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Can you clarify "exploding"? You have no absolute pose data being fused for X (only velocities) so the error will grow without bound, but it should do so at a reasonable pace.

And I would expect X to grow at a faster rate than Y if you move in a straight line. Can you update your sensor messages so they have data from when the UUV is actually moving? I'm mostly interested in the DVL data. Also, what is your base_link -> dvl_link_child transform?

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