A beverage dispensing device for dispensing pressurized beverages at a high flow rate without producing excessive foaming comprising a streamlined valve assembly and a downward extending nozzle assembly which permits a range of containers to be filled from the bottom. The method includes estimating a timing measurement uncertainty, and determining if an uncertainty reducing measurement is available. Further, the scheduling information can be conveyed in part through dedicated reference symbol layers or pilot streams. The reference velocity can follow a velocity profile with acceleration portions, coasting portions, and deceleration portions which move an optical pick-up unit from a starting position to a target position.