2025-08-21T18:59:06.492Z,1755802746.492 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:06.493Z,1755802746.493 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:06.642Z,1755802746.642 [OnDock:K](IMPORTANT): Restarting logs
2025-08-21T18:59:06.642Z,1755802746.642 [OnDock:K] Stopped
2025-08-21T18:59:06.642Z,1755802746.642 [OnDock:L.Execute] Running Loop=1
2025-08-21T18:59:06.643Z,1755802746.643 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-21T18:59:06.697Z,1755802746.697 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:06.698Z,1755802746.698 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:06.698Z,1755802746.698 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:06.953Z,1755802746.953 [DAT](INFO): DAT read: Rx Time:18:59:05.8076 

2025-08-21T18:59:06.955Z,1755802746.955 [DAT](INFO): Rx dataTimestamp_ set to:1755802746.953806
2025-08-21T18:59:06.958Z,1755802746.958 [DAT](INFO): DAT read: Bearing 325.0,  21.4 (Local)

2025-08-21T18:59:06.958Z,1755802746.958 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.0,  21.4 (Local)

2025-08-21T18:59:06.961Z,1755802746.961 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed -0.3

2025-08-21T18:59:06.966Z,1755802746.966 [DAT](INFO): DAT read: 18:59:05.8076 LVL= 29984, 21409, 32754, 32755, AGC= 47, IDX= 513, 0.05,-3.126,-1.607, 2.270,-2.513, PHS=-0.510, 0.952,-1.544, RAW= 354.3,  10.2, CAL= 354.5,  11.3, ROT= 155.5, -11.3

2025-08-21T18:59:06.972Z,1755802746.972 [DAT](INFO): got valid direction response:
 18:59:05.8076 LVL= 29984, 21409, 32754, 32755, AGC= 47, IDX= 513, 0.05,-3.126,-1.607, 2.270,-2.513, PHS=-0.510, 0.952,-1.544, RAW= 354.3,  10.2, CAL= 354.5,  11.3, ROT= 155.5, -11.3

2025-08-21T18:59:06.972Z,1755802746.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:06.973Z,1755802746.973 [DAT](INFO): direction in FSK: [-0.892321,0.406654,0.195946]
2025-08-21T18:59:06.973Z,1755802746.973 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:06.981Z,1755802746.981 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:06.981Z,1755802746.981 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:07.113Z,1755802747.113 [OnDock:L.Execute](INFO): Executing command restart logs
2025-08-21T18:59:07.113Z,1755802747.113 [OnDock:L.Execute] Stopped
2025-08-21T18:59:07.113Z,1755802747.113 [OnDock:N.Docked] Running Loop=1
2025-08-21T18:59:07.113Z,1755802747.113 [OnDock:N.Docked](DEBUG): Initialize.
2025-08-21T18:59:07.115Z,1755802747.115 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-21T18:59:07.133Z,1755802747.133 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-21T18:59:07.147Z,1755802747.147 [CommandExec](IMPORTANT): got command restart logs
2025-08-21T18:59:07.176Z,1755802747.176 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T18:59:07.200Z,1755802747.200 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:07.201Z,1755802747.201 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:07.201Z,1755802747.201 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:07.453Z,1755802747.453 [DAT](INFO): DAT read: Rx Time:18:59:06.3078 

2025-08-21T18:59:07.453Z,1755802747.453 [DAT](INFO): Rx dataTimestamp_ set to:1755802747.453092
2025-08-21T18:59:07.455Z,1755802747.455 [DAT](INFO): DAT read: Bearing 326.9,  24.0 (Local)

2025-08-21T18:59:07.455Z,1755802747.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.9,  24.0 (Local)

2025-08-21T18:59:07.457Z,1755802747.457 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed -0.3

2025-08-21T18:59:07.462Z,1755802747.462 [DAT](INFO): DAT read: 18:59:06.3078 LVL= 30080, 13473, 32754, 32755, AGC= 50, IDX=   3, 0.09, 0.761, 2.086,-0.160, 1.240, PHS=-0.376, 0.891,-1.444, RAW= 357.2,   9.2, CAL= 357.3,   9.8, ROT= 152.7,  -9.8

2025-08-21T18:59:07.463Z,1755802747.463 [DAT](INFO): got valid direction response:
 18:59:06.3078 LVL= 30080, 13473, 32754, 32755, AGC= 50, IDX=   3, 0.09, 0.761, 2.086,-0.160, 1.240, PHS=-0.376, 0.891,-1.444, RAW= 357.2,   9.2, CAL= 357.3,   9.8, ROT= 152.7,  -9.8

2025-08-21T18:59:07.463Z,1755802747.463 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:07.464Z,1755802747.464 [DAT](INFO): direction in FSK: [-0.875650,0.451957,0.170209]
2025-08-21T18:59:07.464Z,1755802747.464 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:07.474Z,1755802747.474 [OnDock:N.Docked](FAULT): Off dock, range to dock 10.100000 exceeded threshold.
2025-08-21T18:59:07.474Z,1755802747.474 [OnDock:N.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-21T18:59:07.476Z,1755802747.476 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:07.477Z,1755802747.477 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:07.484Z,1755802747.484 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-21T18:59:07.704Z,1755802747.704 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:07.704Z,1755802747.704 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:07.705Z,1755802747.705 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:07.961Z,1755802747.961 [DAT](INFO): DAT read: Rx Time:18:59:06.8078 

2025-08-21T18:59:07.962Z,1755802747.962 [DAT](INFO): Rx dataTimestamp_ set to:1755802747.961320
2025-08-21T18:59:07.968Z,1755802747.968 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-21T18:59:07.973Z,1755802747.973 [DAT](INFO): DAT read: Bearing 327.7,  24.2 (Local)

2025-08-21T18:59:07.975Z,1755802747.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.7,  24.2 (Local)

2025-08-21T18:59:07.993Z,1755802747.993 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed -0.3

2025-08-21T18:59:08.002Z,1755802748.002 [DAT](INFO): DAT read: 18:59:06.8078 LVL= 27888, 20721, 32754, 32755, AGC= 46, IDX= 499, 0.11, 0.016, 1.331,-0.915, 0.475, PHS=-0.357, 0.901,-1.434, RAW= 357.4,   8.8, CAL= 357.5,   9.2, ROT= 152.5,  -9.2

2025-08-21T18:59:08.007Z,1755802748.007 [DAT](INFO): got valid direction response:
 18:59:06.8078 LVL= 27888, 20721, 32754, 32755, AGC= 46, IDX= 499, 0.11, 0.016, 1.331,-0.915, 0.475, PHS=-0.357, 0.901,-1.434, RAW= 357.4,   8.8, CAL= 357.5,   9.2, ROT= 152.5,  -9.2

2025-08-21T18:59:08.008Z,1755802748.008 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:08.009Z,1755802748.009 [DAT](INFO): direction in FSK: [-0.875601,0.455809,0.159881]
2025-08-21T18:59:08.009Z,1755802748.009 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:08.019Z,1755802748.019 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:08.024Z,1755802748.024 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:08.208Z,1755802748.208 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:08.208Z,1755802748.208 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:08.208Z,1755802748.208 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:08.316Z,1755802748.316 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-21T18:59:08.461Z,1755802748.461 [DAT](INFO): DAT read: Rx Time:18:59:07.3080 

2025-08-21T18:59:08.462Z,1755802748.462 [DAT](INFO): Rx dataTimestamp_ set to:1755802748.461371
2025-08-21T18:59:08.464Z,1755802748.464 [DAT](INFO): DAT read: Bearing 327.5,  24.3 (Local)

2025-08-21T18:59:08.464Z,1755802748.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.5,  24.3 (Local)

2025-08-21T18:59:08.466Z,1755802748.466 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.3

2025-08-21T18:59:08.471Z,1755802748.471 [DAT](INFO): DAT read: 18:59:07.3080 LVL= 31392, 22145, 32754, 32755, AGC= 47, IDX= 501, 0.10, 1.315, 2.622, 0.381, 1.778, PHS=-0.361, 0.889,-1.440, RAW= 357.6,   9.1, CAL= 357.7,   9.6, ROT= 152.3,  -9.6

2025-08-21T18:59:08.472Z,1755802748.472 [DAT](INFO): got valid direction response:
 18:59:07.3080 LVL= 31392, 22145, 32754, 32755, AGC= 47, IDX= 501, 0.10, 1.315, 2.622, 0.381, 1.778, PHS=-0.361, 0.889,-1.440, RAW= 357.6,   9.1, CAL= 357.7,   9.6, ROT= 152.3,  -9.6

2025-08-21T18:59:08.472Z,1755802748.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:08.473Z,1755802748.473 [DAT](INFO): direction in FSK: [-0.872995,0.458332,0.166769]
2025-08-21T18:59:08.473Z,1755802748.473 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:08.477Z,1755802748.477 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:08.477Z,1755802748.477 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:08.675Z,1755802748.675 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-21T18:59:08.712Z,1755802748.712 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:08.713Z,1755802748.713 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:08.713Z,1755802748.713 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:08.972Z,1755802748.972 [DAT](INFO): DAT read: Rx Time:18:59:07.8080 

2025-08-21T18:59:08.973Z,1755802748.973 [DAT](INFO): Rx dataTimestamp_ set to:1755802748.972796
2025-08-21T18:59:08.978Z,1755802748.978 [DAT](INFO): DAT read: Bearing 328.0,  24.0 (Local)

2025-08-21T18:59:08.979Z,1755802748.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.0,  24.0 (Local)

2025-08-21T18:59:08.988Z,1755802748.988 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed -0.2

2025-08-21T18:59:08.997Z,1755802748.997 [DAT](INFO): DAT read: 18:59:07.8080 LVL= 31600, 20865, 32754, 32755, AGC= 47, IDX= 501, 0.07,-0.088, 1.230,-1.019, 0.375, PHS=-0.361, 0.899,-1.438, RAW= 357.4,   8.9, CAL= 357.5,   9.4, ROT= 152.5,  -9.4

2025-08-21T18:59:08.998Z,1755802748.998 [DAT](INFO): got valid direction response:
 18:59:07.8080 LVL= 31600, 20865, 32754, 32755, AGC= 47, IDX= 501, 0.07,-0.088, 1.230,-1.019, 0.375, PHS=-0.361, 0.899,-1.438, RAW= 357.4,   8.9, CAL= 357.5,   9.4, ROT= 152.5,  -9.4

2025-08-21T18:59:08.998Z,1755802748.998 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:09.004Z,1755802749.004 [DAT](INFO): direction in FSK: [-0.875100,0.455548,0.163326]
2025-08-21T18:59:09.004Z,1755802749.004 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:09.011Z,1755802749.011 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:09.012Z,1755802749.012 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:09.124Z,1755802749.124 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-21T18:59:09.216Z,1755802749.216 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:09.216Z,1755802749.216 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:09.217Z,1755802749.217 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:09.469Z,1755802749.469 [DAT](INFO): DAT read: Rx Time:18:59:08.3082 

2025-08-21T18:59:09.469Z,1755802749.469 [DAT](INFO): Rx dataTimestamp_ set to:1755802749.469084
2025-08-21T18:59:09.471Z,1755802749.471 [DAT](INFO): DAT read: Bearing 326.8,  24.2 (Local)

2025-08-21T18:59:09.471Z,1755802749.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.8,  24.2 (Local)

2025-08-21T18:59:09.473Z,1755802749.473 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.2

2025-08-21T18:59:09.478Z,1755802749.478 [DAT](INFO): DAT read: 18:59:08.3082 LVL= 32752, 20145, 32754, 32755, AGC= 48, IDX= 503, 0.06, 1.463, 2.766, 0.539, 1.948, PHS=-0.383, 0.863,-1.453, RAW= 357.5,   9.7, CAL= 357.7,  10.6, ROT= 152.3, -10.6

2025-08-21T18:59:09.479Z,1755802749.479 [DAT](INFO): got valid direction response:
 18:59:08.3082 LVL= 32752, 20145, 32754, 32755, AGC= 48, IDX= 503, 0.06, 1.463, 2.766, 0.539, 1.948, PHS=-0.383, 0.863,-1.453, RAW= 357.5,   9.7, CAL= 357.7,  10.6, ROT= 152.3, -10.6

2025-08-21T18:59:09.479Z,1755802749.479 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:09.480Z,1755802749.480 [DAT](INFO): direction in FSK: [-0.870285,0.456910,0.183951]
2025-08-21T18:59:09.481Z,1755802749.481 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:09.490Z,1755802749.490 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-21T18:59:09.503Z,1755802749.503 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:09.504Z,1755802749.504 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:09.720Z,1755802749.720 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:09.720Z,1755802749.720 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:09.721Z,1755802749.721 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:09.977Z,1755802749.977 [DAT](INFO): DAT read: Rx Time:18:59:08.8082 

2025-08-21T18:59:09.979Z,1755802749.979 [DAT](INFO): Rx dataTimestamp_ set to:1755802749.977790
2025-08-21T18:59:09.984Z,1755802749.984 [DAT](INFO): DAT read: Bearing 327.7,  23.6 (Local)

2025-08-21T18:59:09.985Z,1755802749.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.7,  23.6 (Local)

2025-08-21T18:59:10.008Z,1755802750.008 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed -0.2

2025-08-21T18:59:10.022Z,1755802750.022 [DAT](INFO): DAT read: 18:59:08.8082 LVL= 32752, 20545, 32754, 32755, AGC= 48, IDX= 503, 0.02,-0.305, 1.022,-1.224, 0.176, PHS=-0.379, 0.891,-1.443, RAW= 357.1,   9.2, CAL= 357.2,   9.8, ROT= 152.8,  -9.8

2025-08-21T18:59:10.032Z,1755802750.032 [DAT](INFO): got valid direction response:
 18:59:08.8082 LVL= 32752, 20545, 32754, 32755, AGC= 48, IDX= 503, 0.02,-0.305, 1.022,-1.224, 0.176, PHS=-0.379, 0.891,-1.443, RAW= 357.1,   9.2, CAL= 357.2,   9.8, ROT= 152.8,  -9.8

2025-08-21T18:59:10.032Z,1755802750.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:10.033Z,1755802750.033 [DAT](INFO): direction in FSK: [-0.876438,0.450428,0.170209]
2025-08-21T18:59:10.033Z,1755802750.033 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:10.041Z,1755802750.041 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:10.041Z,1755802750.041 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:10.224Z,1755802750.224 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:10.224Z,1755802750.224 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:10.225Z,1755802750.225 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:10.280Z,1755802750.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T18:59:10.477Z,1755802750.477 [DAT](INFO): DAT read: Rx Time:18:59:09.3083 

2025-08-21T18:59:10.477Z,1755802750.477 [DAT](INFO): Rx dataTimestamp_ set to:1755802750.477026
2025-08-21T18:59:10.479Z,1755802750.479 [DAT](INFO): DAT read: Bearing 328.5,  23.0 (Local)

2025-08-21T18:59:10.479Z,1755802750.479 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.5,  23.0 (Local)

2025-08-21T18:59:10.481Z,1755802750.481 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.3

2025-08-21T18:59:10.486Z,1755802750.486 [DAT](INFO): DAT read: 18:59:09.3083 LVL= 32752, 20273, 32754, 32755, AGC= 47, IDX= 504,-0.02,-0.839, 0.516,-1.753,-0.359, PHS=-0.377, 0.920,-1.438, RAW= 356.7,   8.8, CAL= 356.8,   9.2, ROT= 153.2,  -9.2

2025-08-21T18:59:10.487Z,1755802750.487 [DAT](INFO): got valid direction response:
 18:59:09.3083 LVL= 32752, 20273, 32754, 32755, AGC= 47, IDX= 504,-0.02,-0.839, 0.516,-1.753,-0.359, PHS=-0.377, 0.920,-1.438, RAW= 356.7,   8.8, CAL= 356.8,   9.2, ROT= 153.2,  -9.2

2025-08-21T18:59:10.487Z,1755802750.487 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:10.488Z,1755802750.488 [DAT](INFO): direction in FSK: [-0.881104,0.445078,0.159881]
2025-08-21T18:59:10.488Z,1755802750.488 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:10.492Z,1755802750.492 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:10.492Z,1755802750.492 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:10.728Z,1755802750.728 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:10.729Z,1755802750.729 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:10.729Z,1755802750.729 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:10.985Z,1755802750.985 [DAT](INFO): DAT read: Rx Time:18:59:09.8083 

2025-08-21T18:59:10.986Z,1755802750.986 [DAT](INFO): Rx dataTimestamp_ set to:1755802750.985443
2025-08-21T18:59:10.991Z,1755802750.991 [DAT](INFO): DAT read: Bearing 328.6,  23.0 (Local)

2025-08-21T18:59:11.016Z,1755802751.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.6,  23.0 (Local)

2025-08-21T18:59:11.023Z,1755802751.023 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed -0.2

2025-08-21T18:59:11.032Z,1755802751.032 [DAT](INFO): DAT read: 18:59:09.8083 LVL= 32752, 19729, 32754, 32755, AGC= 47, IDX= 504,-0.06,-2.480,-1.131, 2.889,-2.002, PHS=-0.376, 0.916,-1.436, RAW= 356.8,   8.8, CAL= 356.9,   9.2, ROT= 153.1,  -9.2

2025-08-21T18:59:11.033Z,1755802751.033 [DAT](INFO): got valid direction response:
 18:59:09.8083 LVL= 32752, 19729, 32754, 32755, AGC= 47, IDX= 504,-0.06,-2.480,-1.131, 2.889,-2.002, PHS=-0.376, 0.916,-1.436, RAW= 356.8,   8.8, CAL= 356.9,   9.2, ROT= 153.1,  -9.2

2025-08-21T18:59:11.034Z,1755802751.034 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:11.035Z,1755802751.035 [DAT](INFO): direction in FSK: [-0.880326,0.446615,0.159881]
2025-08-21T18:59:11.035Z,1755802751.035 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:11.042Z,1755802751.042 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:11.043Z,1755802751.043 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:11.232Z,1755802751.232 [DAT](INFO): Reached modem response timeout
2025-08-21T18:59:11.232Z,1755802751.232 [DAT](DEBUG): Acoustic response timeout
2025-08-21T18:59:11.233Z,1755802751.233 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T18:59:11.284Z,1755802751.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T18:59:11.484Z,1755802751.484 [DAT](INFO): DAT read: user:3913>

2025-08-21T18:59:11.485Z,1755802751.485 [DAT](INFO): DAT read: 0

2025-08-21T18:59:11.485Z,1755802751.485 [DAT](INFO): unknown deviceResponse_: 0

2025-08-21T18:59:11.485Z,1755802751.485 [DAT](INFO): DAT read: Ok

2025-08-21T18:59:11.486Z,1755802751.486 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-21T18:59:11.486Z,1755802751.486 [DAT](INFO): DAT read: user:3914>

2025-08-21T18:59:11.487Z,1755802751.487 [DAT](INFO): DAT read: Tx time:18:59:10.8076

2025-08-21T18:59:11.487Z,1755802751.487 [DAT](INFO): Ping request sent.
2025-08-21T18:59:11.487Z,1755802751.487 [DAT](INFO): transmitted an acoustic signal
2025-08-21T18:59:11.487Z,1755802751.487 [DAT](INFO): publishing transmit ping time
2025-08-21T18:59:11.488Z,1755802751.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-08-21T18:59:11.736Z,1755802751.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249101
2025-08-21T18:59:12.008Z,1755802752.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507519
2025-08-21T18:59:12.245Z,1755802752.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757183
2025-08-21T18:59:12.496Z,1755802752.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008938
2025-08-21T18:59:12.748Z,1755802752.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260978
2025-08-21T18:59:13.004Z,1755802753.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516121
2025-08-21T18:59:13.253Z,1755802753.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765518
2025-08-21T18:59:13.504Z,1755802753.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016944
2025-08-21T18:59:13.757Z,1755802753.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269183
2025-08-21T18:59:14.014Z,1755802754.014 [DAT](INFO): DAT read: Rx Time:18:59:12.9515 

2025-08-21T18:59:14.017Z,1755802754.017 [DAT](INFO): Rx dataTimestamp_ set to:1755802754.014663
2025-08-21T18:59:14.022Z,1755802754.022 [DAT](INFO): DAT read: Bearing 329.9,  23.0 (Local)

2025-08-21T18:59:14.023Z,1755802754.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.9,  23.0 (Local)

2025-08-21T18:59:14.061Z,1755802754.061 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed -0.3

2025-08-21T18:59:14.086Z,1755802754.086 [DAT](INFO): DAT read: 18:59:12.9515 LVL= 32752, 20545, 32754, 32755, AGC= 50, IDX= 149,-0.45,-1.464,-0.143,-2.382,-1.007, PHS=-0.354, 0.909,-1.419, RAW= 357.2,   8.6, CAL= 357.3,   8.9, ROT= 152.7,  -8.9

2025-08-21T18:59:14.087Z,1755802754.087 [DAT](INFO): got valid direction response:
 18:59:12.9515 LVL= 32752, 20545, 32754, 32755, AGC= 50, IDX= 149,-0.45,-1.464,-0.143,-2.382,-1.007, PHS=-0.354, 0.909,-1.419, RAW= 357.2,   8.6, CAL= 357.3,   8.9, ROT= 152.7,  -8.9

2025-08-21T18:59:14.091Z,1755802754.091 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T18:59:14.092Z,1755802754.092 [DAT](INFO): direction in FSK: [-0.877918,0.453127,0.154710]
2025-08-21T18:59:14.092Z,1755802754.092 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:14.100Z,1755802754.100 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.612695
2025-08-21T18:59:14.100Z,1755802754.100 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T18:59:14.260Z,1755802754.260 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.772955
2025-08-21T18:59:14.261Z,1755802754.261 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T18:59:14.517Z,1755802754.517 [DAT](INFO): DAT read: Rx Time:18:59:13.4514 

2025-08-21T18:59:14.519Z,1755802754.519 [DAT](INFO): Rx dataTimestamp_ set to:1755802754.517657
2025-08-21T18:59:14.521Z,1755802754.521 [DAT](INFO): DAT read: Bearing 330.0,  22.6 (Local)

2025-08-21T18:59:14.521Z,1755802754.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.0,  22.6 (Local)

2025-08-21T18:59:14.523Z,1755802754.523 [DAT](INFO): DAT read: Range 11 to 50 :    11.0 m (trip time 7.3 ms) speed -0.3

2025-08-21T18:59:14.532Z,1755802754.532 [DAT](INFO): DAT read: 18:59:13.4514 LVL= 32752, 21537, 32754, 32755, AGC= 49, IDX= 500,-0.29, 1.491, 2.831, 0.583, 1.959, PHS=-0.366, 0.917,-1.420, RAW= 356.8,   8.6, CAL= 356.8,   8.9, ROT= 153.2,  -8.9

2025-08-21T18:59:14.533Z,1755802754.533 [DAT](INFO): got valid direction response:
 18:59:13.4514 LVL= 32752, 21537, 32754, 32755, AGC= 49, IDX= 500,-0.29, 1.491, 2.831, 0.583, 1.959, PHS=-0.366, 0.917,-1.420, RAW= 356.8,   8.6, CAL= 356.8,   8.9, ROT= 153.2,  -8.9

2025-08-21T18:59:14.533Z,1755802754.533 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-21T18:59:14.534Z,1755802754.534 [DAT](INFO): direction in FSK: [-0.881839,0.445449,0.154710]
2025-08-21T18:59:14.535Z,1755802754.535 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:14.543Z,1755802754.543 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.055489
2025-08-21T18:59:14.547Z,1755802754.547 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T18:59:14.765Z,1755802754.765 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.277511
2025-08-21T18:59:15.022Z,1755802755.022 [DAT](INFO): DAT read: Rx Time:18:59:13.9517 

2025-08-21T18:59:15.025Z,1755802755.025 [DAT](INFO): Rx dataTimestamp_ set to:1755802755.022592
2025-08-21T18:59:15.028Z,1755802755.028 [DAT](INFO): DAT read: Bearing 331.0,  22.9 (Local)

2025-08-21T18:59:15.029Z,1755802755.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.0,  22.9 (Local)

2025-08-21T18:59:15.054Z,1755802755.054 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.3

2025-08-21T18:59:15.078Z,1755802755.078 [DAT](INFO): DAT read: 18:59:13.9517 LVL= 29760, 21969, 32754, 32755, AGC= 48, IDX= 502,-0.20, 3.133,-1.832, 2.209,-2.712, PHS=-0.336, 0.925,-1.405, RAW= 357.3,   8.1, CAL= 357.3,   8.1, ROT= 152.7,  -8.1

2025-08-21T18:59:15.084Z,1755802755.084 [DAT](INFO): got valid direction response:
 18:59:13.9517 LVL= 29760, 21969, 32754, 32755, AGC= 48, IDX= 502,-0.20, 3.133,-1.832, 2.209,-2.712, PHS=-0.336, 0.925,-1.405, RAW= 357.3,   8.1, CAL= 357.3,   8.1, ROT= 152.7,  -8.1

2025-08-21T18:59:15.084Z,1755802755.084 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-21T18:59:15.085Z,1755802755.085 [DAT](INFO): direction in FSK: [-0.879752,0.454074,0.140901]
2025-08-21T18:59:15.085Z,1755802755.085 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:15.129Z,1755802755.129 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.641617
2025-08-21T18:59:15.268Z,1755802755.268 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.780999
2025-08-21T18:59:15.522Z,1755802755.522 [DAT](INFO): DAT read: Rx Time:18:59:14.4517 

2025-08-21T18:59:15.522Z,1755802755.522 [DAT](INFO): Rx dataTimestamp_ set to:1755802755.521817
2025-08-21T18:59:15.523Z,1755802755.523 [DAT](INFO): DAT read: Bearing 331.7,  22.8 (Local)

2025-08-21T18:59:15.524Z,1755802755.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.7,  22.8 (Local)

2025-08-21T18:59:15.526Z,1755802755.526 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed -0.3

2025-08-21T18:59:15.530Z,1755802755.530 [DAT](INFO): DAT read: 18:59:14.4517 LVL= 29104, 22513, 32754, 32755, AGC= 48, IDX= 502,-0.12, 1.710, 3.039, 0.782, 2.141, PHS=-0.329, 0.943,-1.403, RAW= 357.2,   7.8, CAL= 357.2,   7.6, ROT= 152.8,  -7.6

2025-08-21T18:59:15.531Z,1755802755.531 [DAT](INFO): got valid direction response:
 18:59:14.4517 LVL= 29104, 22513, 32754, 32755, AGC= 48, IDX= 502,-0.12, 1.710, 3.039, 0.782, 2.141, PHS=-0.329, 0.943,-1.403, RAW= 357.2,   7.8, CAL= 357.2,   7.6, ROT= 152.8,  -7.6

2025-08-21T18:59:15.532Z,1755802755.532 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-21T18:59:15.533Z,1755802755.533 [DAT](INFO): direction in FSK: [-0.881603,0.453082,0.132256]
2025-08-21T18:59:15.533Z,1755802755.533 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:15.537Z,1755802755.537 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.049250
2025-08-21T18:59:15.773Z,1755802755.773 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.285433
2025-08-21T18:59:16.027Z,1755802756.027 [DAT](INFO): DAT read: Rx Time:18:59:14.9519 

2025-08-21T18:59:16.028Z,1755802756.028 [DAT](INFO): Rx dataTimestamp_ set to:1755802756.027321
2025-08-21T18:59:16.030Z,1755802756.030 [DAT](INFO): DAT read: Bearing 332.2,  22.9 (Local)

2025-08-21T18:59:16.031Z,1755802756.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.2,  22.9 (Local)

2025-08-21T18:59:16.033Z,1755802756.033 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.3

2025-08-21T18:59:16.046Z,1755802756.046 [DAT](INFO): DAT read: 18:59:14.9519 LVL= 29680, 21601, 32754, 32755, AGC= 47, IDX= 504,-0.05,-3.072,-1.758, 2.285,-2.657, PHS=-0.313, 0.944,-1.385, RAW= 357.4,   7.5, CAL= 357.4,   7.2, ROT= 152.6,  -7.2

2025-08-21T18:59:16.063Z,1755802756.063 [DAT](INFO): got valid direction response:
 18:59:14.9519 LVL= 29680, 21601, 32754, 32755, AGC= 47, IDX= 504,-0.05,-3.072,-1.758, 2.285,-2.657, PHS=-0.313, 0.944,-1.385, RAW= 357.4,   7.5, CAL= 357.4,   7.2, ROT= 152.6,  -7.2

2025-08-21T18:59:16.068Z,1755802756.068 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-21T18:59:16.076Z,1755802756.076 [DAT](INFO): direction in FSK: [-0.880815,0.456571,0.125333]
2025-08-21T18:59:16.076Z,1755802756.076 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:16.102Z,1755802756.102 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.613665
2025-08-21T18:59:16.276Z,1755802756.276 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.788947
2025-08-21T18:59:16.529Z,1755802756.529 [DAT](INFO): DAT read: Rx Time:18:59:15.4519 

2025-08-21T18:59:16.529Z,1755802756.529 [DAT](INFO): Rx dataTimestamp_ set to:1755802756.529041
2025-08-21T18:59:16.531Z,1755802756.531 [DAT](INFO): DAT read: Bearing 331.4,  23.2 (Local)

2025-08-21T18:59:16.531Z,1755802756.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.4,  23.2 (Local)

2025-08-21T18:59:16.533Z,1755802756.533 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed -0.3

2025-08-21T18:59:16.538Z,1755802756.538 [DAT](INFO): DAT read: 18:59:15.4519 LVL= 30000, 20881, 32754, 32755, AGC= 49, IDX= 504, 0.00, 2.881,-2.104, 1.955,-2.977, PHS=-0.324, 0.917,-1.396, RAW= 357.6,   8.0, CAL= 357.6,   8.0, ROT= 152.4,  -8.0

2025-08-21T18:59:16.539Z,1755802756.539 [DAT](INFO): got valid direction response:
 18:59:15.4519 LVL= 30000, 20881, 32754, 32755, AGC= 49, IDX= 504, 0.00, 2.881,-2.104, 1.955,-2.977, PHS=-0.324, 0.917,-1.396, RAW= 357.6,   8.0, CAL= 357.6,   8.0, ROT= 152.4,  -8.0

2025-08-21T18:59:16.539Z,1755802756.539 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-21T18:59:16.540Z,1755802756.540 [DAT](INFO): direction in FSK: [-0.877579,0.458787,0.139173]
2025-08-21T18:59:16.541Z,1755802756.541 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:16.544Z,1755802756.544 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057077
2025-08-21T18:59:16.780Z,1755802756.780 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.292954
2025-08-21T18:59:17.033Z,1755802757.033 [DAT](INFO): DAT read: Rx Time:18:59:15.9521 

2025-08-21T18:59:17.034Z,1755802757.034 [DAT](INFO): Rx dataTimestamp_ set to:1755802757.033216
2025-08-21T18:59:17.035Z,1755802757.035 [DAT](INFO): DAT read: Bearing 330.8,  23.2 (Local)

2025-08-21T18:59:17.035Z,1755802757.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.8,  23.2 (Local)

2025-08-21T18:59:17.037Z,1755802757.037 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.3

2025-08-21T18:59:17.062Z,1755802757.062 [DAT](INFO): DAT read: 18:59:15.9521 LVL= 32752, 20465, 32754, 32755, AGC= 50, IDX= 506, 0.03,-1.731,-0.442,-2.642,-1.294, PHS=-0.335, 0.898,-1.392, RAW= 357.5,   8.4, CAL= 357.5,   8.5, ROT= 152.5,  -8.5

2025-08-21T18:59:17.066Z,1755802757.066 [DAT](INFO): got valid direction response:
 18:59:15.9521 LVL= 32752, 20465, 32754, 32755, AGC= 50, IDX= 506, 0.03,-1.731,-0.442,-2.642,-1.294, PHS=-0.335, 0.898,-1.392, RAW= 357.5,   8.4, CAL= 357.5,   8.5, ROT= 152.5,  -8.5

2025-08-21T18:59:17.072Z,1755802757.072 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-21T18:59:17.074Z,1755802757.074 [DAT](INFO): direction in FSK: [-0.877268,0.456677,0.147809]
2025-08-21T18:59:17.080Z,1755802757.080 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:17.106Z,1755802757.106 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.618708
2025-08-21T18:59:17.284Z,1755802757.284 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.796882
2025-08-21T18:59:17.537Z,1755802757.537 [DAT](INFO): DAT read: Rx Time:18:59:16.4521 

2025-08-21T18:59:17.537Z,1755802757.537 [DAT](INFO): Rx dataTimestamp_ set to:1755802757.537150
2025-08-21T18:59:17.539Z,1755802757.539 [DAT](INFO): DAT read: Bearing 332.3,  23.8 (Local)

2025-08-21T18:59:17.539Z,1755802757.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.3,  23.8 (Local)

2025-08-21T18:59:17.541Z,1755802757.541 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.3

2025-08-21T18:59:17.546Z,1755802757.546 [DAT](INFO): DAT read: 18:59:16.4521 LVL= 28448, 22769, 32754, 32755, AGC= 49, IDX= 506, 0.03,-2.739,-1.467, 2.608,-2.342, PHS=-0.295, 0.920,-1.377, RAW= 358.1,   7.6, CAL= 358.1,   7.3, ROT= 151.9,  -7.3

2025-08-21T18:59:17.547Z,1755802757.547 [DAT](INFO): got valid direction response:
 18:59:16.4521 LVL= 28448, 22769, 32754, 32755, AGC= 49, IDX= 506, 0.03,-2.739,-1.467, 2.608,-2.342, PHS=-0.295, 0.920,-1.377, RAW= 358.1,   7.6, CAL= 358.1,   7.3, ROT= 151.9,  -7.3

2025-08-21T18:59:17.547Z,1755802757.547 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-21T18:59:17.548Z,1755802757.548 [DAT](INFO): direction in FSK: [-0.874977,0.467194,0.127065]
2025-08-21T18:59:17.549Z,1755802757.549 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:17.552Z,1755802757.552 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.064769
2025-08-21T18:59:17.788Z,1755802757.788 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.300936
2025-08-21T18:59:18.041Z,1755802758.041 [DAT](INFO): DAT read: Rx Time:18:59:16.9522 

2025-08-21T18:59:18.041Z,1755802758.041 [DAT](INFO): Rx dataTimestamp_ set to:1755802758.041087
2025-08-21T18:59:18.043Z,1755802758.043 [DAT](INFO): DAT read: Bearing 332.7,  23.7 (Local)

2025-08-21T18:59:18.052Z,1755802758.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,  23.7 (Local)

2025-08-21T18:59:18.054Z,1755802758.054 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.2

2025-08-21T18:59:18.066Z,1755802758.066 [DAT](INFO): DAT read: 18:59:16.9522 LVL= 27600, 22833, 32754, 32755, AGC= 49, IDX= 507, 0.02,-3.026,-1.752, 2.324,-2.633, PHS=-0.291, 0.926,-1.370, RAW= 358.0,   7.4, CAL= 358.0,   7.1, ROT= 152.0,  -7.1

2025-08-21T18:59:18.067Z,1755802758.067 [DAT](INFO): got valid direction response:
 18:59:16.9522 LVL= 27600, 22833, 32754, 32755, AGC= 49, IDX= 507, 0.02,-3.026,-1.752, 2.324,-2.633, PHS=-0.291, 0.926,-1.370, RAW= 358.0,   7.4, CAL= 358.0,   7.1, ROT= 152.0,  -7.1

2025-08-21T18:59:18.072Z,1755802758.072 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-21T18:59:18.075Z,1755802758.075 [DAT](INFO): direction in FSK: [-0.876177,0.465872,0.123601]
2025-08-21T18:59:18.080Z,1755802758.080 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:18.105Z,1755802758.105 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.616987
2025-08-21T18:59:18.293Z,1755802758.293 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805164
2025-08-21T18:59:18.545Z,1755802758.545 [DAT](INFO): DAT read: Rx Time:18:59:17.4522 

2025-08-21T18:59:18.545Z,1755802758.545 [DAT](INFO): Rx dataTimestamp_ set to:1755802758.545149
2025-08-21T18:59:18.547Z,1755802758.547 [DAT](INFO): DAT read: Bearing 333.1,  23.1 (Local)

2025-08-21T18:59:18.547Z,1755802758.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.1,  23.1 (Local)

2025-08-21T18:59:18.549Z,1755802758.549 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.2

2025-08-21T18:59:18.554Z,1755802758.554 [DAT](INFO): DAT read: 18:59:17.4522 LVL= 28240, 22001, 32754, 32755, AGC= 50, IDX= 507,-0.04, 1.392, 2.702, 0.472, 1.797, PHS=-0.303, 0.950,-1.369, RAW= 357.3,   7.2, CAL= 357.3,   6.7, ROT= 152.7,  -6.7

2025-08-21T18:59:18.555Z,1755802758.555 [DAT](INFO): got valid direction response:
 18:59:17.4522 LVL= 28240, 22001, 32754, 32755, AGC= 50, IDX= 507,-0.04, 1.392, 2.702, 0.472, 1.797, PHS=-0.303, 0.950,-1.369, RAW= 357.3,   7.2, CAL= 357.3,   6.7, ROT= 152.7,  -6.7

2025-08-21T18:59:18.556Z,1755802758.556 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-21T18:59:18.557Z,1755802758.557 [DAT](INFO): direction in FSK: [-0.882549,0.455517,0.116671]
2025-08-21T18:59:18.557Z,1755802758.557 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:18.561Z,1755802758.561 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.073377
2025-08-21T18:59:18.796Z,1755802758.796 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.308942
2025-08-21T18:59:19.049Z,1755802759.049 [DAT](INFO): DAT read: Rx Time:18:59:17.9524 

2025-08-21T18:59:19.050Z,1755802759.050 [DAT](INFO): Rx dataTimestamp_ set to:1755802759.049369
2025-08-21T18:59:19.051Z,1755802759.051 [DAT](INFO): DAT read: Bearing 333.4,  23.2 (Local)

2025-08-21T18:59:19.052Z,1755802759.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.4,  23.2 (Local)

2025-08-21T18:59:19.054Z,1755802759.054 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-08-21T18:59:19.062Z,1755802759.062 [DAT](INFO): DAT read: 18:59:17.9524 LVL= 27632, 22417, 32754, 32755, AGC= 49, IDX= 509,-0.11, 2.325,-2.650, 1.407, 2.726, PHS=-0.298, 0.953,-1.362, RAW= 357.3,   7.1, CAL= 357.3,   6.5, ROT= 152.7,  -6.5

2025-08-21T18:59:19.064Z,1755802759.064 [DAT](INFO): got valid direction response:
 18:59:17.9524 LVL= 27632, 22417, 32754, 32755, AGC= 49, IDX= 509,-0.11, 2.325,-2.650, 1.407, 2.726, PHS=-0.298, 0.953,-1.362, RAW= 357.3,   7.1, CAL= 357.3,   6.5, ROT= 152.7,  -6.5

2025-08-21T18:59:19.064Z,1755802759.064 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-21T18:59:19.065Z,1755802759.065 [DAT](INFO): direction in FSK: [-0.882905,0.455701,0.113203]
2025-08-21T18:59:19.065Z,1755802759.065 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:19.085Z,1755802759.085 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.596857
2025-08-21T18:59:19.300Z,1755802759.300 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813083
2025-08-21T18:59:19.553Z,1755802759.553 [DAT](INFO): DAT read: Rx Time:18:59:18.4524 

2025-08-21T18:59:19.553Z,1755802759.553 [DAT](INFO): Rx dataTimestamp_ set to:1755802759.552840
2025-08-21T18:59:19.554Z,1755802759.554 [DAT](INFO): DAT read: Bearing 333.3,  23.2 (Local)

2025-08-21T18:59:19.555Z,1755802759.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.3,  23.2 (Local)

2025-08-21T18:59:19.557Z,1755802759.557 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-08-21T18:59:19.561Z,1755802759.561 [DAT](INFO): DAT read: 18:59:18.4524 LVL= 28992, 21569, 32754, 32755, AGC= 49, IDX= 509,-0.22, 1.297, 2.607, 0.380, 1.700, PHS=-0.301, 0.952,-1.364, RAW= 357.3,   7.2, CAL= 357.3,   6.6, ROT= 152.7,  -6.6

2025-08-21T18:59:19.562Z,1755802759.562 [DAT](INFO): got valid direction response:
 18:59:18.4524 LVL= 28992, 21569, 32754, 32755, AGC= 49, IDX= 509,-0.22, 1.297, 2.607, 0.380, 1.700, PHS=-0.301, 0.952,-1.364, RAW= 357.3,   7.2, CAL= 357.3,   6.6, ROT= 152.7,  -6.6

2025-08-21T18:59:19.563Z,1755802759.563 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-21T18:59:19.564Z,1755802759.564 [DAT](INFO): direction in FSK: [-0.882728,0.455610,0.114937]
2025-08-21T18:59:19.564Z,1755802759.564 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:19.568Z,1755802759.568 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.080281
2025-08-21T18:59:19.804Z,1755802759.804 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317010
2025-08-21T18:59:20.059Z,1755802760.059 [DAT](INFO): DAT read: Rx Time:18:59:18.9525 

2025-08-21T18:59:20.060Z,1755802760.060 [DAT](INFO): Rx dataTimestamp_ set to:1755802760.059410
2025-08-21T18:59:20.061Z,1755802760.061 [DAT](INFO): DAT read: Bearing 332.3,  22.9 (Local)

2025-08-21T18:59:20.061Z,1755802760.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.3,  22.9 (Local)

2025-08-21T18:59:20.064Z,1755802760.064 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-08-21T18:59:20.069Z,1755802760.069 [DAT](INFO): DAT read: 18:59:18.9525 LVL= 32752, 22353, 32754, 32755, AGC= 50, IDX= 511,-0.35, 2.344,-2.625, 1.458, 2.777, PHS=-0.330, 0.927,-1.363, RAW= 356.8,   7.8, CAL= 356.8,   7.6, ROT= 153.2,  -7.6

2025-08-21T18:59:20.070Z,1755802760.070 [DAT](INFO): got valid direction response:
 18:59:18.9525 LVL= 32752, 22353, 32754, 32755, AGC= 50, IDX= 511,-0.35, 2.344,-2.625, 1.458, 2.777, PHS=-0.330, 0.927,-1.363, RAW= 356.8,   7.8, CAL= 356.8,   7.6, ROT= 153.2,  -7.6

2025-08-21T18:59:20.071Z,1755802760.071 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-21T18:59:20.078Z,1755802760.078 [DAT](INFO): direction in FSK: [-0.884745,0.446917,0.132256]
2025-08-21T18:59:20.078Z,1755802760.078 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:20.085Z,1755802760.085 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.597223
2025-08-21T18:59:20.312Z,1755802760.312 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.825021
2025-08-21T18:59:20.565Z,1755802760.565 [DAT](INFO): DAT read: Rx Time:18:59:19.4525 

2025-08-21T18:59:20.565Z,1755802760.565 [DAT](INFO): Rx dataTimestamp_ set to:1755802760.565135
2025-08-21T18:59:20.567Z,1755802760.567 [DAT](INFO): DAT read: Bearing 332.8,  24.0 (Local)

2025-08-21T18:59:20.567Z,1755802760.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.8,  24.0 (Local)

2025-08-21T18:59:20.569Z,1755802760.569 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.2

2025-08-21T18:59:20.574Z,1755802760.574 [DAT](INFO): DAT read: 18:59:19.4525 LVL= 29408, 21153, 32754, 32755, AGC= 49, IDX= 510, 0.41, 3.064,-1.958, 2.152,-2.822, PHS=-0.296, 0.909,-1.353, RAW= 357.8,   7.6, CAL= 357.9,   7.3, ROT= 152.1,  -7.3

2025-08-21T18:59:20.575Z,1755802760.575 [DAT](INFO): got valid direction response:
 18:59:19.4525 LVL= 29408, 21153, 32754, 32755, AGC= 49, IDX= 510, 0.41, 3.064,-1.958, 2.152,-2.822, PHS=-0.296, 0.909,-1.353, RAW= 357.8,   7.6, CAL= 357.9,   7.3, ROT= 152.1,  -7.3

2025-08-21T18:59:20.575Z,1755802760.575 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-21T18:59:20.576Z,1755802760.576 [DAT](INFO): direction in FSK: [-0.876602,0.464137,0.127065]
2025-08-21T18:59:20.577Z,1755802760.577 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:20.584Z,1755802760.584 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.096885
2025-08-21T18:59:20.816Z,1755802760.816 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.329052
2025-08-21T18:59:21.069Z,1755802761.069 [DAT](INFO): DAT read: Rx Time:18:59:19.9527 

2025-08-21T18:59:21.070Z,1755802761.070 [DAT](INFO): Rx dataTimestamp_ set to:1755802761.069247
2025-08-21T18:59:21.071Z,1755802761.071 [DAT](INFO): DAT read: Bearing 331.6,  21.2 (Local)

2025-08-21T18:59:21.071Z,1755802761.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.6,  21.2 (Local)

2025-08-21T18:59:21.073Z,1755802761.073 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.2

2025-08-21T18:59:21.082Z,1755802761.082 [DAT](INFO): DAT read: 18:59:19.9527 LVL= 30048, 19153, 32754, 32755, AGC= 49, IDX= 512, 0.25, 2.382,-2.396, 1.473, 2.912, PHS=-0.428, 1.021,-1.483, RAW= 354.8,   8.2, CAL= 354.9,   8.3, ROT= 155.1,  -8.3

2025-08-21T18:59:21.083Z,1755802761.083 [DAT](INFO): got valid direction response:
 18:59:19.9527 LVL= 30048, 19153, 32754, 32755, AGC= 49, IDX= 512, 0.25, 2.382,-2.396, 1.473, 2.912, PHS=-0.428, 1.021,-1.483, RAW= 354.8,   8.2, CAL= 354.9,   8.3, ROT= 155.1,  -8.3

2025-08-21T18:59:21.083Z,1755802761.083 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-21T18:59:21.085Z,1755802761.085 [DAT](INFO): direction in FSK: [-0.897543,0.416626,0.144356]
2025-08-21T18:59:21.086Z,1755802761.086 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:21.196Z,1755802761.196 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.708342
2025-08-21T18:59:21.212Z,1755802761.212 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3768,V
2025-08-21T18:59:21.321Z,1755802761.321 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.833330
2025-08-21T18:59:21.573Z,1755802761.573 [DAT](INFO): DAT read: Rx Time:18:59:20.4527 

2025-08-21T18:59:21.573Z,1755802761.573 [DAT](INFO): Rx dataTimestamp_ set to:1755802761.573174
2025-08-21T18:59:21.575Z,1755802761.575 [DAT](INFO): DAT read: Bearing 334.4,  18.8 (Local)

2025-08-21T18:59:21.579Z,1755802761.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.4,  18.8 (Local)

2025-08-21T18:59:21.581Z,1755802761.581 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.2

2025-08-21T18:59:21.586Z,1755802761.586 [DAT](INFO): DAT read: 18:59:20.4527 LVL= 32176, 19825, 32754, 32755, AGC= 49, IDX= 512, 0.12, 0.872, 2.334, 0.126, 1.361, PHS=-0.387, 1.019,-1.279, RAW= 352.6,   6.5, CAL= 352.5,   5.5, ROT= 157.5,  -5.5

2025-08-21T18:59:21.595Z,1755802761.595 [DAT](INFO): got valid direction response:
 18:59:20.4527 LVL= 32176, 19825, 32754, 32755, AGC= 49, IDX= 512, 0.12, 0.872, 2.334, 0.126, 1.361, PHS=-0.387, 1.019,-1.279, RAW= 352.6,   6.5, CAL= 352.5,   5.5, ROT= 157.5,  -5.5

2025-08-21T18:59:21.596Z,1755802761.596 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-21T18:59:21.597Z,1755802761.597 [DAT](INFO): direction in FSK: [-0.919626,0.380922,0.095846]
2025-08-21T18:59:21.597Z,1755802761.597 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:21.613Z,1755802761.613 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.125413
2025-08-21T18:59:21.824Z,1755802761.824 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.336943
2025-08-21T18:59:22.077Z,1755802762.077 [DAT](INFO): DAT read: Rx Time:18:59:20.9528 

2025-08-21T18:59:22.078Z,1755802762.078 [DAT](INFO): Rx dataTimestamp_ set to:1755802762.077244
2025-08-21T18:59:22.084Z,1755802762.084 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.2

2025-08-21T18:59:22.085Z,1755802762.085 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-21T18:59:22.085Z,1755802762.085 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.598019
2025-08-21T18:59:22.328Z,1755802762.328 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.841060
2025-08-21T18:59:22.581Z,1755802762.581 [DAT](INFO): DAT read: Rx Time:18:59:21.4528 

2025-08-21T18:59:22.581Z,1755802762.581 [DAT](INFO): Rx dataTimestamp_ set to:1755802762.581069
2025-08-21T18:59:22.583Z,1755802762.583 [DAT](INFO): DAT read: Bearing 330.8,  20.0 (Local)

2025-08-21T18:59:22.583Z,1755802762.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.8,  20.0 (Local)

2025-08-21T18:59:22.585Z,1755802762.585 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.2

2025-08-21T18:59:22.590Z,1755802762.590 [DAT](INFO): DAT read: 18:59:21.4528 LVL= 32752, 20689, 32754, 32755, AGC= 49, IDX= 513,-0.05,-2.498,-0.915, 2.930,-1.900, PHS=-0.496, 1.030,-1.497, RAW= 353.2,   8.8, CAL= 353.2,   9.1, ROT= 156.8,  -9.1

2025-08-21T18:59:22.592Z,1755802762.592 [DAT](INFO): got valid direction response:
 18:59:21.4528 LVL= 32752, 20689, 32754, 32755, AGC= 49, IDX= 513,-0.05,-2.498,-0.915, 2.930,-1.900, PHS=-0.496, 1.030,-1.497, RAW= 353.2,   8.8, CAL= 353.2,   9.1, ROT= 156.8,  -9.1

2025-08-21T18:59:22.592Z,1755802762.592 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-21T18:59:22.593Z,1755802762.593 [DAT](INFO): direction in FSK: [-0.907567,0.388984,0.158158]
2025-08-21T18:59:22.593Z,1755802762.593 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:22.601Z,1755802762.601 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.113530
2025-08-21T18:59:22.833Z,1755802762.833 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.345299
2025-08-21T18:59:23.085Z,1755802763.085 [DAT](INFO): DAT read: Rx Time:18:59:21.9530 

2025-08-21T18:59:23.085Z,1755802763.085 [DAT](INFO): Rx dataTimestamp_ set to:1755802763.085161
2025-08-21T18:59:23.087Z,1755802763.087 [DAT](INFO): DAT read: Bearing 332.9,  23.0 (Local)

2025-08-21T18:59:23.087Z,1755802763.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.9,  23.0 (Local)

2025-08-21T18:59:23.089Z,1755802763.089 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.2

2025-08-21T18:59:23.094Z,1755802763.094 [DAT](INFO): DAT read: 18:59:21.9530 LVL= 32752, 15553, 32754, 32755, AGC= 52, IDX=   3,-0.12, 0.794, 2.113,-0.065, 1.236, PHS=-0.339, 0.923,-1.344, RAW= 356.3,   7.8, CAL= 356.3,   7.6, ROT= 153.7,  -7.6

2025-08-21T18:59:23.095Z,1755802763.095 [DAT](INFO): got valid direction response:
 18:59:21.9530 LVL= 32752, 15553, 32754, 32755, AGC= 52, IDX=   3,-0.12, 0.794, 2.113,-0.065, 1.236, PHS=-0.339, 0.923,-1.344, RAW= 356.3,   7.8, CAL= 356.3,   7.6, ROT= 153.7,  -7.6

2025-08-21T18:59:23.095Z,1755802763.095 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-21T18:59:23.096Z,1755802763.096 [DAT](INFO): direction in FSK: [-0.888611,0.439179,0.132256]
2025-08-21T18:59:23.097Z,1755802763.097 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:23.106Z,1755802763.106 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.618029
2025-08-21T18:59:23.337Z,1755802763.337 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.849439
2025-08-21T18:59:23.589Z,1755802763.589 [DAT](INFO): DAT read: Rx Time:18:59:22.4530 

2025-08-21T18:59:23.589Z,1755802763.589 [DAT](INFO): Rx dataTimestamp_ set to:1755802763.589126
2025-08-21T18:59:23.591Z,1755802763.591 [DAT](INFO): DAT read: Bearing 331.8,  23.2 (Local)

2025-08-21T18:59:23.591Z,1755802763.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.8,  23.2 (Local)

2025-08-21T18:59:23.593Z,1755802763.593 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.2

2025-08-21T18:59:23.598Z,1755802763.598 [DAT](INFO): DAT read: 18:59:22.4530 LVL= 32752, 19569, 32754, 32755, AGC= 50, IDX= 499,-0.15,-0.467, 0.839,-1.311,-0.006, PHS=-0.359, 0.890,-1.349, RAW= 356.2,   8.5, CAL= 356.2,   8.6, ROT= 153.8,  -8.6

2025-08-21T18:59:23.599Z,1755802763.599 [DAT](INFO): got valid direction response:
 18:59:22.4530 LVL= 32752, 19569, 32754, 32755, AGC= 50, IDX= 499,-0.15,-0.467, 0.839,-1.311,-0.006, PHS=-0.359, 0.890,-1.349, RAW= 356.2,   8.5, CAL= 356.2,   8.6, ROT= 153.8,  -8.6

2025-08-21T18:59:23.599Z,1755802763.599 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-21T18:59:23.600Z,1755802763.600 [DAT](INFO): direction in FSK: [-0.887170,0.436542,0.149535]
2025-08-21T18:59:23.600Z,1755802763.600 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:23.604Z,1755802763.604 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.116535
2025-08-21T18:59:23.841Z,1755802763.841 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.353141
2025-08-21T18:59:24.094Z,1755802764.094 [DAT](INFO): DAT read: Rx Time:18:59:22.9531 

2025-08-21T18:59:24.094Z,1755802764.094 [DAT](INFO): Rx dataTimestamp_ set to:1755802764.093981
2025-08-21T18:59:24.096Z,1755802764.096 [DAT](INFO): DAT read: Bearing 332.8,  23.2 (Local)

2025-08-21T18:59:24.097Z,1755802764.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.8,  23.2 (Local)

2025-08-21T18:59:24.099Z,1755802764.099 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.2

2025-08-21T18:59:24.113Z,1755802764.113 [DAT](INFO): DAT read: 18:59:22.9531 LVL= 31808, 19377, 32754, 32755, AGC= 49, IDX= 501,-0.22, 0.791, 2.105,-0.062, 1.235, PHS=-0.341, 0.915,-1.341, RAW= 356.2,   7.9, CAL= 356.3,   7.7, ROT= 153.7,  -7.7

2025-08-21T18:59:24.130Z,1755802764.130 [DAT](INFO): got valid direction response:
 18:59:22.9531 LVL= 31808, 19377, 32754, 32755, AGC= 49, IDX= 501,-0.22, 0.791, 2.105,-0.062, 1.235, PHS=-0.341, 0.915,-1.341, RAW= 356.2,   7.9, CAL= 356.3,   7.7, ROT= 153.7,  -7.7

2025-08-21T18:59:24.130Z,1755802764.130 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-21T18:59:24.136Z,1755802764.136 [DAT](INFO): direction in FSK: [-0.888403,0.439076,0.133986]
2025-08-21T18:59:24.136Z,1755802764.136 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:24.151Z,1755802764.151 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.663335
2025-08-21T18:59:24.345Z,1755802764.345 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.857292
2025-08-21T18:59:24.597Z,1755802764.597 [DAT](INFO): DAT read: Rx Time:18:59:23.4531 

2025-08-21T18:59:24.598Z,1755802764.598 [DAT](INFO): Rx dataTimestamp_ set to:1755802764.597303
2025-08-21T18:59:24.599Z,1755802764.599 [DAT](INFO): DAT read: Bearing 332.0,  23.4 (Local)

2025-08-21T18:59:24.599Z,1755802764.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.0,  23.4 (Local)

2025-08-21T18:59:24.601Z,1755802764.601 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.2

2025-08-21T18:59:24.606Z,1755802764.606 [DAT](INFO): DAT read: 18:59:23.4531 LVL= 32752, 20193, 32754, 32755, AGC= 50, IDX= 501,-0.26,-0.213, 1.087,-1.052, 0.245, PHS=-0.355, 0.888,-1.340, RAW= 356.2,   8.4, CAL= 356.2,   8.5, ROT= 153.8,  -8.5

2025-08-21T18:59:24.608Z,1755802764.608 [DAT](INFO): got valid direction response:
 18:59:23.4531 LVL= 32752, 20193, 32754, 32755, AGC= 50, IDX= 501,-0.26,-0.213, 1.087,-1.052, 0.245, PHS=-0.355, 0.888,-1.340, RAW= 356.2,   8.4, CAL= 356.2,   8.5, ROT= 153.8,  -8.5

2025-08-21T18:59:24.608Z,1755802764.608 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-21T18:59:24.609Z,1755802764.609 [DAT](INFO): direction in FSK: [-0.887403,0.436656,0.147809]
2025-08-21T18:59:24.609Z,1755802764.609 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:24.613Z,1755802764.613 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.125931
2025-08-21T18:59:24.848Z,1755802764.848 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.360930
2025-08-21T18:59:25.101Z,1755802765.101 [DAT](INFO): DAT read: Rx Time:18:59:23.9533 

2025-08-21T18:59:25.102Z,1755802765.102 [DAT](INFO): Rx dataTimestamp_ set to:1755802765.101305
2025-08-21T18:59:25.103Z,1755802765.103 [DAT](INFO): DAT read: Bearing 332.3,  23.6 (Local)

2025-08-21T18:59:25.103Z,1755802765.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.3,  23.6 (Local)

2025-08-21T18:59:25.105Z,1755802765.105 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.2

2025-08-21T18:59:25.119Z,1755802765.119 [DAT](INFO): DAT read: 18:59:23.9533 LVL= 32752, 19857, 32754, 32755, AGC= 50, IDX= 503,-0.33, 1.054, 2.348, 0.213, 1.504, PHS=-0.348, 0.889,-1.336, RAW= 356.3,   8.3, CAL= 356.4,   8.4, ROT= 153.6,  -8.4

2025-08-21T18:59:25.120Z,1755802765.120 [DAT](INFO): got valid direction response:
 18:59:23.9533 LVL= 32752, 19857, 32754, 32755, AGC= 50, IDX= 503,-0.33, 1.054, 2.348, 0.213, 1.504, PHS=-0.348, 0.889,-1.336, RAW= 356.3,   8.3, CAL= 356.4,   8.4, ROT= 153.6,  -8.4

2025-08-21T18:59:25.120Z,1755802765.120 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-21T18:59:25.121Z,1755802765.121 [DAT](INFO): direction in FSK: [-0.886103,0.439865,0.146083]
2025-08-21T18:59:25.122Z,1755802765.122 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:25.125Z,1755802765.125 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.637852
2025-08-21T18:59:25.292Z,1755802765.292 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,    , 7.18,      -17.78,   8.21,  0.00
2025-08-21T18:59:25.352Z,1755802765.352 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.865021
2025-08-21T18:59:25.605Z,1755802765.605 [DAT](INFO): DAT read: Rx Time:18:59:24.4533 

2025-08-21T18:59:25.605Z,1755802765.605 [DAT](INFO): Rx dataTimestamp_ set to:1755802765.604870
2025-08-21T18:59:25.606Z,1755802765.606 [DAT](INFO): DAT read: Bearing 332.2,  23.5 (Local)

2025-08-21T18:59:25.607Z,1755802765.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.2,  23.5 (Local)

2025-08-21T18:59:25.609Z,1755802765.609 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.2

2025-08-21T18:59:25.613Z,1755802765.613 [DAT](INFO): DAT read: 18:59:24.4533 LVL= 32752, 20721, 32754, 32755, AGC= 50, IDX= 503,-0.41, 0.016, 1.310,-0.816, 0.470, PHS=-0.352, 0.886,-1.330, RAW= 356.1,   8.3, CAL= 356.2,   8.4, ROT= 153.8,  -8.4

2025-08-21T18:59:25.614Z,1755802765.614 [DAT](INFO): got valid direction response:
 18:59:24.4533 LVL= 32752, 20721, 32754, 32755, AGC= 50, IDX= 503,-0.41, 0.016, 1.310,-0.816, 0.470, PHS=-0.352, 0.886,-1.330, RAW= 356.1,   8.3, CAL= 356.2,   8.4, ROT= 153.8,  -8.4

2025-08-21T18:59:25.615Z,1755802765.615 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-21T18:59:25.616Z,1755802765.616 [DAT](INFO): direction in FSK: [-0.887633,0.436770,0.146083]
2025-08-21T18:59:25.616Z,1755802765.616 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:25.620Z,1755802765.620 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.132200
2025-08-21T18:59:25.857Z,1755802765.857 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.369223
2025-08-21T18:59:26.110Z,1755802766.110 [DAT](INFO): DAT read: Rx Time:18:59:24.9534 

2025-08-21T18:59:26.116Z,1755802766.116 [DAT](INFO): Rx dataTimestamp_ set to:1755802766.110391
2025-08-21T18:59:26.118Z,1755802766.118 [DAT](INFO): DAT read: Bearing 332.5,  24.5 (Local)

2025-08-21T18:59:26.118Z,1755802766.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.5,  24.5 (Local)

2025-08-21T18:59:26.120Z,1755802766.120 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.3

2025-08-21T18:59:26.130Z,1755802766.130 [DAT](INFO): DAT read: 18:59:24.9534 LVL= 32752, 20849, 32754, 32755, AGC= 50, IDX= 503, 0.48, 1.390, 2.643, 0.533, 1.815, PHS=-0.324, 0.873,-1.326, RAW= 357.1,   8.2, CAL= 357.1,   8.2, ROT= 152.9,  -8.2

2025-08-21T18:59:26.133Z,1755802766.133 [DAT](INFO): got valid direction response:
 18:59:24.9534 LVL= 32752, 20849, 32754, 32755, AGC= 50, IDX= 503, 0.48, 1.390, 2.643, 0.533, 1.815, PHS=-0.324, 0.873,-1.326, RAW= 357.1,   8.2, CAL= 357.1,   8.2, ROT= 152.9,  -8.2

2025-08-21T18:59:26.134Z,1755802766.134 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-21T18:59:26.135Z,1755802766.135 [DAT](INFO): direction in FSK: [-0.881111,0.450888,0.142629]
2025-08-21T18:59:26.135Z,1755802766.135 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:26.139Z,1755802766.139 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.651181
2025-08-21T18:59:26.360Z,1755802766.360 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.872897
2025-08-21T18:59:26.613Z,1755802766.613 [DAT](INFO): DAT read: Rx Time:18:59:25.4534 

2025-08-21T18:59:26.614Z,1755802766.614 [DAT](INFO): Rx dataTimestamp_ set to:1755802766.613402
2025-08-21T18:59:26.615Z,1755802766.615 [DAT](INFO): DAT read: Bearing 332.0,  24.6 (Local)

2025-08-21T18:59:26.615Z,1755802766.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.0,  24.6 (Local)

2025-08-21T18:59:26.617Z,1755802766.617 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.2

2025-08-21T18:59:26.622Z,1755802766.622 [DAT](INFO): DAT read: 18:59:25.4534 LVL= 32752, 20785, 32754, 32755, AGC= 49, IDX= 503, 0.37, 0.830, 2.078,-0.020, 1.265, PHS=-0.334, 0.857,-1.329, RAW= 357.0,   8.5, CAL= 357.1,   8.8, ROT= 152.9,  -8.8

2025-08-21T18:59:26.623Z,1755802766.623 [DAT](INFO): got valid direction response:
 18:59:25.4534 LVL= 32752, 20785, 32754, 32755, AGC= 49, IDX= 503, 0.37, 0.830, 2.078,-0.020, 1.265, PHS=-0.334, 0.857,-1.329, RAW= 357.0,   8.5, CAL= 357.1,   8.8, ROT= 152.9,  -8.8

2025-08-21T18:59:26.624Z,1755802766.624 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-21T18:59:26.625Z,1755802766.625 [DAT](INFO): direction in FSK: [-0.879734,0.450182,0.152986]
2025-08-21T18:59:26.625Z,1755802766.625 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:26.634Z,1755802766.634 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.146568
2025-08-21T18:59:26.864Z,1755802766.864 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.377013
2025-08-21T18:59:27.117Z,1755802767.117 [DAT](INFO): DAT read: Rx Time:18:59:25.9536 

2025-08-21T18:59:27.117Z,1755802767.117 [DAT](INFO): Rx dataTimestamp_ set to:1755802767.117050
2025-08-21T18:59:27.119Z,1755802767.119 [DAT](INFO): DAT read: Bearing 332.1,  24.4 (Local)

2025-08-21T18:59:27.119Z,1755802767.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.1,  24.4 (Local)

2025-08-21T18:59:27.121Z,1755802767.121 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.2

2025-08-21T18:59:27.126Z,1755802767.126 [DAT](INFO): DAT read: 18:59:25.9536 LVL= 32752, 21137, 32754, 32755, AGC= 49, IDX= 505, 0.26, 1.683, 2.942, 0.843, 2.125, PHS=-0.340, 0.862,-1.326, RAW= 356.7,   8.5, CAL= 356.8,   8.7, ROT= 153.2,  -8.7

2025-08-21T18:59:27.127Z,1755802767.127 [DAT](INFO): got valid direction response:
 18:59:25.9536 LVL= 32752, 21137, 32754, 32755, AGC= 49, IDX= 505, 0.26, 1.683, 2.942, 0.843, 2.125, PHS=-0.340, 0.862,-1.326, RAW= 356.7,   8.5, CAL= 356.8,   8.7, ROT= 153.2,  -8.7

2025-08-21T18:59:27.127Z,1755802767.127 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-21T18:59:27.128Z,1755802767.128 [DAT](INFO): direction in FSK: [-0.882316,0.445690,0.151261]
2025-08-21T18:59:27.128Z,1755802767.128 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:27.132Z,1755802767.132 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.644680
2025-08-21T18:59:27.370Z,1755802767.370 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.882686
2025-08-21T18:59:27.621Z,1755802767.621 [DAT](INFO): DAT read: Rx Time:18:59:26.4535 

2025-08-21T18:59:27.621Z,1755802767.621 [DAT](INFO): Rx dataTimestamp_ set to:1755802767.621055
2025-08-21T18:59:27.623Z,1755802767.623 [DAT](INFO): DAT read: Bearing 332.7,  24.8 (Local)

2025-08-21T18:59:27.623Z,1755802767.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,  24.8 (Local)

2025-08-21T18:59:27.625Z,1755802767.625 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed -0.2

2025-08-21T18:59:27.630Z,1755802767.630 [DAT](INFO): DAT read: 18:59:26.4535 LVL= 32752, 21185, 32754, 32755, AGC= 50, IDX= 505, 0.16, 0.647, 1.894,-0.207, 1.069, PHS=-0.320, 0.870,-1.320, RAW= 357.1,   8.2, CAL= 357.2,   8.2, ROT= 152.8,  -8.2

2025-08-21T18:59:27.631Z,1755802767.631 [DAT](INFO): got valid direction response:
 18:59:26.4535 LVL= 32752, 21185, 32754, 32755, AGC= 50, IDX= 505, 0.16, 0.647, 1.894,-0.207, 1.069, PHS=-0.320, 0.870,-1.320, RAW= 357.1,   8.2, CAL= 357.2,   8.2, ROT= 152.8,  -8.2

2025-08-21T18:59:27.631Z,1755802767.631 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-21T18:59:27.632Z,1755802767.632 [DAT](INFO): direction in FSK: [-0.880323,0.452425,0.142629]
2025-08-21T18:59:27.633Z,1755802767.633 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:27.636Z,1755802767.636 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.148968
2025-08-21T18:59:27.872Z,1755802767.872 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.385012
2025-08-21T18:59:28.125Z,1755802768.125 [DAT](INFO): DAT read: Rx Time:18:59:26.9537 

2025-08-21T18:59:28.126Z,1755802768.126 [DAT](INFO): Rx dataTimestamp_ set to:1755802768.125684
2025-08-21T18:59:28.128Z,1755802768.128 [DAT](INFO): DAT read: Bearing 332.8,  24.9 (Local)

2025-08-21T18:59:28.128Z,1755802768.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.8,  24.9 (Local)

2025-08-21T18:59:28.132Z,1755802768.132 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed -0.2

2025-08-21T18:59:28.142Z,1755802768.142 [DAT](INFO): DAT read: 18:59:26.9537 LVL= 32752, 20465, 32754, 32755, AGC= 50, IDX= 507, 0.06, 1.811, 3.058, 0.959, 2.234, PHS=-0.321, 0.869,-1.318, RAW= 357.1,   8.2, CAL= 357.1,   8.2, ROT= 152.9,  -8.2

2025-08-21T18:59:28.152Z,1755802768.152 [DAT](INFO): got valid direction response:
 18:59:26.9537 LVL= 32752, 20465, 32754, 32755, AGC= 50, IDX= 507, 0.06, 1.811, 3.058, 0.959, 2.234, PHS=-0.321, 0.869,-1.318, RAW= 357.1,   8.2, CAL= 357.1,   8.2, ROT= 152.9,  -8.2

2025-08-21T18:59:28.152Z,1755802768.152 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-21T18:59:28.154Z,1755802768.154 [DAT](INFO): direction in FSK: [-0.881111,0.450888,0.142629]
2025-08-21T18:59:28.154Z,1755802768.154 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:28.168Z,1755802768.168 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.675743
2025-08-21T18:59:28.376Z,1755802768.376 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.889036
2025-08-21T18:59:28.629Z,1755802768.629 [DAT](INFO): DAT read: Rx Time:18:59:27.4537 

2025-08-21T18:59:28.629Z,1755802768.629 [DAT](INFO): Rx dataTimestamp_ set to:1755802768.628970
2025-08-21T18:59:28.631Z,1755802768.631 [DAT](INFO): DAT read: Bearing 333.1,  23.6 (Local)

2025-08-21T18:59:28.631Z,1755802768.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.1,  23.6 (Local)

2025-08-21T18:59:28.633Z,1755802768.633 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed -0.2

2025-08-21T18:59:28.638Z,1755802768.638 [DAT](INFO): DAT read: 18:59:27.4537 LVL= 32752, 21105, 32754, 32755, AGC= 50, IDX= 507,-0.06,-1.235, 0.069,-2.052,-0.784, PHS=-0.349, 0.898,-1.313, RAW= 355.8,   8.0, CAL= 355.8,   7.9, ROT= 154.2,  -7.9

2025-08-21T18:59:28.639Z,1755802768.639 [DAT](INFO): got valid direction response:
 18:59:27.4537 LVL= 32752, 21105, 32754, 32755, AGC= 50, IDX= 507,-0.06,-1.235, 0.069,-2.052,-0.784, PHS=-0.349, 0.898,-1.313, RAW= 355.8,   8.0, CAL= 355.8,   7.9, ROT= 154.2,  -7.9

2025-08-21T18:59:28.639Z,1755802768.639 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-21T18:59:28.640Z,1755802768.640 [DAT](INFO): direction in FSK: [-0.891774,0.431100,0.137445]
2025-08-21T18:59:28.640Z,1755802768.640 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:28.644Z,1755802768.644 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.156603
2025-08-21T18:59:28.880Z,1755802768.880 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.392944
2025-08-21T18:59:29.133Z,1755802769.133 [DAT](INFO): DAT read: Rx Time:18:59:27.9537 

2025-08-21T18:59:29.133Z,1755802769.133 [DAT](INFO): Rx dataTimestamp_ set to:1755802769.133042
2025-08-21T18:59:29.135Z,1755802769.135 [DAT](INFO): DAT read: Bearing 333.2,  23.9 (Local)

2025-08-21T18:59:29.135Z,1755802769.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.2,  23.9 (Local)

2025-08-21T18:59:29.137Z,1755802769.137 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed -0.2

2025-08-21T18:59:29.146Z,1755802769.146 [DAT](INFO): DAT read: 18:59:27.9537 LVL= 32752, 20369, 32754, 32755, AGC= 50, IDX= 508,-0.21,-1.096, 0.199,-1.918,-0.651, PHS=-0.343, 0.895,-1.311, RAW= 356.0,   8.0, CAL= 356.0,   7.9, ROT= 154.0,  -7.9

2025-08-21T18:59:29.148Z,1755802769.148 [DAT](INFO): got valid direction response:
 18:59:27.9537 LVL= 32752, 20369, 32754, 32755, AGC= 50, IDX= 508,-0.21,-1.096, 0.199,-1.918,-0.651, PHS=-0.343, 0.895,-1.311, RAW= 356.0,   8.0, CAL= 356.0,   7.9, ROT= 154.0,  -7.9

2025-08-21T18:59:29.148Z,1755802769.148 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-21T18:59:29.149Z,1755802769.149 [DAT](INFO): direction in FSK: [-0.890264,0.434211,0.137445]
2025-08-21T18:59:29.150Z,1755802769.150 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:29.154Z,1755802769.154 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.667082
2025-08-21T18:59:29.384Z,1755802769.384 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.896959
2025-08-21T18:59:29.637Z,1755802769.637 [DAT](INFO): DAT read: Rx Time:18:59:28.4537 

2025-08-21T18:59:29.637Z,1755802769.637 [DAT](INFO): Rx dataTimestamp_ set to:1755802769.637057
2025-08-21T18:59:29.639Z,1755802769.639 [DAT](INFO): DAT read: Bearing 334.3,  24.0 (Local)

2025-08-21T18:59:29.639Z,1755802769.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.3,  24.0 (Local)

2025-08-21T18:59:29.641Z,1755802769.641 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed -0.2

2025-08-21T18:59:29.646Z,1755802769.646 [DAT](INFO): DAT read: 18:59:28.4537 LVL= 29584, 21409, 32754, 32755, AGC= 49, IDX= 508,-0.42,-2.211,-0.927,-3.032,-1.790, PHS=-0.319, 0.908,-1.286, RAW= 356.1,   7.4, CAL= 356.1,   6.9, ROT= 153.9,  -6.9

2025-08-21T18:59:29.647Z,1755802769.647 [DAT](INFO): got valid direction response:
 18:59:28.4537 LVL= 29584, 21409, 32754, 32755, AGC= 49, IDX= 508,-0.42,-2.211,-0.927,-3.032,-1.790, PHS=-0.319, 0.908,-1.286, RAW= 356.1,   7.4, CAL= 356.1,   6.9, ROT= 153.9,  -6.9

2025-08-21T18:59:29.647Z,1755802769.647 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-21T18:59:29.648Z,1755802769.648 [DAT](INFO): direction in FSK: [-0.891523,0.436753,0.120137]
2025-08-21T18:59:29.648Z,1755802769.648 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:29.660Z,1755802769.660 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.172600
2025-08-21T18:59:29.888Z,1755802769.888 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.400854
2025-08-21T18:59:30.141Z,1755802770.141 [DAT](INFO): DAT read: Rx Time:18:59:28.9539 

2025-08-21T18:59:30.141Z,1755802770.141 [DAT](INFO): Rx dataTimestamp_ set to:1755802770.140975
2025-08-21T18:59:30.143Z,1755802770.143 [DAT](INFO): DAT read: Bearing 334.1,  25.0 (Local)

2025-08-21T18:59:30.143Z,1755802770.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1,  25.0 (Local)

2025-08-21T18:59:30.150Z,1755802770.150 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.2

2025-08-21T18:59:30.157Z,1755802770.157 [DAT](INFO): DAT read: 18:59:28.9539 LVL= 32752, 19889, 32754, 32755, AGC= 50, IDX= 509, 0.33, 0.382, 1.632,-0.468, 0.789, PHS=-0.305, 0.889,-1.301, RAW= 357.0,   7.6, CAL= 357.0,   7.3, ROT= 153.0,  -7.3

2025-08-21T18:59:30.158Z,1755802770.158 [DAT](INFO): got valid direction response:
 18:59:28.9539 LVL= 32752, 19889, 32754, 32755, AGC= 50, IDX= 509, 0.33, 0.382, 1.632,-0.468, 0.789, PHS=-0.305, 0.889,-1.301, RAW= 357.0,   7.6, CAL= 357.0,   7.3, ROT= 153.0,  -7.3

2025-08-21T18:59:30.159Z,1755802770.159 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-21T18:59:30.169Z,1755802770.169 [DAT](INFO): direction in FSK: [-0.883784,0.450311,0.127065]
2025-08-21T18:59:30.169Z,1755802770.169 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:30.174Z,1755802770.174 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.686378
2025-08-21T18:59:30.392Z,1755802770.392 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.904875
2025-08-21T18:59:30.645Z,1755802770.645 [DAT](INFO): DAT read: Rx Time:18:59:29.4539 

2025-08-21T18:59:30.645Z,1755802770.645 [DAT](INFO): Rx dataTimestamp_ set to:1755802770.645022
2025-08-21T18:59:30.647Z,1755802770.647 [DAT](INFO): DAT read: Bearing 335.1,  25.3 (Local)

2025-08-21T18:59:30.647Z,1755802770.647 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.1,  25.3 (Local)

2025-08-21T18:59:30.649Z,1755802770.649 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.2

2025-08-21T18:59:30.654Z,1755802770.654 [DAT](INFO): DAT read: 18:59:29.4539 LVL= 32448, 22353, 32754, 32755, AGC= 50, IDX= 509, 0.14,-0.954, 0.285,-1.808,-0.568, PHS=-0.284, 0.898,-1.284, RAW= 357.3,   7.1, CAL= 357.2,   6.6, ROT= 152.8,  -6.6

2025-08-21T18:59:30.655Z,1755802770.655 [DAT](INFO): got valid direction response:
 18:59:29.4539 LVL= 32448, 22353, 32754, 32755, AGC= 50, IDX= 509, 0.14,-0.954, 0.285,-1.808,-0.568, PHS=-0.284, 0.898,-1.284, RAW= 357.3,   7.1, CAL= 357.2,   6.6, ROT= 152.8,  -6.6

2025-08-21T18:59:30.655Z,1755802770.655 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-21T18:59:30.656Z,1755802770.656 [DAT](INFO): direction in FSK: [-0.883522,0.454069,0.114937]
2025-08-21T18:59:30.656Z,1755802770.656 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:30.676Z,1755802770.676 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.188723
2025-08-21T18:59:30.913Z,1755802770.913 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.425648
2025-08-21T18:59:31.166Z,1755802771.166 [DAT](INFO): DAT read: Rx Time:18:59:29.9541 

2025-08-21T18:59:31.166Z,1755802771.166 [DAT](INFO): Rx dataTimestamp_ set to:1755802771.165996
2025-08-21T18:59:31.168Z,1755802771.168 [DAT](INFO): DAT read: Bearing 334.9,  24.9 (Local)

2025-08-21T18:59:31.169Z,1755802771.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.9,  24.9 (Local)

2025-08-21T18:59:31.171Z,1755802771.171 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.2

2025-08-21T18:59:31.177Z,1755802771.177 [DAT](INFO): DAT read: 18:59:29.9541 LVL= 32624, 20817, 32754, 32755, AGC= 50, IDX= 511,-0.01,-0.545, 0.714,-1.387,-0.144, PHS=-0.299, 0.903,-1.287, RAW= 356.8,   7.2, CAL= 356.8,   6.7, ROT= 153.2,  -6.7

2025-08-21T18:59:31.179Z,1755802771.179 [DAT](INFO): got valid direction response:
 18:59:29.9541 LVL= 32624, 20817, 32754, 32755, AGC= 50, IDX= 511,-0.01,-0.545, 0.714,-1.387,-0.144, PHS=-0.299, 0.903,-1.287, RAW= 356.8,   7.2, CAL= 356.8,   6.7, ROT= 153.2,  -6.7

2025-08-21T18:59:31.184Z,1755802771.184 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-21T18:59:31.185Z,1755802771.185 [DAT](INFO): direction in FSK: [-0.886490,0.447798,0.116671]
2025-08-21T18:59:31.185Z,1755802771.185 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:31.189Z,1755802771.189 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.701672
2025-08-21T18:59:31.417Z,1755802771.417 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.929581
2025-08-21T18:59:31.669Z,1755802771.669 [DAT](INFO): DAT read: Rx Time:18:59:30.4541 

2025-08-21T18:59:31.669Z,1755802771.669 [DAT](INFO): Rx dataTimestamp_ set to:1755802771.668858
2025-08-21T18:59:31.670Z,1755802771.670 [DAT](INFO): DAT read: Bearing 335.3,  24.7 (Local)

2025-08-21T18:59:31.671Z,1755802771.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.3,  24.7 (Local)

2025-08-21T18:59:31.673Z,1755802771.673 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.2

2025-08-21T18:59:31.677Z,1755802771.677 [DAT](INFO): DAT read: 18:59:30.4541 LVL= 30704, 21153, 32754, 32755, AGC= 49, IDX= 511,-0.14,-2.312,-1.046, 3.139,-1.912, PHS=-0.298, 0.911,-1.276, RAW= 356.5,   7.0, CAL= 356.5,   6.4, ROT= 153.5,  -6.4

2025-08-21T18:59:31.678Z,1755802771.678 [DAT](INFO): got valid direction response:
 18:59:30.4541 LVL= 30704, 21153, 32754, 32755, AGC= 49, IDX= 511,-0.14,-2.312,-1.046, 3.139,-1.912, PHS=-0.298, 0.911,-1.276, RAW= 356.5,   7.0, CAL= 356.5,   6.4, ROT= 153.5,  -6.4

2025-08-21T18:59:31.679Z,1755802771.679 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-21T18:59:31.680Z,1755802771.680 [DAT](INFO): direction in FSK: [-0.889357,0.443417,0.111469]
2025-08-21T18:59:31.680Z,1755802771.680 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:31.704Z,1755802771.704 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.216408
2025-08-21T18:59:31.920Z,1755802771.920 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.432919
2025-08-21T18:59:32.174Z,1755802772.174 [DAT](INFO): DAT read: Rx Time:18:59:30.9541 

2025-08-21T18:59:32.174Z,1755802772.174 [DAT](INFO): Rx dataTimestamp_ set to:1755802772.173939
2025-08-21T18:59:32.176Z,1755802772.176 [DAT](INFO): DAT read: Bearing 336.2,  25.4 (Local)

2025-08-21T18:59:32.176Z,1755802772.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.2,  25.4 (Local)

2025-08-21T18:59:32.180Z,1755802772.180 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.2

2025-08-21T18:59:32.186Z,1755802772.186 [DAT](INFO): DAT read: 18:59:30.9541 LVL= 29296, 22209, 32754, 32755, AGC= 49, IDX= 513,-0.31, 2.356,-2.616, 1.438, 2.741, PHS=-0.283, 0.971,-1.347, RAW= 357.3,   6.6, CAL= 357.2,   5.8, ROT= 152.8,  -5.8

2025-08-21T18:59:32.187Z,1755802772.187 [DAT](INFO): got valid direction response:
 18:59:30.9541 LVL= 29296, 22209, 32754, 32755, AGC= 49, IDX= 513,-0.31, 2.356,-2.616, 1.438, 2.741, PHS=-0.283, 0.971,-1.347, RAW= 357.3,   6.6, CAL= 357.2,   5.8, ROT= 152.8,  -5.8

2025-08-21T18:59:32.187Z,1755802772.187 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-21T18:59:32.188Z,1755802772.188 [DAT](INFO): direction in FSK: [-0.884863,0.454758,0.101056]
2025-08-21T18:59:32.188Z,1755802772.188 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:32.200Z,1755802772.200 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.712276
2025-08-21T18:59:32.424Z,1755802772.424 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.936836
2025-08-21T18:59:32.677Z,1755802772.677 [DAT](INFO): DAT read: Rx Time:18:59:31.4541 

2025-08-21T18:59:32.677Z,1755802772.677 [DAT](INFO): Rx dataTimestamp_ set to:1755802772.676982
2025-08-21T18:59:32.679Z,1755802772.679 [DAT](INFO): DAT read: Bearing 332.2,  26.3 (Local)

2025-08-21T18:59:32.679Z,1755802772.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.2,  26.3 (Local)

2025-08-21T18:59:32.681Z,1755802772.681 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.2

2025-08-21T18:59:32.686Z,1755802772.686 [DAT](INFO): DAT read: 18:59:31.4541 LVL= 31216, 22513, 32754, 32755, AGC= 50, IDX= 512, 0.48, 2.903,-2.040, 1.933,-2.913, PHS=-0.365, 0.918,-1.482, RAW= 357.7,   9.0, CAL= 357.8,   9.5, ROT= 152.2,  -9.5

2025-08-21T18:59:32.687Z,1755802772.687 [DAT](INFO): got valid direction response:
 18:59:31.4541 LVL= 31216, 22513, 32754, 32755, AGC= 50, IDX= 512, 0.48, 2.903,-2.040, 1.933,-2.913, PHS=-0.365, 0.918,-1.482, RAW= 357.7,   9.0, CAL= 357.8,   9.5, ROT= 152.2,  -9.5

2025-08-21T18:59:32.687Z,1755802772.687 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-21T18:59:32.688Z,1755802772.688 [DAT](INFO): direction in FSK: [-0.872449,0.459990,0.165048]
2025-08-21T18:59:32.688Z,1755802772.688 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:32.706Z,1755802772.706 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.218540
2025-08-21T18:59:32.928Z,1755802772.928 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.440834
2025-08-21T18:59:33.182Z,1755802773.182 [DAT](INFO): DAT read: Rx Time:18:59:31.9542 

2025-08-21T18:59:33.182Z,1755802773.182 [DAT](INFO): Rx dataTimestamp_ set to:1755802773.181700
2025-08-21T18:59:33.184Z,1755802773.184 [DAT](INFO): DAT read: Bearing 330.8,  25.0 (Local)

2025-08-21T18:59:33.185Z,1755802773.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.8,  25.0 (Local)

2025-08-21T18:59:33.187Z,1755802773.187 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.2

2025-08-21T18:59:33.192Z,1755802773.192 [DAT](INFO): DAT read: 18:59:31.9542 LVL= 31344, 21681, 32754, 32755, AGC= 50, IDX= 513, 0.28,-2.965,-1.680, 2.484,-2.468, PHS=-0.395, 0.834,-1.375, RAW= 356.3,   9.8, CAL= 356.5,  10.7, ROT= 153.5, -10.7

2025-08-21T18:59:33.193Z,1755802773.193 [DAT](INFO): got valid direction response:
 18:59:31.9542 LVL= 31344, 21681, 32754, 32755, AGC= 50, IDX= 513, 0.28,-2.965,-1.680, 2.484,-2.468, PHS=-0.395, 0.834,-1.375, RAW= 356.3,   9.8, CAL= 356.5,  10.7, ROT= 153.5, -10.7

2025-08-21T18:59:33.193Z,1755802773.193 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-21T18:59:33.194Z,1755802773.194 [DAT](INFO): direction in FSK: [-0.879374,0.438440,0.185667]
2025-08-21T18:59:33.194Z,1755802773.194 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:33.198Z,1755802773.198 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.710695
2025-08-21T18:59:33.432Z,1755802773.432 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.944929
2025-08-21T18:59:33.686Z,1755802773.686 [DAT](INFO): DAT read: Rx Time:18:59:32.4542 

2025-08-21T18:59:33.687Z,1755802773.687 [DAT](INFO): Rx dataTimestamp_ set to:1755802773.686344
2025-08-21T18:59:33.689Z,1755802773.689 [DAT](INFO): DAT read: Bearing 339.1,  23.7 (Local)

2025-08-21T18:59:33.689Z,1755802773.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.1,  23.7 (Local)

2025-08-21T18:59:33.697Z,1755802773.697 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed -0.2

2025-08-21T18:59:33.745Z,1755802773.745 [DAT](INFO): DAT read: 18:59:32.4542 LVL= 32688, 21649, 32754, 32755, AGC= 50, IDX= 513, 0.13, 2.101,-2.711, 1.145, 2.484, PHS=-0.281, 1.133,-1.383, RAW= 355.9,   4.9, CAL= 355.7,   3.1, ROT= 154.3,  -3.1

2025-08-21T18:59:33.746Z,1755802773.746 [DAT](INFO): got valid direction response:
 18:59:32.4542 LVL= 32688, 21649, 32754, 32755, AGC= 50, IDX= 513, 0.13, 2.101,-2.711, 1.145, 2.484, PHS=-0.281, 1.133,-1.383, RAW= 355.9,   4.9, CAL= 355.7,   3.1, ROT= 154.3,  -3.1

2025-08-21T18:59:33.746Z,1755802773.746 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-21T18:59:33.760Z,1755802773.760 [DAT](INFO): direction in FSK: [-0.899758,0.433025,0.054079]
2025-08-21T18:59:33.760Z,1755802773.760 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:33.769Z,1755802773.769 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.281988
2025-08-21T18:59:33.936Z,1755802773.936 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.448795
2025-08-21T18:59:34.189Z,1755802774.189 [DAT](INFO): DAT read: Rx Time:18:59:32.9544 

2025-08-21T18:59:34.189Z,1755802774.189 [DAT](INFO): Rx dataTimestamp_ set to:1755802774.189120
2025-08-21T18:59:34.191Z,1755802774.191 [DAT](INFO): DAT read: Bearing 335.4,  26.5 (Local)

2025-08-21T18:59:34.191Z,1755802774.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.4,  26.5 (Local)

2025-08-21T18:59:34.193Z,1755802774.193 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-08-21T18:59:34.199Z,1755802774.199 [DAT](INFO): DAT read: 18:59:32.9544 LVL= 31536, 15665, 31634, 32755, AGC= 53, IDX=   3, 0.02,-0.937, 0.269,-1.822,-0.571, PHS=-0.264, 0.885,-1.295, RAW= 358.2,   7.2, CAL= 358.2,   6.7, ROT= 151.8,  -6.7

2025-08-21T18:59:34.200Z,1755802774.200 [DAT](INFO): got valid direction response:
 18:59:32.9544 LVL= 31536, 15665, 31634, 32755, AGC= 53, IDX=   3, 0.02,-0.937, 0.269,-1.822,-0.571, PHS=-0.264, 0.885,-1.295, RAW= 358.2,   7.2, CAL= 358.2,   6.7, ROT= 151.8,  -6.7

2025-08-21T18:59:34.201Z,1755802774.201 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-21T18:59:34.202Z,1755802774.202 [DAT](INFO): direction in FSK: [-0.875285,0.469324,0.116671]
2025-08-21T18:59:34.202Z,1755802774.202 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:34.208Z,1755802774.208 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.720861
2025-08-21T18:59:34.440Z,1755802774.440 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.952885
2025-08-21T18:59:34.693Z,1755802774.693 [DAT](INFO): DAT read: Rx Time:18:59:33.4544 

2025-08-21T18:59:34.693Z,1755802774.693 [DAT](INFO): Rx dataTimestamp_ set to:1755802774.692960
2025-08-21T18:59:34.695Z,1755802774.695 [DAT](INFO): DAT read: Bearing 336.0,  26.3 (Local)

2025-08-21T18:59:34.695Z,1755802774.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.0,  26.3 (Local)

2025-08-21T18:59:34.697Z,1755802774.697 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed -0.2

2025-08-21T18:59:34.702Z,1755802774.702 [DAT](INFO): DAT read: 18:59:33.4544 LVL= 32752, 20913, 32754, 32755, AGC= 50, IDX= 499,-0.09,-2.939,-1.720, 2.459,-2.577, PHS=-0.260, 0.902,-1.292, RAW= 358.0,   6.9, CAL= 358.0,   6.2, ROT= 152.0,  -6.2

2025-08-21T18:59:34.703Z,1755802774.703 [DAT](INFO): got valid direction response:
 18:59:33.4544 LVL= 32752, 20913, 32754, 32755, AGC= 50, IDX= 499,-0.09,-2.939,-1.720, 2.459,-2.577, PHS=-0.260, 0.902,-1.292, RAW= 358.0,   6.9, CAL= 358.0,   6.2, ROT= 152.0,  -6.2

2025-08-21T18:59:34.703Z,1755802774.703 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-21T18:59:34.704Z,1755802774.704 [DAT](INFO): direction in FSK: [-0.877783,0.466726,0.107999]
2025-08-21T18:59:34.704Z,1755802774.704 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:34.708Z,1755802774.708 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.220552
2025-08-21T18:59:34.945Z,1755802774.945 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.457134
2025-08-21T18:59:35.197Z,1755802775.197 [DAT](INFO): DAT read: Rx Time:18:59:33.9546 

2025-08-21T18:59:35.197Z,1755802775.197 [DAT](INFO): Rx dataTimestamp_ set to:1755802775.197055
2025-08-21T18:59:35.199Z,1755802775.199 [DAT](INFO): DAT read: Bearing 335.5,  26.6 (Local)

2025-08-21T18:59:35.199Z,1755802775.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.5,  26.6 (Local)

2025-08-21T18:59:35.201Z,1755802775.201 [DAT](INFO): DAT read: Range 11 to 50 :    15.8 m (trip time 10.5 ms) speed -0.2

2025-08-21T18:59:35.206Z,1755802775.206 [DAT](INFO): DAT read: 18:59:33.9546 LVL= 32752, 20497, 32754, 32755, AGC= 51, IDX= 501,-0.21,-1.927,-0.708,-2.824,-1.556, PHS=-0.269, 0.893,-1.312, RAW= 358.2,   7.3, CAL= 358.2,   6.8, ROT= 151.8,  -6.8

2025-08-21T18:59:35.224Z,1755802775.224 [DAT](INFO): got valid direction response:
 18:59:33.9546 LVL= 32752, 20497, 32754, 32755, AGC= 51, IDX= 501,-0.21,-1.927,-0.708,-2.824,-1.556, PHS=-0.269, 0.893,-1.312, RAW= 358.2,   7.3, CAL= 358.2,   6.8, ROT= 151.8,  -6.8

2025-08-21T18:59:35.229Z,1755802775.229 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-21T18:59:35.234Z,1755802775.234 [DAT](INFO): direction in FSK: [-0.875104,0.469227,0.118404]
2025-08-21T18:59:35.234Z,1755802775.234 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:35.240Z,1755802775.240 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.752245
2025-08-21T18:59:35.448Z,1755802775.448 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.960892
2025-08-21T18:59:35.701Z,1755802775.701 [DAT](INFO): DAT read: Rx Time:18:59:34.4545 

2025-08-21T18:59:35.702Z,1755802775.702 [DAT](INFO): Rx dataTimestamp_ set to:1755802775.701250
2025-08-21T18:59:35.703Z,1755802775.703 [DAT](INFO): DAT read: Bearing 335.8,  26.9 (Local)

2025-08-21T18:59:35.703Z,1755802775.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.8,  26.9 (Local)

2025-08-21T18:59:35.705Z,1755802775.705 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed -0.2

2025-08-21T18:59:35.710Z,1755802775.710 [DAT](INFO): DAT read: 18:59:34.4545 LVL= 32752, 20209, 32754, 32755, AGC= 51, IDX= 501,-0.42,-2.748,-1.538, 2.625,-2.387, PHS=-0.259, 0.894,-1.315, RAW= 358.6,   7.2, CAL= 358.6,   6.6, ROT= 151.4,  -6.6

2025-08-21T18:59:35.711Z,1755802775.711 [DAT](INFO): got valid direction response:
 18:59:34.4545 LVL= 32752, 20209, 32754, 32755, AGC= 51, IDX= 501,-0.42,-2.748,-1.538, 2.625,-2.387, PHS=-0.259, 0.894,-1.315, RAW= 358.6,   7.2, CAL= 358.6,   6.6, ROT= 151.4,  -6.6

2025-08-21T18:59:35.711Z,1755802775.711 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-21T18:59:35.712Z,1755802775.712 [DAT](INFO): direction in FSK: [-0.872164,0.475520,0.114937]
2025-08-21T18:59:35.713Z,1755802775.713 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:35.716Z,1755802775.716 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.228891
2025-08-21T18:59:35.952Z,1755802775.952 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.464949
2025-08-21T18:59:36.205Z,1755802776.205 [DAT](INFO): DAT read: Rx Time:18:59:34.9547 

2025-08-21T18:59:36.205Z,1755802776.205 [DAT](INFO): Rx dataTimestamp_ set to:1755802776.205097
2025-08-21T18:59:36.207Z,1755802776.207 [DAT](INFO): DAT read: Bearing 336.1,  28.1 (Local)

2025-08-21T18:59:36.207Z,1755802776.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.1,  28.1 (Local)

2025-08-21T18:59:36.209Z,1755802776.209 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-08-21T18:59:36.222Z,1755802776.222 [DAT](INFO): DAT read: 18:59:34.9547 LVL= 32752, 23377, 32754, 32755, AGC= 50, IDX= 502, 0.28, 0.663, 1.818,-0.272, 0.990, PHS=-0.225, 0.873,-1.306, RAW= 359.8,   7.0, CAL= 359.8,   6.4, ROT= 150.2,  -6.4

2025-08-21T18:59:36.223Z,1755802776.223 [DAT](INFO): got valid direction response:
 18:59:34.9547 LVL= 32752, 23377, 32754, 32755, AGC= 50, IDX= 502, 0.28, 0.663, 1.818,-0.272, 0.990, PHS=-0.225, 0.873,-1.306, RAW= 359.8,   7.0, CAL= 359.8,   6.4, ROT= 150.2,  -6.4

2025-08-21T18:59:36.223Z,1755802776.223 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-21T18:59:36.224Z,1755802776.224 [DAT](INFO): direction in FSK: [-0.862357,0.493877,0.111469]
2025-08-21T18:59:36.225Z,1755802776.225 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:36.252Z,1755802776.252 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.764570
2025-08-21T18:59:36.456Z,1755802776.456 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.968805
2025-08-21T18:59:36.709Z,1755802776.709 [DAT](INFO): DAT read: Rx Time:18:59:35.4547 

2025-08-21T18:59:36.709Z,1755802776.709 [DAT](INFO): Rx dataTimestamp_ set to:1755802776.709037
2025-08-21T18:59:36.711Z,1755802776.711 [DAT](INFO): DAT read: Bearing 335.8,  28.3 (Local)

2025-08-21T18:59:36.711Z,1755802776.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.8,  28.3 (Local)

2025-08-21T18:59:36.713Z,1755802776.713 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-08-21T18:59:36.722Z,1755802776.722 [DAT](INFO): DAT read: 18:59:35.4547 LVL= 32752, 21409, 32754, 32755, AGC= 51, IDX= 502, 0.08,-0.769, 0.389,-1.714,-0.437, PHS=-0.231, 0.871,-1.321, RAW= 359.8,   7.2, CAL= 359.8,   6.7, ROT= 150.2,  -6.7

2025-08-21T18:59:36.724Z,1755802776.724 [DAT](INFO): got valid direction response:
 18:59:35.4547 LVL= 32752, 21409, 32754, 32755, AGC= 51, IDX= 502, 0.08,-0.769, 0.389,-1.714,-0.437, PHS=-0.231, 0.871,-1.321, RAW= 359.8,   7.2, CAL= 359.8,   6.7, ROT= 150.2,  -6.7

2025-08-21T18:59:36.724Z,1755802776.724 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-21T18:59:36.725Z,1755802776.725 [DAT](INFO): direction in FSK: [-0.861839,0.493580,0.116671]
2025-08-21T18:59:36.725Z,1755802776.725 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:36.729Z,1755802776.729 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.241690
2025-08-21T18:59:36.960Z,1755802776.960 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.472851
2025-08-21T18:59:37.213Z,1755802777.213 [DAT](INFO): DAT read: Rx Time:18:59:35.9548 

2025-08-21T18:59:37.213Z,1755802777.213 [DAT](INFO): Rx dataTimestamp_ set to:1755802777.212998
2025-08-21T18:59:37.215Z,1755802777.215 [DAT](INFO): DAT read: Bearing 336.6,  27.6 (Local)

2025-08-21T18:59:37.215Z,1755802777.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.6,  27.6 (Local)

2025-08-21T18:59:37.217Z,1755802777.217 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed -0.2

2025-08-21T18:59:37.222Z,1755802777.222 [DAT](INFO): DAT read: 18:59:35.9548 LVL= 32752, 19057, 32754, 32755, AGC= 50, IDX= 503,-0.11,-1.961,-0.766,-2.903,-1.626, PHS=-0.232, 0.905,-1.320, RAW= 359.3,   6.8, CAL= 359.2,   6.0, ROT= 150.8,  -6.0

2025-08-21T18:59:37.223Z,1755802777.223 [DAT](INFO): got valid direction response:
 18:59:35.9548 LVL= 32752, 19057, 32754, 32755, AGC= 50, IDX= 503,-0.11,-1.961,-0.766,-2.903,-1.626, PHS=-0.232, 0.905,-1.320, RAW= 359.3,   6.8, CAL= 359.2,   6.0, ROT= 150.8,  -6.0

2025-08-21T18:59:37.223Z,1755802777.223 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-21T18:59:37.224Z,1755802777.224 [DAT](INFO): direction in FSK: [-0.868140,0.485187,0.104528]
2025-08-21T18:59:37.224Z,1755802777.224 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:37.232Z,1755802777.232 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.744709
2025-08-21T18:59:37.466Z,1755802777.466 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.977797
2025-08-21T18:59:37.626Z,1755802777.626 [OnDock:N.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-21T18:59:37.627Z,1755802777.627 [OnDock:N.Docked] Stopped
2025-08-21T18:59:37.627Z,1755802777.627 [OnDock:Detach] Running Loop=1
2025-08-21T18:59:37.627Z,1755802777.627 [OnDock:Detach](DEBUG): Aggregate::initialize OnDock:Detach
2025-08-21T18:59:37.627Z,1755802777.627 [OnDock:Detach:A] Running Loop=1
2025-08-21T18:59:37.717Z,1755802777.717 [DAT](INFO): DAT read: Rx Time:18:59:36.4547 

2025-08-21T18:59:37.717Z,1755802777.717 [DAT](INFO): Rx dataTimestamp_ set to:1755802777.716972
2025-08-21T18:59:37.719Z,1755802777.719 [DAT](INFO): DAT read: Bearing 336.6,  27.9 (Local)

2025-08-21T18:59:37.719Z,1755802777.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.6,  27.9 (Local)

2025-08-21T18:59:37.721Z,1755802777.721 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed -0.2

2025-08-21T18:59:37.726Z,1755802777.726 [DAT](INFO): DAT read: 18:59:36.4547 LVL= 32752, 19745, 32754, 32755, AGC= 51, IDX= 503,-0.36, 3.070,-2.030, 2.121,-2.883, PHS=-0.228, 0.898,-1.324, RAW= 359.6,   6.9, CAL= 359.5,   6.2, ROT= 150.5,  -6.2

2025-08-21T18:59:37.727Z,1755802777.727 [DAT](INFO): got valid direction response:
 18:59:36.4547 LVL= 32752, 19745, 32754, 32755, AGC= 51, IDX= 503,-0.36, 3.070,-2.030, 2.121,-2.883, PHS=-0.228, 0.898,-1.324, RAW= 359.6,   6.9, CAL= 359.5,   6.2, ROT= 150.5,  -6.2

2025-08-21T18:59:37.727Z,1755802777.727 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-21T18:59:37.728Z,1755802777.728 [DAT](INFO): direction in FSK: [-0.865265,0.489543,0.107999]
2025-08-21T18:59:37.729Z,1755802777.729 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:37.732Z,1755802777.732 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.244913
2025-08-21T18:59:37.744Z,1755802777.744 [DockingStepper](INFO): Changing to mode: 2
2025-08-21T18:59:37.916Z,1755802777.916 [OnDock:Detach:A](IMPORTANT): Mission ending, breaking off. Range:  16.100000 m .
2025-08-21T18:59:37.916Z,1755802777.916 [OnDock:Detach:A] Stopped
2025-08-21T18:59:37.917Z,1755802777.917 [OnDock:Detach:B.Undock] Running Loop=1
2025-08-21T18:59:37.917Z,1755802777.917 [OnDock:Detach:B.Undock](DEBUG): Initialize.
2025-08-21T18:59:37.917Z,1755802777.917 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T18:59:37.971Z,1755802777.971 [DAT](INFO): DAT read: Rx Time:18:59:36.9549 

2025-08-21T18:59:37.973Z,1755802777.973 [DAT](INFO): Rx dataTimestamp_ set to:1755802777.971965
2025-08-21T18:59:37.975Z,1755802777.975 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.486927
2025-08-21T18:59:38.221Z,1755802778.221 [DAT](INFO): DAT read: Bearing 336.5,  29.5 (Local)

2025-08-21T18:59:38.221Z,1755802778.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.5,  29.5 (Local)

2025-08-21T18:59:38.223Z,1755802778.223 [DAT](INFO): DAT read: Range 11 to 50 :  1. m(trip time 10.8 ms) speed -0.2

2025-08-21T18:59:38.228Z,1755802778.228 [DAT](INFO): DAT read: 18:59:36.9549 LVL= 32752, 21713, 32754, 32755, AGC= 51, IDX= 504, 0.24, 0.541, 1.653,-0.438, 0.837, PHS=-0.194, 0.861,-1.319, RAW=   1.1,   7.0, CAL=   1.0,   6.4, ROT= 149.0,  -6.4

2025-08-21T18:59:38.229Z,1755802778.229 [DAT](INFO): got valid direction response:
 18:59:36.9549 LVL= 32752, 21713, 32754, 32755, AGC= 51, IDX= 504, 0.24, 0.541, 1.653,-0.438, 0.837, PHS=-0.194, 0.861,-1.319, RAW=   1.1,   7.0, CAL=   1.0,   6.4, ROT= 149.0,  -6.4

2025-08-21T18:59:38.229Z,1755802778.229 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-21T18:59:38.230Z,1755802778.230 [DAT](INFO): direction in FSK: [-0.851825,0.511828,0.111469]
2025-08-21T18:59:38.231Z,1755802778.231 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:38.234Z,1755802778.234 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.746721
2025-08-21T18:59:38.316Z,1755802778.316 [OnDock:Detach:B.Undock](DEBUG): Initialize.
2025-08-21T18:59:38.316Z,1755802778.316 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T18:59:38.317Z,1755802778.317 [OnDock:Detach:B.Undock](INFO): Detaching from dock at depth 66.214577 m.
2025-08-21T18:59:38.475Z,1755802778.475 [DAT](INFO): DAT read: Rx Time:18:59:37.4549 

2025-08-21T18:59:38.476Z,1755802778.476 [DAT](INFO): Rx dataTimestamp_ set to:1755802778.475487
2025-08-21T18:59:38.478Z,1755802778.478 [DAT](INFO): DAT read: Bearing 337.5,  28.8 (Local)

2025-08-21T18:59:38.480Z,1755802778.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.5,  28.8 (Local)

2025-08-21T18:59:38.482Z,1755802778.482 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.993889
2025-08-21T18:59:38.707Z,1755802778.707 [DockingStepper](INFO): Changing to mode: 3
2025-08-21T18:59:38.729Z,1755802778.729 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed -0.2

2025-08-21T18:59:38.743Z,1755802778.743 [DAT](INFO): DAT read: 18:59:37.4549 LVL= 32752, 21793, 32754, 32755, AGC= 50, IDX= 504,-0.01,-1.958,-0.807,-2.935,-1.663, PHS=-0.193, 0.900,-1.316, RAW=   0.4,   6.4, CAL=   0.4,   5.5, ROT= 149.6,  -5.5

2025-08-21T18:59:38.744Z,1755802778.744 [DAT](INFO): got valid direction response:
 18:59:37.4549 LVL= 32752, 21793, 32754, 32755, AGC= 50, IDX= 504,-0.01,-1.958,-0.807,-2.935,-1.663, PHS=-0.193, 0.900,-1.316, RAW=   0.4,   6.4, CAL=   0.4,   5.5, ROT= 149.6,  -5.5

2025-08-21T18:59:38.745Z,1755802778.745 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-21T18:59:38.746Z,1755802778.746 [DAT](INFO): direction in FSK: [-0.858543,0.503704,0.095846]
2025-08-21T18:59:38.747Z,1755802778.747 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:38.766Z,1755802778.766 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.278303
2025-08-21T18:59:38.979Z,1755802778.979 [DAT](INFO): DAT read: Rx Time:18:59:37.9550 

2025-08-21T18:59:38.980Z,1755802778.980 [DAT](INFO): Rx dataTimestamp_ set to:1755802778.979440
2025-08-21T18:59:38.982Z,1755802778.982 [DAT](INFO): DAT read: Bearing 337.4,  28.6 (Local)

2025-08-21T18:59:38.984Z,1755802778.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.4,  28.6 (Local)

2025-08-21T18:59:38.986Z,1755802778.986 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.497789
2025-08-21T18:59:39.230Z,1755802779.230 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.1

2025-08-21T18:59:39.234Z,1755802779.234 [DAT](INFO): DAT read: 18:59:37.9550 LVL= 32752, 18993, 32754, 32755, AGC= 51, IDX= 506,-0.27,-1.596,-0.428,-2.579,-1.291, PHS=-0.203, 0.908,-1.331, RAW=   0.3,   6.5, CAL=   0.2,   5.6, ROT= 149.8,  -5.6

2025-08-21T18:59:39.236Z,1755802779.236 [DAT](INFO): got valid direction response:
 18:59:37.9550 LVL= 32752, 18993, 32754, 32755, AGC= 51, IDX= 506,-0.27,-1.596,-0.428,-2.579,-1.291, PHS=-0.203, 0.908,-1.331, RAW=   0.3,   6.5, CAL=   0.2,   5.6, ROT= 149.8,  -5.6

2025-08-21T18:59:39.236Z,1755802779.236 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-21T18:59:39.237Z,1755802779.237 [DAT](INFO): direction in FSK: [-0.860150,0.500619,0.097583]
2025-08-21T18:59:39.237Z,1755802779.237 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:39.241Z,1755802779.241 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.753490
2025-08-21T18:59:39.484Z,1755802779.484 [DAT](INFO): DAT read: Rx Time:18:59:38.4550 

2025-08-21T18:59:39.486Z,1755802779.486 [DAT](INFO): Rx dataTimestamp_ set to:1755802779.484665
2025-08-21T18:59:39.489Z,1755802779.489 [DAT](INFO): DAT read: Bearing 337.4,  30.0 (Local)

2025-08-21T18:59:39.489Z,1755802779.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.4,  30.0 (Local)

2025-08-21T18:59:39.493Z,1755802779.493 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed -0.1

2025-08-21T18:59:39.499Z,1755802779.499 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-08-21T18:59:39.502Z,1755802779.502 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.014494
2025-08-21T18:59:39.737Z,1755802779.737 [DAT](INFO): DAT read: 18:59:38.4550 LVL= 32752, 19425, 32754, 32755, AGC= 51, IDX= 505, 0.28,-0.824, 0.284,-1.838,-0.549, PHS=-0.173, 0.878,-1.333, RAW=   1.6,   6.6, CAL=   1.6,   5.9, ROT= 148.4,  -5.9

2025-08-21T18:59:39.738Z,1755802779.738 [DAT](INFO): got valid direction response:
 18:59:38.4550 LVL= 32752, 19425, 32754, 32755, AGC= 51, IDX= 505, 0.28,-0.824, 0.284,-1.838,-0.549, PHS=-0.173, 0.878,-1.333, RAW=   1.6,   6.6, CAL=   1.6,   5.9, ROT= 148.4,  -5.9

2025-08-21T18:59:39.738Z,1755802779.738 [DAT](INFO): #Rx 53: Read direction message, but no range.
2025-08-21T18:59:39.739Z,1755802779.739 [DAT](INFO): direction in FSK: [-0.847215,0.521210,0.102793]
2025-08-21T18:59:39.742Z,1755802779.742 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.254925
2025-08-21T18:59:39.987Z,1755802779.987 [DAT](INFO): DAT read: Rx Time:18:59:38.9552 

2025-08-21T18:59:39.989Z,1755802779.989 [DAT](INFO): Rx dataTimestamp_ set to:1755802779.987723
2025-08-21T18:59:39.992Z,1755802779.992 [DAT](INFO): DAT read: Bearing 337.7,  29.6 (Local)

2025-08-21T18:59:39.992Z,1755802779.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.7,  29.6 (Local)

2025-08-21T18:59:39.999Z,1755802779.999 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.1

2025-08-21T18:59:40.001Z,1755802780.001 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-08-21T18:59:40.039Z,1755802780.039 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.515778
2025-08-21T18:59:40.241Z,1755802780.241 [DAT](INFO): DAT read: 18:59:38.9552 LVL= 32752, 21361, 32754, 32755, AGC= 51, IDX= 507, 0.01,-0.593, 0.536,-1.605,-0.314, PHS=-0.177, 0.895,-1.335, RAW=   1.3,   6.4, CAL=   1.2,   5.6, ROT= 148.8,  -5.6

2025-08-21T18:59:40.242Z,1755802780.242 [DAT](INFO): got valid direction response:
 18:59:38.9552 LVL= 32752, 21361, 32754, 32755, AGC= 51, IDX= 507, 0.01,-0.593, 0.536,-1.605,-0.314, PHS=-0.177, 0.895,-1.335, RAW=   1.3,   6.4, CAL=   1.2,   5.6, ROT= 148.8,  -5.6

2025-08-21T18:59:40.242Z,1755802780.242 [DAT](INFO): #Rx 55: Read direction message, but no range.
2025-08-21T18:59:40.243Z,1755802780.243 [DAT](INFO): direction in FSK: [-0.851282,0.515555,0.097583]
2025-08-21T18:59:40.247Z,1755802780.247 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.759199
2025-08-21T18:59:40.491Z,1755802780.491 [DAT](INFO): DAT read: Rx Time:18:59:39.4552 

2025-08-21T18:59:40.493Z,1755802780.493 [DAT](INFO): Rx dataTimestamp_ set to:1755802780.492003
2025-08-21T18:59:40.496Z,1755802780.496 [DAT](INFO): DAT read: Bearing 337.8,  29.6 (Local)

2025-08-21T18:59:40.497Z,1755802780.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.8,  29.6 (Local)

2025-08-21T18:59:40.501Z,1755802780.501 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.2

2025-08-21T18:59:40.504Z,1755802780.504 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-08-21T18:59:40.506Z,1755802780.506 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.018667
2025-08-21T18:59:40.753Z,1755802780.753 [DAT](INFO): DAT read: 18:59:39.4552 LVL= 32752, 20033, 32754, 32755, AGC= 51, IDX= 507,-0.25,-2.650,-1.522, 2.625,-2.371, PHS=-0.177, 0.894,-1.331, RAW=   1.2,   6.4, CAL=   1.2,   5.6, ROT= 148.8,  -5.6

2025-08-21T18:59:40.754Z,1755802780.754 [DAT](INFO): got valid direction response:
 18:59:39.4552 LVL= 32752, 20033, 32754, 32755, AGC= 51, IDX= 507,-0.25,-2.650,-1.522, 2.625,-2.371, PHS=-0.177, 0.894,-1.331, RAW=   1.2,   6.4, CAL=   1.2,   5.6, ROT= 148.8,  -5.6

2025-08-21T18:59:40.759Z,1755802780.759 [DAT](INFO): #Rx 57: Read direction message, but no range.
2025-08-21T18:59:40.761Z,1755802780.761 [DAT](INFO): direction in FSK: [-0.851282,0.515555,0.097583]
2025-08-21T18:59:40.781Z,1755802780.781 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.293419
2025-08-21T18:59:40.997Z,1755802780.997 [DAT](INFO): DAT read: Rx Time:18:59:39.9552 

2025-08-21T18:59:40.999Z,1755802780.999 [DAT](INFO): Rx dataTimestamp_ set to:1755802780.997737
2025-08-21T18:59:41.002Z,1755802781.002 [DAT](INFO): DAT read: Bearing 338.6,  30.4 (Local)

2025-08-21T18:59:41.003Z,1755802781.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.6,  30.4 (Local)

2025-08-21T18:59:41.009Z,1755802781.009 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.2

2025-08-21T18:59:41.011Z,1755802781.011 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-08-21T18:59:41.020Z,1755802781.020 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.532927
2025-08-21T18:59:41.248Z,1755802781.248 [DAT](INFO): DAT read: 18:59:39.9552 LVL= 32752, 19281, 32754, 32755, AGC= 51, IDX= 507, 0.34,-1.223,-0.127,-2.254,-0.973, PHS=-0.147, 0.891,-1.325, RAW=   2.1,   6.1, CAL=   2.0,   5.1, ROT= 148.0,  -5.1

2025-08-21T18:59:41.249Z,1755802781.249 [DAT](INFO): got valid direction response:
 18:59:39.9552 LVL= 32752, 19281, 32754, 32755, AGC= 51, IDX= 507, 0.34,-1.223,-0.127,-2.254,-0.973, PHS=-0.147, 0.891,-1.325, RAW=   2.1,   6.1, CAL=   2.0,   5.1, ROT= 148.0,  -5.1

2025-08-21T18:59:41.249Z,1755802781.249 [DAT](INFO): #Rx 59: Read direction message, but no range.
2025-08-21T18:59:41.250Z,1755802781.250 [DAT](INFO): direction in FSK: [-0.844691,0.527821,0.088894]
2025-08-21T18:59:41.254Z,1755802781.254 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.766356
2025-08-21T18:59:41.417Z,1755802781.417 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T18:59:41.500Z,1755802781.500 [DAT](INFO): DAT read: Rx Time:18:59:40.4552 

2025-08-21T18:59:41.501Z,1755802781.501 [DAT](INFO): Rx dataTimestamp_ set to:1755802781.500504
2025-08-21T18:59:41.505Z,1755802781.505 [DAT](INFO): DAT read: Bearing 338.5,  30.7 (Local)

2025-08-21T18:59:41.506Z,1755802781.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.5,  30.7 (Local)

2025-08-21T18:59:41.511Z,1755802781.511 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed -0.2

2025-08-21T18:59:41.536Z,1755802781.536 [DAT](INFO): DAT read: 18:59:40.4552 LVL= 32752, 20577, 32754, 32755, AGC= 51, IDX= 507, 0.09,-2.812,-1.733, 2.436,-2.567, PHS=-0.143, 0.879,-1.325, RAW=   2.4,   6.2, CAL=   2.3,   5.3, ROT= 147.7,  -5.3

2025-08-21T18:59:41.538Z,1755802781.538 [DAT](INFO): got valid direction response:
 18:59:40.4552 LVL= 32752, 20577, 32754, 32755, AGC= 51, IDX= 507, 0.09,-2.812,-1.733, 2.436,-2.567, PHS=-0.143, 0.879,-1.325, RAW=   2.4,   6.2, CAL=   2.3,   5.3, ROT= 147.7,  -5.3

2025-08-21T18:59:41.538Z,1755802781.538 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-21T18:59:41.539Z,1755802781.539 [DAT](INFO): direction in FSK: [-0.841648,0.532068,0.092371]
2025-08-21T18:59:41.547Z,1755802781.547 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:41.551Z,1755802781.551 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.063414
2025-08-21T18:59:41.748Z,1755802781.748 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.260862
2025-08-21T18:59:42.004Z,1755802782.004 [DAT](INFO): DAT read: Rx Time:18:59:40.9554 

2025-08-21T18:59:42.006Z,1755802782.006 [DAT](INFO): Rx dataTimestamp_ set to:1755802782.004729
2025-08-21T18:59:42.009Z,1755802782.009 [DAT](INFO): DAT read: Bearing 339.1,  29.9 (Local)

2025-08-21T18:59:42.010Z,1755802782.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.1,  29.9 (Local)

2025-08-21T18:59:42.019Z,1755802782.019 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.2

2025-08-21T18:59:42.024Z,1755802782.024 [DAT](INFO): DAT read: 18:59:40.9554 LVL= 32752, 19985, 32754, 32755, AGC= 51, IDX= 509,-0.10, 3.000,-2.157, 1.967,-3.029, PHS=-0.152, 0.917,-1.331, RAW=   1.6,   5.9, CAL=   1.5,   4.7, ROT= 148.5,  -4.7

2025-08-21T18:59:42.025Z,1755802782.025 [DAT](INFO): got valid direction response:
 18:59:40.9554 LVL= 32752, 19985, 32754, 32755, AGC= 51, IDX= 509,-0.10, 3.000,-2.157, 1.967,-3.029, PHS=-0.152, 0.917,-1.331, RAW=   1.6,   5.9, CAL=   1.5,   4.7, ROT= 148.5,  -4.7

2025-08-21T18:59:42.025Z,1755802782.025 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-21T18:59:42.026Z,1755802782.026 [DAT](INFO): direction in FSK: [-0.849773,0.520742,0.081939]
2025-08-21T18:59:42.026Z,1755802782.026 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:42.030Z,1755802782.030 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.542568
2025-08-21T18:59:42.252Z,1755802782.252 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.764887
2025-08-21T18:59:42.421Z,1755802782.421 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T18:59:42.509Z,1755802782.509 [DAT](INFO): DAT read: Rx Time:18:59:41.4554 

2025-08-21T18:59:42.510Z,1755802782.510 [DAT](INFO): Rx dataTimestamp_ set to:1755802782.509305
2025-08-21T18:59:42.521Z,1755802782.521 [DAT](INFO): DAT read: Bearing 339.3,  30.0 (Local)

2025-08-21T18:59:42.521Z,1755802782.521 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.3,  30.0 (Local)

2025-08-21T18:59:42.530Z,1755802782.530 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed -0.2

2025-08-21T18:59:42.535Z,1755802782.535 [DAT](INFO): DAT read: 18:59:41.4554 LVL= 30256, 18417, 32754, 32755, AGC= 50, IDX= 509,-0.29, 1.298, 2.412, 0.266, 1.544, PHS=-0.144, 0.913,-1.322, RAW=   1.8,   5.8, CAL=   1.7,   4.6, ROT= 148.3,  -4.6

2025-08-21T18:59:42.566Z,1755802782.566 [DAT](INFO): got valid direction response:
 18:59:41.4554 LVL= 30256, 18417, 32754, 32755, AGC= 50, IDX= 509,-0.29, 1.298, 2.412, 0.266, 1.544, PHS=-0.144, 0.913,-1.322, RAW=   1.8,   5.8, CAL=   1.7,   4.6, ROT= 148.3,  -4.6

2025-08-21T18:59:42.566Z,1755802782.566 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-21T18:59:42.568Z,1755802782.568 [DAT](INFO): direction in FSK: [-0.848071,0.523779,0.080199]
2025-08-21T18:59:42.568Z,1755802782.568 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:42.572Z,1755802782.572 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.084316
2025-08-21T18:59:42.756Z,1755802782.756 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.268984
2025-08-21T18:59:43.012Z,1755802783.012 [DAT](INFO): DAT read: Rx Time:18:59:41.9555 

2025-08-21T18:59:43.013Z,1755802783.013 [DAT](INFO): Rx dataTimestamp_ set to:1755802783.012509
2025-08-21T18:59:43.017Z,1755802783.017 [DAT](INFO): DAT read: Bearing 339.4,  31.3 (Local)

2025-08-21T18:59:43.018Z,1755802783.018 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.4,  31.3 (Local)

2025-08-21T18:59:43.020Z,1755802783.020 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed -0.2

2025-08-21T18:59:43.026Z,1755802783.026 [DAT](INFO): DAT read: 18:59:41.9555 LVL= 27376, 18337, 31730, 32755, AGC= 50, IDX= 510, 0.40,-1.983,-0.929,-3.036,-1.766, PHS=-0.115, 0.882,-1.314, RAW=   3.0,   5.8, CAL=   3.0,   4.7, ROT= 147.0,  -4.7

2025-08-21T18:59:43.027Z,1755802783.027 [DAT](INFO): got valid direction response:
 18:59:41.9555 LVL= 27376, 18337, 31730, 32755, AGC= 50, IDX= 510, 0.40,-1.983,-0.929,-3.036,-1.766, PHS=-0.115, 0.882,-1.314, RAW=   3.0,   5.8, CAL=   3.0,   4.7, ROT= 147.0,  -4.7

2025-08-21T18:59:43.027Z,1755802783.027 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-21T18:59:43.028Z,1755802783.028 [DAT](INFO): direction in FSK: [-0.835850,0.542808,0.081939]
2025-08-21T18:59:43.028Z,1755802783.028 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:43.032Z,1755802783.032 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.544691
2025-08-21T18:59:43.260Z,1755802783.260 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.772867
2025-08-21T18:59:43.516Z,1755802783.516 [DAT](INFO): DAT read: Rx Time:18:59:42.4555 

2025-08-21T18:59:43.518Z,1755802783.518 [DAT](INFO): Rx dataTimestamp_ set to:1755802783.516809
2025-08-21T18:59:43.520Z,1755802783.520 [DAT](INFO): DAT read: Bearing 339.2,  31.8 (Local)

2025-08-21T18:59:43.520Z,1755802783.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.2,  31.8 (Local)

2025-08-21T18:59:43.522Z,1755802783.522 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed -0.2

2025-08-21T18:59:43.554Z,1755802783.554 [DAT](INFO): DAT read: 18:59:42.4555 LVL= 32752, 19505, 32754, 32755, AGC= 52, IDX= 510, 0.18,-2.664,-1.627, 2.556,-2.452, PHS=-0.109, 0.870,-1.319, RAW=   3.5,   5.9, CAL=   3.4,   4.9, ROT= 146.6,  -4.9

2025-08-21T18:59:43.555Z,1755802783.555 [DAT](INFO): got valid direction response:
 18:59:42.4555 LVL= 32752, 19505, 32754, 32755, AGC= 52, IDX= 510, 0.18,-2.664,-1.627, 2.556,-2.452, PHS=-0.109, 0.870,-1.319, RAW=   3.5,   5.9, CAL=   3.4,   4.9, ROT= 146.6,  -4.9

2025-08-21T18:59:43.567Z,1755802783.567 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-21T18:59:43.568Z,1755802783.568 [DAT](INFO): direction in FSK: [-0.831797,0.548469,0.085417]
2025-08-21T18:59:43.569Z,1755802783.569 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:43.580Z,1755802783.580 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.092937
2025-08-21T18:59:43.657Z,1755802783.657 [OnDock:Detach:B.Undock](INFO): Thruster off.
2025-08-21T18:59:43.764Z,1755802783.764 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.276836
2025-08-21T18:59:43.941Z,1755802783.941 [OnDock:Detach:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-21T18:59:44.019Z,1755802784.019 [DAT](INFO): DAT read: Rx Time:18:59:42.9557 

2025-08-21T18:59:44.020Z,1755802784.020 [DAT](INFO): Rx dataTimestamp_ set to:1755802784.019468
2025-08-21T18:59:44.021Z,1755802784.021 [DAT](INFO): DAT read: Bearing 333.2,  33.8 (Local)

2025-08-21T18:59:44.021Z,1755802784.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.2,  33.8 (Local)

2025-08-21T18:59:44.024Z,1755802784.024 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.2

2025-08-21T18:59:44.029Z,1755802784.029 [DAT](INFO): DAT read: 18:59:42.9557 LVL= 28816, 18737, 32530, 32755, AGC= 51, IDX= 512, 0.04, 2.151,-3.124, 0.992, 2.440, PHS=-0.188, 0.764,-1.492, RAW=   5.2,   9.4, CAL=   5.2,  10.1, ROT= 144.8, -10.1

2025-08-21T18:59:44.030Z,1755802784.030 [DAT](INFO): got valid direction response:
 18:59:42.9557 LVL= 28816, 18737, 32530, 32755, AGC= 51, IDX= 512, 0.04, 2.151,-3.124, 0.992, 2.440, PHS=-0.188, 0.764,-1.492, RAW=   5.2,   9.4, CAL=   5.2,  10.1, ROT= 144.8, -10.1

2025-08-21T18:59:44.030Z,1755802784.030 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-21T18:59:44.039Z,1755802784.039 [DAT](INFO): direction in FSK: [-0.804482,0.567499,0.175367]
2025-08-21T18:59:44.039Z,1755802784.039 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:44.043Z,1755802784.043 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.555325
2025-08-21T18:59:44.268Z,1755802784.268 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.780907
2025-08-21T18:59:44.527Z,1755802784.527 [DAT](INFO): DAT read: Rx Time:18:59:43.4557 

2025-08-21T18:59:44.528Z,1755802784.528 [DAT](INFO): Rx dataTimestamp_ set to:1755802784.527539
2025-08-21T18:59:44.529Z,1755802784.529 [DAT](INFO): DAT read: Bearing 344.7,  31.3 (Local)

2025-08-21T18:59:44.529Z,1755802784.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.7,  31.3 (Local)

2025-08-21T18:59:44.532Z,1755802784.532 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.2

2025-08-21T18:59:44.537Z,1755802784.537 [DAT](INFO): DAT read: 18:59:43.4557 LVL= 28336, 18817, 32754, 32755, AGC= 51, IDX= 512,-0.11,-0.855, 0.213,-1.961,-0.740, PHS=-0.013, 0.998,-1.266, RAW=   3.5,   2.9, CAL=   3.4,   0.3, ROT= 146.6,  -0.3

2025-08-21T18:59:44.538Z,1755802784.538 [DAT](INFO): got valid direction response:
 18:59:43.4557 LVL= 28336, 18817, 32754, 32755, AGC= 51, IDX= 512,-0.11,-0.855, 0.213,-1.961,-0.740, PHS=-0.013, 0.998,-1.266, RAW=   3.5,   2.9, CAL=   3.4,   0.3, ROT= 146.6,  -0.3

2025-08-21T18:59:44.538Z,1755802784.538 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-21T18:59:44.540Z,1755802784.540 [DAT](INFO): direction in FSK: [-0.834837,0.550473,0.005236]
2025-08-21T18:59:44.540Z,1755802784.540 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:44.544Z,1755802784.544 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.056656
2025-08-21T18:59:44.772Z,1755802784.772 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.284992
2025-08-21T18:59:45.025Z,1755802785.025 [DAT](INFO): DAT read: Rx Time:18:59:43.9557 

2025-08-21T18:59:45.026Z,1755802785.026 [DAT](INFO): Rx dataTimestamp_ set to:1755802785.025318
2025-08-21T18:59:45.027Z,1755802785.027 [DAT](INFO): DAT read: Bearing 337.9,  29.7 (Local)

2025-08-21T18:59:45.027Z,1755802785.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.9,  29.7 (Local)

2025-08-21T18:59:45.029Z,1755802785.029 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.2

2025-08-21T18:59:45.034Z,1755802785.034 [DAT](INFO): DAT read: 18:59:43.9557 LVL= 29168, 20273, 32754, 32755, AGC= 51, IDX= 513,-0.30,-0.921, 0.150,-1.870,-0.642, PHS=-0.177, 0.837,-1.272, RAW=   1.3,   6.8, CAL=   1.3,   6.1, ROT= 148.7,  -6.1

2025-08-21T18:59:45.035Z,1755802785.035 [DAT](INFO): got valid direction response:
 18:59:43.9557 LVL= 29168, 20273, 32754, 32755, AGC= 51, IDX= 513,-0.30,-0.921, 0.150,-1.870,-0.642, PHS=-0.177, 0.837,-1.272, RAW=   1.3,   6.8, CAL=   1.3,   6.1, ROT= 148.7,  -6.1

2025-08-21T18:59:45.035Z,1755802785.035 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-21T18:59:45.036Z,1755802785.036 [DAT](INFO): direction in FSK: [-0.849621,0.516578,0.106264]
2025-08-21T18:59:45.037Z,1755802785.037 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:45.041Z,1755802785.041 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.553185
2025-08-21T18:59:45.276Z,1755802785.276 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.788895
2025-08-21T18:59:45.533Z,1755802785.533 [DAT](INFO): DAT read: Rx Time:18:59:44.4557 

2025-08-21T18:59:45.534Z,1755802785.534 [DAT](INFO): Rx dataTimestamp_ set to:1755802785.533336
2025-08-21T18:59:45.535Z,1755802785.535 [DAT](INFO): DAT read: Bearing 336.7,  32.1 (Local)

2025-08-21T18:59:45.535Z,1755802785.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.7,  32.1 (Local)

2025-08-21T18:59:45.537Z,1755802785.537 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed -0.2

2025-08-21T18:59:45.542Z,1755802785.542 [DAT](INFO): DAT read: 18:59:44.4557 LVL= 32288, 22097, 32754, 32755, AGC= 51, IDX= 512, 0.42,-0.092, 0.948,-1.173, 0.166, PHS=-0.156, 0.827,-1.383, RAW=   3.6,   7.5, CAL=   3.6,   7.2, ROT= 146.4,  -7.2

2025-08-21T18:59:45.551Z,1755802785.551 [DAT](INFO): got valid direction response:
 18:59:44.4557 LVL= 32288, 22097, 32754, 32755, AGC= 51, IDX= 512, 0.42,-0.092, 0.948,-1.173, 0.166, PHS=-0.156, 0.827,-1.383, RAW=   3.6,   7.5, CAL=   3.6,   7.2, ROT= 146.4,  -7.2

2025-08-21T18:59:45.552Z,1755802785.552 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-21T18:59:45.552Z,1755802785.552 [DAT](INFO): direction in FSK: [-0.826353,0.549028,0.125333]
2025-08-21T18:59:45.553Z,1755802785.553 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:45.556Z,1755802785.556 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.068958
2025-08-21T18:59:45.784Z,1755802785.784 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.296913
2025-08-21T18:59:46.037Z,1755802786.037 [DAT](INFO): DAT read: Rx Time:18:59:44.9559 

2025-08-21T18:59:46.037Z,1755802786.037 [DAT](INFO): Rx dataTimestamp_ set to:1755802786.037023
2025-08-21T18:59:46.039Z,1755802786.039 [DAT](INFO): DAT read: Bearing 339.9,  32.2 (Local)

2025-08-21T18:59:46.039Z,1755802786.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9,  32.2 (Local)

2025-08-21T18:59:46.041Z,1755802786.041 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.2

2025-08-21T18:59:46.046Z,1755802786.046 [DAT](INFO): DAT read: 18:59:44.9559 LVL= 27120, 16369, 31554, 32755, AGC= 54, IDX=   2, 0.17,-2.472,-1.457, 2.742,-2.278, PHS=-0.092, 0.866,-1.306, RAW=   3.9,   5.7, CAL=   3.8,   4.6, ROT= 146.2,  -4.6

2025-08-21T18:59:46.047Z,1755802786.047 [DAT](INFO): got valid direction response:
 18:59:44.9559 LVL= 27120, 16369, 31554, 32755, AGC= 54, IDX=   2, 0.17,-2.472,-1.457, 2.742,-2.278, PHS=-0.092, 0.866,-1.306, RAW=   3.9,   5.7, CAL=   3.8,   4.6, ROT= 146.2,  -4.6

2025-08-21T18:59:46.047Z,1755802786.047 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-21T18:59:46.048Z,1755802786.048 [DAT](INFO): direction in FSK: [-0.828308,0.554504,0.080199]
2025-08-21T18:59:46.048Z,1755802786.048 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:46.057Z,1755802786.057 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.569344
2025-08-21T18:59:46.289Z,1755802786.289 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.801140
2025-08-21T18:59:46.545Z,1755802786.545 [DAT](INFO): DAT read: Rx Time:18:59:45.4559 

2025-08-21T18:59:46.546Z,1755802786.546 [DAT](INFO): Rx dataTimestamp_ set to:1755802786.545182
2025-08-21T18:59:46.550Z,1755802786.550 [DAT](INFO): DAT read: Bearing 339.7,  31.6 (Local)

2025-08-21T18:59:46.551Z,1755802786.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.7,  31.6 (Local)

2025-08-21T18:59:46.561Z,1755802786.561 [DAT](INFO): DAT read: Range 11 to 50 :    17.7 m (trip time 11.8 ms) speed -0.2

2025-08-21T18:59:46.565Z,1755802786.565 [DAT](INFO): DAT read: 18:59:45.4559 LVL= 31488, 19521, 32754, 32755, AGC= 51, IDX= 498,-0.00, 1.411, 2.459, 0.345, 1.624, PHS=-0.111, 0.880,-1.323, RAW=   3.3,   5.9, CAL=   3.3,   4.8, ROT= 146.7,  -4.8

2025-08-21T18:59:46.566Z,1755802786.566 [DAT](INFO): got valid direction response:
 18:59:45.4559 LVL= 31488, 19521, 32754, 32755, AGC= 51, IDX= 498,-0.00, 1.411, 2.459, 0.345, 1.624, PHS=-0.111, 0.880,-1.323, RAW=   3.3,   5.9, CAL=   3.3,   4.8, ROT= 146.7,  -4.8

2025-08-21T18:59:46.567Z,1755802786.567 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-21T18:59:46.588Z,1755802786.588 [DAT](INFO): direction in FSK: [-0.832876,0.547097,0.083678]
2025-08-21T18:59:46.588Z,1755802786.588 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:46.596Z,1755802786.596 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.108925
2025-08-21T18:59:46.792Z,1755802786.792 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.304985
2025-08-21T18:59:47.045Z,1755802787.045 [DAT](INFO): DAT read: Rx Time:18:59:45.9561 

2025-08-21T18:59:47.045Z,1755802787.045 [DAT](INFO): Rx dataTimestamp_ set to:1755802787.045184
2025-08-21T18:59:47.047Z,1755802787.047 [DAT](INFO): DAT read: Bearing 339.9,  31.2 (Local)

2025-08-21T18:59:47.047Z,1755802787.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9,  31.2 (Local)

2025-08-21T18:59:47.049Z,1755802787.049 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed -0.2

2025-08-21T18:59:47.054Z,1755802787.054 [DAT](INFO): DAT read: 18:59:45.9561 LVL= 29872, 21585, 32754, 32755, AGC= 51, IDX= 500,-0.20, 1.913, 2.975, 0.856, 2.130, PHS=-0.114, 0.890,-1.317, RAW=   3.0,   5.7, CAL=   2.9,   4.5, ROT= 147.1,  -4.5

2025-08-21T18:59:47.055Z,1755802787.055 [DAT](INFO): got valid direction response:
 18:59:45.9561 LVL= 29872, 21585, 32754, 32755, AGC= 51, IDX= 500,-0.20, 1.913, 2.975, 0.856, 2.130, PHS=-0.114, 0.890,-1.317, RAW=   3.0,   5.7, CAL=   2.9,   4.5, ROT= 147.1,  -4.5

2025-08-21T18:59:47.056Z,1755802787.056 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-21T18:59:47.057Z,1755802787.057 [DAT](INFO): direction in FSK: [-0.837032,0.541500,0.078459]
2025-08-21T18:59:47.057Z,1755802787.057 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:47.061Z,1755802787.061 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.573215
2025-08-21T18:59:47.296Z,1755802787.296 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.808945
2025-08-21T18:59:47.552Z,1755802787.552 [DAT](INFO): DAT read: Rx Time:18:59:46.4560 

2025-08-21T18:59:47.554Z,1755802787.554 [DAT](INFO): Rx dataTimestamp_ set to:1755802787.552500
2025-08-21T18:59:47.557Z,1755802787.557 [DAT](INFO): DAT read: Bearing 339.9,  31.6 (Local)

2025-08-21T18:59:47.557Z,1755802787.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9,  31.6 (Local)

2025-08-21T18:59:47.559Z,1755802787.559 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed -0.2

2025-08-21T18:59:47.576Z,1755802787.576 [DAT](INFO): DAT read: 18:59:46.4560 LVL= 30400, 21729, 32754, 32755, AGC= 51, IDX= 499, 0.45, 1.883, 2.921, 0.823, 2.090, PHS=-0.105, 0.876,-1.311, RAW=   3.4,   5.7, CAL=   3.3,   4.6, ROT= 146.7,  -4.6

2025-08-21T18:59:47.577Z,1755802787.577 [DAT](INFO): got valid direction response:
 18:59:46.4560 LVL= 30400, 21729, 32754, 32755, AGC= 51, IDX= 499, 0.45, 1.883, 2.921, 0.823, 2.090, PHS=-0.105, 0.876,-1.311, RAW=   3.4,   5.7, CAL=   3.3,   4.6, ROT= 146.7,  -4.6

2025-08-21T18:59:47.578Z,1755802787.578 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-21T18:59:47.579Z,1755802787.579 [DAT](INFO): direction in FSK: [-0.833115,0.547254,0.080199]
2025-08-21T18:59:47.579Z,1755802787.579 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:47.595Z,1755802787.595 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.107204
2025-08-21T18:59:47.800Z,1755802787.800 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.312878
2025-08-21T18:59:48.058Z,1755802788.058 [DAT](INFO): DAT read: Rx Time:18:59:46.9562 

2025-08-21T18:59:48.058Z,1755802788.058 [DAT](INFO): Rx dataTimestamp_ set to:1755802788.058144
2025-08-21T18:59:48.060Z,1755802788.060 [DAT](INFO): DAT read: Bearing 339.7,  31.8 (Local)

2025-08-21T18:59:48.061Z,1755802788.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.7,  31.8 (Local)

2025-08-21T18:59:48.064Z,1755802788.064 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.2

2025-08-21T18:59:48.071Z,1755802788.071 [DAT](INFO): DAT read: 18:59:46.9562 LVL= 30640, 21729, 32754, 32755, AGC= 51, IDX= 501, 0.14,-2.983,-1.958, 2.241,-2.781, PHS=-0.100, 0.868,-1.306, RAW=   3.6,   5.8, CAL=   3.5,   4.6, ROT= 146.5,  -4.6

2025-08-21T18:59:48.072Z,1755802788.072 [DAT](INFO): got valid direction response:
 18:59:46.9562 LVL= 30640, 21729, 32754, 32755, AGC= 51, IDX= 501, 0.14,-2.983,-1.958, 2.241,-2.781, PHS=-0.100, 0.868,-1.306, RAW=   3.6,   5.8, CAL=   3.5,   4.6, ROT= 146.5,  -4.6

2025-08-21T18:59:48.073Z,1755802788.073 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-21T18:59:48.074Z,1755802788.074 [DAT](INFO): direction in FSK: [-0.831200,0.550159,0.080199]
2025-08-21T18:59:48.074Z,1755802788.074 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:48.127Z,1755802788.127 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.638786
2025-08-21T18:59:48.308Z,1755802788.308 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.820721
2025-08-21T18:59:48.565Z,1755802788.565 [DAT](INFO): DAT read: Rx Time:18:59:47.4562 

2025-08-21T18:59:48.567Z,1755802788.567 [DAT](INFO): Rx dataTimestamp_ set to:1755802788.565499
2025-08-21T18:59:48.571Z,1755802788.571 [DAT](INFO): DAT read: Bearing 339.9,  31.2 (Local)

2025-08-21T18:59:48.572Z,1755802788.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9,  31.2 (Local)

2025-08-21T18:59:48.579Z,1755802788.579 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.2

2025-08-21T18:59:48.589Z,1755802788.589 [DAT](INFO): DAT read: 18:59:47.4562 LVL= 28384, 19057, 32754, 32755, AGC= 51, IDX= 501,-0.09, 0.800, 1.860,-0.254, 1.016, PHS=-0.114, 0.889,-1.314, RAW=   3.0,   5.7, CAL=   2.9,   4.5, ROT= 147.1,  -4.5

2025-08-21T18:59:48.590Z,1755802788.590 [DAT](INFO): got valid direction response:
 18:59:47.4562 LVL= 28384, 19057, 32754, 32755, AGC= 51, IDX= 501,-0.09, 0.800, 1.860,-0.254, 1.016, PHS=-0.114, 0.889,-1.314, RAW=   3.0,   5.7, CAL=   2.9,   4.5, ROT= 147.1,  -4.5

2025-08-21T18:59:48.590Z,1755802788.590 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-21T18:59:48.591Z,1755802788.591 [DAT](INFO): direction in FSK: [-0.837032,0.541500,0.078459]
2025-08-21T18:59:48.592Z,1755802788.592 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:48.595Z,1755802788.595 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.107746
2025-08-21T18:59:48.825Z,1755802788.825 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.337822
2025-08-21T18:59:49.077Z,1755802789.077 [DAT](INFO): DAT read: Rx Time:18:59:47.9562 

2025-08-21T18:59:49.077Z,1755802789.077 [DAT](INFO): Rx dataTimestamp_ set to:1755802789.077008
2025-08-21T18:59:49.079Z,1755802789.079 [DAT](INFO): DAT read: Bearing 340.1,  31.1 (Local)

2025-08-21T18:59:49.079Z,1755802789.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.1,  31.1 (Local)

2025-08-21T18:59:49.081Z,1755802789.081 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.2

2025-08-21T18:59:49.086Z,1755802789.086 [DAT](INFO): DAT read: 18:59:47.9562 LVL= 27728, 19889, 32754, 32755, AGC= 51, IDX= 502,-0.40, 0.645, 1.703,-0.405, 0.859, PHS=-0.112, 0.888,-1.308, RAW=   2.9,   5.6, CAL=   2.9,   4.4, ROT= 147.1,  -4.4

2025-08-21T18:59:49.087Z,1755802789.087 [DAT](INFO): got valid direction response:
 18:59:47.9562 LVL= 27728, 19889, 32754, 32755, AGC= 51, IDX= 502,-0.40, 0.645, 1.703,-0.405, 0.859, PHS=-0.112, 0.888,-1.308, RAW=   2.9,   5.6, CAL=   2.9,   4.4, ROT= 147.1,  -4.4

2025-08-21T18:59:49.087Z,1755802789.087 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-21T18:59:49.088Z,1755802789.088 [DAT](INFO): direction in FSK: [-0.837145,0.541573,0.076719]
2025-08-21T18:59:49.088Z,1755802789.088 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:49.093Z,1755802789.093 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.605385
2025-08-21T18:59:49.331Z,1755802789.331 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.844101
2025-08-21T18:59:49.589Z,1755802789.589 [DAT](INFO): DAT read: Rx Time:18:59:48.4562 

2025-08-21T18:59:49.589Z,1755802789.589 [DAT](INFO): Rx dataTimestamp_ set to:1755802789.588730
2025-08-21T18:59:49.590Z,1755802789.590 [DAT](INFO): DAT read: Bearing 339.9,  32.0 (Local)

2025-08-21T18:59:49.591Z,1755802789.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9,  32.0 (Local)

2025-08-21T18:59:49.603Z,1755802789.603 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed -0.2

2025-08-21T18:59:49.632Z,1755802789.632 [DAT](INFO): DAT read: 18:59:48.4562 LVL= 28912, 19505, 32754, 32755, AGC= 51, IDX= 501, 0.19, 1.374, 2.392, 0.309, 1.574, PHS=-0.098, 0.863,-1.309, RAW=   3.8,   5.8, CAL=   3.7,   4.8, ROT= 146.3,  -4.8

2025-08-21T18:59:49.633Z,1755802789.633 [DAT](INFO): got valid direction response:
 18:59:48.4562 LVL= 28912, 19505, 32754, 32755, AGC= 51, IDX= 501, 0.19, 1.374, 2.392, 0.309, 1.574, PHS=-0.098, 0.863,-1.309, RAW=   3.8,   5.8, CAL=   3.7,   4.8, ROT= 146.3,  -4.8

2025-08-21T18:59:49.634Z,1755802789.634 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-21T18:59:49.635Z,1755802789.635 [DAT](INFO): direction in FSK: [-0.829036,0.552898,0.083678]
2025-08-21T18:59:49.635Z,1755802789.635 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:49.647Z,1755802789.647 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.159237
2025-08-21T18:59:49.836Z,1755802789.836 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.348816
2025-08-21T18:59:50.089Z,1755802790.089 [DAT](INFO): DAT read: Rx Time:18:59:48.9564 

2025-08-21T18:59:50.089Z,1755802790.089 [DAT](INFO): Rx dataTimestamp_ set to:1755802790.089052
2025-08-21T18:59:50.091Z,1755802790.091 [DAT](INFO): DAT read: Bearing 340.3,  31.0 (Local)

2025-08-21T18:59:50.091Z,1755802790.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.3,  31.0 (Local)

2025-08-21T18:59:50.093Z,1755802790.093 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.2

2025-08-21T18:59:50.102Z,1755802790.102 [DAT](INFO): DAT read: 18:59:48.9564 LVL= 28608, 18273, 32754, 32755, AGC= 50, IDX= 503,-0.06, 0.134, 1.195,-0.909, 0.353, PHS=-0.117, 0.888,-1.306, RAW=   2.8,   5.7, CAL=   2.7,   4.5, ROT= 147.3,  -4.5

2025-08-21T18:59:50.103Z,1755802790.103 [DAT](INFO): got valid direction response:
 18:59:48.9564 LVL= 28608, 18273, 32754, 32755, AGC= 50, IDX= 503,-0.06, 0.134, 1.195,-0.909, 0.353, PHS=-0.117, 0.888,-1.306, RAW=   2.8,   5.7, CAL=   2.7,   4.5, ROT= 147.3,  -4.5

2025-08-21T18:59:50.103Z,1755802790.103 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-21T18:59:50.104Z,1755802790.104 [DAT](INFO): direction in FSK: [-0.838917,0.538575,0.078459]
2025-08-21T18:59:50.105Z,1755802790.105 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:50.108Z,1755802790.108 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.620728
2025-08-21T18:59:50.340Z,1755802790.340 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.852962
2025-08-21T18:59:50.597Z,1755802790.597 [DAT](INFO): DAT read: Rx Time:18:59:49.4563 

2025-08-21T18:59:50.598Z,1755802790.598 [DAT](INFO): Rx dataTimestamp_ set to:1755802790.597204
2025-08-21T18:59:50.602Z,1755802790.602 [DAT](INFO): DAT read: Bearing 340.1,  31.1 (Local)

2025-08-21T18:59:50.603Z,1755802790.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.1,  31.1 (Local)

2025-08-21T18:59:50.611Z,1755802790.611 [DAT](INFO): DAT read: Range 11 to 50 :    18.3 m (trip time 12.2 ms) speed -0.1

2025-08-21T18:59:50.620Z,1755802790.620 [DAT](INFO): DAT read: 18:59:49.4563 LVL= 29984, 18977, 32754, 32755, AGC= 50, IDX= 503,-0.39,-0.747, 0.308,-1.788,-0.525, PHS=-0.120, 0.879,-1.307, RAW=   2.9,   5.8, CAL=   2.8,   4.7, ROT= 147.2,  -4.7

2025-08-21T18:59:50.621Z,1755802790.621 [DAT](INFO): got valid direction response:
 18:59:49.4563 LVL= 29984, 18977, 32754, 32755, AGC= 50, IDX= 503,-0.39,-0.747, 0.308,-1.788,-0.525, PHS=-0.120, 0.879,-1.307, RAW=   2.9,   5.8, CAL=   2.8,   4.7, ROT= 147.2,  -4.7

2025-08-21T18:59:50.621Z,1755802790.621 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-21T18:59:50.622Z,1755802790.622 [DAT](INFO): direction in FSK: [-0.837740,0.539887,0.081939]
2025-08-21T18:59:50.622Z,1755802790.622 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:50.626Z,1755802790.626 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.138382
2025-08-21T18:59:50.844Z,1755802790.844 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.356968
2025-08-21T18:59:51.097Z,1755802791.097 [DAT](INFO): DAT read: Rx Time:18:59:49.9565 

2025-08-21T18:59:51.097Z,1755802791.097 [DAT](INFO): Rx dataTimestamp_ set to:1755802791.097037
2025-08-21T18:59:51.099Z,1755802791.099 [DAT](INFO): DAT read: Bearing 339.8,  32.0 (Local)

2025-08-21T18:59:51.099Z,1755802791.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.8,  32.0 (Local)

2025-08-21T18:59:51.101Z,1755802791.101 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.2

2025-08-21T18:59:51.106Z,1755802791.106 [DAT](INFO): DAT read: 18:59:49.9565 LVL= 29744, 20657, 32754, 32755, AGC= 51, IDX= 504, 0.19, 2.258,-3.010, 1.200, 2.467, PHS=-0.107, 0.852,-1.310, RAW=   3.7,   6.1, CAL=   3.7,   5.1, ROT= 146.3,  -5.1

2025-08-21T18:59:51.107Z,1755802791.107 [DAT](INFO): got valid direction response:
 18:59:49.9565 LVL= 29744, 20657, 32754, 32755, AGC= 51, IDX= 504, 0.19, 2.258,-3.010, 1.200, 2.467, PHS=-0.107, 0.852,-1.310, RAW=   3.7,   6.1, CAL=   3.7,   5.1, ROT= 146.3,  -5.1

2025-08-21T18:59:51.107Z,1755802791.107 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-21T18:59:51.108Z,1755802791.108 [DAT](INFO): direction in FSK: [-0.828660,0.552648,0.088894]
2025-08-21T18:59:51.108Z,1755802791.108 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:51.121Z,1755802791.121 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.633949
2025-08-21T18:59:51.348Z,1755802791.348 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.860847
2025-08-21T18:59:51.606Z,1755802791.606 [DAT](INFO): DAT read: Rx Time:18:59:50.4564 

2025-08-21T18:59:51.608Z,1755802791.608 [DAT](INFO): Rx dataTimestamp_ set to:1755802791.606498
2025-08-21T18:59:51.612Z,1755802791.612 [DAT](INFO): DAT read: Bearing 339.3,  31.1 (Local)

2025-08-21T18:59:51.613Z,1755802791.613 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.3,  31.1 (Local)

2025-08-21T18:59:51.620Z,1755802791.620 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed -0.2

2025-08-21T18:59:51.629Z,1755802791.629 [DAT](INFO): DAT read: 18:59:50.4564 LVL= 28304, 17745, 32754, 32755, AGC= 51, IDX= 504,-0.08,-0.745, 0.316,-1.787,-0.505, PHS=-0.137, 0.866,-1.326, RAW=   2.8,   6.3, CAL=   2.7,   5.5, ROT= 147.3,  -5.5

2025-08-21T18:59:51.630Z,1755802791.630 [DAT](INFO): got valid direction response:
 18:59:50.4564 LVL= 28304, 17745, 32754, 32755, AGC= 51, IDX= 504,-0.08,-0.745, 0.316,-1.787,-0.505, PHS=-0.137, 0.866,-1.326, RAW=   2.8,   6.3, CAL=   2.7,   5.5, ROT= 147.3,  -5.5

2025-08-21T18:59:51.630Z,1755802791.630 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-21T18:59:51.652Z,1755802791.652 [DAT](INFO): direction in FSK: [-0.837637,0.537753,0.095846]
2025-08-21T18:59:51.652Z,1755802791.652 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:51.668Z,1755802791.668 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.180458
2025-08-21T18:59:51.852Z,1755802791.852 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.364864
2025-08-21T18:59:52.105Z,1755802792.105 [DAT](INFO): DAT read: Rx Time:18:59:50.9565 

2025-08-21T18:59:52.105Z,1755802792.105 [DAT](INFO): Rx dataTimestamp_ set to:1755802792.104988
2025-08-21T18:59:52.107Z,1755802792.107 [DAT](INFO): DAT read: Bearing 339.6,  31.0 (Local)

2025-08-21T18:59:52.107Z,1755802792.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.6,  31.0 (Local)

2025-08-21T18:59:52.109Z,1755802792.109 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.2

2025-08-21T18:59:52.114Z,1755802792.114 [DAT](INFO): DAT read: 18:59:50.9565 LVL= 28400, 22257, 32754, 32755, AGC= 50, IDX= 506,-0.42, 0.144, 1.201,-0.888, 0.382, PHS=-0.136, 0.864,-1.314, RAW=   2.7,   6.3, CAL=   2.7,   5.4, ROT= 147.3,  -5.4

2025-08-21T18:59:52.115Z,1755802792.115 [DAT](INFO): got valid direction response:
 18:59:50.9565 LVL= 28400, 22257, 32754, 32755, AGC= 50, IDX= 506,-0.42, 0.144, 1.201,-0.888, 0.382, PHS=-0.136, 0.864,-1.314, RAW=   2.7,   6.3, CAL=   2.7,   5.4, ROT= 147.3,  -5.4

2025-08-21T18:59:52.121Z,1755802792.121 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-21T18:59:52.122Z,1755802792.122 [DAT](INFO): direction in FSK: [-0.837776,0.537843,0.094108]
2025-08-21T18:59:52.123Z,1755802792.123 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:52.158Z,1755802792.158 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.670723
2025-08-21T18:59:52.356Z,1755802792.356 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.868874
2025-08-21T18:59:52.612Z,1755802792.612 [DAT](INFO): DAT read: Rx Time:18:59:51.4565 

2025-08-21T18:59:52.614Z,1755802792.614 [DAT](INFO): Rx dataTimestamp_ set to:1755802792.613078
2025-08-21T18:59:52.618Z,1755802792.618 [DAT](INFO): DAT read: Bearing 339.1,  32.0 (Local)

2025-08-21T18:59:52.619Z,1755802792.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.1,  32.0 (Local)

2025-08-21T18:59:52.627Z,1755802792.627 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.2

2025-08-21T18:59:52.656Z,1755802792.656 [DAT](INFO): DAT read: 18:59:51.4565 LVL= 29344, 19729, 32754, 32755, AGC= 51, IDX= 505, 0.16, 0.862, 1.888,-0.196, 1.091, PHS=-0.126, 0.842,-1.330, RAW=   3.6,   6.6, CAL=   3.5,   5.9, ROT= 146.5,  -5.9

2025-08-21T18:59:52.657Z,1755802792.657 [DAT](INFO): got valid direction response:
 18:59:51.4565 LVL= 29344, 19729, 32754, 32755, AGC= 51, IDX= 505, 0.16, 0.862, 1.888,-0.196, 1.091, PHS=-0.126, 0.842,-1.330, RAW=   3.6,   6.6, CAL=   3.5,   5.9, ROT= 146.5,  -5.9

2025-08-21T18:59:52.657Z,1755802792.657 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-21T18:59:52.658Z,1755802792.658 [DAT](INFO): direction in FSK: [-0.829469,0.549013,0.102793]
2025-08-21T18:59:52.658Z,1755802792.658 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:52.666Z,1755802792.666 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.178711
2025-08-21T18:59:52.860Z,1755802792.860 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.372738
2025-08-21T18:59:53.113Z,1755802793.113 [DAT](INFO): DAT read: Rx Time:18:59:51.9566 

2025-08-21T18:59:53.113Z,1755802793.113 [DAT](INFO): Rx dataTimestamp_ set to:1755802793.112991
2025-08-21T18:59:53.115Z,1755802793.115 [DAT](INFO): DAT read: Bearing 339.1,  31.2 (Local)

2025-08-21T18:59:53.115Z,1755802793.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.1,  31.2 (Local)

2025-08-21T18:59:53.117Z,1755802793.117 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.2

2025-08-21T18:59:53.122Z,1755802793.122 [DAT](INFO): DAT read: 18:59:51.9566 LVL= 29552, 22449, 32754, 32755, AGC= 51, IDX= 506,-0.09,-0.721, 0.332,-1.753,-0.473, PHS=-0.146, 0.850,-1.324, RAW=   2.8,   6.6, CAL=   2.7,   5.9, ROT= 147.3,  -5.9

2025-08-21T18:59:53.123Z,1755802793.123 [DAT](INFO): got valid direction response:
 18:59:51.9566 LVL= 29552, 22449, 32754, 32755, AGC= 51, IDX= 506,-0.09,-0.721, 0.332,-1.753,-0.473, PHS=-0.146, 0.850,-1.324, RAW=   2.8,   6.6, CAL=   2.7,   5.9, ROT= 147.3,  -5.9

2025-08-21T18:59:53.123Z,1755802793.123 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-21T18:59:53.124Z,1755802793.124 [DAT](INFO): direction in FSK: [-0.837053,0.537379,0.102793]
2025-08-21T18:59:53.124Z,1755802793.124 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:53.147Z,1755802793.147 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.659485
2025-08-21T18:59:53.364Z,1755802793.364 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.876907
2025-08-21T18:59:53.620Z,1755802793.620 [DAT](INFO): DAT read: Rx Time:18:59:52.4565 

2025-08-21T18:59:53.622Z,1755802793.622 [DAT](INFO): Rx dataTimestamp_ set to:1755802793.621001
2025-08-21T18:59:53.628Z,1755802793.628 [DAT](INFO): DAT read: Bearing 338.8,  31.5 (Local)

2025-08-21T18:59:53.629Z,1755802793.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.8,  31.5 (Local)

2025-08-21T18:59:53.643Z,1755802793.643 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed -0.2

2025-08-21T18:59:53.656Z,1755802793.656 [DAT](INFO): DAT read: 18:59:52.4565 LVL= 31856, 24145, 32754, 32755, AGC= 51, IDX= 506,-0.45,-1.415,-0.380,-2.445,-1.167, PHS=-0.146, 0.832,-1.322, RAW=   3.0,   6.9, CAL=   3.0,   6.3, ROT= 147.0,  -6.3

2025-08-21T18:59:53.657Z,1755802793.657 [DAT](INFO): got valid direction response:
 18:59:52.4565 LVL= 31856, 24145, 32754, 32755, AGC= 51, IDX= 506,-0.45,-1.415,-0.380,-2.445,-1.167, PHS=-0.146, 0.832,-1.322, RAW=   3.0,   6.9, CAL=   3.0,   6.3, ROT= 147.0,  -6.3

2025-08-21T18:59:53.658Z,1755802793.658 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-21T18:59:53.658Z,1755802793.658 [DAT](INFO): direction in FSK: [-0.833606,0.541350,0.109734]
2025-08-21T18:59:53.659Z,1755802793.659 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:53.694Z,1755802793.694 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.207104
2025-08-21T18:59:53.868Z,1755802793.868 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.380863
2025-08-21T18:59:54.121Z,1755802794.121 [DAT](INFO): DAT read: Rx Time:18:59:52.9567 

2025-08-21T18:59:54.121Z,1755802794.121 [DAT](INFO): Rx dataTimestamp_ set to:1755802794.121060
2025-08-21T18:59:54.123Z,1755802794.123 [DAT](INFO): DAT read: Bearing 338.7,  32.3 (Local)

2025-08-21T18:59:54.123Z,1755802794.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.7,  32.3 (Local)

2025-08-21T18:59:54.125Z,1755802794.125 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed -0.1

2025-08-21T18:59:54.130Z,1755802794.130 [DAT](INFO): DAT read: 18:59:52.9567 LVL= 32752, 19889, 32754, 32755, AGC= 52, IDX= 507, 0.15, 1.021, 2.038,-0.049, 1.254, PHS=-0.132, 0.829,-1.347, RAW=   3.9,   6.9, CAL=   3.9,   6.5, ROT= 146.1,  -6.5

2025-08-21T18:59:54.131Z,1755802794.131 [DAT](INFO): got valid direction response:
 18:59:52.9567 LVL= 32752, 19889, 32754, 32755, AGC= 52, IDX= 507, 0.15, 1.021, 2.038,-0.049, 1.254, PHS=-0.132, 0.829,-1.347, RAW=   3.9,   6.9, CAL=   3.9,   6.5, ROT= 146.1,  -6.5

2025-08-21T18:59:54.131Z,1755802794.131 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-21T18:59:54.132Z,1755802794.132 [DAT](INFO): direction in FSK: [-0.824677,0.554160,0.113203]
2025-08-21T18:59:54.132Z,1755802794.132 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:54.163Z,1755802794.163 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.675621
2025-08-21T18:59:54.372Z,1755802794.372 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.884850
2025-08-21T18:59:54.628Z,1755802794.628 [DAT](INFO): DAT read: Rx Time:18:59:53.4567 

2025-08-21T18:59:54.630Z,1755802794.630 [DAT](INFO): Rx dataTimestamp_ set to:1755802794.628827
2025-08-21T18:59:54.633Z,1755802794.633 [DAT](INFO): DAT read: Bearing 338.9,  31.6 (Local)

2025-08-21T18:59:54.634Z,1755802794.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.9,  31.6 (Local)

2025-08-21T18:59:54.637Z,1755802794.637 [DAT](INFO): DAT read: .5 ms) speed -0.2

2025-08-21T18:59:54.638Z,1755802794.638 [DAT](INFO): unknown deviceResponse_: .5 ms) speed -0.2

2025-08-21T18:59:54.651Z,1755802794.651 [DAT](INFO): DAT read: 18:59:53.4567 LVL= 32752, 22753, 32754, 32755, AGC= 52, IDX= 507,-0.10,-1.931,-0.890,-2.973,-1.683, PHS=-0.146, 0.837,-1.334, RAW=   3.1,   6.9, CAL=   3.1,   6.3, ROT= 146.9,  -6.3

2025-08-21T18:59:54.654Z,1755802794.654 [DAT](INFO): got valid direction response:
 18:59:53.4567 LVL= 32752, 22753, 32754, 32755, AGC= 52, IDX= 507,-0.10,-1.931,-0.890,-2.973,-1.683, PHS=-0.146, 0.837,-1.334, RAW=   3.1,   6.9, CAL=   3.1,   6.3, ROT= 146.9,  -6.3

2025-08-21T18:59:54.679Z,1755802794.679 [DAT](INFO): #Rx 86: Read direction message, but no range.
2025-08-21T18:59:54.680Z,1755802794.680 [DAT](INFO): direction in FSK: [-0.832660,0.542804,0.109734]
2025-08-21T18:59:54.688Z,1755802794.688 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.200607
2025-08-21T18:59:54.876Z,1755802794.876 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.388950
2025-08-21T18:59:55.130Z,1755802795.130 [DAT](INFO): DAT read: Rx Time:18:59:53.9568 

2025-08-21T18:59:55.130Z,1755802795.130 [DAT](INFO): Rx dataTimestamp_ set to:1755802795.129846
2025-08-21T18:59:55.132Z,1755802795.132 [DAT](INFO): DAT read: Bearing 338.9,  32.6 (Local)

2025-08-21T18:59:55.132Z,1755802795.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.9,  32.6 (Local)

2025-08-21T18:59:55.134Z,1755802795.134 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.1

2025-08-21T18:59:55.143Z,1755802795.143 [DAT](INFO): DAT read: 18:59:53.9568 LVL= 32752, 23025, 32754, 32755, AGC= 52, IDX= 508, 0.50, 0.972, 1.976,-0.099, 1.200, PHS=-0.125, 0.821,-1.343, RAW=   4.1,   6.9, CAL=   4.1,   6.5, ROT= 145.9,  -6.5

2025-08-21T18:59:55.144Z,1755802795.144 [DAT](INFO): got valid direction response:
 18:59:53.9568 LVL= 32752, 23025, 32754, 32755, AGC= 52, IDX= 508, 0.50, 0.972, 1.976,-0.099, 1.200, PHS=-0.125, 0.821,-1.343, RAW=   4.1,   6.9, CAL=   4.1,   6.5, ROT= 145.9,  -6.5

2025-08-21T18:59:55.145Z,1755802795.145 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-21T18:59:55.146Z,1755802795.146 [DAT](INFO): direction in FSK: [-0.822737,0.557035,0.113203]
2025-08-21T18:59:55.146Z,1755802795.146 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:55.150Z,1755802795.150 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.662556
2025-08-21T18:59:55.381Z,1755802795.381 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.893169
2025-08-21T18:59:55.637Z,1755802795.637 [DAT](INFO): DAT read: Rx Time:18:59:54.4568 

2025-08-21T18:59:55.638Z,1755802795.638 [DAT](INFO): Rx dataTimestamp_ set to:1755802795.637270
2025-08-21T18:59:55.643Z,1755802795.643 [DAT](INFO): DAT read: Bearing 339.2,  32.9 (Local)

2025-08-21T18:59:55.644Z,1755802795.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.2,  32.9 (Local)

2025-08-21T18:59:55.684Z,1755802795.684 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.1

2025-08-21T18:59:55.697Z,1755802795.697 [DAT](INFO): DAT read: 18:59:54.4568 LVL= 30608, 21969, 32754, 32755, AGC= 51, IDX= 508, 0.11,-0.084, 0.903,-1.154, 0.134, PHS=-0.115, 0.814,-1.332, RAW=   4.4,   6.9, CAL=   4.4,   6.3, ROT= 145.6,  -6.3

2025-08-21T18:59:55.698Z,1755802795.698 [DAT](INFO): got valid direction response:
 18:59:54.4568 LVL= 30608, 21969, 32754, 32755, AGC= 51, IDX= 508, 0.11,-0.084, 0.903,-1.154, 0.134, PHS=-0.115, 0.814,-1.332, RAW=   4.4,   6.9, CAL=   4.4,   6.3, ROT= 145.6,  -6.3

2025-08-21T18:59:55.698Z,1755802795.698 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-21T18:59:55.699Z,1755802795.699 [DAT](INFO): direction in FSK: [-0.820131,0.561555,0.109734]
2025-08-21T18:59:55.712Z,1755802795.712 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:55.728Z,1755802795.728 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.240288
2025-08-21T18:59:55.884Z,1755802795.884 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.396858
2025-08-21T18:59:56.137Z,1755802796.137 [DAT](INFO): DAT read: Rx Time:18:59:54.9569 

2025-08-21T18:59:56.137Z,1755802796.137 [DAT](INFO): Rx dataTimestamp_ set to:1755802796.136992
2025-08-21T18:59:56.139Z,1755802796.139 [DAT](INFO): DAT read: Bearing 339.0,  32.0 (Local)

2025-08-21T18:59:56.139Z,1755802796.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.0,  32.0 (Local)

2025-08-21T18:59:56.141Z,1755802796.141 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed -0.1

2025-08-21T18:59:56.146Z,1755802796.146 [DAT](INFO): DAT read: 18:59:54.9569 LVL= 28528, 22257, 32754, 32755, AGC= 51, IDX= 509,-0.17,-2.219,-1.205, 3.026,-1.978, PHS=-0.139, 0.818,-1.323, RAW=   3.5,   7.0, CAL=   3.5,   6.5, ROT= 146.5,  -6.5

2025-08-21T18:59:56.147Z,1755802796.147 [DAT](INFO): got valid direction response:
 18:59:54.9569 LVL= 28528, 22257, 32754, 32755, AGC= 51, IDX= 509,-0.17,-2.219,-1.205, 3.026,-1.978, PHS=-0.139, 0.818,-1.323, RAW=   3.5,   7.0, CAL=   3.5,   6.5, ROT= 146.5,  -6.5

2025-08-21T18:59:56.147Z,1755802796.147 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-21T18:59:56.149Z,1755802796.149 [DAT](INFO): direction in FSK: [-0.828526,0.548389,0.113203]
2025-08-21T18:59:56.149Z,1755802796.149 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:56.154Z,1755802796.154 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.666466
2025-08-21T18:59:56.388Z,1755802796.388 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.900906
2025-08-21T18:59:56.645Z,1755802796.645 [DAT](INFO): DAT read: Rx Time:18:59:55.4568 

2025-08-21T18:59:56.646Z,1755802796.646 [DAT](INFO): Rx dataTimestamp_ set to:1755802796.645233
2025-08-21T18:59:56.652Z,1755802796.652 [DAT](INFO): DAT read: Bearing 339.4,  33.0 (Local)

2025-08-21T18:59:56.653Z,1755802796.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.4,  33.0 (Local)

2025-08-21T18:59:56.659Z,1755802796.659 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed -0.1

2025-08-21T18:59:56.672Z,1755802796.672 [DAT](INFO): DAT read: 18:59:55.4568 LVL= 29296, 21569, 32754, 32755, AGC= 51, IDX= 508, 0.39,-1.894,-0.919,-2.959,-1.680, PHS=-0.112, 0.806,-1.324, RAW=   4.5,   6.9, CAL=   4.5,   6.4, ROT= 145.5,  -6.4

2025-08-21T18:59:56.677Z,1755802796.677 [DAT](INFO): got valid direction response:
 18:59:55.4568 LVL= 29296, 21569, 32754, 32755, AGC= 51, IDX= 508, 0.39,-1.894,-0.919,-2.959,-1.680, PHS=-0.112, 0.806,-1.324, RAW=   4.5,   6.9, CAL=   4.5,   6.4, ROT= 145.5,  -6.4

2025-08-21T18:59:56.678Z,1755802796.678 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-21T18:59:56.709Z,1755802796.709 [DAT](INFO): direction in FSK: [-0.818990,0.562876,0.111469]
2025-08-21T18:59:56.709Z,1755802796.709 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:56.713Z,1755802796.713 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.225636
2025-08-21T18:59:56.892Z,1755802796.892 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.404900
2025-08-21T18:59:57.145Z,1755802797.145 [DAT](INFO): DAT read: Rx Time:18:59:55.9570 

2025-08-21T18:59:57.146Z,1755802797.146 [DAT](INFO): Rx dataTimestamp_ set to:1755802797.145243
2025-08-21T18:59:57.147Z,1755802797.147 [DAT](INFO): DAT read: Bearing 339.6,  33.2 (Local)

2025-08-21T18:59:57.147Z,1755802797.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.6,  33.2 (Local)

2025-08-21T18:59:57.150Z,1755802797.150 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed -0.2

2025-08-21T18:59:57.156Z,1755802797.156 [DAT](INFO): DAT read: 18:59:55.9570 LVL= 29440, 18481, 32754, 32755, AGC= 51, IDX= 510, 0.04,-0.739, 0.232,-1.816,-0.531, PHS=-0.106, 0.808,-1.329, RAW=   4.8,   6.8, CAL=   4.7,   6.3, ROT= 145.3,  -6.3

2025-08-21T18:59:57.157Z,1755802797.157 [DAT](INFO): got valid direction response:
 18:59:55.9570 LVL= 29440, 18481, 32754, 32755, AGC= 51, IDX= 510, 0.04,-0.739, 0.232,-1.816,-0.531, PHS=-0.106, 0.808,-1.329, RAW=   4.8,   6.8, CAL=   4.7,   6.3, ROT= 145.3,  -6.3

2025-08-21T18:59:57.158Z,1755802797.158 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-21T18:59:57.176Z,1755802797.176 [DAT](INFO): direction in FSK: [-0.817179,0.565842,0.109734]
2025-08-21T18:59:57.176Z,1755802797.176 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:57.193Z,1755802797.193 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.705719
2025-08-21T18:59:57.396Z,1755802797.396 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.908894
2025-08-21T18:59:57.656Z,1755802797.656 [DAT](INFO): DAT read: Rx Time:18:59:56.4569 

2025-08-21T18:59:57.657Z,1755802797.657 [DAT](INFO): Rx dataTimestamp_ set to:1755802797.656750
2025-08-21T18:59:57.662Z,1755802797.662 [DAT](INFO): DAT read: Bearing 339.7,  32.8 (Local)

2025-08-21T18:59:57.663Z,1755802797.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.7,  32.8 (Local)

2025-08-21T18:59:57.673Z,1755802797.673 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed -0.2

2025-08-21T18:59:57.716Z,1755802797.716 [DAT](INFO): DAT read: 18:59:56.4569 LVL= 28768, 20593, 32754, 32755, AGC= 51, IDX= 510,-0.27, 2.994,-2.306, 1.940,-3.068, PHS=-0.119, 0.807,-1.319, RAW=   4.3,   6.9, CAL=   4.2,   6.4, ROT= 145.8,  -6.4

2025-08-21T18:59:57.718Z,1755802797.718 [DAT](INFO): got valid direction response:
 18:59:56.4569 LVL= 28768, 20593, 32754, 32755, AGC= 51, IDX= 510,-0.27, 2.994,-2.306, 1.940,-3.068, PHS=-0.119, 0.807,-1.319, RAW=   4.3,   6.9, CAL=   4.2,   6.4, ROT= 145.8,  -6.4

2025-08-21T18:59:57.718Z,1755802797.718 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-21T18:59:57.719Z,1755802797.719 [DAT](INFO): direction in FSK: [-0.821926,0.558580,0.111469]
2025-08-21T18:59:57.728Z,1755802797.728 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:57.744Z,1755802797.744 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.256119
2025-08-21T18:59:57.904Z,1755802797.904 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.416908
2025-08-21T18:59:58.158Z,1755802798.158 [DAT](INFO): DAT read: Rx Time:18:59:56.9571 

2025-08-21T18:59:58.158Z,1755802798.158 [DAT](INFO): Rx dataTimestamp_ set to:1755802798.157722
2025-08-21T18:59:58.160Z,1755802798.160 [DAT](INFO): DAT read: Bearing 340.3,  34.1 (Local)

2025-08-21T18:59:58.160Z,1755802798.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.3,  34.1 (Local)

2025-08-21T18:59:58.163Z,1755802798.163 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.2

2025-08-21T18:59:58.170Z,1755802798.170 [DAT](INFO): DAT read: 18:59:56.9571 LVL= 28784, 20977, 32754, 32755, AGC= 51, IDX= 511, 0.25,-0.057, 0.874,-1.152, 0.124, PHS=-0.079, 0.795,-1.320, RAW=   5.7,   6.6, CAL=   5.7,   6.0, ROT= 144.3,  -6.0

2025-08-21T18:59:58.171Z,1755802798.171 [DAT](INFO): got valid direction response:
 18:59:56.9571 LVL= 28784, 20977, 32754, 32755, AGC= 51, IDX= 511, 0.25,-0.057, 0.874,-1.152, 0.124, PHS=-0.079, 0.795,-1.320, RAW=   5.7,   6.6, CAL=   5.7,   6.0, ROT= 144.3,  -6.0

2025-08-21T18:59:58.171Z,1755802798.171 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-21T18:59:58.173Z,1755802798.173 [DAT](INFO): direction in FSK: [-0.807635,0.580345,0.104528]
2025-08-21T18:59:58.173Z,1755802798.173 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:58.198Z,1755802798.198 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.710194
2025-08-21T18:59:58.409Z,1755802798.409 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.921135
2025-08-21T18:59:58.661Z,1755802798.661 [DAT](INFO): DAT read: Rx Time:18:59:57.4571 

2025-08-21T18:59:58.662Z,1755802798.662 [DAT](INFO): Rx dataTimestamp_ set to:1755802798.661574
2025-08-21T18:59:58.663Z,1755802798.663 [DAT](INFO): DAT read: Bearing 340.0,  33.5 (Local)

2025-08-21T18:59:58.664Z,1755802798.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.0,  33.5 (Local)

2025-08-21T18:59:58.666Z,1755802798.666 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed -0.1

2025-08-21T18:59:58.673Z,1755802798.673 [DAT](INFO): DAT read: 18:59:57.4571 LVL= 28976, 18481, 32754, 32755, AGC= 50, IDX= 511,-0.04, 2.994,-2.340, 1.928,-3.087, PHS=-0.100, 0.792,-1.312, RAW=   5.0,   6.8, CAL=   5.0,   6.3, ROT= 145.0,  -6.3

2025-08-21T18:59:58.680Z,1755802798.680 [DAT](INFO): got valid direction response:
 18:59:57.4571 LVL= 28976, 18481, 32754, 32755, AGC= 50, IDX= 511,-0.04, 2.994,-2.340, 1.928,-3.087, PHS=-0.100, 0.792,-1.312, RAW=   5.0,   6.8, CAL=   5.0,   6.3, ROT= 145.0,  -6.3

2025-08-21T18:59:58.681Z,1755802798.681 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-21T18:59:58.690Z,1755802798.690 [DAT](INFO): direction in FSK: [-0.814205,0.570113,0.109734]
2025-08-21T18:59:58.691Z,1755802798.691 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:58.741Z,1755802798.741 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.252605
2025-08-21T18:59:58.915Z,1755802798.915 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.427608
2025-08-21T18:59:59.166Z,1755802799.166 [DAT](INFO): DAT read: Rx Time:18:59:57.9572 

2025-08-21T18:59:59.167Z,1755802799.167 [DAT](INFO): Rx dataTimestamp_ set to:1755802799.166035
2025-08-21T18:59:59.168Z,1755802799.168 [DAT](INFO): DAT read: Bearing 329.4,  33.7 (Local)

2025-08-21T18:59:59.169Z,1755802799.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.4,  33.7 (Local)

2025-08-21T18:59:59.172Z,1755802799.172 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.1

2025-08-21T18:59:59.178Z,1755802799.178 [DAT](INFO): DAT read: 18:59:57.9572 LVL= 30432, 22113, 32754, 32755, AGC= 51, IDX= 513,-0.36, 1.740, 2.787, 0.536, 2.159, PHS=-0.316, 0.673,-1.666, RAW=   5.1,  12.8, CAL=   5.2,  15.3, ROT= 144.8, -15.3

2025-08-21T18:59:59.184Z,1755802799.184 [DAT](INFO): got valid direction response:
 18:59:57.9572 LVL= 30432, 22113, 32754, 32755, AGC= 51, IDX= 513,-0.36, 1.740, 2.787, 0.536, 2.159, PHS=-0.316, 0.673,-1.666, RAW=   5.1,  12.8, CAL=   5.2,  15.3, ROT= 144.8, -15.3

2025-08-21T18:59:59.184Z,1755802799.184 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-21T18:59:59.186Z,1755802799.186 [DAT](INFO): direction in FSK: [-0.788183,0.556002,0.263873]
2025-08-21T18:59:59.186Z,1755802799.186 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:59.210Z,1755802799.210 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.722721
2025-08-21T18:59:59.416Z,1755802799.416 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.928974
2025-08-21T18:59:59.669Z,1755802799.669 [DAT](INFO): DAT read: Rx Time:18:59:58.4572 

2025-08-21T18:59:59.670Z,1755802799.670 [DAT](INFO): Rx dataTimestamp_ set to:1755802799.669059
2025-08-21T18:59:59.673Z,1755802799.673 [DAT](INFO): DAT read: Bearing 337.7,  29.9 (Local)

2025-08-21T18:59:59.675Z,1755802799.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.7,  29.9 (Local)

2025-08-21T18:59:59.681Z,1755802799.681 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed -0.1

2025-08-21T18:59:59.739Z,1755802799.739 [DAT](INFO): DAT read: 18:59:58.4572 LVL= 29392, 18609, 32754, 32755, AGC= 51, IDX= 512, 0.22, 2.368,-2.891, 1.473, 2.681, PHS=-0.211, 0.756,-1.252, RAW=   1.2,   8.2, CAL=   1.3,   8.3, ROT= 148.7,  -8.3

2025-08-21T18:59:59.740Z,1755802799.740 [DAT](INFO): got valid direction response:
 18:59:58.4572 LVL= 29392, 18609, 32754, 32755, AGC= 51, IDX= 512, 0.22, 2.368,-2.891, 1.473, 2.681, PHS=-0.211, 0.756,-1.252, RAW=   1.2,   8.2, CAL=   1.3,   8.3, ROT= 148.7,  -8.3

2025-08-21T18:59:59.741Z,1755802799.741 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-21T18:59:59.742Z,1755802799.742 [DAT](INFO): direction in FSK: [-0.845509,0.514078,0.144356]
2025-08-21T18:59:59.742Z,1755802799.742 [DAT](INFO): publishing direction and range info
2025-08-21T18:59:59.754Z,1755802799.754 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.266380
2025-08-21T18:59:59.920Z,1755802799.920 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.432915
2025-08-21T19:00:00.176Z,1755802800.176 [DAT](INFO): DAT read: Rx Time:18:59:58.9573 

2025-08-21T19:00:00.176Z,1755802800.176 [DAT](INFO): Rx dataTimestamp_ set to:1755802800.176195
2025-08-21T19:00:00.178Z,1755802800.178 [DAT](INFO): DAT read: Bearing 332.6,  28.4 (Local)

2025-08-21T19:00:00.179Z,1755802800.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.6,  28.4 (Local)

2025-08-21T19:00:00.181Z,1755802800.181 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.2

2025-08-21T19:00:00.194Z,1755802800.194 [DAT](INFO): DAT read: 18:59:58.9573 LVL= 26832, 20673, 32754, 32755, AGC= 51, IDX= 513,-0.03, 0.942, 2.273,-0.142, 1.461, PHS=-0.417, 0.857,-1.647, RAW= 359.4,  11.1, CAL= 359.7,  12.8, ROT= 150.3, -12.8

2025-08-21T19:00:00.204Z,1755802800.204 [DAT](INFO): got valid direction response:
 18:59:58.9573 LVL= 26832, 20673, 32754, 32755, AGC= 51, IDX= 513,-0.03, 0.942, 2.273,-0.142, 1.461, PHS=-0.417, 0.857,-1.647, RAW= 359.4,  11.1, CAL= 359.7,  12.8, ROT= 150.3, -12.8

2025-08-21T19:00:00.205Z,1755802800.205 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-21T19:00:00.206Z,1755802800.206 [DAT](INFO): direction in FSK: [-0.847046,0.483146,0.221548]
2025-08-21T19:00:00.206Z,1755802800.206 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:00.218Z,1755802800.218 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.730701
2025-08-21T19:00:00.424Z,1755802800.424 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.936848
2025-08-21T19:00:00.678Z,1755802800.678 [DAT](INFO): DAT read: Rx Time:18:59:59.4573 

2025-08-21T19:00:00.678Z,1755802800.678 [DAT](INFO): Rx dataTimestamp_ set to:1755802800.677701
2025-08-21T19:00:00.679Z,1755802800.679 [DAT](INFO): DAT read: Bearing 341.8,  31.3 (Local)

2025-08-21T19:00:00.680Z,1755802800.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.8,  31.3 (Local)

2025-08-21T19:00:00.682Z,1755802800.682 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed -0.2

2025-08-21T19:00:00.690Z,1755802800.690 [DAT](INFO): DAT read: 18:59:59.4573 LVL= 29328, 17361, 31330, 32755, AGC= 51, IDX= 513,-0.28,-0.787, 0.272,-1.848,-0.562, PHS=-0.124, 0.878,-1.331, RAW=   3.1,   6.1, CAL=   3.0,   5.1, ROT= 147.0,  -5.1

2025-08-21T19:00:00.691Z,1755802800.691 [DAT](INFO): got valid direction response:
 18:59:59.4573 LVL= 29328, 17361, 31330, 32755, AGC= 51, IDX= 513,-0.28,-0.787, 0.272,-1.848,-0.562, PHS=-0.124, 0.878,-1.331, RAW=   3.1,   6.1, CAL=   3.0,   5.1, ROT= 147.0,  -5.1

2025-08-21T19:00:00.692Z,1755802800.692 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-21T19:00:00.693Z,1755802800.693 [DAT](INFO): direction in FSK: [-0.835350,0.542483,0.088894]
2025-08-21T19:00:00.693Z,1755802800.693 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:00.697Z,1755802800.697 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.209427
2025-08-21T19:00:00.928Z,1755802800.928 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.441002
2025-08-21T19:00:01.181Z,1755802801.181 [DAT](INFO): DAT read: Rx Time:18:59:59.9574 

2025-08-21T19:00:01.182Z,1755802801.182 [DAT](INFO): Rx dataTimestamp_ set to:1755802801.181632
2025-08-21T19:00:01.184Z,1755802801.184 [DAT](INFO): DAT read: Bearing 341.6,  36.3 (Local)

2025-08-21T19:00:01.184Z,1755802801.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.6,  36.3 (Local)

2025-08-21T19:00:01.187Z,1755802801.187 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.2

2025-08-21T19:00:01.191Z,1755802801.191 [DAT](INFO): DAT read: 18:59:59.9574 LVL= 24848, 13297, 23618, 23219, AGC= 54, IDX=   2, 0.32,-1.734,-0.884,-2.893,-1.609, PHS=-0.023, 0.770,-1.328, RAW=   8.0,   6.4, CAL=   8.0,   5.8, ROT= 142.0,  -5.8

2025-08-21T19:00:01.192Z,1755802801.192 [DAT](INFO): got valid direction response:
 18:59:59.9574 LVL= 24848, 13297, 23618, 23219, AGC= 54, IDX=   2, 0.32,-1.734,-0.884,-2.893,-1.609, PHS=-0.023, 0.770,-1.328, RAW=   8.0,   6.4, CAL=   8.0,   5.8, ROT= 142.0,  -5.8

2025-08-21T19:00:01.193Z,1755802801.193 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-21T19:00:01.194Z,1755802801.194 [DAT](INFO): direction in FSK: [-0.783977,0.612510,0.101056]
2025-08-21T19:00:01.194Z,1755802801.194 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:01.198Z,1755802801.198 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.711044
2025-08-21T19:00:01.432Z,1755802801.432 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.945023
2025-08-21T19:00:01.688Z,1755802801.688 [DAT](INFO): DAT read: Rx Time:19:00:00.4574 

2025-08-21T19:00:01.689Z,1755802801.689 [DAT](INFO): Rx dataTimestamp_ set to:1755802801.688147
2025-08-21T19:00:01.690Z,1755802801.690 [DAT](INFO): DAT read: Bearing 341.2,  36.7 (Local)

2025-08-21T19:00:01.691Z,1755802801.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.2,  36.7 (Local)

2025-08-21T19:00:01.693Z,1755802801.693 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed -0.2

2025-08-21T19:00:01.697Z,1755802801.697 [DAT](INFO): DAT read: 19:00:00.4574 LVL= 28960, 19185, 28002, 30803, AGC= 50, IDX= 498, 0.08, 3.072,-2.369, 1.896,-3.087, PHS=-0.022, 0.763,-1.344, RAW=   8.4,   6.6, CAL=   8.3,   6.1, ROT= 141.7,  -6.1

2025-08-21T19:00:01.698Z,1755802801.698 [DAT](INFO): got valid direction response:
 19:00:00.4574 LVL= 28960, 19185, 28002, 30803, AGC= 50, IDX= 498, 0.08, 3.072,-2.369, 1.896,-3.087, PHS=-0.022, 0.763,-1.344, RAW=   8.4,   6.6, CAL=   8.3,   6.1, ROT= 141.7,  -6.1

2025-08-21T19:00:01.699Z,1755802801.699 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-21T19:00:01.702Z,1755802801.702 [DAT](INFO): direction in FSK: [-0.780333,0.616270,0.106264]
2025-08-21T19:00:01.703Z,1755802801.703 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:01.749Z,1755802801.749 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.261028
2025-08-21T19:00:01.948Z,1755802801.948 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.460445
2025-08-21T19:00:02.201Z,1755802802.201 [DAT](INFO): DAT read: Rx Time:19:00:00.9576 

2025-08-21T19:00:02.201Z,1755802802.201 [DAT](INFO): Rx dataTimestamp_ set to:1755802802.200992
2025-08-21T19:00:02.203Z,1755802802.203 [DAT](INFO): DAT read: Bearing 341.1,  36.5 (Local)

2025-08-21T19:00:02.203Z,1755802802.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.1,  36.5 (Local)

2025-08-21T19:00:02.205Z,1755802802.205 [DAT](INFO): DAT read: Range 11 to 50 :    20.1 m (trip time 13.4 ms) speed -0.2

2025-08-21T19:00:02.210Z,1755802802.210 [DAT](INFO): DAT read: 19:00:00.9576 LVL= 26400, 21873, 31090, 32755, AGC= 51, IDX= 500,-0.18,-3.091,-2.241, 2.023,-2.959, PHS=-0.030, 0.763,-1.345, RAW=   8.1,   6.7, CAL=   8.1,   6.2, ROT= 141.9,  -6.2

2025-08-21T19:00:02.211Z,1755802802.211 [DAT](INFO): got valid direction response:
 19:00:00.9576 LVL= 26400, 21873, 31090, 32755, AGC= 51, IDX= 500,-0.18,-3.091,-2.241, 2.023,-2.959, PHS=-0.030, 0.763,-1.345, RAW=   8.1,   6.7, CAL=   8.1,   6.2, ROT= 141.9,  -6.2

2025-08-21T19:00:02.211Z,1755802802.211 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-21T19:00:02.212Z,1755802802.212 [DAT](INFO): direction in FSK: [-0.782332,0.613427,0.107999]
2025-08-21T19:00:02.213Z,1755802802.213 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:02.217Z,1755802802.217 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.729328
2025-08-21T19:00:02.452Z,1755802802.452 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.964867
2025-08-21T19:00:02.705Z,1755802802.705 [DAT](INFO): DAT read: Rx Time:19:00:01.4575 

2025-08-21T19:00:02.705Z,1755802802.705 [DAT](INFO): Rx dataTimestamp_ set to:1755802802.704971
2025-08-21T19:00:02.707Z,1755802802.707 [DAT](INFO): DAT read: Bearing 341.9,  38.3 (Local)

2025-08-21T19:00:02.707Z,1755802802.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.9,  38.3 (Local)

2025-08-21T19:00:02.709Z,1755802802.709 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed -0.2

2025-08-21T19:00:02.725Z,1755802802.725 [DAT](INFO): DAT read: 19:00:01.4575 LVL= 28480, 21569, 29970, 32755, AGC= 52, IDX= 499, 0.41,-1.966,-1.179, 3.089,-1.886, PHS= 0.022, 0.752,-1.352, RAW=  10.0,   6.3, CAL=  10.0,   5.7, ROT= 140.0,  -5.7

2025-08-21T19:00:02.726Z,1755802802.726 [DAT](INFO): got valid direction response:
 19:00:01.4575 LVL= 28480, 21569, 29970, 32755, AGC= 52, IDX= 499, 0.41,-1.966,-1.179, 3.089,-1.886, PHS= 0.022, 0.752,-1.352, RAW=  10.0,   6.3, CAL=  10.0,   5.7, ROT= 140.0,  -5.7

2025-08-21T19:00:02.726Z,1755802802.726 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-21T19:00:02.728Z,1755802802.728 [DAT](INFO): direction in FSK: [-0.762257,0.639609,0.099320]
2025-08-21T19:00:02.728Z,1755802802.728 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:02.760Z,1755802802.760 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.267269
2025-08-21T19:00:02.956Z,1755802802.956 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.468781
2025-08-21T19:00:03.209Z,1755802803.209 [DAT](INFO): DAT read: Rx Time:19:00:01.9577 

2025-08-21T19:00:03.209Z,1755802803.209 [DAT](INFO): Rx dataTimestamp_ set to:1755802803.209043
2025-08-21T19:00:03.211Z,1755802803.211 [DAT](INFO): DAT read: Bearing 342.1,  38.4 (Local)

2025-08-21T19:00:03.211Z,1755802803.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.1,  38.4 (Local)

2025-08-21T19:00:03.213Z,1755802803.213 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.2

2025-08-21T19:00:03.218Z,1755802803.218 [DAT](INFO): DAT read: 19:00:01.9577 LVL= 29648, 21425, 30850, 32243, AGC= 52, IDX= 501, 0.07,-0.937,-0.152,-2.171,-0.860, PHS= 0.025, 0.753,-1.355, RAW=  10.1,   6.3, CAL=  10.1,   5.7, ROT= 139.9,  -5.7

2025-08-21T19:00:03.219Z,1755802803.219 [DAT](INFO): got valid direction response:
 19:00:01.9577 LVL= 29648, 21425, 30850, 32243, AGC= 52, IDX= 501, 0.07,-0.937,-0.152,-2.171,-0.860, PHS= 0.025, 0.753,-1.355, RAW=  10.1,   6.3, CAL=  10.1,   5.7, ROT= 139.9,  -5.7

2025-08-21T19:00:03.219Z,1755802803.219 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-21T19:00:03.220Z,1755802803.220 [DAT](INFO): direction in FSK: [-0.761139,0.640939,0.099320]
2025-08-21T19:00:03.221Z,1755802803.221 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:03.224Z,1755802803.224 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.736774
2025-08-21T19:00:03.460Z,1755802803.460 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.972736
2025-08-21T19:00:03.713Z,1755802803.713 [DAT](INFO): DAT read: Rx Time:19:00:02.4577 

2025-08-21T19:00:03.714Z,1755802803.714 [DAT](INFO): Rx dataTimestamp_ set to:1755802803.713360
2025-08-21T19:00:03.717Z,1755802803.717 [DAT](INFO): DAT read: Bearing 341.8,  38.5 (Local)

2025-08-21T19:00:03.718Z,1755802803.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.8,  38.5 (Local)

2025-08-21T19:00:03.722Z,1755802803.722 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.1

2025-08-21T19:00:03.727Z,1755802803.727 [DAT](INFO): DAT read: 19:00:02.4577 LVL= 28848, 22209, 30098, 32755, AGC= 52, IDX= 501,-0.22, 3.095,-2.401, 1.858,-3.104, PHS= 0.018, 0.748,-1.365, RAW=  10.1,   6.5, CAL=  10.1,   6.0, ROT= 139.9,  -6.0

2025-08-21T19:00:03.735Z,1755802803.735 [DAT](INFO): got valid direction response:
 19:00:02.4577 LVL= 28848, 22209, 30098, 32755, AGC= 52, IDX= 501,-0.22, 3.095,-2.401, 1.858,-3.104, PHS= 0.018, 0.748,-1.365, RAW=  10.1,   6.5, CAL=  10.1,   6.0, ROT= 139.9,  -6.0

2025-08-21T19:00:03.741Z,1755802803.741 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-21T19:00:03.749Z,1755802803.749 [DAT](INFO): direction in FSK: [-0.760731,0.640595,0.104528]
2025-08-21T19:00:03.750Z,1755802803.750 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:03.803Z,1755802803.803 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.307365
2025-08-21T19:00:03.969Z,1755802803.969 [DAT](INFO): DAT read: Rx Time:19:00:02.9577 

2025-08-21T19:00:03.970Z,1755802803.970 [DAT](INFO): Rx dataTimestamp_ set to:1755802803.969239
2025-08-21T19:00:03.972Z,1755802803.972 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.484261
2025-08-21T19:00:04.147Z,1755802804.147 [OnDock:Detach:B.Undock](INFO): Detached at range: 20.30 m. Transitioning docking module to standby.
2025-08-21T19:00:04.218Z,1755802804.218 [DAT](INFO): DAT read: Bearing 343.0,  39.7 (Local)

2025-08-21T19:00:04.218Z,1755802804.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.0,  39.7 (Local)

2025-08-21T19:00:04.221Z,1755802804.221 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.1

2025-08-21T19:00:04.227Z,1755802804.227 [DAT](INFO): DAT read: 19:00:02.9577 LVL= 30608, 19313, 30994, 32755, AGC= 52, IDX= 501, 0.27,-1.093,-0.357,-2.354,-1.051, PHS= 0.060, 0.739,-1.347, RAW=  11.4,   6.0, CAL=  11.3,   5.3, ROT= 138.7,  -5.3

2025-08-21T19:00:04.228Z,1755802804.228 [DAT](INFO): got valid direction response:
 19:00:02.9577 LVL= 30608, 19313, 30994, 32755, AGC= 52, IDX= 501, 0.27,-1.093,-0.357,-2.354,-1.051, PHS= 0.060, 0.739,-1.347, RAW=  11.4,   6.0, CAL=  11.3,   5.3, ROT= 138.7,  -5.3

2025-08-21T19:00:04.228Z,1755802804.228 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-21T19:00:04.229Z,1755802804.229 [DAT](INFO): direction in FSK: [-0.748052,0.657180,0.092371]
2025-08-21T19:00:04.229Z,1755802804.229 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:04.242Z,1755802804.242 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.754211
2025-08-21T19:00:04.471Z,1755802804.471 [DAT](INFO): DAT read: Rx Time:19:00:03.4577 

2025-08-21T19:00:04.472Z,1755802804.472 [DAT](INFO): Rx dataTimestamp_ set to:1755802804.471653
2025-08-21T19:00:04.475Z,1755802804.475 [DAT](INFO): DAT read: Bearing 342.6,  39.7 (Local)

2025-08-21T19:00:04.476Z,1755802804.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.6,  39.7 (Local)

2025-08-21T19:00:04.478Z,1755802804.478 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.989929
2025-08-21T19:00:04.604Z,1755802804.604 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:00:04.722Z,1755802804.722 [DAT](INFO): DAT read: Range 11 to 50 :    20.3 m (trip time 13.5 ms) speed -0.1

2025-08-21T19:00:04.726Z,1755802804.726 [DAT](INFO): DAT read: 19:00:03.4577 LVL= 28544, 19825, 30594, 32755, AGC= 52, IDX= 501,-0.07, 3.040,-2.504, 1.769, 3.088, PHS= 0.054, 0.736,-1.363, RAW=  11.4,   6.2, CAL=  11.4,   5.7, ROT= 138.6,  -5.7

2025-08-21T19:00:04.732Z,1755802804.732 [DAT](INFO): got valid direction response:
 19:00:03.4577 LVL= 28544, 19825, 30594, 32755, AGC= 52, IDX= 501,-0.07, 3.040,-2.504, 1.769, 3.088, PHS= 0.054, 0.736,-1.363, RAW=  11.4,   6.2, CAL=  11.4,   5.7, ROT= 138.6,  -5.7

2025-08-21T19:00:04.732Z,1755802804.732 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-21T19:00:04.733Z,1755802804.733 [DAT](INFO): direction in FSK: [-0.746402,0.658042,0.099320]
2025-08-21T19:00:04.733Z,1755802804.733 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:04.741Z,1755802804.741 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.254025
2025-08-21T19:00:04.975Z,1755802804.975 [DAT](INFO): DAT read: Rx Time:19:00:03.9578 

2025-08-21T19:00:04.976Z,1755802804.976 [DAT](INFO): Rx dataTimestamp_ set to:1755802804.975664
2025-08-21T19:00:04.979Z,1755802804.979 [DAT](INFO): DAT read: Bearing 343.1,  40.7 (Local)

2025-08-21T19:00:04.980Z,1755802804.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.1,  40.7 (Local)

2025-08-21T19:00:04.982Z,1755802804.982 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.493996
2025-08-21T19:00:05.226Z,1755802805.226 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed -0.1

2025-08-21T19:00:05.230Z,1755802805.230 [DAT](INFO): DAT read: 19:00:03.9578 LVL= 26656, 21169, 27378, 31795, AGC= 52, IDX= 502, 0.40,-0.779,-0.079,-2.073,-0.758, PHS= 0.081, 0.724,-1.359, RAW=  12.5,   6.1, CAL=  12.4,   5.4, ROT= 137.6,  -5.4

2025-08-21T19:00:05.233Z,1755802805.233 [DAT](INFO): got valid direction response:
 19:00:03.9578 LVL= 26656, 21169, 27378, 31795, AGC= 52, IDX= 502, 0.40,-0.779,-0.079,-2.073,-0.758, PHS= 0.081, 0.724,-1.359, RAW=  12.5,   6.1, CAL=  12.4,   5.4, ROT= 137.6,  -5.4

2025-08-21T19:00:05.237Z,1755802805.237 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-21T19:00:05.244Z,1755802805.244 [DAT](INFO): direction in FSK: [-0.735178,0.671310,0.094108]
2025-08-21T19:00:05.246Z,1755802805.246 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:05.269Z,1755802805.269 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.781273
2025-08-21T19:00:05.480Z,1755802805.480 [DAT](INFO): DAT read: Rx Time:19:00:04.4578 

2025-08-21T19:00:05.481Z,1755802805.481 [DAT](INFO): Rx dataTimestamp_ set to:1755802805.480033
2025-08-21T19:00:05.484Z,1755802805.484 [DAT](INFO): DAT read: Bearing 343.0,  40.6 (Local)

2025-08-21T19:00:05.484Z,1755802805.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.0,  40.6 (Local)

2025-08-21T19:00:05.486Z,1755802805.486 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.998421
2025-08-21T19:00:05.730Z,1755802805.730 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed 0.0

2025-08-21T19:00:05.734Z,1755802805.734 [DAT](INFO): DAT read: 19:00:04.4578 LVL= 26016, 21457, 31666, 30115, AGC= 52, IDX= 502,-0.04,-3.123,-2.413, 1.861,-3.097, PHS= 0.076, 0.729,-1.369, RAW=  12.3,   6.1, CAL=  12.2,   5.5, ROT= 137.8,  -5.5

2025-08-21T19:00:05.736Z,1755802805.736 [DAT](INFO): got valid direction response:
 19:00:04.4578 LVL= 26016, 21457, 31666, 30115, AGC= 52, IDX= 502,-0.04,-3.123,-2.413, 1.861,-3.097, PHS= 0.076, 0.729,-1.369, RAW=  12.3,   6.1, CAL=  12.2,   5.5, ROT= 137.8,  -5.5

2025-08-21T19:00:05.736Z,1755802805.736 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-21T19:00:05.737Z,1755802805.737 [DAT](INFO): direction in FSK: [-0.737394,0.668628,0.095846]
2025-08-21T19:00:05.737Z,1755802805.737 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:05.741Z,1755802805.741 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.253525
2025-08-21T19:00:05.983Z,1755802805.983 [DAT](INFO): DAT read: Rx Time:19:00:04.9579 

2025-08-21T19:00:05.985Z,1755802805.985 [DAT](INFO): Rx dataTimestamp_ set to:1755802805.983702
2025-08-21T19:00:05.987Z,1755802805.987 [DAT](INFO): DAT read: Bearing 343.8,  41.3 (Local)

2025-08-21T19:00:05.988Z,1755802805.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.8,  41.3 (Local)

2025-08-21T19:00:05.992Z,1755802805.992 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed -0.1

2025-08-21T19:00:05.994Z,1755802805.994 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-08-21T19:00:06.021Z,1755802806.021 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.533165
2025-08-21T19:00:06.238Z,1755802806.238 [DAT](INFO): DAT read: 19:00:04.9579 LVL= 21712, 16017, 24354, 24163, AGC= 50, IDX= 503, 0.39,-0.625, 0.066,-1.955,-0.623, PHS= 0.100, 0.735,-1.375, RAW=  13.0,   5.8, CAL=  12.9,   5.1, ROT= 137.1,  -5.1

2025-08-21T19:00:06.245Z,1755802806.245 [DAT](INFO): got valid direction response:
 19:00:04.9579 LVL= 21712, 16017, 24354, 24163, AGC= 50, IDX= 503, 0.39,-0.625, 0.066,-1.955,-0.623, PHS= 0.100, 0.735,-1.375, RAW=  13.0,   5.8, CAL=  12.9,   5.1, ROT= 137.1,  -5.1

2025-08-21T19:00:06.245Z,1755802806.245 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-08-21T19:00:06.246Z,1755802806.246 [DAT](INFO): direction in FSK: [-0.729643,0.678026,0.088894]
2025-08-21T19:00:06.250Z,1755802806.250 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.762310
2025-08-21T19:00:06.487Z,1755802806.487 [DAT](INFO): DAT read: Rx Time:19:00:05.4579 

2025-08-21T19:00:06.488Z,1755802806.488 [DAT](INFO): Rx dataTimestamp_ set to:1755802806.487551
2025-08-21T19:00:06.491Z,1755802806.491 [DAT](INFO): DAT read: Bearing 343.6,  41.4 (Local)

2025-08-21T19:00:06.492Z,1755802806.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.6,  41.4 (Local)

2025-08-21T19:00:06.496Z,1755802806.496 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.0

2025-08-21T19:00:06.498Z,1755802806.498 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-21T19:00:06.501Z,1755802806.501 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.013474
2025-08-21T19:00:06.740Z,1755802806.740 [DAT](INFO): DAT read: 19:00:05.4579 LVL= 25328, 17905, 28338, 28739, AGC= 52, IDX= 503,-0.08,-2.828,-2.140, 2.124,-2.822, PHS= 0.096, 0.727,-1.381, RAW=  13.0,   6.0, CAL=  13.0,   5.4, ROT= 137.0,  -5.4

2025-08-21T19:00:06.741Z,1755802806.741 [DAT](INFO): got valid direction response:
 19:00:05.4579 LVL= 25328, 17905, 28338, 28739, AGC= 52, IDX= 503,-0.08,-2.828,-2.140, 2.124,-2.822, PHS= 0.096, 0.727,-1.381, RAW=  13.0,   6.0, CAL=  13.0,   5.4, ROT= 137.0,  -5.4

2025-08-21T19:00:06.742Z,1755802806.742 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-08-21T19:00:06.743Z,1755802806.743 [DAT](INFO): direction in FSK: [-0.728108,0.678972,0.094108]
2025-08-21T19:00:06.750Z,1755802806.750 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.259567
2025-08-21T19:00:06.992Z,1755802806.992 [DAT](INFO): DAT read: Rx Time:19:00:05.9580 

2025-08-21T19:00:06.993Z,1755802806.993 [DAT](INFO): Rx dataTimestamp_ set to:1755802806.992153
2025-08-21T19:00:06.996Z,1755802806.996 [DAT](INFO): DAT read: Bearing 344.0,  42.5 (Local)

2025-08-21T19:00:06.997Z,1755802806.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.0,  42.5 (Local)

2025-08-21T19:00:07.006Z,1755802807.006 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.0

2025-08-21T19:00:07.008Z,1755802807.008 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-08-21T19:00:07.014Z,1755802807.014 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.525887
2025-08-21T19:00:07.244Z,1755802807.244 [DAT](INFO): DAT read: 19:00:05.9580 LVL= 25024, 17601, 27842, 28403, AGC= 52, IDX= 504, 0.31, 0.147, 0.794,-1.209, 0.126, PHS= 0.122, 0.713,-1.380, RAW=  14.1,   5.9, CAL=  14.1,   5.2, ROT= 135.9,  -5.2

2025-08-21T19:00:07.245Z,1755802807.245 [DAT](INFO): got valid direction response:
 19:00:05.9580 LVL= 25024, 17601, 27842, 28403, AGC= 52, IDX= 504, 0.31, 0.147, 0.794,-1.209, 0.126, PHS= 0.122, 0.713,-1.380, RAW=  14.1,   5.9, CAL=  14.1,   5.2, ROT= 135.9,  -5.2

2025-08-21T19:00:07.245Z,1755802807.245 [DAT](INFO): #Rx 114: Read direction message, but no range.
2025-08-21T19:00:07.246Z,1755802807.246 [DAT](INFO): direction in FSK: [-0.715171,0.693049,0.090633]
2025-08-21T19:00:07.250Z,1755802807.250 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.762264
2025-08-21T19:00:07.496Z,1755802807.496 [DAT](INFO): DAT read: Rx Time:19:00:06.4580 

2025-08-21T19:00:07.497Z,1755802807.497 [DAT](INFO): Rx dataTimestamp_ set to:1755802807.496088
2025-08-21T19:00:07.500Z,1755802807.500 [DAT](INFO): DAT read: Bearing 344.0,  42.0 (Local)

2025-08-21T19:00:07.501Z,1755802807.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.0,  42.0 (Local)

2025-08-21T19:00:07.506Z,1755802807.506 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed -0.1

2025-08-21T19:00:07.508Z,1755802807.508 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-08-21T19:00:07.511Z,1755802807.511 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.022938
2025-08-21T19:00:07.748Z,1755802807.748 [DAT](INFO): DAT read: 19:00:06.4580 LVL= 27120, 21873, 29586, 31875, AGC= 51, IDX= 504,-0.12, 2.866,-2.752, 1.532, 2.859, PHS= 0.109, 0.717,-1.371, RAW=  13.6,   5.9, CAL=  13.5,   5.3, ROT= 136.5,  -5.3

2025-08-21T19:00:07.749Z,1755802807.749 [DAT](INFO): got valid direction response:
 19:00:06.4580 LVL= 27120, 21873, 29586, 31875, AGC= 51, IDX= 504,-0.12, 2.866,-2.752, 1.532, 2.859, PHS= 0.109, 0.717,-1.371, RAW=  13.6,   5.9, CAL=  13.5,   5.3, ROT= 136.5,  -5.3

2025-08-21T19:00:07.749Z,1755802807.749 [DAT](INFO): #Rx 116: Read direction message, but no range.
2025-08-21T19:00:07.750Z,1755802807.750 [DAT](INFO): direction in FSK: [-0.722273,0.685412,0.092371]
2025-08-21T19:00:07.753Z,1755802807.753 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.266125
2025-08-21T19:00:07.999Z,1755802807.999 [DAT](INFO): DAT read: Rx Time:19:00:06.9581 

2025-08-21T19:00:08.001Z,1755802808.001 [DAT](INFO): Rx dataTimestamp_ set to:1755802808.000015
2025-08-21T19:00:08.004Z,1755802808.004 [DAT](INFO): DAT read: Bearing 344.3,  43.2 (Local)

2025-08-21T19:00:08.005Z,1755802808.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  43.2 (Local)

2025-08-21T19:00:08.010Z,1755802808.010 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed 0.0

2025-08-21T19:00:08.012Z,1755802808.012 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-08-21T19:00:08.015Z,1755802808.015 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.526798
2025-08-21T19:00:08.253Z,1755802808.253 [DAT](INFO): DAT read: 19:00:06.9581 LVL= 23536, 15969, 26258, 27571, AGC= 51, IDX= 505, 0.31,-0.177, 0.445,-1.545,-0.209, PHS= 0.135, 0.699,-1.379, RAW=  14.8,   5.9, CAL=  14.7,   5.3, ROT= 135.3,  -5.3

2025-08-21T19:00:08.255Z,1755802808.255 [DAT](INFO): got valid direction response:
 19:00:06.9581 LVL= 23536, 15969, 26258, 27571, AGC= 51, IDX= 505, 0.31,-0.177, 0.445,-1.545,-0.209, PHS= 0.135, 0.699,-1.379, RAW=  14.8,   5.9, CAL=  14.7,   5.3, ROT= 135.3,  -5.3

2025-08-21T19:00:08.255Z,1755802808.255 [DAT](INFO): #Rx 118: Read direction message, but no range.
2025-08-21T19:00:08.256Z,1755802808.256 [DAT](INFO): direction in FSK: [-0.707761,0.700387,0.092371]
2025-08-21T19:00:08.269Z,1755802808.269 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.782013
2025-08-21T19:00:08.503Z,1755802808.503 [DAT](INFO): DAT read: Rx Time:19:00:07.4581 

2025-08-21T19:00:08.505Z,1755802808.505 [DAT](INFO): Rx dataTimestamp_ set to:1755802808.504010
2025-08-21T19:00:08.508Z,1755802808.508 [DAT](INFO): DAT read: Bearing 344.4,  42.7 (Local)

2025-08-21T19:00:08.509Z,1755802808.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.4,  42.7 (Local)

2025-08-21T19:00:08.514Z,1755802808.514 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.1

2025-08-21T19:00:08.517Z,1755802808.517 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-08-21T19:00:08.520Z,1755802808.520 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.031521
2025-08-21T19:00:08.758Z,1755802808.758 [DAT](INFO): DAT read: 19:00:07.4581 LVL= 26672, 18001, 27858, 29523, AGC= 52, IDX= 505,-0.08, 3.023,-2.620, 1.658, 2.999, PHS= 0.126, 0.709,-1.385, RAW=  14.3,   5.9, CAL=  14.3,   5.3, ROT= 135.7,  -5.3

2025-08-21T19:00:08.759Z,1755802808.759 [DAT](INFO): got valid direction response:
 19:00:07.4581 LVL= 26672, 18001, 27858, 29523, AGC= 52, IDX= 505,-0.08, 3.023,-2.620, 1.658, 2.999, PHS= 0.126, 0.709,-1.385, RAW=  14.3,   5.9, CAL=  14.3,   5.3, ROT= 135.7,  -5.3

2025-08-21T19:00:08.759Z,1755802808.759 [DAT](INFO): #Rx 120: Read direction message, but no range.
2025-08-21T19:00:08.760Z,1755802808.760 [DAT](INFO): direction in FSK: [-0.712633,0.695429,0.092371]
2025-08-21T19:00:09.008Z,1755802809.008 [DAT](INFO): DAT read: Rx Time:19:00:07.9581 

2025-08-21T19:00:09.009Z,1755802809.009 [DAT](INFO): Rx dataTimestamp_ set to:1755802809.008260
2025-08-21T19:00:09.012Z,1755802809.012 [DAT](INFO): DAT read: Bearing 345.0,  43.4 (Local)

2025-08-21T19:00:09.013Z,1755802809.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.0,  43.4 (Local)

2025-08-21T19:00:09.019Z,1755802809.019 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.1

2025-08-21T19:00:09.021Z,1755802809.021 [DAT](ERROR): #Rx 121: Read range message, but no direction.
2025-08-21T19:00:09.260Z,1755802809.260 [DAT](INFO): DAT read: 19:00:07.9581 LVL= 24528, 16193, 27250, 28947, AGC= 51, IDX= 505, 0.49,-2.673,-2.059, 2.239,-2.714, PHS= 0.143, 0.701,-1.374, RAW=  14.9,   5.8, CAL=  14.9,   5.1, ROT= 135.1,  -5.1

2025-08-21T19:00:09.261Z,1755802809.261 [DAT](INFO): got valid direction response:
 19:00:07.9581 LVL= 24528, 16193, 27250, 28947, AGC= 51, IDX= 505, 0.49,-2.673,-2.059, 2.239,-2.714, PHS= 0.143, 0.701,-1.374, RAW=  14.9,   5.8, CAL=  14.9,   5.1, ROT= 135.1,  -5.1

2025-08-21T19:00:09.261Z,1755802809.261 [DAT](INFO): #Rx 122: Read direction message, but no range.
2025-08-21T19:00:09.262Z,1755802809.262 [DAT](INFO): direction in FSK: [-0.705536,0.703077,0.088894]
2025-08-21T19:00:09.512Z,1755802809.512 [DAT](INFO): DAT read: Rx Time:19:00:08.4581 

2025-08-21T19:00:09.513Z,1755802809.513 [DAT](INFO): Rx dataTimestamp_ set to:1755802809.512335
2025-08-21T19:00:09.517Z,1755802809.517 [DAT](INFO): DAT read: Bearing 345.3,  43.4 (Local)

2025-08-21T19:00:09.518Z,1755802809.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  43.4 (Local)

2025-08-21T19:00:09.523Z,1755802809.523 [DAT](INFO): DAT read: Range 11 to 50 :    20.9 m (trip time 13.9 ms) speed -0.1

2025-08-21T19:00:09.562Z,1755802809.562 [DAT](INFO): DAT read: 19:00:08.4581 LVL= 23744, 16113, 24562, 26979, AGC= 51, IDX= 505, 0.07, 1.950, 2.564, 0.575, 1.903, PHS= 0.149, 0.706,-1.372, RAW=  15.0,   5.6, CAL=  15.0,   4.8, ROT= 135.0,  -4.8

2025-08-21T19:00:09.572Z,1755802809.572 [DAT](INFO): got valid direction response:
 19:00:08.4581 LVL= 23744, 16113, 24562, 26979, AGC= 51, IDX= 505, 0.07, 1.950, 2.564, 0.575, 1.903, PHS= 0.149, 0.706,-1.372, RAW=  15.0,   5.6, CAL=  15.0,   4.8, ROT= 135.0,  -4.8

2025-08-21T19:00:09.572Z,1755802809.572 [DAT](INFO): #Rx 123: Read range and direction messages.
2025-08-21T19:00:09.573Z,1755802809.573 [DAT](INFO): direction in FSK: [-0.704627,0.704627,0.083678]
2025-08-21T19:00:09.573Z,1755802809.573 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:10.020Z,1755802810.020 [DAT](INFO): DAT read: Rx Time:19:00:08.9583 

2025-08-21T19:00:10.021Z,1755802810.021 [DAT](INFO): Rx dataTimestamp_ set to:1755802810.020242
2025-08-21T19:00:10.025Z,1755802810.025 [DAT](INFO): DAT read: Bearing 345.3,  43.0 (Local)

2025-08-21T19:00:10.025Z,1755802810.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  43.0 (Local)

2025-08-21T19:00:10.027Z,1755802810.027 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed -0.1

2025-08-21T19:00:10.032Z,1755802810.032 [DAT](INFO): DAT read: 19:00:08.9583 LVL= 21680, 17329, 23970, 26595, AGC= 51, IDX= 507,-0.21, 1.638, 2.268, 0.269, 1.599, PHS= 0.141, 0.713,-1.374, RAW=  14.6,   5.6, CAL=  14.6,   4.9, ROT= 135.4,  -4.9

2025-08-21T19:00:10.033Z,1755802810.033 [DAT](INFO): got valid direction response:
 19:00:08.9583 LVL= 21680, 17329, 23970, 26595, AGC= 51, IDX= 507,-0.21, 1.638, 2.268, 0.269, 1.599, PHS= 0.141, 0.713,-1.374, RAW=  14.6,   5.6, CAL=  14.6,   4.9, ROT= 135.4,  -4.9

2025-08-21T19:00:10.033Z,1755802810.033 [DAT](INFO): #Rx 124: Read range and direction messages.
2025-08-21T19:00:10.034Z,1755802810.034 [DAT](INFO): direction in FSK: [-0.709424,0.699587,0.085417]
2025-08-21T19:00:10.034Z,1755802810.034 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:10.525Z,1755802810.525 [DAT](INFO): DAT read: Rx Time:19:00:09.4582 

2025-08-21T19:00:10.525Z,1755802810.525 [DAT](INFO): Rx dataTimestamp_ set to:1755802810.524919
2025-08-21T19:00:10.526Z,1755802810.526 [DAT](INFO): DAT read: Bearing 346.2,  44.0 (Local)

2025-08-21T19:00:10.527Z,1755802810.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,  44.0 (Local)

2025-08-21T19:00:10.529Z,1755802810.529 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed -0.1

2025-08-21T19:00:10.534Z,1755802810.534 [DAT](INFO): DAT read: 19:00:09.4582 LVL= 23312, 19249, 32226, 31427, AGC= 52, IDX= 506, 0.36, 1.975, 2.566, 0.586, 1.905, PHS= 0.172, 0.706,-1.363, RAW=  15.6,   5.3, CAL=  15.6,   4.4, ROT= 134.4,  -4.4

2025-08-21T19:00:10.535Z,1755802810.535 [DAT](INFO): got valid direction response:
 19:00:09.4582 LVL= 23312, 19249, 32226, 31427, AGC= 52, IDX= 506, 0.36, 1.975, 2.566, 0.586, 1.905, PHS= 0.172, 0.706,-1.363, RAW=  15.6,   5.3, CAL=  15.6,   4.4, ROT= 134.4,  -4.4

2025-08-21T19:00:10.536Z,1755802810.536 [DAT](INFO): #Rx 125: Read range and direction messages.
2025-08-21T19:00:10.537Z,1755802810.537 [DAT](INFO): direction in FSK: [-0.697601,0.712367,0.076719]
2025-08-21T19:00:10.537Z,1755802810.537 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:10.633Z,1755802810.633 [OnDock:Detach:B.Undock](INFO): Docking module at standby.
2025-08-21T19:00:11.026Z,1755802811.026 [DAT](INFO): DAT read: Rx Time:19:00:09.9583 

2025-08-21T19:00:11.027Z,1755802811.027 [DAT](INFO): Rx dataTimestamp_ set to:1755802811.026256
2025-08-21T19:00:11.028Z,1755802811.028 [DAT](INFO): DAT read: Bearing 346.0,  44.1 (Local)

2025-08-21T19:00:11.028Z,1755802811.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,  44.1 (Local)

2025-08-21T19:00:11.030Z,1755802811.030 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed -0.1

2025-08-21T19:00:11.035Z,1755802811.035 [DAT](INFO): DAT read: 19:00:09.9583 LVL= 25024, 16833, 28370, 30195, AGC= 52, IDX= 508, 0.04, 2.639,-3.054, 1.251, 2.575, PHS= 0.167, 0.700,-1.367, RAW=  15.6,   5.4, CAL=  15.6,   4.6, ROT= 134.4,  -4.6

2025-08-21T19:00:11.036Z,1755802811.036 [DAT](INFO): got valid direction response:
 19:00:09.9583 LVL= 25024, 16833, 28370, 30195, AGC= 52, IDX= 508, 0.04, 2.639,-3.054, 1.251, 2.575, PHS= 0.167, 0.700,-1.367, RAW=  15.6,   5.4, CAL=  15.6,   4.6, ROT= 134.4,  -4.6

2025-08-21T19:00:11.037Z,1755802811.037 [DAT](INFO): #Rx 126: Read range and direction messages.
2025-08-21T19:00:11.037Z,1755802811.037 [DAT](INFO): direction in FSK: [-0.697410,0.712171,0.080199]
2025-08-21T19:00:11.038Z,1755802811.038 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:11.124Z,1755802811.124 [OnDock:Detach:B.Undock](IMPORTANT): Undocking sequence complete.
2025-08-21T19:00:11.124Z,1755802811.124 [OnDock:Detach:B.Undock] Stopped
2025-08-21T19:00:11.124Z,1755802811.124 [OnDock:Detach](INFO): Completed OnDock:Detach
2025-08-21T19:00:11.124Z,1755802811.124 [OnDock:Detach] Stopped
2025-08-21T19:00:11.124Z,1755802811.124 [OnDock:Detach](DEBUG): Aggregate::uninitialize OnDock:Detach
2025-08-21T19:00:11.135Z,1755802811.135 [OnDock](INFO): Completed OnDock
2025-08-21T19:00:11.139Z,1755802811.139 [MissionManager](INFO): OnDock is completed.
2025-08-21T19:00:11.139Z,1755802811.139 [MissionManager](INFO): Uninitializing Mission OnDock
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock] Stopped
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock](DEBUG): Aggregate::uninitialize OnDock
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:StandardEnvelopes] Stopped
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:StandardEnvelopes](DEBUG): Aggregate::uninitialize OnDock:StandardEnvelopes
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-21T19:00:11.140Z,1755802811.140 [OnDock:BackseatDriver] Stopped
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:BackseatDriver](DEBUG): Aggregate::uninitialize OnDock:BackseatDriver
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:BackseatDriver:A.BackseatDriver] Stopped
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:PowerOnly] Stopped
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:PowerOnly](DEBUG): Aggregate::uninitialize OnDock:PowerOnly
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:PowerOnly:E.Wait] Stopped
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:dataRead] Stopped
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:dataRead](DEBUG): Aggregate::uninitialize OnDock:dataRead
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:dataRead:A] Stopped
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:J.] Stopped
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:J.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:PeriodicCheck] Stopped
2025-08-21T19:00:11.141Z,1755802811.141 [OnDock:PeriodicCheck](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck
2025-08-21T19:00:11.142Z,1755802811.142 [OnDock:PeriodicCheck:CheckIP] Stopped
2025-08-21T19:00:11.142Z,1755802811.142 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck:CheckIP
2025-08-21T19:00:11.142Z,1755802811.142 [OnDock:PeriodicCheck:CheckIP:B.Wait] Stopped
2025-08-21T19:00:11.142Z,1755802811.142 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T19:00:11.437Z,1755802811.437 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-21T19:00:11.438Z,1755802811.438 [DefaultWithUndock] Running Loop=1
2025-08-21T19:00:11.438Z,1755802811.438 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-21T19:00:11.438Z,1755802811.438 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-21T19:00:11.438Z,1755802811.438 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-21T19:00:11.529Z,1755802811.529 [DAT](INFO): DAT read: Rx Time:19:00:10.4583 

2025-08-21T19:00:11.529Z,1755802811.529 [DAT](INFO): Rx dataTimestamp_ set to:1755802811.529227
2025-08-21T19:00:11.531Z,1755802811.531 [DAT](INFO): DAT read: Bearing 346.3,  43.4 (Local)

2025-08-21T19:00:11.531Z,1755802811.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.3,  43.4 (Local)

2025-08-21T19:00:11.533Z,1755802811.533 [DAT](INFO): DAT read: Range 11 to 50 :    21.3 m (trip time 14.2 ms) speed -0.2

2025-08-21T19:00:11.538Z,1755802811.538 [DAT](INFO): DAT read: 19:00:10.4583 LVL= 26400, 16721, 29138, 30275, AGC= 52, IDX= 508,-0.24,-0.374, 0.244,-1.748,-0.429, PHS= 0.156, 0.717,-1.363, RAW=  14.9,   5.3, CAL=  14.9,   4.4, ROT= 135.1,  -4.4

2025-08-21T19:00:11.540Z,1755802811.540 [DAT](INFO): got valid direction response:
 19:00:10.4583 LVL= 26400, 16721, 29138, 30275, AGC= 52, IDX= 508,-0.24,-0.374, 0.244,-1.748,-0.429, PHS= 0.156, 0.717,-1.363, RAW=  14.9,   5.3, CAL=  14.9,   4.4, ROT= 135.1,  -4.4

2025-08-21T19:00:11.540Z,1755802811.540 [DAT](INFO): #Rx 127: Read range and direction messages.
2025-08-21T19:00:11.541Z,1755802811.541 [DAT](INFO): direction in FSK: [-0.706252,0.703791,0.076719]
2025-08-21T19:00:11.541Z,1755802811.541 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:12.033Z,1755802812.033 [DAT](INFO): DAT read: Rx Time:19:00:10.9584 

2025-08-21T19:00:12.034Z,1755802812.034 [DAT](INFO): Rx dataTimestamp_ set to:1755802812.033280
2025-08-21T19:00:12.035Z,1755802812.035 [DAT](INFO): DAT read: Bearing 346.6,  45.0 (Local)

2025-08-21T19:00:12.036Z,1755802812.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  45.0 (Local)

2025-08-21T19:00:12.038Z,1755802812.038 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.1

2025-08-21T19:00:12.043Z,1755802812.043 [DAT](INFO): DAT read: 19:00:10.9584 LVL= 25968, 18417, 28658, 31331, AGC= 53, IDX= 509, 0.30,-3.090,-2.535, 1.791, 3.105, PHS= 0.189, 0.688,-1.359, RAW=  16.5,   5.3, CAL=  16.5,   4.4, ROT= 133.5,  -4.4

2025-08-21T19:00:12.044Z,1755802812.044 [DAT](INFO): got valid direction response:
 19:00:10.9584 LVL= 25968, 18417, 28658, 31331, AGC= 53, IDX= 509, 0.30,-3.090,-2.535, 1.791, 3.105, PHS= 0.189, 0.688,-1.359, RAW=  16.5,   5.3, CAL=  16.5,   4.4, ROT= 133.5,  -4.4

2025-08-21T19:00:12.044Z,1755802812.044 [DAT](INFO): #Rx 128: Read range and direction messages.
2025-08-21T19:00:12.045Z,1755802812.045 [DAT](INFO): direction in FSK: [-0.686326,0.723237,0.076719]
2025-08-21T19:00:12.045Z,1755802812.045 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:12.537Z,1755802812.537 [DAT](INFO): DAT read: Rx Time:19:00:11.4584 

2025-08-21T19:00:12.537Z,1755802812.537 [DAT](INFO): Rx dataTimestamp_ set to:1755802812.536902
2025-08-21T19:00:12.538Z,1755802812.538 [DAT](INFO): DAT read: Bearing 346.7,  44.6 (Local)

2025-08-21T19:00:12.539Z,1755802812.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  44.6 (Local)

2025-08-21T19:00:12.541Z,1755802812.541 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.1

2025-08-21T19:00:12.545Z,1755802812.545 [DAT](INFO): DAT read: 19:00:11.4584 LVL= 26160, 18993, 29090, 28595, AGC= 52, IDX= 509,-0.01, 0.808, 1.382,-0.589, 0.729, PHS= 0.181, 0.698,-1.362, RAW=  16.0,   5.3, CAL=  16.0,   4.4, ROT= 134.0,  -4.4

2025-08-21T19:00:12.546Z,1755802812.546 [DAT](INFO): got valid direction response:
 19:00:11.4584 LVL= 26160, 18993, 29090, 28595, AGC= 52, IDX= 509,-0.01, 0.808, 1.382,-0.589, 0.729, PHS= 0.181, 0.698,-1.362, RAW=  16.0,   5.3, CAL=  16.0,   4.4, ROT= 134.0,  -4.4

2025-08-21T19:00:12.547Z,1755802812.547 [DAT](INFO): #Rx 129: Read range and direction messages.
2025-08-21T19:00:12.552Z,1755802812.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:00:12.552Z,1755802812.552 [DAT](INFO): direction in FSK: [-0.692611,0.717220,0.076719]
2025-08-21T19:00:12.552Z,1755802812.552 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:13.041Z,1755802813.041 [DAT](INFO): DAT read: Rx Time:19:00:11.9584 

2025-08-21T19:00:13.041Z,1755802813.041 [DAT](INFO): Rx dataTimestamp_ set to:1755802813.041164
2025-08-21T19:00:13.043Z,1755802813.043 [DAT](INFO): DAT read: Bearing 346.7,  44.5 (Local)

2025-08-21T19:00:13.043Z,1755802813.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  44.5 (Local)

2025-08-21T19:00:13.045Z,1755802813.045 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.2

2025-08-21T19:00:13.050Z,1755802813.050 [DAT](INFO): DAT read: 19:00:11.9584 LVL= 22208, 19585, 29522, 31219, AGC= 51, IDX= 510,-0.36, 0.040, 0.615,-1.339,-0.031, PHS= 0.173, 0.691,-1.352, RAW=  15.9,   5.4, CAL=  15.9,   4.5, ROT= 134.1,  -4.5

2025-08-21T19:00:13.051Z,1755802813.051 [DAT](INFO): got valid direction response:
 19:00:11.9584 LVL= 22208, 19585, 29522, 31219, AGC= 51, IDX= 510,-0.36, 0.040, 0.615,-1.339,-0.031, PHS= 0.173, 0.691,-1.352, RAW=  15.9,   5.4, CAL=  15.9,   4.5, ROT= 134.1,  -4.5

2025-08-21T19:00:13.052Z,1755802813.052 [DAT](INFO): #Rx 130: Read range and direction messages.
2025-08-21T19:00:13.053Z,1755802813.053 [DAT](INFO): direction in FSK: [-0.693768,0.715913,0.078459]
2025-08-21T19:00:13.053Z,1755802813.053 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:13.545Z,1755802813.545 [DAT](INFO): DAT read: Rx Time:19:00:12.4584 

2025-08-21T19:00:13.545Z,1755802813.545 [DAT](INFO): Rx dataTimestamp_ set to:1755802813.545147
2025-08-21T19:00:13.547Z,1755802813.547 [DAT](INFO): DAT read: Bearing 347.0,  45.7 (Local)

2025-08-21T19:00:13.547Z,1755802813.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,  45.7 (Local)

2025-08-21T19:00:13.549Z,1755802813.549 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed -0.1

2025-08-21T19:00:13.557Z,1755802813.557 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:00:13.561Z,1755802813.561 [DAT](INFO): DAT read: 19:00:12.4584 LVL= 22576, 18577, 28802, 31075, AGC= 51, IDX= 509, 0.14, 0.667, 1.197,-0.738, 0.571, PHS= 0.198, 0.672,-1.353, RAW=  17.1,   5.3, CAL=  17.1,   4.5, ROT= 132.9,  -4.5

2025-08-21T19:00:13.562Z,1755802813.562 [DAT](INFO): got valid direction response:
 19:00:12.4584 LVL= 22576, 18577, 28802, 31075, AGC= 51, IDX= 509, 0.14, 0.667, 1.197,-0.738, 0.571, PHS= 0.198, 0.672,-1.353, RAW=  17.1,   5.3, CAL=  17.1,   4.5, ROT= 132.9,  -4.5

2025-08-21T19:00:13.563Z,1755802813.563 [DAT](INFO): #Rx 131: Read range and direction messages.
2025-08-21T19:00:13.564Z,1755802813.564 [DAT](INFO): direction in FSK: [-0.678622,0.730285,0.078459]
2025-08-21T19:00:13.564Z,1755802813.564 [DAT](INFO): publishing direction and range info
2025-08-21T19:00:35.323Z,1755802835.323 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  -126,   +24A
2025-08-21T19:00:41.750Z,1755802841.750 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-08-21T19:00:41.750Z,1755802841.750 [DefaultWithUndock:A.Wait] Stopped
2025-08-21T19:00:41.750Z,1755802841.750 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T19:00:41.750Z,1755802841.750 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-08-21T19:00:41.750Z,1755802841.750 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-08-21T19:00:41.750Z,1755802841.750 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-08-21T19:00:41.750Z,1755802841.750 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-08-21T19:00:41.751Z,1755802841.751 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-08-21T19:00:41.751Z,1755802841.751 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-21T19:00:41.751Z,1755802841.751 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T19:00:42.147Z,1755802842.147 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-21T19:00:42.147Z,1755802842.147 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T19:00:42.148Z,1755802842.148 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 66.498428 m.
2025-08-21T19:00:42.149Z,1755802842.149 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-08-21T19:00:42.943Z,1755802842.943 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T19:00:43.061Z,1755802843.061 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T19:00:43.675Z,1755802843.675 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:00:44.696Z,1755802844.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:00:45.465Z,1755802845.465 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-21T19:00:46.689Z,1755802846.689 [DockingStepper](INFO): Changing to mode: 3
2025-08-21T19:00:51.871Z,1755802851.871 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:00:51.897Z,1755802851.897 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:00:51.897Z,1755802851.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:00:52.148Z,1755802852.148 [DAT](INFO): DAT read: user:3915>

2025-08-21T19:00:52.149Z,1755802852.149 [DAT](INFO): DAT read: Tx time:19:00:51.3073

2025-08-21T19:00:52.150Z,1755802852.150 [DAT](INFO): Ping request sent.
2025-08-21T19:00:52.150Z,1755802852.150 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:00:52.150Z,1755802852.150 [DAT](INFO): publishing transmit ping time
2025-08-21T19:00:52.151Z,1755802852.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001053
2025-08-21T19:00:52.400Z,1755802852.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250507
2025-08-21T19:00:52.652Z,1755802852.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502557
2025-08-21T19:00:52.662Z,1755802852.662 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-21T19:00:52.904Z,1755802852.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754466
2025-08-21T19:00:53.157Z,1755802853.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006870
2025-08-21T19:00:53.408Z,1755802853.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258376
2025-08-21T19:00:53.660Z,1755802853.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510449
2025-08-21T19:00:53.913Z,1755802853.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763121
2025-08-21T19:00:54.165Z,1755802854.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015025
2025-08-21T19:00:54.416Z,1755802854.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266410
2025-08-21T19:00:54.668Z,1755802854.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518715
2025-08-21T19:00:54.920Z,1755802854.920 [DAT](INFO): DAT read: Rx Time:19:00:53.7465

2025-08-21T19:00:54.921Z,1755802854.921 [DAT](INFO): Rx dataTimestamp_ set to:1755802854.920408
2025-08-21T19:00:54.921Z,1755802854.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771493
2025-08-21T19:00:55.173Z,1755802855.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023381
2025-08-21T19:00:55.424Z,1755802855.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274493
2025-08-21T19:00:55.682Z,1755802855.682 [DAT](INFO): DAT read: 19:00:53.7465 LVL= 13296, 14257, 23122, 22643, AGC= 55, IDX= 101, 0.00,-1.321,-1.663, 3.050,-1.916, PHS= 0.696, 0.298,-1.362, RAW=  40.5,   3.9, CAL=  40.3,   2.9, ROT= 109.7,  -2.9

2025-08-21T19:00:55.684Z,1755802855.684 [DAT](INFO): got valid direction response:
 19:00:53.7465 LVL= 13296, 14257, 23122, 22643, AGC= 55, IDX= 101, 0.00,-1.321,-1.663, 3.050,-1.916, PHS= 0.696, 0.298,-1.362, RAW=  40.5,   3.9, CAL=  40.3,   2.9, ROT= 109.7,  -2.9

2025-08-21T19:00:55.684Z,1755802855.684 [DAT](INFO): DAT read: Bearing 359.8,  64.4 (Local)

2025-08-21T19:00:55.685Z,1755802855.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  64.4 (Local)

2025-08-21T19:00:55.686Z,1755802855.686 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m  (Round-trip  35.2 ms) speed -0.1 m/s

2025-08-21T19:00:55.687Z,1755802855.687 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:00:55.688Z,1755802855.688 [DAT](INFO): direction in FSK: [-0.336663,0.940265,0.050593]
2025-08-21T19:00:55.688Z,1755802855.688 [DAT](INFO): publishing direction and range info
2025-08-21T19:01:01.973Z,1755802861.973 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:01:01.976Z,1755802861.976 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:01:01.976Z,1755802861.976 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:01:01.976Z,1755802861.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:01:02.228Z,1755802862.228 [DAT](INFO): DAT read: user:3916>

2025-08-21T19:01:02.229Z,1755802862.229 [DAT](INFO): DAT read: Tx time:19:01:01.4072

2025-08-21T19:01:02.229Z,1755802862.229 [DAT](INFO): Ping request sent.
2025-08-21T19:01:02.229Z,1755802862.229 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:01:02.229Z,1755802862.229 [DAT](INFO): publishing transmit ping time
2025-08-21T19:01:02.230Z,1755802862.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T19:01:02.480Z,1755802862.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250872
2025-08-21T19:01:02.732Z,1755802862.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502943
2025-08-21T19:01:02.984Z,1755802862.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754903
2025-08-21T19:01:03.236Z,1755802863.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006847
2025-08-21T19:01:03.488Z,1755802863.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259124
2025-08-21T19:01:03.740Z,1755802863.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510910
2025-08-21T19:01:03.993Z,1755802863.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763301
2025-08-21T19:01:04.244Z,1755802864.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015048
2025-08-21T19:01:04.496Z,1755802864.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267092
2025-08-21T19:01:04.748Z,1755802864.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518966
2025-08-21T19:01:05.002Z,1755802865.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772437
2025-08-21T19:01:05.252Z,1755802865.252 [DAT](INFO): DAT read: Rx Time:19:01:03.8480

2025-08-21T19:01:05.253Z,1755802865.253 [DAT](INFO): Rx dataTimestamp_ set to:1755802865.252471
2025-08-21T19:01:05.253Z,1755802865.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023979
2025-08-21T19:01:05.504Z,1755802865.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274857
2025-08-21T19:01:05.762Z,1755802865.762 [DAT](INFO): DAT read: 19:01:03.8480 LVL= 17600, 20449, 22242, 23795, AGC= 52, IDX= 435, 0.42,-2.500,-2.865, 1.922,-3.121, PHS= 0.723, 0.301,-1.284, RAW=  41.5,   2.9, CAL=  41.6,   1.5, ROT= 108.4,  -1.5

2025-08-21T19:01:05.763Z,1755802865.763 [DAT](INFO): got valid direction response:
 19:01:03.8480 LVL= 17600, 20449, 22242, 23795, AGC= 52, IDX= 435, 0.42,-2.500,-2.865, 1.922,-3.121, PHS= 0.723, 0.301,-1.284, RAW=  41.5,   2.9, CAL=  41.6,   1.5, ROT= 108.4,  -1.5

2025-08-21T19:01:05.768Z,1755802865.768 [DAT](INFO): DAT read: Bearing   7.5,  70.9 (Local)

2025-08-21T19:01:05.768Z,1755802865.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.5,  70.9 (Local)

2025-08-21T19:01:05.770Z,1755802865.770 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m  (Round-trip  36.7 ms) speed -0.1 m/s

2025-08-21T19:01:05.770Z,1755802865.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:01:05.780Z,1755802865.780 [DAT](INFO): direction in FSK: [-0.315541,0.948551,0.026177]
2025-08-21T19:01:05.781Z,1755802865.781 [DAT](INFO): publishing direction and range info
2025-08-21T19:01:12.061Z,1755802872.061 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:01:12.308Z,1755802872.308 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:01:12.308Z,1755802872.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:01:12.560Z,1755802872.560 [DAT](INFO): DAT read: user:3917>

2025-08-21T19:01:12.561Z,1755802872.561 [DAT](INFO): DAT read: Tx time:19:01:11.7572

2025-08-21T19:01:12.561Z,1755802872.561 [DAT](INFO): Ping request sent.
2025-08-21T19:01:12.561Z,1755802872.561 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:01:12.562Z,1755802872.562 [DAT](INFO): publishing transmit ping time
2025-08-21T19:01:12.562Z,1755802872.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000780
2025-08-21T19:01:12.817Z,1755802872.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255798
2025-08-21T19:01:12.904Z,1755802872.904 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 27.50 m. Transitioning docking module to standby.
2025-08-21T19:01:13.069Z,1755802873.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507331
2025-08-21T19:01:13.263Z,1755802873.263 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:01:13.320Z,1755802873.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758946
2025-08-21T19:01:13.572Z,1755802873.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010837
2025-08-21T19:01:13.826Z,1755802873.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264302
2025-08-21T19:01:14.076Z,1755802874.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515050
2025-08-21T19:01:14.328Z,1755802874.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766798
2025-08-21T19:01:14.580Z,1755802874.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018707
2025-08-21T19:01:14.821Z,1755802874.821 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:01:14.835Z,1755802874.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273346
2025-08-21T19:01:15.084Z,1755802875.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522790
2025-08-21T19:01:15.337Z,1755802875.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775323
2025-08-21T19:01:15.588Z,1755802875.588 [DAT](INFO): DAT read: Rx Time:19:01:14.1994

2025-08-21T19:01:15.589Z,1755802875.589 [DAT](INFO): Rx dataTimestamp_ set to:1755802875.588650
2025-08-21T19:01:15.589Z,1755802875.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028076
2025-08-21T19:01:15.826Z,1755802875.826 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:01:15.844Z,1755802875.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281363
2025-08-21T19:01:16.097Z,1755802876.097 [DAT](INFO): DAT read: 19:01:14.1994 LVL= 17120, 23153, 28434, 30499, AGC= 51, IDX= 434, 0.09, 0.125,-0.281,-1.734,-0.517, PHS= 0.743, 0.281,-1.261, RAW=  42.7,   2.6, CAL=  42.9,   1.1, ROT= 107.1,  -1.1

2025-08-21T19:01:16.099Z,1755802876.099 [DAT](INFO): got valid direction response:
 19:01:14.1994 LVL= 17120, 23153, 28434, 30499, AGC= 51, IDX= 434, 0.09, 0.125,-0.281,-1.734,-0.517, PHS= 0.743, 0.281,-1.261, RAW=  42.7,   2.6, CAL=  42.9,   1.1, ROT= 107.1,  -1.1

2025-08-21T19:01:16.100Z,1755802876.100 [DAT](INFO): DAT read: Bearing   9.5,  70.5 (Local)

2025-08-21T19:01:16.100Z,1755802876.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.5,  70.5 (Local)

2025-08-21T19:01:16.101Z,1755802876.101 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m  (Round-trip  38.0 ms) speed -0.1 m/s

2025-08-21T19:01:16.102Z,1755802876.102 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:01:16.103Z,1755802876.103 [DAT](INFO): direction in FSK: [-0.293986,0.955617,0.019197]
2025-08-21T19:01:16.103Z,1755802876.103 [DAT](INFO): publishing direction and range info
2025-08-21T19:01:19.304Z,1755802879.304 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-08-21T19:01:19.720Z,1755802879.720 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-08-21T19:01:19.720Z,1755802879.720 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-08-21T19:01:19.721Z,1755802879.721 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-08-21T19:01:19.721Z,1755802879.721 [DefaultWithUndock:LeaveDock] Stopped
2025-08-21T19:01:19.722Z,1755802879.722 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-08-21T19:01:19.722Z,1755802879.722 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-08-21T19:01:19.722Z,1755802879.722 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-21T19:01:19.727Z,1755802879.727 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-08-21T19:01:19.727Z,1755802879.727 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-08-21T19:01:19.728Z,1755802879.728 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-08-21T19:01:19.728Z,1755802879.728 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-21T19:01:19.728Z,1755802879.728 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-08-21T19:01:19.728Z,1755802879.728 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-08-21T19:01:19.728Z,1755802879.728 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-08-21T19:01:19.729Z,1755802879.729 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-08-21T19:01:19.729Z,1755802879.729 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-21T19:01:19.729Z,1755802879.729 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-21T19:01:20.505Z,1755802880.505 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (2 active estimators).
2025-08-21T19:01:20.611Z,1755802880.611 [Radio_Surface](INFO): Powering up
2025-08-21T19:01:25.876Z,1755802885.876 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-08-21T19:01:25.876Z,1755802885.876 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-08-21T19:01:45.948Z,1755802905.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:01:46.952Z,1755802906.952 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-21T19:01:46.952Z,1755802906.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:01:50.493Z,1755802910.493 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022622490946,35.0, +10.2, 9
2025-08-21T19:02:17.084Z,1755802937.084 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:02:18.088Z,1755802938.088 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:02:48.208Z,1755802968.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:02:49.214Z,1755802969.214 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:03:19.348Z,1755802999.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:03:20.352Z,1755803000.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:03:48.469Z,1755803028.469 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-08-21T19:03:48.469Z,1755803028.469 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T19:03:48.469Z,1755803028.469 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-21T19:03:50.480Z,1755803030.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:03:51.484Z,1755803031.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:03:52.599Z,1755803032.599 [MassServo](FAULT): Overload Error
2025-08-21T19:03:52.600Z,1755803032.600 [MassServo] Hardware Fault, FailCount= 1
2025-08-21T19:03:52.600Z,1755803032.600 [MassServo](ERROR): Hardware Fault
2025-08-21T19:03:52.704Z,1755803032.704 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-21T19:03:52.981Z,1755803032.981 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-21T19:03:52.981Z,1755803032.981 [MassServo](INFO): Powering down
2025-08-21T19:03:53.776Z,1755803033.776 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-21T19:03:53.896Z,1755803033.896 [MassServo](DEBUG): Initializing MassServo.
2025-08-21T19:03:53.901Z,1755803033.901 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-21T19:03:53.901Z,1755803033.901 [MassServo] No Fault, FailCount= 1
2025-08-21T19:04:21.616Z,1755803061.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:04:22.620Z,1755803062.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:04:52.740Z,1755803092.740 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:04:53.744Z,1755803093.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:05:10.679Z,1755803110.679 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002654
2025-08-21T19:05:11.680Z,1755803111.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:05:20.231Z,1755803120.231 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-21T19:05:20.303Z,1755803120.303 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:05:28.976Z,1755803128.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:05:37.628Z,1755803137.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:05:46.184Z,1755803146.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:05:48.860Z,1755803148.860 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-08-21T19:05:48.861Z,1755803148.861 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T19:05:48.862Z,1755803148.862 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-21T19:05:48.862Z,1755803148.862 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T19:05:48.864Z,1755803148.864 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-21T19:05:48.865Z,1755803148.865 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-21T19:05:48.866Z,1755803148.866 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T19:05:48.866Z,1755803148.866 [BPC1](INFO): Calculating totals. Valid battery stick count: 20. Valid reserve battery stick count: 2.
2025-08-21T19:05:48.896Z,1755803148.896 [BPC1](FAULT): Failed to receive data from 26 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 33, 34, 37, 38, 39, 44, 58.
2025-08-21T19:05:54.936Z,1755803154.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:06:03.620Z,1755803163.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:06:12.349Z,1755803172.349 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:06:18.358Z,1755803178.358 [NAL9602](INFO): SBD MO Status=2, MOMSN=947, MT Status=2, MTMSN=0
2025-08-21T19:06:18.358Z,1755803178.358 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:06:21.104Z,1755803181.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:06:29.724Z,1755803189.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:06:38.236Z,1755803198.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:06:46.956Z,1755803206.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:06:55.576Z,1755803215.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:07:04.228Z,1755803224.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:07:12.872Z,1755803232.872 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:07:21.472Z,1755803241.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:07:30.184Z,1755803250.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:07:38.823Z,1755803258.823 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:07:47.336Z,1755803267.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:07:48.049Z,1755803268.049 [NAL9602](INFO): SBD MO Status=2, MOMSN=947, MT Status=2, MTMSN=0
2025-08-21T19:07:48.049Z,1755803268.049 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:07:55.864Z,1755803275.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:08:04.400Z,1755803284.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:08:13.069Z,1755803293.069 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:08:21.708Z,1755803301.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:08:30.216Z,1755803310.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:08:38.956Z,1755803318.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:08:47.588Z,1755803327.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:08:48.665Z,1755803328.665 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](INFO): Timed out from 2025-08-21T19:03:48.5Z
2025-08-21T19:08:48.665Z,1755803328.665 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-21T19:08:48.666Z,1755803328.666 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-21T19:08:52.284Z,1755803332.284 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-08-21T19:08:54.275Z,1755803334.275 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250821T073419/Courier0027.lzma
2025-08-21T19:08:55.277Z,1755803335.277 [DataOverHttps](INFO): Moved sent file to Logs/20250821T073419/Courier0027.lzma.bak
2025-08-21T19:08:55.277Z,1755803335.277 [DataOverHttps](INFO): SBD MOMSN=25877148
2025-08-21T19:09:11.503Z,1755803351.503 [DataOverHttps](INFO): Sending 195 bytes from file Logs/20250821T160023/Courier0000.lzma
2025-08-21T19:09:12.505Z,1755803352.505 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Courier0000.lzma.bak
2025-08-21T19:09:12.505Z,1755803352.505 [DataOverHttps](INFO): SBD MOMSN=25877155
2025-08-21T19:09:22.984Z,1755803362.984 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-21T19:09:29.483Z,1755803369.483 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250821T160023/Courier0003.lzma
2025-08-21T19:09:30.485Z,1755803370.485 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Courier0003.lzma.bak
2025-08-21T19:09:30.486Z,1755803370.486 [DataOverHttps](INFO): SBD MOMSN=25877158
2025-08-21T19:09:46.775Z,1755803386.775 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250821T160023/Courier0006.lzma
2025-08-21T19:09:47.777Z,1755803387.777 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Courier0006.lzma.bak
2025-08-21T19:09:47.777Z,1755803387.777 [DataOverHttps](INFO): SBD MOMSN=25877160
2025-08-21T19:10:05.499Z,1755803405.499 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250821T160023/Courier0009.lzma
2025-08-21T19:10:06.504Z,1755803406.504 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Courier0009.lzma.bak
2025-08-21T19:10:06.504Z,1755803406.504 [DataOverHttps](INFO): SBD MOMSN=25877162
2025-08-21T19:10:22.950Z,1755803422.950 [DataOverHttps](INFO): Sending 195 bytes from file Logs/20250821T185907/Courier0000.lzma
2025-08-21T19:10:23.949Z,1755803423.949 [DataOverHttps](INFO): Moved sent file to Logs/20250821T185907/Courier0000.lzma.bak
2025-08-21T19:10:23.949Z,1755803423.949 [DataOverHttps](INFO): SBD MOMSN=25877164
2025-08-21T19:10:40.155Z,1755803440.155 [DataOverHttps](INFO): Sending 191 bytes from file Logs/20250821T073419/Express0028.lzma
2025-08-21T19:10:41.153Z,1755803441.153 [DataOverHttps](INFO): Moved sent file to Logs/20250821T073419/Express0028.lzma.bak
2025-08-21T19:10:41.153Z,1755803441.153 [DataOverHttps](INFO): SBD MOMSN=25877167
2025-08-21T19:10:57.409Z,1755803457.409 [DataOverHttps](INFO): Sending 2295 bytes from file Logs/20250821T160023/Express0001.lzma
2025-08-21T19:10:58.413Z,1755803458.413 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Express0001.lzma.bak
2025-08-21T19:10:58.413Z,1755803458.413 [DataOverHttps](INFO): SBD MOMSN=25877170
2025-08-21T19:11:14.571Z,1755803474.571 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20250821T160023/Express0004.lzma
2025-08-21T19:11:15.573Z,1755803475.573 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Express0004.lzma.bak
2025-08-21T19:11:15.573Z,1755803475.573 [DataOverHttps](INFO): SBD MOMSN=25877192
2025-08-21T19:11:31.932Z,1755803491.932 [DataOverHttps](INFO): Sending 244 bytes from file Logs/20250821T160023/Express0007.lzma
2025-08-21T19:11:32.933Z,1755803492.933 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Express0007.lzma.bak
2025-08-21T19:11:32.933Z,1755803492.933 [DataOverHttps](INFO): SBD MOMSN=25877194
2025-08-21T19:11:49.284Z,1755803509.284 [DataOverHttps](INFO): Sending 76 bytes from file Logs/20250821T160023/Express0008.lzma
2025-08-21T19:11:50.285Z,1755803510.285 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Express0008.lzma.bak
2025-08-21T19:11:50.286Z,1755803510.286 [DataOverHttps](INFO): SBD MOMSN=25877198
2025-08-21T19:12:09.004Z,1755803529.004 [DataOverHttps](INFO): Sending 508 bytes from file Logs/20250821T160023/Express0010.lzma
2025-08-21T19:12:10.005Z,1755803530.005 [DataOverHttps](INFO): Moved sent file to Logs/20250821T160023/Express0010.lzma.bak
2025-08-21T19:12:10.005Z,1755803530.005 [DataOverHttps](INFO): SBD MOMSN=25877201
2025-08-21T19:12:26.149Z,1755803546.149 [DataOverHttps](INFO): Sending 1033 bytes from file Logs/20250821T185907/Express0001.lzma
2025-08-21T19:12:27.149Z,1755803547.149 [DataOverHttps](INFO): Moved sent file to Logs/20250821T185907/Express0001.lzma.bak
2025-08-21T19:12:27.149Z,1755803547.149 [DataOverHttps](INFO): SBD MOMSN=25877206
2025-08-21T19:12:28.478Z,1755803548.478 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-21T19:12:28.478Z,1755803548.478 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-21T19:12:28.479Z,1755803548.479 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-21T19:12:36.832Z,1755803556.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:12:45.516Z,1755803565.516 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:12:53.960Z,1755803573.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:13:02.676Z,1755803582.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:13:11.328Z,1755803591.328 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:13:19.848Z,1755803599.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:13:27.469Z,1755803607.469 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD
2025-08-21T19:13:29.579Z,1755803609.579 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:13:38.024Z,1755803618.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:13:46.728Z,1755803626.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:13:55.408Z,1755803635.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:14:03.864Z,1755803643.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:14:12.608Z,1755803652.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:14:21.280Z,1755803661.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:14:29.736Z,1755803669.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:14:38.428Z,1755803678.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:14:41.382Z,1755803681.382 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022623020003,35.0, +15.1,   0.0,1507.2,A,  0.00, 666.92, 807.15, 776.37, 697.71
2025-08-21T19:14:47.081Z,1755803687.081 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:14:55.632Z,1755803695.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:15:04.312Z,1755803704.312 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:15:12.896Z,1755803712.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:15:21.373Z,1755803721.373 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022623024003,35.0,  0.0,1507.2,  0
2025-08-21T19:15:21.676Z,1755803721.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:15:30.368Z,1755803730.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:15:38.866Z,1755803738.866 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:15:41.175Z,1755803741.175 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 708.03, 721.71, 752.67
2025-08-21T19:15:47.608Z,1755803747.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:15:51.304Z,1755803751.304 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -77,   +0,A
2025-08-21T19:15:56.244Z,1755803756.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:16:04.812Z,1755803764.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:16:13.464Z,1755803773.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:16:21.987Z,1755803781.987 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:16:30.716Z,1755803790.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:16:39.384Z,1755803799.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:16:47.852Z,1755803807.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:16:56.623Z,1755803816.623 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:17:05.332Z,1755803825.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:17:13.884Z,1755803833.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:17:22.648Z,1755803842.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:17:29.131Z,1755803849.131 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-08-21T19:17:29.131Z,1755803849.131 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-21T19:17:29.131Z,1755803849.131 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T19:17:29.132Z,1755803849.132 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-08-21T19:17:29.451Z,1755803849.451 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-08-21T19:17:29.451Z,1755803849.451 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-08-21T19:17:29.864Z,1755803849.864 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  17.300218 min 
2025-08-21T19:17:29.865Z,1755803849.865 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-08-21T19:17:29.865Z,1755803849.865 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T19:17:29.865Z,1755803849.865 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-21T19:17:29.865Z,1755803849.865 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T19:17:29.865Z,1755803849.865 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-08-21T19:17:29.865Z,1755803849.865 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-08-21T19:17:29.865Z,1755803849.865 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T19:17:29.865Z,1755803849.865 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-21T19:17:31.315Z,1755803851.315 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:17:31.458Z,1755803851.458 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-08-21T19:17:31.458Z,1755803851.458 [NAL9602] Data Fault, FailCount= 1
2025-08-21T19:17:31.458Z,1755803851.458 [NAL9602](ERROR): Data Fault
2025-08-21T19:17:31.504Z,1755803851.504 [CBIT](ERROR): Data Fault in component: NAL9602
2025-08-21T19:17:31.884Z,1755803851.884 [NAL9602](INFO): Powering down
2025-08-21T19:17:32.691Z,1755803852.691 [CBIT](INFO): Clearing failed state for component NAL9602
2025-08-21T19:17:32.691Z,1755803852.691 [NAL9602] No Fault, FailCount= 1
2025-08-21T19:17:39.856Z,1755803859.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:17:47.489Z,1755803867.489 [DataOverHttps](IMPORTANT): SBD MTMSN=20250821T191746
2025-08-21T19:17:55.263Z,1755803875.263 [DataOverHttps](INFO): Received command: configset linecapture.navigationgain 2 none persist;configset linecapture.kpheadingfinalapproach = 0.7 ratio persist;configset linecapture.kiheadingfinalapproach 0.001 1/s persist
2025-08-21T19:17:56.734Z,1755803876.734 [CommandExec](IMPORTANT): got command configSet LineCapture.navigationGain 2 none persist
2025-08-21T19:17:56.744Z,1755803876.744 [CommandExec](IMPORTANT): got command configSet LineCapture.kpHeadingFinalApproach 0.7 ratio persist
2025-08-21T19:17:56.747Z,1755803876.747 [CommandExec](IMPORTANT): got command configSet LineCapture.kiHeadingFinalApproach 0.001 reciprocal_second persist
2025-08-21T19:17:57.268Z,1755803877.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:18:02.222Z,1755803882.222 [NAL9602](INFO): Powering up NAL9602
2025-08-21T19:18:11.820Z,1755803891.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:18:13.124Z,1755803893.124 [NAL9602](INFO): NAL9602 initialized
2025-08-21T19:18:28.308Z,1755803908.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:18:42.558Z,1755803922.558 [DataOverHttps](IMPORTANT): SBD MTMSN=20250821T191841
2025-08-21T19:18:58.127Z,1755803938.127 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 14dmr 1 3
2025-08-21T19:18:58.221Z,1755803938.221 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 14dmr 1 3.000000
2025-08-21T19:18:58.221Z,1755803938.221 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=14dmr
2025-08-21T19:18:58.222Z,1755803938.222 [CommandExec](IMPORTANT): Scheduled #18 (#1 of 3 with id='14dmr'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool", ASAP
2025-08-21T19:18:59.130Z,1755803939.130 [DataOverHttps](IMPORTANT): SBD MTMSN=20250821T191858
2025-08-21T19:19:05.401Z,1755803945.401 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS3062403,35.0, +15.3,   0.0,1507.8,  0
2025-08-21T19:19:14.435Z,1755803954.435 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 14dmr 2 3
2025-08-21T19:19:14.444Z,1755803954.444 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 14dmr 2 3.000000
2025-08-21T19:19:14.445Z,1755803954.445 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=14dmr
2025-08-21T19:19:14.446Z,1755803954.446 [CommandExec](IMPORTANT): Scheduled #19 (#2 of 3 with id='14dmr'): "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m", ASAP
2025-08-21T19:19:15.437Z,1755803955.437 [DataOverHttps](IMPORTANT): SBD MTMSN=20250821T191915
2025-08-21T19:19:17.138Z,1755803957.138 [NAL9602](INFO): SBD MO Status=2, MOMSN=947, MT Status=2, MTMSN=0
2025-08-21T19:19:17.138Z,1755803957.138 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:19:31.367Z,1755803971.367 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 14dmr 3 3
2025-08-21T19:19:31.412Z,1755803971.412 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 14dmr 3 3.000000
2025-08-21T19:19:31.413Z,1755803971.413 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=14dmr
2025-08-21T19:19:31.414Z,1755803971.414 [CommandExec](IMPORTANT): Scheduled #20 (#3 of 3 with id='14dmr'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-08-21T19:19:31.676Z,1755803971.676 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-08-21T19:19:31.677Z,1755803971.677 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-21T19:19:31.677Z,1755803971.677 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-21T19:19:31.716Z,1755803971.716 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-21T19:19:33.371Z,1755803973.371 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:19:52.944Z,1755803992.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:19:54.398Z,1755803994.398 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>180</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>120</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Info">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">
                    Timed out trying to reach the target depth. Stopping mission at current depth of 
                    <Universal:depth />
                    <Units:meter />
                </Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" PriorityHere="false" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" PriorityHere="false" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" PriorityHere="false" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-08-21T19:19:54.450Z,1755803994.450 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-08-21T19:19:54.461Z,1755803994.461 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-08-21T19:19:54.468Z,1755803994.468 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-08-21T19:19:54.470Z,1755803994.470 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-08-21T19:19:54.477Z,1755803994.477 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-08-21T19:19:54.479Z,1755803994.479 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-08-21T19:19:54.485Z,1755803994.485 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-08-21T19:19:54.491Z,1755803994.491 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-08-21T19:19:54.494Z,1755803994.494 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-08-21T19:19:54.500Z,1755803994.500 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-08-21T19:19:54.503Z,1755803994.503 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-08-21T19:19:54.570Z,1755803994.570 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-08-21T19:19:54.580Z,1755803994.580 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-08-21T19:19:54.584Z,1755803994.584 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-08-21T19:19:54.586Z,1755803994.586 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-08-21T19:19:54.597Z,1755803994.597 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-08-21T19:19:54.612Z,1755803994.612 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-08-21T19:19:54.621Z,1755803994.621 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-08-21T19:19:54.636Z,1755803994.636 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-08-21T19:19:54.638Z,1755803994.638 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-08-21T19:19:54.649Z,1755803994.649 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-08-21T19:19:54.663Z,1755803994.663 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-08-21T19:19:54.666Z,1755803994.666 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-08-21T19:19:54.676Z,1755803994.676 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-08-21T19:19:54.678Z,1755803994.678 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-08-21T19:19:54.693Z,1755803994.693 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-08-21T19:19:54.704Z,1755803994.704 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-08-21T19:19:54.706Z,1755803994.706 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-08-21T19:19:54.728Z,1755803994.728 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-08-21T19:19:54.749Z,1755803994.749 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-08-21T19:19:54.751Z,1755803994.751 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-08-21T19:19:54.761Z,1755803994.761 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-08-21T19:19:54.772Z,1755803994.772 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-08-21T19:19:54.775Z,1755803994.775 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-08-21T19:19:54.785Z,1755803994.785 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-08-21T19:19:54.793Z,1755803994.793 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-08-21T19:19:54.808Z,1755803994.808 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-08-21T19:19:54.810Z,1755803994.810 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-08-21T19:19:54.817Z,1755803994.817 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-08-21T19:19:54.847Z,1755803994.847 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-08-21T19:19:54.850Z,1755803994.850 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-08-21T19:19:54.868Z,1755803994.868 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-08-21T19:19:54.870Z,1755803994.870 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-08-21T19:19:54.883Z,1755803994.883 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-21T19:19:54.883Z,1755803994.883 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-21T19:19:54.900Z,1755803994.900 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-21T19:20:10.025Z,1755804010.025 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-08-21T19:20:10.097Z,1755804010.097 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-08-21T19:20:10.110Z,1755804010.110 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-08-21T19:20:10.117Z,1755804010.117 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-08-21T19:20:10.118Z,1755804010.118 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-08-21T19:20:10.125Z,1755804010.125 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-08-21T19:20:10.127Z,1755804010.127 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-08-21T19:20:10.137Z,1755804010.137 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-08-21T19:20:10.144Z,1755804010.144 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-08-21T19:20:10.146Z,1755804010.146 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-21T19:20:10.153Z,1755804010.153 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-21T19:20:10.155Z,1755804010.155 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-08-21T19:20:10.213Z,1755804010.213 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-08-21T19:20:10.215Z,1755804010.215 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-08-21T19:20:10.225Z,1755804010.225 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-08-21T19:20:10.240Z,1755804010.240 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-21T19:20:10.242Z,1755804010.242 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-21T19:20:10.272Z,1755804010.272 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-21T19:20:10.274Z,1755804010.274 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-21T19:20:10.312Z,1755804010.312 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-21T19:20:10.314Z,1755804010.314 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-21T19:20:10.329Z,1755804010.329 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-21T19:20:10.331Z,1755804010.331 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-21T19:20:10.357Z,1755804010.357 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-21T19:20:10.372Z,1755804010.372 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-08-21T19:20:10.375Z,1755804010.375 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-08-21T19:20:10.389Z,1755804010.389 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-08-21T19:20:10.401Z,1755804010.401 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-08-21T19:20:10.423Z,1755804010.423 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-21T19:20:10.426Z,1755804010.426 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-21T19:20:10.438Z,1755804010.438 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 0 bool
2025-08-21T19:20:10.449Z,1755804010.449 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-08-21T19:20:10.451Z,1755804010.451 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-08-21T19:20:10.461Z,1755804010.461 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-08-21T19:20:10.472Z,1755804010.472 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-08-21T19:20:10.474Z,1755804010.474 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-21T19:20:10.489Z,1755804010.489 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-08-21T19:20:10.491Z,1755804010.491 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-08-21T19:20:10.509Z,1755804010.509 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-21T19:20:10.524Z,1755804010.524 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumberOfLayers = 1.000000 count
2025-08-21T19:20:10.526Z,1755804010.526 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-08-21T19:20:10.533Z,1755804010.533 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-08-21T19:20:10.548Z,1755804010.548 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-08-21T19:20:10.550Z,1755804010.550 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-08-21T19:20:10.564Z,1755804010.564 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-21T19:20:10.567Z,1755804010.567 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-21T19:20:10.603Z,1755804010.603 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-21T19:20:10.606Z,1755804010.606 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-21T19:20:10.616Z,1755804010.616 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-08-21T19:20:10.619Z,1755804010.619 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-08-21T19:20:10.629Z,1755804010.629 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-08-21T19:20:10.644Z,1755804010.644 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-08-21T19:20:10.646Z,1755804010.646 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-08-21T19:20:10.657Z,1755804010.657 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-08-21T19:20:10.667Z,1755804010.667 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-08-21T19:20:10.670Z,1755804010.670 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-08-21T19:20:10.677Z,1755804010.677 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-08-21T19:20:10.727Z,1755804010.727 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-08-21T19:20:10.730Z,1755804010.730 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-08-21T19:20:10.745Z,1755804010.745 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-08-21T19:20:10.758Z,1755804010.758 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-08-21T19:20:10.781Z,1755804010.781 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-08-21T19:20:10.795Z,1755804010.795 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-08-21T19:20:10.798Z,1755804010.798 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-08-21T19:20:10.812Z,1755804010.812 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-08-21T19:20:10.815Z,1755804010.815 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-08-21T19:20:10.834Z,1755804010.834 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-08-21T19:20:10.848Z,1755804010.848 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-08-21T19:20:10.851Z,1755804010.851 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-08-21T19:20:10.861Z,1755804010.861 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-08-21T19:20:10.872Z,1755804010.872 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-08-21T19:20:10.874Z,1755804010.874 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-08-21T19:20:10.885Z,1755804010.885 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-08-21T19:20:10.892Z,1755804010.892 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-08-21T19:20:10.895Z,1755804010.895 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-08-21T19:20:10.914Z,1755804010.914 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-08-21T19:20:10.924Z,1755804010.924 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-08-21T19:20:10.927Z,1755804010.927 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-21T19:20:10.937Z,1755804010.937 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-21T19:20:10.965Z,1755804010.965 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-21T19:20:10.991Z,1755804010.991 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-21T19:20:10.994Z,1755804010.994 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-21T19:20:11.009Z,1755804011.009 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-21T19:20:11.021Z,1755804011.021 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-21T19:20:11.064Z,1755804011.064 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-21T19:20:11.083Z,1755804011.083 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-21T19:20:11.113Z,1755804011.113 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-21T19:20:11.124Z,1755804011.124 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-21T19:20:11.126Z,1755804011.126 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-21T19:20:11.145Z,1755804011.145 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-21T19:20:11.156Z,1755804011.156 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-21T19:20:11.159Z,1755804011.159 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-21T19:20:11.181Z,1755804011.181 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-21T19:20:11.196Z,1755804011.196 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-21T19:20:11.198Z,1755804011.198 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-21T19:20:11.228Z,1755804011.228 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-21T19:20:11.230Z,1755804011.230 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-21T19:20:11.257Z,1755804011.257 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-21T19:20:11.259Z,1755804011.259 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-21T19:20:11.262Z,1755804011.262 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-21T19:20:11.296Z,1755804011.296 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-21T19:20:11.299Z,1755804011.299 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-21T19:20:11.301Z,1755804011.301 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-21T19:20:11.345Z,1755804011.345 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-21T19:20:11.347Z,1755804011.347 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-21T19:20:11.349Z,1755804011.349 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-21T19:20:11.376Z,1755804011.376 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-21T19:20:11.378Z,1755804011.378 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-21T19:20:11.393Z,1755804011.393 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-21T19:20:11.404Z,1755804011.404 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-21T19:20:11.407Z,1755804011.407 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-21T19:20:11.425Z,1755804011.425 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-21T19:20:11.440Z,1755804011.440 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-21T19:20:11.442Z,1755804011.442 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-21T19:20:11.458Z,1755804011.458 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-21T19:20:11.484Z,1755804011.484 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-21T19:20:11.487Z,1755804011.487 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-21T19:20:11.509Z,1755804011.509 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-08-21T19:20:11.524Z,1755804011.524 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-08-21T19:20:11.527Z,1755804011.527 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-08-21T19:20:11.541Z,1755804011.541 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-08-21T19:20:11.556Z,1755804011.556 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-08-21T19:20:11.558Z,1755804011.558 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-08-21T19:20:11.577Z,1755804011.577 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-08-21T19:20:11.600Z,1755804011.600 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-08-21T19:20:11.604Z,1755804011.604 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-08-21T19:20:11.624Z,1755804011.624 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-08-21T19:20:11.637Z,1755804011.637 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-08-21T19:20:11.642Z,1755804011.642 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-08-21T19:20:11.661Z,1755804011.661 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-08-21T19:20:11.672Z,1755804011.672 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-08-21T19:20:11.675Z,1755804011.675 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-08-21T19:20:11.701Z,1755804011.701 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-08-21T19:20:11.716Z,1755804011.716 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-08-21T19:20:11.822Z,1755804011.822 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:11.871Z,1755804011.871 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T19:20:11.958Z,1755804011.958 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T19:20:12.048Z,1755804012.048 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:12.110Z,1755804012.110 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:12.165Z,1755804012.165 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T19:20:12.221Z,1755804012.221 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:12.258Z,1755804012.258 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:12.313Z,1755804012.313 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T19:20:12.398Z,1755804012.398 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:12.467Z,1755804012.467 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T19:20:12.553Z,1755804012.553 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:12.604Z,1755804012.604 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T19:20:12.671Z,1755804012.671 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:12.717Z,1755804012.717 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T19:20:12.808Z,1755804012.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:20:12.826Z,1755804012.826 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T19:20:12.876Z,1755804012.876 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T19:20:12.968Z,1755804012.968 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-21T19:20:12.983Z,1755804012.983 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-21T19:20:12.991Z,1755804012.991 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-21T19:20:12.992Z,1755804012.992 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-21T19:20:13.297Z,1755804013.297 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-08-21T19:20:13.317Z,1755804013.317 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-21T19:20:13.325Z,1755804013.325 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-21T19:20:13.347Z,1755804013.347 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-21T19:20:13.350Z,1755804013.350 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-21T19:20:13.351Z,1755804013.351 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-21T19:20:13.378Z,1755804013.378 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-21T19:20:13.392Z,1755804013.392 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-21T19:20:13.414Z,1755804013.414 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-08-21T19:20:13.414Z,1755804013.414 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-08-21T19:20:13.421Z,1755804013.421 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-08-21T19:20:13.954Z,1755804013.954 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-08-21T19:20:13.968Z,1755804013.968 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-08-21T19:20:13.970Z,1755804013.970 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-08-21T19:20:14.041Z,1755804014.041 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-08-21T19:20:14.055Z,1755804014.055 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-08-21T19:20:14.058Z,1755804014.058 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-08-21T19:20:14.072Z,1755804014.072 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-08-21T19:20:14.074Z,1755804014.074 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-08-21T19:20:14.089Z,1755804014.089 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-08-21T19:20:14.107Z,1755804014.107 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-08-21T19:20:14.167Z,1755804014.167 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-08-21T19:20:14.167Z,1755804014.167 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-08-21T19:20:14.172Z,1755804014.172 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-08-21T19:20:14.287Z,1755804014.287 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-08-21T19:20:14.295Z,1755804014.295 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-08-21T19:20:14.313Z,1755804014.313 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-08-21T19:20:14.322Z,1755804014.322 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-08-21T19:20:14.329Z,1755804014.329 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-08-21T19:20:14.330Z,1755804014.330 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-08-21T19:20:14.336Z,1755804014.336 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-08-21T19:20:17.516Z,1755804017.516 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-08-21T19:20:17.542Z,1755804017.542 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.779130 arcdeg
2025-08-21T19:20:17.577Z,1755804017.577 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.859630 arcdeg
2025-08-21T19:20:17.605Z,1755804017.605 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-08-21T19:20:17.616Z,1755804017.616 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-08-21T19:20:17.619Z,1755804017.619 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-08-21T19:20:17.673Z,1755804017.673 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-08-21T19:20:17.684Z,1755804017.684 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-08-21T19:20:17.687Z,1755804017.687 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-08-21T19:20:17.701Z,1755804017.701 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-08-21T19:20:17.728Z,1755804017.728 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-08-21T19:20:17.730Z,1755804017.730 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-08-21T19:20:17.749Z,1755804017.749 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-08-21T19:20:17.751Z,1755804017.751 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-08-21T19:20:17.769Z,1755804017.769 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-08-21T19:20:17.796Z,1755804017.796 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-08-21T19:20:17.816Z,1755804017.816 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-08-21T19:20:17.818Z,1755804017.818 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-08-21T19:20:17.845Z,1755804017.845 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-08-21T19:20:17.847Z,1755804017.847 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-08-21T19:20:17.857Z,1755804017.857 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-08-21T19:20:17.904Z,1755804017.904 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-08-21T19:20:17.906Z,1755804017.906 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-08-21T19:20:17.921Z,1755804017.921 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-08-21T19:20:17.923Z,1755804017.923 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-08-21T19:20:17.946Z,1755804017.946 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-08-21T19:20:17.979Z,1755804017.979 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-08-21T19:20:17.982Z,1755804017.982 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-08-21T19:20:17.993Z,1755804017.993 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-08-21T19:20:18.016Z,1755804018.016 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-08-21T19:20:18.018Z,1755804018.018 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-08-21T19:20:18.061Z,1755804018.061 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-08-21T19:20:18.087Z,1755804018.087 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-08-21T19:20:18.112Z,1755804018.112 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-21T19:20:18.112Z,1755804018.112 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-21T19:20:18.113Z,1755804018.113 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-21T19:20:18.462Z,1755804018.462 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-08-21T19:20:18.490Z,1755804018.490 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-21T19:20:18.509Z,1755804018.509 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-21T19:20:18.524Z,1755804018.524 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-21T19:20:18.540Z,1755804018.540 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-21T19:20:18.541Z,1755804018.541 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-21T19:20:18.571Z,1755804018.571 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-21T19:20:18.586Z,1755804018.586 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-21T19:20:18.660Z,1755804018.660 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-08-21T19:20:18.707Z,1755804018.707 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-21T19:20:18.721Z,1755804018.721 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-08-21T19:20:18.721Z,1755804018.721 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T19:20:18.789Z,1755804018.789 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-08-21T19:20:18.802Z,1755804018.802 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-08-21T19:20:18.823Z,1755804018.823 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-08-21T19:20:18.879Z,1755804018.879 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-08-21T19:20:18.917Z,1755804018.917 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-08-21T19:20:19.017Z,1755804019.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-08-21T19:20:19.090Z,1755804019.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-08-21T19:20:19.124Z,1755804019.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-08-21T19:20:19.170Z,1755804019.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-21T19:20:19.170Z,1755804019.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-21T19:20:19.182Z,1755804019.182 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-08-21T19:20:19.555Z,1755804019.555 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-08-21T19:20:19.566Z,1755804019.566 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-08-21T19:20:19.577Z,1755804019.577 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-08-21T19:20:19.591Z,1755804019.591 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-08-21T19:20:19.594Z,1755804019.594 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-08-21T19:20:19.625Z,1755804019.625 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-08-21T19:20:19.730Z,1755804019.730 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-08-21T19:20:19.731Z,1755804019.731 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-08-21T19:20:19.756Z,1755804019.756 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-08-21T19:20:20.110Z,1755804020.110 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-08-21T19:20:20.126Z,1755804020.126 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.779130 arcdeg
2025-08-21T19:20:20.181Z,1755804020.181 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.859630 arcdeg
2025-08-21T19:20:20.200Z,1755804020.200 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-08-21T19:20:20.202Z,1755804020.202 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-08-21T19:20:20.241Z,1755804020.241 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-08-21T19:20:20.273Z,1755804020.273 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-08-21T19:20:20.274Z,1755804020.274 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-21T19:20:20.359Z,1755804020.359 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-08-21T19:20:20.371Z,1755804020.371 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T19:20:20.398Z,1755804020.398 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-08-21T19:20:20.411Z,1755804020.411 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-08-21T19:20:20.426Z,1755804020.426 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-08-21T19:20:20.479Z,1755804020.479 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-21T19:20:20.482Z,1755804020.482 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-08-21T19:20:20.512Z,1755804020.512 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-08-21T19:20:20.542Z,1755804020.542 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-08-21T19:20:20.557Z,1755804020.557 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-08-21T19:20:20.917Z,1755804020.917 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission lineCaptureHoming {
  """
  Home to transponder while maintaining altitude or depth. Altitude gets
  priority if non nan. The mission sequence: (*) Start (1) Midcourse
  guidance: nav to target WP while querying transponder (2) Terminal
  guidance: home to target using USBL tracking data (4) Dock: final
  approach using fixed heading.
  """

  # Define mission arguments

  arguments {
    MissionTimeout = 3 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 180 minute
      """
      How often to surface for commumications
      """

    MicromodemCommsInterval = 3 hour
      """
      How often to trigger Umodem communications
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through the homing
      sequence.
      """

    WaitOnDockTimeout = 5 minute
      """
      Time duration to wait on the dock after a successful line capture.
      """

    StayOnDock = false
      """
      If true, mission terminates after WaitOnDockTimeout following a successful
      capture, without executing the undock sequence.
      """

    TrySlide = false
      """
      If true, once docked, try to slide down the docking rod until charging and
      comms are acheived
      """

    RetryIncompleteDock = false
      """
      If true, restart docking sequence in event of a successful capture but
      unsuccessful slide
      """

    SlideRetries = 4 count
      """
      If using slide mode, max number of times to try the slide sequence before
      giving up
      """

    SlideSinkDuration = 1.5 minute
      """
      Time duration to slide down by sinking during each slide mode iteration
      """

    SlideCloseDuration = 1.5 minute
      """
      Time duration to close arm to check for power/comms during each slide mode
      iteration
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    TrackingUpdatePeriodMidcourse = 60 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodTerminal = 2 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodDocked = 2 minute
      """
      How long to wait between acoustic queries.
      """

    TrackingNumFixesLowPassFilter = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    NumPingsUSBL = 120 count
      """
      Number of pings requested while in USBL mode range.
      """

    RangeUSBL = 40 meter
      """
      USBL mode range.
      """

    TrackingNumFixesLowPassFilterUSBL = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    DockingAltitude = NaN meter
      """
      Docking altitude. Ignored when NaN and used over depth when a valid
      altitude is set.
      """

    InvalidAltitudeTimeout = 10 minute
      """
      The mission will use the last good depth command if no valid altitude
      readings are received within this specified time duration.
      """

    AltitudeDepthLimit = NaN meter
      """
      Vehicle will not be commanded deeper than this regardless of altitude
      command.
      """

    MinAltitude = 4 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth on initial
      dive.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (positive depth is down). Used only as a smoothing
      parameter.
      """

    Lat1 = NaN degree
      """
      Latitude of rollout waypoint. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of rollout waypoint. If nan, waypoint is skipped.
      """

    CaptureRadius = NaN meter
      """
      How close to call the waypiont behavior satisfied. Nan uses default
      value.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # Mission Variables (don't change)

    MidcourseDepth = Dock:LineCapture.midcourseDepth
      """
      Desired vehicle depth when navigating to dock WP (during midcourse
      phase).
      """

    MidcourseSpeed = Dock:LineCapture.midcourseSpeed
      """
      Speed during initial dive and waypoint.
      """

    TrackingPeriod = 60 second
      """
      Mission variable (don't change). The mission sets this variable to
      update the how long to wait between acoustic queries.
      """
  }

  output {
    Mode = -1 count
      """
      Mission variable (don't change). The mission sets this variable to
      reflect the termination status of the LineCapture insert.
      """

    NumPings = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinSize = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinOverlap = true
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    EndDockingSequence = StayOnDock
      """
      Mission variable (don't change). The mission sets this variable to
      determine whether or not to restart the docking sequence upon
      completion of the Docked behavior.
      """

    LastDockSuccessful = false
      """
      Mission variable (don't change). The mission sets this variable based
      on the last run of the Docked behavior
      """

    DockSuccessfulCount = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      track the number of complete docking attempts
      """

    RepeatArg = Repeat
      """
      Mission variable (don't change). Actual number of Lap repetitions
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """
  }

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Micromodem comms

  insert id="MicromodemComms" Insert/MicromodemComms.tl {
    redefineArg CommsInterval = MicromodemCommsInterval
  }

  readData {
    while (
      Mode >= 0 count
      and Sensor:DataOverHttps.connectionStatus == true
    )

    Universal:platform_communications
  }

  # Add LineCapture directives.

  insert Insert/LineCapture.tl

  assign in sequence LineCapture:MaxDepth = MaxDepth
  assign in sequence LineCapture:MinOffshore = MinOffshore
  assign in sequence LineCapture:MinAltitude = MinAltitude
  assign in sequence LineCapture:DockingAltitude = DockingAltitude
  assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
  assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit

  # Add track acoustic contact directive.

  assign in sequence NumPings = NumberOfPings

  behavior Estimation:TrackAcousticContact id="TrackAC" {
    run in parallel

    set contactLabelSetting = TransponderCode

    set numberOfSamplesSetting = NumPings

    set updatePeriodSetting = TrackingPeriod

    set numFixesLowPassSetting = LowPassFilterWinSize

    set lowPassOverlapSetting = LowPassFilterWinOverlap

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # Add USBL mode directives.

  aggregate UpdateNumPings_NotTerminal {
    run while (
      not ( LineCapture:GuidanceMode == LineCapture:Terminal )
      and not ( NumPings == NumberOfPings )
    )

    syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
         + "pings."
    assign in sequence NumPings = NumberOfPings
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdateNumPings_Terminal {
    run while (
      LineCapture:GuidanceMode == LineCapture:Terminal
    )

    aggregate UpdateNumPingsUSBL {
      run when (
        not ( NumPings == NumPingsUSBL )
        and (
          ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
          and not ( Dock:LineCapture.guidanceMode == 5 count )
        )
      )

      syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumPingsUSBL
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
      assign in sequence LowPassFilterWinOverlap = true
    }

    aggregate UpdateNumPingsATR {
      run when (
        not ( NumPings == NumberOfPings )
        and (
          ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
          or Dock:LineCapture.guidanceMode == 5 count
        )
      )

      syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumberOfPings
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
      assign in sequence LowPassFilterWinOverlap = true
    }
  }

  aggregate UpdatePingUpdateRate_Midcourse {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
      and (
        ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
        or Dock:LineCapture.guidanceMode == 5 count
      )
    )

    syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdatePingUpdateRate_Terminal {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
      and (
        ( LineCapture:Range <= LineCapture:TerminalRange )
        and not ( Dock:LineCapture.guidanceMode == 5 count )
        and not ( LineCapture:GuidanceMode == 0 count )
      ) # don't enter fast ping mode during rollout or on dock
    )

    syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate restartDHCP {
    run when ( called )

    syslog info "Restarting DHCP..."

    behavior Guidance:Execute {
      run in sequence

      set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
    }
  }

  # Start mission sequence.

  call id="StartingMission" priorityHere=false refId="NeedComms"

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate InitialDive {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = MidcourseSpeed
    }

    behavior Guidance:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    behavior Guidance:Pitch {
      run in sequence

      timeout duration=ApproachDepthTimeout {
        syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
             + Universal:depth~meter

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      set depth = MidcourseDepth
      set depthRate = ApproachDepthRate
    }
  }

  # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
  # required repetition count (which has just been decremented by the lap attempt).
  # But that repeat check is evaluated at the beginning of the aggregate, not the end.
  # In order to be able to retry an incomplete docking attempt on the last lap
  # we need to make it back up to the top of the Lap aggregate somehow.
  # Solve this by quietly setting the repeat count to one more than actually desired.
  # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
  # lap, but starting the Lap aggregate will allow us to check the repeat on each run.
  aggregate RepeatHack {
    run in sequence

    break if ( not RetryIncompleteDock )

    assign in sequence RepeatArg = Repeat + 1 count
  }

  aggregate Lap {
    run in sequence repeat=RepeatArg

    break if (
      ( StayOnDock
        and LastDockSuccessful
      )
      or (
        RetryIncompleteDock
        # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
        and ( DockSuccessfulCount == Repeat )
      )
    )

    assign in sequence Mode = -99 count

    # Execute the LineCapture sequence.

    call priorityHere=false refId="LineCapture"
    assign in sequence Mode = LineCapture:GuidanceMode
    syslog info "Mode" + Mode~count

    call priorityHere=false refId="restartDHCP"

    aggregate Docked {
      run in sequence

      break if ( Mode < 0 count )

      syslog info "Waiting on dock for " + WaitOnDockTimeout~minute

      # Add SetNav directives.

      insert Insert/SetNavAcoustic.tl

      assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked

      assign in sequence EndDockingSequence = StayOnDock

      behavior Dock:Docked id="Docked" {
        run in sequence

        timeout duration=WaitOnDockTimeout

        set slideSinkTime = SlideSinkDuration
        set slideCloseTime = SlideCloseDuration
        set slideRetries = SlideRetries
        set slideAllowed = TrySlide
        outputArg LastDockSuccessful = dockSuccessful
      }

      # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
      aggregate setCompletion {
        run in sequence

        break if ( not RetryIncompleteDock )

        assign in sequence EndDockingSequence = ( LastDockSuccessful
          and StayOnDock
        )
        assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful

        aggregate setRetry {
          run in sequence

          break if ( LastDockSuccessful )

          syslog important "Retrying incomplete docking attempt"

          # This lap failed and doesn't "count", so repeat one additional time
          assign in sequence RepeatArg = RepeatArg + 1 count
        }
      }

      aggregate Detach {
        run in sequence

        break if ( EndDockingSequence )

        syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."

        behavior Dock:Undock id="Undock" {
          run in sequence
        }

        call priorityHere=false refId="restartDHCP"
      }

      aggregate Wpt1 {
        run in sequence

        break if (
          isNaN ( Lat1 )
          or isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree

        behavior Guidance:Pitch {
          run in parallel

          set depth = MidcourseDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = MidcourseSpeed
        }

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1

          set longitude = Lon1

          set captureRadius = CaptureRadius
        }
      }

      aggregate Drift {
        """
        Drift before next docking attempt
        """

        run in sequence

        break if (
          not isNaN ( Lat1 )
          and not isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "No post-undock waypoint, drifting for "
             + Dock:LineCapture.rolloutTimeout~minute + " minutes"

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = Control:VerticalControl.massDefault

          set elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = Dock:LineCapture.rolloutTimeout
        }
      }
    }
  }
}


2025-08-21T19:20:20.918Z,1755804020.918 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-08-21T19:20:31.576Z,1755804031.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:20:46.798Z,1755804046.798 [NAL9602](INFO): SBD MO Status=0, MOMSN=947, MT Status=0, MTMSN=0
2025-08-21T19:20:46.798Z,1755804046.798 [NAL9602](INFO): No messages in MT queue
2025-08-21T19:20:48.006Z,1755804048.006 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192047.00,A,3646.78534,N,12151.45795,W,0.136,16.97,210825,,,A*42
2025-08-21T19:20:48.008Z,1755804048.008 [NAL9602](INFO): GPS fix at 20250821T192047: (36.779756, -121.857632)
2025-08-21T19:20:48.083Z,1755804048.083 [UniversalFixResidualReporter](INFO): Fix residual: 0.9 %DT, over the last 5212.2 m. Residual distance 49.4 m at bearing 21.0 degrees. Fix at (36.7798, -121.8576) with 198.7 m made good.
2025-08-21T19:20:48.099Z,1755804048.099 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-21T19:20:48.100Z,1755804048.100 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-21T19:21:05.613Z,1755804065.613 [DataOverHttps](INFO): Sending 284 bytes from file Logs/20250821T185907/Courier0003.lzma
2025-08-21T19:21:06.609Z,1755804066.609 [DataOverHttps](INFO): Moved sent file to Logs/20250821T185907/Courier0003.lzma.bak
2025-08-21T19:21:06.609Z,1755804066.609 [DataOverHttps](INFO): SBD MOMSN=25877259
2025-08-21T19:21:20.426Z,1755804080.426 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-21T19:21:39.348Z,1755804099.348 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 1 hour
2025-08-21T19:21:39.349Z,1755804099.349 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 15 minute
2025-08-21T19:21:39.350Z,1755804099.350 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-08-21T19:21:39.351Z,1755804099.351 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2025-08-21T19:21:40.221Z,1755804100.221 [DataOverHttps](INFO): Sending 985 bytes from file Logs/20250821T185907/Express0004.lzma
2025-08-21T19:21:41.221Z,1755804101.221 [DataOverHttps](INFO): Moved sent file to Logs/20250821T185907/Express0004.lzma.bak
2025-08-21T19:21:41.221Z,1755804101.221 [DataOverHttps](INFO): SBD MOMSN=25877267
2025-08-21T19:21:43.219Z,1755804103.219 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-21T19:21:43.220Z,1755804103.220 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-21T19:21:43.220Z,1755804103.220 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-21T19:22:01.176Z,1755804121.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:22:20.272Z,1755804140.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:22:38.668Z,1755804158.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:22:56.768Z,1755804176.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:23:14.760Z,1755804194.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:23:20.624Z,1755804200.624 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 5 count
2025-08-21T19:23:20.624Z,1755804200.624 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1 minute
2025-08-21T19:23:20.625Z,1755804200.625 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.3 meter
2025-08-21T19:23:20.626Z,1755804200.626 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter
2025-08-21T19:23:20.627Z,1755804200.627 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 71 meter
2025-08-21T19:23:33.012Z,1755804213.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:23:43.939Z,1755804223.939 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-08-21T19:23:43.964Z,1755804223.964 [CommandExec](IMPORTANT): got command run
2025-08-21T19:23:43.969Z,1755804223.969 [CommandExec](IMPORTANT): Running 
2025-08-21T19:23:44.023Z,1755804224.023 [DefaultWithUndock] Stopped
2025-08-21T19:23:44.023Z,1755804224.023 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-21T19:23:44.023Z,1755804224.023 [DefaultWithUndock:SurfaceDefault] Stopped
2025-08-21T19:23:44.031Z,1755804224.031 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-08-21T19:23:44.031Z,1755804224.031 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-08-21T19:23:44.031Z,1755804224.031 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-21T19:23:44.032Z,1755804224.032 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-21T19:23:44.032Z,1755804224.032 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T19:23:44.032Z,1755804224.032 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-21T19:23:44.032Z,1755804224.032 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T19:23:44.032Z,1755804224.032 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-08-21T19:23:44.032Z,1755804224.032 [lineCaptureHoming] Running Loop=1
2025-08-21T19:23:44.032Z,1755804224.032 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-08-21T19:23:44.032Z,1755804224.032 [lineCaptureHoming:Science] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:A] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:D] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:F] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-08-21T19:23:44.033Z,1755804224.033 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-08-21T19:23:44.034Z,1755804224.034 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-21T19:23:44.034Z,1755804224.034 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-08-21T19:23:44.034Z,1755804224.034 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-08-21T19:23:44.034Z,1755804224.034 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-21T19:23:44.034Z,1755804224.034 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T19:23:44.034Z,1755804224.034 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T19:23:44.034Z,1755804224.034 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-08-21T19:23:44.035Z,1755804224.035 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-21T19:23:44.035Z,1755804224.035 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-08-21T19:23:44.035Z,1755804224.035 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-08-21T19:23:44.035Z,1755804224.035 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-08-21T19:23:44.044Z,1755804224.044 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-08-21T19:23:44.044Z,1755804224.044 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-08-21T19:23:44.044Z,1755804224.044 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-21T19:23:44.044Z,1755804224.044 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T19:23:44.044Z,1755804224.044 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T19:23:44.045Z,1755804224.045 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-08-21T19:23:44.045Z,1755804224.045 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-21T19:23:44.045Z,1755804224.045 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-21T19:23:44.045Z,1755804224.045 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-08-21T19:23:44.045Z,1755804224.045 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-21T19:23:44.045Z,1755804224.045 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-21T19:23:44.045Z,1755804224.045 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-08-21T19:23:44.045Z,1755804224.045 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-21T19:23:44.046Z,1755804224.046 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T19:23:44.046Z,1755804224.046 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T19:23:44.046Z,1755804224.046 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-21T19:23:44.046Z,1755804224.046 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-21T19:23:44.046Z,1755804224.046 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-21T19:23:44.046Z,1755804224.046 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-21T19:23:44.046Z,1755804224.046 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-21T19:23:44.047Z,1755804224.047 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-21T19:23:44.047Z,1755804224.047 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-21T19:23:44.047Z,1755804224.047 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-21T19:23:44.047Z,1755804224.047 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-21T19:23:44.083Z,1755804224.083 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-21T19:23:44.083Z,1755804224.083 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-21T19:23:44.084Z,1755804224.084 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-21T19:23:44.085Z,1755804224.085 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-21T19:23:44.085Z,1755804224.085 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-21T19:23:44.085Z,1755804224.085 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-21T19:23:44.085Z,1755804224.085 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-21T19:23:44.085Z,1755804224.085 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-08-21T19:23:44.085Z,1755804224.085 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-21T19:23:44.085Z,1755804224.085 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-21T19:23:44.085Z,1755804224.085 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T19:23:44.086Z,1755804224.086 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-21T19:23:44.087Z,1755804224.087 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T19:23:44.087Z,1755804224.087 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-21T19:23:44.087Z,1755804224.087 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T19:23:44.087Z,1755804224.087 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T19:23:44.099Z,1755804224.099 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T19:23:44.100Z,1755804224.100 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:23:44.100Z,1755804224.100 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T19:23:44.100Z,1755804224.100 [lineCaptureHoming:J] Running Loop=1
2025-08-21T19:23:44.100Z,1755804224.100 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-21T19:23:44.100Z,1755804224.100 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-08-21T19:23:44.100Z,1755804224.100 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-21T19:23:44.100Z,1755804224.100 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-21T19:23:44.101Z,1755804224.101 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-21T19:23:44.101Z,1755804224.101 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-21T19:23:44.101Z,1755804224.101 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-21T19:23:44.101Z,1755804224.101 [lineCaptureHoming:C] Running Loop=1
2025-08-21T19:23:44.115Z,1755804224.115 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-21T19:23:44.115Z,1755804224.115 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-21T19:23:44.116Z,1755804224.116 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-21T19:23:44.116Z,1755804224.116 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-21T19:23:44.116Z,1755804224.116 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-21T19:23:44.116Z,1755804224.116 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-21T19:23:44.116Z,1755804224.116 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:J] Stopped
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:C] Stopped
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:D] Running Loop=1
2025-08-21T19:23:44.117Z,1755804224.117 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-21T19:23:44.118Z,1755804224.118 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T19:23:44.118Z,1755804224.118 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T19:23:44.118Z,1755804224.118 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T19:23:44.118Z,1755804224.118 [lineCaptureHoming:Science] Running Loop=1
2025-08-21T19:23:44.132Z,1755804224.132 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-08-21T19:23:44.132Z,1755804224.132 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-21T19:23:44.133Z,1755804224.133 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-21T19:23:44.134Z,1755804224.134 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-21T19:23:44.135Z,1755804224.135 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-08-21T19:23:44.135Z,1755804224.135 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-21T19:23:44.135Z,1755804224.135 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T19:23:44.135Z,1755804224.135 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T19:23:44.135Z,1755804224.135 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-08-21T19:23:44.147Z,1755804224.147 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-21T19:23:44.147Z,1755804224.147 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-08-21T19:23:44.147Z,1755804224.147 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-21T19:23:44.148Z,1755804224.148 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-08-21T19:23:44.149Z,1755804224.149 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-21T19:23:44.150Z,1755804224.150 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-08-21T19:23:44.150Z,1755804224.150 [lineCaptureHoming:Science:F] Stopped
2025-08-21T19:23:44.151Z,1755804224.151 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-21T19:23:44.159Z,1755804224.159 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-08-21T19:23:44.160Z,1755804224.160 [lineCaptureHoming:Science:D] Stopped
2025-08-21T19:23:44.160Z,1755804224.160 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-21T19:23:44.160Z,1755804224.160 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-08-21T19:23:44.161Z,1755804224.161 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-08-21T19:23:44.161Z,1755804224.161 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-21T19:23:44.161Z,1755804224.161 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-08-21T19:23:44.162Z,1755804224.162 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-08-21T19:23:44.162Z,1755804224.162 [lineCaptureHoming:Science:A] Stopped
2025-08-21T19:23:44.410Z,1755804224.410 [lineCaptureHoming:D] Stopped
2025-08-21T19:23:44.410Z,1755804224.410 [lineCaptureHoming:E] Running Loop=1
2025-08-21T19:23:44.782Z,1755804224.782 [lineCaptureHoming:E] Stopped
2025-08-21T19:23:44.782Z,1755804224.782 [lineCaptureHoming:G] Running Loop=1
2025-08-21T19:23:44.988Z,1755804224.988 [WetLabsBB2FL](INFO): Powering up
2025-08-21T19:23:45.293Z,1755804225.293 [lineCaptureHoming:G] Stopped
2025-08-21T19:23:45.293Z,1755804225.293 [lineCaptureHoming:H] Running Loop=1
2025-08-21T19:23:45.603Z,1755804225.603 [lineCaptureHoming:H] Stopped
2025-08-21T19:23:45.604Z,1755804225.604 [lineCaptureHoming:L] Running Loop=1
2025-08-21T19:23:46.007Z,1755804226.007 [lineCaptureHoming:L] Stopped
2025-08-21T19:23:46.007Z,1755804226.007 [lineCaptureHoming:M] Running Loop=1
2025-08-21T19:23:46.406Z,1755804226.406 [lineCaptureHoming:M] Stopped
2025-08-21T19:23:46.406Z,1755804226.406 [lineCaptureHoming:N] Running Loop=1
2025-08-21T19:23:47.036Z,1755804227.036 [lineCaptureHoming:N] Stopped
2025-08-21T19:23:47.036Z,1755804227.036 [lineCaptureHoming:O] Running Loop=1
2025-08-21T19:23:47.365Z,1755804227.365 [lineCaptureHoming:O] Stopped
2025-08-21T19:23:47.365Z,1755804227.365 [lineCaptureHoming:P] Running Loop=1
2025-08-21T19:23:47.470Z,1755804227.470 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-21T19:23:47.628Z,1755804227.628 [lineCaptureHoming:P] Stopped
2025-08-21T19:23:47.628Z,1755804227.628 [lineCaptureHoming:Q] Running Loop=1
2025-08-21T19:23:48.050Z,1755804228.050 [lineCaptureHoming:Q] Stopped
2025-08-21T19:23:48.050Z,1755804228.050 [lineCaptureHoming:U] Running Loop=1
2025-08-21T19:23:48.501Z,1755804228.501 [lineCaptureHoming:U] Stopped
2025-08-21T19:23:48.501Z,1755804228.501 [lineCaptureHoming:StartingMission] Running Loop=1
2025-08-21T19:23:48.501Z,1755804228.501 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-08-21T19:23:48.817Z,1755804228.817 [lineCaptureHoming:NeedComms] Running Loop=1
2025-08-21T19:23:48.817Z,1755804228.817 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-08-21T19:23:48.817Z,1755804228.817 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-08-21T19:23:48.817Z,1755804228.817 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-21T19:23:48.818Z,1755804228.818 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-08-21T19:23:48.818Z,1755804228.818 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-08-21T19:23:48.819Z,1755804228.819 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-08-21T19:23:48.827Z,1755804228.827 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-08-21T19:23:48.828Z,1755804228.828 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-21T19:23:48.828Z,1755804228.828 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-21T19:23:48.828Z,1755804228.828 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-08-21T19:23:48.829Z,1755804228.829 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1755804047.000000 second since 1970/01/01T00:00:00Z 
2025-08-21T19:23:48.829Z,1755804228.829 [lineCaptureHoming:NeedComms:A] Stopped
2025-08-21T19:23:49.310Z,1755804229.310 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-08-21T19:23:49.629Z,1755804229.629 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-21T19:23:51.202Z,1755804231.202 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192350.00,A,3646.79212,N,12151.44143,W,0.816,347.27,210825,,,D*7B
2025-08-21T19:23:51.205Z,1755804231.205 [NAL9602](INFO): GPS fix at 20250821T192350: (36.779869, -121.857357)
2025-08-21T19:23:51.285Z,1755804231.285 [lineCaptureHoming:NeedComms:C] Stopped
2025-08-21T19:23:51.286Z,1755804231.286 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-08-21T19:23:51.644Z,1755804231.644 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-21T19:23:52.313Z,1755804232.313 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250821T185907/Courier0006.lzma
2025-08-21T19:23:53.761Z,1755804233.761 [DataOverHttps](INFO): Moved sent file to Logs/20250821T185907/Courier0006.lzma.bak
2025-08-21T19:23:53.761Z,1755804233.761 [DataOverHttps](INFO): SBD MOMSN=25877292
2025-08-21T19:24:25.564Z,1755804265.564 [DataOverHttps](INFO): Sending 543 bytes from file Logs/20250821T185907/Express0008.lzma
2025-08-21T19:24:27.569Z,1755804267.569 [DataOverHttps](INFO): Moved sent file to Logs/20250821T185907/Express0008.lzma.bak
2025-08-21T19:24:27.569Z,1755804267.569 [DataOverHttps](INFO): SBD MOMSN=25877295
2025-08-21T19:24:29.447Z,1755804269.447 [lineCaptureHoming:NeedComms:D] Stopped
2025-08-21T19:24:29.452Z,1755804269.452 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-08-21T19:24:29.767Z,1755804269.767 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-21T19:24:39.889Z,1755804279.889 [NAL9602](INFO): SBD MO Status=2, MOMSN=948, MT Status=2, MTMSN=0
2025-08-21T19:24:39.890Z,1755804279.890 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:24:44.476Z,1755804284.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:24:44.520Z,1755804284.520 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:24:44.520Z,1755804284.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:24:44.616Z,1755804284.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:24:44.772Z,1755804284.772 [DAT](INFO): DAT read: user:3918>

2025-08-21T19:24:44.773Z,1755804284.773 [DAT](INFO): DAT read: Tx time:19:24:43.9558

2025-08-21T19:24:44.773Z,1755804284.773 [DAT](INFO): Ping request sent.
2025-08-21T19:24:44.773Z,1755804284.773 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:24:44.774Z,1755804284.774 [DAT](INFO): publishing transmit ping time
2025-08-21T19:24:44.774Z,1755804284.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-21T19:24:45.031Z,1755804285.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256611
2025-08-21T19:24:45.280Z,1755804285.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506894
2025-08-21T19:24:45.532Z,1755804285.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758773
2025-08-21T19:24:45.784Z,1755804285.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010919
2025-08-21T19:24:46.036Z,1755804286.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262893
2025-08-21T19:24:46.288Z,1755804286.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514735
2025-08-21T19:24:46.540Z,1755804286.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766832
2025-08-21T19:24:46.792Z,1755804286.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018776
2025-08-21T19:24:47.049Z,1755804287.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274437
2025-08-21T19:24:47.297Z,1755804287.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523017
2025-08-21T19:24:47.549Z,1755804287.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775100
2025-08-21T19:24:47.800Z,1755804287.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026895
2025-08-21T19:24:48.052Z,1755804288.052 [DAT](INFO): DAT read: Rx Time:19:24:46.6633

2025-08-21T19:24:48.053Z,1755804288.053 [DAT](INFO): Rx dataTimestamp_ set to:1755804288.052649
2025-08-21T19:24:48.053Z,1755804288.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279940
2025-08-21T19:24:48.304Z,1755804288.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530724
2025-08-21T19:24:48.563Z,1755804288.563 [DAT](INFO): DAT read: 19:24:46.6633 LVL= 10128,  7889, 16210, 17651, AGC= 79, IDX=  63, 0.46, 1.921, 1.763, 0.802, 1.900, PHS= 0.123,-0.092,-1.141, RAW=  39.2,  18.5, CAL=  35.4,  21.4, ROT= 114.6, -21.4

2025-08-21T19:24:48.564Z,1755804288.564 [DAT](INFO): got valid direction response:
 19:24:46.6633 LVL= 10128,  7889, 16210, 17651, AGC= 79, IDX=  63, 0.46, 1.921, 1.763, 0.802, 1.900, PHS= 0.123,-0.092,-1.141, RAW=  39.2,  18.5, CAL=  35.4,  21.4, ROT= 114.6, -21.4

2025-08-21T19:24:48.565Z,1755804288.565 [DAT](INFO): DAT read: Bearing  67.7,  60.5 (Local)

2025-08-21T19:24:48.565Z,1755804288.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.7,  60.5 (Local)

2025-08-21T19:24:48.566Z,1755804288.566 [DAT](INFO): DAT read: Range 11 to 50 : 227.5 m  (Round-trip  303.4 ms) speed -0.5 m/s

2025-08-21T19:24:48.567Z,1755804288.567 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:24:48.568Z,1755804288.568 [DAT](INFO): direction in FSK: [-0.387581,0.846550,0.364877]
2025-08-21T19:24:48.569Z,1755804288.569 [DAT](INFO): publishing direction and range info
2025-08-21T19:24:55.608Z,1755804295.608 [NAL9602](INFO): SBD MO Status=2, MOMSN=948, MT Status=2, MTMSN=0
2025-08-21T19:24:55.608Z,1755804295.608 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:24:59.188Z,1755804299.188 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:25:13.864Z,1755804313.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:25:18.638Z,1755804318.638 [NAL9602](INFO): SBD MO Status=2, MOMSN=948, MT Status=2, MTMSN=0
2025-08-21T19:25:18.638Z,1755804318.638 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:25:29.447Z,1755804329.447 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:25:39.650Z,1755804339.650 [NAL9602](INFO): SBD MO Status=2, MOMSN=948, MT Status=2, MTMSN=0
2025-08-21T19:25:39.650Z,1755804339.650 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:25:43.828Z,1755804343.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:25:44.527Z,1755804344.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:25:44.548Z,1755804344.548 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:25:44.549Z,1755804344.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:25:44.801Z,1755804344.801 [DAT](INFO): DAT read: user:3919>

2025-08-21T19:25:44.802Z,1755804344.802 [DAT](INFO): DAT read: Tx time:19:25:43.9558

2025-08-21T19:25:44.803Z,1755804344.803 [DAT](INFO): Ping request sent.
2025-08-21T19:25:44.823Z,1755804344.823 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:25:44.823Z,1755804344.823 [DAT](INFO): publishing transmit ping time
2025-08-21T19:25:44.824Z,1755804344.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.021171
2025-08-21T19:25:45.055Z,1755804345.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252105
2025-08-21T19:25:45.305Z,1755804345.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502089
2025-08-21T19:25:45.557Z,1755804345.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753953
2025-08-21T19:25:45.809Z,1755804345.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006542
2025-08-21T19:25:46.060Z,1755804346.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257422
2025-08-21T19:25:46.315Z,1755804346.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511750
2025-08-21T19:25:46.568Z,1755804346.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765450
2025-08-21T19:25:46.820Z,1755804346.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017630
2025-08-21T19:25:47.075Z,1755804347.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271686
2025-08-21T19:25:47.324Z,1755804347.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521612
2025-08-21T19:25:47.576Z,1755804347.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773542
2025-08-21T19:25:47.828Z,1755804347.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025432
2025-08-21T19:25:48.081Z,1755804348.081 [DAT](INFO): DAT read: Rx Time:19:25:46.6755

2025-08-21T19:25:48.081Z,1755804348.081 [DAT](INFO): Rx dataTimestamp_ set to:1755804348.080928
2025-08-21T19:25:48.082Z,1755804348.082 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-21T19:25:48.082Z,1755804348.082 [DAT](INFO): Received low SNR in chirp
2025-08-21T19:25:48.096Z,1755804348.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293025
2025-08-21T19:25:48.332Z,1755804348.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529538
2025-08-21T19:25:48.584Z,1755804348.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781615
2025-08-21T19:25:48.836Z,1755804348.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033590
2025-08-21T19:25:49.088Z,1755804349.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285608
2025-08-21T19:25:49.340Z,1755804349.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537304
2025-08-21T19:25:49.592Z,1755804349.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789621
2025-08-21T19:25:49.844Z,1755804349.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041334
2025-08-21T19:25:50.096Z,1755804350.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293560
2025-08-21T19:25:50.349Z,1755804350.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545697
2025-08-21T19:25:50.600Z,1755804350.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797375
2025-08-21T19:25:50.853Z,1755804350.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049768
2025-08-21T19:25:51.105Z,1755804351.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301703
2025-08-21T19:25:51.356Z,1755804351.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553239
2025-08-21T19:25:51.608Z,1755804351.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805674
2025-08-21T19:25:51.860Z,1755804351.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057441
2025-08-21T19:25:52.112Z,1755804352.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309626
2025-08-21T19:25:52.364Z,1755804352.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561647
2025-08-21T19:25:52.616Z,1755804352.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813623
2025-08-21T19:25:52.868Z,1755804352.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065618
2025-08-21T19:25:53.122Z,1755804353.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318812
2025-08-21T19:25:53.372Z,1755804353.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569517
2025-08-21T19:25:53.624Z,1755804353.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821489
2025-08-21T19:25:53.881Z,1755804353.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078213
2025-08-21T19:25:54.132Z,1755804354.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329619
2025-08-21T19:25:54.384Z,1755804354.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581576
2025-08-21T19:25:54.637Z,1755804354.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833804
2025-08-21T19:25:54.888Z,1755804354.888 [DAT](INFO): Reached modem response timeout
2025-08-21T19:25:57.161Z,1755804357.161 [DAT](INFO): DAT read: Response Not Received

2025-08-21T19:25:57.161Z,1755804357.161 [DAT](INFO): response not received
2025-08-21T19:25:57.161Z,1755804357.161 [DAT](ERROR): No response from remote modem.
2025-08-21T19:25:58.239Z,1755804358.239 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:26:02.685Z,1755804362.685 [NAL9602](INFO): SBD MO Status=2, MOMSN=948, MT Status=2, MTMSN=0
2025-08-21T19:26:02.686Z,1755804362.686 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:26:09.608Z,1755804369.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:26:18.736Z,1755804378.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:26:27.825Z,1755804387.825 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:26:37.280Z,1755804397.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:26:44.731Z,1755804404.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:26:44.840Z,1755804404.840 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:26:44.840Z,1755804404.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:26:45.092Z,1755804405.092 [DAT](INFO): DAT read: 

2025-08-21T19:26:45.093Z,1755804405.093 [DAT](INFO): DAT read: Tx time:19:26:44.2557

2025-08-21T19:26:45.093Z,1755804405.093 [DAT](INFO): Ping request sent.
2025-08-21T19:26:45.093Z,1755804405.093 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:26:45.093Z,1755804405.093 [DAT](INFO): publishing transmit ping time
2025-08-21T19:26:45.094Z,1755804405.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-21T19:26:45.344Z,1755804405.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251180
2025-08-21T19:26:45.596Z,1755804405.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503240
2025-08-21T19:26:45.849Z,1755804405.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755534
2025-08-21T19:26:46.100Z,1755804406.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007199
2025-08-21T19:26:46.352Z,1755804406.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259295
2025-08-21T19:26:46.412Z,1755804406.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:26:46.604Z,1755804406.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511247
2025-08-21T19:26:46.856Z,1755804406.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763220
2025-08-21T19:26:47.108Z,1755804407.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015274
2025-08-21T19:26:47.360Z,1755804407.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267117
2025-08-21T19:26:47.612Z,1755804407.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519186
2025-08-21T19:26:47.864Z,1755804407.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771228
2025-08-21T19:26:48.116Z,1755804408.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023153
2025-08-21T19:26:48.369Z,1755804408.369 [DAT](INFO): DAT read: Rx Time:19:26:46.9862

2025-08-21T19:26:48.369Z,1755804408.369 [DAT](INFO): Rx dataTimestamp_ set to:1755804408.368860
2025-08-21T19:26:48.370Z,1755804408.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276675
2025-08-21T19:26:48.620Z,1755804408.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527318
2025-08-21T19:26:48.879Z,1755804408.879 [DAT](INFO): DAT read: 19:26:46.9862 LVL= 12752, 15121, 12786, 17395, AGC= 78, IDX=  27,-0.36,-0.913,-1.030,-2.079,-1.018, PHS= 0.207, 0.032,-1.105, RAW=  37.0,  13.9, CAL=  34.3,  15.6, ROT= 115.7, -15.6

2025-08-21T19:26:48.880Z,1755804408.880 [DAT](INFO): got valid direction response:
 19:26:46.9862 LVL= 12752, 15121, 12786, 17395, AGC= 78, IDX=  27,-0.36,-0.913,-1.030,-2.079,-1.018, PHS= 0.207, 0.032,-1.105, RAW=  37.0,  13.9, CAL=  34.3,  15.6, ROT= 115.7, -15.6

2025-08-21T19:26:48.881Z,1755804408.881 [DAT](INFO): DAT read: Range 11 to 50 : 244.7 m  (Round-trip  326.3 ms) speed -0.5 m/s

2025-08-21T19:26:48.882Z,1755804408.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:26:48.883Z,1755804408.883 [DAT](INFO): direction in FSK: [-0.417684,0.867884,0.268920]
2025-08-21T19:26:48.883Z,1755804408.883 [DAT](INFO): publishing direction and range info
2025-08-21T19:26:55.628Z,1755804415.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:26:57.238Z,1755804417.238 [NAL9602](INFO): SBD MO Status=2, MOMSN=948, MT Status=2, MTMSN=0
2025-08-21T19:26:57.238Z,1755804417.238 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T19:27:04.740Z,1755804424.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:27:13.848Z,1755804433.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:27:23.036Z,1755804443.036 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:27:32.116Z,1755804452.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:27:41.080Z,1755804461.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:27:44.973Z,1755804464.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:27:45.109Z,1755804465.109 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:27:45.109Z,1755804465.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:27:45.360Z,1755804465.360 [DAT](INFO): DAT read: user:3921>

2025-08-21T19:27:45.361Z,1755804465.361 [DAT](INFO): DAT read: Tx time:19:27:44.5557

2025-08-21T19:27:45.361Z,1755804465.361 [DAT](INFO): Ping request sent.
2025-08-21T19:27:45.361Z,1755804465.361 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:27:45.362Z,1755804465.362 [DAT](INFO): publishing transmit ping time
2025-08-21T19:27:45.363Z,1755804465.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001560
2025-08-21T19:27:45.613Z,1755804465.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251614
2025-08-21T19:27:45.864Z,1755804465.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502889
2025-08-21T19:27:46.117Z,1755804466.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755562
2025-08-21T19:27:46.368Z,1755804466.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006840
2025-08-21T19:27:46.621Z,1755804466.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259524
2025-08-21T19:27:46.872Z,1755804466.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510916
2025-08-21T19:27:47.125Z,1755804467.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763535
2025-08-21T19:27:47.376Z,1755804467.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014911
2025-08-21T19:27:47.629Z,1755804467.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267752
2025-08-21T19:27:47.880Z,1755804467.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518800
2025-08-21T19:27:48.133Z,1755804468.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771266
2025-08-21T19:27:48.384Z,1755804468.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022862
2025-08-21T19:27:48.636Z,1755804468.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275025
2025-08-21T19:27:48.888Z,1755804468.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527098
2025-08-21T19:27:49.140Z,1755804469.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778842
2025-08-21T19:27:49.392Z,1755804469.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030894
2025-08-21T19:27:49.648Z,1755804469.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286742
2025-08-21T19:27:49.896Z,1755804469.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534874
2025-08-21T19:27:50.149Z,1755804470.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787215
2025-08-21T19:27:50.289Z,1755804470.289 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:27:50.400Z,1755804470.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038811
2025-08-21T19:27:50.532Z,1755804470.532 [CTD_Seabird](ERROR): Failed to parse device response: 0.08,15.6189,
2025-08-21T19:27:50.653Z,1755804470.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291335
2025-08-21T19:27:50.904Z,1755804470.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542792
2025-08-21T19:27:51.157Z,1755804471.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795347
2025-08-21T19:27:51.408Z,1755804471.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046981
2025-08-21T19:27:51.661Z,1755804471.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299170
2025-08-21T19:27:51.912Z,1755804471.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550680
2025-08-21T19:27:52.164Z,1755804472.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803010
2025-08-21T19:27:52.416Z,1755804472.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054846
2025-08-21T19:27:52.669Z,1755804472.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307170
2025-08-21T19:27:52.920Z,1755804472.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558943
2025-08-21T19:27:53.173Z,1755804473.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811289
2025-08-21T19:27:53.424Z,1755804473.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062889
2025-08-21T19:27:53.676Z,1755804473.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314917
2025-08-21T19:27:53.928Z,1755804473.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566889
2025-08-21T19:27:54.181Z,1755804474.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819402
2025-08-21T19:27:54.432Z,1755804474.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070940
2025-08-21T19:27:54.684Z,1755804474.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322975
2025-08-21T19:27:54.936Z,1755804474.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575089
2025-08-21T19:27:55.188Z,1755804475.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827063
2025-08-21T19:27:55.440Z,1755804475.440 [DAT](INFO): Reached modem response timeout
2025-08-21T19:27:57.708Z,1755804477.708 [DAT](INFO): DAT read: Response Not Received

2025-08-21T19:27:57.709Z,1755804477.709 [DAT](INFO): response not received
2025-08-21T19:27:57.709Z,1755804477.709 [DAT](ERROR): No response from remote modem.
2025-08-21T19:27:59.840Z,1755804479.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:28:10.784Z,1755804490.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:28:19.760Z,1755804499.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:28:31.294Z,1755804511.294 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:28:40.464Z,1755804520.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:28:45.228Z,1755804525.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:28:45.396Z,1755804525.396 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:28:45.396Z,1755804525.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:28:45.648Z,1755804525.648 [DAT](INFO): DAT read: user:3922>

2025-08-21T19:28:45.649Z,1755804525.649 [DAT](INFO): DAT read: Tx time:19:28:44.8056

2025-08-21T19:28:45.649Z,1755804525.649 [DAT](INFO): Ping request sent.
2025-08-21T19:28:45.649Z,1755804525.649 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:28:45.649Z,1755804525.649 [DAT](INFO): publishing transmit ping time
2025-08-21T19:28:45.650Z,1755804525.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T19:28:45.900Z,1755804525.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250990
2025-08-21T19:28:46.153Z,1755804526.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503160
2025-08-21T19:28:46.404Z,1755804526.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755106
2025-08-21T19:28:46.656Z,1755804526.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006909
2025-08-21T19:28:46.911Z,1755804526.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261228
2025-08-21T19:28:47.161Z,1755804527.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511795
2025-08-21T19:28:47.412Z,1755804527.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762917
2025-08-21T19:28:47.668Z,1755804527.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018919
2025-08-21T19:28:47.921Z,1755804527.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271174
2025-08-21T19:28:48.173Z,1755804528.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523254
2025-08-21T19:28:48.424Z,1755804528.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774871
2025-08-21T19:28:48.676Z,1755804528.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026863
2025-08-21T19:28:48.928Z,1755804528.928 [DAT](INFO): DAT read: Rx Time:19:28:47.5608

2025-08-21T19:28:48.929Z,1755804528.929 [DAT](INFO): Rx dataTimestamp_ set to:1755804528.928541
2025-08-21T19:28:48.929Z,1755804528.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280046
2025-08-21T19:28:49.181Z,1755804529.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531500
2025-08-21T19:28:49.433Z,1755804529.433 [DAT](INFO): DAT read: $Error in header

2025-08-21T19:28:49.433Z,1755804529.433 [DAT](INFO): Received a bad header
2025-08-21T19:28:49.448Z,1755804529.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.798349
2025-08-21T19:28:49.508Z,1755804529.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:28:49.684Z,1755804529.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034910
2025-08-21T19:28:49.936Z,1755804529.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286828
2025-08-21T19:28:50.188Z,1755804530.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538853
2025-08-21T19:28:50.440Z,1755804530.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790966
2025-08-21T19:28:50.692Z,1755804530.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042804
2025-08-21T19:28:50.944Z,1755804530.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294850
2025-08-21T19:28:51.196Z,1755804531.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546957
2025-08-21T19:28:51.448Z,1755804531.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798829
2025-08-21T19:28:51.701Z,1755804531.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051894
2025-08-21T19:28:51.952Z,1755804531.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302959
2025-08-21T19:28:52.204Z,1755804532.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555042
2025-08-21T19:28:52.457Z,1755804532.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807211
2025-08-21T19:28:52.708Z,1755804532.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058979
2025-08-21T19:28:52.960Z,1755804532.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310881
2025-08-21T19:28:53.212Z,1755804533.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562981
2025-08-21T19:28:53.464Z,1755804533.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814977
2025-08-21T19:28:53.718Z,1755804533.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068822
2025-08-21T19:28:53.968Z,1755804533.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318919
2025-08-21T19:28:54.229Z,1755804534.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579756
2025-08-21T19:28:54.480Z,1755804534.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830897
2025-08-21T19:28:54.732Z,1755804534.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082907
2025-08-21T19:28:54.984Z,1755804534.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334944
2025-08-21T19:28:55.236Z,1755804535.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586702
2025-08-21T19:28:55.488Z,1755804535.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839003
2025-08-21T19:28:55.740Z,1755804535.740 [DAT](INFO): Reached modem response timeout
2025-08-21T19:28:56.450Z,1755804536.450 [NAL9602](INFO): SBD MO Status=0, MOMSN=948, MT Status=0, MTMSN=0
2025-08-21T19:28:56.450Z,1755804536.450 [NAL9602](INFO): No messages in MT queue
2025-08-21T19:28:57.658Z,1755804537.658 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192857.00,A,3646.80587,N,12151.41483,W,0.272,65.44,210825,,,D*48
2025-08-21T19:28:57.661Z,1755804537.661 [NAL9602](INFO): GPS fix at 20250821T192857: (36.780098, -121.856914)
2025-08-21T19:28:57.694Z,1755804537.694 [lineCaptureHoming:NeedComms:E] Stopped
2025-08-21T19:28:57.700Z,1755804537.700 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-08-21T19:28:57.700Z,1755804537.700 [lineCaptureHoming:NeedComms] Stopped
2025-08-21T19:28:57.700Z,1755804537.700 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-08-21T19:28:57.700Z,1755804537.700 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-08-21T19:28:57.700Z,1755804537.700 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-21T19:28:58.010Z,1755804538.010 [DAT](INFO): DAT read: Response Not Received

2025-08-21T19:28:58.010Z,1755804538.010 [DAT](INFO): response not received
2025-08-21T19:28:58.011Z,1755804538.011 [DAT](ERROR): No response from remote modem.
2025-08-21T19:28:58.125Z,1755804538.125 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-08-21T19:28:58.125Z,1755804538.125 [lineCaptureHoming:StartingMission] Stopped
2025-08-21T19:28:58.125Z,1755804538.125 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-08-21T19:28:58.125Z,1755804538.125 [lineCaptureHoming:Z] Running Loop=1
2025-08-21T19:28:58.498Z,1755804538.498 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-08-21T19:28:58.498Z,1755804538.498 [lineCaptureHoming:Z] Stopped
2025-08-21T19:28:58.499Z,1755804538.499 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-08-21T19:28:58.922Z,1755804538.922 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-08-21T19:28:58.931Z,1755804538.931 [lineCaptureHoming:BA.Execute] Stopped
2025-08-21T19:28:58.932Z,1755804538.932 [lineCaptureHoming:InitialDive] Running Loop=1
2025-08-21T19:28:58.932Z,1755804538.932 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-08-21T19:28:58.932Z,1755804538.932 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-21T19:28:58.932Z,1755804538.932 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-08-21T19:28:58.932Z,1755804538.932 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-21T19:28:58.932Z,1755804538.932 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-08-21T19:28:58.932Z,1755804538.932 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-08-21T19:28:58.932Z,1755804538.932 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.