268.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 146.9, iterations = 0, grazing = 0.0 beam3 range = 121.4, 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) = (4070285.47, 590157.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070287.45, 590154.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070289.44, 590150.33) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070291.42, 590146.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 928.0 Dvl range = 115.6, range = 400.5 numValidBeams = 3 beam1 range = 134.4, iterations = 0, grazing = 0.0 beam2 range = 144.8, iterations = 0, grazing = 0.0 beam3 range = 121.3, 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) = (4070293.40, 590142.94) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3600.00, (simTime - realTime) = 0.00 Heading = 298.22 Depth = 891.04 Speed = 1.40 Pitch = -8.17 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070295.39, 590139.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070297.37, 590135.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070299.36, 590131.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 930.0 Dvl range = 112.2, range = 388.6 numValidBeams = 3 beam1 range = 132.5, iterations = 0, grazing = 0.0 beam2 range = 140.5, iterations = 0, grazing = 0.0 beam3 range = 115.6, 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) = (4070301.34, 590128.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070303.32, 590124.45) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070305.31, 590120.76) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070307.29, 590117.06) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 932.0 Dvl range = 108.1, range = 249.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 136.3, iterations = 0, grazing = 0.0 beam3 range = 113.4, 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) = (4070309.27, 590113.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070311.26, 590109.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070313.24, 590105.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070315.22, 590102.27) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 930.0 Dvl range = 104.2, range = 240.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 127.7, iterations = 0, grazing = 0.0 beam3 range = 112.8, 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) = (4070317.21, 590098.58) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070319.19, 590094.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070321.17, 590091.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070323.16, 590087.49) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 932.0 Dvl range = 110.0, range = 381.0 numValidBeams = 3 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 119.5, iterations = 0, grazing = 0.0 beam3 range = 127.8, iterations = 0, grazing = 0.0 beam4 range = 133.7, iterations = 0, grazing = 0.0 bottomStatus = 3 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070325.14, 590083.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070327.13, 590080.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070329.11, 590076.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070331.09, 590072.70) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 934.0 Dvl range = 104.2, range = 240.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 117.3, iterations = 0, grazing = 0.0 beam3 range = 123.3, 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) = (4070333.08, 590069.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070335.06, 590065.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070337.04, 590061.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070339.03, 590057.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 936.0 Dvl range = 109.2, range = 252.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 115.2, iterations = 0, grazing = 0.0 beam3 range = 137.1, 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) = (4070341.01, 590054.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070342.99, 590050.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070344.98, 590046.83) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070346.96, 590043.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 938.0 Dvl range = 115.6, range = 266.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 121.4, 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) = (4070348.94, 590039.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070350.93, 590035.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070352.91, 590032.05) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070354.89, 590028.35) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 938.0 Dvl range = 129.4, range = 298.7 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 140.0, iterations = 0, grazing = 0.0 beam3 range = 158.7, 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) = (4070356.88, 590024.66) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070358.86, 590020.96) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3700.00, (simTime - realTime) = 0.00 Heading = 298.22 Depth = 900.84 Speed = 1.40 Pitch = -8.19 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.84, 590017.27) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070362.1, 590015.0), reached at t = 3704.00 (wplog) : Vehicle Position error is (-0.1, 0.2) : LayeredControl::execute() -- (t = 3704.000000) 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 = 3704.000000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 3704.00 (wplog) The current location (N,E) = 4070362.2 , 590014.8 (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 207.8 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 = 3704.000000) Behavior waypoint_depth:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070362.83, 590013.57) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 120.5, range = 278.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 127.0, iterations = 0, grazing = 0.0 beam3 range = 151.3, 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) = (4070364.73, 590009.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070365.98, 590005.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070366.40, 590001.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070366.12, 589997.92) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 942.0 Dvl range = 119.8, range = 276.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 153.1, iterations = 0, grazing = 0.0 beam3 range = 123.5, 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) = (4070365.37, 589993.89) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070364.31, 589989.85) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.12, 589985.79) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070361.97, 589981.64) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 944.0 Dvl range = 115.3, range = 266.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 139.1, iterations = 0, grazing = 0.0 beam3 range = 127.1, 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) = (4070360.96, 589977.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.18, 589973.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070359.67, 589968.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070359.43, 589964.14) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 115.9, range = 267.6 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 122.4, iterations = 0, grazing = 0.0 beam3 range = 145.1, 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) = (4070359.43, 589959.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070359.65, 589955.03) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.04, 589950.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070360.55, 589945.85) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 124.8, range = 288.2 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 136.8, iterations = 0, grazing = 0.0 beam3 range = 151.4, 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) = (4070361.12, 589941.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070361.72, 589936.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070362.28, 589931.98) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070362.80, 589927.33) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 123.6, range = 285.4 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 134.7, iterations = 0, grazing = 0.0 beam3 range = 150.7, 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) = (4070363.23, 589922.67) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.57, 589918.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.81, 589913.32) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.96, 589908.65) : _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 = 156.7, 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) = (4070364.03, 589903.97) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070364.02, 589899.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.97, 589894.62) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.87, 589889.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 129.1, range = 298.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 144.8, 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) = (4070363.76, 589885.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.63, 589880.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.52, 589875.94) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3800.00, (simTime - realTime) = 0.00 Heading = 268.89 Depth = 894.48 Speed = 1.56 Pitch = 0.13 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.42, 589871.28) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 135.1, range = 311.9 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 154.3, iterations = 0, grazing = 0.0 beam3 range = 157.6, 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) = (4070363.34, 589866.61) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.28, 589861.95) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.25, 589857.28) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.25, 589852.62) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 950.0 Dvl range = 137.0, range = 316.3 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 157.9, 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) = (4070363.28, 589847.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.32, 589843.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.38, 589838.63) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.45, 589833.97) : _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) = (4070363.53, 589829.31) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.62, 589824.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.70, 589819.99) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.78, 589815.33) : _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 = 158.0, 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) = (4070363.85, 589810.67) : _tercom->outstandingMeas() = 0 : WaypointDepth has set the state to finished. : Waypoint (4070363.9, 589807.0), reached at t = 3842.40 (wplog) : Vehicle Position error is (0.0, 0.1) : LayeredControl::execute() -- (t = 3842.400000) Behavior waypoint_depth:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 3842.400000) 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 = 3842.400000) 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 = 3842.40, _wallBearing = 0.0 : WaypointWall::Escape - Wall absent for 1489089407.8 seconds at 1489089407.78 . Terminate. : WaypointWall::Escape - current position (4070363.9, 589806.9), reached at t = 3842.40 : LayeredControl::execute() -- (t = 3842.400000) Behavior waypoint_wall:-1 has changed to state Finished : WaypointWall initialization: Begin waypoint control at t= 3842.40 (wplog) The current location (N,E) = 4070363.9 , 589806.9 (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 236.9 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 3842.40 : WaypointWall:: projection = 3 at 3842.40 : WaypointWall:: windowLen = 31 at 3842.40 : WaypointWall:: filterType = 3 at 3842.40 : WaypointWall:: escape = 0 at 3842.40 : WaypointWall:: waypointPriority = 0 at 3842.40 : WaypointWall::Forward-looking DeltaT IS enabled at t=3842.40 sec. : WaypointWall: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : WaypointWall::Total number of beams is 210, t=3842.40 sec. : LayeredControl::execute() -- (t = 3842.400000) Behavior waypoint_wall:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 5 at t = 3842.40 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.92, 589806.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.94, 589801.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070363.32, 589796.89) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 139.8, range = 161.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 161.4, 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) = (4070361.61, 589792.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070358.92, 589789.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070355.61, 589786.86) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070351.98, 589784.55) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 150.7, range = 174.1 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 174.1, 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) = (4070348.23, 589782.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070344.51, 589780.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070340.91, 589777.72) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070337.47, 589775.08) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 954.0 Dvl range = 126.7, range = 146.4 numValidBeams = 1 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 0.0, iterations = 0, grazing = 0.0 beam3 range = 146.4, 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) = (4070334.19, 589772.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070331.07, 589769.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070328.06, 589766.08) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070325.14, 589762.84) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 135.0, range = 311.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 177.4, iterations = 0, grazing = 0.0 beam3 range = 134.4, 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) = (4070322.25, 589759.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070319.39, 589756.23) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070316.53, 589752.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070313.66, 589749.54) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 130.8, range = 302.1 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 177.8, iterations = 0, grazing = 0.0 beam3 range = 124.3, 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) = (4070310.78, 589746.19) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 3900.00, (simTime - realTime) = 0.00 Heading = 229.15 Depth = 889.70 Speed = 1.47 Pitch = -3.84 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070307.88, 589742.84) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070304.97, 589739.49) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070302.06, 589736.15) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 954.0 Dvl range = 125.1, range = 289.0 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 161.5, iterations = 0, grazing = 0.0 beam3 range = 127.4, 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) = (4070299.13, 589732.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070296.21, 589729.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070293.28, 589726.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070290.35, 589722.76) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 110.2, range = 254.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 143.6, iterations = 0, grazing = 0.0 beam3 range = 110.9, 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) = (4070287.42, 589719.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070284.49, 589716.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070281.56, 589712.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070278.63, 589709.36) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 101.5, range = 234.5 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 129.3, iterations = 0, grazing = 0.0 beam3 range = 105.2, 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) = (4070275.70, 589706.01) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070272.77, 589702.65) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070269.84, 589699.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070266.91, 589695.95) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 99.9, range = 230.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 128.0, iterations = 0, grazing = 0.0 beam3 range = 102.8, 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) = (4070263.98, 589692.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070261.05, 589689.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070258.12, 589685.88) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070255.19, 589682.53) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 94.7, range = 218.8 numValidBeams = 2 beam1 range = 0.0, iterations = 0, grazing = 0.0 beam2 range = 113.3, iterations = 0, grazing = 0.0 beam3 range = 105.5, 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) = (4070252.26, 589679.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070249.33, 589675.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070246.40, 589672.46) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070243.46, 589669.11) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 100.4, range = 347.7 numValidBeams = 3 beam1 range = 145.4, iterations = 0, grazing = 0.0 beam2 range = 108.1, iterations = 0, grazing = 0.0 beam3 range = 94.2, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070240.53, 589665.75) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3972.20 sec. : DynamicControlServer:: RHT set to 1 at 3972.20 : DynamicControlServer:: wallPresent set to 1 at 3972.20 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070237.60, 589662.41) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: RHT set to 0 at 3977.80 : DynamicControlServer:: _wallBearing reset to 5.03 at 3977.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070235.02, 589658.88) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3978.20 sec. : DynamicControlServer:: RHT set to 1 at 3978.20 : DynamicControlServer:: RHT set to 0 at 3979.20 : DynamicControlServer:: _wallBearing reset to 5.10 at 3979.20 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070233.36, 589654.99) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 956.0 Dvl range = 78.6, range = 272.4 numValidBeams = 3 beam1 range = 119.1, iterations = 0, grazing = 0.0 beam2 range = 74.2, iterations = 0, grazing = 0.0 beam3 range = 79.1, 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) = (4070232.76, 589650.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070232.33, 589646.73) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3989.40 sec. : DynamicControlServer:: RHT set to 1 at 3989.40 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 94.12 : _navData-> (x,y) = (4070231.27, 589642.74) : _tercom->outstandingMeas() = 0 : WaypointWall::>5 Returns in sector 0 to 30 deg. in B; Setting RHT at t=3991.60 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070229.33, 589639.17) : _tercom->outstandingMeas() = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 946.0 Dvl range = 104.9, range = 363.2 numValidBeams = 3 beam1 range = 174.4, iterations = 0, grazing = 0.0 beam2 range = 112.2, iterations = 0, grazing = 0.0 beam3 range = 76.7, iterations = 0, grazing = 0.0 beam4 range = 0.0, iterations = 0, grazing = 0.0 bottomStatus = c0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 95.08 : _navData-> (x,y) = (4070226.83, 589635.94) : _tercom->outstandingMeas() = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=3996.80 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4070224.61, 589632.51) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: RHT set to 0 at 3999.40 : DynamicControlServer:: _wallBearing reset to 5.10 at 3999.40 by L/RHT. : Simulator:: Before the call to motion(): simTime = 4000.00, (simTime - realTime) = 0.00 Heading = 252.19 Depth = 889.72 Speed = 1.34 Pitch = -4.93 : 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 4000.60 : DynamicControlServer:: _wallBearing reset to 5.15 at 4000.60 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4001.40 sec. : DynamicControlServer:: RHT set to 1 at 4001.40 : TerrainAidDriver::readData() - IDT[45] = 96.28, IDT[75] = 81.48 : _navData-> (x,y) = (4070223.16, 589628.76) : _tercom->outstandingMeas() = 0 : DynamicControlServer:: RHT set to 0 at 4002.20 : DynamicControlServer:: _wallBearing reset to 5.17 at 4002.20 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 96.14, IDT[75] = 72.13 : _navData-> (x,y) = (4070222.72, 589624.85) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089570.18) : ARL North: 195.2807, East: -1147.8513, Depth: 12.2315 : ARL Estimation Bias (Mean): (t = 1489089570.18) : ARL North: 10.5933, East: -40.9531, Depth: 11.3746 : ARL North Sigma: 35.83, East Sigma: 215.96, Depth Sigma: 0.74 : 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 = 80.8, iterations = 0, grazing = 0.0 beam2 range = 71.5, iterations = 0, grazing = 0.0 beam3 range = 62.4, iterations = 0, grazing = 0.0 beam4 range = 110.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 90.46, IDT[75] = 61.71 : _navData-> (x,y) = (4070223.12, 589620.92) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089573.18) : ARL North: 4.1150, East: -1.6016, Depth: 9.8009 : ARL Estimation Bias (Mean): (t = 1489089573.18) : ARL North: 3.7641, East: -1.7884, Depth: 9.1559 : ARL North Sigma: 0.56, East Sigma: 0.53, Depth Sigma: 0.86 : DynamicControlServer:: TerrainNav has new data at 4008.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 73.54 : _navData-> (x,y) = (4070223.42, 589616.95) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089576.18) : ARL North: 3.1637, East: -5.7309, Depth: 7.8846 : ARL Estimation Bias (Mean): (t = 1489089576.18) : ARL North: 3.9169, East: -6.1194, Depth: 8.6256 : ARL North Sigma: 0.64, East Sigma: 0.70, Depth Sigma: 0.93 : DynamicControlServer:: TerrainNav has new data at 4011.00. Valid = 0 : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4011.40 sec. : DynamicControlServer:: RHT set to 1 at 4011.40 : DynamicControlServer:: RHT set to 0 at 4012.60 : DynamicControlServer:: _wallBearing reset to 5.22 at 4012.60 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] = 78.33 : _navData-> (x,y) = (4070223.03, 589612.99) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089579.18) : ARL North: 2.9545, East: -9.9134, Depth: 6.4833 : ARL Estimation Bias (Mean): (t = 1489089579.18) : ARL North: 3.5041, East: -10.1899, Depth: 6.9801 : ARL North Sigma: 0.76, East Sigma: 0.79, Depth Sigma: 1.01 : DynamicControlServer:: TerrainNav has new data at 4014.00. Valid = 0 : DynamicControlServer:: RHT set to 0 at 4014.20 : DynamicControlServer:: _wallBearing reset to 5.18 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 4015.20 : DynamicControlServer:: _wallBearing reset to 5.18 at 4015.20 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4016.00 sec. : DynamicControlServer:: RHT set to 1 at 4016.00 : DynamicControlServer:: RHT set to 0 at 4016.80 : DynamicControlServer:: _wallBearing reset to 5.09 at 4016.80 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 75.46 : _navData-> (x,y) = (4070222.01, 589609.12) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089582.18) : ARL North: 1.5279, East: -14.2331, Depth: 9.0336 : ARL Estimation Bias (Mean): (t = 1489089582.18) : ARL North: 2.1570, East: -14.6753, Depth: 8.2947 : ARL North Sigma: 0.87, East Sigma: 0.93, Depth Sigma: 1.14 : DynamicControlServer:: TerrainNav has new data at 4017.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 73.3, range = 338.6 numValidBeams = 4 beam1 range = 78.3, iterations = 0, grazing = 0.0 beam2 range = 77.0, iterations = 0, grazing = 0.0 beam3 range = 59.0, iterations = 0, grazing = 0.0 beam4 range = 124.3, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 55.28 : _navData-> (x,y) = (4070221.20, 589605.14) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089585.18) : ARL North: 0.4958, East: -18.3189, Depth: 8.3087 : ARL Estimation Bias (Mean): (t = 1489089585.18) : ARL North: 1.2158, East: -18.8775, Depth: 8.2797 : ARL North Sigma: 0.91, East Sigma: 0.94, Depth Sigma: 1.25 : 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 5.02 at 4020.40 by L/RHT. : WaypointWall::-45 < angle-to-wall < 45 deg. in B; Setting RHT at t=4022.00 sec. : DynamicControlServer:: RHT set to 1 at 4022.00 : DynamicControlServer:: RHT set to 0 at 4022.40 : DynamicControlServer:: _wallBearing reset to 4.99 at 4022.40 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 94.46, IDT[75] = 55.11 : _navData-> (x,y) = (4070220.63, 589601.06) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089588.18) : ARL North: -0.2728, East: -22.3746, Depth: 6.8473 : ARL Estimation Bias (Mean): (t = 1489089588.18) : ARL North: 0.4690, East: -23.2082, Depth: 7.5596 : ARL North Sigma: 1.17, East Sigma: 1.04, Depth Sigma: 2.44 : DynamicControlServer:: TerrainNav has new data at 4023.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 84.08, IDT[75] = 53.37 : _navData-> (x,y) = (4070220.24, 589596.91) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089591.18) : ARL North: 1.3329, East: -26.6011, Depth: 9.3736 : ARL Estimation Bias (Mean): (t = 1489089591.18) : ARL North: -1.4842, East: -28.6273, Depth: 3.5912 : ARL North Sigma: 1.27, East Sigma: 1.02, Depth Sigma: 2.83 : DynamicControlServer:: TerrainNav has new data at 4026.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 80.83, IDT[75] = 53.91 : _navData-> (x,y) = (4070220.06, 589592.70) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089594.18) : ARL North: 0.1069, East: -30.6557, Depth: 10.0307 : ARL Estimation Bias (Mean): (t = 1489089594.18) : ARL North: -2.1562, East: -33.5732, Depth: 1.9875 : ARL North Sigma: 0.57, East Sigma: 0.86, Depth Sigma: 0.95 : DynamicControlServer:: TerrainNav has new data at 4029.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 56.7, range = 261.7 numValidBeams = 4 beam1 range = 62.2, iterations = 0, grazing = 0.0 beam2 range = 59.7, iterations = 0, grazing = 0.0 beam3 range = 48.7, iterations = 0, grazing = 0.0 beam4 range = 91.1, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 73.86, IDT[75] = 50.67 : _navData-> (x,y) = (4070220.06, 589588.46) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089597.18) : ARL North: -1.9348, East: -38.7072, Depth: 0.8386 : ARL Estimation Bias (Mean): (t = 1489089597.18) : ARL North: -2.2990, East: -38.7171, Depth: 0.9784 : ARL North Sigma: 0.55, East Sigma: 0.64, Depth Sigma: 0.79 : DynamicControlServer:: TerrainNav has new data at 4032.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.29, IDT[75] = 47.80 : _navData-> (x,y) = (4070220.31, 589584.19) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089600.18) : ARL North: -2.5382, East: -43.1949, Depth: 0.9806 : ARL Estimation Bias (Mean): (t = 1489089600.18) : ARL North: -2.3728, East: -43.3129, Depth: 0.6804 : ARL North Sigma: 0.37, East Sigma: 0.23, Depth Sigma: 0.59 : DynamicControlServer:: TerrainNav has new data at 4035.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 57.56, IDT[75] = 47.07 : _navData-> (x,y) = (4070220.77, 589579.91) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089603.18) : ARL North: -1.6558, East: -47.7376, Depth: 0.4228 : ARL Estimation Bias (Mean): (t = 1489089603.18) : ARL North: -1.9527, East: -47.5349, Depth: 0.3141 : ARL North Sigma: 0.31, East Sigma: 0.18, Depth Sigma: 0.38 : DynamicControlServer:: TerrainNav has new data at 4038.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.09, IDT[75] = 53.49 : _navData-> (x,y) = (4070221.42, 589575.63) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089606.18) : ARL North: -0.8337, East: -51.8944, Depth: 0.9258 : ARL Estimation Bias (Mean): (t = 1489089606.18) : ARL North: -1.0290, East: -51.5934, Depth: 0.3699 : ARL North Sigma: 0.32, East Sigma: 0.22, Depth Sigma: 0.38 : DynamicControlServer:: TerrainNav has new data at 4041.00. Valid = 0 : SimulatedDvlSide::get() waterDepth(0.,0.) = 940.0 Dvl range = 51.3, range = 236.9 numValidBeams = 4 beam1 range = 69.0, iterations = 0, grazing = 0.0 beam2 range = 47.1, iterations = 0, grazing = 0.0 beam3 range = 58.2, iterations = 0, grazing = 0.0 beam4 range = 62.6, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 50.98, IDT[75] = 65.21 : _navData-> (x,y) = (4070222.29, 589571.37) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089609.18) : ARL North: 0.3920, East: -55.2898, Depth: 0.6771 : ARL Estimation Bias (Mean): (t = 1489089609.18) : ARL North: 0.0999, East: -56.0145, Depth: 0.5859 : ARL North Sigma: 0.37, East Sigma: 0.30, Depth Sigma: 0.45 : DynamicControlServer:: TerrainNav has new data at 4044.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 48.08, IDT[75] = 74.22 : _navData-> (x,y) = (4070223.36, 589567.13) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089612.18) : ARL North: 1.2753, East: -59.2920, Depth: 1.6797 : ARL Estimation Bias (Mean): (t = 1489089612.18) : ARL North: 1.2234, East: -60.3686, Depth: 0.3558 : ARL North Sigma: 0.40, East Sigma: 0.32, Depth Sigma: 0.57 : DynamicControlServer:: TerrainNav has new data at 4047.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 49.23, IDT[75] = 77.84 : _navData-> (x,y) = (4070224.51, 589562.90) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089615.18) : ARL North: 1.8723, East: -64.5837, Depth: -0.6542 : ARL Estimation Bias (Mean): (t = 1489089615.18) : ARL North: 2.4906, East: -64.4538, Depth: 0.6088 : ARL North Sigma: 0.42, East Sigma: 0.30, Depth Sigma: 0.59 : DynamicControlServer:: TerrainNav has new data at 4050.00. Valid = 0 : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4052.80 sec. : DynamicControlServer:: LHT set to 1 at 4052.80 : TerrainAidDriver::readData() - IDT[45] = 48.33, IDT[75] = 77.88 : _navData-> (x,y) = (4070225.65, 589558.64) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089618.18) : ARL North: 3.2091, East: -68.6779, Depth: -0.7122 : ARL Estimation Bias (Mean): (t = 1489089618.18) : ARL North: 3.6245, East: -68.6671, Depth: 0.6201 : ARL North Sigma: 0.45, East Sigma: 0.30, Depth Sigma: 0.70 : DynamicControlServer:: TerrainNav has new data at 4053.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4053.80 : DynamicControlServer:: _wallBearing reset to 4.81 at 4053.80 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4055.00 sec. : DynamicControlServer:: LHT set to 1 at 4055.00 : DynamicControlServer:: LHT set to 0 at 4055.40 : DynamicControlServer:: _wallBearing reset to 4.78 at 4055.40 by L/RHT. : WaypointWall::angle-to-wall < -120 deg. in B; Setting LHT at t=4055.80 sec. : DynamicControlServer:: LHT set to 1 at 4055.80 : SimulatedDvlSide::get() waterDepth(0.,0.) = 952.0 Dvl range = 54.1, range = 250.0 numValidBeams = 4 beam1 range = 80.1, iterations = 0, grazing = 0.0 beam2 range = 45.8, iterations = 0, grazing = 0.0 beam3 range = 60.9, iterations = 0, grazing = 0.0 beam4 range = 63.2, iterations = 0, grazing = 0.0 bottomStatus = 0 : TerrainAidDriver::readData() - IDT[45] = 49.40, IDT[75] = 75.80 : _navData-> (x,y) = (4070226.71, 589554.35) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089621.18) : ARL North: 4.5212, East: -72.0892, Depth: 1.0927 : ARL Estimation Bias (Mean): (t = 1489089621.18) : ARL North: 4.6215, East: -73.0867, Depth: 0.5098 : ARL North Sigma: 0.47, East Sigma: 0.32, Depth Sigma: 0.71 : DynamicControlServer:: TerrainNav has new data at 4056.00. Valid = 0 : DynamicControlServer:: LHT set to 0 at 4057.60 : DynamicControlServer:: _wallBearing reset to 4.71 at 4057.60 by L/RHT. : TerrainAidDriver::readData() - IDT[45] = 53.47, IDT[75] = 62.91 : _navData-> (x,y) = (4070227.29, 589550.03) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089624.18) : ARL North: 5.0570, East: -76.6461, Depth: 2.5493 : ARL Estimation Bias (Mean): (t = 1489089624.18) : ARL North: 4.7956, East: -77.4064, Depth: 0.4861 : ARL North Sigma: 0.42, East Sigma: 0.29, Depth Sigma: 0.57 : DynamicControlServer:: TerrainNav has new data at 4059.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 55.05, IDT[75] = 63.31 : _navData-> (x,y) = (4070227.14, 589545.69) : _tercom->outstandingMeas() = 0 : ARL Estimation Bias (Max. Likelihood): (t = 1489089627.18) : ARL North: 4.0848, East: -81.9030, Depth: 1.0181 : ARL Estimation Bias (Mean): (t = 1489089627.18) : ARL North: 4.1586, East: -81.9494, Depth: 0.3985 : ARL North Sigma: 0.34, East Sigma: 0.26, Depth Sigma: 0.36 : DynamicControlServer:: TerrainNav has new data at 4062.00. Valid = 0 : TerrainAidDriver::readData() - IDT[45] = 56.28, IDT[75] = 60.05 : _navData-> (x,y) = (4070226.55, 589541.38) : _tercom->outstandingMeas() = 0 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[0007d140]] : 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 : **** FastTime dtor [0007d140] **** : ****Time::cleanup FastTime instance[0003b1f4]] : ****Time::cleanup FastTime instance[000201dc]] : ****Time::cleanup FastTime instance[0004ad20]] : ****Time::cleanup FastTime instance[000313b8]] : ****Time::cleanup FastTime instance[0003bfd8]] : **** SharedData destructor for object FastTime **** : **** FastTime dtor [0003b1f4] **** : **** FastTime dtor [000201dc] **** : **** FastTime dtor [0004ad20] **** : **** FastTime dtor [000313b8] **** : **** FastTime dtor [0003bfd8] **** : **** 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 prot sem FastTime_prot : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying notify sem FastTime_notify : 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 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[000a30b8]] : TaskServer::signalHandler() for task SimulatorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlSideIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DeltaTIFServer - exit() on signal 2 : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : ****Time::cleanup FastTime instance[0003af7c]] : **** FastTime dtor [000a30b8] **** : ****Time::cleanup FastTime instance[0007b608]] : ****Time::cleanup FastTime instance[00021458]] : ****Time::cleanup FastTime instance[0002a7b0]] : ****Time::cleanup FastTime instance[0002d5f4]] : **** FastTime dtor [0003af7c] **** : **** SharedData destructor for object FastTime **** : **** FastTime dtor [0007b608] **** : **** FastTime dtor [00021458] **** : **** FastTime dtor [0002a7b0] **** : **** FastTime dtor [0002d5f4] **** : **** 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 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 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is 0.00, at t=4065.00. : 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. : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : destroying segment navigationOutput : destroying prot sem navigationOutput_prot : destroying notify sem navigationOutput_notify : CameraDestructor Executing. : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task CathxIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : 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 : TaskServer::signalHandler() for task CARL_IFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : **** FastTime dtor [00084b80] **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment FastTime : **** SharedData destructor for object CameraOutput **** : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object navigationOutput **** : destroying segment LayeredControlInput_ShmemName : destroying segment CameraOutput : destroying segment CameraOutput : destroying segment navigationOutput : destroying prot sem LayeredControlInput_ShmemName_prot : destroying prot sem CameraOutput_prot : destroying prot sem CameraOutput_prot : destroying prot sem navigationOutput_prot : destroying notify sem CameraOutput_notify : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : Supervisor::signalHandler - setting exit flag [1] : **** SharedData destructor for object GulperOutput **** : ****Time::cleanup FastTime instance[000dd1b4]] : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : Supervisor::signalHandler - caught signal 2 : **** FastTime dtor [000dd1b4] **** : destroying segment GulperOutput : Supervisor::signalHandler possible duplicate signal[2] : **** SharedData destructor for object FastTime **** : destroying prot sem GulperOutput_prot : Supervisor::signalHandler - setting exit flag [2] : destroying segment FastTime : destroying notify sem GulperOutput_notify : Supervisor::run - caught stop signal - exiting run loop : destroying prot sem FastTime_prot : Supervisor::run - calling shutdown/exit : destroying notify sem FastTime_notify : Supervisor::shutdown - signaling processes : TerrainAidDestructor Executing. : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler possible duplicate signal[2] : Supervisor::signalHandler - setting exit flag [3] : Supervisor::shutdown - cleaning up : Supervisor::shutdown - deleting FastTime [0001d1b8] : **** FastTime dtor [0001d1b8] **** : **** 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 : **** SharedData destructor for object TerrainAidOutput **** : Supervisor::~Supervisor - dtor : Supervisor::~Supervisor - deleting FastTime [0001d1b8] : destroying segment TerrainAidOutput : **** FastTime dtor [0001d1b8] **** : destroying prot sem TerrainAidOutput_prot : **** SharedData destructor for object  **** : destroying notify sem TerrainAidOutput_notify : destroying segment  : failed to unlink queue TerrainAidMsgs : destroying prot sem D : destroying notify sem FastTime_notify : **** SharedData destructor for object TerrainAidOutput **** : ****Time::cleanup FastTime instance[0001d2a8]] : destroying segment TerrainAidOutput : **** FastTime dtor [0001d2a8] **** : destroying prot sem TerrainAidOutput_prot : **** SharedData destructor for object FastTime **** : destroying notify sem TerrainAidOutput_notify : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : SysData Destructor Executing.