2025-08-22T01:12:54.489Z,1755825174.489 [CommandExec](IMPORTANT): got command restart logs
2025-08-22T01:12:54.624Z,1755825174.624 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=3.265198
2025-08-22T01:12:54.758Z,1755825174.758 [OnDock:N.Docked](FAULT): Off dock, range to dock 16.299999 exceeded threshold.
2025-08-22T01:12:54.758Z,1755825174.758 [OnDock:N.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-22T01:12:54.882Z,1755825174.882 [DAT](INFO): DAT read: 01:12:53.0701 LVL= 32752, 21121, 27122, 32755, AGC= 51, IDX= 438, 0.43, 2.717,-1.562,-1.915,-1.995, PHS=-1.469, 0.479, 0.036, RAW= 282.5,  10.8, CAL= 280.7,  14.7, ROT= 229.3, -14.7

2025-08-22T01:12:54.883Z,1755825174.883 [DAT](INFO): got valid direction response:
 01:12:53.0701 LVL= 32752, 21121, 27122, 32755, AGC= 51, IDX= 438, 0.43, 2.717,-1.562,-1.915,-1.995, PHS=-1.469, 0.479, 0.036, RAW= 282.5,  10.8, CAL= 280.7,  14.7, ROT= 229.3, -14.7

2025-08-22T01:12:54.884Z,1755825174.884 [DAT](INFO): DAT read: Bearing 285.4, -47.1 (Local)

2025-08-22T01:12:54.884Z,1755825174.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.4, -47.1 (Local)

2025-08-22T01:12:54.886Z,1755825174.886 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m  (Round-trip  22.8 ms) speed -0.2 m/s

2025-08-22T01:12:54.887Z,1755825174.887 [DAT](INFO): DAT read: user:6031>

2025-08-22T01:12:54.887Z,1755825174.887 [DAT](INFO): DAT read: Tx time:01:12:54.1931

2025-08-22T01:12:54.888Z,1755825174.888 [DAT](INFO): Ping request sent.
2025-08-22T01:12:54.888Z,1755825174.888 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:12:54.888Z,1755825174.888 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T01:12:54.889Z,1755825174.889 [DAT](INFO): direction in FSK: [-0.630754,-0.733319,0.253758]
2025-08-22T01:12:54.889Z,1755825174.889 [DAT](INFO): publishing transmit ping time
2025-08-22T01:12:54.890Z,1755825174.890 [DAT](INFO): publishing direction and range info
2025-08-22T01:12:54.897Z,1755825174.897 [DAT](INFO): publishing transmit ping time
2025-08-22T01:12:54.897Z,1755825174.897 [DAT](INFO): publishing direction and range info
2025-08-22T01:12:54.901Z,1755825174.901 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.013122
2025-08-22T01:12:54.901Z,1755825174.901 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T01:12:55.128Z,1755825175.128 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.240513
2025-08-22T01:12:55.129Z,1755825175.129 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T01:12:55.164Z,1755825175.164 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-22T01:12:55.380Z,1755825175.380 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.492472
2025-08-22T01:12:55.381Z,1755825175.381 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T01:12:55.634Z,1755825175.634 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.746249
2025-08-22T01:12:55.697Z,1755825175.697 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-22T01:12:55.884Z,1755825175.884 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.996432
2025-08-22T01:12:56.136Z,1755825176.136 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.248470
2025-08-22T01:12:56.388Z,1755825176.388 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.500391
2025-08-22T01:12:56.641Z,1755825176.641 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.752676
2025-08-22T01:12:56.892Z,1755825176.892 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.004463
2025-08-22T01:12:57.146Z,1755825177.146 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.257379
2025-08-22T01:12:57.400Z,1755825177.400 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.511501
2025-08-22T01:12:57.649Z,1755825177.649 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.761040
2025-08-22T01:12:57.900Z,1755825177.900 [DAT](INFO): DAT read: Rx Time:01:12:56.6208

2025-08-22T01:12:57.901Z,1755825177.901 [DAT](INFO): Rx dataTimestamp_ set to:1755825177.900436
2025-08-22T01:12:57.901Z,1755825177.901 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=3.013426
2025-08-22T01:12:58.153Z,1755825178.153 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=3.265296
2025-08-22T01:12:58.411Z,1755825178.411 [DAT](INFO): DAT read: 01:12:56.6208 LVL= 32752, 21137, 26402, 32755, AGC= 50, IDX= 431, 0.34,-0.757, 1.272, 0.833, 0.738, PHS=-1.394, 0.579, 0.051, RAW= 285.0,   8.7, CAL= 283.1,   9.1, ROT= 226.9,  -9.1

2025-08-22T01:12:58.412Z,1755825178.412 [DAT](INFO): got valid direction response:
 01:12:56.6208 LVL= 32752, 21137, 26402, 32755, AGC= 50, IDX= 431, 0.34,-0.757, 1.272, 0.833, 0.738, PHS=-1.394, 0.579, 0.051, RAW= 285.0,   8.7, CAL= 283.1,   9.1, ROT= 226.9,  -9.1

2025-08-22T01:12:58.413Z,1755825178.413 [DAT](INFO): DAT read: Bearing 296.1, -43.2 (Local)

2025-08-22T01:12:58.414Z,1755825178.414 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.1, -43.2 (Local)

2025-08-22T01:12:58.415Z,1755825178.415 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m  (Round-trip  23.7 ms) speed -0.2 m/s

2025-08-22T01:12:58.416Z,1755825178.416 [DAT](INFO): DAT read: user:6032>

2025-08-22T01:12:58.417Z,1755825178.417 [DAT](INFO): DAT read: Tx time:01:12:57.7430

2025-08-22T01:12:58.417Z,1755825178.417 [DAT](INFO): Ping request sent.
2025-08-22T01:12:58.417Z,1755825178.417 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:12:58.417Z,1755825178.417 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T01:12:58.418Z,1755825178.418 [DAT](INFO): direction in FSK: [-0.674674,-0.720972,0.158158]
2025-08-22T01:12:58.418Z,1755825178.418 [DAT](INFO): publishing transmit ping time
2025-08-22T01:12:58.419Z,1755825178.419 [DAT](INFO): publishing direction and range info
2025-08-22T01:12:58.426Z,1755825178.426 [DAT](INFO): publishing transmit ping time
2025-08-22T01:12:58.426Z,1755825178.426 [DAT](INFO): publishing direction and range info
2025-08-22T01:12:58.434Z,1755825178.434 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.016628
2025-08-22T01:12:58.656Z,1755825178.656 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.239262
2025-08-22T01:12:58.909Z,1755825178.909 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.491558
2025-08-22T01:12:59.161Z,1755825179.161 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.743808
2025-08-22T01:12:59.415Z,1755825179.415 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.997261
2025-08-22T01:12:59.666Z,1755825179.666 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.249306
2025-08-22T01:12:59.916Z,1755825179.916 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.499327
2025-08-22T01:13:00.169Z,1755825180.169 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.751929
2025-08-22T01:13:00.423Z,1755825180.423 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.005600
2025-08-22T01:13:00.672Z,1755825180.672 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.255303
2025-08-22T01:13:00.930Z,1755825180.930 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.512641
2025-08-22T01:13:01.180Z,1755825181.180 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.763387
2025-08-22T01:13:01.435Z,1755825181.435 [DAT](INFO): DAT read: Rx Time:01:13:00.1718

2025-08-22T01:13:01.437Z,1755825181.437 [DAT](INFO): Rx dataTimestamp_ set to:1755825181.435848
2025-08-22T01:13:01.439Z,1755825181.439 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=3.021132
2025-08-22T01:13:01.686Z,1755825181.686 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=3.268794
2025-08-22T01:13:01.945Z,1755825181.945 [DAT](INFO): DAT read: 01:13:00.1718 LVL= 31136, 19105, 26018, 32755, AGC= 50, IDX= 441,-0.15,-2.964,-0.926,-1.436,-1.503, PHS=-1.360, 0.622, 0.022, RAW= 287.2,   8.2, CAL= 285.1,   8.0, ROT= 224.9,  -8.0

2025-08-22T01:13:01.946Z,1755825181.946 [DAT](INFO): got valid direction response:
 01:13:00.1718 LVL= 31136, 19105, 26018, 32755, AGC= 50, IDX= 441,-0.15,-2.964,-0.926,-1.436,-1.503, PHS=-1.360, 0.622, 0.022, RAW= 287.2,   8.2, CAL= 285.1,   8.0, ROT= 224.9,  -8.0

2025-08-22T01:13:01.947Z,1755825181.947 [DAT](INFO): DAT read: Bearing 299.7, -39.9 (Local)

2025-08-22T01:13:01.948Z,1755825181.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.7, -39.9 (Local)

2025-08-22T01:13:01.952Z,1755825181.952 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m  (Round-trip  24.7 ms) speed -0.2 m/s

2025-08-22T01:13:01.954Z,1755825181.954 [DAT](INFO): DAT read: user:6033>

2025-08-22T01:13:01.955Z,1755825181.955 [DAT](INFO): DAT read: Tx time:01:13:01.2930

2025-08-22T01:13:01.956Z,1755825181.956 [DAT](INFO): Ping request sent.
2025-08-22T01:13:01.956Z,1755825181.956 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:01.956Z,1755825181.956 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T01:13:01.957Z,1755825181.957 [DAT](INFO): direction in FSK: [-0.701446,-0.699002,0.139173]
2025-08-22T01:13:01.957Z,1755825181.957 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:01.957Z,1755825181.957 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:01.966Z,1755825181.966 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:01.966Z,1755825181.966 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:01.969Z,1755825181.969 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.013607
2025-08-22T01:13:02.188Z,1755825182.188 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.232586
2025-08-22T01:13:02.443Z,1755825182.443 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.486728
2025-08-22T01:13:02.693Z,1755825182.693 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.736829
2025-08-22T01:13:02.944Z,1755825182.944 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.988559
2025-08-22T01:13:03.196Z,1755825183.196 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.240516
2025-08-22T01:13:03.451Z,1755825183.451 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.494673
2025-08-22T01:13:03.701Z,1755825183.701 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.745113
2025-08-22T01:13:03.957Z,1755825183.957 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.000074
2025-08-22T01:13:04.204Z,1755825184.204 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.248502
2025-08-22T01:13:04.458Z,1755825184.458 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.501990
2025-08-22T01:13:04.708Z,1755825184.708 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.752555
2025-08-22T01:13:04.960Z,1755825184.960 [DAT](INFO): DAT read: Rx Time:01:13:03.7226

2025-08-22T01:13:04.961Z,1755825184.961 [DAT](INFO): Rx dataTimestamp_ set to:1755825184.960471
2025-08-22T01:13:04.961Z,1755825184.961 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=3.005561
2025-08-22T01:13:05.212Z,1755825185.212 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=3.256549
2025-08-22T01:13:05.488Z,1755825185.488 [DAT](INFO): DAT read: 01:13:03.7226 LVL= 31936, 20641, 27874, 32403, AGC= 52, IDX= 434,-0.46, 0.805, 2.854, 2.353, 2.269, PHS=-1.362, 0.630, 0.041, RAW= 286.7,   7.8, CAL= 284.7,   7.1, ROT= 225.3,  -7.1

2025-08-22T01:13:05.493Z,1755825185.493 [DAT](INFO): got valid direction response:
 01:13:03.7226 LVL= 31936, 20641, 27874, 32403, AGC= 52, IDX= 434,-0.46, 0.805, 2.854, 2.353, 2.269, PHS=-1.362, 0.630, 0.041, RAW= 286.7,   7.8, CAL= 284.7,   7.1, ROT= 225.3,  -7.1

2025-08-22T01:13:05.506Z,1755825185.506 [DAT](INFO): DAT read: Bearing 301.5, -40.8 (Local)

2025-08-22T01:13:05.512Z,1755825185.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.5, -40.8 (Local)

2025-08-22T01:13:05.521Z,1755825185.521 [DAT](INFO): DAT read: Range 11 to 50 : 19.0 m  (Round-trip  25.4 ms) speed -0.2 m/s

2025-08-22T01:13:05.531Z,1755825185.531 [DAT](INFO): DAT read: user:6034>

2025-08-22T01:13:05.532Z,1755825185.532 [DAT](INFO): DAT read: Tx time:01:13:04.8430

2025-08-22T01:13:05.532Z,1755825185.532 [DAT](INFO): Ping request sent.
2025-08-22T01:13:05.532Z,1755825185.532 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:05.533Z,1755825185.533 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T01:13:05.534Z,1755825185.534 [DAT](INFO): direction in FSK: [-0.698001,-0.705349,0.123601]
2025-08-22T01:13:05.534Z,1755825185.534 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:05.534Z,1755825185.534 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:05.547Z,1755825185.547 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:05.548Z,1755825185.548 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:05.551Z,1755825185.551 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.018220
2025-08-22T01:13:05.717Z,1755825185.717 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.184147
2025-08-22T01:13:05.968Z,1755825185.968 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.435895
2025-08-22T01:13:06.220Z,1755825186.220 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.687845
2025-08-22T01:13:06.476Z,1755825186.476 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.943253
2025-08-22T01:13:06.724Z,1755825186.724 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.191890
2025-08-22T01:13:06.976Z,1755825186.976 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.443805
2025-08-22T01:13:07.229Z,1755825187.229 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.696118
2025-08-22T01:13:07.481Z,1755825187.481 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.948011
2025-08-22T01:13:07.733Z,1755825187.733 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.200166
2025-08-22T01:13:07.984Z,1755825187.984 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.451973
2025-08-22T01:13:08.236Z,1755825188.236 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.703755
2025-08-22T01:13:08.491Z,1755825188.491 [DAT](INFO): DAT read: Rx Time:01:13:07.2736

2025-08-22T01:13:08.493Z,1755825188.493 [DAT](INFO): Rx dataTimestamp_ set to:1755825188.491635
2025-08-22T01:13:08.494Z,1755825188.494 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.961288
2025-08-22T01:13:08.740Z,1755825188.740 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=3.207987
2025-08-22T01:13:08.995Z,1755825188.995 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=3.461950
2025-08-22T01:13:09.250Z,1755825189.250 [DAT](INFO): DAT read: 01:13:07.2736 LVL= 32640, 21409, 27266, 32755, AGC= 51, IDX= 443,-0.25, 2.776,-1.462,-1.975,-2.036, PHS=-1.369, 0.619, 0.018, RAW= 287.2,   8.3, CAL= 285.1,   8.4, ROT= 224.9,  -8.4

2025-08-22T01:13:09.251Z,1755825189.251 [DAT](INFO): got valid direction response:
 01:13:07.2736 LVL= 32640, 21409, 27266, 32755, AGC= 51, IDX= 443,-0.25, 2.776,-1.462,-1.975,-2.036, PHS=-1.369, 0.619, 0.018, RAW= 287.2,   8.3, CAL= 285.1,   8.4, ROT= 224.9,  -8.4

2025-08-22T01:13:09.260Z,1755825189.260 [DAT](INFO): DAT read: Bearing 300.2, -41.4 (Local)

2025-08-22T01:13:09.260Z,1755825189.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.2, -41.4 (Local)

2025-08-22T01:13:09.262Z,1755825189.262 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m  (Round-trip  26.4 ms) speed -0.2 m/s

2025-08-22T01:13:09.262Z,1755825189.262 [DAT](INFO): DAT read: user:6035>

2025-08-22T01:13:09.287Z,1755825189.287 [DAT](INFO): DAT read: Tx time:01:13:08.3930

2025-08-22T01:13:09.287Z,1755825189.287 [DAT](INFO): Ping request sent.
2025-08-22T01:13:09.287Z,1755825189.287 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:09.288Z,1755825189.288 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T01:13:09.289Z,1755825189.289 [DAT](INFO): direction in FSK: [-0.700741,-0.698299,0.146083]
2025-08-22T01:13:09.289Z,1755825189.289 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:09.289Z,1755825189.289 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:09.313Z,1755825189.313 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:09.313Z,1755825189.313 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:09.329Z,1755825189.329 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.041508
2025-08-22T01:13:09.496Z,1755825189.496 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.208822
2025-08-22T01:13:09.749Z,1755825189.749 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.461229
2025-08-22T01:13:10.000Z,1755825190.000 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.712801
2025-08-22T01:13:10.252Z,1755825190.252 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.964784
2025-08-22T01:13:10.507Z,1755825190.507 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.219256
2025-08-22T01:13:10.756Z,1755825190.756 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.468796
2025-08-22T01:13:11.008Z,1755825191.008 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.720871
2025-08-22T01:13:11.260Z,1755825191.260 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.972833
2025-08-22T01:13:11.512Z,1755825191.512 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.224805
2025-08-22T01:13:11.765Z,1755825191.765 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.477262
2025-08-22T01:13:12.016Z,1755825192.016 [DAT](INFO): DAT read: Rx Time:01:13:10.8244

2025-08-22T01:13:12.017Z,1755825192.017 [DAT](INFO): Rx dataTimestamp_ set to:1755825192.016468
2025-08-22T01:13:12.017Z,1755825192.017 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.729927
2025-08-22T01:13:12.268Z,1755825192.268 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.980807
2025-08-22T01:13:12.520Z,1755825192.520 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=3.233092
2025-08-22T01:13:12.778Z,1755825192.778 [DAT](INFO): DAT read: 01:13:10.8244 LVL= 32752, 23169, 27186, 32755, AGC= 50, IDX= 436, 0.38,-2.556,-0.533,-1.001,-1.062, PHS=-1.391, 0.574, 0.018, RAW= 285.9,   9.2, CAL= 283.9,  10.4, ROT= 226.1, -10.4

2025-08-22T01:13:12.779Z,1755825192.779 [DAT](INFO): got valid direction response:
 01:13:10.8244 LVL= 32752, 23169, 27186, 32755, AGC= 50, IDX= 436, 0.38,-2.556,-0.533,-1.001,-1.062, PHS=-1.391, 0.574, 0.018, RAW= 285.9,   9.2, CAL= 283.9,  10.4, ROT= 226.1, -10.4

2025-08-22T01:13:12.780Z,1755825192.780 [DAT](INFO): DAT read: Bearing 296.7, -43.3 (Local)

2025-08-22T01:13:12.780Z,1755825192.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.7, -43.3 (Local)

2025-08-22T01:13:12.782Z,1755825192.782 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m  (Round-trip  27.3 ms) speed -0.2 m/s

2025-08-22T01:13:12.782Z,1755825192.782 [DAT](INFO): DAT read: user:6036>

2025-08-22T01:13:12.787Z,1755825192.787 [DAT](INFO): DAT read: Tx time:01:13:11.9429

2025-08-22T01:13:12.788Z,1755825192.788 [DAT](INFO): Ping request sent.
2025-08-22T01:13:12.788Z,1755825192.788 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:12.788Z,1755825192.788 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T01:13:12.789Z,1755825192.789 [DAT](INFO): direction in FSK: [-0.682010,-0.708714,0.180519]
2025-08-22T01:13:12.789Z,1755825192.789 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:12.790Z,1755825192.790 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:12.793Z,1755825192.793 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:12.793Z,1755825192.793 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:12.828Z,1755825192.828 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.040597
2025-08-22T01:13:13.026Z,1755825193.026 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.237592
2025-08-22T01:13:13.277Z,1755825193.277 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.488621
2025-08-22T01:13:13.528Z,1755825193.528 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.740320
2025-08-22T01:13:13.793Z,1755825193.793 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.005520
2025-08-22T01:13:14.045Z,1755825194.045 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.256640
2025-08-22T01:13:14.296Z,1755825194.296 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.508353
2025-08-22T01:13:14.548Z,1755825194.548 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.760288
2025-08-22T01:13:14.800Z,1755825194.800 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.012603
2025-08-22T01:13:15.053Z,1755825195.053 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.264863
2025-08-22T01:13:15.304Z,1755825195.304 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.516304
2025-08-22T01:13:15.557Z,1755825195.557 [DAT](INFO): DAT read: Rx Time:01:13:14.3752

2025-08-22T01:13:15.557Z,1755825195.557 [DAT](INFO): Rx dataTimestamp_ set to:1755825195.556816
2025-08-22T01:13:15.558Z,1755825195.558 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.769774
2025-08-22T01:13:15.810Z,1755825195.810 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=3.022189
2025-08-22T01:13:16.060Z,1755825196.060 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=3.272474
2025-08-22T01:13:16.318Z,1755825196.318 [DAT](INFO): DAT read: 01:13:14.3752 LVL= 32752, 20449, 27058, 32755, AGC= 52, IDX= 429, 0.07, 1.040, 3.129, 2.660, 2.574, PHS=-1.432, 0.600, 0.041, RAW= 285.4,   8.7, CAL= 283.5,   9.3, ROT= 226.5,  -9.3

2025-08-22T01:13:16.320Z,1755825196.320 [DAT](INFO): got valid direction response:
 01:13:14.3752 LVL= 32752, 20449, 27058, 32755, AGC= 52, IDX= 429, 0.07, 1.040, 3.129, 2.660, 2.574, PHS=-1.432, 0.600, 0.041, RAW= 285.4,   8.7, CAL= 283.5,   9.3, ROT= 226.5,  -9.3

2025-08-22T01:13:16.320Z,1755825196.320 [DAT](INFO): DAT read: Bearing 297.6, -45.2 (Local)

2025-08-22T01:13:16.321Z,1755825196.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.6, -45.2 (Local)

2025-08-22T01:13:16.322Z,1755825196.322 [DAT](INFO): DAT read: Range 11 to 50 : 21.1 m  (Round-trip  28.2 ms) speed -0.2 m/s

2025-08-22T01:13:16.323Z,1755825196.323 [DAT](INFO): DAT read: user:6037>

2025-08-22T01:13:16.324Z,1755825196.324 [DAT](INFO): DAT read: Tx time:01:13:15.4929

2025-08-22T01:13:16.324Z,1755825196.324 [DAT](INFO): Ping request sent.
2025-08-22T01:13:16.324Z,1755825196.324 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:16.324Z,1755825196.324 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T01:13:16.325Z,1755825196.325 [DAT](INFO): direction in FSK: [-0.679307,-0.715840,0.161604]
2025-08-22T01:13:16.326Z,1755825196.326 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:16.326Z,1755825196.326 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:16.329Z,1755825196.329 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:16.329Z,1755825196.329 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:16.333Z,1755825196.333 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.008520
2025-08-22T01:13:16.564Z,1755825196.564 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.240180
2025-08-22T01:13:16.816Z,1755825196.816 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.491950
2025-08-22T01:13:17.072Z,1755825197.072 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.747533
2025-08-22T01:13:17.324Z,1755825197.324 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.000065
2025-08-22T01:13:17.576Z,1755825197.576 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.252019
2025-08-22T01:13:17.828Z,1755825197.828 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.504086
2025-08-22T01:13:18.080Z,1755825198.080 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.756063
2025-08-22T01:13:18.332Z,1755825198.332 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.007992
2025-08-22T01:13:18.585Z,1755825198.585 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.260385
2025-08-22T01:13:18.836Z,1755825198.836 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.512073
2025-08-22T01:13:19.089Z,1755825199.089 [DAT](INFO): DAT read: Rx Time:01:13:17.9262

2025-08-22T01:13:19.090Z,1755825199.090 [DAT](INFO): Rx dataTimestamp_ set to:1755825199.089359
2025-08-22T01:13:19.090Z,1755825199.090 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.766010
2025-08-22T01:13:19.340Z,1755825199.340 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=3.016293
2025-08-22T01:13:19.592Z,1755825199.592 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=3.268230
2025-08-22T01:13:19.852Z,1755825199.852 [DAT](INFO): DAT read: 01:13:17.9262 LVL= 31872, 19953, 28434, 32755, AGC= 52, IDX= 439, 0.01,-0.573, 1.472, 1.032, 0.950, PHS=-1.421, 0.567, 0.038, RAW= 284.9,   9.2, CAL= 283.0,  10.4, ROT= 227.0, -10.4

2025-08-22T01:13:19.853Z,1755825199.853 [DAT](INFO): got valid direction response:
 01:13:17.9262 LVL= 31872, 19953, 28434, 32755, AGC= 52, IDX= 439, 0.01,-0.573, 1.472, 1.032, 0.950, PHS=-1.421, 0.567, 0.038, RAW= 284.9,   9.2, CAL= 283.0,  10.4, ROT= 227.0, -10.4

2025-08-22T01:13:19.855Z,1755825199.855 [DAT](INFO): DAT read: Bearing 295.8, -45.9 (Local)

2025-08-22T01:13:19.855Z,1755825199.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.8, -45.9 (Local)

2025-08-22T01:13:19.857Z,1755825199.857 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m  (Round-trip  29.1 ms) speed -0.2 m/s

2025-08-22T01:13:19.858Z,1755825199.858 [DAT](INFO): DAT read: user:6038>

2025-08-22T01:13:19.868Z,1755825199.868 [DAT](INFO): DAT read: Tx time:01:13:19.0429

2025-08-22T01:13:19.868Z,1755825199.868 [DAT](INFO): Ping request sent.
2025-08-22T01:13:19.868Z,1755825199.868 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:19.868Z,1755825199.868 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T01:13:19.869Z,1755825199.869 [DAT](INFO): direction in FSK: [-0.670794,-0.719339,0.180519]
2025-08-22T01:13:19.870Z,1755825199.870 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:19.870Z,1755825199.870 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:19.873Z,1755825199.873 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:19.873Z,1755825199.873 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:19.889Z,1755825199.889 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.020711
2025-08-22T01:13:20.096Z,1755825200.096 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.228410
2025-08-22T01:13:20.349Z,1755825200.349 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.480524
2025-08-22T01:13:20.600Z,1755825200.600 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.732192
2025-08-22T01:13:20.852Z,1755825200.852 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.984332
2025-08-22T01:13:21.104Z,1755825201.104 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.236122
2025-08-22T01:13:21.356Z,1755825201.356 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.488080
2025-08-22T01:13:21.608Z,1755825201.608 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.740092
2025-08-22T01:13:21.860Z,1755825201.860 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.992273
2025-08-22T01:13:22.112Z,1755825202.112 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.244075
2025-08-22T01:13:22.364Z,1755825202.364 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.496125
2025-08-22T01:13:22.616Z,1755825202.616 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.748124
2025-08-22T01:13:22.868Z,1755825202.868 [DAT](INFO): DAT read: Rx Time:01:13:21.4771

2025-08-22T01:13:22.869Z,1755825202.869 [DAT](INFO): Rx dataTimestamp_ set to:1755825202.868565
2025-08-22T01:13:22.869Z,1755825202.869 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=3.001325
2025-08-22T01:13:23.120Z,1755825203.120 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=3.252175
2025-08-22T01:13:23.378Z,1755825203.378 [DAT](INFO): DAT read: 01:13:21.4771 LVL= 32752, 18609, 30818, 32755, AGC= 52, IDX= 432,-0.08, 1.092, 3.124, 2.679, 2.598, PHS=-1.404, 0.571, 0.036, RAW= 285.2,   9.0, CAL= 283.2,  10.1, ROT= 226.8, -10.1

2025-08-22T01:13:23.379Z,1755825203.379 [DAT](INFO): got valid direction response:
 01:13:21.4771 LVL= 32752, 18609, 30818, 32755, AGC= 52, IDX= 432,-0.08, 1.092, 3.124, 2.679, 2.598, PHS=-1.404, 0.571, 0.036, RAW= 285.2,   9.0, CAL= 283.2,  10.1, ROT= 226.8, -10.1

2025-08-22T01:13:23.380Z,1755825203.380 [DAT](INFO): DAT read: Bearing 296.5, -45.4 (Local)

2025-08-22T01:13:23.380Z,1755825203.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.5, -45.4 (Local)

2025-08-22T01:13:23.382Z,1755825203.382 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m  (Round-trip  30.0 ms) speed -0.2 m/s

2025-08-22T01:13:23.382Z,1755825203.382 [DAT](INFO): DAT read: user:6039>

2025-08-22T01:13:23.408Z,1755825203.408 [DAT](INFO): DAT read: Tx time:01:13:22.5929

2025-08-22T01:13:23.408Z,1755825203.408 [DAT](INFO): Ping request sent.
2025-08-22T01:13:23.408Z,1755825203.408 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:23.408Z,1755825203.408 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T01:13:23.409Z,1755825203.409 [DAT](INFO): direction in FSK: [-0.673939,-0.717672,0.175367]
2025-08-22T01:13:23.409Z,1755825203.409 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:23.410Z,1755825203.410 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:23.413Z,1755825203.413 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:23.413Z,1755825203.413 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:23.425Z,1755825203.425 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.016653
2025-08-22T01:13:23.624Z,1755825203.624 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.216203
2025-08-22T01:13:23.876Z,1755825203.876 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.468321
2025-08-22T01:13:24.128Z,1755825204.128 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.720268
2025-08-22T01:13:24.380Z,1755825204.380 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.972279
2025-08-22T01:13:24.632Z,1755825204.632 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.224371
2025-08-22T01:13:24.884Z,1755825204.884 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.476285
2025-08-22T01:13:25.056Z,1755825205.056 [OnDock:N.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-22T01:13:25.057Z,1755825205.057 [OnDock:N.Docked] Stopped
2025-08-22T01:13:25.057Z,1755825205.057 [OnDock:Detach] Running Loop=1
2025-08-22T01:13:25.057Z,1755825205.057 [OnDock:Detach](DEBUG): Aggregate::initialize OnDock:Detach
2025-08-22T01:13:25.057Z,1755825205.057 [OnDock:Detach:A] Running Loop=1
2025-08-22T01:13:25.064Z,1755825205.064 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T01:13:25.137Z,1755825205.137 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.728764
2025-08-22T01:13:25.388Z,1755825205.388 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.980237
2025-08-22T01:13:25.451Z,1755825205.451 [OnDock:Detach:A](IMPORTANT): Mission ending, breaking off. Range:  22.500000 m .
2025-08-22T01:13:25.451Z,1755825205.451 [OnDock:Detach:A] Stopped
2025-08-22T01:13:25.452Z,1755825205.452 [OnDock:Detach:B.Undock] Running Loop=1
2025-08-22T01:13:25.452Z,1755825205.452 [OnDock:Detach:B.Undock](DEBUG): Initialize.
2025-08-22T01:13:25.452Z,1755825205.452 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T01:13:25.640Z,1755825205.640 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.232277
2025-08-22T01:13:25.885Z,1755825205.885 [OnDock:Detach:B.Undock](DEBUG): Initialize.
2025-08-22T01:13:25.885Z,1755825205.885 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T01:13:25.886Z,1755825205.886 [OnDock:Detach:B.Undock](INFO): Detached from dock at depth 67.326241 m.
2025-08-22T01:13:25.892Z,1755825205.892 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.484334
2025-08-22T01:13:26.145Z,1755825206.145 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.737097
2025-08-22T01:13:26.264Z,1755825206.264 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T01:13:26.396Z,1755825206.396 [DAT](INFO): DAT read: Rx Time:01:13:25.0279

2025-08-22T01:13:26.397Z,1755825206.397 [DAT](INFO): Rx dataTimestamp_ set to:1755825206.396452
2025-08-22T01:13:26.397Z,1755825206.397 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.989316
2025-08-22T01:13:26.648Z,1755825206.648 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=3.240352
2025-08-22T01:13:26.906Z,1755825206.906 [DAT](INFO): DAT read: 01:13:25.0279 LVL= 30160, 20033, 25474, 31731, AGC= 53, IDX= 441, 0.37, 2.278,-1.990,-2.369,-2.487, PHS=-1.416, 0.542, 0.075, RAW= 283.2,   9.1, CAL= 281.4,  10.0, ROT= 228.6, -10.0

2025-08-22T01:13:26.907Z,1755825206.907 [DAT](INFO): got valid direction response:
 01:13:25.0279 LVL= 30160, 20033, 25474, 31731, AGC= 53, IDX= 441, 0.37, 2.278,-1.990,-2.369,-2.487, PHS=-1.416, 0.542, 0.075, RAW= 283.2,   9.1, CAL= 281.4,  10.0, ROT= 228.6, -10.0

2025-08-22T01:13:26.908Z,1755825206.908 [DAT](INFO): DAT read: Bearing 295.2, -46.1 (Local)

2025-08-22T01:13:26.908Z,1755825206.908 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.2, -46.1 (Local)

2025-08-22T01:13:26.910Z,1755825206.910 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m  (Round-trip  30.9 ms) speed -0.2 m/s

2025-08-22T01:13:26.910Z,1755825206.910 [DAT](INFO): DAT read: user:6040>

2025-08-22T01:13:26.911Z,1755825206.911 [DAT](INFO): DAT read: Tx time:01:13:26.1428

2025-08-22T01:13:26.911Z,1755825206.911 [DAT](INFO): Ping request sent.
2025-08-22T01:13:26.912Z,1755825206.912 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:26.912Z,1755825206.912 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T01:13:26.913Z,1755825206.913 [DAT](INFO): direction in FSK: [-0.651265,-0.738715,0.173648]
2025-08-22T01:13:26.913Z,1755825206.913 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:26.913Z,1755825206.913 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:26.916Z,1755825206.916 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:26.917Z,1755825206.917 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:26.924Z,1755825206.924 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.012631
2025-08-22T01:13:27.153Z,1755825207.153 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.241376
2025-08-22T01:13:27.404Z,1755825207.404 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.492747
2025-08-22T01:13:27.656Z,1755825207.656 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.744779
2025-08-22T01:13:27.908Z,1755825207.908 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.996741
2025-08-22T01:13:28.161Z,1755825208.161 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.248982
2025-08-22T01:13:28.412Z,1755825208.412 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.500896
2025-08-22T01:13:28.664Z,1755825208.664 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.752645
2025-08-22T01:13:28.916Z,1755825208.916 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.004619
2025-08-22T01:13:29.169Z,1755825209.169 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.257468
2025-08-22T01:13:29.420Z,1755825209.420 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.508669
2025-08-22T01:13:29.672Z,1755825209.672 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.760595
2025-08-22T01:13:29.924Z,1755825209.924 [DAT](INFO): DAT read: Rx Time:01:13:28.5788

2025-08-22T01:13:29.925Z,1755825209.925 [DAT](INFO): Rx dataTimestamp_ set to:1755825209.924531
2025-08-22T01:13:29.925Z,1755825209.925 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=3.013779
2025-08-22T01:13:30.177Z,1755825210.177 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=3.265493
2025-08-22T01:13:30.438Z,1755825210.438 [DAT](INFO): DAT read: 01:13:28.5788 LVL= 29808, 19953, 26082, 31347, AGC= 52, IDX= 434, 0.09,-0.968, 1.038, 0.749, 0.581, PHS=-1.447, 0.503, 0.124, RAW= 280.6,   9.2, CAL= 278.9,  10.1, ROT= 231.1, -10.1

2025-08-22T01:13:30.439Z,1755825210.439 [DAT](INFO): got valid direction response:
 01:13:28.5788 LVL= 29808, 19953, 26082, 31347, AGC= 52, IDX= 434, 0.09,-0.968, 1.038, 0.749, 0.581, PHS=-1.447, 0.503, 0.124, RAW= 280.6,   9.2, CAL= 278.9,  10.1, ROT= 231.1, -10.1

2025-08-22T01:13:30.440Z,1755825210.440 [DAT](INFO): DAT read: Bearing 293.5, -47.3 (Local)

2025-08-22T01:13:30.441Z,1755825210.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.5, -47.3 (Local)

2025-08-22T01:13:30.442Z,1755825210.442 [DAT](INFO): DAT read: Range 11 to 50 : 23.8 m  (Round-trip  31.8 ms) speed -0.2 m/s

2025-08-22T01:13:30.443Z,1755825210.443 [DAT](INFO): DAT read: user:6041>

2025-08-22T01:13:30.453Z,1755825210.453 [DAT](INFO): DAT read: Tx time:01:13:29.6944

2025-08-22T01:13:30.454Z,1755825210.454 [DAT](INFO): Ping request sent.
2025-08-22T01:13:30.454Z,1755825210.454 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:30.454Z,1755825210.454 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-22T01:13:30.459Z,1755825210.459 [DAT](INFO): direction in FSK: [-0.618232,-0.766183,0.175367]
2025-08-22T01:13:30.460Z,1755825210.460 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:30.460Z,1755825210.460 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:30.467Z,1755825210.467 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:30.468Z,1755825210.468 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:30.471Z,1755825210.471 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.016896
2025-08-22T01:13:30.684Z,1755825210.684 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.230479
2025-08-22T01:13:30.936Z,1755825210.936 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.482410
2025-08-22T01:13:31.129Z,1755825211.129 [OnDock:Detach:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T01:13:31.188Z,1755825211.188 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.734408
2025-08-22T01:13:31.440Z,1755825211.440 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.986442
2025-08-22T01:13:31.692Z,1755825211.692 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.238375
2025-08-22T01:13:31.944Z,1755825211.944 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.490411
2025-08-22T01:13:32.196Z,1755825212.196 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.742647
2025-08-22T01:13:32.448Z,1755825212.448 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.994415
2025-08-22T01:13:32.700Z,1755825212.700 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.246354
2025-08-22T01:13:32.953Z,1755825212.953 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.499085
2025-08-22T01:13:33.211Z,1755825213.211 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.757121
2025-08-22T01:13:33.464Z,1755825213.464 [DAT](INFO): DAT read: Rx Time:01:13:32.1312

2025-08-22T01:13:33.465Z,1755825213.465 [DAT](INFO): Rx dataTimestamp_ set to:1755825213.464463
2025-08-22T01:13:33.465Z,1755825213.465 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=3.011463
2025-08-22T01:13:33.716Z,1755825213.716 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=3.262423
2025-08-22T01:13:33.974Z,1755825213.974 [DAT](INFO): DAT read: 01:13:32.1312 LVL= 29872, 20145, 24786, 31459, AGC= 53, IDX= 427,-0.16, 1.635,-2.650,-2.832,-3.098, PHS=-1.448, 0.493, 0.222, RAW= 277.4,   8.1, CAL= 275.8,   6.8, ROT= 234.2,  -6.8

2025-08-22T01:13:33.975Z,1755825213.975 [DAT](INFO): got valid direction response:
 01:13:32.1312 LVL= 29872, 20145, 24786, 31459, AGC= 53, IDX= 427,-0.16, 1.635,-2.650,-2.832,-3.098, PHS=-1.448, 0.493, 0.222, RAW= 277.4,   8.1, CAL= 275.8,   6.8, ROT= 234.2,  -6.8

2025-08-22T01:13:33.976Z,1755825213.976 [DAT](INFO): DAT read: Bearing 295.9, -51.0 (Local)

2025-08-22T01:13:33.977Z,1755825213.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.9, -51.0 (Local)

2025-08-22T01:13:33.978Z,1755825213.978 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m  (Round-trip  32.7 ms) speed -0.2 m/s

2025-08-22T01:13:33.979Z,1755825213.979 [DAT](INFO): DAT read: user:6042>

2025-08-22T01:13:33.979Z,1755825213.979 [DAT](INFO): DAT read: Tx time:01:13:33.2428

2025-08-22T01:13:33.980Z,1755825213.980 [DAT](INFO): Ping request sent.
2025-08-22T01:13:33.980Z,1755825213.980 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:33.981Z,1755825213.981 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T01:13:33.988Z,1755825213.988 [DAT](INFO): direction in FSK: [-0.580843,-0.805358,0.118404]
2025-08-22T01:13:33.988Z,1755825213.988 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:33.988Z,1755825213.988 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:34.024Z,1755825214.024 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:34.024Z,1755825214.024 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:34.048Z,1755825214.048 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.068328
2025-08-22T01:13:34.220Z,1755825214.220 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.240216
2025-08-22T01:13:34.472Z,1755825214.472 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.492292
2025-08-22T01:13:34.724Z,1755825214.724 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.744493
2025-08-22T01:13:34.976Z,1755825214.976 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.996304
2025-08-22T01:13:35.229Z,1755825215.229 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.249043
2025-08-22T01:13:35.480Z,1755825215.480 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.500330
2025-08-22T01:13:35.732Z,1755825215.732 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.752333
2025-08-22T01:13:35.988Z,1755825215.988 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.008547
2025-08-22T01:13:36.236Z,1755825216.236 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.256369
2025-08-22T01:13:36.489Z,1755825216.489 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.508707
2025-08-22T01:13:36.740Z,1755825216.740 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.760480
2025-08-22T01:13:36.992Z,1755825216.992 [DAT](INFO): DAT read: Rx Time:01:13:35.6804

2025-08-22T01:13:36.993Z,1755825216.993 [DAT](INFO): Rx dataTimestamp_ set to:1755825216.992493
2025-08-22T01:13:36.993Z,1755825216.993 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=3.013463
2025-08-22T01:13:37.245Z,1755825217.245 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=3.264851
2025-08-22T01:13:37.504Z,1755825217.504 [DAT](INFO): DAT read: 01:13:35.6804 LVL= 32752, 19825, 26098, 32755, AGC= 53, IDX= 436,-0.20,-0.111, 1.849, 1.774, 1.452, PHS=-1.460, 0.442, 0.278, RAW= 274.5,   8.1, CAL= 272.9,   6.6, ROT= 237.1,  -6.6

2025-08-22T01:13:37.505Z,1755825217.505 [DAT](INFO): got valid direction response:
 01:13:35.6804 LVL= 32752, 19825, 26098, 32755, AGC= 53, IDX= 436,-0.20,-0.111, 1.849, 1.774, 1.452, PHS=-1.460, 0.442, 0.278, RAW= 274.5,   8.1, CAL= 272.9,   6.6, ROT= 237.1,  -6.6

2025-08-22T01:13:37.506Z,1755825217.506 [DAT](INFO): DAT read: Bearing 293.5, -53.8 (Local)

2025-08-22T01:13:37.506Z,1755825217.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.5, -53.8 (Local)

2025-08-22T01:13:37.508Z,1755825217.508 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m  (Round-trip  33.5 ms) speed -0.2 m/s

2025-08-22T01:13:37.508Z,1755825217.508 [DAT](INFO): DAT read: user:6043>

2025-08-22T01:13:37.509Z,1755825217.509 [DAT](INFO): DAT read: Tx time:01:13:36.7927

2025-08-22T01:13:37.509Z,1755825217.509 [DAT](INFO): Ping request sent.
2025-08-22T01:13:37.509Z,1755825217.509 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:37.510Z,1755825217.510 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T01:13:37.511Z,1755825217.511 [DAT](INFO): direction in FSK: [-0.539574,-0.834056,0.114937]
2025-08-22T01:13:37.511Z,1755825217.511 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:37.511Z,1755825217.511 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:37.514Z,1755825217.514 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:37.515Z,1755825217.515 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:37.518Z,1755825217.518 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.008525
2025-08-22T01:13:37.748Z,1755825217.748 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.238776
2025-08-22T01:13:38.003Z,1755825218.003 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.492935
2025-08-22T01:13:38.252Z,1755825218.252 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.742749
2025-08-22T01:13:38.504Z,1755825218.504 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.994760
2025-08-22T01:13:38.756Z,1755825218.756 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.246672
2025-08-22T01:13:39.009Z,1755825219.009 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.499070
2025-08-22T01:13:39.261Z,1755825219.261 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.751253
2025-08-22T01:13:39.512Z,1755825219.512 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.002693
2025-08-22T01:13:39.764Z,1755825219.764 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.254715
2025-08-22T01:13:40.028Z,1755825220.028 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.517986
2025-08-22T01:13:40.276Z,1755825220.276 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.766620
2025-08-22T01:13:40.528Z,1755825220.528 [DAT](INFO): DAT read: Rx Time:01:13:39.2314

2025-08-22T01:13:40.529Z,1755825220.529 [DAT](INFO): Rx dataTimestamp_ set to:1755825220.528405
2025-08-22T01:13:40.529Z,1755825220.529 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=3.019749
2025-08-22T01:13:40.780Z,1755825220.780 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=3.270735
2025-08-22T01:13:41.040Z,1755825221.040 [DAT](INFO): DAT read: 01:13:39.2314 LVL= 30304, 21297, 21714, 32755, AGC= 52, IDX= 430,-0.25,-2.770,-0.850,-0.883,-1.209, PHS=-1.459, 0.404, 0.282, RAW= 273.4,   8.6, CAL= 272.0,   7.6, ROT= 238.0,  -7.6

2025-08-22T01:13:41.041Z,1755825221.041 [DAT](INFO): got valid direction response:
 01:13:39.2314 LVL= 30304, 21297, 21714, 32755, AGC= 52, IDX= 430,-0.25,-2.770,-0.850,-0.883,-1.209, PHS=-1.459, 0.404, 0.282, RAW= 273.4,   8.6, CAL= 272.0,   7.6, ROT= 238.0,  -7.6

2025-08-22T01:13:41.042Z,1755825221.042 [DAT](INFO): DAT read: Bearing 288.9, -54.8 (Local)

2025-08-22T01:13:41.042Z,1755825221.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.9, -54.8 (Local)

2025-08-22T01:13:41.044Z,1755825221.044 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m  (Round-trip  34.5 ms) speed -0.2 m/s

2025-08-22T01:13:41.045Z,1755825221.045 [DAT](INFO): DAT read: user:6044>

2025-08-22T01:13:41.045Z,1755825221.045 [DAT](INFO): DAT read: Tx time:01:13:40.3427

2025-08-22T01:13:41.046Z,1755825221.046 [DAT](INFO): Ping request sent.
2025-08-22T01:13:41.046Z,1755825221.046 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:41.046Z,1755825221.046 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T01:13:41.047Z,1755825221.047 [DAT](INFO): direction in FSK: [-0.525264,-0.840598,0.132256]
2025-08-22T01:13:41.047Z,1755825221.047 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:41.048Z,1755825221.048 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:41.051Z,1755825221.051 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:41.051Z,1755825221.051 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:41.055Z,1755825221.055 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.009066
2025-08-22T01:13:41.285Z,1755825221.285 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.239301
2025-08-22T01:13:41.536Z,1755825221.536 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.490516
2025-08-22T01:13:41.788Z,1755825221.788 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.742507
2025-08-22T01:13:42.044Z,1755825222.044 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.997736
2025-08-22T01:13:42.292Z,1755825222.292 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.246529
2025-08-22T01:13:42.544Z,1755825222.544 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.498515
2025-08-22T01:13:42.797Z,1755825222.797 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.750926
2025-08-22T01:13:43.053Z,1755825223.053 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.004883
2025-08-22T01:13:43.300Z,1755825223.300 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.254495
2025-08-22T01:13:43.552Z,1755825223.552 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.506522
2025-08-22T01:13:43.804Z,1755825223.804 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.758586
2025-08-22T01:13:44.059Z,1755825224.059 [DAT](INFO): DAT read: Rx Time:01:13:42.7823

2025-08-22T01:13:44.060Z,1755825224.060 [DAT](INFO): Rx dataTimestamp_ set to:1755825224.059252
2025-08-22T01:13:44.062Z,1755825224.062 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=3.015514
2025-08-22T01:13:44.308Z,1755825224.308 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=3.262776
2025-08-22T01:13:44.566Z,1755825224.566 [DAT](INFO): DAT read: 01:13:42.7823 LVL= 32752, 19793, 22546, 31331, AGC= 54, IDX= 439,-0.14, 0.684, 2.592, 2.640, 2.309, PHS=-1.524, 0.328, 0.286, RAW= 271.1,  10.0, CAL= 270.2,  10.7, ROT= 239.8, -10.7

2025-08-22T01:13:44.567Z,1755825224.567 [DAT](INFO): got valid direction response:
 01:13:42.7823 LVL= 32752, 19793, 22546, 31331, AGC= 54, IDX= 439,-0.14, 0.684, 2.592, 2.640, 2.309, PHS=-1.524, 0.328, 0.286, RAW= 271.1,  10.0, CAL= 270.2,  10.7, ROT= 239.8, -10.7

2025-08-22T01:13:44.568Z,1755825224.568 [DAT](INFO): DAT read: Bearing 281.6, -55.9 (Local)

2025-08-22T01:13:44.568Z,1755825224.568 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.6, -55.9 (Local)

2025-08-22T01:13:44.570Z,1755825224.570 [DAT](INFO): DAT read: Range 11 to 50 : 26.5 m  (Round-trip  35.4 ms) speed -0.2 m/s

2025-08-22T01:13:44.571Z,1755825224.571 [DAT](INFO): DAT read: user:6045>

2025-08-22T01:13:44.572Z,1755825224.572 [DAT](INFO): DAT read: Tx time:01:13:43.8927

2025-08-22T01:13:44.572Z,1755825224.572 [DAT](INFO): Ping request sent.
2025-08-22T01:13:44.573Z,1755825224.573 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:44.573Z,1755825224.573 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T01:13:44.574Z,1755825224.574 [DAT](INFO): direction in FSK: [-0.494274,-0.849247,0.185667]
2025-08-22T01:13:44.574Z,1755825224.574 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:44.574Z,1755825224.574 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:44.577Z,1755825224.577 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:44.578Z,1755825224.578 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:44.581Z,1755825224.581 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.008549
2025-08-22T01:13:44.812Z,1755825224.812 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.239754
2025-08-22T01:13:45.067Z,1755825225.067 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.494164
2025-08-22T01:13:45.316Z,1755825225.316 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.743806
2025-08-22T01:13:45.568Z,1755825225.568 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.995640
2025-08-22T01:13:45.820Z,1755825225.820 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.247666
2025-08-22T01:13:46.075Z,1755825226.075 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.501742
2025-08-22T01:13:46.324Z,1755825226.324 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.751563
2025-08-22T01:13:46.576Z,1755825226.576 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.003887
2025-08-22T01:13:46.828Z,1755825226.828 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.255803
2025-08-22T01:13:47.083Z,1755825227.083 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.509752
2025-08-22T01:13:47.333Z,1755825227.333 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.760593
2025-08-22T01:13:47.584Z,1755825227.584 [DAT](INFO): DAT read: Rx Time:01:13:46.3332

2025-08-22T01:13:47.585Z,1755825227.585 [DAT](INFO): Rx dataTimestamp_ set to:1755825227.584462
2025-08-22T01:13:47.585Z,1755825227.585 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=3.012759
2025-08-22T01:13:47.836Z,1755825227.836 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=3.263651
2025-08-22T01:13:48.124Z,1755825228.124 [DAT](INFO): DAT read: 01:13:46.3332 LVL= 32752, 22753, 24850, 32755, AGC= 52, IDX= 433,-0.03,-0.895, 0.911, 1.071, 0.698, PHS=-1.490, 0.258, 0.329, RAW= 268.0,  10.1, CAL= 267.3,  11.0, ROT= 242.7, -11.0

2025-08-22T01:13:48.144Z,1755825228.144 [DAT](INFO): got valid direction response:
 01:13:46.3332 LVL= 32752, 22753, 24850, 32755, AGC= 52, IDX= 433,-0.03,-0.895, 0.911, 1.071, 0.698, PHS=-1.490, 0.258, 0.329, RAW= 268.0,  10.1, CAL= 267.3,  11.0, ROT= 242.7, -11.0

2025-08-22T01:13:48.159Z,1755825228.159 [DAT](INFO): DAT read: Bearing 276.8, -58.9 (Local)

2025-08-22T01:13:48.160Z,1755825228.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.8, -58.9 (Local)

2025-08-22T01:13:48.162Z,1755825228.162 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m  (Round-trip  36.4 ms) speed -0.2 m/s

2025-08-22T01:13:48.163Z,1755825228.163 [DAT](INFO): DAT read: user:6046>

2025-08-22T01:13:48.173Z,1755825228.173 [DAT](INFO): DAT read: Tx time:01:13:47.4426

2025-08-22T01:13:48.173Z,1755825228.173 [DAT](INFO): Ping request sent.
2025-08-22T01:13:48.173Z,1755825228.173 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:48.174Z,1755825228.174 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T01:13:48.183Z,1755825228.183 [DAT](INFO): direction in FSK: [-0.450223,-0.872291,0.190809]
2025-08-22T01:13:48.184Z,1755825228.184 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:48.184Z,1755825228.184 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:48.187Z,1755825228.187 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:48.211Z,1755825228.211 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:48.215Z,1755825228.215 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.041299
2025-08-22T01:13:48.340Z,1755825228.340 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.167149
2025-08-22T01:13:48.592Z,1755825228.592 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.418913
2025-08-22T01:13:48.844Z,1755825228.844 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.671189
2025-08-22T01:13:49.099Z,1755825229.099 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.925194
2025-08-22T01:13:49.349Z,1755825229.349 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.175838
2025-08-22T01:13:49.602Z,1755825229.602 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.428579
2025-08-22T01:13:49.852Z,1755825229.852 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.678992
2025-08-22T01:13:50.107Z,1755825230.107 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.933104
2025-08-22T01:13:50.356Z,1755825230.356 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.182950
2025-08-22T01:13:50.506Z,1755825230.506 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,              +0.00,        +0.00,  20.00
2025-08-22T01:13:50.608Z,1755825230.608 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.434967
2025-08-22T01:13:50.860Z,1755825230.860 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.686925
2025-08-22T01:13:51.113Z,1755825231.113 [DAT](INFO): DAT read: Rx Time:01:13:49.8840

2025-08-22T01:13:51.113Z,1755825231.113 [DAT](INFO): Rx dataTimestamp_ set to:1755825231.112699
2025-08-22T01:13:51.114Z,1755825231.114 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.940275
2025-08-22T01:13:51.330Z,1755825231.330 [OnDock:Detach:B.Undock](INFO): Detached at range: 27.30 m. Transitioning docking module to standby.
2025-08-22T01:13:51.365Z,1755825231.365 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=3.191444
2025-08-22T01:13:51.618Z,1755825231.618 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=3.444847
2025-08-22T01:13:51.708Z,1755825231.708 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T01:13:51.874Z,1755825231.874 [DAT](INFO): DAT read: 01:13:49.8840 LVL= 30416, 18721, 21586, 30707, AGC= 53, IDX= 442, 0.05,-1.606, 0.197, 0.473, 0.032, PHS=-1.537, 0.210, 0.397, RAW= 265.0,  10.1, CAL= 264.3,  10.7, ROT= 245.7, -10.7

2025-08-22T01:13:51.875Z,1755825231.875 [DAT](INFO): got valid direction response:
 01:13:49.8840 LVL= 30416, 18721, 21586, 30707, AGC= 53, IDX= 442, 0.05,-1.606, 0.197, 0.473, 0.032, PHS=-1.537, 0.210, 0.397, RAW= 265.0,  10.1, CAL= 264.3,  10.7, ROT= 245.7, -10.7

2025-08-22T01:13:51.876Z,1755825231.876 [DAT](INFO): DAT read: Bearing 272.9, -61.8 (Local)

2025-08-22T01:13:51.877Z,1755825231.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.9, -61.8 (Local)

2025-08-22T01:13:51.878Z,1755825231.878 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m  (Round-trip  37.3 ms) speed -0.2 m/s

2025-08-22T01:13:51.879Z,1755825231.879 [DAT](INFO): DAT read: user:6047>

2025-08-22T01:13:51.879Z,1755825231.879 [DAT](INFO): DAT read: Tx time:01:13:50.9926

2025-08-22T01:13:51.880Z,1755825231.880 [DAT](INFO): Ping request sent.
2025-08-22T01:13:51.880Z,1755825231.880 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:51.880Z,1755825231.880 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T01:13:51.881Z,1755825231.881 [DAT](INFO): direction in FSK: [-0.404359,-0.895556,0.185667]
2025-08-22T01:13:51.881Z,1755825231.881 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:51.882Z,1755825231.882 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:51.885Z,1755825231.885 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:51.885Z,1755825231.885 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:51.888Z,1755825231.888 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.008420
2025-08-22T01:13:52.120Z,1755825232.120 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.240413
2025-08-22T01:13:52.372Z,1755825232.372 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.492325
2025-08-22T01:13:52.624Z,1755825232.624 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.744635
2025-08-22T01:13:52.876Z,1755825232.876 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.996389
2025-08-22T01:13:53.128Z,1755825233.128 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.248330
2025-08-22T01:13:53.381Z,1755825233.381 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.501290
2025-08-22T01:13:53.632Z,1755825233.632 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.752388
2025-08-22T01:13:53.884Z,1755825233.884 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.004334
2025-08-22T01:13:54.137Z,1755825234.137 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.257495
2025-08-22T01:13:54.388Z,1755825234.388 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.508383
2025-08-22T01:13:54.640Z,1755825234.640 [DAT](INFO): DAT read: Rx Time:01:13:53.4350

2025-08-22T01:13:54.641Z,1755825234.641 [DAT](INFO): Rx dataTimestamp_ set to:1755825234.640473
2025-08-22T01:13:54.641Z,1755825234.641 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.761459
2025-08-22T01:13:54.892Z,1755825234.892 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=3.012551
2025-08-22T01:13:55.147Z,1755825235.147 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=3.266649
2025-08-22T01:13:55.406Z,1755825235.406 [DAT](INFO): DAT read: 01:13:53.4350 LVL= 28096, 18641, 19490, 29619, AGC= 53, IDX= 436, 0.23,-2.607,-0.831,-0.492,-0.997, PHS=-1.508, 0.211, 0.461, RAW= 263.3,   9.0, CAL= 262.2,   8.6, ROT= 247.8,  -8.6

2025-08-22T01:13:55.407Z,1755825235.407 [DAT](INFO): got valid direction response:
 01:13:53.4350 LVL= 28096, 18641, 19490, 29619, AGC= 53, IDX= 436, 0.23,-2.607,-0.831,-0.492,-0.997, PHS=-1.508, 0.211, 0.461, RAW= 263.3,   9.0, CAL= 262.2,   8.6, ROT= 247.8,  -8.6

2025-08-22T01:13:55.409Z,1755825235.409 [DAT](INFO): DAT read: Bearing 273.6, -64.4 (Local)

2025-08-22T01:13:55.409Z,1755825235.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.6, -64.4 (Local)

2025-08-22T01:13:55.411Z,1755825235.411 [DAT](INFO): DAT read: Range 11 to 50 : 28.6 m  (Round-trip  38.2 ms) speed -0.2 m/s

2025-08-22T01:13:55.412Z,1755825235.412 [DAT](INFO): DAT read: user:6048>

2025-08-22T01:13:55.413Z,1755825235.413 [DAT](INFO): DAT read: Tx time:01:13:54.5426

2025-08-22T01:13:55.414Z,1755825235.414 [DAT](INFO): Ping request sent.
2025-08-22T01:13:55.414Z,1755825235.414 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:55.414Z,1755825235.414 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T01:13:55.429Z,1755825235.429 [DAT](INFO): direction in FSK: [-0.373592,-0.915460,0.149535]
2025-08-22T01:13:55.430Z,1755825235.430 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:55.430Z,1755825235.430 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:55.433Z,1755825235.433 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:55.433Z,1755825235.433 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:55.438Z,1755825235.438 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.024434
2025-08-22T01:13:55.648Z,1755825235.648 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.234405
2025-08-22T01:13:55.900Z,1755825235.900 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.486463
2025-08-22T01:13:56.153Z,1755825236.153 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.738841
2025-08-22T01:13:56.408Z,1755825236.408 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.994025
2025-08-22T01:13:56.656Z,1755825236.656 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.242596
2025-08-22T01:13:56.908Z,1755825236.908 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.494418
2025-08-22T01:13:57.161Z,1755825237.161 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.747171
2025-08-22T01:13:57.413Z,1755825237.413 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.999138
2025-08-22T01:13:57.664Z,1755825237.664 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.250425
2025-08-22T01:13:57.768Z,1755825237.768 [OnDock:Detach:B.Undock](INFO): Docking module at standby.
2025-08-22T01:13:57.916Z,1755825237.916 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.502421
2025-08-22T01:13:58.177Z,1755825238.177 [DAT](INFO): DAT read: Rx Time:01:13:56.9860

2025-08-22T01:13:58.177Z,1755825238.177 [DAT](INFO): Rx dataTimestamp_ set to:1755825238.177111
2025-08-22T01:13:58.178Z,1755825238.178 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.764458
2025-08-22T01:13:58.205Z,1755825238.205 [OnDock:Detach:B.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T01:13:58.205Z,1755825238.205 [OnDock:Detach:B.Undock] Stopped
2025-08-22T01:13:58.206Z,1755825238.206 [OnDock:Detach](INFO): Completed OnDock:Detach
2025-08-22T01:13:58.206Z,1755825238.206 [OnDock:Detach] Stopped
2025-08-22T01:13:58.206Z,1755825238.206 [OnDock:Detach](DEBUG): Aggregate::uninitialize OnDock:Detach
2025-08-22T01:13:58.212Z,1755825238.212 [OnDock](INFO): Completed OnDock
2025-08-22T01:13:58.212Z,1755825238.212 [MissionManager](INFO): OnDock is completed.
2025-08-22T01:13:58.212Z,1755825238.212 [MissionManager](INFO): Uninitializing Mission OnDock
2025-08-22T01:13:58.212Z,1755825238.212 [OnDock] Stopped
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock](DEBUG): Aggregate::uninitialize OnDock
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:StandardEnvelopes] Stopped
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:StandardEnvelopes](DEBUG): Aggregate::uninitialize OnDock:StandardEnvelopes
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:BackseatDriver] Stopped
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:BackseatDriver](DEBUG): Aggregate::uninitialize OnDock:BackseatDriver
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:BackseatDriver:A.BackseatDriver] Stopped
2025-08-22T01:13:58.213Z,1755825238.213 [OnDock:PowerOnly] Stopped
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:PowerOnly](DEBUG): Aggregate::uninitialize OnDock:PowerOnly
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:PowerOnly:E.Wait] Stopped
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:dataRead] Stopped
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:dataRead](DEBUG): Aggregate::uninitialize OnDock:dataRead
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:dataRead:A] Stopped
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:J.] Stopped
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:J.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:PeriodicCheck] Stopped
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:PeriodicCheck](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck
2025-08-22T01:13:58.214Z,1755825238.214 [OnDock:PeriodicCheck:CheckIP] Stopped
2025-08-22T01:13:58.215Z,1755825238.215 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::uninitialize OnDock:PeriodicCheck:CheckIP
2025-08-22T01:13:58.215Z,1755825238.215 [OnDock:PeriodicCheck:CheckIP:B.Wait] Stopped
2025-08-22T01:13:58.215Z,1755825238.215 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T01:13:58.428Z,1755825238.428 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=3.014383
2025-08-22T01:13:58.585Z,1755825238.585 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-22T01:13:58.585Z,1755825238.585 [DefaultWithUndock] Running Loop=1
2025-08-22T01:13:58.586Z,1755825238.586 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-22T01:13:58.586Z,1755825238.586 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-22T01:13:58.586Z,1755825238.586 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-22T01:13:58.680Z,1755825238.680 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=3.266647
2025-08-22T01:13:58.938Z,1755825238.938 [DAT](INFO): DAT read: 01:13:56.9859 LVL= 31424, 22353, 24626, 29939, AGC= 51, IDX= 430, 0.37, 2.235,-2.301,-1.958,-2.462, PHS=-1.484, 0.206, 0.460, RAW= 263.1,   9.0, CAL= 262.0,   8.5, ROT= 248.0,  -8.5

2025-08-22T01:13:58.939Z,1755825238.939 [DAT](INFO): got valid direction response:
 01:13:56.9859 LVL= 31424, 22353, 24626, 29939, AGC= 51, IDX= 430, 0.37, 2.235,-2.301,-1.958,-2.462, PHS=-1.484, 0.206, 0.460, RAW= 263.1,   9.0, CAL= 262.0,   8.5, ROT= 248.0,  -8.5

2025-08-22T01:13:58.940Z,1755825238.940 [DAT](INFO): DAT read: Bearing 274.5, -64.2 (Local)

2025-08-22T01:13:58.940Z,1755825238.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.5, -64.2 (Local)

2025-08-22T01:13:58.942Z,1755825238.942 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m  (Round-trip  39.2 ms) speed -0.2 m/s

2025-08-22T01:13:58.943Z,1755825238.943 [DAT](INFO): DAT read: user:6049>

2025-08-22T01:13:58.950Z,1755825238.950 [DAT](INFO): DAT read: Tx time:01:13:58.0925

2025-08-22T01:13:58.950Z,1755825238.950 [DAT](INFO): Ping request sent.
2025-08-22T01:13:58.950Z,1755825238.950 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:13:58.950Z,1755825238.950 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T01:13:58.964Z,1755825238.964 [DAT](INFO): direction in FSK: [-0.370492,-0.916999,0.147809]
2025-08-22T01:13:58.964Z,1755825238.964 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:58.965Z,1755825238.965 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:58.980Z,1755825238.980 [DAT](INFO): publishing transmit ping time
2025-08-22T01:13:58.980Z,1755825238.980 [DAT](INFO): publishing direction and range info
2025-08-22T01:13:58.986Z,1755825238.986 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.035870
2025-08-22T01:13:59.184Z,1755825239.184 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.234130
2025-08-22T01:13:59.436Z,1755825239.436 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.486390
2025-08-22T01:13:59.688Z,1755825239.688 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.738188
2025-08-22T01:13:59.940Z,1755825239.940 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.990131
2025-08-22T01:14:00.193Z,1755825240.193 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.242508
2025-08-22T01:14:00.444Z,1755825240.444 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.494193
2025-08-22T01:14:00.696Z,1755825240.696 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.746119
2025-08-22T01:14:00.952Z,1755825240.952 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.001858
2025-08-22T01:14:01.204Z,1755825241.204 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.254205
2025-08-22T01:14:01.456Z,1755825241.456 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.506236
2025-08-22T01:14:01.708Z,1755825241.708 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.758397
2025-08-22T01:14:01.960Z,1755825241.960 [DAT](INFO): DAT read: Rx Time:01:14:00.5370

2025-08-22T01:14:01.961Z,1755825241.961 [DAT](INFO): Rx dataTimestamp_ set to:1755825241.960448
2025-08-22T01:14:01.961Z,1755825241.961 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.011231
2025-08-22T01:14:02.212Z,1755825242.212 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.262218
2025-08-22T01:14:02.470Z,1755825242.470 [DAT](INFO): DAT read: 01:14:00.5370 LVL= 30704, 19217, 19026, 28547, AGC= 53, IDX= 441,-0.09,-1.227, 0.516, 0.905, 0.380, PHS=-1.505, 0.181, 0.481, RAW= 261.9,   9.1, CAL= 260.9,   8.8, ROT= 249.1,  -8.8

2025-08-22T01:14:02.471Z,1755825242.471 [DAT](INFO): got valid direction response:
 01:14:00.5370 LVL= 30704, 19217, 19026, 28547, AGC= 53, IDX= 441,-0.09,-1.227, 0.516, 0.905, 0.380, PHS=-1.505, 0.181, 0.481, RAW= 261.9,   9.1, CAL= 260.9,   8.8, ROT= 249.1,  -8.8

2025-08-22T01:14:02.472Z,1755825242.472 [DAT](INFO): DAT read: Bearing 273.4, -64.0 (Local)

2025-08-22T01:14:02.473Z,1755825242.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.4, -64.0 (Local)

2025-08-22T01:14:02.474Z,1755825242.474 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m  (Round-trip  40.3 ms) speed -0.3 m/s

2025-08-22T01:14:02.475Z,1755825242.475 [DAT](INFO): DAT read: user:6050>

2025-08-22T01:14:02.486Z,1755825242.486 [DAT](INFO): DAT read: Tx time:01:14:01.6425

2025-08-22T01:14:02.486Z,1755825242.486 [DAT](INFO): Ping request sent.
2025-08-22T01:14:02.486Z,1755825242.486 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:02.487Z,1755825242.487 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T01:14:02.488Z,1755825242.488 [DAT](INFO): direction in FSK: [-0.352539,-0.923207,0.152986]
2025-08-22T01:14:02.488Z,1755825242.488 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:02.488Z,1755825242.488 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:02.504Z,1755825242.504 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:02.504Z,1755825242.504 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:02.512Z,1755825242.512 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.025230
2025-08-22T01:14:02.716Z,1755825242.716 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.229856
2025-08-22T01:14:02.968Z,1755825242.968 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.481789
2025-08-22T01:14:03.220Z,1755825243.220 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.734026
2025-08-22T01:14:03.473Z,1755825243.473 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.986393
2025-08-22T01:14:03.724Z,1755825243.724 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.237806
2025-08-22T01:14:03.977Z,1755825243.977 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.490133
2025-08-22T01:14:04.228Z,1755825244.228 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.742001
2025-08-22T01:14:04.480Z,1755825244.480 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.993815
2025-08-22T01:14:04.732Z,1755825244.732 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.246074
2025-08-22T01:14:04.984Z,1755825244.984 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.497888
2025-08-22T01:14:05.236Z,1755825245.236 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.749791
2025-08-22T01:14:05.489Z,1755825245.489 [DAT](INFO): DAT read: Rx Time:01:14:04.0880

2025-08-22T01:14:05.489Z,1755825245.489 [DAT](INFO): Rx dataTimestamp_ set to:1755825245.488785
2025-08-22T01:14:05.490Z,1755825245.490 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=3.003239
2025-08-22T01:14:05.740Z,1755825245.740 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=3.253836
2025-08-22T01:14:05.998Z,1755825245.998 [DAT](INFO): DAT read: 01:14:04.0880 LVL= 32752, 17441, 20354, 32755, AGC= 54, IDX= 436,-0.13, 3.029,-1.481,-1.153,-1.661, PHS=-1.491, 0.225, 0.465, RAW= 263.5,   8.7, CAL= 262.3,   8.0, ROT= 247.7,  -8.0

2025-08-22T01:14:05.999Z,1755825245.999 [DAT](INFO): got valid direction response:
 01:14:04.0880 LVL= 32752, 17441, 20354, 32755, AGC= 54, IDX= 436,-0.13, 3.029,-1.481,-1.153,-1.661, PHS=-1.491, 0.225, 0.465, RAW= 263.5,   8.7, CAL= 262.3,   8.0, ROT= 247.7,  -8.0

2025-08-22T01:14:06.000Z,1755825246.000 [DAT](INFO): DAT read: Bearing 278.3, -62.9 (Local)

2025-08-22T01:14:06.000Z,1755825246.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.3, -62.9 (Local)

2025-08-22T01:14:06.002Z,1755825246.002 [DAT](INFO): DAT read: Range 11 to 50 : 31.0 m  (Round-trip  41.4 ms) speed -0.2 m/s

2025-08-22T01:14:06.002Z,1755825246.002 [DAT](INFO): DAT read: user:6051>

2025-08-22T01:14:06.003Z,1755825246.003 [DAT](INFO): DAT read: Tx time:01:14:05.1925

2025-08-22T01:14:06.004Z,1755825246.004 [DAT](INFO): Ping request sent.
2025-08-22T01:14:06.004Z,1755825246.004 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:06.004Z,1755825246.004 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T01:14:06.005Z,1755825246.005 [DAT](INFO): direction in FSK: [-0.375763,-0.916206,0.139173]
2025-08-22T01:14:06.005Z,1755825246.005 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:06.005Z,1755825246.005 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:06.009Z,1755825246.009 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:06.009Z,1755825246.009 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:06.017Z,1755825246.017 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.012238
2025-08-22T01:14:06.244Z,1755825246.244 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.240612
2025-08-22T01:14:06.496Z,1755825246.496 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.492553
2025-08-22T01:14:06.748Z,1755825246.748 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.744480
2025-08-22T01:14:07.000Z,1755825247.000 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.996786
2025-08-22T01:14:07.252Z,1755825247.252 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.248559
2025-08-22T01:14:07.505Z,1755825247.505 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.500881
2025-08-22T01:14:07.756Z,1755825247.756 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.752773
2025-08-22T01:14:08.008Z,1755825248.008 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.004540
2025-08-22T01:14:08.260Z,1755825248.260 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.256601
2025-08-22T01:14:08.512Z,1755825248.512 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.508767
2025-08-22T01:14:08.764Z,1755825248.764 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.760590
2025-08-22T01:14:09.018Z,1755825249.018 [DAT](INFO): DAT read: Rx Time:01:14:07.6391

2025-08-22T01:14:09.018Z,1755825249.018 [DAT](INFO): Rx dataTimestamp_ set to:1755825249.018000
2025-08-22T01:14:09.019Z,1755825249.019 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=3.015135
2025-08-22T01:14:09.268Z,1755825249.268 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=3.264506
2025-08-22T01:14:09.526Z,1755825249.526 [DAT](INFO): DAT read: 01:14:07.6391 LVL= 29936, 17521, 19826, 32115, AGC= 54, IDX= 431, 0.43,-2.674,-0.902,-0.669,-1.133, PHS=-1.439, 0.276, 0.419, RAW= 266.0,   8.4, CAL= 264.5,   7.2, ROT= 245.5,  -7.2

2025-08-22T01:14:09.528Z,1755825249.528 [DAT](INFO): got valid direction response:
 01:14:07.6391 LVL= 29936, 17521, 19826, 32115, AGC= 54, IDX= 431, 0.43,-2.674,-0.902,-0.669,-1.133, PHS=-1.439, 0.276, 0.419, RAW= 266.0,   8.4, CAL= 264.5,   7.2, ROT= 245.5,  -7.2

2025-08-22T01:14:09.529Z,1755825249.529 [DAT](INFO): DAT read: Bearing 283.1, -60.9 (Local)

2025-08-22T01:14:09.529Z,1755825249.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.1, -60.9 (Local)

2025-08-22T01:14:09.552Z,1755825249.552 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m  (Round-trip  42.4 ms) speed -0.2 m/s

2025-08-22T01:14:09.553Z,1755825249.553 [DAT](INFO): DAT read: user:6052>

2025-08-22T01:14:09.553Z,1755825249.553 [DAT](INFO): DAT read: Tx time:01:14:08.7425

2025-08-22T01:14:09.554Z,1755825249.554 [DAT](INFO): Ping request sent.
2025-08-22T01:14:09.554Z,1755825249.554 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:09.554Z,1755825249.554 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T01:14:09.555Z,1755825249.555 [DAT](INFO): direction in FSK: [-0.411423,-0.902786,0.125333]
2025-08-22T01:14:09.562Z,1755825249.562 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:09.562Z,1755825249.562 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:09.565Z,1755825249.565 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:09.566Z,1755825249.566 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:09.573Z,1755825249.573 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.019382
2025-08-22T01:14:09.772Z,1755825249.772 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.218513
2025-08-22T01:14:10.024Z,1755825250.024 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.470598
2025-08-22T01:14:10.276Z,1755825250.276 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.722649
2025-08-22T01:14:10.528Z,1755825250.528 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.974473
2025-08-22T01:14:10.780Z,1755825250.780 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.226550
2025-08-22T01:14:11.032Z,1755825251.032 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.478585
2025-08-22T01:14:11.284Z,1755825251.284 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.730456
2025-08-22T01:14:11.537Z,1755825251.537 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.982884
2025-08-22T01:14:11.788Z,1755825251.788 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.234530
2025-08-22T01:14:12.040Z,1755825252.040 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.486539
2025-08-22T01:14:12.293Z,1755825252.293 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.738917
2025-08-22T01:14:12.544Z,1755825252.544 [DAT](INFO): DAT read: Rx Time:01:14:11.1900

2025-08-22T01:14:12.545Z,1755825252.545 [DAT](INFO): Rx dataTimestamp_ set to:1755825252.544466
2025-08-22T01:14:12.545Z,1755825252.545 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.991630
2025-08-22T01:14:12.796Z,1755825252.796 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=3.242569
2025-08-22T01:14:13.054Z,1755825253.054 [DAT](INFO): DAT read: 01:14:11.1900 LVL= 31152, 21281, 23842, 32755, AGC= 53, IDX= 441,-0.04,-0.826, 1.029, 1.106, 0.726, PHS=-1.451, 0.348, 0.336, RAW= 270.3,   8.6, CAL= 268.9,   7.5, ROT= 241.1,  -7.5

2025-08-22T01:14:13.064Z,1755825253.064 [DAT](INFO): got valid direction response:
 01:14:11.1900 LVL= 31152, 21281, 23842, 32755, AGC= 53, IDX= 441,-0.04,-0.826, 1.029, 1.106, 0.726, PHS=-1.451, 0.348, 0.336, RAW= 270.3,   8.6, CAL= 268.9,   7.5, ROT= 241.1,  -7.5

2025-08-22T01:14:13.065Z,1755825253.065 [DAT](INFO): DAT read: Bearing 288.1, -57.4 (Local)

2025-08-22T01:14:13.065Z,1755825253.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.1, -57.4 (Local)

2025-08-22T01:14:13.066Z,1755825253.066 [DAT](INFO): DAT read: Range 11 to 50 : 32.5 m  (Round-trip  43.4 ms) speed -0.3 m/s

2025-08-22T01:14:13.067Z,1755825253.067 [DAT](INFO): DAT read: user:6053>

2025-08-22T01:14:13.068Z,1755825253.068 [DAT](INFO): DAT read: Tx time:01:14:12.2924

2025-08-22T01:14:13.068Z,1755825253.068 [DAT](INFO): Ping request sent.
2025-08-22T01:14:13.068Z,1755825253.068 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:13.069Z,1755825253.069 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T01:14:13.070Z,1755825253.070 [DAT](INFO): direction in FSK: [-0.479148,-0.867975,0.130526]
2025-08-22T01:14:13.070Z,1755825253.070 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:13.070Z,1755825253.070 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:13.073Z,1755825253.073 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:13.073Z,1755825253.073 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:13.077Z,1755825253.077 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.008320
2025-08-22T01:14:13.300Z,1755825253.300 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.231948
2025-08-22T01:14:13.552Z,1755825253.552 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.483963
2025-08-22T01:14:13.805Z,1755825253.805 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.736154
2025-08-22T01:14:14.056Z,1755825254.056 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.988119
2025-08-22T01:14:14.308Z,1755825254.308 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.239921
2025-08-22T01:14:14.560Z,1755825254.560 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.492135
2025-08-22T01:14:14.812Z,1755825254.812 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.743958
2025-08-22T01:14:15.065Z,1755825255.065 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.996847
2025-08-22T01:14:15.316Z,1755825255.316 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.247857
2025-08-22T01:14:15.568Z,1755825255.568 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.499984
2025-08-22T01:14:15.820Z,1755825255.820 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.751793
2025-08-22T01:14:16.072Z,1755825256.072 [DAT](INFO): DAT read: Rx Time:01:14:14.7412

2025-08-22T01:14:16.073Z,1755825256.073 [DAT](INFO): Rx dataTimestamp_ set to:1755825256.072410
2025-08-22T01:14:16.073Z,1755825256.073 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=3.004901
2025-08-22T01:14:16.324Z,1755825256.324 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=3.255852
2025-08-22T01:14:16.582Z,1755825256.582 [DAT](INFO): DAT read: 01:14:14.7412 LVL= 29088, 19889, 23138, 32179, AGC= 55, IDX= 437,-0.03,-0.676, 1.262, 1.243, 0.899, PHS=-1.473, 0.408, 0.301, RAW= 272.9,   8.4, CAL= 271.5,   7.0, ROT= 238.5,  -7.0

2025-08-22T01:14:16.583Z,1755825256.583 [DAT](INFO): got valid direction response:
 01:14:14.7412 LVL= 29088, 19889, 23138, 32179, AGC= 55, IDX= 437,-0.03,-0.676, 1.262, 1.243, 0.899, PHS=-1.473, 0.408, 0.301, RAW= 272.9,   8.4, CAL= 271.5,   7.0, ROT= 238.5,  -7.0

2025-08-22T01:14:16.584Z,1755825256.584 [DAT](INFO): DAT read: Bearing 291.8, -56.3 (Local)

2025-08-22T01:14:16.584Z,1755825256.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.8, -56.3 (Local)

2025-08-22T01:14:16.586Z,1755825256.586 [DAT](INFO): DAT read: Range 11 to 50 : 33.4 m  (Round-trip  44.6 ms) speed -0.3 m/s

2025-08-22T01:14:16.586Z,1755825256.586 [DAT](INFO): DAT read: user:6054>

2025-08-22T01:14:16.587Z,1755825256.587 [DAT](INFO): DAT read: Tx time:01:14:15.8424

2025-08-22T01:14:16.587Z,1755825256.587 [DAT](INFO): Ping request sent.
2025-08-22T01:14:16.587Z,1755825256.587 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:16.588Z,1755825256.588 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T01:14:16.589Z,1755825256.589 [DAT](INFO): direction in FSK: [-0.518604,-0.846285,0.121869]
2025-08-22T01:14:16.589Z,1755825256.589 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:16.589Z,1755825256.589 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:16.593Z,1755825256.593 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:16.593Z,1755825256.593 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:16.596Z,1755825256.596 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.008561
2025-08-22T01:14:16.829Z,1755825256.829 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.241529
2025-08-22T01:14:17.080Z,1755825257.080 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.492739
2025-08-22T01:14:17.332Z,1755825257.332 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.744657
2025-08-22T01:14:17.585Z,1755825257.585 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.997073
2025-08-22T01:14:17.836Z,1755825257.836 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.248701
2025-08-22T01:14:18.088Z,1755825258.088 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.500635
2025-08-22T01:14:18.343Z,1755825258.343 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.755146
2025-08-22T01:14:18.599Z,1755825258.599 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.010761
2025-08-22T01:14:18.848Z,1755825258.848 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.260759
2025-08-22T01:14:19.100Z,1755825259.100 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.512885
2025-08-22T01:14:19.352Z,1755825259.352 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.764743
2025-08-22T01:14:19.605Z,1755825259.605 [DAT](INFO): DAT read: Rx Time:01:14:18.2922

2025-08-22T01:14:19.605Z,1755825259.605 [DAT](INFO): Rx dataTimestamp_ set to:1755825259.605009
2025-08-22T01:14:19.606Z,1755825259.606 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=3.018312
2025-08-22T01:14:19.856Z,1755825259.856 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=3.268890
2025-08-22T01:14:20.114Z,1755825260.114 [DAT](INFO): DAT read: 01:14:18.2922 LVL= 29776, 19825, 23410, 32755, AGC= 55, IDX= 432, 0.31,-0.478, 1.458, 1.400, 1.075, PHS=-1.450, 0.429, 0.281, RAW= 274.0,   8.2, CAL= 272.5,   6.7, ROT= 237.5,  -6.7

2025-08-22T01:14:20.115Z,1755825260.115 [DAT](INFO): got valid direction response:
 01:14:18.2922 LVL= 29776, 19825, 23410, 32755, AGC= 55, IDX= 432, 0.31,-0.478, 1.458, 1.400, 1.075, PHS=-1.450, 0.429, 0.281, RAW= 274.0,   8.2, CAL= 272.5,   6.7, ROT= 237.5,  -6.7

2025-08-22T01:14:20.116Z,1755825260.116 [DAT](INFO): DAT read: Bearing 293.5, -57.0 (Local)

2025-08-22T01:14:20.116Z,1755825260.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.5, -57.0 (Local)

2025-08-22T01:14:20.118Z,1755825260.118 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m  (Round-trip  45.7 ms) speed -0.3 m/s

2025-08-22T01:14:20.118Z,1755825260.118 [DAT](INFO): DAT read: user:6055>

2025-08-22T01:14:20.119Z,1755825260.119 [DAT](INFO): DAT read: Tx time:01:14:19.3924

2025-08-22T01:14:20.120Z,1755825260.120 [DAT](INFO): Ping request sent.
2025-08-22T01:14:20.120Z,1755825260.120 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:20.120Z,1755825260.120 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T01:14:20.121Z,1755825260.121 [DAT](INFO): direction in FSK: [-0.533630,-0.837632,0.116671]
2025-08-22T01:14:20.121Z,1755825260.121 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:20.122Z,1755825260.122 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:20.125Z,1755825260.125 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:20.125Z,1755825260.125 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:20.157Z,1755825260.157 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.036571
2025-08-22T01:14:20.360Z,1755825260.360 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.240232
2025-08-22T01:14:20.615Z,1755825260.615 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.495006
2025-08-22T01:14:20.864Z,1755825260.864 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.744304
2025-08-22T01:14:21.117Z,1755825261.117 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.997112
2025-08-22T01:14:21.368Z,1755825261.368 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.248282
2025-08-22T01:14:21.623Z,1755825261.623 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.502393
2025-08-22T01:14:21.872Z,1755825261.872 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.752255
2025-08-22T01:14:22.124Z,1755825262.124 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.004278
2025-08-22T01:14:22.376Z,1755825262.376 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.256287
2025-08-22T01:14:22.630Z,1755825262.630 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.510267
2025-08-22T01:14:22.880Z,1755825262.880 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.760522
2025-08-22T01:14:23.132Z,1755825263.132 [DAT](INFO): DAT read: Rx Time:01:14:21.8433

2025-08-22T01:14:23.133Z,1755825263.133 [DAT](INFO): Rx dataTimestamp_ set to:1755825263.132623
2025-08-22T01:14:23.133Z,1755825263.133 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=3.013533
2025-08-22T01:14:23.384Z,1755825263.384 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=3.264244
2025-08-22T01:14:23.664Z,1755825263.664 [DAT](INFO): DAT read: 01:14:21.8433 LVL= 29904, 18929, 27346, 31555, AGC= 55, IDX= 444,-0.07,-2.619,-0.643,-0.841,-1.065, PHS=-1.452, 0.468, 0.181, RAW= 278.0,   9.0, CAL= 276.5,   9.2, ROT= 233.5,  -9.2

2025-08-22T01:14:23.665Z,1755825263.665 [DAT](INFO): got valid direction response:
 01:14:21.8433 LVL= 29904, 18929, 27346, 31555, AGC= 55, IDX= 444,-0.07,-2.619,-0.643,-0.841,-1.065, PHS=-1.452, 0.468, 0.181, RAW= 278.0,   9.0, CAL= 276.5,   9.2, ROT= 233.5,  -9.2

2025-08-22T01:14:23.666Z,1755825263.666 [DAT](INFO): DAT read: Bearing 292.7, -54.0 (Local)

2025-08-22T01:14:23.666Z,1755825263.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.7, -54.0 (Local)

2025-08-22T01:14:23.672Z,1755825263.672 [DAT](INFO): DAT read: Range 11 to 50 : 35.1 m  (Round-trip  46.8 ms) speed -0.2 m/s

2025-08-22T01:14:23.673Z,1755825263.673 [DAT](INFO): DAT read: user:6056>

2025-08-22T01:14:23.674Z,1755825263.674 [DAT](INFO): DAT read: Tx time:01:14:22.9423

2025-08-22T01:14:23.674Z,1755825263.674 [DAT](INFO): Ping request sent.
2025-08-22T01:14:23.674Z,1755825263.674 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:23.674Z,1755825263.674 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T01:14:23.715Z,1755825263.715 [DAT](INFO): direction in FSK: [-0.587171,-0.793516,0.159881]
2025-08-22T01:14:23.716Z,1755825263.716 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:23.716Z,1755825263.716 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:23.728Z,1755825263.728 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:23.728Z,1755825263.728 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:23.747Z,1755825263.747 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.073530
2025-08-22T01:14:23.888Z,1755825263.888 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.214286
2025-08-22T01:14:24.140Z,1755825264.140 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.466327
2025-08-22T01:14:24.393Z,1755825264.393 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.718551
2025-08-22T01:14:24.647Z,1755825264.647 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.972430
2025-08-22T01:14:24.896Z,1755825264.896 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.222123
2025-08-22T01:14:25.148Z,1755825265.148 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.474460
2025-08-22T01:14:25.400Z,1755825265.400 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.726296
2025-08-22T01:14:25.661Z,1755825265.661 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.986672
2025-08-22T01:14:25.908Z,1755825265.908 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.234248
2025-08-22T01:14:26.160Z,1755825266.160 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.486284
2025-08-22T01:14:26.412Z,1755825266.412 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.738168
2025-08-22T01:14:26.667Z,1755825266.667 [DAT](INFO): DAT read: Rx Time:01:14:25.3943

2025-08-22T01:14:26.668Z,1755825266.668 [DAT](INFO): Rx dataTimestamp_ set to:1755825266.667317
2025-08-22T01:14:26.670Z,1755825266.670 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.995524
2025-08-22T01:14:26.916Z,1755825266.916 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=3.242232
2025-08-22T01:14:27.174Z,1755825267.174 [DAT](INFO): DAT read: 01:14:25.3943 LVL= 32752, 20545, 26482, 32755, AGC= 57, IDX= 438,-0.15, 0.935, 2.926, 2.622, 2.491, PHS=-1.454, 0.480, 0.087, RAW= 281.1,  10.0, CAL= 279.4,  12.5, ROT= 230.6, -12.5

2025-08-22T01:14:27.175Z,1755825267.175 [DAT](INFO): got valid direction response:
 01:14:25.3943 LVL= 32752, 20545, 26482, 32755, AGC= 57, IDX= 438,-0.15, 0.935, 2.926, 2.622, 2.491, PHS=-1.454, 0.480, 0.087, RAW= 281.1,  10.0, CAL= 279.4,  12.5, ROT= 230.6, -12.5

2025-08-22T01:14:27.176Z,1755825267.176 [DAT](INFO): DAT read: Bearing 289.7, -50.9 (Local)

2025-08-22T01:14:27.176Z,1755825267.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.7, -50.9 (Local)

2025-08-22T01:14:27.178Z,1755825267.178 [DAT](INFO): DAT read: Range 11 to 50 : 35.8 m  (Round-trip  47.8 ms) speed -0.2 m/s

2025-08-22T01:14:27.178Z,1755825267.178 [DAT](INFO): DAT read: user:6057>

2025-08-22T01:14:27.190Z,1755825267.190 [DAT](INFO): DAT read: Tx time:01:14:26.4923

2025-08-22T01:14:27.190Z,1755825267.190 [DAT](INFO): Ping request sent.
2025-08-22T01:14:27.190Z,1755825267.190 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:27.190Z,1755825267.190 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T01:14:27.192Z,1755825267.192 [DAT](INFO): direction in FSK: [-0.619685,-0.754417,0.216440]
2025-08-22T01:14:27.192Z,1755825267.192 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:27.192Z,1755825267.192 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:27.219Z,1755825267.219 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:27.220Z,1755825267.220 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:27.223Z,1755825267.223 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.032632
2025-08-22T01:14:27.420Z,1755825267.420 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.230219
2025-08-22T01:14:27.675Z,1755825267.675 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.484374
2025-08-22T01:14:27.924Z,1755825267.924 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.734050
2025-08-22T01:14:28.176Z,1755825268.176 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.986062
2025-08-22T01:14:28.428Z,1755825268.428 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.238162
2025-08-22T01:14:28.681Z,1755825268.681 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.490367
2025-08-22T01:14:28.931Z,1755825268.931 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-08-22T01:14:28.933Z,1755825268.933 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.742413
2025-08-22T01:14:28.933Z,1755825268.933 [DefaultWithUndock:A.Wait] Stopped
2025-08-22T01:14:28.933Z,1755825268.933 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T01:14:28.933Z,1755825268.933 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-08-22T01:14:28.933Z,1755825268.933 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-08-22T01:14:28.933Z,1755825268.933 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-08-22T01:14:28.933Z,1755825268.933 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-08-22T01:14:28.934Z,1755825268.934 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-08-22T01:14:28.934Z,1755825268.934 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-22T01:14:28.934Z,1755825268.934 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T01:14:29.184Z,1755825269.184 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.994091
2025-08-22T01:14:29.275Z,1755825269.275 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-22T01:14:29.275Z,1755825269.275 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T01:14:29.292Z,1755825269.292 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 68.446098 m.
2025-08-22T01:14:29.293Z,1755825269.293 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-08-22T01:14:29.437Z,1755825269.437 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.246349
2025-08-22T01:14:29.699Z,1755825269.699 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.500503
2025-08-22T01:14:29.940Z,1755825269.940 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.750065
2025-08-22T01:14:30.139Z,1755825270.139 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T01:14:30.192Z,1755825270.192 [DAT](INFO): DAT read: Rx Time:01:14:28.9452

2025-08-22T01:14:30.193Z,1755825270.193 [DAT](INFO): Rx dataTimestamp_ set to:1755825270.192344
2025-08-22T01:14:30.193Z,1755825270.193 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=3.003011
2025-08-22T01:14:30.260Z,1755825270.260 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T01:14:30.444Z,1755825270.444 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=3.254032
2025-08-22T01:14:30.709Z,1755825270.709 [DAT](INFO): DAT read: 01:14:28.9452 LVL= 32752, 19953, 28018, 32755, AGC= 58, IDX= 431, 0.45,-0.926, 1.093, 0.764, 0.643, PHS=-1.467, 0.495, 0.077, RAW= 281.7,  10.0, CAL= 279.9,  12.5, ROT= 230.1, -12.5

2025-08-22T01:14:30.710Z,1755825270.710 [DAT](INFO): got valid direction response:
 01:14:28.9452 LVL= 32752, 19953, 28018, 32755, AGC= 58, IDX= 431, 0.45,-0.926, 1.093, 0.764, 0.643, PHS=-1.467, 0.495, 0.077, RAW= 281.7,  10.0, CAL= 279.9,  12.5, ROT= 230.1, -12.5

2025-08-22T01:14:30.712Z,1755825270.712 [DAT](INFO): DAT read: Bearing 290.2, -51.3 (Local)

2025-08-22T01:14:30.712Z,1755825270.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.2, -51.3 (Local)

2025-08-22T01:14:30.713Z,1755825270.713 [DAT](INFO): DAT read: Range 11 to 50 : 36.5 m  (Round-trip  48.7 ms) speed -0.3 m/s

2025-08-22T01:14:30.714Z,1755825270.714 [DAT](INFO): DAT read: user:6058>

2025-08-22T01:14:30.715Z,1755825270.715 [DAT](INFO): DAT read: Tx time:01:14:30.0423

2025-08-22T01:14:30.715Z,1755825270.715 [DAT](INFO): Ping request sent.
2025-08-22T01:14:30.715Z,1755825270.715 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:30.716Z,1755825270.716 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T01:14:30.719Z,1755825270.719 [DAT](INFO): direction in FSK: [-0.626245,-0.748980,0.216440]
2025-08-22T01:14:30.764Z,1755825270.764 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:30.765Z,1755825270.765 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:30.793Z,1755825270.793 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:30.793Z,1755825270.793 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:30.805Z,1755825270.805 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.089040
2025-08-22T01:14:30.936Z,1755825270.936 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-08-22T01:14:30.948Z,1755825270.948 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.232852
2025-08-22T01:14:31.200Z,1755825271.200 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.484994
2025-08-22T01:14:31.452Z,1755825271.452 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.736763
2025-08-22T01:14:31.707Z,1755825271.707 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.991432
2025-08-22T01:14:31.960Z,1755825271.960 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.244993
2025-08-22T01:14:32.084Z,1755825272.084 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-22T01:14:32.212Z,1755825272.212 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.496789
2025-08-22T01:14:32.464Z,1755825272.464 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.748638
2025-08-22T01:14:32.716Z,1755825272.716 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.000999
2025-08-22T01:14:32.968Z,1755825272.968 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.252884
2025-08-22T01:14:33.220Z,1755825273.220 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.504697
2025-08-22T01:14:33.472Z,1755825273.472 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.756721
2025-08-22T01:14:33.726Z,1755825273.726 [DAT](INFO): DAT read: Rx Time:01:14:32.4964

2025-08-22T01:14:33.727Z,1755825273.727 [DAT](INFO): Rx dataTimestamp_ set to:1755825273.726274
2025-08-22T01:14:33.727Z,1755825273.727 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=3.011631
2025-08-22T01:14:33.752Z,1755825273.752 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T01:14:33.976Z,1755825273.976 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=3.260652
2025-08-22T01:14:34.231Z,1755825274.231 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=3.515069
2025-08-22T01:14:34.486Z,1755825274.486 [DAT](INFO): DAT read: 01:14:32.4964 LVL= 32752, 22241, 31058, 32755, AGC= 57, IDX= 444, 0.06,-1.424, 0.601, 0.242, 0.155, PHS=-1.477, 0.491, 0.043, RAW= 282.5,  10.6, CAL= 280.7,  14.1, ROT= 229.3, -14.1

2025-08-22T01:14:34.487Z,1755825274.487 [DAT](INFO): got valid direction response:
 01:14:32.4964 LVL= 32752, 22241, 31058, 32755, AGC= 57, IDX= 444, 0.06,-1.424, 0.601, 0.242, 0.155, PHS=-1.477, 0.491, 0.043, RAW= 282.5,  10.6, CAL= 280.7,  14.1, ROT= 229.3, -14.1

2025-08-22T01:14:34.488Z,1755825274.488 [DAT](INFO): DAT read: Bearing 289.0, -49.8 (Local)

2025-08-22T01:14:34.488Z,1755825274.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.0, -49.8 (Local)

2025-08-22T01:14:34.490Z,1755825274.490 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m  (Round-trip  50.0 ms) speed -0.3 m/s

2025-08-22T01:14:34.490Z,1755825274.490 [DAT](INFO): DAT read: user:6059>

2025-08-22T01:14:34.491Z,1755825274.491 [DAT](INFO): DAT read: Tx time:01:14:33.5923

2025-08-22T01:14:34.492Z,1755825274.492 [DAT](INFO): Ping request sent.
2025-08-22T01:14:34.492Z,1755825274.492 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:34.492Z,1755825274.492 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T01:14:34.493Z,1755825274.493 [DAT](INFO): direction in FSK: [-0.632452,-0.735293,0.243615]
2025-08-22T01:14:34.493Z,1755825274.493 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:34.493Z,1755825274.493 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:34.497Z,1755825274.497 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:34.497Z,1755825274.497 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:34.500Z,1755825274.500 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.008550
2025-08-22T01:14:34.732Z,1755825274.732 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.240789
2025-08-22T01:14:34.985Z,1755825274.985 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.493284
2025-08-22T01:14:35.236Z,1755825275.236 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.744568
2025-08-22T01:14:35.488Z,1755825275.488 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.996539
2025-08-22T01:14:35.740Z,1755825275.740 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.248751
2025-08-22T01:14:35.992Z,1755825275.992 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.500607
2025-08-22T01:14:36.247Z,1755825276.247 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.755044
2025-08-22T01:14:36.500Z,1755825276.500 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.008565
2025-08-22T01:14:36.752Z,1755825276.752 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.260611
2025-08-22T01:14:37.004Z,1755825277.004 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.512630
2025-08-22T01:14:37.256Z,1755825277.256 [DAT](INFO): DAT read: Rx Time:01:14:36.0474

2025-08-22T01:14:37.257Z,1755825277.257 [DAT](INFO): Rx dataTimestamp_ set to:1755825277.256444
2025-08-22T01:14:37.257Z,1755825277.257 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.765631
2025-08-22T01:14:37.508Z,1755825277.508 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=3.016595
2025-08-22T01:14:37.763Z,1755825277.763 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=3.270729
2025-08-22T01:14:38.018Z,1755825278.018 [DAT](INFO): DAT read: 01:14:36.0474 LVL= 32752, 22641, 28370, 32755, AGC= 55, IDX= 440,-0.42, 3.119,-1.138,-1.559,-1.640, PHS=-1.422, 0.547, 0.036, RAW= 284.5,   9.5, CAL= 282.5,  11.3, ROT= 227.5, -11.3

2025-08-22T01:14:38.024Z,1755825278.024 [DAT](INFO): got valid direction response:
 01:14:36.0474 LVL= 32752, 22641, 28370, 32755, AGC= 55, IDX= 440,-0.42, 3.119,-1.138,-1.559,-1.640, PHS=-1.422, 0.547, 0.036, RAW= 284.5,   9.5, CAL= 282.5,  11.3, ROT= 227.5, -11.3

2025-08-22T01:14:38.025Z,1755825278.025 [DAT](INFO): DAT read: Bearing 294.9, -48.7 (Local)

2025-08-22T01:14:38.025Z,1755825278.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.9, -48.7 (Local)

2025-08-22T01:14:38.027Z,1755825278.027 [DAT](INFO): DAT read: Range 11 to 50 : 38.2 m  (Round-trip  51.0 ms) speed -0.2 m/s

2025-08-22T01:14:38.027Z,1755825278.027 [DAT](INFO): DAT read: user:6060>

2025-08-22T01:14:38.028Z,1755825278.028 [DAT](INFO): DAT read: Tx time:01:14:37.1422

2025-08-22T01:14:38.028Z,1755825278.028 [DAT](INFO): Ping request sent.
2025-08-22T01:14:38.029Z,1755825278.029 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:38.029Z,1755825278.029 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T01:14:38.030Z,1755825278.030 [DAT](INFO): direction in FSK: [-0.662494,-0.722985,0.195946]
2025-08-22T01:14:38.030Z,1755825278.030 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:38.030Z,1755825278.030 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:38.062Z,1755825278.062 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:38.062Z,1755825278.062 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:38.082Z,1755825278.082 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.053393
2025-08-22T01:14:38.266Z,1755825278.266 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.237368
2025-08-22T01:14:38.516Z,1755825278.516 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.487590
2025-08-22T01:14:38.769Z,1755825278.769 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.740007
2025-08-22T01:14:39.020Z,1755825279.020 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.991703
2025-08-22T01:14:39.027Z,1755825279.027 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T01:14:39.272Z,1755825279.272 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.243551
2025-08-22T01:14:39.395Z,1755825279.395 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T01:14:39.524Z,1755825279.524 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.495577
2025-08-22T01:14:39.776Z,1755825279.776 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.747575
2025-08-22T01:14:40.028Z,1755825280.028 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.999560
2025-08-22T01:14:40.281Z,1755825280.281 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.252702
2025-08-22T01:14:40.532Z,1755825280.532 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.503695
2025-08-22T01:14:40.784Z,1755825280.784 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.755515
2025-08-22T01:14:41.037Z,1755825281.037 [DAT](INFO): DAT read: Rx Time:01:14:39.5983

2025-08-22T01:14:41.037Z,1755825281.037 [DAT](INFO): Rx dataTimestamp_ set to:1755825281.036748
2025-08-22T01:14:41.038Z,1755825281.038 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=3.008970
2025-08-22T01:14:41.288Z,1755825281.288 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=3.259653
2025-08-22T01:14:41.546Z,1755825281.546 [DAT](INFO): DAT read: 01:14:39.5983 LVL= 31632, 20833, 27522, 32755, AGC= 56, IDX= 432,-0.14, 0.982, 3.013, 2.566, 2.493, PHS=-1.408, 0.565, 0.029, RAW= 285.2,   9.2, CAL= 283.2,  10.6, ROT= 226.8, -10.6

2025-08-22T01:14:41.547Z,1755825281.547 [DAT](INFO): got valid direction response:
 01:14:39.5983 LVL= 31632, 20833, 27522, 32755, AGC= 56, IDX= 432,-0.14, 0.982, 3.013, 2.566, 2.493, PHS=-1.408, 0.565, 0.029, RAW= 285.2,   9.2, CAL= 283.2,  10.6, ROT= 226.8, -10.6

2025-08-22T01:14:41.548Z,1755825281.548 [DAT](INFO): DAT read: Bearing 297.9, -46.7 (Local)

2025-08-22T01:14:41.548Z,1755825281.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.9, -46.7 (Local)

2025-08-22T01:14:41.550Z,1755825281.550 [DAT](INFO): DAT read: Range 11 to 50 : 38.9 m  (Round-trip  51.9 ms) speed -0.2 m/s

2025-08-22T01:14:41.550Z,1755825281.550 [DAT](INFO): DAT read: user:6061>

2025-08-22T01:14:41.551Z,1755825281.551 [DAT](INFO): DAT read: Tx time:01:14:40.6922

2025-08-22T01:14:41.551Z,1755825281.551 [DAT](INFO): Ping request sent.
2025-08-22T01:14:41.552Z,1755825281.552 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:41.552Z,1755825281.552 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-22T01:14:41.553Z,1755825281.553 [DAT](INFO): direction in FSK: [-0.672866,-0.716529,0.183951]
2025-08-22T01:14:41.553Z,1755825281.553 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:41.553Z,1755825281.553 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:41.557Z,1755825281.557 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:41.557Z,1755825281.557 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:41.560Z,1755825281.560 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.008643
2025-08-22T01:14:41.792Z,1755825281.792 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.240441
2025-08-22T01:14:42.044Z,1755825282.044 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.492665
2025-08-22T01:14:42.296Z,1755825282.296 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.744646
2025-08-22T01:14:42.548Z,1755825282.548 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.996690
2025-08-22T01:14:42.800Z,1755825282.800 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.248609
2025-08-22T01:14:43.053Z,1755825283.053 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.501104
2025-08-22T01:14:43.304Z,1755825283.304 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.752835
2025-08-22T01:14:43.556Z,1755825283.556 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.004599
2025-08-22T01:14:43.808Z,1755825283.808 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.256604
2025-08-22T01:14:44.061Z,1755825284.061 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.509005
2025-08-22T01:14:44.313Z,1755825284.313 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.761313
2025-08-22T01:14:44.564Z,1755825284.564 [DAT](INFO): DAT read: Rx Time:01:14:43.1492

2025-08-22T01:14:44.565Z,1755825284.565 [DAT](INFO): Rx dataTimestamp_ set to:1755825284.564328
2025-08-22T01:14:44.565Z,1755825284.565 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=3.013525
2025-08-22T01:14:44.816Z,1755825284.816 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=3.264834
2025-08-22T01:14:45.076Z,1755825285.076 [DAT](INFO): DAT read: 01:14:43.1492 LVL= 32752, 27377, 27250, 32755, AGC= 55, IDX= 441, 0.16,-0.146, 1.877, 1.414, 1.274, PHS=-1.319, 0.647, 0.096, RAW= 285.8,   6.6, CAL= 283.9,   3.8, ROT= 226.1,  -3.8

2025-08-22T01:14:45.077Z,1755825285.077 [DAT](INFO): got valid direction response:
 01:14:43.1492 LVL= 32752, 27377, 27250, 32755, AGC= 55, IDX= 441, 0.16,-0.146, 1.877, 1.414, 1.274, PHS=-1.319, 0.647, 0.096, RAW= 285.8,   6.6, CAL= 283.9,   3.8, ROT= 226.1,  -3.8

2025-08-22T01:14:45.078Z,1755825285.078 [DAT](INFO): DAT read: Bearing 308.8, -45.5 (Local)

2025-08-22T01:14:45.078Z,1755825285.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.8, -45.5 (Local)

2025-08-22T01:14:45.080Z,1755825285.080 [DAT](INFO): DAT read: Range 11 to 50 : 39.6 m  (Round-trip  52.8 ms) speed -0.3 m/s

2025-08-22T01:14:45.081Z,1755825285.081 [DAT](INFO): DAT read: user:6062>

2025-08-22T01:14:45.082Z,1755825285.082 [DAT](INFO): DAT read: Tx time:01:14:44.2422

2025-08-22T01:14:45.082Z,1755825285.082 [DAT](INFO): Ping request sent.
2025-08-22T01:14:45.082Z,1755825285.082 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:45.083Z,1755825285.083 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T01:14:45.085Z,1755825285.085 [DAT](INFO): direction in FSK: [-0.691877,-0.718967,0.066274]
2025-08-22T01:14:45.086Z,1755825285.086 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:45.086Z,1755825285.086 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:45.107Z,1755825285.107 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:45.107Z,1755825285.107 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:45.111Z,1755825285.111 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.028527
2025-08-22T01:14:45.320Z,1755825285.320 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.237874
2025-08-22T01:14:45.572Z,1755825285.572 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.489875
2025-08-22T01:14:45.828Z,1755825285.828 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.745829
2025-08-22T01:14:46.080Z,1755825286.080 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.997999
2025-08-22T01:14:46.340Z,1755825286.340 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.257632
2025-08-22T01:14:46.592Z,1755825286.592 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.509981
2025-08-22T01:14:46.844Z,1755825286.844 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.761839
2025-08-22T01:14:47.097Z,1755825287.097 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.014232
2025-08-22T01:14:47.348Z,1755825287.348 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.265912
2025-08-22T01:14:47.600Z,1755825287.600 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.517927
2025-08-22T01:14:47.852Z,1755825287.852 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.770103
2025-08-22T01:14:48.104Z,1755825288.104 [DAT](INFO): DAT read: Rx Time:01:14:46.7002

2025-08-22T01:14:48.105Z,1755825288.105 [DAT](INFO): Rx dataTimestamp_ set to:1755825288.104494
2025-08-22T01:14:48.105Z,1755825288.105 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=3.022998
2025-08-22T01:14:48.356Z,1755825288.356 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=3.273921
2025-08-22T01:14:48.614Z,1755825288.614 [DAT](INFO): DAT read: 01:14:46.7002 LVL= 32752, 23649, 25426, 32755, AGC= 55, IDX= 438,-0.36,-2.723,-0.659,-1.214,-1.304, PHS=-1.317, 0.691, 0.046, RAW= 288.3,   6.6, CAL= 286.3,   4.1, ROT= 223.7,  -4.1

2025-08-22T01:14:48.615Z,1755825288.615 [DAT](INFO): got valid direction response:
 01:14:46.7002 LVL= 32752, 23649, 25426, 32755, AGC= 55, IDX= 438,-0.36,-2.723,-0.659,-1.214,-1.304, PHS=-1.317, 0.691, 0.046, RAW= 288.3,   6.6, CAL= 286.3,   4.1, ROT= 223.7,  -4.1

2025-08-22T01:14:48.616Z,1755825288.616 [DAT](INFO): DAT read: Bearing 310.4, -40.5 (Local)

2025-08-22T01:14:48.616Z,1755825288.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.4, -40.5 (Local)

2025-08-22T01:14:48.618Z,1755825288.618 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m  (Round-trip  54.0 ms) speed -0.3 m/s

2025-08-22T01:14:48.619Z,1755825288.619 [DAT](INFO): DAT read: user:6063>

2025-08-22T01:14:48.619Z,1755825288.619 [DAT](INFO): DAT read: Tx time:01:14:47.7921

2025-08-22T01:14:48.620Z,1755825288.620 [DAT](INFO): Ping request sent.
2025-08-22T01:14:48.620Z,1755825288.620 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:48.620Z,1755825288.620 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T01:14:48.621Z,1755825288.621 [DAT](INFO): direction in FSK: [-0.721117,-0.689114,0.071497]
2025-08-22T01:14:48.621Z,1755825288.621 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:48.621Z,1755825288.621 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:48.625Z,1755825288.625 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:48.625Z,1755825288.625 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:48.631Z,1755825288.631 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.010905
2025-08-22T01:14:48.860Z,1755825288.860 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.240652
2025-08-22T01:14:49.106Z,1755825289.106 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T01:14:49.112Z,1755825289.112 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.492464
2025-08-22T01:14:49.364Z,1755825289.364 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.744399
2025-08-22T01:14:49.616Z,1755825289.616 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.996462
2025-08-22T01:14:49.869Z,1755825289.869 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.249639
2025-08-22T01:14:50.120Z,1755825290.120 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.500418
2025-08-22T01:14:50.379Z,1755825290.379 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.759149
2025-08-22T01:14:50.632Z,1755825290.632 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.012385
2025-08-22T01:14:50.884Z,1755825290.884 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.264632
2025-08-22T01:14:51.136Z,1755825291.136 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.516553
2025-08-22T01:14:51.388Z,1755825291.388 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.768389
2025-08-22T01:14:51.640Z,1755825291.640 [DAT](INFO): DAT read: Rx Time:01:14:50.2514

2025-08-22T01:14:51.641Z,1755825291.641 [DAT](INFO): Rx dataTimestamp_ set to:1755825291.640384
2025-08-22T01:14:51.641Z,1755825291.641 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=3.021418
2025-08-22T01:14:51.892Z,1755825291.892 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=3.272428
2025-08-22T01:14:52.152Z,1755825292.152 [DAT](INFO): DAT read: 01:14:50.2514 LVL= 32368, 20721, 27218, 31603, AGC= 53, IDX= 433, 0.19,-1.129, 0.906, 0.371, 0.267, PHS=-1.293, 0.684, 0.060, RAW= 288.0,   6.3, CAL= 286.0,   3.3, ROT= 224.0,  -3.3

2025-08-22T01:14:52.153Z,1755825292.153 [DAT](INFO): got valid direction response:
 01:14:50.2514 LVL= 32368, 20721, 27218, 31603, AGC= 53, IDX= 433, 0.19,-1.129, 0.906, 0.371, 0.267, PHS=-1.293, 0.684, 0.060, RAW= 288.0,   6.3, CAL= 286.0,   3.3, ROT= 224.0,  -3.3

2025-08-22T01:14:52.155Z,1755825292.155 [DAT](INFO): DAT read: Bearing 311.8, -39.7 (Local)

2025-08-22T01:14:52.155Z,1755825292.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8, -39.7 (Local)

2025-08-22T01:14:52.157Z,1755825292.157 [DAT](INFO): DAT read: Range 11 to 50 : 41.3 m  (Round-trip  55.1 ms) speed -0.2 m/s

2025-08-22T01:14:52.158Z,1755825292.158 [DAT](INFO): DAT read: user:6064>

2025-08-22T01:14:52.159Z,1755825292.159 [DAT](INFO): DAT read: Tx time:01:14:51.3421

2025-08-22T01:14:52.160Z,1755825292.160 [DAT](INFO): Ping request sent.
2025-08-22T01:14:52.160Z,1755825292.160 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:52.160Z,1755825292.160 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T01:14:52.162Z,1755825292.162 [DAT](INFO): direction in FSK: [-0.718147,-0.693507,0.057564]
2025-08-22T01:14:52.162Z,1755825292.162 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:52.162Z,1755825292.162 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:52.189Z,1755825292.189 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:52.189Z,1755825292.189 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:52.203Z,1755825292.203 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.035166
2025-08-22T01:14:52.397Z,1755825292.397 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.236768
2025-08-22T01:14:52.648Z,1755825292.648 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.488374
2025-08-22T01:14:52.900Z,1755825292.900 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.740294
2025-08-22T01:14:53.153Z,1755825293.153 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.992758
2025-08-22T01:14:53.404Z,1755825293.404 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.244373
2025-08-22T01:14:53.657Z,1755825293.657 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.497127
2025-08-22T01:14:53.908Z,1755825293.908 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.748507
2025-08-22T01:14:54.161Z,1755825294.161 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.000787
2025-08-22T01:14:54.413Z,1755825294.413 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.252942
2025-08-22T01:14:54.664Z,1755825294.664 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.504598
2025-08-22T01:14:54.916Z,1755825294.916 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.756370
2025-08-22T01:14:55.169Z,1755825295.169 [DAT](INFO): DAT read: Rx Time:01:14:53.8023

2025-08-22T01:14:55.170Z,1755825295.170 [DAT](INFO): Rx dataTimestamp_ set to:1755825295.169113
2025-08-22T01:14:55.170Z,1755825295.170 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=3.010357
2025-08-22T01:14:55.420Z,1755825295.420 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=3.260605
2025-08-22T01:14:55.678Z,1755825295.678 [DAT](INFO): DAT read: 01:14:53.8023 LVL= 32592, 20321, 25154, 32755, AGC= 55, IDX= 442,-0.12, 0.391, 2.436, 1.842, 1.767, PHS=-1.274, 0.714, 0.031, RAW= 289.8,   6.1, CAL= 287.8,   3.0, ROT= 222.2,  -3.0

2025-08-22T01:14:55.679Z,1755825295.679 [DAT](INFO): got valid direction response:
 01:14:53.8023 LVL= 32592, 20321, 25154, 32755, AGC= 55, IDX= 442,-0.12, 0.391, 2.436, 1.842, 1.767, PHS=-1.274, 0.714, 0.031, RAW= 289.8,   6.1, CAL= 287.8,   3.0, ROT= 222.2,  -3.0

2025-08-22T01:14:55.680Z,1755825295.680 [DAT](INFO): DAT read: Bearing 312.7, -38.1 (Local)

2025-08-22T01:14:55.680Z,1755825295.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.7, -38.1 (Local)

2025-08-22T01:14:55.682Z,1755825295.682 [DAT](INFO): DAT read: Range 11 to 50 : 42.0 m  (Round-trip  56.0 ms) speed -0.2 m/s

2025-08-22T01:14:55.682Z,1755825295.682 [DAT](INFO): DAT read: user:6065>

2025-08-22T01:14:55.691Z,1755825295.691 [DAT](INFO): DAT read: Tx time:01:14:54.8921

2025-08-22T01:14:55.692Z,1755825295.692 [DAT](INFO): Ping request sent.
2025-08-22T01:14:55.692Z,1755825295.692 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:55.692Z,1755825295.692 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T01:14:55.693Z,1755825295.693 [DAT](INFO): direction in FSK: [-0.739789,-0.670800,0.052336]
2025-08-22T01:14:55.693Z,1755825295.693 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:55.694Z,1755825295.694 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:55.702Z,1755825295.702 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:55.702Z,1755825295.702 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:55.710Z,1755825295.710 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.017730
2025-08-22T01:14:55.924Z,1755825295.924 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.232350
2025-08-22T01:14:56.177Z,1755825296.177 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.484691
2025-08-22T01:14:56.429Z,1755825296.429 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.737006
2025-08-22T01:14:56.680Z,1755825296.680 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.988280
2025-08-22T01:14:56.932Z,1755825296.932 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.240637
2025-08-22T01:14:57.188Z,1755825297.188 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.496302
2025-08-22T01:14:57.440Z,1755825297.440 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.748351
2025-08-22T01:14:57.692Z,1755825297.692 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.000566
2025-08-22T01:14:57.944Z,1755825297.944 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.252520
2025-08-22T01:14:58.196Z,1755825298.196 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.504241
2025-08-22T01:14:58.448Z,1755825298.448 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.756379
2025-08-22T01:14:58.700Z,1755825298.700 [DAT](INFO): DAT read: Rx Time:01:14:57.3533

2025-08-22T01:14:58.701Z,1755825298.701 [DAT](INFO): Rx dataTimestamp_ set to:1755825298.700470
2025-08-22T01:14:58.701Z,1755825298.701 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=3.009460
2025-08-22T01:14:58.952Z,1755825298.952 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=3.260285
2025-08-22T01:14:59.211Z,1755825299.211 [DAT](INFO): DAT read: 01:14:57.3533 LVL= 32432, 20529, 24882, 32755, AGC= 58, IDX= 436, 0.01, 0.793, 2.899, 2.317, 2.219, PHS=-1.324, 0.726, 0.054, RAW= 288.7,   6.1, CAL= 286.8,   2.8, ROT= 223.2,  -2.8

2025-08-22T01:14:59.212Z,1755825299.212 [DAT](INFO): got valid direction response:
 01:14:57.3533 LVL= 32432, 20529, 24882, 32755, AGC= 58, IDX= 436, 0.01, 0.793, 2.899, 2.317, 2.219, PHS=-1.324, 0.726, 0.054, RAW= 288.7,   6.1, CAL= 286.8,   2.8, ROT= 223.2,  -2.8

2025-08-22T01:14:59.213Z,1755825299.213 [DAT](INFO): DAT read: Bearing 313.0, -40.8 (Local)

2025-08-22T01:14:59.214Z,1755825299.214 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0, -40.8 (Local)

2025-08-22T01:14:59.217Z,1755825299.217 [DAT](INFO): DAT read: Range 11 to 50 : 42.7 m  (Round-trip  57.0 ms) speed -0.3 m/s

2025-08-22T01:14:59.232Z,1755825299.232 [DAT](INFO): DAT read: user:6066>

2025-08-22T01:14:59.232Z,1755825299.232 [DAT](INFO): DAT read: Tx time:01:14:58.4421

2025-08-22T01:14:59.233Z,1755825299.233 [DAT](INFO): Ping request sent.
2025-08-22T01:14:59.233Z,1755825299.233 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:14:59.233Z,1755825299.233 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T01:14:59.234Z,1755825299.234 [DAT](INFO): direction in FSK: [-0.728098,-0.683730,0.048850]
2025-08-22T01:14:59.234Z,1755825299.234 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:59.235Z,1755825299.235 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:59.250Z,1755825299.250 [DAT](INFO): publishing transmit ping time
2025-08-22T01:14:59.250Z,1755825299.250 [DAT](INFO): publishing direction and range info
2025-08-22T01:14:59.286Z,1755825299.286 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.053024
2025-08-22T01:14:59.349Z,1755825299.349 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,        +0.00
2025-08-22T01:14:59.399Z,1755825299.399 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 42.70 m. Transitioning docking module to standby.
2025-08-22T01:14:59.457Z,1755825299.457 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.223702
2025-08-22T01:14:59.601Z,1755825299.601 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T01:14:59.606Z,1755825299.606 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T01:14:59.708Z,1755825299.708 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.475382
2025-08-22T01:14:59.963Z,1755825299.963 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.729901
2025-08-22T01:15:00.216Z,1755825300.216 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.983514
2025-08-22T01:15:00.471Z,1755825300.471 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=1.238094
2025-08-22T01:15:00.720Z,1755825300.720 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=1.487678
2025-08-22T01:15:00.972Z,1755825300.972 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=1.739451
2025-08-22T01:15:01.227Z,1755825301.227 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=1.993803
2025-08-22T01:15:01.476Z,1755825301.476 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.243444
2025-08-22T01:15:01.729Z,1755825301.729 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.495891
2025-08-22T01:15:01.982Z,1755825301.982 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.749558
2025-08-22T01:15:02.236Z,1755825302.236 [DAT](INFO): DAT read: Rx Time:01:15:00.9043

2025-08-22T01:15:02.237Z,1755825302.237 [DAT](INFO): Rx dataTimestamp_ set to:1755825302.236502
2025-08-22T01:15:02.237Z,1755825302.237 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=3.004546
2025-08-22T01:15:02.489Z,1755825302.489 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=3.256115
2025-08-22T01:15:02.746Z,1755825302.746 [DAT](INFO): DAT read: 01:15:00.9043 LVL= 32752, 21025, 24450, 32755, AGC= 56, IDX= 432,-0.21,-2.039, 0.050,-0.541,-0.635, PHS=-1.303, 0.729, 0.050, RAW= 289.2,   5.9, CAL= 287.2,   2.4, ROT= 222.8,  -2.4

2025-08-22T01:15:02.747Z,1755825302.747 [DAT](INFO): got valid direction response:
 01:15:00.9043 LVL= 32752, 21025, 24450, 32755, AGC= 56, IDX= 432,-0.21,-2.039, 0.050,-0.541,-0.635, PHS=-1.303, 0.729, 0.050, RAW= 289.2,   5.9, CAL= 287.2,   2.4, ROT= 222.8,  -2.4

2025-08-22T01:15:02.748Z,1755825302.748 [DAT](INFO): DAT read: Bearing 313.6, -42.6 (Local)

2025-08-22T01:15:02.748Z,1755825302.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.6, -42.6 (Local)

2025-08-22T01:15:02.749Z,1755825302.749 [DAT](INFO): DAT read: Range 11 to 50 : 43.6 m  (Round-trip  58.2 ms) speed -0.3 m/s

2025-08-22T01:15:02.750Z,1755825302.750 [DAT](INFO): DAT read: user:6067>

2025-08-22T01:15:02.751Z,1755825302.751 [DAT](INFO): DAT read: Tx time:01:15:01.9920

2025-08-22T01:15:02.751Z,1755825302.751 [DAT](INFO): Ping request sent.
2025-08-22T01:15:02.751Z,1755825302.751 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:02.752Z,1755825302.752 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T01:15:02.753Z,1755825302.753 [DAT](INFO): direction in FSK: [-0.733086,-0.678845,0.041876]
2025-08-22T01:15:02.753Z,1755825302.753 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:02.753Z,1755825302.753 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:02.756Z,1755825302.756 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:02.756Z,1755825302.756 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:02.760Z,1755825302.760 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.008549
2025-08-22T01:15:02.992Z,1755825302.992 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.241104
2025-08-22T01:15:03.247Z,1755825303.247 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.495110
2025-08-22T01:15:03.496Z,1755825303.496 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.744791
2025-08-22T01:15:03.749Z,1755825303.749 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.997116
2025-08-22T01:15:04.000Z,1755825304.000 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=1.248894
2025-08-22T01:15:04.255Z,1755825304.255 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=1.502959
2025-08-22T01:15:04.505Z,1755825304.505 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=1.753752
2025-08-22T01:15:04.756Z,1755825304.756 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=2.004854
2025-08-22T01:15:05.008Z,1755825305.008 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=2.256844
2025-08-22T01:15:05.265Z,1755825305.265 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=2.511745
2025-08-22T01:15:05.512Z,1755825305.512 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=2.760905
2025-08-22T01:15:05.676Z,1755825305.676 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-08-22T01:15:05.764Z,1755825305.764 [DAT](INFO): DAT read: Rx Time:01:15:04.4555

2025-08-22T01:15:05.765Z,1755825305.765 [DAT](INFO): Rx dataTimestamp_ set to:1755825305.764576
2025-08-22T01:15:05.765Z,1755825305.765 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=3.014035
2025-08-22T01:15:06.016Z,1755825306.016 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=3.265061
2025-08-22T01:15:06.051Z,1755825306.051 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T01:15:06.051Z,1755825306.051 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-08-22T01:15:06.052Z,1755825306.052 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-08-22T01:15:06.052Z,1755825306.052 [DefaultWithUndock:LeaveDock] Stopped
2025-08-22T01:15:06.052Z,1755825306.052 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-08-22T01:15:06.052Z,1755825306.052 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-08-22T01:15:06.052Z,1755825306.052 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T01:15:06.052Z,1755825306.052 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-08-22T01:15:06.052Z,1755825306.052 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-08-22T01:15:06.053Z,1755825306.053 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-08-22T01:15:06.053Z,1755825306.053 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-22T01:15:06.053Z,1755825306.053 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-08-22T01:15:06.053Z,1755825306.053 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-08-22T01:15:06.054Z,1755825306.054 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-08-22T01:15:06.054Z,1755825306.054 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-08-22T01:15:06.054Z,1755825306.054 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-22T01:15:06.054Z,1755825306.054 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-22T01:15:06.287Z,1755825306.287 [DAT](INFO): DAT read: 01:15:04.4555 LVL= 32752, 21937, 25650, 32755, AGC= 57, IDX= 444,-0.14,-2.692,-0.605,-1.113,-1.225, PHS=-1.366, 0.665, 0.067, RAW= 286.6,   7.1, CAL= 284.7,   5.1, ROT= 225.3,  -5.1

2025-08-22T01:15:06.290Z,1755825306.290 [DAT](INFO): got valid direction response:
 01:15:04.4555 LVL= 32752, 21937, 25650, 32755, AGC= 57, IDX= 444,-0.14,-2.692,-0.605,-1.113,-1.225, PHS=-1.366, 0.665, 0.067, RAW= 286.6,   7.1, CAL= 284.7,   5.1, ROT= 225.3,  -5.1

2025-08-22T01:15:06.293Z,1755825306.293 [DAT](INFO): DAT read: Bearing 308.3, -46.3 (Local)

2025-08-22T01:15:06.294Z,1755825306.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.3, -46.3 (Local)

2025-08-22T01:15:06.295Z,1755825306.295 [DAT](INFO): DAT read: Range 11 to 50 : 44.4 m  (Round-trip  59.3 ms) speed -0.2 m/s

2025-08-22T01:15:06.296Z,1755825306.296 [DAT](INFO): DAT read: user:6068>

2025-08-22T01:15:06.297Z,1755825306.297 [DAT](INFO): DAT read: Tx time:01:15:05.5920

2025-08-22T01:15:06.297Z,1755825306.297 [DAT](INFO): Ping request sent.
2025-08-22T01:15:06.297Z,1755825306.297 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:06.297Z,1755825306.297 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T01:15:06.298Z,1755825306.298 [DAT](INFO): direction in FSK: [-0.700610,-0.707986,0.088894]
2025-08-22T01:15:06.299Z,1755825306.299 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:06.299Z,1755825306.299 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:06.302Z,1755825306.302 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:06.302Z,1755825306.302 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:06.306Z,1755825306.306 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.008566
2025-08-22T01:15:06.520Z,1755825306.520 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.223003
2025-08-22T01:15:06.773Z,1755825306.773 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.475305
2025-08-22T01:15:06.971Z,1755825306.971 [Radio_Surface](INFO): Powering up
2025-08-22T01:15:07.025Z,1755825307.025 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.727410
2025-08-22T01:15:07.280Z,1755825307.280 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.982355
2025-08-22T01:15:07.528Z,1755825307.528 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=1.231177
2025-08-22T01:15:07.780Z,1755825307.780 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=1.483001
2025-08-22T01:15:08.032Z,1755825308.032 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=1.734966
2025-08-22T01:15:08.287Z,1755825308.287 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=1.989054
2025-08-22T01:15:08.537Z,1755825308.537 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=2.239369
2025-08-22T01:15:08.788Z,1755825308.788 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=2.491106
2025-08-22T01:15:09.041Z,1755825309.041 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=2.743288
2025-08-22T01:15:09.295Z,1755825309.295 [DAT](INFO): DAT read: Rx Time:01:15:08.0564

2025-08-22T01:15:09.296Z,1755825309.296 [DAT](INFO): Rx dataTimestamp_ set to:1755825309.295546
2025-08-22T01:15:09.298Z,1755825309.298 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=3.000728
2025-08-22T01:15:09.544Z,1755825309.544 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=3.246997
2025-08-22T01:15:09.819Z,1755825309.819 [DAT](INFO): DAT read: 01:15:08.0564 LVL= 32752, 22193, 28866, 32755, AGC= 59, IDX= 437, 0.28,-0.777, 1.322, 0.845, 0.724, PHS=-1.399, 0.644, 0.077, RAW= 285.6,   7.5, CAL= 283.7,   6.0, ROT= 226.3,  -6.0

2025-08-22T01:15:09.820Z,1755825309.820 [DAT](INFO): got valid direction response:
 01:15:08.0564 LVL= 32752, 22193, 28866, 32755, AGC= 59, IDX= 437, 0.28,-0.777, 1.322, 0.845, 0.724, PHS=-1.399, 0.644, 0.077, RAW= 285.6,   7.5, CAL= 283.7,   6.0, ROT= 226.3,  -6.0

2025-08-22T01:15:09.821Z,1755825309.821 [DAT](INFO): DAT read: Bearing 305.6, -47.9 (Local)

2025-08-22T01:15:09.822Z,1755825309.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.6, -47.9 (Local)

2025-08-22T01:15:09.823Z,1755825309.823 [DAT](INFO): DAT read: Range 11 to 50 : 45.1 m  (Round-trip  60.2 ms) speed -0.2 m/s

2025-08-22T01:15:09.824Z,1755825309.824 [DAT](INFO): DAT read: user:6069>

2025-08-22T01:15:09.824Z,1755825309.824 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T01:15:09.825Z,1755825309.825 [DAT](INFO): direction in FSK: [-0.687098,-0.719007,0.104528]
2025-08-22T01:15:09.826Z,1755825309.826 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:09.829Z,1755825309.829 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=3.532138
2025-08-22T01:15:10.048Z,1755825310.048 [DAT](INFO): DAT read: Tx time:01:15:09.1920

2025-08-22T01:15:10.049Z,1755825310.049 [DAT](INFO): Ping request sent.
2025-08-22T01:15:10.049Z,1755825310.049 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:10.049Z,1755825310.049 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:10.050Z,1755825310.050 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.000769
2025-08-22T01:15:10.303Z,1755825310.303 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.253587
2025-08-22T01:15:10.552Z,1755825310.552 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.503474
2025-08-22T01:15:10.804Z,1755825310.804 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.755432
2025-08-22T01:15:11.058Z,1755825311.058 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=1.008810
2025-08-22T01:15:11.308Z,1755825311.308 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=1.259669
2025-08-22T01:15:11.560Z,1755825311.560 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=1.511514
2025-08-22T01:15:11.813Z,1755825311.813 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=1.763852
2025-08-22T01:15:12.064Z,1755825312.064 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=2.015366
2025-08-22T01:15:12.224Z,1755825312.224 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-08-22T01:15:12.224Z,1755825312.224 [Radio_Surface](INFO): No local IP found
2025-08-22T01:15:12.318Z,1755825312.318 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=2.268639
2025-08-22T01:15:12.572Z,1755825312.572 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=2.523339
2025-08-22T01:15:12.824Z,1755825312.824 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=2.775646
2025-08-22T01:15:13.076Z,1755825313.076 [DAT](INFO): DAT read: Rx Time:01:15:11.6573

2025-08-22T01:15:13.077Z,1755825313.077 [DAT](INFO): Rx dataTimestamp_ set to:1755825313.076614
2025-08-22T01:15:13.077Z,1755825313.077 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=3.028640
2025-08-22T01:15:13.328Z,1755825313.328 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=3.279407
2025-08-22T01:15:13.587Z,1755825313.587 [DAT](INFO): DAT read: 01:15:11.6573 LVL= 32752, 20305, 26162, 32499, AGC= 58, IDX= 431,-0.18,-1.413, 0.644, 0.089, 0.014, PHS=-1.325, 0.675, 0.031, RAW= 288.4,   7.0, CAL= 286.4,   5.2, ROT= 223.6,  -5.2

2025-08-22T01:15:13.588Z,1755825313.588 [DAT](INFO): got valid direction response:
 01:15:11.6573 LVL= 32752, 20305, 26162, 32499, AGC= 58, IDX= 431,-0.18,-1.413, 0.644, 0.089, 0.014, PHS=-1.325, 0.675, 0.031, RAW= 288.4,   7.0, CAL= 286.4,   5.2, ROT= 223.6,  -5.2

2025-08-22T01:15:13.589Z,1755825313.589 [DAT](INFO): DAT read: Bearing 309.4, -45.1 (Local)

2025-08-22T01:15:13.589Z,1755825313.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.4, -45.1 (Local)

2025-08-22T01:15:13.591Z,1755825313.591 [DAT](INFO): DAT read: Range 11 to 50 : 45.9 m  (Round-trip  61.2 ms) speed -0.3 m/s

2025-08-22T01:15:13.592Z,1755825313.592 [DAT](INFO): DAT read: user:6070>

2025-08-22T01:15:13.592Z,1755825313.592 [DAT](INFO): DAT read: Tx time:01:15:12.7919

2025-08-22T01:15:13.593Z,1755825313.593 [DAT](INFO): Ping request sent.
2025-08-22T01:15:13.593Z,1755825313.593 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:13.593Z,1755825313.593 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T01:15:13.594Z,1755825313.594 [DAT](INFO): direction in FSK: [-0.721191,-0.686781,0.090633]
2025-08-22T01:15:13.594Z,1755825313.594 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:13.594Z,1755825313.594 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:13.602Z,1755825313.602 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:13.603Z,1755825313.603 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:13.606Z,1755825313.606 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.013356
2025-08-22T01:15:13.832Z,1755825313.832 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.239697
2025-08-22T01:15:14.085Z,1755825314.085 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.492209
2025-08-22T01:15:14.336Z,1755825314.336 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.743789
2025-08-22T01:15:14.588Z,1755825314.588 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.995635
2025-08-22T01:15:14.840Z,1755825314.840 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=1.247515
2025-08-22T01:15:15.094Z,1755825315.094 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=1.500897
2025-08-22T01:15:15.344Z,1755825315.344 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=1.751584
2025-08-22T01:15:15.596Z,1755825315.596 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=2.003601
2025-08-22T01:15:15.848Z,1755825315.848 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=2.255453
2025-08-22T01:15:16.100Z,1755825316.100 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=2.507755
2025-08-22T01:15:16.355Z,1755825316.355 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=2.761882
2025-08-22T01:15:16.604Z,1755825316.604 [DAT](INFO): DAT read: Rx Time:01:15:15.2586

2025-08-22T01:15:16.605Z,1755825316.605 [DAT](INFO): Rx dataTimestamp_ set to:1755825316.604687
2025-08-22T01:15:16.606Z,1755825316.606 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=3.012868
2025-08-22T01:15:16.856Z,1755825316.856 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=3.263546
2025-08-22T01:15:17.117Z,1755825317.117 [DAT](INFO): DAT read: 01:15:15.2586 LVL= 31904, 21089, 24306, 32755, AGC= 56, IDX= 445, 0.20,-1.333, 0.721, 0.148, 0.031, PHS=-1.262, 0.735, 0.073, RAW= 289.0,   5.2, CAL= 287.1,   0.7, ROT= 222.9,  -0.7

2025-08-22T01:15:17.118Z,1755825317.118 [DAT](INFO): got valid direction response:
 01:15:15.2586 LVL= 31904, 21089, 24306, 32755, AGC= 56, IDX= 445, 0.20,-1.333, 0.721, 0.148, 0.031, PHS=-1.262, 0.735, 0.073, RAW= 289.0,   5.2, CAL= 287.1,   0.7, ROT= 222.9,  -0.7

2025-08-22T01:15:17.119Z,1755825317.119 [DAT](INFO): DAT read: Bearing 316.7, -41.7 (Local)

2025-08-22T01:15:17.120Z,1755825317.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.7, -41.7 (Local)

2025-08-22T01:15:17.121Z,1755825317.121 [DAT](INFO): DAT read: Range 11 to 50 : 46.8 m  (Round-trip  62.5 ms) speed -0.4 m/s

2025-08-22T01:15:17.122Z,1755825317.122 [DAT](INFO): DAT read: user:6071>

2025-08-22T01:15:17.122Z,1755825317.122 [DAT](INFO): DAT read: Tx time:01:15:16.3919

2025-08-22T01:15:17.123Z,1755825317.123 [DAT](INFO): Ping request sent.
2025-08-22T01:15:17.123Z,1755825317.123 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:17.123Z,1755825317.123 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T01:15:17.124Z,1755825317.124 [DAT](INFO): direction in FSK: [-0.732488,-0.680670,0.012217]
2025-08-22T01:15:17.125Z,1755825317.125 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:17.125Z,1755825317.125 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:17.156Z,1755825317.156 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:17.156Z,1755825317.156 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:17.166Z,1755825317.166 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.041849
2025-08-22T01:15:17.360Z,1755825317.360 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.237491
2025-08-22T01:15:17.612Z,1755825317.612 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.489504
2025-08-22T01:15:17.864Z,1755825317.864 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.741268
2025-08-22T01:15:18.116Z,1755825318.116 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.993314
2025-08-22T01:15:18.368Z,1755825318.368 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=1.245341
2025-08-22T01:15:18.621Z,1755825318.621 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=1.497788
2025-08-22T01:15:18.872Z,1755825318.872 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=1.749564
2025-08-22T01:15:19.125Z,1755825319.125 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=2.002023
2025-08-22T01:15:19.376Z,1755825319.376 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=2.253307
2025-08-22T01:15:19.628Z,1755825319.628 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=2.505523
2025-08-22T01:15:19.880Z,1755825319.880 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=2.757402
2025-08-22T01:15:20.132Z,1755825320.132 [DAT](INFO): DAT read: Rx Time:01:15:18.8608

2025-08-22T01:15:20.133Z,1755825320.133 [DAT](INFO): Rx dataTimestamp_ set to:1755825320.132415
2025-08-22T01:15:20.133Z,1755825320.133 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=3.010349
2025-08-22T01:15:20.384Z,1755825320.384 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=3.261308
2025-08-22T01:15:20.646Z,1755825320.646 [DAT](INFO): DAT read: 01:15:18.8608 LVL= 32752, 20337, 24610, 32755, AGC= 55, IDX= 467,-0.28,-0.943, 1.054, 0.455, 0.335, PHS=-1.177, 0.764, 0.076, RAW= 290.5,   4.0, CAL= 288.7,  -0.9, ROT= 221.3,   0.9

2025-08-22T01:15:20.647Z,1755825320.647 [DAT](INFO): got valid direction response:
 01:15:18.8608 LVL= 32752, 20337, 24610, 32755, AGC= 55, IDX= 467,-0.28,-0.943, 1.054, 0.455, 0.335, PHS=-1.177, 0.764, 0.076, RAW= 290.5,   4.0, CAL= 288.7,  -0.9, ROT= 221.3,   0.9

2025-08-22T01:15:20.648Z,1755825320.648 [DAT](INFO): DAT read: Bearing 319.7, -33.9 (Local)

2025-08-22T01:15:20.648Z,1755825320.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.7, -33.9 (Local)

2025-08-22T01:15:20.649Z,1755825320.649 [DAT](INFO): DAT read: Range 11 to 50 : 48.5 m  (Round-trip  64.7 ms) speed -0.5 m/s

2025-08-22T01:15:20.650Z,1755825320.650 [DAT](INFO): DAT read: user:6072>

2025-08-22T01:15:20.651Z,1755825320.651 [DAT](INFO): DAT read: Tx time:01:15:19.9919

2025-08-22T01:15:20.655Z,1755825320.655 [DAT](INFO): Ping request sent.
2025-08-22T01:15:20.655Z,1755825320.655 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:20.656Z,1755825320.656 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T01:15:20.657Z,1755825320.657 [DAT](INFO): direction in FSK: [-0.751171,-0.659920,-0.015707]
2025-08-22T01:15:20.657Z,1755825320.657 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:20.657Z,1755825320.657 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:20.664Z,1755825320.664 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:20.665Z,1755825320.665 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:20.672Z,1755825320.672 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.016672
2025-08-22T01:15:20.891Z,1755825320.891 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.235545
2025-08-22T01:15:21.140Z,1755825321.140 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.485061
2025-08-22T01:15:21.392Z,1755825321.392 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.736888
2025-08-22T01:15:21.644Z,1755825321.644 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.988830
2025-08-22T01:15:21.897Z,1755825321.897 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=1.241304
2025-08-22T01:15:22.148Z,1755825322.148 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=1.492981
2025-08-22T01:15:22.400Z,1755825322.400 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=1.744855
2025-08-22T01:15:22.652Z,1755825322.652 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=1.996818
2025-08-22T01:15:22.906Z,1755825322.906 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=2.250516
2025-08-22T01:15:23.156Z,1755825323.156 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=2.500817
2025-08-22T01:15:23.408Z,1755825323.408 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=2.752857
2025-08-22T01:15:23.663Z,1755825323.663 [DAT](INFO): DAT read: Rx Time:01:15:22.4630

2025-08-22T01:15:23.663Z,1755825323.663 [DAT](INFO): Rx dataTimestamp_ set to:1755825323.662851
2025-08-22T01:15:23.664Z,1755825323.664 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=3.008441
2025-08-22T01:15:23.917Z,1755825323.917 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=3.261949
2025-08-22T01:15:24.172Z,1755825324.172 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=3.516131
2025-08-22T01:15:24.426Z,1755825324.426 [DAT](INFO): DAT read: 01:15:22.4630 LVL= 32752, 18673, 25970, 32755, AGC= 55, IDX= 443, 0.47,-0.976, 0.927, 0.394, 0.138, PHS=-1.012, 0.834, 0.211, RAW= 289.4,  -0.4, CAL= 288.3,  -5.4, ROT= 221.7,   5.4

2025-08-22T01:15:24.427Z,1755825324.427 [DAT](INFO): got valid direction response:
 01:15:22.4630 LVL= 32752, 18673, 25970, 32755, AGC= 55, IDX= 443, 0.47,-0.976, 0.927, 0.394, 0.138, PHS=-1.012, 0.834, 0.211, RAW= 289.4,  -0.4, CAL= 288.3,  -5.4, ROT= 221.7,   5.4

2025-08-22T01:15:24.428Z,1755825324.428 [DAT](INFO): DAT read: Bearing 327.5, -26.2 (Local)

2025-08-22T01:15:24.428Z,1755825324.428 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.5, -26.2 (Local)

2025-08-22T01:15:24.430Z,1755825324.430 [DAT](INFO): DAT read: Range 11 to 50 : 50.2 m  (Round-trip  67.0 ms) .6 m/s

2025-08-22T01:15:24.430Z,1755825324.430 [DAT](INFO): DAT read: user:6073>

2025-08-22T01:15:24.431Z,1755825324.431 [DAT](INFO): DAT read: Tx time:01:15:23.5918

2025-08-22T01:15:24.431Z,1755825324.431 [DAT](INFO): Ping request sent.
2025-08-22T01:15:24.431Z,1755825324.431 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:24.432Z,1755825324.432 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T01:15:24.433Z,1755825324.433 [DAT](INFO): direction in FSK: [-0.743325,-0.662278,-0.094108]
2025-08-22T01:15:24.433Z,1755825324.433 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:24.433Z,1755825324.433 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:24.437Z,1755825324.437 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:24.437Z,1755825324.437 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:24.440Z,1755825324.440 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=0.008562
2025-08-22T01:15:24.672Z,1755825324.672 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=0.240622
2025-08-22T01:15:24.924Z,1755825324.924 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=0.492760
2025-08-22T01:15:25.178Z,1755825325.178 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=0.745904
2025-08-22T01:15:25.428Z,1755825325.428 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=0.996717
2025-08-22T01:15:25.681Z,1755825325.681 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=1.249222
2025-08-22T01:15:25.933Z,1755825325.933 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=1.501130
2025-08-22T01:15:26.184Z,1755825326.184 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=1.752682
2025-08-22T01:15:26.436Z,1755825326.436 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=2.004755
2025-08-22T01:15:26.688Z,1755825326.688 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=2.256872
2025-08-22T01:15:26.941Z,1755825326.941 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=2.509122
2025-08-22T01:15:27.193Z,1755825327.193 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=2.761038
2025-08-22T01:15:27.444Z,1755825327.444 [DAT](INFO): DAT read: Rx Time:01:15:26.0661

2025-08-22T01:15:27.445Z,1755825327.445 [DAT](INFO): Rx dataTimestamp_ set to:1755825327.444471
2025-08-22T01:15:27.445Z,1755825327.445 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=3.013834
2025-08-22T01:15:27.698Z,1755825327.698 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=3.266694
2025-08-22T01:15:27.956Z,1755825327.956 [DAT](INFO): DAT read: 01:15:26.0661 LVL= 31408, 20465, 24290, 32755, AGC= 54, IDX= 458, 0.33, 3.092,-1.380,-1.937,-2.301, PHS=-0.789, 0.965, 0.319, RAW= 291.3,  -6.5, CAL= 291.3, -11.5, ROT= 218.7,  11.5

2025-08-22T01:15:27.957Z,1755825327.957 [DAT](INFO): got valid direction response:
 01:15:26.0661 LVL= 31408, 20465, 24290, 32755, AGC= 54, IDX= 458, 0.33, 3.092,-1.380,-1.937,-2.301, PHS=-0.789, 0.965, 0.319, RAW= 291.3,  -6.5, CAL= 291.3, -11.5, ROT= 218.7,  11.5

2025-08-22T01:15:27.958Z,1755825327.958 [DAT](INFO): DAT read: Bearing 338.3, -15.2 (Local)

2025-08-22T01:15:27.959Z,1755825327.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.3, -15.2 (Local)

2025-08-22T01:15:27.960Z,1755825327.960 [DAT](INFO): DAT read: Range 11 to 50 : 52.5 m  (Round-trip  70.1 ms) speed -0.6 m/s

2025-08-22T01:15:27.961Z,1755825327.961 [DAT](INFO): DAT read: user:6074>

2025-08-22T01:15:27.962Z,1755825327.962 [DAT](INFO): DAT read: Tx time:01:15:27.1918

2025-08-22T01:15:27.962Z,1755825327.962 [DAT](INFO): Ping request sent.
2025-08-22T01:15:27.962Z,1755825327.962 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:27.962Z,1755825327.962 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T01:15:27.963Z,1755825327.963 [DAT](INFO): direction in FSK: [-0.764763,-0.612691,-0.199368]
2025-08-22T01:15:27.964Z,1755825327.964 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:27.964Z,1755825327.964 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:27.967Z,1755825327.967 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:27.967Z,1755825327.967 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:27.970Z,1755825327.970 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=0.008245
2025-08-22T01:15:28.200Z,1755825328.200 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=0.238265
2025-08-22T01:15:28.452Z,1755825328.452 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=0.490148
2025-08-22T01:15:28.704Z,1755825328.704 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=0.742273
2025-08-22T01:15:28.956Z,1755825328.956 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=0.994256
2025-08-22T01:15:29.208Z,1755825329.208 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=1.246185
2025-08-22T01:15:29.460Z,1755825329.460 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=1.498155
2025-08-22T01:15:29.712Z,1755825329.712 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=1.750315
2025-08-22T01:15:29.965Z,1755825329.965 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=2.002673
2025-08-22T01:15:30.216Z,1755825330.216 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=2.254462
2025-08-22T01:15:30.469Z,1755825330.469 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=2.507453
2025-08-22T01:15:30.720Z,1755825330.720 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=2.758276
2025-08-22T01:15:30.973Z,1755825330.973 [DAT](INFO): DAT read: Rx Time:01:15:29.6694

2025-08-22T01:15:30.973Z,1755825330.973 [DAT](INFO): Rx dataTimestamp_ set to:1755825330.972683
2025-08-22T01:15:30.973Z,1755825330.973 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=3.011523
2025-08-22T01:15:31.224Z,1755825331.224 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=3.262347
2025-08-22T01:15:31.482Z,1755825331.482 [DAT](INFO): DAT read: 01:15:29.6694 LVL= 32752, 22961, 29682, 32755, AGC= 55, IDX= 461, 0.21, 2.078,-2.449,-3.095, 2.767, PHS=-0.587, 1.112, 0.377, RAW= 295.6, -12.2, CAL= 296.6, -17.0, ROT= 213.4,  17.0

2025-08-22T01:15:31.484Z,1755825331.484 [DAT](INFO): got valid direction response:
 01:15:29.6694 LVL= 32752, 22961, 29682, 32755, AGC= 55, IDX= 461, 0.21, 2.078,-2.449,-3.095, 2.767, PHS=-0.587, 1.112, 0.377, RAW= 295.6, -12.2, CAL= 296.6, -17.0, ROT= 213.4,  17.0

2025-08-22T01:15:31.485Z,1755825331.485 [DAT](INFO): DAT read: Bearing 347.7,  -2.8 (Local)

2025-08-22T01:15:31.485Z,1755825331.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.7,  -2.8 (Local)

2025-08-22T01:15:31.486Z,1755825331.486 [DAT](INFO): DAT read: Range 11 to 50 : 55.1 m  (Round-trip  73.5 ms) speed -0.7 m/s

2025-08-22T01:15:31.487Z,1755825331.487 [DAT](INFO): DAT read: user:6075>

2025-08-22T01:15:31.488Z,1755825331.488 [DAT](INFO): DAT read: Tx time:01:15:30.7917

2025-08-22T01:15:31.488Z,1755825331.488 [DAT](INFO): Ping request sent.
2025-08-22T01:15:31.488Z,1755825331.488 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:31.488Z,1755825331.488 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T01:15:31.489Z,1755825331.489 [DAT](INFO): direction in FSK: [-0.798369,-0.526427,-0.292372]
2025-08-22T01:15:31.490Z,1755825331.490 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:31.490Z,1755825331.490 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:31.493Z,1755825331.493 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:31.494Z,1755825331.494 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:31.497Z,1755825331.497 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=0.008735
2025-08-22T01:15:31.728Z,1755825331.728 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=0.240164
2025-08-22T01:15:31.980Z,1755825331.980 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=0.492157
2025-08-22T01:15:32.232Z,1755825332.232 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=0.743975
2025-08-22T01:15:32.484Z,1755825332.484 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=0.996003
2025-08-22T01:15:32.736Z,1755825332.736 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=1.248117
2025-08-22T01:15:32.988Z,1755825332.988 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=1.500013
2025-08-22T01:15:33.240Z,1755825333.240 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=1.752054
2025-08-22T01:15:33.492Z,1755825333.492 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=2.004042
2025-08-22T01:15:33.744Z,1755825333.744 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=2.256138
2025-08-22T01:15:33.996Z,1755825333.996 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=2.507896
2025-08-22T01:15:34.251Z,1755825334.251 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=2.762781
2025-08-22T01:15:34.505Z,1755825334.505 [DAT](INFO): DAT read: Rx Time:01:15:33.2732

2025-08-22T01:15:34.506Z,1755825334.506 [DAT](INFO): Rx dataTimestamp_ set to:1755825334.505225
2025-08-22T01:15:34.506Z,1755825334.506 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=3.017849
2025-08-22T01:15:34.756Z,1755825334.756 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=3.268248
2025-08-22T01:15:35.011Z,1755825335.011 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=3.522741
2025-08-22T01:15:35.267Z,1755825335.267 [DAT](INFO): DAT read: 01:15:33.2732 LVL= 32752, 22689, 27218, 31123, AGC= 57, IDX= 468, 0.00, 1.339, 3.023, 2.352, 1.858, PHS=-0.417, 1.210, 0.450, RAW= 297.8, -17.3, CAL= 299.0, -22.0, ROT= 211.0,  22.0

2025-08-22T01:15:35.268Z,1755825335.268 [DAT](INFO): got valid direction response:
 01:15:33.2732 LVL= 32752, 22689, 27218, 31123, AGC= 57, IDX= 468, 0.00, 1.339, 3.023, 2.352, 1.858, PHS=-0.417, 1.210, 0.450, RAW= 297.8, -17.3, CAL= 299.0, -22.0, ROT= 211.0,  22.0

2025-08-22T01:15:35.269Z,1755825335.269 [DAT](INFO): DAT read: Bearing 356.1,   4.0 (Local)

2025-08-22T01:15:35.269Z,1755825335.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,   4.0 (Local)

2025-08-22T01:15:35.271Z,1755825335.271 [DAT](INFO): DAT read: Range 11 to 50 : 57.9 m  (Round-trip  77.3 ms) speed -0.8 m/s

2025-08-22T01:15:35.272Z,1755825335.272 [DAT](INFO): DAT read: user:6076>

2025-08-22T01:15:35.272Z,1755825335.272 [DAT](INFO): DAT read: Tx time:01:15:34.3917

2025-08-22T01:15:35.273Z,1755825335.273 [DAT](INFO): Ping request sent.
2025-08-22T01:15:35.273Z,1755825335.273 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:35.273Z,1755825335.273 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T01:15:35.274Z,1755825335.274 [DAT](INFO): direction in FSK: [-0.794752,-0.477535,-0.374607]
2025-08-22T01:15:35.274Z,1755825335.274 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:35.274Z,1755825335.274 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:35.284Z,1755825335.284 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:35.284Z,1755825335.284 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:35.306Z,1755825335.306 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=0.032974
2025-08-22T01:15:35.513Z,1755825335.513 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=0.239763
2025-08-22T01:15:35.764Z,1755825335.764 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=0.491560
2025-08-22T01:15:36.033Z,1755825336.033 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=0.760483
2025-08-22T01:15:36.284Z,1755825336.284 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=1.011732
2025-08-22T01:15:36.537Z,1755825336.537 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=1.263901
2025-08-22T01:15:36.788Z,1755825336.788 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=1.515522
2025-08-22T01:15:37.040Z,1755825337.040 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=1.767508
2025-08-22T01:15:37.293Z,1755825337.293 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=2.020038
2025-08-22T01:15:37.544Z,1755825337.544 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=2.271594
2025-08-22T01:15:37.796Z,1755825337.796 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=2.523490
2025-08-22T01:15:38.065Z,1755825338.065 [DAT](INFO): DAT read: Rx Time:01:15:36.8772

2025-08-22T01:15:38.066Z,1755825338.066 [DAT](INFO): Rx dataTimestamp_ set to:1755825338.065344
2025-08-22T01:15:38.066Z,1755825338.066 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=2.793424
2025-08-22T01:15:38.316Z,1755825338.316 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=3.043475
2025-08-22T01:15:38.571Z,1755825338.571 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=3.298031
2025-08-22T01:15:38.830Z,1755825338.830 [DAT](INFO): DAT read: 01:15:36.8772 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 461,-0.07, 0.004, 1.638, 0.836, 0.334, PHS=-0.228, 1.349, 0.458, RAW= 304.3, -22.2, CAL= 304.3, -26.4, ROT= 205.7,  26.4

2025-08-22T01:15:38.842Z,1755825338.842 [DAT](INFO): got valid direction response:
 01:15:36.8772 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 461,-0.07, 0.004, 1.638, 0.836, 0.334, PHS=-0.228, 1.349, 0.458, RAW= 304.3, -22.2, CAL= 304.3, -26.4, ROT= 205.7,  26.4

2025-08-22T01:15:38.843Z,1755825338.843 [DAT](INFO): DAT read: Bearing   4.2,  10.9 (Local)

2025-08-22T01:15:38.844Z,1755825338.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.2,  10.9 (Local)

2025-08-22T01:15:38.845Z,1755825338.845 [DAT](INFO): DAT read: Range 11 to 50 : 60.9 m  (Round-trip  81.3 ms) speed -0.8 m/s

2025-08-22T01:15:38.846Z,1755825338.846 [DAT](INFO): DAT read: user:6077>

2025-08-22T01:15:38.847Z,1755825338.847 [DAT](INFO): DAT read: Tx time:01:15:37.9917

2025-08-22T01:15:38.847Z,1755825338.847 [DAT](INFO): Ping request sent.
2025-08-22T01:15:38.855Z,1755825338.855 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:38.856Z,1755825338.856 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T01:15:38.856Z,1755825338.856 [DAT](INFO): direction in FSK: [-0.807105,-0.388434,-0.444635]
2025-08-22T01:15:38.857Z,1755825338.857 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:38.857Z,1755825338.857 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:38.868Z,1755825338.868 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:38.869Z,1755825338.869 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:38.876Z,1755825338.876 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=0.029094
2025-08-22T01:15:39.079Z,1755825339.079 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=0.232219
2025-08-22T01:15:39.328Z,1755825339.328 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=0.481236
2025-08-22T01:15:39.580Z,1755825339.580 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=0.733232
2025-08-22T01:15:39.832Z,1755825339.832 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=0.985160
2025-08-22T01:15:40.093Z,1755825340.093 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=1.246134
2025-08-22T01:15:40.344Z,1755825340.344 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=1.497232
2025-08-22T01:15:40.596Z,1755825340.596 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=1.749157
2025-08-22T01:15:40.849Z,1755825340.849 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=2.001530
2025-08-22T01:15:41.101Z,1755825341.101 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=2.254155
2025-08-22T01:15:41.353Z,1755825341.353 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=2.505904
2025-08-22T01:15:41.604Z,1755825341.604 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=2.757187
2025-08-22T01:15:41.860Z,1755825341.860 [DAT](INFO): DAT read: Rx Time:01:15:40.4811

2025-08-22T01:15:41.861Z,1755825341.861 [DAT](INFO): Rx dataTimestamp_ set to:1755825341.860027
2025-08-22T01:15:41.861Z,1755825341.861 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=3.014204
2025-08-22T01:15:42.111Z,1755825342.111 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=3.264449
2025-08-22T01:15:42.370Z,1755825342.370 [DAT](INFO): DAT read: 01:15:40.4811 LVL= 32752, 27857, 32754, 32755, AGC= 60, IDX= 470,-0.29, 2.166,-2.581, 2.842, 2.361, PHS=-0.093, 1.386, 0.437, RAW= 309.3, -25.2, CAL= 308.7, -29.2, ROT= 201.3,  29.2

2025-08-22T01:15:42.371Z,1755825342.371 [DAT](INFO): got valid direction response:
 01:15:40.4811 LVL= 32752, 27857, 32754, 32755, AGC= 60, IDX= 470,-0.29, 2.166,-2.581, 2.842, 2.361, PHS=-0.093, 1.386, 0.437, RAW= 309.3, -25.2, CAL= 308.7, -29.2, ROT= 201.3,  29.2

2025-08-22T01:15:42.372Z,1755825342.372 [DAT](INFO): DAT read: Bearing  11.5,  16.1 (Local)

2025-08-22T01:15:42.373Z,1755825342.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,  16.1 (Local)

2025-08-22T01:15:42.374Z,1755825342.374 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m  (Round-trip  85.3 ms) speed -0.8 m/s

2025-08-22T01:15:42.375Z,1755825342.375 [DAT](INFO): DAT read: user:6078>

2025-08-22T01:15:42.376Z,1755825342.376 [DAT](INFO): DAT read: Tx time:01:15:41.5916

2025-08-22T01:15:42.376Z,1755825342.376 [DAT](INFO): Ping request sent.
2025-08-22T01:15:42.376Z,1755825342.376 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:42.376Z,1755825342.376 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T01:15:42.377Z,1755825342.377 [DAT](INFO): direction in FSK: [-0.813294,-0.317090,-0.487860]
2025-08-22T01:15:42.378Z,1755825342.378 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:42.378Z,1755825342.378 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:42.395Z,1755825342.395 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:42.396Z,1755825342.396 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:45.385Z,1755825345.385 [DAT](INFO): DAT read: Rx Time:01:15:44.0853

2025-08-22T01:15:45.386Z,1755825345.386 [DAT](INFO): Rx dataTimestamp_ set to:1755825345.385260
2025-08-22T01:15:45.897Z,1755825345.897 [DAT](INFO): DAT read: 01:15:44.0853 LVL= 32752, 30993, 32754, 32755, AGC= 61, IDX= 464, 0.20, 1.166, 2.643, 1.698, 1.254, PHS= 0.014, 1.434, 0.400, RAW= 314.7, -27.2, CAL= 314.0, -31.1, ROT= 196.0,  31.1

2025-08-22T01:15:45.898Z,1755825345.898 [DAT](INFO): got valid direction response:
 01:15:44.0853 LVL= 32752, 30993, 32754, 32755, AGC= 61, IDX= 464, 0.20, 1.166, 2.643, 1.698, 1.254, PHS= 0.014, 1.434, 0.400, RAW= 314.7, -27.2, CAL= 314.0, -31.1, ROT= 196.0,  31.1

2025-08-22T01:15:45.899Z,1755825345.899 [DAT](INFO): DAT read: Bearing  18.7,  21.1 (Local)

2025-08-22T01:15:45.900Z,1755825345.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.7,  21.1 (Local)

2025-08-22T01:15:45.901Z,1755825345.901 [DAT](INFO): DAT read: Range 11 to 50 : 67.1 m  (Round-trip  89.5 ms) speed -0.9 m/s

2025-08-22T01:15:45.902Z,1755825345.902 [DAT](INFO): DAT read: user:6079>

2025-08-22T01:15:45.903Z,1755825345.903 [DAT](INFO): DAT read: Tx time:01:15:45.1916

2025-08-22T01:15:45.903Z,1755825345.903 [DAT](INFO): Ping request sent.
2025-08-22T01:15:45.903Z,1755825345.903 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:45.903Z,1755825345.903 [DAT](INFO): #Rx 121: Read range and direction messages.
2025-08-22T01:15:45.904Z,1755825345.904 [DAT](INFO): direction in FSK: [-0.823097,-0.236019,-0.516533]
2025-08-22T01:15:45.905Z,1755825345.905 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:45.905Z,1755825345.905 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:45.908Z,1755825345.908 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:45.908Z,1755825345.908 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:48.917Z,1755825348.917 [DAT](INFO): DAT read: Rx Time:01:15:47.6897

2025-08-22T01:15:48.919Z,1755825348.919 [DAT](INFO): Rx dataTimestamp_ set to:1755825348.917601
2025-08-22T01:15:49.674Z,1755825349.674 [DAT](INFO): DAT read: 01:15:47.6897 LVL= 32752, 32097, 32754, 32755, AGC= 61, IDX= 478,-0.48,-1.248, 0.186,-0.811,-1.249, PHS= 0.103, 1.480, 0.394, RAW= 318.5, -29.1, CAL= 317.6, -33.0, ROT= 192.4,  33.0

2025-08-22T01:15:49.675Z,1755825349.675 [DAT](INFO): got valid direction response:
 01:15:47.6897 LVL= 32752, 32097, 32754, 32755, AGC= 61, IDX= 478,-0.48,-1.248, 0.186,-0.811,-1.249, PHS= 0.103, 1.480, 0.394, RAW= 318.5, -29.1, CAL= 317.6, -33.0, ROT= 192.4,  33.0

2025-08-22T01:15:49.676Z,1755825349.676 [DAT](INFO): DAT read: Bearing  26.3,  24.2 (Local)

2025-08-22T01:15:49.676Z,1755825349.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.3,  24.2 (Local)

2025-08-22T01:15:49.678Z,1755825349.678 [DAT](INFO): DAT read: Range 11 to 50 : 70.4 m  (Round-trip  93.9 ms) speed -1.0 m/s

2025-08-22T01:15:49.679Z,1755825349.679 [DAT](INFO): DAT read: user:6080>

2025-08-22T01:15:49.679Z,1755825349.679 [DAT](INFO): DAT read: Tx time:01:15:48.7916

2025-08-22T01:15:49.680Z,1755825349.680 [DAT](INFO): Ping request sent.
2025-08-22T01:15:49.680Z,1755825349.680 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:49.680Z,1755825349.680 [DAT](INFO): #Rx 122: Read range and direction messages.
2025-08-22T01:15:49.681Z,1755825349.681 [DAT](INFO): direction in FSK: [-0.819106,-0.180092,-0.544639]
2025-08-22T01:15:49.681Z,1755825349.681 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:49.682Z,1755825349.682 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:49.686Z,1755825349.686 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:49.686Z,1755825349.686 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:52.692Z,1755825352.692 [DAT](INFO): DAT read: Rx Time:01:15:51.2942

2025-08-22T01:15:52.693Z,1755825352.693 [DAT](INFO): Rx dataTimestamp_ set to:1755825352.692445
2025-08-22T01:15:53.202Z,1755825353.202 [DAT](INFO): DAT read: 01:15:51.2942 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 476,-0.22,-0.647, 0.733,-0.327,-0.638, PHS= 0.093, 1.416, 0.267, RAW= 323.0, -26.8, CAL= 322.7, -30.5, ROT= 187.3,  30.5

2025-08-22T01:15:53.203Z,1755825353.203 [DAT](INFO): got valid direction response:
 01:15:51.2942 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 476,-0.22,-0.647, 0.733,-0.327,-0.638, PHS= 0.093, 1.416, 0.267, RAW= 323.0, -26.8, CAL= 322.7, -30.5, ROT= 187.3,  30.5

2025-08-22T01:15:53.204Z,1755825353.204 [DAT](INFO): DAT read: Bearing  30.8,  28.6 (Local)

2025-08-22T01:15:53.204Z,1755825353.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.8,  28.6 (Local)

2025-08-22T01:15:53.206Z,1755825353.206 [DAT](INFO): DAT read: Range 11 to 50 : 73.8 m  (Round-trip  98.4 ms) speed -0.9 m/s

2025-08-22T01:15:53.206Z,1755825353.206 [DAT](INFO): DAT read: user:6081>

2025-08-22T01:15:53.207Z,1755825353.207 [DAT](INFO): DAT read: Tx time:01:15:52.3916

2025-08-22T01:15:53.207Z,1755825353.207 [DAT](INFO): Ping request sent.
2025-08-22T01:15:53.208Z,1755825353.208 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:53.208Z,1755825353.208 [DAT](INFO): #Rx 123: Read range and direction messages.
2025-08-22T01:15:53.209Z,1755825353.209 [DAT](INFO): direction in FSK: [-0.854645,-0.109483,-0.507538]
2025-08-22T01:15:53.209Z,1755825353.209 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:53.209Z,1755825353.209 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:53.212Z,1755825353.212 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:53.213Z,1755825353.213 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:56.220Z,1755825356.220 [DAT](INFO): DAT read: Rx Time:01:15:54.8984

2025-08-22T01:15:56.221Z,1755825356.221 [DAT](INFO): Rx dataTimestamp_ set to:1755825356.220587
2025-08-22T01:15:56.731Z,1755825356.731 [DAT](INFO): DAT read: 01:15:54.8984 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 472,-0.01, 1.261, 2.599, 1.457, 1.245, PHS= 0.118, 1.398, 0.168, RAW= 328.0, -25.4, CAL= 327.9, -28.9, ROT= 182.1,  28.9

2025-08-22T01:15:56.732Z,1755825356.732 [DAT](INFO): got valid direction response:
 01:15:54.8984 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 472,-0.01, 1.261, 2.599, 1.457, 1.245, PHS= 0.118, 1.398, 0.168, RAW= 328.0, -25.4, CAL= 327.9, -28.9, ROT= 182.1,  28.9

2025-08-22T01:15:56.733Z,1755825356.733 [DAT](INFO): DAT read: Bearing  36.8,  33.4 (Local)

2025-08-22T01:15:56.733Z,1755825356.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.8,  33.4 (Local)

2025-08-22T01:15:56.735Z,1755825356.735 [DAT](INFO): DAT read: Range 11 to 50 : 77.0 m  (Round-trip  102.7 ms) speed -0.8 m/s

2025-08-22T01:15:56.735Z,1755825356.735 [DAT](INFO): DAT read: user:6082>

2025-08-22T01:15:56.736Z,1755825356.736 [DAT](INFO): DAT read: Tx time:01:15:55.9916

2025-08-22T01:15:56.736Z,1755825356.736 [DAT](INFO): Ping request sent.
2025-08-22T01:15:56.736Z,1755825356.736 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:15:56.737Z,1755825356.737 [DAT](INFO): #Rx 124: Read range and direction messages.
2025-08-22T01:15:56.738Z,1755825356.738 [DAT](INFO): direction in FSK: [-0.874877,-0.032080,-0.483282]
2025-08-22T01:15:56.738Z,1755825356.738 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:56.738Z,1755825356.738 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:56.742Z,1755825356.742 [DAT](INFO): publishing transmit ping time
2025-08-22T01:15:56.742Z,1755825356.742 [DAT](INFO): publishing direction and range info
2025-08-22T01:15:59.748Z,1755825359.748 [DAT](INFO): DAT read: Rx Time:01:15:58.5028

2025-08-22T01:15:59.749Z,1755825359.749 [DAT](INFO): Rx dataTimestamp_ set to:1755825359.748649
2025-08-22T01:16:00.266Z,1755825360.266 [DAT](INFO): DAT read: 01:15:58.5028 LVL= 32752, 30145, 32754, 32755, AGC= 64, IDX= 469,-0.42,-0.968, 0.357,-0.869,-0.965, PHS= 0.100, 1.367, 0.053, RAW= 331.8, -22.6, CAL= 331.8, -25.9, ROT= 178.2,  25.9

2025-08-22T01:16:00.267Z,1755825360.267 [DAT](INFO): got valid direction response:
 01:15:58.5028 LVL= 32752, 30145, 32754, 32755, AGC= 64, IDX= 469,-0.42,-0.968, 0.357,-0.869,-0.965, PHS= 0.100, 1.367, 0.053, RAW= 331.8, -22.6, CAL= 331.8, -25.9, ROT= 178.2,  25.9

2025-08-22T01:16:00.290Z,1755825360.290 [DAT](INFO): DAT read: Bearing  41.4,  36.7 (Local)

2025-08-22T01:16:00.300Z,1755825360.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.4,  36.7 (Local)

2025-08-22T01:16:00.301Z,1755825360.301 [DAT](INFO): DAT read: Range 11 to 50 : 80.3 m  (Round-trip  107.1 ms) speed -0.8 m/s

2025-08-22T01:16:00.302Z,1755825360.302 [DAT](INFO): DAT read: user:6083>

2025-08-22T01:16:00.303Z,1755825360.303 [DAT](INFO): DAT read: Tx time:01:15:59.6416

2025-08-22T01:16:00.311Z,1755825360.311 [DAT](INFO): Ping request sent.
2025-08-22T01:16:00.312Z,1755825360.312 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:00.312Z,1755825360.312 [DAT](INFO): #Rx 125: Read range and direction messages.
2025-08-22T01:16:00.313Z,1755825360.313 [DAT](INFO): direction in FSK: [-0.899114,0.028256,-0.436802]
2025-08-22T01:16:00.313Z,1755825360.313 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:00.313Z,1755825360.313 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:00.325Z,1755825360.325 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:00.325Z,1755825360.325 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:03.528Z,1755825363.528 [DAT](INFO): DAT read: Rx Time:01:16:02.1573

2025-08-22T01:16:03.529Z,1755825363.529 [DAT](INFO): Rx dataTimestamp_ set to:1755825363.528428
2025-08-22T01:16:04.038Z,1755825364.038 [DAT](INFO): DAT read: 01:16:02.1573 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 466, 0.42,-1.555,-0.273,-1.560,-1.539, PHS= 0.086, 1.311,-0.065, RAW= 335.7, -19.8, CAL= 335.7, -23.0, ROT= 174.3,  23.0

2025-08-22T01:16:04.039Z,1755825364.039 [DAT](INFO): got valid direction response:
 01:16:02.1573 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 466, 0.42,-1.555,-0.273,-1.560,-1.539, PHS= 0.086, 1.311,-0.065, RAW= 335.7, -19.8, CAL= 335.7, -23.0, ROT= 174.3,  23.0

2025-08-22T01:16:04.040Z,1755825364.040 [DAT](INFO): DAT read: Bearing  45.9,  40.3 (Local)

2025-08-22T01:16:04.040Z,1755825364.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.9,  40.3 (Local)

2025-08-22T01:16:04.042Z,1755825364.042 [DAT](INFO): DAT read: Range 11 to 50 : 83.7 m  (Round-trip  111.6 ms) speed -1.0 m/s

2025-08-22T01:16:04.043Z,1755825364.043 [DAT](INFO): DAT read: user:6084>

2025-08-22T01:16:04.070Z,1755825364.070 [DAT](INFO): DAT read: Tx time:01:16:03.2916

2025-08-22T01:16:04.070Z,1755825364.070 [DAT](INFO): Ping request sent.
2025-08-22T01:16:04.070Z,1755825364.070 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:04.070Z,1755825364.070 [DAT](INFO): #Rx 126: Read range and direction messages.
2025-08-22T01:16:04.071Z,1755825364.071 [DAT](INFO): direction in FSK: [-0.915953,0.091424,-0.390731]
2025-08-22T01:16:04.072Z,1755825364.072 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:04.072Z,1755825364.072 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:04.084Z,1755825364.084 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:04.085Z,1755825364.085 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:07.056Z,1755825367.056 [DAT](INFO): DAT read: Rx Time:01:16:05.8117

2025-08-22T01:16:07.057Z,1755825367.057 [DAT](INFO): Rx dataTimestamp_ set to:1755825367.056461
2025-08-22T01:16:07.574Z,1755825367.574 [DAT](INFO): DAT read: 01:16:05.8117 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 465,-0.12,-0.666, 0.557,-0.803,-0.688, PHS= 0.123, 1.290,-0.159, RAW= 340.6, -18.4, CAL= 340.4, -21.5, ROT= 169.6,  21.5

2025-08-22T01:16:07.580Z,1755825367.580 [DAT](INFO): got valid direction response:
 01:16:05.8117 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 465,-0.12,-0.666, 0.557,-0.803,-0.688, PHS= 0.123, 1.290,-0.159, RAW= 340.6, -18.4, CAL= 340.4, -21.5, ROT= 169.6,  21.5

2025-08-22T01:16:07.581Z,1755825367.581 [DAT](INFO): DAT read: Bearing  51.7,  44.3 (Local)

2025-08-22T01:16:07.581Z,1755825367.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.7,  44.3 (Local)

2025-08-22T01:16:07.583Z,1755825367.583 [DAT](INFO): DAT read: Range 11 to 50 : 87.0 m  (Round-trip  116.1 ms) speed -0.8 m/s

2025-08-22T01:16:07.600Z,1755825367.600 [DAT](INFO): DAT read: user:6085>

2025-08-22T01:16:07.600Z,1755825367.600 [DAT](INFO): DAT read: Tx time:01:16:06.9415

2025-08-22T01:16:07.601Z,1755825367.601 [DAT](INFO): Ping request sent.
2025-08-22T01:16:07.601Z,1755825367.601 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:07.601Z,1755825367.601 [DAT](INFO): #Rx 127: Read range and direction messages.
2025-08-22T01:16:07.602Z,1755825367.602 [DAT](INFO): direction in FSK: [-0.915132,0.167958,-0.366501]
2025-08-22T01:16:07.602Z,1755825367.602 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:07.603Z,1755825367.603 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:07.614Z,1755825367.614 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:07.614Z,1755825367.614 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:10.836Z,1755825370.836 [DAT](INFO): DAT read: Rx Time:01:16:09.4661

2025-08-22T01:16:10.837Z,1755825370.837 [DAT](INFO): Rx dataTimestamp_ set to:1755825370.836445
2025-08-22T01:16:11.347Z,1755825371.347 [DAT](INFO): DAT read: 01:16:09.4661 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 478, 0.22, 2.652,-2.480, 2.391, 2.634, PHS= 0.120, 1.214,-0.287, RAW= 345.2, -15.4, CAL= 344.9, -18.5, ROT= 165.1,  18.5

2025-08-22T01:16:11.348Z,1755825371.348 [DAT](INFO): got valid direction response:
 01:16:09.4661 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 478, 0.22, 2.652,-2.480, 2.391, 2.634, PHS= 0.120, 1.214,-0.287, RAW= 345.2, -15.4, CAL= 344.9, -18.5, ROT= 165.1,  18.5

2025-08-22T01:16:11.349Z,1755825371.349 [DAT](INFO): DAT read: Bearing  55.1,  48.2 (Local)

2025-08-22T01:16:11.349Z,1755825371.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.1,  48.2 (Local)

2025-08-22T01:16:11.351Z,1755825371.351 [DAT](INFO): DAT read: Range 11 to 50 : 90.3 m  (Round-trip  120.5 ms) speed -0.9 m/s

2025-08-22T01:16:11.352Z,1755825371.352 [DAT](INFO): DAT read: user:6086>

2025-08-22T01:16:11.352Z,1755825371.352 [DAT](INFO): DAT read: Tx time:01:16:10.5915

2025-08-22T01:16:11.353Z,1755825371.353 [DAT](INFO): Ping request sent.
2025-08-22T01:16:11.353Z,1755825371.353 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:11.353Z,1755825371.353 [DAT](INFO): #Rx 128: Read range and direction messages.
2025-08-22T01:16:11.354Z,1755825371.354 [DAT](INFO): direction in FSK: [-0.916437,0.243845,-0.317305]
2025-08-22T01:16:11.354Z,1755825371.354 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:11.354Z,1755825371.354 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:11.358Z,1755825371.358 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:11.358Z,1755825371.358 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:14.368Z,1755825374.368 [DAT](INFO): DAT read: Rx Time:01:16:13.1204

2025-08-22T01:16:14.369Z,1755825374.369 [DAT](INFO): Rx dataTimestamp_ set to:1755825374.368542
2025-08-22T01:16:14.885Z,1755825374.885 [DAT](INFO): DAT read: 01:16:13.1204 LVL= 32752, 31329, 32754, 32755, AGC= 64, IDX= 474,-0.35,-2.462,-1.307,-2.800,-2.372, PHS= 0.012, 1.110,-0.472, RAW= 347.4,  -9.3, CAL= 347.0, -12.3, ROT= 163.0,  12.3

2025-08-22T01:16:14.886Z,1755825374.886 [DAT](INFO): got valid direction response:
 01:16:13.1204 LVL= 32752, 31329, 32754, 32755, AGC= 64, IDX= 474,-0.35,-2.462,-1.307,-2.800,-2.372, PHS= 0.012, 1.110,-0.472, RAW= 347.4,  -9.3, CAL= 347.0, -12.3, ROT= 163.0,  12.3

2025-08-22T01:16:14.887Z,1755825374.887 [DAT](INFO): DAT read: Bearing  50.7,  50.7 (Local)

2025-08-22T01:16:14.888Z,1755825374.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7,  50.7 (Local)

2025-08-22T01:16:14.889Z,1755825374.889 [DAT](INFO): DAT read: Range 11 to 50 : 93.6 m  (Round-trip  124.8 ms) speed -0.7 m/s

2025-08-22T01:16:14.890Z,1755825374.890 [DAT](INFO): DAT read: user:6087>

2025-08-22T01:16:14.892Z,1755825374.892 [DAT](INFO): #Rx 129: Read range and direction messages.
2025-08-22T01:16:14.894Z,1755825374.894 [DAT](INFO): direction in FSK: [-0.934353,0.285660,-0.213030]
2025-08-22T01:16:14.895Z,1755825374.895 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:15.124Z,1755825375.124 [DAT](INFO): DAT read: Tx time:01:16:14.2415

2025-08-22T01:16:15.125Z,1755825375.125 [DAT](INFO): Ping request sent.
2025-08-22T01:16:15.125Z,1755825375.125 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:15.125Z,1755825375.125 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:18.149Z,1755825378.149 [DAT](INFO): DAT read: Rx Time:01:16:16.7747

2025-08-22T01:16:18.149Z,1755825378.149 [DAT](INFO): Rx dataTimestamp_ set to:1755825378.148966
2025-08-22T01:16:18.658Z,1755825378.658 [DAT](INFO): DAT read: 01:16:16.7747 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 472,-0.49, 1.046, 2.170, 0.624, 1.198, PHS=-0.050, 1.016,-0.619, RAW= 350.0,  -4.9, CAL= 349.6,  -7.9, ROT= 160.4,   7.9

2025-08-22T01:16:18.659Z,1755825378.659 [DAT](INFO): got valid direction response:
 01:16:16.7747 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 472,-0.49, 1.046, 2.170, 0.624, 1.198, PHS=-0.050, 1.016,-0.619, RAW= 350.0,  -4.9, CAL= 349.6,  -7.9, ROT= 160.4,   7.9

2025-08-22T01:16:18.660Z,1755825378.660 [DAT](INFO): DAT read: Bearing  47.6,  52.3 (Local)

2025-08-22T01:16:18.660Z,1755825378.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.6,  52.3 (Local)

2025-08-22T01:16:18.662Z,1755825378.662 [DAT](INFO): DAT read: Range 11 to 50 : 96.8 m  (Round-trip  129.1 ms) speed -1.0 m/s

2025-08-22T01:16:18.663Z,1755825378.663 [DAT](INFO): DAT read: user:6088>

2025-08-22T01:16:18.663Z,1755825378.663 [DAT](INFO): DAT read: Tx time:01:16:17.8914

2025-08-22T01:16:18.664Z,1755825378.664 [DAT](INFO): Ping request sent.
2025-08-22T01:16:18.664Z,1755825378.664 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:18.664Z,1755825378.664 [DAT](INFO): #Rx 130: Read range and direction messages.
2025-08-22T01:16:18.665Z,1755825378.665 [DAT](INFO): direction in FSK: [-0.933117,0.332268,-0.137445]
2025-08-22T01:16:18.665Z,1755825378.665 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:18.665Z,1755825378.665 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:18.669Z,1755825378.669 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:18.669Z,1755825378.669 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:21.680Z,1755825381.680 [DAT](INFO): DAT read: Rx Time:01:16:20.4293

2025-08-22T01:16:21.681Z,1755825381.681 [DAT](INFO): Rx dataTimestamp_ set to:1755825381.680331
2025-08-22T01:16:22.201Z,1755825382.201 [DAT](INFO): DAT read: 01:16:20.4293 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 471,-0.04,-2.264,-1.188,-2.747,-2.077, PHS=-0.084, 0.934,-0.713, RAW= 352.2,  -1.9, CAL= 351.8,  -4.9, ROT= 158.2,   4.9

2025-08-22T01:16:22.202Z,1755825382.202 [DAT](INFO): got valid direction response:
 01:16:20.4293 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 471,-0.04,-2.264,-1.188,-2.747,-2.077, PHS=-0.084, 0.934,-0.713, RAW= 352.2,  -1.9, CAL= 351.8,  -4.9, ROT= 158.2,   4.9

2025-08-22T01:16:22.204Z,1755825382.204 [DAT](INFO): DAT read: Bearing  49.1,  53.4 (Local)

2025-08-22T01:16:22.204Z,1755825382.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.1,  53.4 (Local)

2025-08-22T01:16:22.206Z,1755825382.206 [DAT](INFO): DAT read: Range 11 to 50 : 100.3 m  (Round-trip  133.8 ms) speed -0.8 m/s

2025-08-22T01:16:22.206Z,1755825382.206 [DAT](INFO): DAT read: user:6089>

2025-08-22T01:16:22.209Z,1755825382.209 [DAT](INFO): DAT read: Tx time:01:16:21.5414

2025-08-22T01:16:22.210Z,1755825382.210 [DAT](INFO): Ping request sent.
2025-08-22T01:16:22.211Z,1755825382.211 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:22.213Z,1755825382.213 [DAT](INFO): #Rx 131: Read range and direction messages.
2025-08-22T01:16:22.216Z,1755825382.216 [DAT](INFO): direction in FSK: [-0.925092,0.370011,-0.085417]
2025-08-22T01:16:22.216Z,1755825382.216 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:22.216Z,1755825382.216 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:22.220Z,1755825382.220 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:22.220Z,1755825382.220 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:25.463Z,1755825385.463 [DAT](INFO): DAT read: Rx Time:01:16:24.0836

2025-08-22T01:16:25.465Z,1755825385.465 [DAT](INFO): Rx dataTimestamp_ set to:1755825385.463724
2025-08-22T01:16:25.970Z,1755825385.970 [DAT](INFO): DAT read: 01:16:24.0836 LVL= 32752, 30065, 32754, 32755, AGC= 63, IDX= 467, 0.02,-1.938,-0.839,-2.474,-1.737, PHS=-0.099, 0.943,-0.781, RAW= 353.1,  -0.9, CAL= 352.7,  -3.8, ROT= 157.3,   3.8

2025-08-22T01:16:25.972Z,1755825385.972 [DAT](INFO): got valid direction response:
 01:16:24.0836 LVL= 32752, 30065, 32754, 32755, AGC= 63, IDX= 467, 0.02,-1.938,-0.839,-2.474,-1.737, PHS=-0.099, 0.943,-0.781, RAW= 353.1,  -0.9, CAL= 352.7,  -3.8, ROT= 157.3,   3.8

2025-08-22T01:16:25.973Z,1755825385.973 [DAT](INFO): DAT read: Bearing  50.4,  54.2 (Local)

2025-08-22T01:16:25.973Z,1755825385.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.4,  54.2 (Local)

2025-08-22T01:16:25.974Z,1755825385.974 [DAT](INFO): DAT read: Range 11 to 50 : 103.5 m  (Round-trip  138.1 ms) speed -0.9 m/s

2025-08-22T01:16:25.976Z,1755825385.976 [DAT](INFO): DAT read: user:6090>

2025-08-22T01:16:25.976Z,1755825385.976 [DAT](INFO): DAT read: Tx time:01:16:25.1914

2025-08-22T01:16:25.977Z,1755825385.977 [DAT](INFO): Ping request sent.
2025-08-22T01:16:25.977Z,1755825385.977 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:25.977Z,1755825385.977 [DAT](INFO): #Rx 132: Read range and direction messages.
2025-08-22T01:16:25.978Z,1755825385.978 [DAT](INFO): direction in FSK: [-0.920510,0.385057,-0.066274]
2025-08-22T01:16:25.978Z,1755825385.978 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:25.979Z,1755825385.979 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:25.982Z,1755825385.982 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:25.982Z,1755825385.982 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:28.988Z,1755825388.988 [DAT](INFO): DAT read: Rx Time:01:16:27.7377

2025-08-22T01:16:28.989Z,1755825388.989 [DAT](INFO): Rx dataTimestamp_ set to:1755825388.988480
2025-08-22T01:16:29.515Z,1755825389.515 [DAT](INFO): DAT read: 01:16:27.7377 LVL= 32752, 27953, 32754, 32755, AGC= 64, IDX= 462, 0.33, 2.734,-2.470, 2.157, 2.925, PHS=-0.089, 0.933,-0.812, RAW= 354.3,  -0.4, CAL= 354.0,  -3.4, ROT= 156.0,   3.4

2025-08-22T01:16:29.516Z,1755825389.516 [DAT](INFO): got valid direction response:
 01:16:27.7377 LVL= 32752, 27953, 32754, 32755, AGC= 64, IDX= 462, 0.33, 2.734,-2.470, 2.157, 2.925, PHS=-0.089, 0.933,-0.812, RAW= 354.3,  -0.4, CAL= 354.0,  -3.4, ROT= 156.0,   3.4

2025-08-22T01:16:29.517Z,1755825389.517 [DAT](INFO): DAT read: Bearing  51.3,  55.9 (Local)

2025-08-22T01:16:29.517Z,1755825389.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.3,  55.9 (Local)

2025-08-22T01:16:29.518Z,1755825389.518 [DAT](INFO): DAT read: Range 11 to 50 : 106.7 m  (Round-trip  142.3 ms) speed -0.8 m/s

2025-08-22T01:16:29.531Z,1755825389.531 [DAT](INFO): DAT read: user:6091>

2025-08-22T01:16:29.532Z,1755825389.532 [DAT](INFO): DAT read: Tx time:01:16:28.8413

2025-08-22T01:16:29.533Z,1755825389.533 [DAT](INFO): Ping request sent.
2025-08-22T01:16:29.533Z,1755825389.533 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:29.533Z,1755825389.533 [DAT](INFO): #Rx 133: Read range and direction messages.
2025-08-22T01:16:29.534Z,1755825389.534 [DAT](INFO): direction in FSK: [-0.911937,0.406021,-0.059306]
2025-08-22T01:16:29.534Z,1755825389.534 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:29.534Z,1755825389.534 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:29.542Z,1755825389.542 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:29.542Z,1755825389.542 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:32.768Z,1755825392.768 [DAT](INFO): DAT read: Rx Time:01:16:31.3921

2025-08-22T01:16:32.769Z,1755825392.769 [DAT](INFO): Rx dataTimestamp_ set to:1755825392.768410
2025-08-22T01:16:33.290Z,1755825393.290 [DAT](INFO): DAT read: 01:16:31.3921 LVL= 32752, 30385, 32754, 32755, AGC= 62, IDX= 475, 0.50, 1.823, 2.898, 1.205, 2.028, PHS=-0.103, 0.915,-0.867, RAW= 355.3,   0.7, CAL= 355.0,  -2.2, ROT= 155.0,   2.2

2025-08-22T01:16:33.291Z,1755825393.291 [DAT](INFO): got valid direction response:
 01:16:31.3921 LVL= 32752, 30385, 32754, 32755, AGC= 62, IDX= 475, 0.50, 1.823, 2.898, 1.205, 2.028, PHS=-0.103, 0.915,-0.867, RAW= 355.3,   0.7, CAL= 355.0,  -2.2, ROT= 155.0,   2.2

2025-08-22T01:16:33.292Z,1755825393.292 [DAT](INFO): DAT read: Bearing  53.9,  56.8 (Local)

2025-08-22T01:16:33.292Z,1755825393.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.9,  56.8 (Local)

2025-08-22T01:16:33.294Z,1755825393.294 [DAT](INFO): DAT read: Range 11 to 50 : 110.0 m  (Round-trip  146.7 ms) speed -0.9 m/s

2025-08-22T01:16:33.294Z,1755825393.294 [DAT](INFO): DAT read: user:6092>

2025-08-22T01:16:33.295Z,1755825393.295 [DAT](INFO): DAT read: Tx time:01:16:32.4913

2025-08-22T01:16:33.296Z,1755825393.296 [DAT](INFO): Ping request sent.
2025-08-22T01:16:33.296Z,1755825393.296 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:33.296Z,1755825393.296 [DAT](INFO): #Rx 134: Read range and direction messages.
2025-08-22T01:16:33.297Z,1755825393.297 [DAT](INFO): direction in FSK: [-0.905640,0.422307,-0.038388]
2025-08-22T01:16:33.297Z,1755825393.297 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:33.297Z,1755825393.297 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:33.322Z,1755825393.322 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:33.322Z,1755825393.322 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:36.304Z,1755825396.304 [DAT](INFO): DAT read: Rx Time:01:16:35.0465

2025-08-22T01:16:36.305Z,1755825396.305 [DAT](INFO): Rx dataTimestamp_ set to:1755825396.304541
2025-08-22T01:16:36.816Z,1755825396.816 [DAT](INFO): DAT read: 01:16:35.0465 LVL= 32752, 32561, 32754, 32755, AGC= 62, IDX= 474,-0.43, 1.515, 2.616, 0.899, 1.740, PHS=-0.122, 0.922,-0.885, RAW= 354.9,   1.1, CAL= 354.5,  -1.9, ROT= 155.5,   1.9

2025-08-22T01:16:36.817Z,1755825396.817 [DAT](INFO): got valid direction response:
 01:16:35.0465 LVL= 32752, 32561, 32754, 32755, AGC= 62, IDX= 474,-0.43, 1.515, 2.616, 0.899, 1.740, PHS=-0.122, 0.922,-0.885, RAW= 354.9,   1.1, CAL= 354.5,  -1.9, ROT= 155.5,   1.9

2025-08-22T01:16:36.818Z,1755825396.818 [DAT](INFO): DAT read: Bearing  56.1,  55.9 (Local)

2025-08-22T01:16:36.818Z,1755825396.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.1,  55.9 (Local)

2025-08-22T01:16:36.820Z,1755825396.820 [DAT](INFO): DAT read: Range 11 to 50 : 113.4 m  (Round-trip  151.2 ms) speed -0.7 m/s

2025-08-22T01:16:36.820Z,1755825396.820 [DAT](INFO): DAT read: user:6093>

2025-08-22T01:16:36.821Z,1755825396.821 [DAT](INFO): DAT read: Tx time:01:16:36.1412

2025-08-22T01:16:36.821Z,1755825396.821 [DAT](INFO): Ping request sent.
2025-08-22T01:16:36.821Z,1755825396.821 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:36.822Z,1755825396.822 [DAT](INFO): #Rx 135: Read range and direction messages.
2025-08-22T01:16:36.823Z,1755825396.823 [DAT](INFO): direction in FSK: [-0.909461,0.414465,-0.033155]
2025-08-22T01:16:36.823Z,1755825396.823 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:36.823Z,1755825396.823 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:36.826Z,1755825396.826 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:36.827Z,1755825396.827 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:40.084Z,1755825400.084 [DAT](INFO): DAT read: Rx Time:01:16:38.7008

2025-08-22T01:16:40.085Z,1755825400.085 [DAT](INFO): Rx dataTimestamp_ set to:1755825400.084621
2025-08-22T01:16:40.594Z,1755825400.594 [DAT](INFO): DAT read: 01:16:38.7008 LVL= 32752, 32497, 32754, 32755, AGC= 66, IDX= 469, 0.02,-2.313,-1.312,-2.999,-2.125, PHS=-0.086, 0.857,-0.918, RAW= 357.9,   1.9, CAL= 357.6,  -1.0, ROT= 152.4,   1.0

2025-08-22T01:16:40.595Z,1755825400.595 [DAT](INFO): got valid direction response:
 01:16:38.7008 LVL= 32752, 32497, 32754, 32755, AGC= 66, IDX= 469, 0.02,-2.313,-1.312,-2.999,-2.125, PHS=-0.086, 0.857,-0.918, RAW= 357.9,   1.9, CAL= 357.6,  -1.0, ROT= 152.4,   1.0

2025-08-22T01:16:40.596Z,1755825400.596 [DAT](INFO): DAT read: Bearing  59.2,  58.3 (Local)

2025-08-22T01:16:40.597Z,1755825400.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.2,  58.3 (Local)

2025-08-22T01:16:40.598Z,1755825400.598 [DAT](INFO): DAT read: Range 11 to 50 : 116.6 m  (Round-trip  155.5 ms) speed -0.6 m/s

2025-08-22T01:16:40.599Z,1755825400.599 [DAT](INFO): DAT read: user:6094>

2025-08-22T01:16:40.600Z,1755825400.600 [DAT](INFO): DAT read: Tx time:01:16:39.7912

2025-08-22T01:16:40.600Z,1755825400.600 [DAT](INFO): Ping request sent.
2025-08-22T01:16:40.600Z,1755825400.600 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:40.600Z,1755825400.600 [DAT](INFO): #Rx 136: Read range and direction messages.
2025-08-22T01:16:40.601Z,1755825400.601 [DAT](INFO): direction in FSK: [-0.886069,0.463226,-0.017452]
2025-08-22T01:16:40.601Z,1755825400.601 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:40.602Z,1755825400.602 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:40.606Z,1755825400.606 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:40.606Z,1755825400.606 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:43.613Z,1755825403.613 [DAT](INFO): DAT read: Rx Time:01:16:42.3549

2025-08-22T01:16:43.613Z,1755825403.613 [DAT](INFO): Rx dataTimestamp_ set to:1755825403.612854
2025-08-22T01:16:44.122Z,1755825404.122 [DAT](INFO): DAT read: 01:16:42.3549 LVL= 32752, 31505, 32754, 32755, AGC= 65, IDX= 464,-0.49, 0.691, 1.705,-0.106, 0.852, PHS=-0.059, 0.898,-1.001, RAW= 359.8,   2.0, CAL= 359.5,  -0.9, ROT= 150.5,   0.9

2025-08-22T01:16:44.123Z,1755825404.123 [DAT](INFO): got valid direction response:
 01:16:42.3549 LVL= 32752, 31505, 32754, 32755, AGC= 65, IDX= 464,-0.49, 0.691, 1.705,-0.106, 0.852, PHS=-0.059, 0.898,-1.001, RAW= 359.8,   2.0, CAL= 359.5,  -0.9, ROT= 150.5,   0.9

2025-08-22T01:16:44.124Z,1755825404.124 [DAT](INFO): DAT read: Bearing  63.0,  59.4 (Local)

2025-08-22T01:16:44.124Z,1755825404.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.0,  59.4 (Local)

2025-08-22T01:16:44.125Z,1755825404.125 [DAT](INFO): DAT read: Range 11 to 50 : 119.7 m  (Round-trip  159.6 ms) speed -0.8 m/s

2025-08-22T01:16:44.126Z,1755825404.126 [DAT](INFO): DAT read: user:6095>

2025-08-22T01:16:44.127Z,1755825404.127 [DAT](INFO): #Rx 137: Read range and direction messages.
2025-08-22T01:16:44.128Z,1755825404.128 [DAT](INFO): direction in FSK: [-0.870248,0.492363,-0.015707]
2025-08-22T01:16:44.128Z,1755825404.128 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:44.369Z,1755825404.369 [DAT](INFO): DAT read: Tx time:01:16:43.4912

2025-08-22T01:16:44.369Z,1755825404.369 [DAT](INFO): Ping request sent.
2025-08-22T01:16:44.369Z,1755825404.369 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:44.369Z,1755825404.369 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:47.392Z,1755825407.392 [DAT](INFO): DAT read: Rx Time:01:16:46.0590

2025-08-22T01:16:47.393Z,1755825407.393 [DAT](INFO): Rx dataTimestamp_ set to:1755825407.392419
2025-08-22T01:16:47.902Z,1755825407.902 [DAT](INFO): DAT read: 01:16:46.0590 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 474, 0.40, 0.541, 1.426,-0.350, 0.615, PHS= 0.028, 0.856,-1.009, RAW=   3.7,   1.6, CAL=   3.5,  -1.1, ROT= 146.5,   1.1

2025-08-22T01:16:47.903Z,1755825407.903 [DAT](INFO): got valid direction response:
 01:16:46.0590 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 474, 0.40, 0.541, 1.426,-0.350, 0.615, PHS= 0.028, 0.856,-1.009, RAW=   3.7,   1.6, CAL=   3.5,  -1.1, ROT= 146.5,   1.1

2025-08-22T01:16:47.904Z,1755825407.904 [DAT](INFO): DAT read: Bearing  71.6,  63.6 (Local)

2025-08-22T01:16:47.904Z,1755825407.904 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.6,  63.6 (Local)

2025-08-22T01:16:47.906Z,1755825407.906 [DAT](INFO): DAT read: Range 11 to 50 : 122.8 m  (Round-trip  163.8 ms) speed -0.6 m/s

2025-08-22T01:16:47.907Z,1755825407.907 [DAT](INFO): DAT read: user:6096>

2025-08-22T01:16:47.908Z,1755825407.908 [DAT](INFO): DAT read: Tx time:01:16:47.1911

2025-08-22T01:16:47.908Z,1755825407.908 [DAT](INFO): Ping request sent.
2025-08-22T01:16:47.908Z,1755825407.908 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:47.908Z,1755825407.908 [DAT](INFO): #Rx 138: Read range and direction messages.
2025-08-22T01:16:47.909Z,1755825407.909 [DAT](INFO): direction in FSK: [-0.833732,0.551835,-0.019197]
2025-08-22T01:16:47.909Z,1755825407.909 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:47.910Z,1755825407.910 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:47.921Z,1755825407.921 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:47.921Z,1755825407.921 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:51.173Z,1755825411.173 [DAT](INFO): DAT read: Rx Time:01:16:49.7631

2025-08-22T01:16:51.173Z,1755825411.173 [DAT](INFO): Rx dataTimestamp_ set to:1755825411.173035
2025-08-22T01:16:51.682Z,1755825411.682 [DAT](INFO): DAT read: 01:16:49.7631 LVL= 32752, 30641, 32754, 32755, AGC= 65, IDX= 468, 0.43, 1.405, 2.287, 0.451, 1.482, PHS= 0.025, 0.850,-1.075, RAW=   4.7,   2.4, CAL=   4.6,  -0.2, ROT= 145.4,   0.2

2025-08-22T01:16:51.683Z,1755825411.683 [DAT](INFO): got valid direction response:
 01:16:49.7631 LVL= 32752, 30641, 32754, 32755, AGC= 65, IDX= 468, 0.43, 1.405, 2.287, 0.451, 1.482, PHS= 0.025, 0.850,-1.075, RAW=   4.7,   2.4, CAL=   4.6,  -0.2, ROT= 145.4,   0.2

2025-08-22T01:16:51.684Z,1755825411.684 [DAT](INFO): DAT read: Bearing  71.2,  65.0 (Local)

2025-08-22T01:16:51.684Z,1755825411.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.2,  65.0 (Local)

2025-08-22T01:16:51.686Z,1755825411.686 [DAT](INFO): DAT read: Range 11 to 50 : 125.9 m  (Round-trip  167.9 ms) speed -0.7 m/s

2025-08-22T01:16:51.686Z,1755825411.686 [DAT](INFO): DAT read: user:6097>

2025-08-22T01:16:51.687Z,1755825411.687 [DAT](INFO): DAT read: Tx time:01:16:50.8911

2025-08-22T01:16:51.688Z,1755825411.688 [DAT](INFO): Ping request sent.
2025-08-22T01:16:51.688Z,1755825411.688 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:51.688Z,1755825411.688 [DAT](INFO): #Rx 139: Read range and direction messages.
2025-08-22T01:16:51.689Z,1755825411.689 [DAT](INFO): direction in FSK: [-0.823131,0.567840,-0.003491]
2025-08-22T01:16:51.689Z,1755825411.689 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:51.689Z,1755825411.689 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:51.693Z,1755825411.693 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:51.693Z,1755825411.693 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:54.700Z,1755825414.700 [DAT](INFO): DAT read: Rx Time:01:16:53.4670

2025-08-22T01:16:54.701Z,1755825414.701 [DAT](INFO): Rx dataTimestamp_ set to:1755825414.700423
2025-08-22T01:16:55.218Z,1755825415.218 [DAT](INFO): DAT read: 01:16:53.4670 LVL= 32752, 30193, 32754, 32755, AGC= 68, IDX= 460, 0.10,-0.877,-0.066,-1.862,-0.813, PHS= 0.038, 0.792,-1.093, RAW=   6.6,   3.2, CAL=   6.5,   1.1, ROT= 143.5,  -1.1

2025-08-22T01:16:55.233Z,1755825415.233 [DAT](INFO): got valid direction response:
 01:16:53.4670 LVL= 32752, 30193, 32754, 32755, AGC= 68, IDX= 460, 0.10,-0.877,-0.066,-1.862,-0.813, PHS= 0.038, 0.792,-1.093, RAW=   6.6,   3.2, CAL=   6.5,   1.1, ROT= 143.5,  -1.1

2025-08-22T01:16:55.248Z,1755825415.248 [DAT](INFO): DAT read: Bearing  74.7,  67.3 (Local)

2025-08-22T01:16:55.248Z,1755825415.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.7,  67.3 (Local)

2025-08-22T01:16:55.250Z,1755825415.250 [DAT](INFO): DAT read: Range 11 to 50 : 128.8 m  (Round-trip  171.8 ms) speed -0.5 m/s

2025-08-22T01:16:55.251Z,1755825415.251 [DAT](INFO): DAT read: user:6098>

2025-08-22T01:16:55.256Z,1755825415.256 [DAT](INFO): DAT read: Tx time:01:16:54.5911

2025-08-22T01:16:55.256Z,1755825415.256 [DAT](INFO): Ping request sent.
2025-08-22T01:16:55.256Z,1755825415.256 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:55.256Z,1755825415.256 [DAT](INFO): #Rx 140: Read range and direction messages.
2025-08-22T01:16:55.257Z,1755825415.257 [DAT](INFO): direction in FSK: [-0.803709,0.594713,0.019197]
2025-08-22T01:16:55.257Z,1755825415.257 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:55.258Z,1755825415.258 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:55.281Z,1755825415.281 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:55.281Z,1755825415.281 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:58.480Z,1755825418.480 [DAT](INFO): DAT read: Rx Time:01:16:57.1705

2025-08-22T01:16:58.481Z,1755825418.481 [DAT](INFO): Rx dataTimestamp_ set to:1755825418.480387
2025-08-22T01:16:58.994Z,1755825418.994 [DAT](INFO): DAT read: 01:16:57.1705 LVL= 32752, 30257, 32754, 32755, AGC= 65, IDX= 464, 0.24,-0.197, 0.536,-1.327,-0.167, PHS= 0.072, 0.748,-1.204, RAW=  10.1,   4.5, CAL=  10.0,   3.2, ROT= 140.0,  -3.2

2025-08-22T01:16:58.996Z,1755825418.996 [DAT](INFO): got valid direction response:
 01:16:57.1705 LVL= 32752, 30257, 32754, 32755, AGC= 65, IDX= 464, 0.24,-0.197, 0.536,-1.327,-0.167, PHS= 0.072, 0.748,-1.204, RAW=  10.1,   4.5, CAL=  10.0,   3.2, ROT= 140.0,  -3.2

2025-08-22T01:16:58.997Z,1755825418.997 [DAT](INFO): DAT read: Bearing  73.5,  70.0 (Local)

2025-08-22T01:16:58.997Z,1755825418.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.5,  70.0 (Local)

2025-08-22T01:16:58.999Z,1755825418.999 [DAT](INFO): DAT read: Range 11 to 50 : 131.4 m  (Round-trip  175.3 ms) speed -0.7 m/s

2025-08-22T01:16:58.000Z,1755825419.000 [DAT](INFO): DAT read: user:6099>

2025-08-22T01:16:59.000Z,1755825419.000 [DAT](INFO): DAT read: Tx time:01:16:58.2910

2025-08-22T01:16:59.001Z,1755825419.001 [DAT](INFO): Ping request sent.
2025-08-22T01:16:59.001Z,1755825419.001 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:16:59.001Z,1755825419.001 [DAT](INFO): #Rx 141: Read range and direction messages.
2025-08-22T01:16:59.002Z,1755825419.002 [DAT](INFO): direction in FSK: [-0.764850,0.641785,0.055822]
2025-08-22T01:16:59.002Z,1755825419.002 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:59.003Z,1755825419.003 [DAT](INFO): publishing direction and range info
2025-08-22T01:16:59.006Z,1755825419.006 [DAT](INFO): publishing transmit ping time
2025-08-22T01:16:59.006Z,1755825419.006 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:02.272Z,1755825422.272 [DAT](INFO): DAT read: Rx Time:01:17:00.8742

2025-08-22T01:17:02.273Z,1755825422.273 [DAT](INFO): Rx dataTimestamp_ set to:1755825422.272435
2025-08-22T01:17:02.782Z,1755825422.782 [DAT](INFO): DAT read: 01:17:00.8742 LVL= 32752, 28081, 32754, 32755, AGC= 66, IDX= 470, 0.09, 2.954,-2.787, 1.672, 2.903, PHS= 0.153, 0.638,-1.276, RAW=  15.9,   5.7, CAL=  15.9,   5.0, ROT= 134.1,  -5.0

2025-08-22T01:17:02.783Z,1755825422.783 [DAT](INFO): got valid direction response:
 01:17:00.8742 LVL= 32752, 28081, 32754, 32755, AGC= 66, IDX= 470, 0.09, 2.954,-2.787, 1.672, 2.903, PHS= 0.153, 0.638,-1.276, RAW=  15.9,   5.7, CAL=  15.9,   5.0, ROT= 134.1,  -5.0

2025-08-22T01:17:02.784Z,1755825422.784 [DAT](INFO): DAT read: Bearing  66.5,  75.8 (Local)

2025-08-22T01:17:02.784Z,1755825422.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.5,  75.8 (Local)

2025-08-22T01:17:02.786Z,1755825422.786 [DAT](INFO): DAT read: Range 11 to 50 : 134.3 m  (Round-trip  179.1 ms) speed -0.6 m/s

2025-08-22T01:17:02.787Z,1755825422.787 [DAT](INFO): DAT read: user:6100>

2025-08-22T01:17:02.787Z,1755825422.787 [DAT](INFO): DAT read: Tx time:01:17:01.9910

2025-08-22T01:17:02.788Z,1755825422.788 [DAT](INFO): Ping request sent.
2025-08-22T01:17:02.788Z,1755825422.788 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:02.788Z,1755825422.788 [DAT](INFO): #Rx 142: Read range and direction messages.
2025-08-22T01:17:02.789Z,1755825422.789 [DAT](INFO): direction in FSK: [-0.693265,0.715394,0.087156]
2025-08-22T01:17:02.789Z,1755825422.789 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:02.790Z,1755825422.790 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:02.805Z,1755825422.805 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:02.806Z,1755825422.806 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:05.800Z,1755825425.800 [DAT](INFO): DAT read: Rx Time:01:17:04.5776

2025-08-22T01:17:05.801Z,1755825425.801 [DAT](INFO): Rx dataTimestamp_ set to:1755825425.800478
2025-08-22T01:17:06.562Z,1755825426.562 [DAT](INFO): DAT read: 01:17:04.5775 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 457, 0.09,-1.115,-0.658,-2.516,-1.189, PHS= 0.177, 0.577,-1.371, RAW=  18.8,   7.0, CAL=  18.6,   6.8, ROT= 131.4,  -6.8

2025-08-22T01:17:06.563Z,1755825426.563 [DAT](INFO): got valid direction response:
 01:17:04.5775 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 457, 0.09,-1.115,-0.658,-2.516,-1.189, PHS= 0.177, 0.577,-1.371, RAW=  18.8,   7.0, CAL=  18.6,   6.8, ROT= 131.4,  -6.8

2025-08-22T01:17:06.564Z,1755825426.564 [DAT](INFO): DAT read: Bearing  53.7,  76.0 (Local)

2025-08-22T01:17:06.564Z,1755825426.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.7,  76.0 (Local)

2025-08-22T01:17:06.566Z,1755825426.566 [DAT](INFO): DAT read: Range 11 to 50 : 136.8 m  (Round-trip  182.5 ms) speed -0.4 m/s

2025-08-22T01:17:06.566Z,1755825426.566 [DAT](INFO): DAT read: user:6101>

2025-08-22T01:17:06.567Z,1755825426.567 [DAT](INFO): DAT read: Tx time:01:17:05.6924

2025-08-22T01:17:06.568Z,1755825426.568 [DAT](INFO): Ping request sent.
2025-08-22T01:17:06.568Z,1755825426.568 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:06.568Z,1755825426.568 [DAT](INFO): #Rx 143: Read range and direction messages.
2025-08-22T01:17:06.569Z,1755825426.569 [DAT](INFO): direction in FSK: [-0.656660,0.744834,0.118404]
2025-08-22T01:17:06.569Z,1755825426.569 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:06.569Z,1755825426.569 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:06.573Z,1755825426.573 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:06.573Z,1755825426.573 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:09.580Z,1755825429.580 [DAT](INFO): DAT read: Rx Time:01:17:08.2825

2025-08-22T01:17:09.581Z,1755825429.581 [DAT](INFO): Rx dataTimestamp_ set to:1755825429.580417
2025-08-22T01:17:10.090Z,1755825430.090 [DAT](INFO): DAT read: 01:17:08.2825 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 460, 0.29,-1.982,-1.685, 2.851,-2.153, PHS= 0.272, 0.512,-1.324, RAW=  23.1,   6.3, CAL=  22.8,   5.8, ROT= 127.2,  -5.8

2025-08-22T01:17:10.091Z,1755825430.091 [DAT](INFO): got valid direction response:
 01:17:08.2825 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 460, 0.29,-1.982,-1.685, 2.851,-2.153, PHS= 0.272, 0.512,-1.324, RAW=  23.1,   6.3, CAL=  22.8,   5.8, ROT= 127.2,  -5.8

2025-08-22T01:17:10.092Z,1755825430.092 [DAT](INFO): DAT read: Bearing  65.5,  83.1 (Local)

2025-08-22T01:17:10.093Z,1755825430.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.5,  83.1 (Local)

2025-08-22T01:17:10.094Z,1755825430.094 [DAT](INFO): DAT read: Range 11 to 50 : 139.4 m  (Round-trip  185.9 ms) speed -0.5 m/s

2025-08-22T01:17:10.095Z,1755825430.095 [DAT](INFO): DAT read: user:6102>

2025-08-22T01:17:10.096Z,1755825430.096 [DAT](INFO): DAT read: Tx time:01:17:09.3909

2025-08-22T01:17:10.096Z,1755825430.096 [DAT](INFO): Ping request sent.
2025-08-22T01:17:10.096Z,1755825430.096 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:10.097Z,1755825430.097 [DAT](INFO): #Rx 144: Read range and direction messages.
2025-08-22T01:17:10.098Z,1755825430.098 [DAT](INFO): direction in FSK: [-0.601504,0.792452,0.101056]
2025-08-22T01:17:10.098Z,1755825430.098 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:10.098Z,1755825430.098 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:10.130Z,1755825430.130 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:10.131Z,1755825430.131 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:13.360Z,1755825433.360 [DAT](INFO): DAT read: Rx Time:01:17:11.9842

2025-08-22T01:17:13.361Z,1755825433.361 [DAT](INFO): Rx dataTimestamp_ set to:1755825433.360563
2025-08-22T01:17:13.871Z,1755825433.871 [DAT](INFO): DAT read: 01:17:11.9842 LVL= 28432, 31121, 32754, 32755, AGC= 65, IDX= 462,-0.17,-2.165,-2.002, 2.562,-2.342, PHS= 0.279, 0.386,-1.423, RAW=  27.0,   8.7, CAL=  26.1,   8.8, ROT= 123.9,  -8.8

2025-08-22T01:17:13.872Z,1755825433.872 [DAT](INFO): got valid direction response:
 01:17:11.9842 LVL= 28432, 31121, 32754, 32755, AGC= 65, IDX= 462,-0.17,-2.165,-2.002, 2.562,-2.342, PHS= 0.279, 0.386,-1.423, RAW=  27.0,   8.7, CAL=  26.1,   8.8, ROT= 123.9,  -8.8

2025-08-22T01:17:13.873Z,1755825433.873 [DAT](INFO): DAT read: Bearing  30.2,  82.0 (Local)

2025-08-22T01:17:13.873Z,1755825433.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.2,  82.0 (Local)

2025-08-22T01:17:13.875Z,1755825433.875 [DAT](INFO): DAT read: Range 11 to 50 : 141.9 m  (Round-trip  189.2 ms) speed -0.5 m/s

2025-08-22T01:17:13.875Z,1755825433.875 [DAT](INFO): DAT read: user:6103>

2025-08-22T01:17:13.876Z,1755825433.876 [DAT](INFO): DAT read: Tx time:01:17:13.0909

2025-08-22T01:17:13.876Z,1755825433.876 [DAT](INFO): Ping request sent.
2025-08-22T01:17:13.876Z,1755825433.876 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:13.877Z,1755825433.877 [DAT](INFO): #Rx 145: Read range and direction messages.
2025-08-22T01:17:13.878Z,1755825433.878 [DAT](INFO): direction in FSK: [-0.551180,0.820242,0.152986]
2025-08-22T01:17:13.878Z,1755825433.878 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:13.878Z,1755825433.878 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:13.886Z,1755825433.886 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:13.886Z,1755825433.886 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:17.140Z,1755825437.140 [DAT](INFO): DAT read: Rx Time:01:17:15.6875

2025-08-22T01:17:17.141Z,1755825437.141 [DAT](INFO): Rx dataTimestamp_ set to:1755825437.140459
2025-08-22T01:17:17.650Z,1755825437.650 [DAT](INFO): DAT read: 01:17:15.6874 LVL= 25328, 25841, 32754, 32339, AGC= 66, IDX= 463,-0.28,-1.952,-2.068, 2.604,-2.346, PHS= 0.497, 0.323,-1.377, RAW=  34.8,   6.3, CAL=  34.1,   5.7, ROT= 115.9,  -5.7

2025-08-22T01:17:17.651Z,1755825437.651 [DAT](INFO): got valid direction response:
 01:17:15.6874 LVL= 25328, 25841, 32754, 32339, AGC= 66, IDX= 463,-0.28,-1.952,-2.068, 2.604,-2.346, PHS= 0.497, 0.323,-1.377, RAW=  34.8,   6.3, CAL=  34.1,   5.7, ROT= 115.9,  -5.7

2025-08-22T01:17:17.652Z,1755825437.652 [DAT](INFO): DAT read: Bearing 289.2,  84.8 (Local)

2025-08-22T01:17:17.652Z,1755825437.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.2,  84.8 (Local)

2025-08-22T01:17:17.654Z,1755825437.654 [DAT](INFO): DAT read: Range 11 to 50 : 144.3 m  (Round-trip  192.4 ms) speed -0.6 m/s

2025-08-22T01:17:17.655Z,1755825437.655 [DAT](INFO): DAT read: user:6104>

2025-08-22T01:17:17.655Z,1755825437.655 [DAT](INFO): DAT read: Tx time:01:17:16.7908

2025-08-22T01:17:17.656Z,1755825437.656 [DAT](INFO): Ping request sent.
2025-08-22T01:17:17.656Z,1755825437.656 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:17.656Z,1755825437.656 [DAT](INFO): #Rx 146: Read range and direction messages.
2025-08-22T01:17:17.657Z,1755825437.657 [DAT](INFO): direction in FSK: [-0.434642,0.895110,0.099320]
2025-08-22T01:17:17.657Z,1755825437.657 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:17.658Z,1755825437.658 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:17.661Z,1755825437.661 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:17.661Z,1755825437.661 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:20.672Z,1755825440.672 [DAT](INFO): DAT read: Rx Time:01:17:19.3900

2025-08-22T01:17:20.673Z,1755825440.673 [DAT](INFO): Rx dataTimestamp_ set to:1755825440.672413
2025-08-22T01:17:21.182Z,1755825441.182 [DAT](INFO): DAT read: 01:17:19.3900 LVL= 24176, 24145, 32754, 24227, AGC= 64, IDX= 458,-0.20,-2.533,-2.967, 1.923, 3.142, PHS= 0.710, 0.219,-1.262, RAW=  43.8,   3.8, CAL=  43.6,   2.5, ROT= 106.4,  -2.5

2025-08-22T01:17:21.184Z,1755825441.184 [DAT](INFO): got valid direction response:
 01:17:19.3900 LVL= 24176, 24145, 32754, 24227, AGC= 64, IDX= 458,-0.20,-2.533,-2.967, 1.923, 3.142, PHS= 0.710, 0.219,-1.262, RAW=  43.8,   3.8, CAL=  43.6,   2.5, ROT= 106.4,  -2.5

2025-08-22T01:17:21.184Z,1755825441.184 [DAT](INFO): DAT read: Bearing 246.7,  77.5 (Local)

2025-08-22T01:17:21.185Z,1755825441.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.7,  77.5 (Local)

2025-08-22T01:17:21.186Z,1755825441.186 [DAT](INFO): DAT read: Range 11 to 50 : 146.3 m  (Round-trip  195.1 ms) speed -0.4 m/s

2025-08-22T01:17:21.199Z,1755825441.199 [DAT](INFO): DAT read: user:6105>

2025-08-22T01:17:21.200Z,1755825441.200 [DAT](INFO): DAT read: Tx time:01:17:20.4908

2025-08-22T01:17:21.200Z,1755825441.200 [DAT](INFO): Ping request sent.
2025-08-22T01:17:21.200Z,1755825441.200 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:21.201Z,1755825441.201 [DAT](INFO): #Rx 147: Read range and direction messages.
2025-08-22T01:17:21.202Z,1755825441.202 [DAT](INFO): direction in FSK: [-0.282073,0.958401,0.043619]
2025-08-22T01:17:21.202Z,1755825441.202 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:21.202Z,1755825441.202 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:21.236Z,1755825441.236 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:21.236Z,1755825441.236 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:22.684Z,1755825442.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T01:17:23.689Z,1755825443.689 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-22T01:17:23.689Z,1755825443.689 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:17:24.452Z,1755825444.452 [DAT](INFO): DAT read: Rx Time:01:17:23.0923

2025-08-22T01:17:24.453Z,1755825444.453 [DAT](INFO): Rx dataTimestamp_ set to:1755825444.452445
2025-08-22T01:17:24.962Z,1755825444.962 [DAT](INFO): DAT read: 01:17:23.0923 LVL= 25408, 27057, 32754, 31187, AGC= 65, IDX= 450,-0.12, 0.745, 0.190,-1.119, 0.072, PHS= 0.775, 0.163,-1.235, RAW=  47.3,   3.4, CAL=  47.2,   1.7, ROT= 102.8,  -1.7

2025-08-22T01:17:24.963Z,1755825444.963 [DAT](INFO): got valid direction response:
 01:17:23.0923 LVL= 25408, 27057, 32754, 31187, AGC= 65, IDX= 450,-0.12, 0.745, 0.190,-1.119, 0.072, PHS= 0.775, 0.163,-1.235, RAW=  47.3,   3.4, CAL=  47.2,   1.7, ROT= 102.8,  -1.7

2025-08-22T01:17:24.964Z,1755825444.964 [DAT](INFO): DAT read: Bearing 257.3,  73.7 (Local)

2025-08-22T01:17:24.964Z,1755825444.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.3,  73.7 (Local)

2025-08-22T01:17:24.966Z,1755825444.966 [DAT](INFO): DAT read: Range 11 to 50 : 148.0 m  (Round-trip  197.4 ms) speed -0.3 m/s

2025-08-22T01:17:24.966Z,1755825444.966 [DAT](INFO): DAT read: user:6106>

2025-08-22T01:17:24.968Z,1755825444.968 [DAT](INFO): DAT read: Tx time:01:17:24.1908

2025-08-22T01:17:24.968Z,1755825444.968 [DAT](INFO): Ping request sent.
2025-08-22T01:17:24.968Z,1755825444.968 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:24.969Z,1755825444.969 [DAT](INFO): #Rx 148: Read range and direction messages.
2025-08-22T01:17:24.970Z,1755825444.970 [DAT](INFO): direction in FSK: [-0.221451,0.974720,0.029666]
2025-08-22T01:17:24.970Z,1755825444.970 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:24.970Z,1755825444.970 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:24.973Z,1755825444.973 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:24.974Z,1755825444.974 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:28.240Z,1755825448.240 [DAT](INFO): DAT read: Rx Time:01:17:26.7939

2025-08-22T01:17:28.241Z,1755825448.241 [DAT](INFO): Rx dataTimestamp_ set to:1755825448.240585
2025-08-22T01:17:28.750Z,1755825448.750 [DAT](INFO): DAT read: 01:17:26.7939 LVL= 18576, 22513, 27442, 28131, AGC= 65, IDX= 435,-0.00, 1.415, 0.856,-0.437, 0.785, PHS= 0.732, 0.116,-1.267, RAW=  47.5,   4.8, CAL=  46.9,   3.6, ROT= 103.1,  -3.6

2025-08-22T01:17:28.752Z,1755825448.752 [DAT](INFO): got valid direction response:
 01:17:26.7939 LVL= 18576, 22513, 27442, 28131, AGC= 65, IDX= 435,-0.00, 1.415, 0.856,-0.437, 0.785, PHS= 0.732, 0.116,-1.267, RAW=  47.5,   4.8, CAL=  46.9,   3.6, ROT= 103.1,  -3.6

2025-08-22T01:17:28.753Z,1755825448.753 [DAT](INFO): DAT read: Bearing 272.7,  75.5 (Local)

2025-08-22T01:17:28.754Z,1755825448.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.7,  75.5 (Local)

2025-08-22T01:17:28.756Z,1755825448.756 [DAT](INFO): DAT read: Range 11 to 50 : 149.3 m  (Round-trip  199.1 ms) speed -0.5 m/s

2025-08-22T01:17:28.757Z,1755825448.757 [DAT](INFO): DAT read: user:6107>

2025-08-22T01:17:28.758Z,1755825448.758 [DAT](INFO): DAT read: Tx time:01:17:27.8907

2025-08-22T01:17:28.758Z,1755825448.758 [DAT](INFO): Ping request sent.
2025-08-22T01:17:28.759Z,1755825448.759 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:28.765Z,1755825448.765 [DAT](INFO): #Rx 149: Read range and direction messages.
2025-08-22T01:17:28.773Z,1755825448.773 [DAT](INFO): direction in FSK: [-0.226204,0.972054,0.062791]
2025-08-22T01:17:28.773Z,1755825448.773 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:28.773Z,1755825448.773 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:28.785Z,1755825448.785 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:28.786Z,1755825448.786 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:30.323Z,1755825450.323 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-22T01:17:31.768Z,1755825451.768 [DAT](INFO): DAT read: Rx Time:01:17:30.4958

2025-08-22T01:17:31.769Z,1755825451.769 [DAT](INFO): Rx dataTimestamp_ set to:1755825451.768464
2025-08-22T01:17:32.278Z,1755825452.278 [DAT](INFO): DAT read: 01:17:30.4958 LVL= 21152, 23265, 28146, 27619, AGC= 66, IDX= 439, 0.11,-2.694, 2.954, 1.692, 2.904, PHS= 0.787, 0.094,-1.256, RAW=  49.5,   4.2, CAL=  49.0,   2.7, ROT= 101.0,  -2.7

2025-08-22T01:17:32.279Z,1755825452.279 [DAT](INFO): got valid direction response:
 01:17:30.4958 LVL= 21152, 23265, 28146, 27619, AGC= 66, IDX= 439, 0.11,-2.694, 2.954, 1.692, 2.904, PHS= 0.787, 0.094,-1.256, RAW=  49.5,   4.2, CAL=  49.0,   2.7, ROT= 101.0,  -2.7

2025-08-22T01:17:32.280Z,1755825452.280 [DAT](INFO): DAT read: Bearing 281.0,  72.9 (Local)

2025-08-22T01:17:32.280Z,1755825452.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.0,  72.9 (Local)

2025-08-22T01:17:32.282Z,1755825452.282 [DAT](INFO): DAT read: Range 11 to 50 : 150.7 m  (Round-trip  201.0 ms) speed  0.2 m/s

2025-08-22T01:17:32.283Z,1755825452.283 [DAT](INFO): DAT read: user:6108>

2025-08-22T01:17:32.288Z,1755825452.288 [DAT](INFO): DAT read: Tx time:01:17:31.5907

2025-08-22T01:17:32.288Z,1755825452.288 [DAT](INFO): Ping request sent.
2025-08-22T01:17:32.288Z,1755825452.288 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:32.289Z,1755825452.289 [DAT](INFO): #Rx 150: Read range and direction messages.
2025-08-22T01:17:32.290Z,1755825452.290 [DAT](INFO): direction in FSK: [-0.190597,0.980537,0.047106]
2025-08-22T01:17:32.290Z,1755825452.290 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:32.290Z,1755825452.290 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:32.293Z,1755825452.293 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:32.293Z,1755825452.293 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:35.548Z,1755825455.548 [DAT](INFO): DAT read: Rx Time:01:17:34.1968

2025-08-22T01:17:35.549Z,1755825455.549 [DAT](INFO): Rx dataTimestamp_ set to:1755825455.548557
2025-08-22T01:17:36.059Z,1755825456.059 [DAT](INFO): DAT read: 01:17:34.1968 LVL= 18768, 24321, 32754, 31715, AGC= 67, IDX= 449, 0.14,-2.804, 2.866, 1.737, 2.910, PHS= 0.671, 0.001,-1.217, RAW=  50.5,   6.6, CAL=  49.2,   6.1, ROT= 100.8,  -6.1

2025-08-22T01:17:36.061Z,1755825456.061 [DAT](INFO): got valid direction response:
 01:17:34.1968 LVL= 18768, 24321, 32754, 31715, AGC= 67, IDX= 449, 0.14,-2.804, 2.866, 1.737, 2.910, PHS= 0.671, 0.001,-1.217, RAW=  50.5,   6.6, CAL=  49.2,   6.1, ROT= 100.8,  -6.1

2025-08-22T01:17:36.062Z,1755825456.062 [DAT](INFO): DAT read: Bearing 299.2,  78.6 (Local)

2025-08-22T01:17:36.063Z,1755825456.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.2,  78.6 (Local)

2025-08-22T01:17:36.065Z,1755825456.065 [DAT](INFO): DAT read: Range 11 to 50 : 151.5 m  (Round-trip  202.0 ms) speed -0.4 m/s

2025-08-22T01:17:36.066Z,1755825456.066 [DAT](INFO): DAT read: user:6109>

2025-08-22T01:17:36.068Z,1755825456.068 [DAT](INFO): DAT read: Tx time:01:17:35.2907

2025-08-22T01:17:36.068Z,1755825456.068 [DAT](INFO): Ping request sent.
2025-08-22T01:17:36.068Z,1755825456.068 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:36.068Z,1755825456.068 [DAT](INFO): #Rx 151: Read range and direction messages.
2025-08-22T01:17:36.069Z,1755825456.069 [DAT](INFO): direction in FSK: [-0.186320,0.976725,0.106264]
2025-08-22T01:17:36.070Z,1755825456.070 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:36.070Z,1755825456.070 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:36.073Z,1755825456.073 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:36.073Z,1755825456.073 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:39.332Z,1755825459.332 [DAT](INFO): DAT read: Rx Time:01:17:37.8983

2025-08-22T01:17:39.333Z,1755825459.333 [DAT](INFO): Rx dataTimestamp_ set to:1755825459.332492
2025-08-22T01:17:39.695Z,1755825459.695 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-08-22T01:17:39.707Z,1755825459.707 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T01:17:39.707Z,1755825459.707 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-22T01:17:39.842Z,1755825459.842 [DAT](INFO): DAT read: 01:17:37.8983 LVL= 31024, 32753, 32754, 32755, AGC= 68, IDX= 445, 0.26, 0.379,-0.286,-1.258,-0.295, PHS= 0.776, 0.054,-1.007, RAW=  53.7,   2.3, CAL=  53.9,  -0.1, ROT=  96.1,   0.1

2025-08-22T01:17:39.843Z,1755825459.843 [DAT](INFO): got valid direction response:
 01:17:37.8983 LVL= 31024, 32753, 32754, 32755, AGC= 68, IDX= 445, 0.26, 0.379,-0.286,-1.258,-0.295, PHS= 0.776, 0.054,-1.007, RAW=  53.7,   2.3, CAL=  53.9,  -0.1, ROT=  96.1,   0.1

2025-08-22T01:17:39.844Z,1755825459.844 [DAT](INFO): DAT read: Bearing 256.1,  82.7 (Local)

2025-08-22T01:17:39.844Z,1755825459.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.1,  82.7 (Local)

2025-08-22T01:17:39.846Z,1755825459.846 [DAT](INFO): DAT read: Range 11 to 50 : 152.7 m  (Round-trip  203.6 ms) speed -0.4 m/s

2025-08-22T01:17:39.846Z,1755825459.846 [DAT](INFO): DAT read: user:6110>

2025-08-22T01:17:39.848Z,1755825459.848 [DAT](INFO): DAT read: Tx time:01:17:38.9906

2025-08-22T01:17:39.848Z,1755825459.848 [DAT](INFO): Ping request sent.
2025-08-22T01:17:39.848Z,1755825459.848 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:39.848Z,1755825459.848 [DAT](INFO): #Rx 152: Read range and direction messages.
2025-08-22T01:17:39.849Z,1755825459.849 [DAT](INFO): direction in FSK: [-0.106264,0.994336,-0.001745]
2025-08-22T01:17:39.849Z,1755825459.849 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:39.850Z,1755825459.850 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:39.869Z,1755825459.869 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:39.869Z,1755825459.869 [DAT](INFO): publishing direction and range info
2025-08-22T01:17:42.860Z,1755825462.860 [DAT](INFO): DAT read: Rx Time:01:17:41.5991

2025-08-22T01:17:42.861Z,1755825462.861 [DAT](INFO): Rx dataTimestamp_ set to:1755825462.860638
2025-08-22T01:17:43.365Z,1755825463.365 [DAT](INFO): DAT read: $Error in header

2025-08-22T01:17:43.365Z,1755825463.365 [DAT](INFO): Received a bad header
2025-08-22T01:17:52.188Z,1755825472.188 [DAT](INFO): DAT read: Response Not Received

2025-08-22T01:17:52.189Z,1755825472.189 [DAT](INFO): response not received
2025-08-22T01:17:52.189Z,1755825472.189 [DAT](INFO): DAT read: user:6112>

2025-08-22T01:17:52.190Z,1755825472.190 [DAT](INFO): DAT read: Tx time:01:17:51.4405

2025-08-22T01:17:52.190Z,1755825472.190 [DAT](INFO): Ping request sent.
2025-08-22T01:17:52.190Z,1755825472.190 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:52.190Z,1755825472.190 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:53.812Z,1755825473.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T01:17:54.816Z,1755825474.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:17:55.479Z,1755825475.479 [DAT](INFO): DAT read: Rx Time:01:17:54.0492

2025-08-22T01:17:55.481Z,1755825475.481 [DAT](INFO): Rx dataTimestamp_ set to:1755825475.479713
2025-08-22T01:17:55.981Z,1755825475.981 [DAT](INFO): DAT read: Range 11 to 50 : 153.3 m  (Round-trip  204.5 ms) speed -0.3 m/s

2025-08-22T01:17:55.982Z,1755825475.982 [DAT](INFO): DAT read: user:6113>

2025-08-22T01:17:55.983Z,1755825475.983 [DAT](INFO): DAT read: Tx time:01:17:55.1405

2025-08-22T01:17:55.983Z,1755825475.983 [DAT](INFO): Ping request sent.
2025-08-22T01:17:55.983Z,1755825475.983 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:55.983Z,1755825475.983 [DAT](ERROR): #Rx 153: Read range message, but no direction.
2025-08-22T01:17:55.983Z,1755825475.983 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:55.984Z,1755825475.984 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:59.012Z,1755825479.012 [DAT](INFO): DAT read: Rx Time:01:17:57.7489

2025-08-22T01:17:59.013Z,1755825479.013 [DAT](INFO): Rx dataTimestamp_ set to:1755825479.012561
2025-08-22T01:17:59.517Z,1755825479.517 [DAT](INFO): DAT read: Range 11 to 50 : 153.2 m  (Round-trip  204.3 ms) speed  0.1 m/s

2025-08-22T01:17:59.518Z,1755825479.518 [DAT](INFO): DAT read: user:6114>

2025-08-22T01:17:59.519Z,1755825479.519 [DAT](INFO): DAT read: Tx time:01:17:58.8404

2025-08-22T01:17:59.519Z,1755825479.519 [DAT](INFO): Ping request sent.
2025-08-22T01:17:59.519Z,1755825479.519 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:17:59.520Z,1755825479.520 [DAT](ERROR): #Rx 154: Read range message, but no direction.
2025-08-22T01:17:59.520Z,1755825479.520 [DAT](INFO): publishing transmit ping time
2025-08-22T01:17:59.520Z,1755825479.520 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:02.801Z,1755825482.801 [DAT](INFO): DAT read: Rx Time:01:18:01.4492

2025-08-22T01:18:02.801Z,1755825482.801 [DAT](INFO): Rx dataTimestamp_ set to:1755825482.800775
2025-08-22T01:18:03.305Z,1755825483.305 [DAT](INFO): DAT read: Range 11 to 50 : 153.4 m  (Round-trip  204.6 ms) speed  0.1 m/s

2025-08-22T01:18:03.306Z,1755825483.306 [DAT](INFO): DAT read: user:6115>

2025-08-22T01:18:03.307Z,1755825483.307 [DAT](INFO): DAT read: Tx time:01:18:02.5404

2025-08-22T01:18:03.307Z,1755825483.307 [DAT](INFO): Ping request sent.
2025-08-22T01:18:03.307Z,1755825483.307 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:03.307Z,1755825483.307 [DAT](ERROR): #Rx 155: Read range message, but no direction.
2025-08-22T01:18:03.308Z,1755825483.308 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:03.308Z,1755825483.308 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:06.356Z,1755825486.356 [DAT](INFO): DAT read: Rx Time:01:18:05.1493

2025-08-22T01:18:06.357Z,1755825486.357 [DAT](INFO): Rx dataTimestamp_ set to:1755825486.356512
2025-08-22T01:18:06.683Z,1755825486.683 [NAL9602](INFO): SBD MO Status=2, MOMSN=966, MT Status=2, MTMSN=0
2025-08-22T01:18:06.683Z,1755825486.683 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T01:18:06.864Z,1755825486.864 [DAT](INFO): DAT read: Range 11 to 50 : 153.5 m  (Round-trip  204.7 ms) speed -0.1 m/s

2025-08-22T01:18:06.865Z,1755825486.865 [DAT](INFO): DAT read: user:6116>

2025-08-22T01:18:06.865Z,1755825486.865 [DAT](ERROR): #Rx 156: Read range message, but no direction.
2025-08-22T01:18:07.112Z,1755825487.112 [DAT](INFO): DAT read: Tx time:01:18:06.2404

2025-08-22T01:18:07.113Z,1755825487.113 [DAT](INFO): Ping request sent.
2025-08-22T01:18:07.113Z,1755825487.113 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:07.113Z,1755825487.113 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:10.156Z,1755825490.156 [DAT](INFO): DAT read: Rx Time:01:18:08.8495

2025-08-22T01:18:10.157Z,1755825490.157 [DAT](INFO): Rx dataTimestamp_ set to:1755825490.156466
2025-08-22T01:18:10.661Z,1755825490.661 [DAT](INFO): DAT read: Range 11 to 50 : 153.7 m  (Round-trip  205.0 ms) speed  0.1 m/s

2025-08-22T01:18:10.662Z,1755825490.662 [DAT](INFO): DAT read: user:6117>

2025-08-22T01:18:10.663Z,1755825490.663 [DAT](INFO): DAT read: Tx time:01:18:09.9403

2025-08-22T01:18:10.664Z,1755825490.664 [DAT](INFO): Ping request sent.
2025-08-22T01:18:10.664Z,1755825490.664 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:10.664Z,1755825490.664 [DAT](ERROR): #Rx 157: Read range message, but no direction.
2025-08-22T01:18:10.664Z,1755825490.664 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:10.665Z,1755825490.665 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:13.943Z,1755825493.943 [DAT](INFO): DAT read: Rx Time:01:18:12.5498

2025-08-22T01:18:13.943Z,1755825493.943 [DAT](INFO): Rx dataTimestamp_ set to:1755825493.942802
2025-08-22T01:18:14.460Z,1755825494.460 [DAT](INFO): DAT read: 01:18:12.5498 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 452,-0.39, 1.647, 1.345, 0.318, 1.301, PHS= 0.448, 0.089,-1.027, RAW=  43.5,   7.4, CAL=  42.1,   7.3, ROT= 107.9,  -7.3

2025-08-22T01:18:14.461Z,1755825494.461 [DAT](INFO): got valid direction response:
 01:18:12.5498 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 452,-0.39, 1.647, 1.345, 0.318, 1.301, PHS= 0.448, 0.089,-1.027, RAW=  43.5,   7.4, CAL=  42.1,   7.3, ROT= 107.9,  -7.3

2025-08-22T01:18:14.462Z,1755825494.462 [DAT](INFO): DAT read: Bearing 126.0,  75.5 (Local)

2025-08-22T01:18:14.462Z,1755825494.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 126.0,  75.5 (Local)

2025-08-22T01:18:14.472Z,1755825494.472 [DAT](INFO): DAT read: Range 11 to 50 : 153.9 m  (Round-trip  205.3 ms) speed  0.3 m/s

2025-08-22T01:18:14.473Z,1755825494.473 [DAT](INFO): DAT read: user:6118>

2025-08-22T01:18:14.474Z,1755825494.474 [DAT](INFO): DAT read: Invalid Command

2025-08-22T01:18:14.474Z,1755825494.474 [DAT](INFO): unknown deviceResponse_: Invalid Command

2025-08-22T01:18:14.474Z,1755825494.474 [DAT](INFO): DAT read: 

2025-08-22T01:18:14.483Z,1755825494.483 [DAT](INFO): DAT read: user:6119>

2025-08-22T01:18:14.485Z,1755825494.485 [DAT](INFO): DAT read: Invalid Command

2025-08-22T01:18:14.485Z,1755825494.485 [DAT](INFO): unknown deviceResponse_: Invalid Command

2025-08-22T01:18:14.485Z,1755825494.485 [DAT](INFO): DAT read: 

2025-08-22T01:18:14.486Z,1755825494.486 [DAT](INFO): DAT read: user:6120>

2025-08-22T01:18:14.492Z,1755825494.492 [DAT](INFO): DAT read: Tx time:01:18:13.7403

2025-08-22T01:18:14.492Z,1755825494.492 [DAT](INFO): Ping request sent.
2025-08-22T01:18:14.492Z,1755825494.492 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:14.493Z,1755825494.493 [DAT](INFO): #Rx 158: Read range and direction messages.
2025-08-22T01:18:14.494Z,1755825494.494 [DAT](INFO): direction in FSK: [-0.304865,0.943881,0.127065]
2025-08-22T01:18:14.494Z,1755825494.494 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:14.494Z,1755825494.494 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:14.513Z,1755825494.513 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:14.514Z,1755825494.514 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:17.728Z,1755825497.728 [DAT](INFO): DAT read: Rx Time:01:18:16.3497

2025-08-22T01:18:17.729Z,1755825497.729 [DAT](INFO): Rx dataTimestamp_ set to:1755825497.728463
2025-08-22T01:18:18.242Z,1755825498.242 [DAT](INFO): DAT read: 01:18:16.3497 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 435,-0.12, 2.621, 2.203, 1.272, 2.121, PHS= 0.602, 0.127,-0.893, RAW=  48.1,   2.5, CAL=  48.3,   0.4, ROT= 101.7,  -0.4

2025-08-22T01:18:18.243Z,1755825498.243 [DAT](INFO): got valid direction response:
 01:18:16.3497 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 435,-0.12, 2.621, 2.203, 1.272, 2.121, PHS= 0.602, 0.127,-0.893, RAW=  48.1,   2.5, CAL=  48.3,   0.4, ROT= 101.7,  -0.4

2025-08-22T01:18:18.244Z,1755825498.244 [DAT](INFO): DAT read: Bearing 145.0,  71.0 (Local)

2025-08-22T01:18:18.244Z,1755825498.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.0,  71.0 (Local)

2025-08-22T01:18:18.246Z,1755825498.246 [DAT](INFO): DAT read: Range 11 to 50 : 153.9 m  (Round-trip  205.2 ms) speed -0.3 m/s

2025-08-22T01:18:18.247Z,1755825498.247 [DAT](INFO): DAT read: user:6121>

2025-08-22T01:18:18.248Z,1755825498.248 [DAT](INFO): DAT read: Tx time:01:18:17.4403

2025-08-22T01:18:18.248Z,1755825498.248 [DAT](INFO): Ping request sent.
2025-08-22T01:18:18.248Z,1755825498.248 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:18.248Z,1755825498.248 [DAT](INFO): #Rx 159: Read range and direction messages.
2025-08-22T01:18:18.249Z,1755825498.249 [DAT](INFO): direction in FSK: [-0.202782,0.979199,0.006981]
2025-08-22T01:18:18.249Z,1755825498.249 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:18.250Z,1755825498.250 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:18.253Z,1755825498.253 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:18.253Z,1755825498.253 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:21.260Z,1755825501.260 [DAT](INFO): DAT read: Rx Time:01:18:20.0498

2025-08-22T01:18:21.261Z,1755825501.261 [DAT](INFO): Rx dataTimestamp_ set to:1755825501.260511
2025-08-22T01:18:22.022Z,1755825502.022 [DAT](INFO): DAT read: 01:18:20.0498 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 421, 0.07, 3.027, 2.794, 1.691, 2.684, PHS= 0.445, 0.155,-1.037, RAW=  40.6,   6.5, CAL=  39.7,   6.1, ROT= 110.3,  -6.1

2025-08-22T01:18:22.023Z,1755825502.023 [DAT](INFO): got valid direction response:
 01:18:20.0498 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 421, 0.07, 3.027, 2.794, 1.691, 2.684, PHS= 0.445, 0.155,-1.037, RAW=  40.6,   6.5, CAL=  39.7,   6.1, ROT= 110.3,  -6.1

2025-08-22T01:18:22.024Z,1755825502.024 [DAT](INFO): DAT read: Bearing 116.2,  66.9 (Local)

2025-08-22T01:18:22.024Z,1755825502.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing 116.2,  66.9 (Local)

2025-08-22T01:18:22.026Z,1755825502.026 [DAT](INFO): DAT read: Range 11 to 50 : 154.0 m  (Round-trip  205.4 ms) speed -0.2 m/s

2025-08-22T01:18:22.026Z,1755825502.026 [DAT](INFO): DAT read: user:6122>

2025-08-22T01:18:22.028Z,1755825502.028 [DAT](INFO): DAT read: Tx time:01:18:21.1402

2025-08-22T01:18:22.028Z,1755825502.028 [DAT](INFO): Ping request sent.
2025-08-22T01:18:22.028Z,1755825502.028 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:22.029Z,1755825502.029 [DAT](INFO): #Rx 160: Read range and direction messages.
2025-08-22T01:18:22.030Z,1755825502.030 [DAT](INFO): direction in FSK: [-0.344971,0.932579,0.106264]
2025-08-22T01:18:22.030Z,1755825502.030 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:22.030Z,1755825502.030 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:22.033Z,1755825502.033 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:22.034Z,1755825502.034 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:24.961Z,1755825504.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T01:18:25.040Z,1755825505.040 [DAT](INFO): DAT read: Rx Time:01:18:23.7504

2025-08-22T01:18:25.041Z,1755825505.041 [DAT](INFO): Rx dataTimestamp_ set to:1755825505.040369
2025-08-22T01:18:25.550Z,1755825505.550 [DAT](INFO): DAT read: 01:18:23.7504 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 427, 0.26, 2.354, 2.400, 1.099, 2.264, PHS= 0.192, 0.181,-1.210, RAW=  30.4,  12.0, CAL=  28.7,  13.1, ROT= 121.3, -13.1

2025-08-22T01:18:25.551Z,1755825505.551 [DAT](INFO): got valid direction response:
 01:18:23.7504 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 427, 0.26, 2.354, 2.400, 1.099, 2.264, PHS= 0.192, 0.181,-1.210, RAW=  30.4,  12.0, CAL=  28.7,  13.1, ROT= 121.3, -13.1

2025-08-22T01:18:25.552Z,1755825505.552 [DAT](INFO): DAT read: Bearing 102.0,  60.6 (Local)

2025-08-22T01:18:25.552Z,1755825505.552 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.0,  60.6 (Local)

2025-08-22T01:18:25.554Z,1755825505.554 [DAT](INFO): DAT read: Range 11 to 50 : 154.5 m  (Round-trip  206.1 ms) speed  0.3 m/s

2025-08-22T01:18:25.555Z,1755825505.555 [DAT](INFO): DAT read: user:6123>

2025-08-22T01:18:25.556Z,1755825505.556 [DAT](INFO): DAT read: Tx time:01:18:24.8402

2025-08-22T01:18:25.556Z,1755825505.556 [DAT](INFO): Ping request sent.
2025-08-22T01:18:25.557Z,1755825505.557 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:25.557Z,1755825505.557 [DAT](INFO): #Rx 161: Read range and direction messages.
2025-08-22T01:18:25.558Z,1755825505.558 [DAT](INFO): direction in FSK: [-0.505999,0.832222,0.226651]
2025-08-22T01:18:25.558Z,1755825505.558 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:25.558Z,1755825505.558 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:25.561Z,1755825505.561 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:25.562Z,1755825505.562 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:25.964Z,1755825505.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:18:28.820Z,1755825508.820 [DAT](INFO): DAT read: Rx Time:01:18:27.4508

2025-08-22T01:18:28.821Z,1755825508.821 [DAT](INFO): Rx dataTimestamp_ set to:1755825508.820431
2025-08-22T01:18:29.330Z,1755825509.330 [DAT](INFO): DAT read: 01:18:27.4508 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 447, 0.17,-0.335,-0.407,-1.518,-0.510, PHS= 0.277, 0.147,-1.052, RAW=  35.1,   9.9, CAL=  33.4,  10.4, ROT= 116.6, -10.4

2025-08-22T01:18:29.331Z,1755825509.331 [DAT](INFO): got valid direction response:
 01:18:27.4508 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 447, 0.17,-0.335,-0.407,-1.518,-0.510, PHS= 0.277, 0.147,-1.052, RAW=  35.1,   9.9, CAL=  33.4,  10.4, ROT= 116.6, -10.4

2025-08-22T01:18:29.332Z,1755825509.332 [DAT](INFO): DAT read: Bearing  97.6,  67.0 (Local)

2025-08-22T01:18:29.332Z,1755825509.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.6,  67.0 (Local)

2025-08-22T01:18:29.334Z,1755825509.334 [DAT](INFO): DAT read: Range 11 to 50 : 154.8 m  (Round-trip  206.5 ms) speed -0.2 m/s

2025-08-22T01:18:29.335Z,1755825509.335 [DAT](INFO): DAT read: user:6124>

2025-08-22T01:18:29.336Z,1755825509.336 [DAT](INFO): DAT read: Tx time:01:18:28.5402

2025-08-22T01:18:29.339Z,1755825509.339 [DAT](INFO): Ping request sent.
2025-08-22T01:18:29.344Z,1755825509.344 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:29.347Z,1755825509.347 [DAT](INFO): #Rx 162: Read range and direction messages.
2025-08-22T01:18:29.372Z,1755825509.372 [DAT](INFO): direction in FSK: [-0.440403,0.879465,0.180519]
2025-08-22T01:18:29.372Z,1755825509.372 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:29.373Z,1755825509.373 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:29.388Z,1755825509.388 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:29.388Z,1755825509.388 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:32.352Z,1755825512.352 [DAT](INFO): DAT read: Rx Time:01:18:31.1512

2025-08-22T01:18:32.353Z,1755825512.353 [DAT](INFO): Rx dataTimestamp_ set to:1755825512.352422
2025-08-22T01:18:33.109Z,1755825513.109 [DAT](INFO): DAT read: Range 11 to 50 : 155.1 m  (Round-trip  206.9 ms) speed  0.0 m/s

2025-08-22T01:18:33.110Z,1755825513.110 [DAT](INFO): DAT read: user:6125>

2025-08-22T01:18:33.111Z,1755825513.111 [DAT](INFO): DAT read: Tx time:01:18:32.2402

2025-08-22T01:18:33.111Z,1755825513.111 [DAT](INFO): Ping request sent.
2025-08-22T01:18:33.111Z,1755825513.111 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:33.111Z,1755825513.111 [DAT](ERROR): #Rx 163: Read range message, but no direction.
2025-08-22T01:18:33.112Z,1755825513.112 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:33.112Z,1755825513.112 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:36.132Z,1755825516.132 [DAT](INFO): DAT read: Rx Time:01:18:34.8513

2025-08-22T01:18:36.133Z,1755825516.133 [DAT](INFO): Rx dataTimestamp_ set to:1755825516.132401
2025-08-22T01:18:36.637Z,1755825516.637 [DAT](INFO): DAT read: Range 11 to 50 : 155.3 m  (Round-trip  207.1 ms) speed  0.1 m/s

2025-08-22T01:18:36.638Z,1755825516.638 [DAT](INFO): DAT read: user:6126>

2025-08-22T01:18:36.639Z,1755825516.639 [DAT](INFO): DAT read: Tx time:01:18:35.9401

2025-08-22T01:18:36.639Z,1755825516.639 [DAT](INFO): Ping request sent.
2025-08-22T01:18:36.639Z,1755825516.639 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:36.640Z,1755825516.640 [DAT](ERROR): #Rx 164: Read range message, but no direction.
2025-08-22T01:18:36.640Z,1755825516.640 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:36.640Z,1755825516.640 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:39.912Z,1755825519.912 [DAT](INFO): DAT read: Rx Time:01:18:38.5520

2025-08-22T01:18:39.913Z,1755825519.913 [DAT](INFO): Rx dataTimestamp_ set to:1755825519.912494
2025-08-22T01:18:40.422Z,1755825520.422 [DAT](INFO): DAT read: 01:18:38.5520 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 444,-0.18,-1.623,-1.933, 2.922,-2.081, PHS= 0.560, 0.193,-1.324, RAW=  40.6,   6.6, CAL=  39.6,   6.4, ROT= 110.4,  -6.4

2025-08-22T01:18:40.424Z,1755825520.424 [DAT](INFO): got valid direction response:
 01:18:38.5520 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 444,-0.18,-1.623,-1.933, 2.922,-2.081, PHS= 0.560, 0.193,-1.324, RAW=  40.6,   6.6, CAL=  39.6,   6.4, ROT= 110.4,  -6.4

2025-08-22T01:18:40.425Z,1755825520.425 [DAT](INFO): DAT read: Bearing 110.9,  74.5 (Local)

2025-08-22T01:18:40.425Z,1755825520.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.9,  74.5 (Local)

2025-08-22T01:18:40.426Z,1755825520.426 [DAT](INFO): DAT read: Range 11 to 50 : 155.8 m  (Round-trip  207.8 ms) speed  0.4 m/s

2025-08-22T01:18:40.432Z,1755825520.432 [DAT](INFO): DAT read: user:6127>

2025-08-22T01:18:40.433Z,1755825520.433 [DAT](INFO): DAT read: Tx time:01:18:39.6401

2025-08-22T01:18:40.433Z,1755825520.433 [DAT](INFO): Ping request sent.
2025-08-22T01:18:40.434Z,1755825520.434 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:40.434Z,1755825520.434 [DAT](INFO): #Rx 165: Read range and direction messages.
2025-08-22T01:18:40.435Z,1755825520.435 [DAT](INFO): direction in FSK: [-0.346400,0.931441,0.111469]
2025-08-22T01:18:40.435Z,1755825520.435 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:40.435Z,1755825520.435 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:40.438Z,1755825520.438 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:40.439Z,1755825520.439 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:43.440Z,1755825523.440 [DAT](INFO): DAT read: Rx Time:01:18:42.2526

2025-08-22T01:18:43.441Z,1755825523.441 [DAT](INFO): Rx dataTimestamp_ set to:1755825523.440523
2025-08-22T01:18:44.197Z,1755825524.197 [DAT](INFO): DAT read: Range 11 to 50 : 156.2 m  (Round-trip  208.3 ms) speed -0.2 m/s

2025-08-22T01:18:44.198Z,1755825524.198 [DAT](INFO): DAT read: user:6128>

2025-08-22T01:18:44.199Z,1755825524.199 [DAT](INFO): DAT read: Tx time:01:18:43.3401

2025-08-22T01:18:44.199Z,1755825524.199 [DAT](INFO): Ping request sent.
2025-08-22T01:18:44.199Z,1755825524.199 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:44.199Z,1755825524.199 [DAT](ERROR): #Rx 166: Read range message, but no direction.
2025-08-22T01:18:44.200Z,1755825524.200 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:44.200Z,1755825524.200 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:47.220Z,1755825527.220 [DAT](INFO): DAT read: Rx Time:01:18:45.9529

2025-08-22T01:18:47.221Z,1755825527.221 [DAT](INFO): Rx dataTimestamp_ set to:1755825527.220480
2025-08-22T01:18:47.730Z,1755825527.730 [DAT](INFO): DAT read: 01:18:45.9529 LVL= 17120, 21233, 30642, 24611, AGC= 71, IDX= 422,-0.25,-1.606,-1.745,-3.050,-1.676, PHS= 0.172,-0.024,-1.418, RAW=  36.5,  16.7, CAL=  33.2,  19.1, ROT= 116.8, -19.1

2025-08-22T01:18:47.731Z,1755825527.731 [DAT](INFO): got valid direction response:
 01:18:45.9529 LVL= 17120, 21233, 30642, 24611, AGC= 71, IDX= 422,-0.25,-1.606,-1.745,-3.050,-1.676, PHS= 0.172,-0.024,-1.418, RAW=  36.5,  16.7, CAL=  33.2,  19.1, ROT= 116.8, -19.1

2025-08-22T01:18:47.733Z,1755825527.733 [DAT](INFO): DAT read: Bearing  83.2,  62.9 (Local)

2025-08-22T01:18:47.734Z,1755825527.734 [DAT](INFO): Local bearing/azimuth received:
 Bearing  83.2,  62.9 (Local)

2025-08-22T01:18:47.737Z,1755825527.737 [DAT](INFO): DAT read: Range 11 to 50 : 156.5 m  (Round-trip  208.7 ms) speed -0.5 m/s

2025-08-22T01:18:47.738Z,1755825527.738 [DAT](INFO): DAT read: user:6129>

2025-08-22T01:18:47.738Z,1755825527.738 [DAT](INFO): DAT read: Tx time:01:18:47.0900

2025-08-22T01:18:47.739Z,1755825527.739 [DAT](INFO): Ping request sent.
2025-08-22T01:18:47.739Z,1755825527.739 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:47.739Z,1755825527.739 [DAT](INFO): #Rx 167: Read range and direction messages.
2025-08-22T01:18:47.750Z,1755825527.750 [DAT](INFO): direction in FSK: [-0.426056,0.843448,0.327218]
2025-08-22T01:18:47.751Z,1755825527.751 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:47.751Z,1755825527.751 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:47.754Z,1755825527.754 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:47.754Z,1755825527.754 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:49.938Z,1755825529.938 [NAL9602](INFO): SBD MO Status=2, MOMSN=966, MT Status=2, MTMSN=0
2025-08-22T01:18:49.938Z,1755825529.938 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T01:18:51.000Z,1755825531.000 [DAT](INFO): DAT read: Rx Time:01:18:49.7034

2025-08-22T01:18:51.001Z,1755825531.001 [DAT](INFO): Rx dataTimestamp_ set to:1755825531.000558
2025-08-22T01:18:51.516Z,1755825531.516 [DAT](INFO): DAT read: 01:18:49.7034 LVL=  7264,  4737,  7298,  7155, AGC= 68, IDX= 431,-0.41, 1.844, 2.803,-2.948, 3.067, PHS=-1.121,-0.219, 0.225, RAW= 251.1,  18.4, CAL= 254.1,  23.1, ROT= 255.9, -23.1

2025-08-22T01:18:51.517Z,1755825531.517 [DAT](INFO): got valid direction response:
 01:18:49.7034 LVL=  7264,  4737,  7298,  7155, AGC= 68, IDX= 431,-0.41, 1.844, 2.803,-2.948, 3.067, PHS=-1.121,-0.219, 0.225, RAW= 251.1,  18.4, CAL= 254.1,  23.1, ROT= 255.9, -23.1

2025-08-22T01:18:51.518Z,1755825531.518 [DAT](INFO): DAT read: Bearing  36.0, -71.2 (Local)

2025-08-22T01:18:51.519Z,1755825531.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.0, -71.2 (Local)

2025-08-22T01:18:51.520Z,1755825531.520 [DAT](INFO): DAT read: Range 11 to 50 : 156.9 m  (Round-trip  209.2 ms) speed -0.9 m/s

2025-08-22T01:18:51.521Z,1755825531.521 [DAT](INFO): DAT read: user:6130>

2025-08-22T01:18:51.522Z,1755825531.522 [DAT](INFO): DAT read: Tx time:01:18:50.8400

2025-08-22T01:18:51.522Z,1755825531.522 [DAT](INFO): Ping request sent.
2025-08-22T01:18:51.522Z,1755825531.522 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:51.522Z,1755825531.522 [DAT](INFO): #Rx 168: Read range and direction messages.
2025-08-22T01:18:51.575Z,1755825531.575 [DAT](INFO): direction in FSK: [-0.224082,-0.892109,0.392337]
2025-08-22T01:18:51.576Z,1755825531.576 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:51.576Z,1755825531.576 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:51.579Z,1755825531.579 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:51.579Z,1755825531.579 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:54.011Z,1755825534.011 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002820
2025-08-22T01:18:54.782Z,1755825534.782 [DAT](INFO): DAT read: Rx Time:01:18:53.4549

2025-08-22T01:18:54.782Z,1755825534.782 [DAT](INFO): Rx dataTimestamp_ set to:1755825534.782092
2025-08-22T01:18:55.012Z,1755825535.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:18:55.290Z,1755825535.290 [DAT](INFO): DAT read: 01:18:53.4549 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 441,-0.07, 1.356, 1.428,-0.185, 1.336, PHS= 0.122, 0.137,-1.565, RAW=  29.6,  15.2, CAL=  27.3,  17.4, ROT= 122.7, -17.4

2025-08-22T01:18:55.291Z,1755825535.291 [DAT](INFO): got valid direction response:
 01:18:53.4549 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 441,-0.07, 1.356, 1.428,-0.185, 1.336, PHS= 0.122, 0.137,-1.565, RAW=  29.6,  15.2, CAL=  27.3,  17.4, ROT= 122.7, -17.4

2025-08-22T01:18:55.292Z,1755825535.292 [DAT](INFO): DAT read: Bearing  71.7,  52.6 (Local)

2025-08-22T01:18:55.293Z,1755825535.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.7,  52.6 (Local)

2025-08-22T01:18:55.294Z,1755825535.294 [DAT](INFO): DAT read: Range 11 to 50 : 158.1 m  (Round-trip  210.8 ms) speed -0.3 m/s

2025-08-22T01:18:55.295Z,1755825535.295 [DAT](INFO): DAT read: user:6131>

2025-08-22T01:18:55.296Z,1755825535.296 [DAT](INFO): DAT read: Tx time:01:18:54.5900

2025-08-22T01:18:55.296Z,1755825535.296 [DAT](INFO): Ping request sent.
2025-08-22T01:18:55.296Z,1755825535.296 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:55.296Z,1755825535.296 [DAT](INFO): #Rx 169: Read range and direction messages.
2025-08-22T01:18:55.297Z,1755825535.297 [DAT](INFO): direction in FSK: [-0.515519,0.803004,0.299041]
2025-08-22T01:18:55.297Z,1755825535.297 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:55.298Z,1755825535.298 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:55.312Z,1755825535.312 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:55.312Z,1755825535.312 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:58.580Z,1755825538.580 [DAT](INFO): DAT read: Rx Time:01:18:57.2049

2025-08-22T01:18:58.581Z,1755825538.581 [DAT](INFO): Rx dataTimestamp_ set to:1755825538.580568
2025-08-22T01:18:59.090Z,1755825539.090 [DAT](INFO): DAT read: 01:18:57.2049 LVL= 29856, 26209, 32418, 25283, AGC= 65, IDX= 427,-0.35,-2.902,-2.591, 2.202,-2.944, PHS= 0.144, 0.398,-1.181, RAW=  21.4,   8.7, CAL=  20.9,   9.1, ROT= 129.1,  -9.1

2025-08-22T01:18:59.092Z,1755825539.092 [DAT](INFO): got valid direction response:
 01:18:57.2049 LVL= 29856, 26209, 32418, 25283, AGC= 65, IDX= 427,-0.35,-2.902,-2.591, 2.202,-2.944, PHS= 0.144, 0.398,-1.181, RAW=  21.4,   8.7, CAL=  20.9,   9.1, ROT= 129.1,  -9.1

2025-08-22T01:18:59.092Z,1755825539.092 [DAT](INFO): DAT read: Bearing  88.4,  53.8 (Local)

2025-08-22T01:18:59.093Z,1755825539.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.4,  53.8 (Local)

2025-08-22T01:18:59.094Z,1755825539.094 [DAT](INFO): DAT read: Range 11 to 50 : 158.1 m  (Round-trip  210.8 ms) speed -0.3 m/s

2025-08-22T01:18:59.095Z,1755825539.095 [DAT](INFO): DAT read: user:6132>

2025-08-22T01:18:59.126Z,1755825539.126 [DAT](INFO): DAT read: Tx time:01:18:58.3400

2025-08-22T01:18:59.126Z,1755825539.126 [DAT](INFO): Ping request sent.
2025-08-22T01:18:59.126Z,1755825539.126 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:18:59.126Z,1755825539.126 [DAT](INFO): #Rx 170: Read range and direction messages.
2025-08-22T01:18:59.132Z,1755825539.132 [DAT](INFO): direction in FSK: [-0.622738,0.766279,0.158158]
2025-08-22T01:18:59.132Z,1755825539.132 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:59.132Z,1755825539.132 [DAT](INFO): publishing direction and range info
2025-08-22T01:18:59.151Z,1755825539.151 [DAT](INFO): publishing transmit ping time
2025-08-22T01:18:59.152Z,1755825539.152 [DAT](INFO): publishing direction and range info
2025-08-22T01:19:02.360Z,1755825542.360 [DAT](INFO): DAT read: Rx Time:01:19:00.9555

2025-08-22T01:19:02.361Z,1755825542.361 [DAT](INFO): Rx dataTimestamp_ set to:1755825542.360441
2025-08-22T01:19:02.865Z,1755825542.865 [DAT](INFO): DAT read: Range 11 to 50 : 158.6 m  (Round-trip  211.5 ms) speed -0.1 m/s

2025-08-22T01:19:02.866Z,1755825542.866 [DAT](INFO): DAT read: user:6133>

2025-08-22T01:19:02.867Z,1755825542.867 [DAT](INFO): DAT read: Tx time:01:19:02.0899

2025-08-22T01:19:02.867Z,1755825542.867 [DAT](INFO): Ping request sent.
2025-08-22T01:19:02.867Z,1755825542.867 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:02.868Z,1755825542.868 [DAT](ERROR): #Rx 171: Read range message, but no direction.
2025-08-22T01:19:02.868Z,1755825542.868 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:02.868Z,1755825542.868 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:03.956Z,1755825543.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:19:06.140Z,1755825546.140 [DAT](INFO): DAT read: Rx Time:01:19:04.7060

2025-08-22T01:19:06.141Z,1755825546.141 [DAT](INFO): Rx dataTimestamp_ set to:1755825546.140572
2025-08-22T01:19:06.650Z,1755825546.650 [DAT](INFO): DAT read: 01:19:04.7060 LVL= 21600, 20241, 24594, 24547, AGC= 72, IDX= 424,-0.19, 0.806, 2.026,-0.123, 0.849, PHS= 0.059, 1.221,-1.016, RAW= 358.7,  -2.8, CAL= 358.4,  -5.6, ROT= 151.6,   5.6

2025-08-22T01:19:06.651Z,1755825546.651 [DAT](INFO): got valid direction response:
 01:19:04.7060 LVL= 21600, 20241, 24594, 24547, AGC= 72, IDX= 424,-0.19, 0.806, 2.026,-0.123, 0.849, PHS= 0.059, 1.221,-1.016, RAW= 358.7,  -2.8, CAL= 358.4,  -5.6, ROT= 151.6,   5.6

2025-08-22T01:19:06.652Z,1755825546.652 [DAT](INFO): DAT read: Bearing 102.3,  27.3 (Local)

2025-08-22T01:19:06.652Z,1755825546.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 102.3,  27.3 (Local)

2025-08-22T01:19:06.654Z,1755825546.654 [DAT](INFO): DAT read: Range 11 to 50 : 159.0 m  (Round-trip  212.0 ms) speed  0.0 m/s

2025-08-22T01:19:06.655Z,1755825546.655 [DAT](INFO): DAT read: user:6134>

2025-08-22T01:19:06.655Z,1755825546.655 [DAT](INFO): DAT read: Tx time:01:19:05.8399

2025-08-22T01:19:06.656Z,1755825546.656 [DAT](INFO): Ping request sent.
2025-08-22T01:19:06.656Z,1755825546.656 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:06.656Z,1755825546.656 [DAT](INFO): #Rx 172: Read range and direction messages.
2025-08-22T01:19:06.657Z,1755825546.657 [DAT](INFO): direction in FSK: [-0.875450,0.473354,-0.097583]
2025-08-22T01:19:06.657Z,1755825546.657 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:06.658Z,1755825546.658 [DAT](INFO): publishing direction and range info
2025-08-22T01:19:06.665Z,1755825546.665 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:06.665Z,1755825546.665 [DAT](INFO): publishing direction and range info
2025-08-22T01:19:09.669Z,1755825549.669 [DAT](INFO): DAT read: Rx Time:01:19:08.4566

2025-08-22T01:19:09.669Z,1755825549.669 [DAT](INFO): Rx dataTimestamp_ set to:1755825549.668754
2025-08-22T01:19:10.174Z,1755825550.174 [DAT](INFO): DAT read: Range 11 to 50 : 159.3 m  (Round-trip  212.5 ms) speed -0.4 m/s

2025-08-22T01:19:10.175Z,1755825550.175 [DAT](INFO): DAT read: user:6135>

2025-08-22T01:19:10.175Z,1755825550.175 [DAT](ERROR): #Rx 173: Read range message, but no direction.
2025-08-22T01:19:10.424Z,1755825550.424 [DAT](INFO): DAT read: Tx time:01:19:09.5899

2025-08-22T01:19:10.425Z,1755825550.425 [DAT](INFO): Ping request sent.
2025-08-22T01:19:10.425Z,1755825550.425 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:10.425Z,1755825550.425 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:12.768Z,1755825552.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:19:13.452Z,1755825553.452 [DAT](INFO): DAT read: Rx Time:01:19:12.2073

2025-08-22T01:19:13.453Z,1755825553.453 [DAT](INFO): Rx dataTimestamp_ set to:1755825553.452520
2025-08-22T01:19:13.953Z,1755825553.953 [DAT](INFO): DAT read: Range 11 to 50 : 159.9 m  (Round-trip  213.2 ms) speed -0.7 m/s

2025-08-22T01:19:13.954Z,1755825553.954 [DAT](INFO): DAT read: user:6136>

2025-08-22T01:19:13.954Z,1755825553.954 [DAT](ERROR): #Rx 174: Read range message, but no direction.
2025-08-22T01:19:14.204Z,1755825554.204 [DAT](INFO): DAT read: Tx time:01:19:13.3399

2025-08-22T01:19:14.205Z,1755825554.205 [DAT](INFO): Ping request sent.
2025-08-22T01:19:14.205Z,1755825554.205 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:14.205Z,1755825554.205 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:17.229Z,1755825557.229 [DAT](INFO): DAT read: Rx Time:01:19:15.9576

2025-08-22T01:19:17.229Z,1755825557.229 [DAT](INFO): Rx dataTimestamp_ set to:1755825557.228796
2025-08-22T01:19:17.733Z,1755825557.733 [DAT](INFO): DAT read: Range 11 to 50 : 160.2 m  (Round-trip  213.6 ms) speed  0.0 m/s

2025-08-22T01:19:17.734Z,1755825557.734 [DAT](INFO): DAT read: user:6137>

2025-08-22T01:19:17.735Z,1755825557.735 [DAT](INFO): DAT read: Tx time:01:19:17.0398

2025-08-22T01:19:17.735Z,1755825557.735 [DAT](INFO): Ping request sent.
2025-08-22T01:19:17.735Z,1755825557.735 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:17.735Z,1755825557.735 [DAT](ERROR): #Rx 175: Read range message, but no direction.
2025-08-22T01:19:17.736Z,1755825557.736 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:17.736Z,1755825557.736 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:21.008Z,1755825561.008 [DAT](INFO): DAT read: Rx Time:01:19:19.6587

2025-08-22T01:19:21.009Z,1755825561.009 [DAT](INFO): Rx dataTimestamp_ set to:1755825561.008669
2025-08-22T01:19:21.529Z,1755825561.529 [DAT](INFO): DAT read: 01:19:19.6587 LVL= 27728, 17857, 32754, 27779, AGC= 71, IDX= 453,-0.46,-0.191, 0.869,-0.946,-0.133, PHS= 0.044, 1.047,-0.857, RAW= 358.2,  -2.9, CAL= 357.9,  -5.7, ROT= 152.1,   5.7

2025-08-22T01:19:21.530Z,1755825561.530 [DAT](INFO): got valid direction response:
 01:19:19.6587 LVL= 27728, 17857, 32754, 27779, AGC= 71, IDX= 453,-0.46,-0.191, 0.869,-0.946,-0.133, PHS= 0.044, 1.047,-0.857, RAW= 358.2,  -2.9, CAL= 357.9,  -5.7, ROT= 152.1,   5.7

2025-08-22T01:19:21.532Z,1755825561.532 [DAT](INFO): DAT read: Bearing 101.3,  27.6 (Local)

2025-08-22T01:19:21.532Z,1755825561.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 101.3,  27.6 (Local)

2025-08-22T01:19:21.533Z,1755825561.533 [DAT](INFO): DAT read: Range 11 to 50 : 161.1 m  (Round-trip  214.8 ms) speed -0.1 m/s

2025-08-22T01:19:21.534Z,1755825561.534 [DAT](INFO): DAT read: user:6138>

2025-08-22T01:19:21.535Z,1755825561.535 [DAT](INFO): DAT read: Tx time:01:19:20.7898

2025-08-22T01:19:21.543Z,1755825561.543 [DAT](INFO): Ping request sent.
2025-08-22T01:19:21.543Z,1755825561.543 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:21.544Z,1755825561.544 [DAT](INFO): #Rx 176: Read range and direction messages.
2025-08-22T01:19:21.545Z,1755825561.545 [DAT](INFO): direction in FSK: [-0.879396,0.465616,-0.099320]
2025-08-22T01:19:21.545Z,1755825561.545 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:21.545Z,1755825561.545 [DAT](INFO): publishing direction and range info
2025-08-22T01:19:21.561Z,1755825561.561 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:21.561Z,1755825561.561 [DAT](INFO): publishing direction and range info
2025-08-22T01:19:21.576Z,1755825561.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:19:24.796Z,1755825564.796 [DAT](INFO): DAT read: Rx Time:01:19:23.4089

2025-08-22T01:19:24.797Z,1755825564.797 [DAT](INFO): Rx dataTimestamp_ set to:1755825564.796479
2025-08-22T01:19:25.301Z,1755825565.301 [DAT](INFO): DAT read: Range 11 to 50 : 161.2 m  (Round-trip  215.0 ms) speed -0.2 m/s

2025-08-22T01:19:25.302Z,1755825565.302 [DAT](INFO): DAT read: user:6139>

2025-08-22T01:19:25.303Z,1755825565.303 [DAT](INFO): DAT read: Tx time:01:19:24.4898

2025-08-22T01:19:25.304Z,1755825565.304 [DAT](INFO): Ping request sent.
2025-08-22T01:19:25.304Z,1755825565.304 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:25.304Z,1755825565.304 [DAT](ERROR): #Rx 177: Read range message, but no direction.
2025-08-22T01:19:25.304Z,1755825565.304 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:25.305Z,1755825565.305 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:28.324Z,1755825568.324 [DAT](INFO): DAT read: Rx Time:01:19:27.1093

2025-08-22T01:19:28.325Z,1755825568.325 [DAT](INFO): Rx dataTimestamp_ set to:1755825568.324532
2025-08-22T01:19:28.829Z,1755825568.829 [DAT](INFO): DAT read: Range 11 to 50 : 161.6 m  (Round-trip  215.5 ms) speed -0.4 m/s

2025-08-22T01:19:28.830Z,1755825568.830 [DAT](INFO): DAT read: user:6140>

2025-08-22T01:19:28.831Z,1755825568.831 [DAT](ERROR): #Rx 178: Read range message, but no direction.
2025-08-22T01:19:29.080Z,1755825569.080 [DAT](INFO): DAT read: Tx time:01:19:28.2397

2025-08-22T01:19:29.081Z,1755825569.081 [DAT](INFO): Ping request sent.
2025-08-22T01:19:29.081Z,1755825569.081 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:29.081Z,1755825569.081 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:30.264Z,1755825570.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:19:32.104Z,1755825572.104 [DAT](INFO): DAT read: Rx Time:01:19:30.8602

2025-08-22T01:19:32.105Z,1755825572.105 [DAT](INFO): Rx dataTimestamp_ set to:1755825572.104365
2025-08-22T01:19:32.609Z,1755825572.609 [DAT](INFO): DAT read: Range 11 to 50 : 162.3 m  (Round-trip  216.4 ms) speed  0.1 m/s

2025-08-22T01:19:32.610Z,1755825572.610 [DAT](INFO): DAT read: user:6141>

2025-08-22T01:19:32.610Z,1755825572.610 [DAT](ERROR): #Rx 179: Read range message, but no direction.
2025-08-22T01:19:32.860Z,1755825572.860 [DAT](INFO): DAT read: Tx time:01:19:31.9897

2025-08-22T01:19:32.861Z,1755825572.861 [DAT](INFO): Ping request sent.
2025-08-22T01:19:32.861Z,1755825572.861 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:32.861Z,1755825572.861 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:35.884Z,1755825575.884 [DAT](INFO): DAT read: Rx Time:01:19:34.6110

2025-08-22T01:19:35.885Z,1755825575.885 [DAT](INFO): Rx dataTimestamp_ set to:1755825575.884463
2025-08-22T01:19:36.390Z,1755825576.390 [DAT](INFO): DAT read: Range 11 to 50 : 162.8 m  (Round-trip  217.1 ms) speed -0.4 m/s

2025-08-22T01:19:36.395Z,1755825576.395 [DAT](INFO): DAT read: user:6142>

2025-08-22T01:19:36.396Z,1755825576.396 [DAT](INFO): DAT read: Tx time:01:19:35.7397

2025-08-22T01:19:36.396Z,1755825576.396 [DAT](INFO): Ping request sent.
2025-08-22T01:19:36.397Z,1755825576.397 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:36.397Z,1755825576.397 [DAT](ERROR): #Rx 180: Read range message, but no direction.
2025-08-22T01:19:36.397Z,1755825576.397 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:36.398Z,1755825576.398 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:38.932Z,1755825578.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:19:39.664Z,1755825579.664 [DAT](INFO): DAT read: Rx Time:01:19:38.3616

2025-08-22T01:19:39.665Z,1755825579.665 [DAT](INFO): Rx dataTimestamp_ set to:1755825579.664666
2025-08-22T01:19:39.666Z,1755825579.666 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-22T01:19:39.666Z,1755825579.666 [DAT](INFO): Received low SNR in chirp
2025-08-22T01:19:47.656Z,1755825587.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:19:48.988Z,1755825588.988 [DAT](INFO): DAT read: Response Not Received

2025-08-22T01:19:48.989Z,1755825588.989 [DAT](INFO): response not received
2025-08-22T01:19:48.989Z,1755825588.989 [DAT](INFO): DAT read: user:6144>

2025-08-22T01:19:48.990Z,1755825588.990 [DAT](INFO): DAT read: Tx time:01:19:48.1896

2025-08-22T01:19:48.990Z,1755825588.990 [DAT](INFO): Ping request sent.
2025-08-22T01:19:48.990Z,1755825588.990 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:48.990Z,1755825588.990 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:52.013Z,1755825592.013 [DAT](INFO): DAT read: Rx Time:01:19:50.8135

2025-08-22T01:19:52.013Z,1755825592.013 [DAT](INFO): Rx dataTimestamp_ set to:1755825592.012757
2025-08-22T01:19:52.769Z,1755825592.769 [DAT](INFO): DAT read: Range 11 to 50 : 164.9 m  (Round-trip  219.9 ms) speed  0.4 m/s

2025-08-22T01:19:52.770Z,1755825592.770 [DAT](INFO): DAT read: user:6145>

2025-08-22T01:19:52.771Z,1755825592.771 [DAT](INFO): DAT read: Tx time:01:19:51.9395

2025-08-22T01:19:52.771Z,1755825592.771 [DAT](INFO): Ping request sent.
2025-08-22T01:19:52.771Z,1755825592.771 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:52.772Z,1755825592.772 [DAT](ERROR): #Rx 181: Read range message, but no direction.
2025-08-22T01:19:52.772Z,1755825592.772 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:52.772Z,1755825592.772 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:55.796Z,1755825595.796 [DAT](INFO): DAT read: Rx Time:01:19:54.5642

2025-08-22T01:19:55.797Z,1755825595.797 [DAT](INFO): Rx dataTimestamp_ set to:1755825595.796474
2025-08-22T01:19:56.352Z,1755825596.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:19:56.558Z,1755825596.558 [DAT](INFO): DAT read: 01:19:54.5642 LVL= 32752, 31953, 28386, 32755, AGC= 68, IDX= 447, 0.37,-0.196, 1.071,-0.155,-0.020, PHS=-0.074, 1.136,-0.178, RAW= 334.1, -13.9, CAL= 334.0, -17.1, ROT= 176.0,  17.1

2025-08-22T01:19:56.559Z,1755825596.559 [DAT](INFO): got valid direction response:
 01:19:54.5642 LVL= 32752, 31953, 28386, 32755, AGC= 68, IDX= 447, 0.37,-0.196, 1.071,-0.155,-0.020, PHS=-0.074, 1.136,-0.178, RAW= 334.1, -13.9, CAL= 334.0, -17.1, ROT= 176.0,  17.1

2025-08-22T01:19:56.560Z,1755825596.560 [DAT](INFO): DAT read: Bearing 116.1,  -1.8 (Local)

2025-08-22T01:19:56.560Z,1755825596.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 116.1,  -1.8 (Local)

2025-08-22T01:19:56.562Z,1755825596.562 [DAT](INFO): DAT read: Range 11 to 50 : 165.4 m  (Round-trip  220.6 ms) speed -0.4 m/s

2025-08-22T01:19:56.563Z,1755825596.563 [DAT](INFO): DAT read: user:6146>

2025-08-22T01:19:56.563Z,1755825596.563 [DAT](INFO): DAT read: Tx time:01:19:55.6895

2025-08-22T01:19:56.564Z,1755825596.564 [DAT](INFO): Ping request sent.
2025-08-22T01:19:56.564Z,1755825596.564 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:19:56.564Z,1755825596.564 [DAT](INFO): #Rx 182: Read range and direction messages.
2025-08-22T01:19:56.565Z,1755825596.565 [DAT](INFO): direction in FSK: [-0.953465,0.066673,-0.294040]
2025-08-22T01:19:56.565Z,1755825596.565 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:56.565Z,1755825596.565 [DAT](INFO): publishing direction and range info
2025-08-22T01:19:56.569Z,1755825596.569 [DAT](INFO): publishing transmit ping time
2025-08-22T01:19:56.569Z,1755825596.569 [DAT](INFO): publishing direction and range info
2025-08-22T01:20:04.979Z,1755825604.979 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:20:13.672Z,1755825613.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:20:18.748Z,1755825618.748 [DAT](INFO): DAT read: Response Not Received

2025-08-22T01:20:18.749Z,1755825618.749 [DAT](INFO): response not received
2025-08-22T01:20:18.749Z,1755825618.749 [DAT](ERROR): No response from remote modem.
2025-08-22T01:20:22.116Z,1755825622.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:20:30.784Z,1755825630.784 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:20:35.048Z,1755825635.048 [CBIT](INFO): Clearing failed state for component BPC1
2025-08-22T01:20:35.048Z,1755825635.048 [BPC1] No Fault, FailCount= 3
2025-08-22T01:20:39.469Z,1755825639.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:20:48.024Z,1755825648.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:20:49.548Z,1755825649.548 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,   0.00, 728.10,   0.00
2025-08-22T01:20:54.383Z,1755825654.383 [NAL9602](INFO): SBD MO Status=2, MOMSN=966, MT Status=2, MTMSN=0
2025-08-22T01:20:54.383Z,1755825654.383 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T01:20:56.744Z,1755825656.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:21:05.424Z,1755825665.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:21:11.774Z,1755825671.774 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,2 3,        +3.67,  20.00,  0.00
2025-08-22T01:21:13.936Z,1755825673.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:21:22.575Z,1755825682.575 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:21:29.571Z,1755825689.571 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +239.74,     +1066.8-10.91,  72.44,  0.00
2025-08-22T01:21:32.012Z,1755825692.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:21:40.572Z,1755825700.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:21:49.244Z,1755825709.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:21:57.852Z,1755825717.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:22:03.894Z,1755825723.894 [NAL9602](INFO): SBD MO Status=2, MOMSN=966, MT Status=2, MTMSN=0
2025-08-22T01:22:03.894Z,1755825723.894 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T01:22:07.548Z,1755825727.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:22:16.204Z,1755825736.204 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:22:24.812Z,1755825744.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:22:33.728Z,1755825753.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:22:39.890Z,1755825759.890 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](INFO): Timed out from 2025-08-22T01:17:39.7Z
2025-08-22T01:22:39.890Z,1755825759.890 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-22T01:22:39.891Z,1755825759.891 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-22T01:22:40.473Z,1755825760.473 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250821T231201/Courier0033.lzma
2025-08-22T01:22:41.309Z,1755825761.309 [DataOverHttps](INFO): Moved sent file to Logs/20250821T231201/Courier0033.lzma.bak
2025-08-22T01:22:41.309Z,1755825761.309 [DataOverHttps](INFO): SBD MOMSN=25878930
2025-08-22T01:22:44.281Z,1755825764.281 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-08-22T01:22:57.751Z,1755825777.751 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250822T001625/Courier0000.lzma
2025-08-22T01:22:58.753Z,1755825778.753 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Courier0000.lzma.bak
2025-08-22T01:22:58.753Z,1755825778.753 [DataOverHttps](INFO): SBD MOMSN=25878933
2025-08-22T01:23:14.935Z,1755825794.935 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T001625/Courier0003.lzma
2025-08-22T01:23:15.055Z,1755825795.055 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T01:23:15.937Z,1755825795.937 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Courier0003.lzma.bak
2025-08-22T01:23:15.937Z,1755825795.937 [DataOverHttps](INFO): SBD MOMSN=25878936
2025-08-22T01:23:32.235Z,1755825812.235 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T001625/Courier0006.lzma
2025-08-22T01:23:33.238Z,1755825813.238 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Courier0006.lzma.bak
2025-08-22T01:23:33.238Z,1755825813.238 [DataOverHttps](INFO): SBD MOMSN=25878938
2025-08-22T01:23:51.327Z,1755825831.327 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T001625/Courier0009.lzma
2025-08-22T01:23:52.329Z,1755825832.329 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Courier0009.lzma.bak
2025-08-22T01:23:52.329Z,1755825832.329 [DataOverHttps](INFO): SBD MOMSN=25878940
2025-08-22T01:24:09.035Z,1755825849.035 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20250822T001625/Courier0012.lzma
2025-08-22T01:24:10.037Z,1755825850.037 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Courier0012.lzma.bak
2025-08-22T01:24:10.037Z,1755825850.037 [DataOverHttps](INFO): SBD MOMSN=25878942
2025-08-22T01:24:26.239Z,1755825866.239 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T001625/Courier0015.lzma
2025-08-22T01:24:27.241Z,1755825867.241 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Courier0015.lzma.bak
2025-08-22T01:24:27.241Z,1755825867.241 [DataOverHttps](INFO): SBD MOMSN=25878944
2025-08-22T01:24:43.804Z,1755825883.804 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T001625/Courier0018.lzma
2025-08-22T01:24:44.805Z,1755825884.805 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Courier0018.lzma.bak
2025-08-22T01:24:44.805Z,1755825884.805 [DataOverHttps](INFO): SBD MOMSN=25878946
2025-08-22T01:25:01.163Z,1755825901.163 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250822T001625/Courier0021.lzma
2025-08-22T01:25:02.166Z,1755825902.166 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Courier0021.lzma.bak
2025-08-22T01:25:02.166Z,1755825902.166 [DataOverHttps](INFO): SBD MOMSN=25878948
2025-08-22T01:25:18.316Z,1755825918.316 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250822T011254/Courier0000.lzma
2025-08-22T01:25:19.317Z,1755825919.317 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Courier0000.lzma.bak
2025-08-22T01:25:19.317Z,1755825919.317 [DataOverHttps](INFO): SBD MOMSN=25878950
2025-08-22T01:25:35.587Z,1755825935.587 [DataOverHttps](INFO): Sending 190 bytes from file Logs/20250821T231201/Express0034.lzma
2025-08-22T01:25:36.589Z,1755825936.589 [DataOverHttps](INFO): Moved sent file to Logs/20250821T231201/Express0034.lzma.bak
2025-08-22T01:25:36.589Z,1755825936.589 [DataOverHttps](INFO): SBD MOMSN=25878956
2025-08-22T01:25:53.705Z,1755825953.705 [DataOverHttps](INFO): Sending 604 bytes from file Logs/20250822T001625/Express0001.lzma
2025-08-22T01:25:54.706Z,1755825954.706 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Express0001.lzma.bak
2025-08-22T01:25:54.706Z,1755825954.706 [DataOverHttps](INFO): SBD MOMSN=25878966
2025-08-22T01:26:11.156Z,1755825971.156 [DataOverHttps](INFO): Sending 357 bytes from file Logs/20250822T001625/Express0004.lzma
2025-08-22T01:26:12.157Z,1755825972.157 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Express0004.lzma.bak
2025-08-22T01:26:12.157Z,1755825972.157 [DataOverHttps](INFO): SBD MOMSN=25878969
2025-08-22T01:26:28.795Z,1755825988.795 [DataOverHttps](INFO): Sending 217 bytes from file Logs/20250822T001625/Express0007.lzma
2025-08-22T01:26:29.797Z,1755825989.797 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Express0007.lzma.bak
2025-08-22T01:26:29.797Z,1755825989.797 [DataOverHttps](INFO): SBD MOMSN=25878973
2025-08-22T01:26:46.047Z,1755826006.047 [DataOverHttps](INFO): Sending 200 bytes from file Logs/20250822T001625/Express0010.lzma
2025-08-22T01:26:47.049Z,1755826007.049 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Express0010.lzma.bak
2025-08-22T01:26:47.049Z,1755826007.049 [DataOverHttps](INFO): SBD MOMSN=25878976
2025-08-22T01:27:04.016Z,1755826024.016 [DataOverHttps](INFO): Sending 333 bytes from file Logs/20250822T001625/Express0013.lzma
2025-08-22T01:27:05.017Z,1755826025.017 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Express0013.lzma.bak
2025-08-22T01:27:05.017Z,1755826025.017 [DataOverHttps](INFO): SBD MOMSN=25878978
2025-08-22T01:27:21.431Z,1755826041.431 [DataOverHttps](INFO): Sending 152 bytes from file Logs/20250822T001625/Express0016.lzma
2025-08-22T01:27:22.429Z,1755826042.429 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Express0016.lzma.bak
2025-08-22T01:27:22.429Z,1755826042.429 [DataOverHttps](INFO): SBD MOMSN=25878981
2025-08-22T01:27:30.363Z,1755826050.363 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-22T01:27:39.548Z,1755826059.548 [DataOverHttps](INFO): Sending 691 bytes from file Logs/20250822T001625/Express0019.lzma
2025-08-22T01:27:40.549Z,1755826060.549 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Express0019.lzma.bak
2025-08-22T01:27:40.550Z,1755826060.550 [DataOverHttps](INFO): SBD MOMSN=25878983
2025-08-22T01:27:56.960Z,1755826076.960 [DataOverHttps](INFO): Sending 470 bytes from file Logs/20250822T001625/Express0022.lzma
2025-08-22T01:27:57.961Z,1755826077.961 [DataOverHttps](INFO): Moved sent file to Logs/20250822T001625/Express0022.lzma.bak
2025-08-22T01:27:57.961Z,1755826077.961 [DataOverHttps](INFO): SBD MOMSN=25878998
2025-08-22T01:28:16.553Z,1755826096.553 [DataOverHttps](INFO): Sending 833 bytes from file Logs/20250822T011254/Express0001.lzma
2025-08-22T01:28:17.553Z,1755826097.553 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Express0001.lzma.bak
2025-08-22T01:28:17.553Z,1755826097.553 [DataOverHttps](INFO): SBD MOMSN=25879003
2025-08-22T01:28:18.888Z,1755826098.888 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-22T01:28:18.888Z,1755826098.888 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-22T01:28:18.889Z,1755826098.889 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-22T01:28:27.400Z,1755826107.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:28:35.948Z,1755826115.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:28:44.708Z,1755826124.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:28:53.472Z,1755826133.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:29:02.788Z,1755826142.788 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:29:11.536Z,1755826151.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:29:20.136Z,1755826160.136 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:29:28.808Z,1755826168.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:29:37.465Z,1755826177.465 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:29:45.318Z,1755826185.318 [BPC1](FAULT): Failed to receive data from all battery packs.
2025-08-22T01:29:45.318Z,1755826185.318 [BPC1] Communications Fault, FailCount= 4
2025-08-22T01:29:45.318Z,1755826185.318 [BPC1](ERROR): Communications Fault
2025-08-22T01:29:45.342Z,1755826185.342 [CBIT](ERROR): Communications Fault in component: BPC1
2025-08-22T01:29:46.056Z,1755826186.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:29:54.724Z,1755826194.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:30:03.404Z,1755826203.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:30:12.348Z,1755826212.348 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:30:21.160Z,1755826221.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:30:29.884Z,1755826229.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:30:38.344Z,1755826238.344 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:30:46.984Z,1755826246.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:30:55.603Z,1755826255.603 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:31:04.245Z,1755826264.245 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:31:12.844Z,1755826272.844 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:31:21.441Z,1755826281.441 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:31:30.228Z,1755826290.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:31:38.896Z,1755826298.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:31:47.420Z,1755826307.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:31:56.151Z,1755826316.151 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:32:04.796Z,1755826324.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:32:13.388Z,1755826333.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:32:23.112Z,1755826343.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:32:31.704Z,1755826351.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:32:40.284Z,1755826360.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:32:48.948Z,1755826368.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:32:57.632Z,1755826377.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:33:06.295Z,1755826386.295 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:33:14.976Z,1755826394.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:33:19.552Z,1755826399.552 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-08-22T01:33:19.552Z,1755826399.552 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-22T01:33:19.553Z,1755826399.553 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T01:33:19.553Z,1755826399.553 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-08-22T01:33:19.895Z,1755826399.895 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-08-22T01:33:19.911Z,1755826399.911 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-08-22T01:33:20.295Z,1755826400.295 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  19.355153 min 
2025-08-22T01:33:20.295Z,1755826400.295 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-08-22T01:33:20.295Z,1755826400.295 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T01:33:20.295Z,1755826400.295 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-22T01:33:20.296Z,1755826400.296 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T01:33:20.296Z,1755826400.296 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-08-22T01:33:20.296Z,1755826400.296 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-08-22T01:33:20.296Z,1755826400.296 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T01:33:20.296Z,1755826400.296 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-22T01:33:21.900Z,1755826401.900 [NAL9602](FAULT): GPS failed to acquire within timeout.
2025-08-22T01:33:21.901Z,1755826401.901 [NAL9602] Data Fault, FailCount= 1
2025-08-22T01:33:21.901Z,1755826401.901 [NAL9602](ERROR): Data Fault
2025-08-22T01:33:21.981Z,1755826401.981 [CBIT](ERROR): Data Fault in component: NAL9602
2025-08-22T01:33:22.312Z,1755826402.312 [NAL9602](INFO): Powering down
2025-08-22T01:33:23.174Z,1755826403.174 [CBIT](INFO): Clearing failed state for component NAL9602
2025-08-22T01:33:23.174Z,1755826403.174 [NAL9602] No Fault, FailCount= 1
2025-08-22T01:33:27.680Z,1755826407.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:33:36.132Z,1755826416.132 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:33:45.892Z,1755826425.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:33:52.604Z,1755826432.604 [NAL9602](INFO): Powering up NAL9602
2025-08-22T01:33:55.696Z,1755826435.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:34:03.532Z,1755826443.532 [NAL9602](INFO): NAL9602 initialized
2025-08-22T01:34:04.216Z,1755826444.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:34:13.052Z,1755826453.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:34:23.740Z,1755826463.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:34:24.537Z,1755826464.537 [NAL9602](INFO): SBD MO Status=2, MOMSN=966, MT Status=2, MTMSN=0
2025-08-22T01:34:24.538Z,1755826464.538 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T01:34:33.564Z,1755826473.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:34:36.254Z,1755826476.254 [NAL9602](INFO): SBD MO Status=0, MOMSN=966, MT Status=0, MTMSN=0
2025-08-22T01:34:36.254Z,1755826476.254 [NAL9602](INFO): No messages in MT queue
2025-08-22T01:34:42.212Z,1755826482.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:34:50.900Z,1755826490.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:34:59.540Z,1755826499.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:35:08.248Z,1755826508.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:35:18.780Z,1755826518.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:35:27.999Z,1755826527.999 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,013524.00,A,3646.72859,N,12151.41431,W,0.486,356.45,220825,,,A*7A
2025-08-22T01:35:28.001Z,1755826528.001 [NAL9602](INFO): GPS fix at 20250822T013524: (36.778810, -121.856905)
2025-08-22T01:35:28.016Z,1755826528.016 [UniversalFixResidualReporter](INFO): Fix residual: 1.1 %DT, over the last 2112.5 m. Residual distance 24.3 m at bearing -56.8 degrees. Fix at (36.7788, -121.8569) with 658.2 m made good.
2025-08-22T01:35:28.016Z,1755826528.016 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-22T01:35:28.017Z,1755826528.017 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-22T01:35:35.635Z,1755826535.635 [DataOverHttps](INFO): Sending 283 bytes from file Logs/20250822T011254/Courier0003.lzma
2025-08-22T01:35:36.637Z,1755826536.637 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Courier0003.lzma.bak
2025-08-22T01:35:36.637Z,1755826536.637 [DataOverHttps](INFO): SBD MOMSN=25879031
2025-08-22T01:35:52.961Z,1755826552.961 [DataOverHttps](INFO): Sending 485 bytes from file Logs/20250822T011254/Express0004.lzma
2025-08-22T01:35:53.949Z,1755826553.949 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Express0004.lzma.bak
2025-08-22T01:35:53.949Z,1755826553.949 [DataOverHttps](INFO): SBD MOMSN=25879034
2025-08-22T01:35:55.544Z,1755826555.544 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-22T01:35:55.545Z,1755826555.545 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-22T01:35:55.545Z,1755826555.545 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-22T01:36:00.312Z,1755826560.312 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T01:36:03.644Z,1755826563.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:36:12.173Z,1755826572.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:36:20.880Z,1755826580.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:36:30.928Z,1755826590.928 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:36:40.400Z,1755826600.400 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:36:49.072Z,1755826609.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:36:57.728Z,1755826617.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:37:06.233Z,1755826626.233 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:37:14.992Z,1755826634.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:37:23.644Z,1755826643.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:37:30.406Z,1755826650.406 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-08-22T01:37:32.076Z,1755826652.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:37:40.772Z,1755826660.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:37:49.391Z,1755826669.391 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:37:57.996Z,1755826677.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:38:08.372Z,1755826688.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:38:16.984Z,1755826696.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:38:25.672Z,1755826705.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:38:34.321Z,1755826714.321 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:38:42.840Z,1755826722.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:38:51.588Z,1755826731.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:39:00.212Z,1755826740.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:39:09.838Z,1755826749.838 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:39:18.616Z,1755826758.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:39:27.248Z,1755826767.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:39:35.800Z,1755826775.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:39:44.593Z,1755826784.593 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T013943
2025-08-22T01:39:46.216Z,1755826786.216 [CBIT](INFO): Clearing failed state for component BPC1
2025-08-22T01:39:46.216Z,1755826786.216 [BPC1] No Fault, FailCount= 4
2025-08-22T01:39:52.203Z,1755826792.203 [DataOverHttps](INFO): Received command: configset linecapture.lockoutrange 3 meter persist
2025-08-22T01:39:52.550Z,1755826792.550 [CommandExec](IMPORTANT): got command configSet LineCapture.lockoutRange 3 meter persist
2025-08-22T01:39:53.205Z,1755826793.205 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T013952
2025-08-22T01:40:00.819Z,1755826800.819 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 14vaf 1 3
2025-08-22T01:40:00.860Z,1755826800.860 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 14vaf 1 3.000000
2025-08-22T01:40:00.861Z,1755826800.861 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=14vaf
2025-08-22T01:40:00.862Z,1755826800.862 [CommandExec](IMPORTANT): Scheduled #32 (#1 of 3 with id='14vaf'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool", ASAP
2025-08-22T01:40:01.825Z,1755826801.825 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T014001
2025-08-22T01:40:09.683Z,1755826809.683 [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" 14vaf 2 3
2025-08-22T01:40:09.701Z,1755826809.701 [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" 14vaf 2 3.000000
2025-08-22T01:40:09.701Z,1755826809.701 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=14vaf
2025-08-22T01:40:09.702Z,1755826809.702 [CommandExec](IMPORTANT): Scheduled #33 (#2 of 3 with id='14vaf'): "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
2025-08-22T01:40:10.685Z,1755826810.685 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T014009
2025-08-22T01:40:18.259Z,1755826818.259 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 14vaf 3 3
2025-08-22T01:40:18.334Z,1755826818.334 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 14vaf 3 3.000000
2025-08-22T01:40:18.335Z,1755826818.335 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=14vaf
2025-08-22T01:40:18.336Z,1755826818.336 [CommandExec](IMPORTANT): Scheduled #34 (#3 of 3 with id='14vaf'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-08-22T01:40:18.523Z,1755826818.523 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T01:40:18.528Z,1755826818.528 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T01:40:18.528Z,1755826818.528 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T01:40:18.536Z,1755826818.536 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T01:40:19.261Z,1755826819.261 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T014018
2025-08-22T01:40:28.140Z,1755826828.140 [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>

2025-08-22T01:40:28.211Z,1755826828.211 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-08-22T01:40:28.214Z,1755826828.214 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-08-22T01:40:28.231Z,1755826828.231 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-08-22T01:40:28.234Z,1755826828.234 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-08-22T01:40:28.248Z,1755826828.248 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-08-22T01:40:28.250Z,1755826828.250 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-08-22T01:40:28.264Z,1755826828.264 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-08-22T01:40:28.266Z,1755826828.266 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-08-22T01:40:28.285Z,1755826828.285 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-08-22T01:40:28.299Z,1755826828.299 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-08-22T01:40:28.302Z,1755826828.302 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-08-22T01:40:28.336Z,1755826828.336 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-08-22T01:40:28.339Z,1755826828.339 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-08-22T01:40:28.350Z,1755826828.350 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-08-22T01:40:28.356Z,1755826828.356 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-08-22T01:40:28.359Z,1755826828.359 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-08-22T01:40:28.377Z,1755826828.377 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-08-22T01:40:28.388Z,1755826828.388 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-08-22T01:40:28.390Z,1755826828.390 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-08-22T01:40:28.400Z,1755826828.400 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-08-22T01:40:28.403Z,1755826828.403 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-08-22T01:40:28.413Z,1755826828.413 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-08-22T01:40:28.432Z,1755826828.432 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-08-22T01:40:28.434Z,1755826828.434 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-08-22T01:40:28.441Z,1755826828.441 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-08-22T01:40:28.443Z,1755826828.443 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-08-22T01:40:28.472Z,1755826828.472 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-08-22T01:40:28.474Z,1755826828.474 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-08-22T01:40:28.484Z,1755826828.484 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-08-22T01:40:28.487Z,1755826828.487 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-08-22T01:40:28.498Z,1755826828.498 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-08-22T01:40:28.508Z,1755826828.508 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-08-22T01:40:28.511Z,1755826828.511 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-08-22T01:40:28.526Z,1755826828.526 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-08-22T01:40:28.537Z,1755826828.537 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-08-22T01:40:28.548Z,1755826828.548 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-08-22T01:40:28.550Z,1755826828.550 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-08-22T01:40:28.561Z,1755826828.561 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-08-22T01:40:28.611Z,1755826828.611 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-08-22T01:40:28.613Z,1755826828.613 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-08-22T01:40:28.628Z,1755826828.628 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-08-22T01:40:28.630Z,1755826828.630 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-08-22T01:40:28.649Z,1755826828.649 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-08-22T01:40:28.649Z,1755826828.649 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-22T01:40:28.650Z,1755826828.650 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-22T01:40:28.663Z,1755826828.663 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-22T01:40:31.947Z,1755826831.947 [DataOverHttps](INFO): Received command: sched "run Engineering/OnDock.tl"
2025-08-22T01:40:33.766Z,1755826833.766 [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>

2025-08-22T01:40:33.794Z,1755826833.794 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-08-22T01:40:33.812Z,1755826833.812 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-08-22T01:40:33.814Z,1755826833.814 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-08-22T01:40:33.852Z,1755826833.852 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-08-22T01:40:33.854Z,1755826833.854 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-08-22T01:40:33.865Z,1755826833.865 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-08-22T01:40:33.867Z,1755826833.867 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-08-22T01:40:33.877Z,1755826833.877 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-08-22T01:40:33.887Z,1755826833.887 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-22T01:40:33.890Z,1755826833.890 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-22T01:40:33.904Z,1755826833.904 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-08-22T01:40:33.906Z,1755826833.906 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-08-22T01:40:33.940Z,1755826833.940 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-08-22T01:40:33.942Z,1755826833.942 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-08-22T01:40:33.952Z,1755826833.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:40:33.956Z,1755826833.956 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T01:40:33.958Z,1755826833.958 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T01:40:33.964Z,1755826833.964 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T01:40:33.966Z,1755826833.966 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T01:40:33.985Z,1755826833.985 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T01:40:33.987Z,1755826833.987 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T01:40:33.997Z,1755826833.997 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T01:40:33.999Z,1755826833.999 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T01:40:34.005Z,1755826834.005 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-22T01:40:34.013Z,1755826834.013 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-08-22T01:40:34.020Z,1755826834.020 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-08-22T01:40:34.023Z,1755826834.023 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-08-22T01:40:34.029Z,1755826834.029 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-08-22T01:40:34.033Z,1755826834.033 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-22T01:40:34.043Z,1755826834.043 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-22T01:40:34.046Z,1755826834.046 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 0 bool
2025-08-22T01:40:34.049Z,1755826834.049 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-08-22T01:40:34.051Z,1755826834.051 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-08-22T01:40:34.066Z,1755826834.066 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-08-22T01:40:34.072Z,1755826834.072 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-08-22T01:40:34.074Z,1755826834.074 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-22T01:40:34.081Z,1755826834.081 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-08-22T01:40:34.087Z,1755826834.087 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-08-22T01:40:34.090Z,1755826834.090 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-22T01:40:34.092Z,1755826834.092 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumberOfLayers = 1.000000 count
2025-08-22T01:40:34.094Z,1755826834.094 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-08-22T01:40:34.109Z,1755826834.109 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-08-22T01:40:34.123Z,1755826834.123 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-08-22T01:40:34.126Z,1755826834.126 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-08-22T01:40:34.144Z,1755826834.144 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-22T01:40:34.146Z,1755826834.146 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-22T01:40:34.149Z,1755826834.149 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-22T01:40:34.151Z,1755826834.151 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-22T01:40:34.165Z,1755826834.165 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-08-22T01:40:34.172Z,1755826834.172 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-08-22T01:40:34.174Z,1755826834.174 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-08-22T01:40:34.189Z,1755826834.189 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-08-22T01:40:34.191Z,1755826834.191 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-08-22T01:40:34.198Z,1755826834.198 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-08-22T01:40:34.200Z,1755826834.200 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-08-22T01:40:34.203Z,1755826834.203 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-08-22T01:40:34.210Z,1755826834.210 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-08-22T01:40:34.225Z,1755826834.225 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-08-22T01:40:34.276Z,1755826834.276 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-08-22T01:40:34.278Z,1755826834.278 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-08-22T01:40:34.308Z,1755826834.308 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-08-22T01:40:34.311Z,1755826834.311 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-08-22T01:40:34.321Z,1755826834.321 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-08-22T01:40:34.336Z,1755826834.336 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-08-22T01:40:34.338Z,1755826834.338 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-08-22T01:40:34.345Z,1755826834.345 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-08-22T01:40:34.360Z,1755826834.360 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-08-22T01:40:34.362Z,1755826834.362 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-08-22T01:40:34.369Z,1755826834.369 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-08-22T01:40:34.375Z,1755826834.375 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-08-22T01:40:34.378Z,1755826834.378 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-08-22T01:40:34.381Z,1755826834.381 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-08-22T01:40:34.383Z,1755826834.383 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-08-22T01:40:34.398Z,1755826834.398 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-08-22T01:40:34.404Z,1755826834.404 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-08-22T01:40:34.407Z,1755826834.407 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-08-22T01:40:34.414Z,1755826834.414 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-08-22T01:40:34.429Z,1755826834.429 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-22T01:40:34.436Z,1755826834.436 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-22T01:40:34.438Z,1755826834.438 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-22T01:40:34.441Z,1755826834.441 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T01:40:34.463Z,1755826834.463 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T01:40:34.470Z,1755826834.470 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-22T01:40:34.474Z,1755826834.474 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-22T01:40:34.488Z,1755826834.488 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-22T01:40:34.491Z,1755826834.491 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T01:40:34.493Z,1755826834.493 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T01:40:34.500Z,1755826834.500 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-22T01:40:34.502Z,1755826834.502 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-22T01:40:34.509Z,1755826834.509 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-22T01:40:34.511Z,1755826834.511 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T01:40:34.514Z,1755826834.514 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T01:40:34.521Z,1755826834.521 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-22T01:40:34.527Z,1755826834.527 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-22T01:40:34.530Z,1755826834.530 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-22T01:40:34.533Z,1755826834.533 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T01:40:34.543Z,1755826834.543 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T01:40:34.546Z,1755826834.546 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-22T01:40:34.549Z,1755826834.549 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-22T01:40:34.563Z,1755826834.563 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-22T01:40:34.566Z,1755826834.566 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T01:40:34.573Z,1755826834.573 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T01:40:34.576Z,1755826834.576 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-22T01:40:34.579Z,1755826834.579 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-22T01:40:34.593Z,1755826834.593 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-22T01:40:34.600Z,1755826834.600 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T01:40:34.602Z,1755826834.602 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T01:40:34.609Z,1755826834.609 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-22T01:40:34.616Z,1755826834.616 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-22T01:40:34.618Z,1755826834.618 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T01:40:34.629Z,1755826834.629 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T01:40:34.663Z,1755826834.663 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T01:40:34.666Z,1755826834.666 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-22T01:40:34.673Z,1755826834.673 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-22T01:40:34.691Z,1755826834.691 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T01:40:34.694Z,1755826834.694 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T01:40:34.708Z,1755826834.708 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T01:40:34.711Z,1755826834.711 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-08-22T01:40:34.724Z,1755826834.724 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-08-22T01:40:34.727Z,1755826834.727 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-08-22T01:40:34.730Z,1755826834.730 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-08-22T01:40:34.745Z,1755826834.745 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-08-22T01:40:34.752Z,1755826834.752 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-08-22T01:40:34.754Z,1755826834.754 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-08-22T01:40:34.761Z,1755826834.761 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-08-22T01:40:34.768Z,1755826834.768 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-08-22T01:40:34.770Z,1755826834.770 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-08-22T01:40:34.773Z,1755826834.773 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-08-22T01:40:34.788Z,1755826834.788 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-08-22T01:40:34.791Z,1755826834.791 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-08-22T01:40:34.798Z,1755826834.798 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-08-22T01:40:34.800Z,1755826834.800 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-08-22T01:40:34.803Z,1755826834.803 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-08-22T01:40:34.817Z,1755826834.817 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-08-22T01:40:34.888Z,1755826834.888 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:34.917Z,1755826834.917 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T01:40:34.971Z,1755826834.971 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T01:40:35.012Z,1755826835.012 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:35.072Z,1755826835.072 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:35.103Z,1755826835.103 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T01:40:35.141Z,1755826835.141 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:35.169Z,1755826835.169 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:35.197Z,1755826835.197 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T01:40:35.230Z,1755826835.230 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:35.271Z,1755826835.271 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T01:40:35.354Z,1755826835.354 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:35.396Z,1755826835.396 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T01:40:35.508Z,1755826835.508 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:35.546Z,1755826835.546 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T01:40:35.629Z,1755826835.629 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T01:40:35.654Z,1755826835.654 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T01:40:35.698Z,1755826835.698 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-22T01:40:35.705Z,1755826835.705 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T01:40:35.705Z,1755826835.705 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T01:40:35.706Z,1755826835.706 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T01:40:35.778Z,1755826835.778 [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>

2025-08-22T01:40:35.782Z,1755826835.782 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T01:40:35.785Z,1755826835.785 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T01:40:35.787Z,1755826835.787 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T01:40:35.789Z,1755826835.789 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T01:40:35.790Z,1755826835.790 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T01:40:35.796Z,1755826835.796 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T01:40:35.802Z,1755826835.802 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T01:40:35.839Z,1755826835.839 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-08-22T01:40:35.840Z,1755826835.840 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-08-22T01:40:35.841Z,1755826835.841 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-08-22T01:40:36.364Z,1755826836.364 [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>

2025-08-22T01:40:36.373Z,1755826836.373 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-08-22T01:40:36.375Z,1755826836.375 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-08-22T01:40:36.381Z,1755826836.381 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-08-22T01:40:36.387Z,1755826836.387 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-08-22T01:40:36.390Z,1755826836.390 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-08-22T01:40:36.396Z,1755826836.396 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-08-22T01:40:36.398Z,1755826836.398 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-08-22T01:40:36.428Z,1755826836.428 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-08-22T01:40:36.446Z,1755826836.446 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-08-22T01:40:36.520Z,1755826836.520 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-08-22T01:40:36.520Z,1755826836.520 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-08-22T01:40:36.521Z,1755826836.521 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-08-22T01:40:36.613Z,1755826836.613 [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>

2025-08-22T01:40:36.621Z,1755826836.621 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-08-22T01:40:36.627Z,1755826836.627 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-08-22T01:40:36.636Z,1755826836.636 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-08-22T01:40:36.639Z,1755826836.639 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-08-22T01:40:36.639Z,1755826836.639 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-08-22T01:40:36.645Z,1755826836.645 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-08-22T01:40:39.001Z,1755826839.001 [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>

2025-08-22T01:40:39.030Z,1755826839.030 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.779130 arcdeg
2025-08-22T01:40:39.033Z,1755826839.033 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.859630 arcdeg
2025-08-22T01:40:39.041Z,1755826839.041 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-08-22T01:40:39.048Z,1755826839.048 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-08-22T01:40:39.052Z,1755826839.052 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-08-22T01:40:39.055Z,1755826839.055 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-08-22T01:40:39.062Z,1755826839.062 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-08-22T01:40:39.133Z,1755826839.133 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-08-22T01:40:39.147Z,1755826839.147 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-08-22T01:40:39.150Z,1755826839.150 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-08-22T01:40:39.165Z,1755826839.165 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-08-22T01:40:39.183Z,1755826839.183 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-08-22T01:40:39.185Z,1755826839.185 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-08-22T01:40:39.200Z,1755826839.200 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-08-22T01:40:39.227Z,1755826839.227 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-08-22T01:40:39.230Z,1755826839.230 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-08-22T01:40:39.244Z,1755826839.244 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-08-22T01:40:39.246Z,1755826839.246 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-08-22T01:40:39.253Z,1755826839.253 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-08-22T01:40:39.263Z,1755826839.263 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-08-22T01:40:39.277Z,1755826839.277 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-08-22T01:40:39.279Z,1755826839.279 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-08-22T01:40:39.297Z,1755826839.297 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-08-22T01:40:39.312Z,1755826839.312 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-08-22T01:40:39.314Z,1755826839.314 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-08-22T01:40:39.325Z,1755826839.325 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-08-22T01:40:39.336Z,1755826839.336 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-08-22T01:40:39.338Z,1755826839.338 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-08-22T01:40:39.353Z,1755826839.353 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-08-22T01:40:39.364Z,1755826839.364 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-08-22T01:40:39.366Z,1755826839.366 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-08-22T01:40:39.385Z,1755826839.385 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-08-22T01:40:39.397Z,1755826839.397 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T01:40:39.397Z,1755826839.397 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T01:40:39.399Z,1755826839.399 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T01:40:39.740Z,1755826839.740 [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>

2025-08-22T01:40:39.752Z,1755826839.752 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T01:40:39.754Z,1755826839.754 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T01:40:39.765Z,1755826839.765 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T01:40:39.767Z,1755826839.767 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T01:40:39.776Z,1755826839.776 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T01:40:39.786Z,1755826839.786 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T01:40:39.808Z,1755826839.808 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T01:40:39.871Z,1755826839.871 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-08-22T01:40:39.912Z,1755826839.912 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-22T01:40:39.922Z,1755826839.922 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-08-22T01:40:39.922Z,1755826839.922 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T01:40:40.008Z,1755826840.008 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-08-22T01:40:40.010Z,1755826840.010 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-08-22T01:40:40.023Z,1755826840.023 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-08-22T01:40:40.047Z,1755826840.047 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-08-22T01:40:40.061Z,1755826840.061 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-08-22T01:40:40.092Z,1755826840.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-08-22T01:40:40.109Z,1755826840.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-08-22T01:40:40.126Z,1755826840.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-08-22T01:40:40.160Z,1755826840.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-22T01:40:40.160Z,1755826840.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T01:40:40.168Z,1755826840.168 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-08-22T01:40:40.409Z,1755826840.409 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-08-22T01:40:40.416Z,1755826840.416 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-08-22T01:40:40.418Z,1755826840.418 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-08-22T01:40:40.425Z,1755826840.425 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-08-22T01:40:40.432Z,1755826840.432 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-08-22T01:40:40.442Z,1755826840.442 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-08-22T01:40:40.511Z,1755826840.511 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-08-22T01:40:40.511Z,1755826840.511 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-08-22T01:40:40.516Z,1755826840.516 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-08-22T01:40:40.737Z,1755826840.737 [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>

2025-08-22T01:40:40.746Z,1755826840.746 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.779130 arcdeg
2025-08-22T01:40:40.760Z,1755826840.760 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.859630 arcdeg
2025-08-22T01:40:40.771Z,1755826840.771 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-08-22T01:40:40.774Z,1755826840.774 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-08-22T01:40:40.814Z,1755826840.814 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-08-22T01:40:40.848Z,1755826840.848 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-08-22T01:40:40.848Z,1755826840.848 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T01:40:40.906Z,1755826840.906 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-08-22T01:40:40.906Z,1755826840.906 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T01:40:40.929Z,1755826840.929 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-08-22T01:40:40.941Z,1755826840.941 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-08-22T01:40:40.948Z,1755826840.948 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-08-22T01:40:40.965Z,1755826840.965 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-22T01:40:40.972Z,1755826840.972 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-08-22T01:40:40.982Z,1755826840.982 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-08-22T01:40:40.999Z,1755826840.999 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-08-22T01:40:41.002Z,1755826841.002 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-08-22T01:40:41.249Z,1755826841.249 [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
        }
      }
    }
  }
}


2025-08-22T01:40:41.250Z,1755826841.250 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-08-22T01:40:46.708Z,1755826846.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:40:56.108Z,1755826856.108 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-08-22T01:40:56.108Z,1755826856.108 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-22T01:40:56.108Z,1755826856.108 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T01:40:56.109Z,1755826856.109 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-08-22T01:40:56.513Z,1755826856.513 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-08-22T01:40:56.513Z,1755826856.513 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-08-22T01:40:56.896Z,1755826856.896 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  26.965452 min 
2025-08-22T01:40:56.896Z,1755826856.896 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-08-22T01:40:56.896Z,1755826856.896 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T01:40:56.896Z,1755826856.896 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-22T01:40:56.896Z,1755826856.896 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T01:40:56.896Z,1755826856.896 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2025-08-22T01:40:56.897Z,1755826856.897 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2025-08-22T01:40:56.897Z,1755826856.897 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T01:40:56.897Z,1755826856.897 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-22T01:40:58.898Z,1755826858.898 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014058.00,A,3646.72076,N,12151.40536,W,0.894,267.69,220825,,,A*73
2025-08-22T01:40:58.905Z,1755826858.905 [NAL9602](INFO): GPS fix at 20250822T014058: (36.778679, -121.856756)
2025-08-22T01:40:58.963Z,1755826858.963 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-22T01:40:58.963Z,1755826858.963 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-22T01:40:59.248Z,1755826859.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:41:09.767Z,1755826869.767 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250822T011254/Courier0006.lzma
2025-08-22T01:41:10.769Z,1755826870.769 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Courier0006.lzma.bak
2025-08-22T01:41:10.769Z,1755826870.769 [DataOverHttps](INFO): SBD MOMSN=25879059
2025-08-22T01:41:15.822Z,1755826875.822 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +187.26,     +       -0.65,  0.00
2025-08-22T01:41:19.841Z,1755826879.841 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour
2025-08-22T01:41:19.841Z,1755826879.841 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 15 minute
2025-08-22T01:41:19.842Z,1755826879.842 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-08-22T01:41:19.843Z,1755826879.843 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2025-08-22T01:41:19.894Z,1755826879.894 [CommandExec](IMPORTANT): got command schedule "run Engineering/OnDock.tl"
2025-08-22T01:41:19.894Z,1755826879.894 [CommandExec](IMPORTANT): Scheduled #35: "run Engineering/OnDock.tl", AFTER MISSION
2025-08-22T01:41:34.358Z,1755826894.358 [NAL9602](INFO): SBD MO Status=2, MOMSN=967, MT Status=2, MTMSN=0
2025-08-22T01:41:34.358Z,1755826894.358 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-22T01:41:34.729Z,1755826894.729 [DataOverHttps](INFO): Sending 680 bytes from file Logs/20250822T011254/Express0007.lzma
2025-08-22T01:41:36.491Z,1755826896.491 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Express0007.lzma.bak
2025-08-22T01:41:36.492Z,1755826896.492 [DataOverHttps](INFO): SBD MOMSN=25879067
2025-08-22T01:41:59.579Z,1755826919.579 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250822T011254/Express0010.lzma
2025-08-22T01:42:00.581Z,1755826920.581 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Express0010.lzma.bak
2025-08-22T01:42:00.581Z,1755826920.581 [DataOverHttps](INFO): SBD MOMSN=25879087
2025-08-22T01:42:02.300Z,1755826922.300 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-22T01:42:02.301Z,1755826922.301 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-22T01:42:02.301Z,1755826922.301 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-22T01:42:13.334Z,1755826933.334 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 5 count
2025-08-22T01:42:13.342Z,1755826933.342 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1 minute
2025-08-22T01:42:13.342Z,1755826933.342 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.3 meter
2025-08-22T01:42:13.343Z,1755826933.343 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter
2025-08-22T01:42:13.344Z,1755826933.344 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 71 meter
2025-08-22T01:42:15.868Z,1755826935.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:42:25.085Z,1755826945.085 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-08-22T01:42:25.086Z,1755826945.086 [CommandExec](IMPORTANT): got command run
2025-08-22T01:42:25.088Z,1755826945.088 [CommandExec](IMPORTANT): Running 
2025-08-22T01:42:25.291Z,1755826945.291 [DefaultWithUndock] Stopped
2025-08-22T01:42:25.291Z,1755826945.291 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-22T01:42:25.291Z,1755826945.291 [DefaultWithUndock:SurfaceDefault] Stopped
2025-08-22T01:42:25.291Z,1755826945.291 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-08-22T01:42:25.292Z,1755826945.292 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-08-22T01:42:25.292Z,1755826945.292 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-22T01:42:25.292Z,1755826945.292 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-22T01:42:25.292Z,1755826945.292 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T01:42:25.292Z,1755826945.292 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-22T01:42:25.292Z,1755826945.292 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T01:42:25.292Z,1755826945.292 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-08-22T01:42:25.292Z,1755826945.292 [lineCaptureHoming] Running Loop=1
2025-08-22T01:42:25.292Z,1755826945.292 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:A] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:D] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:F] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-08-22T01:42:25.293Z,1755826945.293 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-08-22T01:42:25.294Z,1755826945.294 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-08-22T01:42:25.294Z,1755826945.294 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-22T01:42:25.294Z,1755826945.294 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-08-22T01:42:25.294Z,1755826945.294 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-08-22T01:42:25.294Z,1755826945.294 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-22T01:42:25.294Z,1755826945.294 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T01:42:25.294Z,1755826945.294 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T01:42:25.295Z,1755826945.295 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-08-22T01:42:25.295Z,1755826945.295 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-22T01:42:25.295Z,1755826945.295 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-08-22T01:42:25.295Z,1755826945.295 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-08-22T01:42:25.296Z,1755826945.296 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-08-22T01:42:25.296Z,1755826945.296 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-08-22T01:42:25.296Z,1755826945.296 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-08-22T01:42:25.296Z,1755826945.296 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-22T01:42:25.297Z,1755826945.297 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T01:42:25.297Z,1755826945.297 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T01:42:25.297Z,1755826945.297 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-08-22T01:42:25.297Z,1755826945.297 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-22T01:42:25.297Z,1755826945.297 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-22T01:42:25.297Z,1755826945.297 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-08-22T01:42:25.298Z,1755826945.298 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-22T01:42:25.298Z,1755826945.298 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-22T01:42:25.298Z,1755826945.298 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-08-22T01:42:25.298Z,1755826945.298 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-22T01:42:25.298Z,1755826945.298 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T01:42:25.298Z,1755826945.298 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T01:42:25.298Z,1755826945.298 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T01:42:25.299Z,1755826945.299 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T01:42:25.299Z,1755826945.299 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T01:42:25.299Z,1755826945.299 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T01:42:25.299Z,1755826945.299 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T01:42:25.299Z,1755826945.299 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T01:42:25.299Z,1755826945.299 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T01:42:25.299Z,1755826945.299 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T01:42:25.300Z,1755826945.300 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-08-22T01:42:25.301Z,1755826945.301 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-22T01:42:25.302Z,1755826945.302 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-22T01:42:25.302Z,1755826945.302 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-22T01:42:25.302Z,1755826945.302 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-08-22T01:42:25.302Z,1755826945.302 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-08-22T01:42:25.302Z,1755826945.302 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-22T01:42:25.302Z,1755826945.302 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-22T01:42:25.302Z,1755826945.302 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-22T01:42:25.302Z,1755826945.302 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-08-22T01:42:25.303Z,1755826945.303 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T01:42:25.303Z,1755826945.303 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T01:42:25.303Z,1755826945.303 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T01:42:25.303Z,1755826945.303 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T01:42:25.303Z,1755826945.303 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T01:42:25.303Z,1755826945.303 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T01:42:25.303Z,1755826945.303 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:J] Running Loop=1
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T01:42:25.304Z,1755826945.304 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T01:42:25.305Z,1755826945.305 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-22T01:42:25.305Z,1755826945.305 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T01:42:25.305Z,1755826945.305 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T01:42:25.305Z,1755826945.305 [lineCaptureHoming:C] Running Loop=1
2025-08-22T01:42:25.308Z,1755826945.308 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-22T01:42:25.308Z,1755826945.308 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T01:42:25.308Z,1755826945.308 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-22T01:42:25.308Z,1755826945.308 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T01:42:25.308Z,1755826945.308 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-22T01:42:25.308Z,1755826945.308 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-22T01:42:25.309Z,1755826945.309 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-08-22T01:42:25.309Z,1755826945.309 [lineCaptureHoming:J] Stopped
2025-08-22T01:42:25.309Z,1755826945.309 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-22T01:42:25.309Z,1755826945.309 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-22T01:42:25.309Z,1755826945.309 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T01:42:25.309Z,1755826945.309 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T01:42:25.309Z,1755826945.309 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T01:42:25.310Z,1755826945.310 [lineCaptureHoming:C] Stopped
2025-08-22T01:42:25.310Z,1755826945.310 [lineCaptureHoming:D] Running Loop=1
2025-08-22T01:42:25.310Z,1755826945.310 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-22T01:42:25.310Z,1755826945.310 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T01:42:25.310Z,1755826945.310 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T01:42:25.310Z,1755826945.310 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T01:42:25.311Z,1755826945.311 [lineCaptureHoming:Science] Running Loop=1
2025-08-22T01:42:25.312Z,1755826945.312 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-22T01:42:25.313Z,1755826945.313 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T01:42:25.314Z,1755826945.314 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-22T01:42:25.315Z,1755826945.315 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-08-22T01:42:25.316Z,1755826945.316 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-08-22T01:42:25.317Z,1755826945.317 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-22T01:42:25.318Z,1755826945.318 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-08-22T01:42:25.319Z,1755826945.319 [lineCaptureHoming:Science:F] Stopped
2025-08-22T01:42:25.319Z,1755826945.319 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-22T01:42:25.319Z,1755826945.319 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-08-22T01:42:25.319Z,1755826945.319 [lineCaptureHoming:Science:D] Stopped
2025-08-22T01:42:25.320Z,1755826945.320 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-22T01:42:25.320Z,1755826945.320 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-08-22T01:42:25.320Z,1755826945.320 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-08-22T01:42:25.321Z,1755826945.321 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-22T01:42:25.321Z,1755826945.321 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-08-22T01:42:25.321Z,1755826945.321 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-08-22T01:42:25.322Z,1755826945.322 [lineCaptureHoming:Science:A] Stopped
2025-08-22T01:42:25.794Z,1755826945.794 [lineCaptureHoming:D] Stopped
2025-08-22T01:42:25.794Z,1755826945.794 [lineCaptureHoming:E] Running Loop=1
2025-08-22T01:42:26.102Z,1755826946.102 [lineCaptureHoming:E] Stopped
2025-08-22T01:42:26.102Z,1755826946.102 [lineCaptureHoming:G] Running Loop=1
2025-08-22T01:42:26.244Z,1755826946.244 [WetLabsBB2FL](INFO): Powering up
2025-08-22T01:42:26.517Z,1755826946.517 [lineCaptureHoming:G] Stopped
2025-08-22T01:42:26.517Z,1755826946.517 [lineCaptureHoming:H] Running Loop=1
2025-08-22T01:42:26.903Z,1755826946.903 [lineCaptureHoming:H] Stopped
2025-08-22T01:42:26.903Z,1755826946.903 [lineCaptureHoming:L] Running Loop=1
2025-08-22T01:42:27.308Z,1755826947.308 [lineCaptureHoming:L] Stopped
2025-08-22T01:42:27.309Z,1755826947.309 [lineCaptureHoming:M] Running Loop=1
2025-08-22T01:42:27.945Z,1755826947.945 [lineCaptureHoming:M] Stopped
2025-08-22T01:42:27.946Z,1755826947.946 [lineCaptureHoming:N] Running Loop=1
2025-08-22T01:42:28.060Z,1755826948.060 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:42:28.134Z,1755826948.134 [lineCaptureHoming:N] Stopped
2025-08-22T01:42:28.134Z,1755826948.134 [lineCaptureHoming:O] Running Loop=1
2025-08-22T01:42:28.543Z,1755826948.543 [lineCaptureHoming:O] Stopped
2025-08-22T01:42:28.543Z,1755826948.543 [lineCaptureHoming:P] Running Loop=1
2025-08-22T01:42:28.922Z,1755826948.922 [lineCaptureHoming:P] Stopped
2025-08-22T01:42:28.922Z,1755826948.922 [lineCaptureHoming:Q] Running Loop=1
2025-08-22T01:42:29.012Z,1755826949.012 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-22T01:42:29.334Z,1755826949.334 [lineCaptureHoming:Q] Stopped
2025-08-22T01:42:29.334Z,1755826949.334 [lineCaptureHoming:U] Running Loop=1
2025-08-22T01:42:29.793Z,1755826949.793 [lineCaptureHoming:U] Stopped
2025-08-22T01:42:29.793Z,1755826949.793 [lineCaptureHoming:StartingMission] Running Loop=1
2025-08-22T01:42:29.794Z,1755826949.794 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-08-22T01:42:30.166Z,1755826950.166 [lineCaptureHoming:NeedComms] Running Loop=1
2025-08-22T01:42:30.166Z,1755826950.166 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-08-22T01:42:30.167Z,1755826950.167 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-08-22T01:42:30.167Z,1755826950.167 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-22T01:42:30.171Z,1755826950.171 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-08-22T01:42:30.172Z,1755826950.172 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-08-22T01:42:30.172Z,1755826950.172 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-08-22T01:42:30.173Z,1755826950.173 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-08-22T01:42:30.173Z,1755826950.173 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-22T01:42:30.174Z,1755826950.174 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-22T01:42:30.174Z,1755826950.174 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-08-22T01:42:30.180Z,1755826950.180 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1755826858.000000 second since 1970/01/01T00:00:00Z 
2025-08-22T01:42:30.180Z,1755826950.180 [lineCaptureHoming:NeedComms:A] Stopped
2025-08-22T01:42:30.551Z,1755826950.551 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-08-22T01:42:30.966Z,1755826950.966 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-22T01:42:37.420Z,1755826957.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:42:46.675Z,1755826966.675 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:42:56.039Z,1755826976.039 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T01:42:58.826Z,1755826978.826 [NAL9602](INFO): SBD MO Status=0, MOMSN=967, MT Status=0, MTMSN=0
2025-08-22T01:42:58.826Z,1755826978.826 [NAL9602](INFO): No messages in MT queue
2025-08-22T01:43:00.023Z,1755826980.023 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014259.00,A,3646.71840,N,12151.40152,W,1.263,208.94,220825,,,A*70
2025-08-22T01:43:00.028Z,1755826980.028 [NAL9602](INFO): GPS fix at 20250822T014259: (36.778640, -121.856692)
2025-08-22T01:43:00.055Z,1755826980.055 [lineCaptureHoming:NeedComms:C] Stopped
2025-08-22T01:43:00.083Z,1755826980.083 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-08-22T01:43:00.466Z,1755826980.466 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-22T01:43:02.572Z,1755826982.572 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250822T011254/Courier0012.lzma
2025-08-22T01:43:03.481Z,1755826983.481 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Courier0012.lzma.bak
2025-08-22T01:43:03.482Z,1755826983.482 [DataOverHttps](INFO): SBD MOMSN=25879091
2025-08-22T01:43:20.512Z,1755827000.512 [DataOverHttps](INFO): Sending 621 bytes from file Logs/20250822T011254/Express0013.lzma
2025-08-22T01:43:21.513Z,1755827001.513 [DataOverHttps](INFO): Moved sent file to Logs/20250822T011254/Express0013.lzma.bak
2025-08-22T01:43:21.513Z,1755827001.513 [DataOverHttps](INFO): SBD MOMSN=25879094
2025-08-22T01:43:22.841Z,1755827002.841 [lineCaptureHoming:NeedComms:D] Stopped
2025-08-22T01:43:22.841Z,1755827002.841 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-08-22T01:43:23.257Z,1755827003.257 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-22T01:43:24.862Z,1755827004.862 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014324.00,A,3646.71738,N,12151.40129,W,1.400,321.54,220825,,,A*72
2025-08-22T01:43:24.869Z,1755827004.869 [NAL9602](INFO): GPS fix at 20250822T014324: (36.778623, -121.856688)
2025-08-22T01:43:24.894Z,1755827004.894 [lineCaptureHoming:NeedComms:E] Stopped
2025-08-22T01:43:24.915Z,1755827004.915 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-08-22T01:43:24.915Z,1755827004.915 [lineCaptureHoming:NeedComms] Stopped
2025-08-22T01:43:24.915Z,1755827004.915 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-08-22T01:43:24.916Z,1755827004.916 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-08-22T01:43:24.916Z,1755827004.916 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-22T01:43:25.322Z,1755827005.322 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-08-22T01:43:25.322Z,1755827005.322 [lineCaptureHoming:StartingMission] Stopped
2025-08-22T01:43:25.322Z,1755827005.322 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-08-22T01:43:25.322Z,1755827005.322 [lineCaptureHoming:Z] Running Loop=1
2025-08-22T01:43:25.323Z,1755827005.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T01:43:25.508Z,1755827005.508 [DAT](DEBUG): Acoustic response timeout
2025-08-22T01:43:25.508Z,1755827005.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T01:43:25.760Z,1755827005.760 [DAT](INFO): DAT read: user:6147>

2025-08-22T01:43:25.761Z,1755827005.761 [DAT](INFO): DAT read: Tx time:01:43:24.9320

2025-08-22T01:43:25.761Z,1755827005.761 [DAT](INFO): Ping request sent.
2025-08-22T01:43:25.761Z,1755827005.761 [DAT](INFO): transmitted an acoustic signal
2025-08-22T01:43:25.761Z,1755827005.761 [DAT](INFO): publishing transmit ping time
2025-08-22T01:43:25.762Z,1755827005.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T01:43:25.768Z,1755827005.768 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-08-22T01:43:25.768Z,1755827005.768 [lineCaptureHoming:Z] Stopped
2025-08-22T01:43:25.769Z,1755827005.769 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-08-22T01:43:26.012Z,1755827006.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250960
2025-08-22T01:43:26.082Z,1755827006.082 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs